+ python -m lidar_slam --no-model /working/84283bf0-e279-4586-a2c6-074052c145ce Lidar SLAM 0.0.13 ===================================================== The recording path: /working/84283bf0-e279-4586-a2c6-074052c145ce 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 0.019928851 Adjusted end_distance from 9.223372036854776e+18 to 205.149928851 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.019928851 meters Centerline goodness [0,1] 0.5917419985340826 Centerline is valid? [0, False] SLAMing on 0.049928850999999996 meters Centerline goodness [0,1] 0.5873911443640378 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99999928e-01 -3.66617935e-04 1.01662820e-04 -4.21456899e-04] [ 3.66654149e-04 9.99999869e-01 -3.56428508e-04 9.22392912e-04] [-1.01532134e-04 3.56465757e-04 9.99999931e-01 3.05143029e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.079928851 meters Centerline goodness [0,1] 0.5785007505437614 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99999800e-01 -6.31773686e-04 2.59503140e-05 -2.79803621e-04] [ 6.31788090e-04 9.99999644e-01 -5.58854782e-04 1.11861186e-03] [-2.55972350e-05 5.58871066e-04 9.99999844e-01 4.06808256e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.10992885099999998 meters Centerline goodness [0,1] 0.5666084398271583 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.00, Z:0.00 [[ 9.99999451e-01 -1.03822811e-03 1.42036841e-04 -6.08564736e-04] [ 1.03831459e-03 9.99999275e-01 -6.10158160e-04 9.43518480e-04] [-1.41403255e-04 6.10305304e-04 9.99999804e-01 3.14151829e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.139928851 meters Centerline goodness [0,1] 0.5437328453796889 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:0.00 [[ 9.99998221e-01 -1.87571677e-03 1.98029806e-04 -8.20757753e-04] [ 1.87583488e-03 9.99998062e-01 -5.97914958e-04 -5.91336869e-05] [-1.96907904e-04 5.98285366e-04 9.99999802e-01 2.25608885e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.16992885099999996 meters Centerline goodness [0,1] 0.5319975527684306 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:-0.00 [[ 9.99997475e-01 -2.24111397e-03 1.65365918e-04 -8.39171279e-04] [ 2.24117183e-03 9.99997427e-01 -3.50533857e-04 -1.04337280e-03] [-1.64579906e-04 3.50903586e-04 9.99999925e-01 -7.19572149e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.19992885099999996 meters Centerline goodness [0,1] 0.5241480306312354 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.00 [[ 9.99982546e-01 -5.87826804e-03 -5.95045299e-04 1.17744069e-03] [ 5.87529084e-03 9.99970798e-01 -4.88717387e-03 9.61631915e-04] [ 6.23756040e-04 4.88359250e-03 9.99987881e-01 8.01838982e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.22992885099999996 meters Centerline goodness [0,1] 0.5100896177528501 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 9.99980118e-01 -6.27074037e-03 -6.63843374e-04 1.35952832e-03] [ 6.26777115e-03 9.99970747e-01 -4.38414730e-03 -2.89237394e-04] [ 6.91315804e-04 4.37989932e-03 9.99990169e-01 6.57758524e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.25992885099999996 meters Centerline goodness [0,1] 0.4789234661221007 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99964559e-01 -8.32543166e-03 -1.25238180e-03 1.42557224e-03] [ 8.32021301e-03 9.99956915e-01 -4.11602402e-03 -2.12859750e-03] [ 1.28659552e-03 4.10545806e-03 9.99990745e-01 -1.73536106e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.289928851 meters Centerline goodness [0,1] 0.46974731002529946 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 0.99996222 -0.00859466 -0.00130188 0.00192322] [ 0.00858989 0.99995654 -0.0036228 -0.00317141] [ 0.00133296 0.00361148 0.99999259 -0.00102994] [ 0. 0. 0. 1. ]] SLAMing on 0.31992885099999996 meters Centerline goodness [0,1] 0.4684925677113415 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 0.99996157 -0.00863964 -0.00148558 0.00309269] [ 0.00863468 0.99995722 -0.0033175 -0.00388178] [ 0.00151418 0.00330454 0.99999339 -0.00167412] [ 0. 0. 0. 1. ]] SLAMing on 0.349928851 meters Centerline goodness [0,1] 0.46162483687900213 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 0.99995796 -0.00899836 -0.00176375 0.00492458] [ 0.00899384 0.99995628 -0.00255768 -0.00644119] [ 0.00178669 0.00254171 0.99999517 -0.00287266] [ 0. 0. 0. 1. ]] SLAMing on 0.37992885099999996 meters Centerline goodness [0,1] 0.46857659831121834 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 0.99995805 -0.00889822 -0.00217482 0.00691496] [ 0.00889382 0.9999584 -0.00202663 -0.00838247] [ 0.00219276 0.00200721 0.99999558 -0.00368193] [ 0. 0. 0. 1. ]] SLAMing on 0.409928851 meters Centerline goodness [0,1] 0.4772822885990745 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 0.99996314 -0.00812678 -0.00277063 0.00998248] [ 0.00812181 0.99996539 -0.00180233 -0.00877046] [ 0.00278518 0.00177976 0.99999454 -0.00427576] [ 0. 0. 0. 1. ]] SLAMing on 0.43992885099999995 meters Centerline goodness [0,1] 0.48366622548429794 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 0.99998691 -0.00430049 -0.00277379 0.01107866] [ 0.00430624 0.99998858 0.00207305 -0.01013233] [ 0.00276484 -0.00208496 0.999994 -0.00460508] [ 0. 0. 0. 1. ]] SLAMing on 0.469928851 meters Centerline goodness [0,1] 0.4753503165601465 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.00 [[ 0.99998598 -0.00350188 -0.00397137 0.01621029] [ 0.00350787 0.99999272 0.00150073 -0.00937805] [ 0.00396609 -0.00151464 0.99999099 -0.00385546] [ 0. 0. 0. 1. ]] SLAMing on 0.49992885099999995 meters Centerline goodness [0,1] 0.475863104172921 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.00 [[ 0.99998546 -0.00320544 -0.00433691 0.01860211] [ 0.00321166 0.99999382 0.00142726 -0.0102089 ] [ 0.0043323 -0.00144117 0.99998958 -0.004258 ] [ 0. 0. 0. 1. ]] SLAMing on 0.5299288509999999 meters Centerline goodness [0,1] 0.4713969090691267 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 0.9999848 -0.00272942 -0.00479022 0.02175443] [ 0.00273702 0.999995 0.00158096 -0.01173225] [ 0.00478588 -0.00159405 0.99998728 -0.0052348 ] [ 0. 0. 0. 1. ]] SLAMing on 0.5599288509999999 meters Centerline goodness [0,1] 0.46778335124805925 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.01 [[ 0.99998313 -0.00274271 -0.0051199 0.02418097] [ 0.00275009 0.99999519 0.00143505 -0.01284911] [ 0.00511594 -0.0014491 0.99998586 -0.00586648] [ 0. 0. 0. 1. ]] SLAMing on 0.5899288509999999 meters Centerline goodness [0,1] 0.46549013792080673 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 0.99995485 -0.0068347 -0.00660251 0.02938581] [ 0.00681888 0.99997383 -0.00241623 -0.01275971] [ 0.00661885 0.00237109 0.99997528 -0.00553206] [ 0. 0. 0. 1. ]] SLAMing on 0.6199288509999998 meters Centerline goodness [0,1] 0.4525844163551125 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 0.99994752 -0.00742748 -0.00705654 0.03088838] [ 0.00741219 0.99997013 -0.00219034 -0.01437278] [ 0.0070726 0.00213792 0.9999727 -0.00567165] [ 0. 0. 0. 1. ]] SLAMing on 0.6499288509999999 meters Centerline goodness [0,1] 0.4473621813870776 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.01 [[ 0.99993639 -0.0082721 -0.00766718 0.03244053] [ 0.00825878 0.99996434 -0.00176637 -0.01596536] [ 0.00768152 0.00170294 0.99996905 -0.00589043] [ 0. 0. 0. 1. ]] SLAMing on 0.6799288509999999 meters Centerline goodness [0,1] 0.4510625737898465 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.01 [[ 0.99992373 -0.00928441 -0.00814415 0.03344832] [ 0.00927338 0.99995603 -0.0013906 -0.0178446 ] [ 0.0081567 0.00131497 0.99996587 -0.00577397] [ 0. 0. 0. 1. ]] SLAMing on 0.7099288509999999 meters Centerline goodness [0,1] 0.4436801881246326 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.01 [[ 0.99984651 -0.01456147 -0.00974239 0.03761316] [ 0.01451591 0.99988345 -0.00473081 -0.01899504] [ 0.00981014 0.00458866 0.99994135 -0.00527295] [ 0. 0. 0. 1. ]] SLAMing on 0.7399288509999998 meters Centerline goodness [0,1] 0.4436801881246326 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.01 [[ 0.99984651 -0.01456147 -0.00974239 0.03761316] [ 0.01451591 0.99988345 -0.00473081 -0.01899504] [ 0.00981014 0.00458866 0.99994135 -0.00527295] [ 0. 0. 0. 1. ]] SLAMing on 0.7699288509999999 meters Centerline goodness [0,1] 0.43704115358741114 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.01 [[ 0.99982492 -0.01551824 -0.01045538 0.04012172] [ 0.01547507 0.99987144 -0.00419772 -0.02155282] [ 0.01051918 0.00403519 0.99993653 -0.00636575] [ 0. 0. 0. 1. ]] SLAMing on 0.7999288509999999 meters Centerline goodness [0,1] 0.4231751930782185 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.01 [[ 0.99974832 -0.01923214 -0.01155077 0.04410083] [ 0.01914395 0.9997871 -0.00769795 -0.02127589] [ 0.01169636 0.00747488 0.99990366 -0.00679979] [ 0. 0. 0. 1. ]] SLAMing on 0.8299288509999998 meters Centerline goodness [0,1] 0.4339327146171694 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.01 [[ 0.99963592 -0.02344592 -0.01335363 0.0508732 ] [ 0.02330458 0.99967175 -0.01064345 -0.02292359] [ 0.01359879 0.01032837 0.99985419 -0.00793263] [ 0. 0. 0. 1. ]] SLAMing on 0.8599288509999998 meters Centerline goodness [0,1] 0.4410886640966929 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.03, Z:-0.01 [[ 0.99961874 -0.02373701 -0.01410391 0.05413351] [ 0.02359995 0.99967339 -0.00980608 -0.0252006 ] [ 0.01433207 0.00946949 0.99985245 -0.00940081] [ 0. 0. 0. 1. ]] SLAMing on 0.8899288509999999 meters Centerline goodness [0,1] 0.45405812639448295 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.01 [[ 0.99960213 -0.02410318 -0.01465011 0.05678079] [ 0.02397123 0.99967108 -0.00911629 -0.02728375] [ 0.01486503 0.00876148 0.99985112 -0.01068138] [ 0. 0. 0. 1. ]] SLAMing on 0.9199288509999999 meters Centerline goodness [0,1] 0.4566387040786809 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.03, Z:-0.01 [[ 0.99958494 -0.02449596 -0.01516261 0.05935982] [ 0.02437022 0.99966752 -0.00842236 -0.02939851] [ 0.01536388 0.00804935 0.99984957 -0.01192161] [ 0. 0. 0. 1. ]] SLAMing on 0.9499288509999998 meters Centerline goodness [0,1] 0.4773460917685036 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.04, Z:-0.02 [[ 0.99960712 -0.02608653 -0.01025222 0.0921242 ] [ 0.02600767 0.99963169 -0.00775135 -0.03549268] [ 0.01045065 0.00748167 0.9999174 -0.01611715] [ 0. 0. 0. 1. ]] SLAMing on 0.9799288509999998 meters Centerline goodness [0,1] 0.4865971061278608 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.04, Z:-0.02 [[ 0.99959986 -0.02611856 -0.01086022 0.09520412] [ 0.02604525 0.99963738 -0.00683797 -0.03743986] [ 0.01103488 0.00655238 0.99991765 -0.017538 ] [ 0. 0. 0. 1. ]] SLAMing on 1.009928851 meters Centerline goodness [0,1] 0.5015755543349426 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.04, Z:-0.02 [[ 0.99959135 -0.02623401 -0.01135423 0.0980377 ] [ 0.02616711 0.99963957 -0.00600107 -0.03936158] [ 0.01150757 0.00570151 0.99991753 -0.0190042 ] [ 0. 0. 0. 1. ]] SLAMing on 1.0399288509999998 meters Centerline goodness [0,1] 0.5079264059245545 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.04, Z:-0.02 [[ 0.99958394 -0.02633885 -0.01175673 0.10088478] [ 0.02627826 0.99964073 -0.0052787 -0.041417 ] [ 0.01189154 0.00496755 0.99991695 -0.02058703] [ 0. 0. 0. 1. ]] SLAMing on 1.0699288509999998 meters Centerline goodness [0,1] 0.5290813815465678 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.04, Z:-0.02 [[ 0.99957005 -0.02666611 -0.01219155 0.10354034] [ 0.02661233 0.99963546 -0.00455269 -0.04367448] [ 0.01230851 0.00422629 0.99991532 -0.0220315 ] [ 0. 0. 0. 1. ]] SLAMing on 1.0999288509999998 meters Centerline goodness [0,1] 0.5499768223432611 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.05, Z:-0.02 [[ 0.99944691 -0.03035004 -0.01359202 0.11025067] [ 0.03025048 0.99951442 -0.00747205 -0.04511932] [ 0.0138122 0.00705675 0.99987971 -0.02314261] [ 0. 0. 0. 1. ]] SLAMing on 1.1299288509999998 meters Centerline goodness [0,1] 0.5584706121618873 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.05, Z:-0.02 [[ 0.99942307 -0.03087335 -0.01415484 0.11275813] [ 0.03077812 0.99950245 -0.00689682 -0.04698857] [ 0.01436073 0.00645718 0.99987603 -0.02422222] [ 0. 0. 0. 1. ]] SLAMing on 1.1599288509999999 meters Centerline goodness [0,1] 0.547443774634825 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.05, Z:-0.03 [[ 0.99939758 -0.03144794 -0.01468031 0.11515894] [ 0.03135991 0.999489 -0.00618899 -0.04885683] [ 0.01486744 0.00572489 0.99987308 -0.02544847] [ 0. 0. 0. 1. ]] SLAMing on 1.189928851 meters Centerline goodness [0,1] 0.5588743093922652 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.05, Z:-0.03 [[ 0.99923711 -0.0353035 -0.0166994 0.12342339] [ 0.03514449 0.99933496 -0.00972156 -0.05081633] [ 0.0170315 0.00912725 0.99981329 -0.02602243] [ 0. 0. 0. 1. ]] SLAMing on 1.2199288509999997 meters Centerline goodness [0,1] 0.5569986811170365 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.05, Z:-0.03 [[ 0.99921748 -0.03563754 -0.01715764 0.1258908 ] [ 0.03549039 0.99933122 -0.00880547 -0.05362095] [ 0.01745997 0.00818964 0.99981402 -0.0274008 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2499288509999997 meters Centerline goodness [0,1] 0.5510961309692404 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:-0.03 [[ 9.99198240e-01 -3.82553487e-02 -1.18070110e-02 1.41062058e-01] [ 3.82461717e-02 9.99267845e-01 -1.00215087e-03 -5.96408527e-02] [ 1.18367040e-02 5.49774418e-04 9.99929793e-01 -3.31154889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2799288509999998 meters Centerline goodness [0,1] 0.5513659968390157 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.06, Z:-0.03 [[ 9.99177593e-01 -3.86478490e-02 -1.22670483e-02 1.43247266e-01] [ 3.86460899e-02 9.99252888e-01 -3.80503946e-04 -6.19205424e-02] [ 1.22725891e-02 -9.38824327e-05 9.99924685e-01 -3.40012072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3099288509999998 meters Centerline goodness [0,1] 0.5420811445177154 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.06, Z:-0.03 [[ 0.99899721 -0.0425324 -0.01398476 0.15043486] [ 0.04248513 0.9990904 -0.00366006 -0.06468865] [ 0.01412771 0.00306225 0.99989551 -0.03449621] [ 0. 0. 0. 1. ]] SLAMing on 1.3399288509999998 meters Centerline goodness [0,1] 0.5358365574637459 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.06, Z:-0.03 [[ 0.99884 -0.04572428 -0.01509803 0.15470843] [ 0.04562203 0.9989339 -0.00704936 -0.06495696] [ 0.01540426 0.00635238 0.99986117 -0.03481792] [ 0. 0. 0. 1. ]] SLAMing on 1.3699288509999998 meters Centerline goodness [0,1] 0.5294557540506855 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.07, Z:-0.04 [[ 0.99868072 -0.04870876 -0.01625671 0.15927028] [ 0.04854323 0.99876666 -0.01042688 -0.06516287] [ 0.01674454 0.00962397 0.99981348 -0.03516056] [ 0. 0. 0. 1. ]] SLAMing on 1.3999288509999999 meters Centerline goodness [0,1] 0.5395090879138982 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.07, Z:-0.04 [[ 0.99850502 -0.05200935 -0.01681501 0.19102825] [ 0.05183076 0.99859653 -0.01088803 -0.07005669] [ 0.01735769 0.01000021 0.99979933 -0.03672986] [ 0. 0. 0. 1. ]] SLAMing on 1.4299288509999997 meters Centerline goodness [0,1] 0.5207528560861346 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.08, Z:-0.04 [[ 0.99848322 -0.0538748 -0.01134708 0.20572549] [ 0.05385113 0.99854613 -0.00238165 -0.07573945] [ 0.01145889 0.00176698 0.99993278 -0.04225271] [ 0. 0. 0. 1. ]] SLAMing on 1.4599288509999997 meters Centerline goodness [0,1] 0.5307631442525442 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.08, Z:-0.04 [[ 0.9984238 -0.05478345 -0.01219407 0.21095532] [ 0.05473952 0.99849302 -0.00390806 -0.0759042 ] [ 0.01238979 0.00323441 0.99991801 -0.04383949] [ 0. 0. 0. 1. ]] SLAMing on 1.4899288509999997 meters Centerline goodness [0,1] 0.5148166339227243 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.08, Z:-0.04 [[ 0.99843129 -0.05444822 -0.01305185 0.2144313 ] [ 0.05440521 0.99851235 -0.00362883 -0.07677386] [ 0.01323002 0.00291305 0.99990824 -0.04453279] [ 0. 0. 0. 1. ]] SLAMing on 1.5199288509999997 meters Centerline goodness [0,1] 0.5522229775662815 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:-0.05 [[ 0.99864728 -0.05075599 -0.01128935 0.23727842] [ 0.05064299 0.99866596 -0.01007955 -0.07721892] [ 0.01178589 0.00949419 0.99988547 -0.04575028] [ 0. 0. 0. 1. ]] SLAMing on 1.5499288509999998 meters Centerline goodness [0,1] 0.5564055098818533 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:-0.05 [[ 0.99865445 -0.05040297 -0.01219993 0.24074744] [ 0.05028109 0.99868404 -0.01009926 -0.07686833] [ 0.01269291 0.00947225 0.99987458 -0.04572272] [ 0. 0. 0. 1. ]] SLAMing on 1.5799288509999998 meters Centerline goodness [0,1] 0.5588163231971253 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.05 [[ 0.99868153 -0.049586 -0.01328277 0.24500781] [ 0.04945732 0.99872769 -0.00984747 -0.07638627] [ 0.01375416 0.00917755 0.99986329 -0.04624808] [ 0. 0. 0. 1. ]] SLAMing on 1.6099288509999998 meters Centerline goodness [0,1] 0.5567825051423623 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.07, Z:-0.05 [[ 0.99898457 -0.04379378 -0.01057988 0.27498886] [ 0.04360161 0.99889115 -0.01775863 -0.07461869] [ 0.01134587 0.0172793 0.99978633 -0.04644296] [ 0. 0. 0. 1. ]] SLAMing on 1.6399288509999996 meters Centerline goodness [0,1] 0.5471230563951747 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.05 [[ 0.99901603 -0.04284488 -0.0114578 0.27903089] [ 0.04264104 0.99893754 -0.01747974 -0.07361133] [ 0.01219454 0.01697397 0.99978156 -0.04724543] [ 0. 0. 0. 1. ]] SLAMing on 1.6699288509999997 meters Centerline goodness [0,1] 0.5364025404094093 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.07, Z:-0.05 [[ 0.99904974 -0.04178261 -0.01240246 0.28366328] [ 0.04156763 0.99898913 -0.01711295 -0.07250264] [ 0.01310495 0.01658115 0.99977664 -0.04841873] [ 0. 0. 0. 1. ]] SLAMing on 1.6999288509999997 meters Centerline goodness [0,1] 0.5509653876528418 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.07, Z:-0.05 [[ 0.99927426 -0.03634594 -0.01139888 0.30255152] [ 0.03613978 0.99918824 -0.017798 -0.07095941] [ 0.01203651 0.01737313 0.99977662 -0.05401487] [ 0. 0. 0. 1. ]] SLAMing on 1.7299288509999997 meters Centerline goodness [0,1] 0.5470374716847248 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.07, Z:-0.06 [[ 0.99930923 -0.03502855 -0.01241257 0.30758889] [ 0.03480903 0.99924109 -0.01748099 -0.06850617] [ 0.01301548 0.01703685 0.99977015 -0.05544147] [ 0. 0. 0. 1. ]] SLAMing on 1.7599288509999997 meters Centerline goodness [0,1] 0.5613056671860903 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.07, Z:-0.06 [[ 0.99934735 -0.03365165 -0.01313178 0.31226606] [ 0.0334254 0.99929519 -0.01708413 -0.06606967] [ 0.01369743 0.01663404 0.99976782 -0.05679142] [ 0. 0. 0. 1. ]] SLAMing on 1.7899288509999998 meters Centerline goodness [0,1] 0.5643133064847539 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.06, Z:-0.06 [[ 0.99939754 -0.03190411 -0.01366349 0.31667594] [ 0.03167872 0.99936344 -0.01640631 -0.06352842] [ 0.01417822 0.01596359 0.99977205 -0.05816994] [ 0. 0. 0. 1. ]] SLAMing on 1.8199288509999998 meters Centerline goodness [0,1] 0.6255937182549488 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.06, Z:-0.06 [[ 0.99944516 -0.03008061 -0.01430127 0.32138771] [ 0.02985308 0.99942837 -0.01586608 -0.0604192 ] [ 0.01477036 0.01543034 0.99977184 -0.05956722] [ 0. 0. 0. 1. ]] SLAMing on 1.8499288509999996 meters Centerline goodness [0,1] 0.661177507297461 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.05, Z:-0.06 [[ 0.99969931 -0.02173389 -0.01135429 0.35176731] [ 0.02146201 0.99949246 -0.02354138 -0.05285402] [ 0.01186017 0.02329061 0.99965838 -0.05911212] [ 0. 0. 0. 1. ]] SLAMing on 1.8799288509999996 meters Centerline goodness [0,1] 0.6706744057490326 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:-0.06 [[ 0.99977681 -0.01758429 -0.01170999 0.35509413] [ 0.01735257 0.99965722 -0.01960427 -0.05105646] [ 0.0120507 0.01939669 0.99973924 -0.06107449] [ 0. 0. 0. 1. ]] SLAMing on 1.9099288509999996 meters Centerline goodness [0,1] 0.678044178044178 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.05, Z:-0.06 [[ 0.99983854 -0.01339204 -0.01198116 0.3584574 ] [ 0.01320456 0.99979124 -0.01559242 -0.04879408] [ 0.01218747 0.0154317 0.99980665 -0.06319825] [ 0. 0. 0. 1. ]] SLAMing on 1.9399288509999997 meters Centerline goodness [0,1] 0.7024277392201131 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.04, Z:-0.07 [[ 0.99992603 -0.00536957 -0.01091328 0.37281261] [ 0.00522677 0.99990091 -0.01307087 -0.04148529] [ 0.01098238 0.01301286 0.99985502 -0.06840224] [ 0. 0. 0. 1. ]] SLAMing on 1.9699288509999997 meters Centerline goodness [0,1] 0.710107877289583 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.04, Z:-0.07 [[ 0.99993459 -0.0012992 -0.01136373 0.37578122] [ 0.00118967 0.99995283 -0.00964014 -0.03796568] [ 0.01137572 0.00962599 0.99988896 -0.06974723] [ 0. 0. 0. 1. ]] SLAMing on 1.9999288509999997 meters Centerline goodness [0,1] 0.7148452911007157 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.03, Z:-0.07 [[ 0.99993273 0.00220178 -0.01138778 0.37800839] [-0.00227631 0.99997605 -0.00653592 -0.03417253] [ 0.01137312 0.0065614 0.9999138 -0.07138272] [ 0. 0. 0. 1. ]] SLAMing on 2.0299288509999998 meters Centerline goodness [0,1] 0.7186607471085598 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.03, Z:-0.07 [[ 0.99992245 0.00414287 -0.01174436 0.38215752] [-0.00421405 0.99997286 -0.00604273 -0.02936303] [ 0.011719 0.00609175 0.99991277 -0.07320841] [ 0. 0. 0. 1. ]] SLAMing on 2.0599288509999996 meters Centerline goodness [0,1] 0.7390003419582811 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.03, Z:-0.07 [[ 0.99990686 0.00688526 -0.01178432 0.38329668] [-0.00692804 0.99996955 -0.00359267 -0.02592731] [ 0.01175922 0.00367398 0.99992411 -0.07361217] [ 0. 0. 0. 1. ]] SLAMing on 2.089928851 meters Centerline goodness [0,1] 0.726252356200377 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.02, Z:-0.07 [[ 0.99989352 0.00732471 -0.01262129 0.3868545 ] [-0.00738113 0.99996295 -0.00443007 -0.0208072 ] [ 0.01258837 0.00452275 0.99991053 -0.07425981] [ 0. 0. 0. 1. ]] SLAMing on 2.1199288509999996 meters Centerline goodness [0,1] 0.7514749905542477 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.01, Z:-0.08 [[ 0.99988309 0.00891701 -0.01242148 0.39112407] [-0.00897141 0.99995038 -0.00433047 -0.01214709] [ 0.01238225 0.0044414 0.99991347 -0.07635833] [ 0. 0. 0. 1. ]] SLAMing on 2.149928851 meters Centerline goodness [0,1] 0.7571134020618557 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.01, Z:-0.08 [[ 0.99986834 0.00912539 -0.01341728 0.39451231] [-0.00919561 0.9999443 -0.00518136 -0.0073864 ] [ 0.01336925 0.00530406 0.99989656 -0.07699862] [ 0. 0. 0. 1. ]] SLAMing on 2.1799288509999997 meters Centerline goodness [0,1] 0.7570491221847846 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.00, Z:-0.08 [[ 0.99985643 0.0089842 -0.01436709 0.39741813] [-0.00907613 0.99993867 -0.00634619 -0.00268913] [ 0.01430919 0.00647568 0.99987665 -0.07715072] [ 0. 0. 0. 1. ]] SLAMing on 2.2099288509999995 meters Centerline goodness [0,1] 0.7490067010614956 Centerline is valid? [False, False] Translation: X:0.40, Y:0.00, Z:-0.08 [[ 0.99984614 0.00881445 -0.01516556 0.40005791] [-0.00892613 0.99993343 -0.00731179 0.00165383] [ 0.0151001 0.00744603 0.99985826 -0.07761502] [ 0. 0. 0. 1. ]] SLAMing on 2.2399288509999997 meters Centerline goodness [0,1] 0.7484640513081787 Centerline is valid? [False, False] Translation: X:0.40, Y:0.01, Z:-0.08 [[ 0.99985273 0.00822775 -0.01506079 0.40279942] [-0.00836126 0.99992611 -0.00882377 0.01025408] [ 0.01498708 0.0089484 0.99984765 -0.07883825] [ 0. 0. 0. 1. ]] SLAMing on 2.2699288509999995 meters Centerline goodness [0,1] 0.7413668848717795 Centerline is valid? [False, False] Translation: X:0.41, Y:0.01, Z:-0.08 [[ 0.99983578 0.00825465 -0.01613299 0.40610472] [-0.00840954 0.99991897 -0.00955685 0.01452601] [ 0.0160528 0.00969096 0.99982418 -0.07942674] [ 0. 0. 0. 1. ]] SLAMing on 2.2999288509999998 meters Centerline goodness [0,1] 0.7460705342866625 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.08 [[ 0.99982477 0.00784666 -0.01699559 0.4083552 ] [-0.00803002 0.99991 -0.01074736 0.01933418] [ 0.01690973 0.01088195 0.9997978 -0.07932792] [ 0. 0. 0. 1. ]] SLAMing on 2.3299288509999996 meters Centerline goodness [0,1] 0.7553820241923136 Centerline is valid? [False, False] Translation: X:0.41, Y:0.03, Z:-0.08 [[ 0.99982699 0.00701497 -0.01722749 0.41081488] [-0.00723457 0.99989295 -0.01271821 0.02888283] [ 0.01713642 0.01284065 0.9997707 -0.07925086] [ 0. 0. 0. 1. ]] SLAMing on 2.359928851 meters Centerline goodness [0,1] 0.7499616175883563 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:-0.09 [[ 0.99991716 0.00403379 -0.0122234 0.42121483] [-0.0040687 0.99998771 -0.00283247 0.03051007] [ 0.01221182 0.00288197 0.99992128 -0.08545638] [ 0. 0. 0. 1. ]] SLAMing on 2.3899288509999996 meters Centerline goodness [0,1] 0.7571892895836558 Centerline is valid? [False, False] Translation: X:0.42, Y:0.04, Z:-0.09 [[ 0.99990465 0.00387653 -0.01325385 0.42383015] [-0.00393208 0.99998358 -0.00416783 0.0357807 ] [ 0.01323747 0.00421955 0.99990348 -0.08513422] [ 0. 0. 0. 1. ]] SLAMing on 2.4199288509999994 meters Centerline goodness [0,1] 0.7100745567320343 Centerline is valid? [False, False] Translation: X:0.42, Y:0.04, Z:-0.08 [[ 0.99991582 0.00124265 -0.01291526 0.42289236] [-0.00130891 0.99998602 -0.00512303 0.03980505] [ 0.01290871 0.0051395 0.99990347 -0.08485709] [ 0. 0. 0. 1. ]] SLAMing on 2.4499288509999997 meters Centerline goodness [0,1] 0.6858540255831452 Centerline is valid? [False, False] Translation: X:0.42, Y:0.04, Z:-0.08 [[ 9.99903485e-01 5.56833926e-04 -1.38820557e-02 4.24623514e-01] [-6.33396045e-04 9.99984612e-01 -5.51139954e-03 4.09230104e-02] [ 1.38787732e-02 5.51966044e-03 9.99888450e-01 -8.48020421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4799288509999995 meters Centerline goodness [0,1] 0.6778441231929604 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:-0.08 [[ 9.99889939e-01 2.29358875e-04 -1.48343406e-02 4.26567791e-01] [-3.13931782e-04 9.99983711e-01 -5.69907982e-03 4.12804122e-02] [ 1.48327919e-02 5.70310954e-03 9.99873723e-01 -8.47689434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5099288509999997 meters Centerline goodness [0,1] 0.6855207184496612 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:-0.08 [[ 9.99872603e-01 6.53852347e-04 -1.59483325e-02 4.29540795e-01] [-7.47015636e-04 9.99982690e-01 -5.83631172e-03 4.17777774e-02] [ 1.59442404e-02 5.84748185e-03 9.99855784e-01 -8.47276909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5399288509999995 meters Centerline goodness [0,1] 0.6960175603637504 Centerline is valid? [False, False] Translation: X:0.43, Y:0.04, Z:-0.09 [[ 0.99986224 0.00162639 -0.01651824 0.43385182] [-0.00170882 0.99998615 -0.00497702 0.03998148] [ 0.01650992 0.00500456 0.99985118 -0.08656489] [ 0. 0. 0. 1. ]] SLAMing on 2.569928851 meters Centerline goodness [0,1] 0.5678367440658993 Centerline is valid? [False, False] Translation: X:0.50, Y:0.04, Z:-0.07 [[ 0.9996803 -0.00263106 -0.02514699 0.49543766] [ 0.00223073 0.99987055 -0.01593419 0.04442975] [ 0.02518566 0.015873 0.99955677 -0.07476403] [ 0. 0. 0. 1. ]] SLAMing on 2.5999288509999996 meters Centerline goodness [0,1] 0.728793872041188 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:-0.07 [[ 0.99970118 0.00642282 -0.02358602 0.44096355] [-0.00705427 0.99961627 -0.02678715 0.04559888] [ 0.02340492 0.02694552 0.99936287 -0.07356063] [ 0. 0. 0. 1. ]] SLAMing on 2.6299288509999994 meters Centerline goodness [0,1] 0.7342723299902537 Centerline is valid? [False, False] Translation: X:0.45, Y:0.04, Z:-0.08 [[ 0.99980711 0.00585242 -0.01874806 0.45221726] [-0.00610988 0.99988742 -0.0137045 0.04174684] [ 0.01866574 0.0138164 0.99973031 -0.08095087] [ 0. 0. 0. 1. ]] SLAMing on 2.6599288509999996 meters Centerline goodness [0,1] 0.7342723299902537 Centerline is valid? [False, False] Translation: X:0.45, Y:0.04, Z:-0.08 [[ 0.99980711 0.00585242 -0.01874806 0.45221726] [-0.00610988 0.99988742 -0.0137045 0.04174684] [ 0.01866574 0.0138164 0.99973031 -0.08095087] [ 0. 0. 0. 1. ]] SLAMing on 2.6899288509999995 meters Centerline goodness [0,1] 0.7621734060323364 Centerline is valid? [False, False] Translation: X:0.46, Y:0.04, Z:-0.08 [[ 0.99974852 0.01108505 -0.01949431 0.45605064] [-0.01126682 0.99989384 -0.00923942 0.04148239] [ 0.01938983 0.00945674 0.99976728 -0.08163629] [ 0. 0. 0. 1. ]] SLAMing on 2.7199288509999997 meters Centerline goodness [0,1] 0.7885232492292205 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:-0.09 [[ 9.99857194e-01 9.26038870e-03 -1.41363675e-02 4.67990720e-01] [-9.24854397e-03 9.99956824e-01 9.03036025e-04 3.83585345e-02] [ 1.41441196e-02 -7.72166250e-04 9.99899669e-01 -8.75255806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7499288509999995 meters Centerline goodness [0,1] 0.7931001860553121 Centerline is valid? [False, False] Translation: X:0.47, Y:0.04, Z:-0.09 [[ 9.99824416e-01 1.04502309e-02 -1.55541225e-02 4.72031260e-01] [-1.04436746e-02 9.99945337e-01 5.02680450e-04 3.97432099e-02] [ 1.55585253e-02 -3.40149993e-04 9.99878901e-01 -8.69245277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7799288509999998 meters Centerline goodness [0,1] 0.8128066343810337 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:-0.09 [[ 9.99750218e-01 1.35227951e-02 -1.77942664e-02 4.79586998e-01] [-1.35142232e-02 9.99908498e-01 6.01886664e-04 4.06408117e-02] [ 1.78007774e-02 -3.61260636e-04 9.99841488e-01 -8.65377939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8099288509999996 meters Centerline goodness [0,1] 0.8199076124786433 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:-0.09 [[ 9.99716723e-01 1.43660294e-02 -1.89760369e-02 4.82639021e-01] [-1.43583414e-02 9.99896767e-01 5.41331550e-04 4.02099635e-02] [ 1.89818548e-02 -2.68713787e-04 9.99819792e-01 -8.60885223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8399288509999994 meters Centerline goodness [0,1] 0.8209853090172239 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:-0.09 [[ 9.99666660e-01 1.59144601e-02 -2.03297393e-02 4.86851041e-01] [-1.59139939e-02 9.99873347e-01 1.84721458e-04 4.13719919e-02] [ 2.03301042e-02 1.38867464e-04 9.99793312e-01 -8.54636453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8699288509999996 meters Centerline goodness [0,1] 0.8213650793650793 Centerline is valid? [False, False] Translation: X:0.49, Y:0.04, Z:-0.08 [[ 9.99613033e-01 1.75712100e-02 -2.15647334e-02 4.91066258e-01] [-1.75822813e-02 9.99845367e-01 -3.23891669e-04 4.33934079e-02] [ 2.15557076e-02 7.02923542e-04 9.99767402e-01 -8.48612884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8999288509999994 meters Centerline goodness [0,1] 0.817797812312833 Centerline is valid? [False, False] Translation: X:0.51, Y:0.04, Z:-0.08 [[ 0.99945845 0.02553037 -0.0207609 0.5123801 ] [-0.02568527 0.99964394 -0.00722916 0.04417447] [ 0.02056895 0.00775849 0.99975833 -0.08016375] [ 0. 0. 0. 1. ]] SLAMing on 2.9299288509999997 meters Centerline goodness [0,1] 0.8207195245321194 Centerline is valid? [False, False] Translation: X:0.52, Y:0.05, Z:-0.08 [[ 0.99941039 0.02653369 -0.02179059 0.51524663] [-0.02670805 0.99961323 -0.00774989 0.04571522] [ 0.02157653 0.0083273 0.99973252 -0.07912222] [ 0. 0. 0. 1. ]] SLAMing on 2.9599288509999995 meters Centerline goodness [0,1] 0.8251139528994682 Centerline is valid? [False, False] Translation: X:0.52, Y:0.05, Z:-0.08 [[ 0.99936201 0.02746462 -0.02283123 0.51817103] [-0.02765446 0.9995852 -0.00804117 0.04685183] [ 0.02260091 0.00866742 0.99970699 -0.07850277] [ 0. 0. 0. 1. ]] SLAMing on 2.9899288509999997 meters Centerline goodness [0,1] 0.8263416178565774 Centerline is valid? [False, False] Translation: X:0.53, Y:0.04, Z:-0.08 [[ 0.99941699 0.02835486 -0.01901804 0.53486596] [-0.02829903 0.99959439 0.00319804 0.04435964] [ 0.01910101 -0.00265799 0.99981403 -0.08468577] [ 0. 0. 0. 1. ]] SLAMing on 3.0199288509999995 meters Centerline goodness [0,1] 0.8240688041484854 Centerline is valid? [False, False] Translation: X:0.55, Y:0.04, Z:-0.09 [[ 0.99955766 0.02627994 -0.01392278 0.54878652] [-0.02611969 0.99959187 0.01156926 0.04309789] [ 0.01422114 -0.01120049 0.99983614 -0.09040398] [ 0. 0. 0. 1. ]] SLAMing on 3.0499288509999993 meters Centerline goodness [0,1] 0.8273760396165323 Centerline is valid? [False, False] Translation: X:0.55, Y:0.05, Z:-0.09 [[ 0.99959963 0.02390676 -0.01513431 0.55279996] [-0.02381282 0.99969622 0.00635714 0.04656198] [ 0.01528169 -0.0059942 0.99986526 -0.08867767] [ 0. 0. 0. 1. ]] SLAMing on 3.0799288509999996 meters Centerline goodness [0,1] 0.8273119097420295 Centerline is valid? [False, False] Translation: X:0.56, Y:0.05, Z:-0.09 [[ 0.99963612 0.02145941 -0.01634415 0.55681059] [-0.02143938 0.99976917 0.00139956 0.04955661] [ 0.01637041 -0.00104864 0.99986545 -0.08729942] [ 0. 0. 0. 1. ]] SLAMing on 3.1099288509999994 meters Centerline goodness [0,1] 0.8277624353236199 Centerline is valid? [False, False] Translation: X:0.56, Y:0.05, Z:-0.09 [[ 9.99620657e-01 2.17339913e-02 -1.69167578e-02 5.58241216e-01] [-2.17173193e-02 9.99763468e-01 1.16863580e-03 4.96104821e-02] [ 1.69381555e-02 -8.00805853e-04 9.99856218e-01 -8.69638760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1399288509999996 meters Centerline goodness [0,1] 0.826333819704371 Centerline is valid? [False, False] Translation: X:0.56, Y:0.05, Z:-0.09 [[ 9.99599247e-01 2.21438368e-02 -1.76350868e-02 5.60018563e-01] [-2.21411818e-02 9.99754794e-01 3.45807324e-04 5.04040650e-02] [ 1.76384200e-02 4.47929212e-05 9.99844430e-01 -8.54450922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1699288509999994 meters Centerline goodness [0,1] 0.8267452172811351 Centerline is valid? [False, False] Translation: X:0.56, Y:0.05, Z:-0.08 [[ 9.99594828e-01 2.20502281e-02 -1.79991187e-02 5.60503877e-01] [-2.20537439e-02 9.99756787e-01 3.15632532e-06 5.08023010e-02] [ 1.79948106e-02 3.93792907e-04 9.99838003e-01 -8.47847756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1999288509999997 meters Centerline goodness [0,1] 0.8284171298635674 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.09 [[ 0.99975868 0.01832506 -0.01211513 0.57199001] [-0.01823521 0.9998057 0.00748602 0.04933555] [ 0.01224996 -0.00726329 0.99989859 -0.08953362] [ 0. 0. 0. 1. ]] SLAMing on 3.2299288509999995 meters Centerline goodness [0,1] 0.8287651789938495 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.09 [[ 0.99980576 0.01477369 -0.01304563 0.5738379 ] [-0.01474916 0.99988928 0.00197425 0.05233784] [ 0.01307335 -0.00178145 0.99991295 -0.08691696] [ 0. 0. 0. 1. ]] SLAMing on 3.2599288509999993 meters Centerline goodness [0,1] 0.8294590758555433 Centerline is valid? [False, False] Translation: X:0.57, Y:0.05, Z:-0.09 [[ 0.99980969 0.01433171 -0.01323563 0.5735836 ] [-0.01431274 0.9998964 0.00152682 0.05252634] [ 0.01325614 -0.00133709 0.99991124 -0.08612632] [ 0. 0. 0. 1. ]] SLAMing on 3.2899288509999995 meters Centerline goodness [0,1] 0.8300479488545551 Centerline is valid? [False, False] Translation: X:0.58, Y:0.05, Z:-0.09 [[ 0.99983877 0.01101184 -0.01418335 0.57623528] [-0.01105698 0.99993404 -0.00310843 0.05482616] [ 0.01414819 0.00326475 0.99989458 -0.08525755] [ 0. 0. 0. 1. ]] SLAMing on 3.3199288509999993 meters Centerline goodness [0,1] 0.8304291858968321 Centerline is valid? [False, False] Translation: X:0.58, Y:0.05, Z:-0.09 [[ 0.99984291 0.01056526 -0.01423136 0.576006 ] [-0.01060946 0.99993912 -0.00303378 0.05398402] [ 0.01419844 0.00318429 0.99989413 -0.08550121] [ 0. 0. 0. 1. ]] SLAMing on 3.3499288509999996 meters Centerline goodness [0,1] 0.8326240690906815 Centerline is valid? [False, False] Translation: X:0.58, Y:0.05, Z:-0.09 [[ 0.99984416 0.01019534 -0.01441208 0.57620108] [-0.01023851 0.99994331 -0.00292419 0.0533537 ] [ 0.01438145 0.0030713 0.99989186 -0.08590154] [ 0. 0. 0. 1. ]] SLAMing on 3.3799288509999994 meters Centerline goodness [0,1] 0.8351378258975795 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.09 [[ 0.99995081 0.00456463 -0.00880542 0.58707629] [-0.00452313 0.9999786 0.00472698 0.05053679] [ 0.00882681 -0.00468692 0.99995006 -0.09265395] [ 0. 0. 0. 1. ]] SLAMing on 3.4099288509999996 meters Centerline goodness [0,1] 0.8370849396841189 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.09 [[ 0.99995416 0.00377578 -0.00879951 0.58623993] [-0.00373723 0.99998337 0.00439263 0.0500042 ] [ 0.00881595 -0.00435955 0.99995164 -0.09219131] [ 0. 0. 0. 1. ]] SLAMing on 3.4399288509999995 meters Centerline goodness [0,1] 0.8375489404014667 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.09 [[ 0.99995595 0.00325206 -0.00880515 0.58582074] [-0.00321579 0.9999863 0.0041302 0.04958424] [ 0.00881847 -0.0041017 0.9999527 -0.09190779] [ 0. 0. 0. 1. ]] SLAMing on 3.4699288509999993 meters Centerline goodness [0,1] 0.8443637717583543 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.09 [[ 9.99956518e-01 -7.63927865e-04 -9.29396851e-03 5.86758481e-01] [ 7.55762830e-04 9.99999325e-01 -8.82010894e-04 5.19886581e-02] [ 9.29463603e-03 8.74948507e-04 9.99956421e-01 -9.05231407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4999288509999995 meters Centerline goodness [0,1] 0.8444472026561579 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.09 [[ 9.99954652e-01 -8.76176444e-04 -9.48294601e-03 5.87115074e-01] [ 8.69503896e-04 9.99999372e-01 -7.07736531e-04 5.16657476e-02] [ 9.48356015e-03 6.99458978e-04 9.99954785e-01 -9.08110771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5299288509999993 meters Centerline goodness [0,1] 0.8420092171600012 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.09 [[ 9.99952874e-01 -1.04966701e-03 -9.65136453e-03 5.87385363e-01] [ 1.04129583e-03 9.99999077e-01 -8.72340389e-04 5.19976139e-02] [ 9.65227129e-03 8.62249353e-04 9.99953044e-01 -9.07071236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5599288509999996 meters Centerline goodness [0,1] 0.8397412085190689 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.09 [[ 0.99995259 -0.00188616 -0.00955313 0.58605238] [ 0.00187311 0.9999973 -0.00137441 0.05293157] [ 0.00955569 0.00135645 0.99995342 -0.08976668] [ 0. 0. 0. 1. ]] SLAMing on 3.5899288509999994 meters Centerline goodness [0,1] 0.8397412085190689 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.09 [[ 0.99995259 -0.00188616 -0.00955313 0.58605238] [ 0.00187311 0.9999973 -0.00137441 0.05293157] [ 0.00955569 0.00135645 0.99995342 -0.08976668] [ 0. 0. 0. 1. ]] SLAMing on 3.6199288509999996 meters Centerline goodness [0,1] 0.831371212590619 Centerline is valid? [False, False] Translation: X:0.58, Y:0.05, Z:-0.09 [[ 0.99995553 -0.002941 -0.00895991 0.58372786] [ 0.00292586 0.99999427 -0.00170288 0.05305987] [ 0.00896487 0.00167659 0.99995841 -0.08927072] [ 0. 0. 0. 1. ]] SLAMing on 3.6499288509999994 meters Centerline goodness [0,1] 0.824249751984127 Centerline is valid? [False, False] Translation: X:0.58, Y:0.05, Z:-0.09 [[ 0.9999552 -0.0033694 -0.00884516 0.58295911] [ 0.00335552 0.99999312 -0.00158404 0.05238262] [ 0.00885044 0.00155429 0.99995963 -0.08924867] [ 0. 0. 0. 1. ]] SLAMing on 3.6799288509999992 meters Centerline goodness [0,1] 0.8146356589147287 Centerline is valid? [False, False] Translation: X:0.58, Y:0.05, Z:-0.09 [[ 0.99995554 -0.00397921 -0.00854876 0.58167392] [ 0.00396739 0.99999115 -0.00139821 0.05146933] [ 0.00855425 0.00136424 0.99996248 -0.08936317] [ 0. 0. 0. 1. ]] SLAMing on 3.7099288509999995 meters Centerline goodness [0,1] 0.8031554524361949 Centerline is valid? [False, False] Translation: X:0.58, Y:0.05, Z:-0.09 [[ 0.99995483 -0.00446501 -0.00839054 0.58080173] [ 0.00445396 0.99998919 -0.00133477 0.05080192] [ 0.0083964 0.00129734 0.99996391 -0.089265 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7399288509999993 meters Centerline goodness [0,1] 0.8021091044037605 Centerline is valid? [False, False] Translation: X:0.58, Y:0.05, Z:-0.09 [[ 0.99995332 -0.00400367 -0.00879319 0.58213466] [ 0.00399423 0.99999143 -0.00109047 0.05074729] [ 0.00879748 0.00105529 0.99996074 -0.08952326] [ 0. 0. 0. 1. ]] SLAMing on 3.7699288509999995 meters Centerline goodness [0,1] 0.808364312267658 Centerline is valid? [False, False] Translation: X:0.58, Y:0.05, Z:-0.09 [[ 9.99952624e-01 -3.62180472e-03 -9.03511034e-03 5.83228082e-01] [ 3.61515870e-03 9.99993183e-01 -7.51800389e-04 5.02148742e-02] [ 9.03777162e-03 7.19101414e-04 9.99958900e-01 -9.00873274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7999288509999993 meters Centerline goodness [0,1] 0.8056921887084301 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.09 [[ 9.99951566e-01 -2.80516086e-03 -9.43380371e-03 5.85303444e-01] [ 2.80830952e-03 9.99996005e-01 3.20532981e-04 4.80508323e-02] [ 9.43286688e-03 -3.47010497e-04 9.99955449e-01 -9.17918601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8299288509999996 meters Centerline goodness [0,1] 0.8098842934515017 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.09 [[ 9.99949257e-01 -2.21028021e-03 -9.82848093e-03 5.86957725e-01] [ 2.21823470e-03 9.99997221e-01 7.98503091e-04 4.67615058e-02] [ 9.82668870e-03 -8.20264449e-04 9.99951380e-01 -9.24609783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8599288509999994 meters Centerline goodness [0,1] 0.8127075901094846 Centerline is valid? [False, False] Translation: X:0.59, Y:0.05, Z:-0.09 [[ 0.99994809 -0.00192383 -0.01000573 0.58774143] [ 0.00193454 0.99999757 0.0010603 0.04585748] [ 0.01000367 -0.0010796 0.99994938 -0.09280251] [ 0. 0. 0. 1. ]] SLAMing on 3.889928850999999 meters Centerline goodness [0,1] 0.8138373311956588 Centerline is valid? [False, False] Translation: X:0.59, Y:0.04, Z:-0.09 [[ 0.99994801 -0.00186458 -0.01002527 0.58769093] [ 0.00187659 0.99999753 0.00118863 0.04492557] [ 0.01002303 -0.00120738 0.99994904 -0.0926557 ] [ 0. 0. 0. 1. ]] SLAMing on 3.9199288509999994 meters Centerline goodness [0,1] 0.8048773006134969 Centerline is valid? [False, False] Translation: X:0.59, Y:0.04, Z:-0.09 [[ 9.99948215e-01 -2.49741146e-03 -9.86562745e-03 5.85994114e-01] [ 2.50473713e-03 9.99996597e-01 7.30259406e-04 4.33120577e-02] [ 9.86377011e-03 -7.54932393e-04 9.99951067e-01 -9.08481690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9499288509999992 meters Centerline goodness [0,1] 0.798626441010547 Centerline is valid? [False, False] Translation: X:0.58, Y:0.04, Z:-0.09 [[ 9.99948974e-01 -3.07627080e-03 -9.62214946e-03 5.84422716e-01] [ 3.08147146e-03 9.99995114e-01 5.25708895e-04 4.24854949e-02] [ 9.62048522e-03 -5.55332450e-04 9.99953568e-01 -8.98485542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9799288509999995 meters Centerline goodness [0,1] 0.8066264506843862 Centerline is valid? [False, False] Translation: X:0.58, Y:0.04, Z:-0.09 [[ 9.99947908e-01 -3.36765062e-03 -9.63537470e-03 5.83755728e-01] [ 3.37395275e-03 9.99994105e-01 6.37880901e-04 4.11273257e-02] [ 9.63316974e-03 -6.70356972e-04 9.99953375e-01 -8.92682753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.009928851 meters Centerline goodness [0,1] 0.7983229281429796 Centerline is valid? [False, False] Translation: X:0.58, Y:0.04, Z:-0.09 [[ 0.99994755 -0.00353161 -0.0096143 0.58335103] [ 0.00354202 0.99999316 0.00106543 0.03928532] [ 0.00961048 -0.00109943 0.99995321 -0.08931291] [ 0. 0. 0. 1. ]] SLAMing on 4.039928851 meters Centerline goodness [0,1] 0.782341300045669 Centerline is valid? [False, False] Translation: X:0.58, Y:0.04, Z:-0.09 [[ 0.99994527 -0.00437557 -0.00950361 0.58215434] [ 0.00439065 0.99998913 0.00156674 0.03519282] [ 0.00949665 -0.00160838 0.99995361 -0.08946324] [ 0. 0. 0. 1. ]] SLAMing on 4.069928851 meters Centerline goodness [0,1] 0.7720032765996178 Centerline is valid? [False, False] Translation: X:0.58, Y:0.03, Z:-0.09 [[ 0.99994577 -0.00449089 -0.00939633 0.5819735 ] [ 0.00451157 0.99998745 0.00218058 0.03270932] [ 0.00938642 -0.00222286 0.99995348 -0.09015462] [ 0. 0. 0. 1. ]] SLAMing on 4.099928851 meters Centerline goodness [0,1] 0.7626668277069871 Centerline is valid? [False, False] Translation: X:0.58, Y:0.03, Z:-0.09 [[ 0.99994562 -0.00447974 -0.00941746 0.58224644] [ 0.00450694 0.99998573 0.00286909 0.03021499] [ 0.00940448 -0.00291138 0.99995154 -0.09096896] [ 0. 0. 0. 1. ]] SLAMing on 4.129928851 meters Centerline goodness [0,1] 0.7546028962723342 Centerline is valid? [False, False] Translation: X:0.58, Y:0.03, Z:-0.09 [[ 0.99994574 -0.00459856 -0.0093467 0.58196443] [ 0.00463084 0.99998338 0.00343473 0.02791423] [ 0.00933075 -0.00347782 0.99995042 -0.09140129] [ 0. 0. 0. 1. ]] SLAMing on 4.159928851 meters Centerline goodness [0,1] 0.750730663774142 Centerline is valid? [False, False] Translation: X:0.58, Y:0.03, Z:-0.09 [[ 0.99994503 -0.00478018 -0.00933214 0.58169205] [ 0.00481502 0.99998151 0.00371351 0.02613183] [ 0.00931422 -0.00375824 0.99994956 -0.09141668] [ 0. 0. 0. 1. ]] SLAMing on 4.1899288509999995 meters Centerline goodness [0,1] 0.7428271308523409 Centerline is valid? [False, False] Translation: X:0.58, Y:0.02, Z:-0.09 [[ 0.99994174 -0.00563254 -0.00920859 0.57991116] [ 0.00566759 0.99997678 0.00378383 0.02330623] [ 0.00918706 -0.0038358 0.99995044 -0.09029238] [ 0. 0. 0. 1. ]] SLAMing on 4.219928851 meters Centerline goodness [0,1] 0.7398478677527551 Centerline is valid? [False, False] Translation: X:0.58, Y:0.02, Z:-0.09 [[ 0.99994049 -0.00602048 -0.00909789 0.57895331] [ 0.00605551 0.99997434 0.00382833 0.02163739] [ 0.00907461 -0.0038832 0.99995128 -0.08965855] [ 0. 0. 0. 1. ]] SLAMing on 4.249928851 meters Centerline goodness [0,1] 0.7296829282856632 Centerline is valid? [False, False] Translation: X:0.58, Y:0.02, Z:-0.09 [[ 9.99907119e-01 -9.86589578e-03 -9.40308164e-03 5.79085784e-01] [ 9.86731611e-03 9.99951311e-01 1.04668004e-04 1.92053120e-02] [ 9.40159117e-03 -1.97441462e-04 9.99955785e-01 -8.85758957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.279928851 meters Centerline goodness [0,1] 0.7256403407235925 Centerline is valid? [False, False] Translation: X:0.58, Y:0.02, Z:-0.09 [[ 9.99906111e-01 -9.88622989e-03 -9.48848759e-03 5.79186346e-01] [ 9.89500813e-03 9.99950657e-01 8.78645704e-04 1.61141598e-02] [ 9.47933291e-03 -9.72451871e-04 9.99954597e-01 -8.90520100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.309928851 meters Centerline goodness [0,1] 0.7239303821863788 Centerline is valid? [False, False] Translation: X:0.58, Y:0.01, Z:-0.09 [[ 0.99990639 -0.00988463 -0.0094612 0.57913568] [ 0.00990059 0.99994964 0.0016415 0.01343817] [ 0.0094445 -0.00173502 0.99995389 -0.08964352] [ 0. 0. 0. 1. ]] SLAMing on 4.339928851 meters Centerline goodness [0,1] 0.7185798816568048 Centerline is valid? [False, False] Translation: X:0.58, Y:0.01, Z:-0.09 [[ 0.99990709 -0.00973465 -0.0095423 0.57945636] [ 0.00975922 0.99994917 0.00253174 0.01037105] [ 0.00951717 -0.00262463 0.99995127 -0.09031496] [ 0. 0. 0. 1. ]] SLAMing on 4.369928851 meters Centerline goodness [0,1] 0.7166701070449117 Centerline is valid? [False, False] Translation: X:0.58, Y:0.01, Z:-0.09 [[ 0.99990669 -0.00980254 -0.00951478 0.57942768] [ 0.00983364 0.99994644 0.0032277 0.00776008] [ 0.00948263 -0.00332097 0.99994952 -0.09093333] [ 0. 0. 0. 1. ]] SLAMing on 4.399928850999999 meters Centerline goodness [0,1] 0.7183413171892908 Centerline is valid? [False, False] Translation: X:0.58, Y:0.00, Z:-0.09 [[ 0.99990456 -0.00995839 -0.00957589 0.5791372 ] [ 0.0099993 0.99994104 0.00423354 0.00312779] [ 0.00953316 -0.00432889 0.99994519 -0.09131428] [ 0. 0. 0. 1. ]] SLAMing on 4.429928851 meters Centerline goodness [0,1] 0.7178690734337455 Centerline is valid? [False, False] Translation: X:0.58, Y:0.00, Z:-0.09 [[ 9.99904938e-01 -9.53158747e-03 -9.96311772e-03 5.80283525e-01] [ 9.58002544e-03 9.99942468e-01 4.82536228e-03 8.81406314e-04] [ 9.91655115e-03 -4.92035050e-03 9.99938724e-01 -9.15896158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.459928851 meters Centerline goodness [0,1] 0.7164240311667008 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.00, Z:-0.09 [[ 9.99905591e-01 -9.33658253e-03 -1.00815648e-02 5.80497706e-01] [ 9.38937059e-03 9.99942390e-01 5.20152337e-03 -8.28232844e-04] [ 1.00324195e-02 -5.29569185e-03 9.99935651e-01 -9.15460494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.489928851 meters Centerline goodness [0,1] 0.7174941588785047 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.00, Z:-0.09 [[ 0.99990638 -0.0090702 -0.01024513 0.58099932] [ 0.00912663 0.99994337 0.00547402 -0.00230517] [ 0.0101949 -0.00556701 0.99993253 -0.09146883] [ 0. 0. 0. 1. ]] SLAMing on 4.5199288509999995 meters Centerline goodness [0,1] 0.7216732254773357 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.00, Z:-0.09 [[ 0.99990736 -0.00868177 -0.01048365 0.58103154] [ 0.00873994 0.99994659 0.00551622 -0.00400416] [ 0.0104352 -0.00560733 0.99992983 -0.09015597] [ 0. 0. 0. 1. ]] SLAMing on 4.549928851 meters Centerline goodness [0,1] 0.7216732254773357 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.00, Z:-0.09 [[ 0.99990736 -0.00868177 -0.01048365 0.58103154] [ 0.00873994 0.99994659 0.00551622 -0.00400416] [ 0.0104352 -0.00560733 0.99992983 -0.09015597] [ 0. 0. 0. 1. ]] SLAMing on 4.579928851 meters Centerline goodness [0,1] 0.7235829251224632 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.00, Z:-0.09 [[ 0.99990741 -0.00846939 -0.0106506 0.58120464] [ 0.00852784 0.99994876 0.00545426 -0.00458431] [ 0.01060386 -0.00554459 0.99992841 -0.08946524] [ 0. 0. 0. 1. ]] SLAMing on 4.609928850999999 meters Centerline goodness [0,1] 0.7240967713761681 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.09 [[ 0.99990856 -0.00813212 -0.01080443 0.58157765] [ 0.00819306 0.99995071 0.00560801 -0.00573433] [ 0.01075829 -0.00569602 0.9999259 -0.08911811] [ 0. 0. 0. 1. ]] SLAMing on 4.639928851 meters Centerline goodness [0,1] 0.7597531151741004 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.09 [[ 0.99990952 -0.00791916 -0.01087406 0.5816466 ] [ 0.00798354 0.99995079 0.00588946 -0.00711355] [ 0.01082689 -0.00597574 0.99992353 -0.08890746] [ 0. 0. 0. 1. ]] SLAMing on 4.669928851 meters Centerline goodness [0,1] 0.7606837606837606 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.09 [[ 0.99991012 -0.00738913 -0.01118679 0.58238243] [ 0.00745995 0.99995231 0.00630261 -0.01011308] [ 0.01113969 -0.0063855 0.99991756 -0.08839771] [ 0. 0. 0. 1. ]] SLAMing on 4.699928851 meters Centerline goodness [0,1] 0.7649668048589569 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.09 [[ 0.99991087 -0.00707038 -0.01132501 0.58278028] [ 0.00714577 0.99995248 0.00663072 -0.01148768] [ 0.01127759 -0.00671105 0.99991389 -0.08834998] [ 0. 0. 0. 1. ]] SLAMing on 4.7299288509999995 meters Centerline goodness [0,1] 0.7255162454873646 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.09 [[ 0.99991007 -0.00671354 -0.01160934 0.58319646] [ 0.00679494 0.99995251 0.00698595 -0.01374066] [ 0.01156189 -0.00706421 0.99990821 -0.0877669 ] [ 0. 0. 0. 1. ]] SLAMing on 4.759928851 meters Centerline goodness [0,1] 0.763658437879401 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.02, Z:-0.09 [[ 0.99990895 -0.00656759 -0.01178781 0.58336892] [ 0.00665297 0.99995182 0.00721842 -0.01511623] [ 0.01173984 -0.00729618 0.99990447 -0.0874025 ] [ 0. 0. 0. 1. ]] SLAMing on 4.789928851 meters Centerline goodness [0,1] 0.7251109701965758 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.02, Z:-0.09 [[ 0.99990688 -0.00626487 -0.01212403 0.58419603] [ 0.00635552 0.99995203 0.00745309 -0.01652031] [ 0.01207675 -0.00752945 0.99989872 -0.08723589] [ 0. 0. 0. 1. ]] SLAMing on 4.819928850999999 meters Centerline goodness [0,1] 0.7632678947216697 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.02, Z:-0.09 [[ 0.99990613 -0.00616755 -0.01223514 0.5843445 ] [ 0.00626081 0.99995153 0.00759885 -0.01796375] [ 0.01218768 -0.00767474 0.99989627 -0.0869375 ] [ 0. 0. 0. 1. ]] SLAMing on 4.849928851 meters Centerline goodness [0,1] 0.7199792960662525 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.02, Z:-0.09 [[ 0.99990573 -0.00599914 -0.01235072 0.58470831] [ 0.00609751 0.99994987 0.00794258 -0.01994329] [ 0.01230245 -0.00801714 0.99989218 -0.0870275 ] [ 0. 0. 0. 1. ]] SLAMing on 4.879928851 meters Centerline goodness [0,1] 0.75848149102465 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.02, Z:-0.09 [[ 0.99987793 -0.00851182 -0.01310209 0.58760667] [ 0.00857414 0.99995216 0.0047072 -0.02155775] [ 0.0130614 -0.00481897 0.99990308 -0.08730226] [ 0. 0. 0. 1. ]] SLAMing on 4.909928851 meters Centerline goodness [0,1] 0.7690633056430822 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.02, Z:-0.09 [[ 0.99987666 -0.00861167 -0.01313392 0.58751521] [ 0.00867693 0.99995025 0.00491977 -0.02306378] [ 0.0130909 -0.00503312 0.99990164 -0.08726347] [ 0. 0. 0. 1. ]] SLAMing on 4.9399288509999995 meters Centerline goodness [0,1] 0.7697118542422252 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.02, Z:-0.09 [[ 0.99987559 -0.00861237 -0.0132149 0.58766967] [ 0.00868133 0.99994895 0.00517019 -0.02470656] [ 0.0131697 -0.00528427 0.99989931 -0.08730956] [ 0. 0. 0. 1. ]] SLAMing on 4.969928851 meters Centerline goodness [0,1] 0.7623093868909678 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.03, Z:-0.09 [[ 0.99987436 -0.00888254 -0.01312852 0.58696025] [ 0.00895059 0.99994677 0.00513361 -0.02596383] [ 0.01308223 -0.00525047 0.99990064 -0.08673853] [ 0. 0. 0. 1. ]] SLAMing on 4.999928851 meters Centerline goodness [0,1] 0.7070787637088733 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.03, Z:-0.09 [[ 0.99987264 -0.00897746 -0.01319479 0.58671709] [ 0.00904709 0.99994542 0.00522656 -0.02760461] [ 0.01314715 -0.00534527 0.99989929 -0.08622734] [ 0. 0. 0. 1. ]] SLAMing on 5.029928850999999 meters Centerline goodness [0,1] 0.7621310868884652 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.03, Z:-0.09 [[ 0.99987221 -0.00923269 -0.01305038 0.58584013] [ 0.00930103 0.9999433 0.00518581 -0.02900952] [ 0.01300176 -0.00530653 0.99990139 -0.08549551] [ 0. 0. 0. 1. ]] SLAMing on 5.059928851 meters Centerline goodness [0,1] 0.7605886371399294 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.03, Z:-0.08 [[ 0.99986771 -0.01013397 -0.01272254 0.5830402 ] [ 0.01019287 0.9999376 0.00457269 -0.03067288] [ 0.0126754 -0.00470176 0.99990861 -0.08282202] [ 0. 0. 0. 1. ]] SLAMing on 5.089928851 meters Centerline goodness [0,1] 0.755936525928025 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.03, Z:-0.08 [[ 0.99986553 -0.01019917 -0.01284162 0.58289235] [ 0.01025973 0.99993651 0.00465903 -0.03205827] [ 0.01279329 -0.00479016 0.99990669 -0.08221642] [ 0. 0. 0. 1. ]] SLAMing on 5.119928851 meters Centerline goodness [0,1] 0.7546843061548945 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.03, Z:-0.08 [[ 0.9998639 -0.01040058 -0.01280685 0.58245949] [ 0.01046372 0.99993338 0.00487319 -0.03378747] [ 0.01275531 -0.00500654 0.99990611 -0.08199754] [ 0. 0. 0. 1. ]] SLAMing on 5.149928850999999 meters Centerline goodness [0,1] 0.7480177205903101 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.04, Z:-0.08 [[ 0.99981804 -0.01350368 -0.01347364 0.58439535] [ 0.0135275 0.99990709 0.00167841 -0.03675007] [ 0.01344972 -0.00186037 0.99990782 -0.0818938 ] [ 0. 0. 0. 1. ]] SLAMing on 5.179928851 meters Centerline goodness [0,1] 0.6448711204629143 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.08 [[ 0.99972178 -0.01826 -0.01493075 0.63793368] [ 0.01821332 0.99982882 -0.00325679 -0.03724946] [ 0.01498766 0.00298395 0.99988323 -0.07742029] [ 0. 0. 0. 1. ]] SLAMing on 5.209928851 meters Centerline goodness [0,1] 0.7361959751107126 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:-0.08 [[ 0.99977356 -0.01762185 -0.01192902 0.55553226] [ 0.01757675 0.99983801 -0.00387478 -0.03839664] [ 0.01199537 0.00366423 0.99992134 -0.08088047] [ 0. 0. 0. 1. ]] SLAMing on 5.239928850999999 meters Centerline goodness [0,1] 0.7270672285323585 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.04, Z:-0.08 [[ 0.99975468 -0.01870141 -0.01186762 0.55413923] [ 0.01866489 0.99982074 -0.00318011 -0.0437783 ] [ 0.01192496 0.00295782 0.99992452 -0.08076952] [ 0. 0. 0. 1. ]] SLAMing on 5.2699288509999995 meters Centerline goodness [0,1] 0.7263879981037896 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.05, Z:-0.08 [[ 0.99975151 -0.01900411 -0.01165169 0.55315466] [ 0.01897545 0.99981666 -0.00256565 -0.04659425] [ 0.01169831 0.00234391 0.99992883 -0.08074044] [ 0. 0. 0. 1. ]] SLAMing on 5.299928851 meters Centerline goodness [0,1] 0.7264919253967812 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.05, Z:-0.08 [[ 0.99975308 -0.01897683 -0.01156147 0.55295506] [ 0.01895844 0.99981883 -0.00169832 -0.04958304] [ 0.01159161 0.00147871 0.99993172 -0.08121755] [ 0. 0. 0. 1. ]] SLAMing on 5.329928851 meters Centerline goodness [0,1] 0.7251074448911687 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.05, Z:-0.08 [[ 9.99752785e-01 -1.90296485e-02 -1.14996515e-02 5.52537831e-01] [ 1.90205792e-02 9.99818690e-01 -8.97520651e-04 -5.27287711e-02] [ 1.15146460e-02 6.78568739e-04 9.99933474e-01 -8.14096680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.359928850999999 meters Centerline goodness [0,1] 0.7169425484289939 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.06, Z:-0.08 [[ 9.99739391e-01 -1.98412894e-02 -1.12903933e-02 5.51000195e-01] [ 1.98383913e-02 9.99803132e-01 -3.68631409e-04 -5.80912621e-02] [ 1.12954847e-02 1.44552100e-04 9.99936194e-01 -8.08539535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.389928851 meters Centerline goodness [0,1] 0.724715375262518 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.06, Z:-0.08 [[ 9.99739627e-01 -1.98329833e-02 -1.12841411e-02 5.50749062e-01] [ 1.98369635e-02 9.99803199e-01 2.40897815e-04 -6.05381878e-02] [ 1.12771427e-02 -4.64678187e-04 9.99936303e-01 -8.08568285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.419928851 meters Centerline goodness [0,1] 0.7125082763186934 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.06, Z:-0.08 [[ 9.99741860e-01 -1.96207991e-02 -1.14559098e-02 5.51130760e-01] [ 1.96323115e-02 9.99806869e-01 8.93331779e-04 -6.27541639e-02] [ 1.14361694e-02 -1.11800716e-03 9.99933980e-01 -8.10673401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.449928850999999 meters Centerline goodness [0,1] 0.7241027900955739 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.06, Z:-0.08 [[ 0.99974725 -0.01922135 -0.01166112 0.55186295] [ 0.01924196 0.99981348 0.00165818 -0.0648536 ] [ 0.01162707 -0.00188214 0.99993063 -0.08158512] [ 0. 0. 0. 1. ]] SLAMing on 5.4799288509999995 meters Centerline goodness [0,1] 0.722936939908736 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:-0.08 [[ 0.99975176 -0.0188262 -0.01191625 0.55254548] [ 0.01885234 0.9998201 0.00208561 -0.06662038] [ 0.01187485 -0.00230974 0.99992682 -0.08155308] [ 0. 0. 0. 1. ]] SLAMing on 5.509928851 meters Centerline goodness [0,1] 0.7247827521724783 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:-0.08 [[ 0.99975651 -0.01850402 -0.01202189 0.55291299] [ 0.01853514 0.99982513 0.00248248 -0.06802574] [ 0.01197385 -0.00270471 0.99992465 -0.08160355] [ 0. 0. 0. 1. ]] SLAMing on 5.539928851 meters Centerline goodness [0,1] 0.7304684284185395 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:-0.08 [[ 0.99976737 -0.01766673 -0.01237307 0.5537738 ] [ 0.01770385 0.99983908 0.00289702 -0.0693299 ] [ 0.01231989 -0.00311539 0.99991925 -0.08109303] [ 0. 0. 0. 1. ]] SLAMing on 5.569928850999999 meters Centerline goodness [0,1] 0.730559139194642 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:-0.08 [[ 0.99977508 -0.01695789 -0.01273651 0.5548902 ] [ 0.01699953 0.99985048 0.00316811 -0.06948988] [ 0.01268089 -0.00338391 0.99991387 -0.08103141] [ 0. 0. 0. 1. ]] SLAMing on 5.599928851 meters Centerline goodness [0,1] 0.7423780068728523 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.07, Z:-0.08 [[ 0.99978341 -0.01620262 -0.01306204 0.5560576 ] [ 0.01625022 0.99986167 0.00354633 -0.06981781] [ 0.01300277 -0.00375782 0.9999084 -0.08119801] [ 0. 0. 0. 1. ]] SLAMing on 5.629928851 meters Centerline goodness [0,1] 0.7433404734442797 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.07, Z:-0.08 [[ 0.99978802 -0.01557982 -0.01346021 0.55721797] [ 0.01563213 0.99987063 0.00378946 -0.07015174] [ 0.01339943 -0.00399906 0.99990223 -0.08117521] [ 0. 0. 0. 1. ]] SLAMing on 5.659928850999999 meters Centerline goodness [0,1] 0.7489930679233909 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.07, Z:-0.08 [[ 0.99979546 -0.01473588 -0.01385217 0.55833469] [ 0.01479765 0.99988097 0.00436756 -0.07211692] [ 0.01378617 -0.00457165 0.99989452 -0.0810001 ] [ 0. 0. 0. 1. ]] SLAMing on 5.6899288509999995 meters Centerline goodness [0,1] 0.7414939917335013 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.07, Z:-0.08 [[ 0.99979727 -0.01448913 -0.01398164 0.55862709] [ 0.01455611 0.99988301 0.00470019 -0.07349852] [ 0.0139119 -0.00490276 0.99989121 -0.08093634] [ 0. 0. 0. 1. ]] SLAMing on 5.719928851 meters Centerline goodness [0,1] 0.755703525815959 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:-0.08 [[ 0.99979865 -0.01415603 -0.01422178 0.55881459] [ 0.01423142 0.99988513 0.00521403 -0.07659865] [ 0.01414634 -0.00541538 0.99988527 -0.08036384] [ 0. 0. 0. 1. ]] SLAMing on 5.749928851 meters Centerline goodness [0,1] 0.7456157150283166 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:-0.08 [[ 0.99980027 -0.01402956 -0.01423371 0.55869672] [ 0.0141077 0.99988588 0.00540437 -0.07776309] [ 0.01415626 -0.00560409 0.99988409 -0.08008129] [ 0. 0. 0. 1. ]] SLAMing on 5.779928850999999 meters Centerline goodness [0,1] 0.7563100716094426 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:-0.08 [[ 0.99980216 -0.01346295 -0.01464234 0.55979168] [ 0.01354858 0.99989159 0.00576494 -0.0792691 ] [ 0.01456314 -0.00596219 0.99987618 -0.07992921] [ 0. 0. 0. 1. ]] SLAMing on 5.809928851 meters Centerline goodness [0,1] 0.7760794071805529 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:-0.08 [[ 0.99980298 -0.01323653 -0.01479203 0.5599912 ] [ 0.01332454 0.99989401 0.00586777 -0.07991887] [ 0.01471279 -0.00606371 0.99987337 -0.07956614] [ 0. 0. 0. 1. ]] SLAMing on 5.839928851 meters Centerline goodness [0,1] 0.7536235840043675 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:-0.08 [[ 0.99980756 -0.01250349 -0.01511658 0.56092691] [ 0.01260022 0.99990064 0.00632079 -0.08143745] [ 0.01503605 -0.00651005 0.99986576 -0.07935712] [ 0. 0. 0. 1. ]] SLAMing on 5.869928850999999 meters Centerline goodness [0,1] 0.7835456504541859 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:-0.08 [[ 0.99980901 -0.01209785 -0.01534867 0.56159124] [ 0.0122006 0.99990366 0.00661894 -0.08227148] [ 0.01526711 -0.00680494 0.99986029 -0.0793339 ] [ 0. 0. 0. 1. ]] SLAMing on 5.899928850999999 meters Centerline goodness [0,1] 0.7846716324247633 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:-0.08 [[ 0.99980861 -0.0118605 -0.01555886 0.56210908] [ 0.01196689 0.99990553 0.00676249 -0.08296485] [ 0.01547718 -0.00694738 0.99985608 -0.07923651] [ 0. 0. 0. 1. ]] SLAMing on 5.929928851 meters Centerline goodness [0,1] 0.781343813110638 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:-0.08 [[ 0.99980951 -0.01168985 -0.01563002 0.56232022] [ 0.01179892 0.99990655 0.0069047 -0.08376639] [ 0.01554784 -0.0070878 0.999854 -0.07915866] [ 0. 0. 0. 1. ]] SLAMing on 5.959928851 meters Centerline goodness [0,1] 0.7928419444595995 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:-0.08 [[ 0.99981109 -0.01150813 -0.01566365 0.56209956] [ 0.0116176 0.9999086 0.00691575 -0.08519066] [ 0.01558263 -0.00709642 0.9998534 -0.07841948] [ 0. 0. 0. 1. ]] SLAMing on 5.989928850999999 meters Centerline goodness [0,1] 0.8046484982404452 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:-0.08 [[ 0.99981159 -0.01131726 -0.01577021 0.56230858] [ 0.01142823 0.99991044 0.00696409 -0.08557914] [ 0.01568998 -0.007143 0.99985139 -0.07820234] [ 0. 0. 0. 1. ]] SLAMing on 6.0199288509999995 meters Centerline goodness [0,1] 0.8045654130416996 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:-0.08 [[ 0.99980891 -0.01129092 -0.01595782 0.56250728] [ 0.01139964 0.99991232 0.00673843 -0.08560911] [ 0.01588033 -0.00691906 0.99984996 -0.07768304] [ 0. 0. 0. 1. ]] SLAMing on 6.049928851 meters Centerline goodness [0,1] 0.8029602473256545 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:-0.08 [[ 0.99980933 -0.01109195 -0.01607064 0.5628424 ] [ 0.0112042 0.99991334 0.00691177 -0.08592198] [ 0.01599258 -0.00709051 0.99984697 -0.0777373 ] [ 0. 0. 0. 1. ]] SLAMing on 6.079928850999999 meters Centerline goodness [0,1] 0.7811675057830998 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:-0.08 [[ 0.99980757 -0.0107963 -0.01637852 0.56356898] [ 0.01091702 0.99991376 0.00729939 -0.08763723] [ 0.0162983 -0.00747679 0.99983922 -0.07772233] [ 0. 0. 0. 1. ]] SLAMing on 6.109928850999999 meters Centerline goodness [0,1] 0.7984784675995109 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:-0.08 [[ 0.99980559 -0.01115661 -0.01625773 0.56279763] [ 0.01127587 0.99991006 0.007262 -0.0886918 ] [ 0.01617524 -0.00744391 0.99984146 -0.07722484] [ 0. 0. 0. 1. ]] SLAMing on 6.139928851 meters Centerline goodness [0,1] 0.7624715323717601 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:-0.08 [[ 0.99980273 -0.01155405 -0.01615579 0.56204122] [ 0.01167227 0.99990565 0.00724257 -0.09004742] [ 0.01607059 -0.00742971 0.99984326 -0.07668159] [ 0. 0. 0. 1. ]] SLAMing on 6.169928851 meters Centerline goodness [0,1] 0.7593158051179507 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:-0.08 [[ 0.99974507 -0.01536949 -0.01653998 0.56232301] [ 0.01542555 0.99987568 0.00326742 -0.09125869] [ 0.0164877 -0.00352172 0.99985787 -0.07538915] [ 0. 0. 0. 1. ]] SLAMing on 6.199928850999999 meters Centerline goodness [0,1] 0.7671986197972828 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:-0.08 [[ 0.99974131 -0.0157177 -0.01644 0.56189394] [ 0.01577821 0.99986919 0.0035577 -0.09313395] [ 0.01638193 -0.00381617 0.99985852 -0.07549199] [ 0. 0. 0. 1. ]] SLAMing on 6.2299288509999995 meters Centerline goodness [0,1] 0.7547134238310709 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.09, Z:-0.08 [[ 0.99973992 -0.01612592 -0.016126 0.56105619] [ 0.01618948 0.99986165 0.00381866 -0.09494338] [ 0.01606219 -0.00407874 0.99986268 -0.07563249] [ 0. 0. 0. 1. ]] SLAMing on 6.259928851 meters Centerline goodness [0,1] 0.7518718017775383 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.10, Z:-0.08 [[ 0.9997375 -0.01639094 -0.01600844 0.56057368] [ 0.01645763 0.99985639 0.00404308 -0.09675179] [ 0.01593987 -0.00430548 0.99986368 -0.0755796 ] [ 0. 0. 0. 1. ]] SLAMing on 6.289928850999999 meters Centerline goodness [0,1] 0.7266248727428601 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.10, Z:-0.08 [[ 0.99972177 -0.01746648 -0.01585249 0.55927256] [ 0.01753109 0.99983853 0.00394571 -0.09979871] [ 0.01578101 -0.00422252 0.99986656 -0.0750055 ] [ 0. 0. 0. 1. ]] SLAMing on 6.319928850999999 meters Centerline goodness [0,1] 0.7238204833141542 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.10, Z:-0.08 [[ 0.99972039 -0.01759582 -0.01579659 0.55900008] [ 0.01766861 0.99983386 0.00448018 -0.10197275] [ 0.01571513 -0.00475803 0.99986519 -0.07515687] [ 0. 0. 0. 1. ]] SLAMing on 6.349928851 meters Centerline goodness [0,1] 0.7259633370744483 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.10, Z:-0.07 [[ 0.99971402 -0.01812855 -0.01559567 0.55800648] [ 0.01820282 0.99982358 0.00463363 -0.10370877] [ 0.01550891 -0.00491619 0.99986764 -0.07486797] [ 0. 0. 0. 1. ]] SLAMing on 6.379928851 meters Centerline goodness [0,1] 0.7206184192989471 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.11, Z:-0.07 [[ 0.99970848 -0.01855289 -0.01545136 0.55729728] [ 0.01863064 0.99981441 0.00490354 -0.10568432] [ 0.01535751 -0.00518998 0.9998686 -0.07474753] [ 0. 0. 0. 1. ]] SLAMing on 6.409928850999999 meters Centerline goodness [0,1] 0.7153686562400255 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.11, Z:-0.07 [[ 0.99969833 -0.01937759 -0.01509145 0.55570407] [ 0.01945262 0.99979906 0.00484061 -0.10741652] [ 0.01499462 -0.00513272 0.9998744 -0.07418064] [ 0. 0. 0. 1. ]] SLAMing on 6.4399288509999995 meters Centerline goodness [0,1] 0.709301092374589 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.11, Z:-0.07 [[ 0.99960698 -0.02363438 -0.01507644 0.55501185] [ 0.02365335 0.99971964 0.00108119 -0.10991585] [ 0.01504666 -0.00143737 0.99988576 -0.07312449] [ 0. 0. 0. 1. ]] SLAMing on 6.469928851 meters Centerline goodness [0,1] 0.709301092374589 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.11, Z:-0.07 [[ 0.99960698 -0.02363438 -0.01507644 0.55501185] [ 0.02365335 0.99971964 0.00108119 -0.10991585] [ 0.01504666 -0.00143737 0.99988576 -0.07312449] [ 0. 0. 0. 1. ]] SLAMing on 6.499928850999999 meters Centerline goodness [0,1] 0.7045052653804534 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.11, Z:-0.07 [[ 0.99959525 -0.02430218 -0.01478977 0.55382292] [ 0.0243256 0.9997031 0.00140551 -0.11243782] [ 0.01475123 -0.00176472 0.99988964 -0.07298747] [ 0. 0. 0. 1. ]] SLAMing on 6.529928850999999 meters Centerline goodness [0,1] 0.7046745765399149 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.11, Z:-0.07 [[ 0.99958319 -0.02499412 -0.01444809 0.55235938] [ 0.02501957 0.99968571 0.00158334 -0.11468282] [ 0.01440398 -0.00194416 0.99989437 -0.07252765] [ 0. 0. 0. 1. ]] SLAMing on 6.559928851 meters Centerline goodness [0,1] 0.7009964150147617 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.12, Z:-0.07 [[ 0.99957247 -0.02557759 -0.01416589 0.55120145] [ 0.02560503 0.99967059 0.00175876 -0.11648411] [ 0.01411624 -0.00212073 0.99989811 -0.07225123] [ 0. 0. 0. 1. ]] SLAMing on 6.589928851 meters Centerline goodness [0,1] 0.7043930909377711 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.12, Z:-0.07 [[ 0.99955871 -0.0262566 -0.01389155 0.54998613] [ 0.02628927 0.99965201 0.00217467 -0.11996974] [ 0.01382961 -0.00253891 0.99990114 -0.07201278] [ 0. 0. 0. 1. ]] SLAMing on 6.619928850999999 meters Centerline goodness [0,1] 0.7036609671666841 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.12, Z:-0.07 [[ 0.99956132 -0.02621183 -0.01378787 0.54994032] [ 0.02625103 0.99965182 0.00267029 -0.1214588 ] [ 0.01371308 -0.00303107 0.99990138 -0.07242091] [ 0. 0. 0. 1. ]] SLAMing on 6.649928850999999 meters Centerline goodness [0,1] 0.7027182888149099 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.12, Z:-0.07 [[ 0.99956321 -0.02607705 -0.01390569 0.5501636 ] [ 0.02612039 0.99965447 0.00294459 -0.12255317] [ 0.0138241 -0.00330652 0.99989898 -0.07235939] [ 0. 0. 0. 1. ]] SLAMing on 6.679928851 meters Centerline goodness [0,1] 0.7001254377253959 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.12, Z:-0.07 [[ 0.99957177 -0.02565848 -0.01406816 0.55071873] [ 0.02571056 0.99966318 0.00353357 -0.12439017] [ 0.01397275 -0.00389375 0.99989479 -0.07258335] [ 0. 0. 0. 1. ]] SLAMing on 6.709928850999999 meters Centerline goodness [0,1] 0.6981269700679917 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.07 [[ 0.99957605 -0.02542115 -0.01419463 0.55121282] [ 0.02547892 0.99966774 0.00390405 -0.12539314] [ 0.01409067 -0.00426406 0.99989163 -0.07289864] [ 0. 0. 0. 1. ]] SLAMing on 6.739928850999999 meters Centerline goodness [0,1] 0.7004780439382461 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.07 [[ 0.99957994 -0.02518914 -0.01433359 0.55168523] [ 0.02525152 0.99967236 0.00418804 -0.12649076] [ 0.0142234 -0.00454823 0.9998885 -0.07303321] [ 0. 0. 0. 1. ]] SLAMing on 6.7699288509999995 meters Centerline goodness [0,1] 0.6983519487620089 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.07 [[ 0.9995863 -0.02479326 -0.01457841 0.55252718] [ 0.02486395 0.99967985 0.0046878 -0.12776975] [ 0.01445751 -0.00504833 0.99988274 -0.07340551] [ 0. 0. 0. 1. ]] SLAMing on 6.799928851 meters Centerline goodness [0,1] 0.6955154036136748 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.07 [[ 0.99958893 -0.0246541 -0.01463405 0.55240247] [ 0.02472916 0.99968183 0.00497057 -0.12938679] [ 0.01450684 -0.00533041 0.99988056 -0.07302074] [ 0. 0. 0. 1. ]] SLAMing on 6.829928850999999 meters Centerline goodness [0,1] 0.7084577631203095 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.07 [[ 0.99959201 -0.02445592 -0.01475523 0.55268072] [ 0.02453651 0.99968485 0.00530614 -0.13049855] [ 0.01462081 -0.00566602 0.99987706 -0.07302922] [ 0. 0. 0. 1. ]] SLAMing on 6.859928850999999 meters Centerline goodness [0,1] 0.7078937795562023 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.07 [[ 0.99959152 -0.02440904 -0.0148655 0.55277789] [ 0.02449287 0.99968496 0.00548407 -0.13145144] [ 0.01472695 -0.00584592 0.99987446 -0.0728325 ] [ 0. 0. 0. 1. ]] SLAMing on 6.889928851 meters Centerline goodness [0,1] 0.7050916074116365 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.07 [[ 0.99959099 -0.02446567 -0.01480842 0.5523949 ] [ 0.02455218 0.99968236 0.00568855 -0.13247572] [ 0.01466455 -0.0060498 0.99987417 -0.07255151] [ 0. 0. 0. 1. ]] SLAMing on 6.919928850999999 meters Centerline goodness [0,1] 0.700417022819696 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.07 [[ 0.99958936 -0.0245706 -0.0147443 0.55186797] [ 0.02465803 0.99967925 0.00577794 -0.13356821] [ 0.01459761 -0.00613913 0.9998746 -0.07203533] [ 0. 0. 0. 1. ]] SLAMing on 6.949928850999999 meters Centerline goodness [0,1] 0.7003454676704135 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.14, Z:-0.07 [[ 0.99958151 -0.02505045 -0.01446683 0.55012404] [ 0.02513682 0.99966708 0.00581993 -0.13612974] [ 0.01431622 -0.00618115 0.99987841 -0.07063927] [ 0. 0. 0. 1. ]] SLAMing on 6.9799288509999995 meters Centerline goodness [0,1] 0.6966757577316935 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.14, Z:-0.07 [[ 0.99958205 -0.02500642 -0.0145052 0.54998092] [ 0.0250966 0.99966661 0.00606825 -0.13769155] [ 0.01434862 -0.00642974 0.99987638 -0.07031635] [ 0. 0. 0. 1. ]] SLAMing on 7.009928851 meters Centerline goodness [0,1] 0.6985390402341644 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.14, Z:-0.07 [[ 0.99958377 -0.02502408 -0.01435522 0.54953244] [ 0.02511696 0.9996645 0.00632691 -0.13919104] [ 0.01419208 -0.00668483 0.99987694 -0.0701442 ] [ 0. 0. 0. 1. ]] SLAMing on 7.039928850999999 meters Centerline goodness [0,1] 0.7014120667522465 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.14, Z:-0.07 [[ 0.99958714 -0.02491338 -0.01431347 0.54941583] [ 0.02500907 0.99966579 0.00654567 -0.14019758] [ 0.01414561 -0.00690093 0.99987613 -0.07001716] [ 0. 0. 0. 1. ]] SLAMing on 7.069928850999999 meters Centerline goodness [0,1] 0.6959407513710214 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.14, Z:-0.07 [[ 0.9995987 -0.02436 -0.0144578 0.55010877] [ 0.0244685 0.99967339 0.00737588 -0.14256299] [ 0.0142734 -0.00772668 0.99986828 -0.0704735 ] [ 0. 0. 0. 1. ]] SLAMing on 7.099928851 meters Centerline goodness [0,1] 0.6929504049876076 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.14, Z:-0.07 [[ 0.9996044 -0.02398437 -0.01469018 0.55105588] [ 0.02410274 0.999678 0.00793413 -0.14434196] [ 0.01449515 -0.00828507 0.99986061 -0.07100584] [ 0. 0. 0. 1. ]] SLAMing on 7.129928850999999 meters Centerline goodness [0,1] 0.6933104981978988 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.07 [[ 0.99960816 -0.02378605 -0.01475617 0.55137663] [ 0.02391242 0.99967836 0.00844782 -0.14605654] [ 0.01455048 -0.00879737 0.99985543 -0.0713065 ] [ 0. 0. 0. 1. ]] SLAMing on 7.159928850999999 meters Centerline goodness [0,1] 0.6954677839660722 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.07 [[ 0.99961211 -0.02351871 -0.01491636 0.55187334] [ 0.02365336 0.99968046 0.00891597 -0.14783194] [ 0.0147019 -0.00926533 0.99984899 -0.07145611] [ 0. 0. 0. 1. ]] SLAMing on 7.1899288509999995 meters Centerline goodness [0,1] 0.7127781601284698 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.07 [[ 0.99961258 -0.0234931 -0.0149253 0.55135915] [ 0.02363314 0.99967766 0.0092765 -0.15017224] [ 0.01470255 -0.00962564 0.99984558 -0.0707171 ] [ 0. 0. 0. 1. ]] SLAMing on 7.219928851 meters Centerline goodness [0,1] 0.7038996718475745 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.07 [[ 0.99960991 -0.0236128 -0.01491489 0.55087448] [ 0.02375411 0.99967393 0.00936893 -0.15123059] [ 0.0146888 -0.00971957 0.99984487 -0.07016184] [ 0. 0. 0. 1. ]] SLAMing on 7.249928850999999 meters Centerline goodness [0,1] 0.7109610943329188 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.15, Z:-0.07 [[ 0.99961226 -0.02351576 -0.01491095 0.55054329] [ 0.0236607 0.99967377 0.00961935 -0.15273699] [ 0.01467988 -0.00996842 0.99984255 -0.06962947] [ 0. 0. 0. 1. ]] SLAMing on 7.279928850999999 meters Centerline goodness [0,1] 0.695806410743697 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.16, Z:-0.07 [[ 0.99961155 -0.02361286 -0.01480475 0.54956043] [ 0.02375992 0.9996693 0.00983701 -0.15502208] [ 0.01456757 -0.01018495 0.99984201 -0.0685807 ] [ 0. 0. 0. 1. ]] SLAMing on 7.309928851 meters Centerline goodness [0,1] 0.6948186267090459 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.16, Z:-0.07 [[ 0.99961163 -0.0234827 -0.01500478 0.54982784] [ 0.02363564 0.99966964 0.01009802 -0.15652479] [ 0.0147627 -0.01044874 0.99983643 -0.0682893 ] [ 0. 0. 0. 1. ]] SLAMing on 7.339928850999999 meters Centerline goodness [0,1] 0.7036531756859179 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.16, Z:-0.07 [[ 0.99961246 -0.02351739 -0.01489494 0.54950275] [ 0.02367151 0.99966717 0.01025726 -0.15772639] [ 0.01464875 -0.01060587 0.99983645 -0.06817206] [ 0. 0. 0. 1. ]] SLAMing on 7.369928850999999 meters Centerline goodness [0,1] 0.6995631202808152 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.16, Z:-0.07 [[ 0.99961191 -0.0235465 -0.01488584 0.54943394] [ 0.02370492 0.99966326 0.01055677 -0.15941359] [ 0.01463225 -0.01090554 0.99983347 -0.0681849 ] [ 0. 0. 0. 1. ]] SLAMing on 7.399928850999999 meters Centerline goodness [0,1] 0.6946820285771785 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.16, Z:-0.07 [[ 0.99961205 -0.02355958 -0.01485603 0.5493266 ] [ 0.02372645 0.99965622 0.01115777 -0.16266557] [ 0.01458805 -0.01150592 0.99982739 -0.06826278] [ 0. 0. 0. 1. ]] SLAMing on 7.429928851 meters Centerline goodness [0,1] 0.7065310223561919 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.16, Z:-0.07 [[ 0.99961198 -0.02353119 -0.01490564 0.54939082] [ 0.0237017 0.99965444 0.01136831 -0.16378027] [ 0.01463298 -0.01171718 0.99982428 -0.0682089 ] [ 0. 0. 0. 1. ]] SLAMing on 7.459928850999999 meters Centerline goodness [0,1] 0.6977793373101409 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.16, Z:-0.07 [[ 0.99961273 -0.0235023 -0.01490043 0.54932655] [ 0.0236757 0.99965274 0.01156958 -0.16475862] [ 0.01462335 -0.01191788 0.99982205 -0.06812292] [ 0. 0. 0. 1. ]] SLAMing on 7.489928850999999 meters Centerline goodness [0,1] 0.6998948053899714 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.07 [[ 0.99961073 -0.023571 -0.01492651 0.54937168] [ 0.02374633 0.99964978 0.01168 -0.16561272] [ 0.01464598 -0.01202991 0.99982037 -0.06813749] [ 0. 0. 0. 1. ]] SLAMing on 7.5199288509999995 meters Centerline goodness [0,1] 0.6991587828561443 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.07 [[ 0.99961218 -0.02345098 -0.01501815 0.54957667] [ 0.02363555 0.9996458 0.01223277 -0.16831515] [ 0.01472596 -0.01258299 0.99981239 -0.06818589] [ 0. 0. 0. 1. ]] SLAMing on 7.549928850999999 meters Centerline goodness [0,1] 0.6981235789421083 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.07 [[ 0.99961345 -0.02335177 -0.01508772 0.54962199] [ 0.02353962 0.99964606 0.01239508 -0.16926498] [ 0.01479293 -0.01274545 0.99980934 -0.06801111] [ 0. 0. 0. 1. ]] SLAMing on 7.579928850999999 meters Centerline goodness [0,1] 0.7019444375109203 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.07 [[ 0.99961364 -0.02328057 -0.01518502 0.54968646] [ 0.02347055 0.99964694 0.01245502 -0.16983545] [ 0.0148897 -0.01280661 0.99980713 -0.06772794] [ 0. 0. 0. 1. ]] SLAMing on 7.609928850999999 meters Centerline goodness [0,1] 0.6981521549901764 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.07 [[ 0.99961974 -0.02291235 -0.01534253 0.55003982] [ 0.02311039 0.99965023 0.01285761 -0.1712721 ] [ 0.01504256 -0.01320729 0.99979962 -0.06759462] [ 0. 0. 0. 1. ]] SLAMing on 7.639928851 meters Centerline goodness [0,1] 0.7156020112451391 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.07 [[ 0.99962254 -0.0227531 -0.01539697 0.55015707] [ 0.02295513 0.999651 0.01307407 -0.17224364] [ 0.01509413 -0.01342257 0.99979598 -0.06752034] [ 0. 0. 0. 1. ]] SLAMing on 7.669928850999999 meters Centerline goodness [0,1] 0.7217583619104418 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.07 [[ 0.99962435 -0.02257829 -0.01553637 0.55034542] [ 0.0227845 0.9996529 0.01322637 -0.17291222] [ 0.01523235 -0.01357539 0.99979182 -0.0672842 ] [ 0. 0. 0. 1. ]] SLAMing on 7.699928850999999 meters Centerline goodness [0,1] 0.7272139946327403 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.07 [[ 0.99962833 -0.02227445 -0.01571766 0.55071892] [ 0.02248532 0.99965777 0.01336981 -0.17349812] [ 0.01541447 -0.01371826 0.99978708 -0.0670699 ] [ 0. 0. 0. 1. ]] SLAMing on 7.7299288509999995 meters Centerline goodness [0,1] 0.7140729339920066 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.07 [[ 0.99964315 -0.0213924 -0.01599815 0.55150519] [ 0.02161358 0.99967139 0.01378253 -0.174227 ] [ 0.01569805 -0.01412339 0.99977703 -0.06683664] [ 0. 0. 0. 1. ]] SLAMing on 7.759928850999999 meters Centerline goodness [0,1] 0.7358280017854486 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.07 [[ 0.99964738 -0.02103693 -0.0162041 0.55201921] [ 0.02126176 0.99967828 0.0138301 -0.17420813] [ 0.01590794 -0.01416975 0.99977305 -0.06672834] [ 0. 0. 0. 1. ]] SLAMing on 7.789928850999999 meters Centerline goodness [0,1] 0.7401244823567337 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.07 [[ 0.9996514 -0.02061935 -0.01648985 0.55265825] [ 0.02084799 0.99968719 0.01381608 -0.17385446] [ 0.01619981 -0.01415504 0.99976857 -0.06648119] [ 0. 0. 0. 1. ]] SLAMing on 7.819928850999999 meters Centerline goodness [0,1] 0.7429938991121472 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.07 [[ 0.99965753 -0.02012334 -0.01672942 0.55321407] [ 0.02035507 0.99969759 0.01379868 -0.17341399] [ 0.01644669 -0.01413448 0.99976483 -0.0661548 ] [ 0. 0. 0. 1. ]] SLAMing on 7.849928851 meters Centerline goodness [0,1] 0.7467226139636508 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.07 [[ 0.99973553 -0.01579692 -0.016713 0.55318112] [ 0.01610107 0.9997043 0.01822266 -0.17490831] [ 0.0164202 -0.01848694 0.99969426 -0.06640108] [ 0. 0. 0. 1. ]] SLAMing on 7.879928850999999 meters Centerline goodness [0,1] 0.7662641021818001 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.07 [[ 0.99974002 -0.01523401 -0.01696524 0.55409054] [ 0.01554256 0.99971344 0.01820646 -0.17425225] [ 0.01668302 -0.01846541 0.9996903 -0.06649795] [ 0. 0. 0. 1. ]] SLAMing on 7.909928850999999 meters Centerline goodness [0,1] 0.7532638698928207 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.07 [[ 0.99974248 -0.01473503 -0.01725836 0.55491353] [ 0.01504818 0.99972188 0.0181578 -0.17361884] [ 0.01698601 -0.01841284 0.99968617 -0.06640352] [ 0. 0. 0. 1. ]] SLAMing on 7.9399288509999995 meters Centerline goodness [0,1] 0.7814127320294008 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.07 [[ 0.99975702 -0.01334365 -0.01754562 0.55624188] [ 0.01366825 0.9997352 0.01851262 -0.17276716] [ 0.01729395 -0.01874794 0.99967466 -0.06651641] [ 0. 0. 0. 1. ]] SLAMing on 7.969928850999999 meters Centerline goodness [0,1] 0.7861349570772609 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.07 [[ 0.99975807 -0.01305483 -0.01770257 0.55657658] [ 0.01337969 0.99974194 0.01835857 -0.1723399 ] [ 0.01745833 -0.01859098 0.99967474 -0.06617738] [ 0. 0. 0. 1. ]] SLAMing on 7.999928850999999 meters Centerline goodness [0,1] 0.7902542372881356 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.07 [[ 0.99975494 -0.01296828 -0.01794129 0.5567195 ] [ 0.01329099 0.99974989 0.01798613 -0.17167558] [ 0.01770356 -0.01822018 0.99967725 -0.06542446] [ 0. 0. 0. 1. ]] SLAMing on 8.029928850999998 meters Centerline goodness [0,1] 0.7913848611145773 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.06 [[ 0.99975759 -0.01258666 -0.01806486 0.55686671] [ 0.01290747 0.99975907 0.01775369 -0.17062276] [ 0.01783705 -0.01798256 0.99967918 -0.06488002] [ 0. 0. 0. 1. ]] SLAMing on 8.059928850999999 meters Centerline goodness [0,1] 0.7868209305812385 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.06 [[ 0.99975548 -0.01260692 -0.01816718 0.55690664] [ 0.01292664 0.99976172 0.01759016 -0.17042899] [ 0.0179411 -0.0178207 0.99968022 -0.0645691 ] [ 0. 0. 0. 1. ]] SLAMing on 8.089928850999998 meters Centerline goodness [0,1] 0.7856661592593517 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.06 [[ 0.99975338 -0.01270844 -0.01821216 0.55686406] [ 0.01302541 0.99976389 0.01739253 -0.17042535] [ 0.01798683 -0.01762546 0.99968286 -0.064288 ] [ 0. 0. 0. 1. ]] SLAMing on 8.119928851 meters Centerline goodness [0,1] 0.7841223198944144 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.06 [[ 0.99975244 -0.01266775 -0.01829185 0.55712074] [ 0.01298583 0.99976469 0.01737645 -0.17078451] [ 0.01806743 -0.01760969 0.99968168 -0.06430826] [ 0. 0. 0. 1. ]] SLAMing on 8.149928850999999 meters Centerline goodness [0,1] 0.7838093813867704 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.06 [[ 0.99975056 -0.01267592 -0.01838869 0.55740495] [ 0.01299559 0.99976467 0.01737021 -0.17106571] [ 0.01816418 -0.01760485 0.99968001 -0.06439268] [ 0. 0. 0. 1. ]] SLAMing on 8.179928850999998 meters Centerline goodness [0,1] 0.7841590564112773 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.06 [[ 0.99974822 -0.01280996 -0.01842276 0.55735151] [ 0.01312691 0.99976612 0.01718716 -0.1712464 ] [ 0.01819829 -0.01742467 0.99968255 -0.0641552 ] [ 0. 0. 0. 1. ]] SLAMing on 8.209928850999999 meters Centerline goodness [0,1] 0.7789795613904222 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.06 [[ 0.99974458 -0.01323815 -0.0183173 0.55661776] [ 0.01354727 0.99976614 0.0168564 -0.17167807] [ 0.01808987 -0.01710024 0.99969012 -0.06348303] [ 0. 0. 0. 1. ]] SLAMing on 8.239928850999998 meters Centerline goodness [0,1] 0.7918991630131527 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.06 [[ 0.99974148 -0.0135428 -0.01826384 0.55617356] [ 0.01384761 0.99976519 0.01666733 -0.17184526] [ 0.01803383 -0.01691593 0.99969427 -0.06313086] [ 0. 0. 0. 1. ]] SLAMing on 8.269928850999998 meters Centerline goodness [0,1] 0.7893794749403341 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.06 [[ 0.99973843 -0.01385987 -0.01819283 0.55569034] [ 0.01416002 0.99976402 0.01647414 -0.17223316] [ 0.01796021 -0.01672744 0.99969877 -0.06272612] [ 0. 0. 0. 1. ]] SLAMing on 8.299928850999999 meters Centerline goodness [0,1] 0.7889184023037012 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.06 [[ 0.99973387 -0.01416276 -0.01820984 0.55538306] [ 0.0144597 0.99976292 0.01627968 -0.17252038] [ 0.01797496 -0.01653866 0.99970164 -0.06230844] [ 0. 0. 0. 1. ]] SLAMing on 8.329928850999998 meters Centerline goodness [0,1] 0.7801135377674211 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.06 [[ 0.99973004 -0.0147499 -0.01795217 0.55442305] [ 0.0150399 0.99975682 0.01612781 -0.17342803] [ 0.01770992 -0.01639345 0.99970876 -0.06197537] [ 0. 0. 0. 1. ]] SLAMing on 8.359928850999998 meters Centerline goodness [0,1] 0.7801135377674211 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.06 [[ 0.99973004 -0.0147499 -0.01795217 0.55442305] [ 0.0150399 0.99975682 0.01612781 -0.17342803] [ 0.01770992 -0.01639345 0.99970876 -0.06197537] [ 0. 0. 0. 1. ]] SLAMing on 8.389928850999999 meters Centerline goodness [0,1] 0.7777282740526225 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.06 [[ 0.99972635 -0.01511811 -0.01785124 0.55392554] [ 0.0154028 0.99975463 0.01591985 -0.17366655] [ 0.01760618 -0.01619045 0.9997139 -0.06167732] [ 0. 0. 0. 1. ]] SLAMing on 8.419928850999998 meters Centerline goodness [0,1] 0.7735853731047468 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.06 [[ 0.99972054 -0.01562889 -0.01773644 0.55310132] [ 0.01590546 0.9997524 0.0155611 -0.17369899] [ 0.01748885 -0.01583886 0.9997216 -0.06101135] [ 0. 0. 0. 1. ]] SLAMing on 8.449928850999997 meters Centerline goodness [0,1] 0.7615262714802159 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.06 [[ 0.9997054 -0.01705743 -0.01726751 0.5506923 ] [ 0.0173119 0.99974213 0.01469625 -0.17361167] [ 0.01701238 -0.01499085 0.99974289 -0.0595759 ] [ 0. 0. 0. 1. ]] SLAMing on 8.479928850999999 meters Centerline goodness [0,1] 0.7559756520017815 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.06 [[ 0.99970253 -0.01729637 -0.01719562 0.55035746] [ 0.01754746 0.99974001 0.01455992 -0.17394031] [ 0.01693932 -0.01485733 0.99974613 -0.05932004] [ 0. 0. 0. 1. ]] SLAMing on 8.509928850999998 meters Centerline goodness [0,1] 0.7628037013211935 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.06 [[ 0.999699 -0.0175504 -0.01714317 0.55017421] [ 0.01779919 0.99973688 0.01446959 -0.1744361 ] [ 0.01688472 -0.01477037 0.99974834 -0.05930566] [ 0. 0. 0. 1. ]] SLAMing on 8.539928850999999 meters Centerline goodness [0,1] 0.7587144622991348 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.06 [[ 0.99969726 -0.01774848 -0.01704046 0.55010472] [ 0.01799641 0.99973279 0.0145081 -0.17519283] [ 0.01677841 -0.01481038 0.99974954 -0.05953201] [ 0. 0. 0. 1. ]] SLAMing on 8.569928850999998 meters Centerline goodness [0,1] 0.7651875786202303 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.06 [[ 0.99962625 -0.02125386 -0.01719404 0.55114762] [ 0.02143864 0.99971361 0.01063446 -0.17459407] [ 0.01696309 -0.0109991 0.99979562 -0.05983312] [ 0. 0. 0. 1. ]] SLAMing on 8.599928850999998 meters Centerline goodness [0,1] 0.7556383556235503 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.06 [[ 0.99962124 -0.02162486 -0.01702177 0.55073432] [ 0.02180558 0.99970705 0.01050395 -0.17472632] [ 0.01678964 -0.01087114 0.99979994 -0.05987555] [ 0. 0. 0. 1. ]] SLAMing on 8.629928850999999 meters Centerline goodness [0,1] 0.732262449030026 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.06 [[ 0.99961873 -0.02189248 -0.01682614 0.5503704 ] [ 0.02206925 0.99970242 0.01039279 -0.1747431 ] [ 0.01659361 -0.01076017 0.99980442 -0.05995309] [ 0. 0. 0. 1. ]] SLAMing on 8.659928850999998 meters Centerline goodness [0,1] 0.7486648204925329 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.06 [[ 0.99961276 -0.02225701 -0.01670168 0.54964846] [ 0.02242862 0.99969683 0.01015872 -0.17468174] [ 0.01647051 -0.01052938 0.99980891 -0.05945205] [ 0. 0. 0. 1. ]] SLAMing on 8.689928850999998 meters Centerline goodness [0,1] 0.7420054200542006 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.06 [[ 0.99959691 -0.02330425 -0.01621499 0.54766311] [ 0.02346225 0.99967841 0.00962299 -0.17542663] [ 0.01598552 -0.00999956 0.99982222 -0.05841385] [ 0. 0. 0. 1. ]] SLAMing on 8.719928850999999 meters Centerline goodness [0,1] 0.7375596790864793 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.06 [[ 0.99959186 -0.02371346 -0.01593035 0.54683502] [ 0.0238675 0.99966951 0.00955011 -0.17615925] [ 0.01569862 -0.00992643 0.99982749 -0.0582477 ] [ 0. 0. 0. 1. ]] SLAMing on 8.749928850999998 meters Centerline goodness [0,1] 0.7274000196521568 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.06 [[ 0.99958555 -0.02410894 -0.01573195 0.54622764] [ 0.02426042 0.99966044 0.0095099 -0.17697474] [ 0.01549734 -0.00988763 0.99983102 -0.05809747] [ 0. 0. 0. 1. ]] SLAMing on 8.779928850999998 meters Centerline goodness [0,1] 0.728150331613854 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.06 [[ 0.99955986 -0.02545473 -0.01523603 0.54430849] [ 0.02559495 0.99963116 0.00908007 -0.17779684] [ 0.01499928 -0.00946604 0.9998427 -0.05751629] [ 0. 0. 0. 1. ]] SLAMing on 8.809928850999999 meters Centerline goodness [0,1] 0.7185039852851012 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.06 [[ 0.99954617 -0.02611761 -0.01501052 0.54339982] [ 0.02625267 0.99961596 0.00887252 -0.17856234] [ 0.01477303 -0.00926256 0.99984797 -0.05718797] [ 0. 0. 0. 1. ]] SLAMing on 8.839928850999998 meters Centerline goodness [0,1] 0.7203057624460996 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.06 [[ 0.99953716 -0.02667431 -0.01462701 0.54253092] [ 0.02680635 0.99960096 0.00890685 -0.17979393] [ 0.01438359 -0.00929482 0.99985335 -0.05733323] [ 0. 0. 0. 1. ]] SLAMing on 8.869928850999997 meters Centerline goodness [0,1] 0.711202265846274 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.06 [[ 0.99952968 -0.02705821 -0.01443142 0.54211069] [ 0.02719044 0.99958933 0.00904669 -0.18140083] [ 0.01418071 -0.00943483 0.99985494 -0.05746288] [ 0. 0. 0. 1. ]] SLAMing on 8.899928850999999 meters Centerline goodness [0,1] 0.6856055059305901 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.06 [[ 0.99952175 -0.02745914 -0.0142222 0.5416022 ] [ 0.02758971 0.9995782 0.00906777 -0.18275192] [ 0.01396721 -0.00945582 0.99985774 -0.05752076] [ 0. 0. 0. 1. ]] SLAMing on 8.929928850999998 meters Centerline goodness [0,1] 0.7114364936517974 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.06 [[ 0.99951691 -0.02774765 -0.01400071 0.5413568 ] [ 0.02787823 0.99956882 0.00921878 -0.18374523] [ 0.01373887 -0.00960465 0.99985949 -0.05796779] [ 0. 0. 0. 1. ]] SLAMing on 8.959928850999999 meters Centerline goodness [0,1] 0.6903128862606336 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.06 [[ 0.99950281 -0.02842002 -0.01365399 0.54022929] [ 0.028546 0.99955085 0.00912234 -0.18492914] [ 0.0133886 -0.00950757 0.99986517 -0.05767291] [ 0. 0. 0. 1. ]] SLAMing on 8.989928850999998 meters Centerline goodness [0,1] 0.6995885769603098 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.19, Z:-0.06 [[ 0.99949814 -0.02865814 -0.01349702 0.539725 ] [ 0.02878343 0.9995435 0.00918178 -0.18559229] [ 0.01322773 -0.00956566 0.99986675 -0.05753887] [ 0. 0. 0. 1. ]] SLAMing on 9.019928850999998 meters Centerline goodness [0,1] 0.6971781688270935 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.19, Z:-0.06 [[ 0.99949241 -0.02894576 -0.0133068 0.53916526] [ 0.02907045 0.99953434 0.00927462 -0.1866333 ] [ 0.01303215 -0.00965675 0.99986845 -0.05744615] [ 0. 0. 0. 1. ]] SLAMing on 9.049928850999999 meters Centerline goodness [0,1] 0.6699927867275788 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.19, Z:-0.06 [[ 0.99941963 -0.03150783 -0.01294858 0.53752145] [ 0.0316001 0.99947619 0.00698415 -0.18862826] [ 0.01272174 -0.00738927 0.99989177 -0.05609849] [ 0. 0. 0. 1. ]] SLAMing on 9.079928850999998 meters Centerline goodness [0,1] 0.6787218764959311 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.19, Z:-0.06 [[ 0.99941021 -0.03193132 -0.01263456 0.53656615] [ 0.03202281 0.99946187 0.00710652 -0.19020969] [ 0.01240084 -0.00750693 0.99989493 -0.05590394] [ 0. 0. 0. 1. ]] SLAMing on 9.109928850999998 meters Centerline goodness [0,1] 0.6893782321679656 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.19, Z:-0.06 [[ 0.99940147 -0.03229594 -0.01239673 0.53585315] [ 0.03238557 0.99945024 0.00709828 -0.19131577] [ 0.01216067 -0.0074955 0.99989796 -0.05568514] [ 0. 0. 0. 1. ]] SLAMing on 9.139928850999999 meters Centerline goodness [0,1] 0.6850168910881667 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.19, Z:-0.06 [[ 0.99939606 -0.03254719 -0.01217361 0.53525208] [ 0.0326369 0.99944102 0.0072444 -0.1922492 ] [ 0.01193103 -0.00763734 0.99989966 -0.0556715 ] [ 0. 0. 0. 1. ]] SLAMing on 9.169928850999998 meters Centerline goodness [0,1] 0.6791754631496549 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.06 [[ 0.99938773 -0.03287673 -0.01196979 0.5347421 ] [ 0.03296707 0.99942882 0.00742991 -0.19365086] [ 0.01171869 -0.00781997 0.99990076 -0.05575795] [ 0. 0. 0. 1. ]] SLAMing on 9.199928850999997 meters Centerline goodness [0,1] 0.6885090668055489 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.06 [[ 0.99939172 -0.03277052 -0.01192832 0.53496723] [ 0.03286404 0.99942994 0.0077301 -0.1944491 ] [ 0.0116682 -0.00811741 0.99989898 -0.0562221 ] [ 0. 0. 0. 1. ]] SLAMing on 9.229928850999999 meters Centerline goodness [0,1] 0.6862573583299841 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.99939732 -0.03262085 -0.01186911 0.53526713] [ 0.03271753 0.99943226 0.0080446 -0.19519651] [ 0.01159995 -0.00842808 0.9998972 -0.05676779] [ 0. 0. 0. 1. ]] SLAMing on 9.259928850999998 meters Centerline goodness [0,1] 0.6850656996185183 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.9994045 -0.03239945 -0.01187105 0.53563833] [ 0.03250056 0.9994362 0.00842592 -0.19652814] [ 0.01159136 -0.00880672 0.99989404 -0.05719862] [ 0. 0. 0. 1. ]] SLAMing on 9.289928850999997 meters Centerline goodness [0,1] 0.6838548656730474 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.99940799 -0.03230429 -0.01183664 0.53573526] [ 0.03240753 0.99943742 0.00863697 -0.19714011] [ 0.01155097 -0.00901545 0.99989264 -0.05746203] [ 0. 0. 0. 1. ]] SLAMing on 9.319928850999998 meters Centerline goodness [0,1] 0.6926605504587156 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.99941179 -0.03216567 -0.0118929 0.53587429] [ 0.03227046 0.99944108 0.00872646 -0.19743384] [ 0.01160556 -0.00910512 0.9998912 -0.05739125] [ 0. 0. 0. 1. ]] SLAMing on 9.349928850999998 meters Centerline goodness [0,1] 0.6849266779469825 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.99941596 -0.03201132 -0.01195921 0.53616351] [ 0.03211809 0.99944494 0.00884515 -0.1974172 ] [ 0.01166942 -0.0092241 0.99988936 -0.05753738] [ 0. 0. 0. 1. ]] SLAMing on 9.379928850999999 meters Centerline goodness [0,1] 0.689121850319669 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.9994257 -0.03166387 -0.01206962 0.53657083] [ 0.0317729 0.99945503 0.00895167 -0.19723912] [ 0.0117796 -0.00933001 0.99988709 -0.0575992 ] [ 0. 0. 0. 1. ]] SLAMing on 9.409928850999998 meters Centerline goodness [0,1] 0.6890955635407126 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.99942931 -0.03154752 -0.01207525 0.53660694] [ 0.03165675 0.9994586 0.00896428 -0.19733919] [ 0.01178591 -0.00934143 0.99988691 -0.05750331] [ 0. 0. 0. 1. ]] SLAMing on 9.439928850999998 meters Centerline goodness [0,1] 0.689411930682593 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.99943213 -0.03141318 -0.01219107 0.53684457] [ 0.03152405 0.99946238 0.00901071 -0.19747326] [ 0.01190146 -0.00938991 0.99988509 -0.05742803] [ 0. 0. 0. 1. ]] SLAMing on 9.469928850999999 meters Centerline goodness [0,1] 0.6857872899036546 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.99943921 -0.03119049 -0.01218282 0.53685341] [ 0.03130349 0.99946761 0.0091977 -0.19830191] [ 0.01188946 -0.00957391 0.99988348 -0.05732 ] [ 0. 0. 0. 1. ]] SLAMing on 9.499928850999998 meters Centerline goodness [0,1] 0.7045799920510603 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.99943925 -0.03121374 -0.01211995 0.53671434] [ 0.03132752 0.99946577 0.00931452 -0.19902354] [ 0.01182274 -0.00968898 0.99988317 -0.05727675] [ 0. 0. 0. 1. ]] SLAMing on 9.529928850999998 meters Centerline goodness [0,1] 0.6819539747000887 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.9994408 -0.03115893 -0.01213334 0.53684432] [ 0.03127479 0.99946587 0.00947922 -0.19968427] [ 0.01183149 -0.00985339 0.99988146 -0.05738729] [ 0. 0. 0. 1. ]] SLAMing on 9.559928850999999 meters Centerline goodness [0,1] 0.6805305807897994 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.99944256 -0.03107956 -0.01219101 0.53697662] [ 0.03119758 0.999467 0.00961338 -0.19999973] [ 0.01188573 -0.00998835 0.99987947 -0.05742415] [ 0. 0. 0. 1. ]] SLAMing on 9.589928850999998 meters Centerline goodness [0,1] 0.6986035867737717 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.99944659 -0.03095329 -0.01218202 0.53696078] [ 0.0310732 0.99946926 0.00978078 -0.20034665] [ 0.01187281 -0.0101539 0.99987796 -0.05737123] [ 0. 0. 0. 1. ]] SLAMing on 9.619928850999997 meters Centerline goodness [0,1] 0.7068487404749144 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.99945578 -0.03061426 -0.01228457 0.53724469] [ 0.03073801 0.9994773 0.01001478 -0.20130491] [ 0.01197155 -0.01038693 0.99987439 -0.05724423] [ 0. 0. 0. 1. ]] SLAMing on 9.649928850999999 meters Centerline goodness [0,1] 0.7013945475286942 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.99946198 -0.03035317 -0.0124276 0.53771872] [ 0.03048145 0.99948261 0.01026599 -0.20211751] [ 0.01210957 -0.01063928 0.99987007 -0.05737589] [ 0. 0. 0. 1. ]] SLAMing on 9.679928850999998 meters Centerline goodness [0,1] 0.6823029204711786 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.99946858 -0.03008696 -0.01254286 0.53817932] [ 0.03021872 0.99948868 0.01045043 -0.20262441] [ 0.01222202 -0.01082391 0.99986672 -0.05756041] [ 0. 0. 0. 1. ]] SLAMing on 9.709928850999997 meters Centerline goodness [0,1] 0.6855104026690144 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.99947227 -0.02991873 -0.0126508 0.53858207] [ 0.03005261 0.99949287 0.01052835 -0.20281106] [ 0.01232939 -0.01090298 0.99986455 -0.05766582] [ 0. 0. 0. 1. ]] SLAMing on 9.739928850999998 meters Centerline goodness [0,1] 0.7352483208998583 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.99948472 -0.02941441 -0.01284865 0.53914897] [ 0.02955438 0.99950436 0.01084279 -0.20273592] [ 0.01252335 -0.01121694 0.99985866 -0.05775284] [ 0. 0. 0. 1. ]] SLAMing on 9.769928850999998 meters Centerline goodness [0,1] 0.7139900950963751 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.99948877 -0.02920134 -0.01301813 0.53955778] [ 0.02934405 0.99950983 0.01090998 -0.20264316] [ 0.01269317 -0.01128641 0.99985574 -0.05767326] [ 0. 0. 0. 1. ]] SLAMing on 9.799928850999999 meters Centerline goodness [0,1] 0.731509719473868 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.99949372 -0.02898539 -0.0131203 0.53994245] [ 0.02913084 0.9995147 0.01103419 -0.20258489] [ 0.01279411 -0.01141081 0.99985304 -0.05780593] [ 0. 0. 0. 1. ]] SLAMing on 9.829928850999998 meters Centerline goodness [0,1] 0.7300989822947164 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.99949544 -0.02884981 -0.0132876 0.5403749 ] [ 0.02899748 0.99951832 0.01105815 -0.2028188 ] [ 0.01296218 -0.01143788 0.99985057 -0.0578184 ] [ 0. 0. 0. 1. ]] SLAMing on 9.859928850999998 meters Centerline goodness [0,1] 0.7295575631225388 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.9995038 -0.0284775 -0.01346072 0.54082716] [ 0.0286306 0.99952595 0.01132114 -0.20392188] [ 0.01313195 -0.01170091 0.99984531 -0.0577756 ] [ 0. 0. 0. 1. ]] SLAMing on 9.889928850999999 meters Centerline goodness [0,1] 0.7289322910626058 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.99950772 -0.02831372 -0.0135151 0.54110591] [ 0.02846894 0.99952929 0.0114335 -0.20434043] [ 0.01318502 -0.01181263 0.9998433 -0.05788399] [ 0. 0. 0. 1. ]] SLAMing on 9.919928850999998 meters Centerline goodness [0,1] 0.7284594694861807 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.99950909 -0.0282374 -0.01357292 0.54124955] [ 0.02839306 0.99953164 0.011416 -0.20429449] [ 0.0132442 -0.01179578 0.99984271 -0.05783381] [ 0. 0. 0. 1. ]] SLAMing on 9.949928850999997 meters Centerline goodness [0,1] 0.7266026978167153 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.99951003 -0.02818846 -0.01360574 0.54132529] [ 0.02834458 0.99953296 0.01142116 -0.20413387] [ 0.01327744 -0.01180121 0.99984221 -0.05778074] [ 0. 0. 0. 1. ]] SLAMing on 9.979928850999999 meters Centerline goodness [0,1] 0.717629897193665 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.06 [[ 0.99950931 -0.02820938 -0.01361538 0.54107456] [ 0.028365 0.99953291 0.0113751 -0.20432255] [ 0.01328814 -0.01175572 0.9998426 -0.05730026] [ 0. 0. 0. 1. ]] SLAMing on 10.009928850999998 meters Centerline goodness [0,1] 0.7208275543227 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.06 [[ 0.99950947 -0.02820905 -0.01360394 0.54099641] [ 0.02836593 0.99953168 0.01148012 -0.20523022] [ 0.01327372 -0.01186037 0.99984156 -0.05718062] [ 0. 0. 0. 1. ]] SLAMing on 10.039928850999997 meters Centerline goodness [0,1] 0.7313859196461482 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.06 [[ 0.99950386 -0.02841478 -0.0135879 0.54084291] [ 0.02857216 0.99952521 0.01153238 -0.20655906] [ 0.01325375 -0.01191489 0.99984117 -0.05705588] [ 0. 0. 0. 1. ]] SLAMing on 10.069928850999998 meters Centerline goodness [0,1] 0.7337358560136428 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.06 [[ 0.99949663 -0.0287528 -0.01340784 0.54032782] [ 0.02890897 0.99951471 0.01160241 -0.20809521] [ 0.01306774 -0.01198418 0.99984279 -0.05691757] [ 0. 0. 0. 1. ]] SLAMing on 10.099928850999998 meters Centerline goodness [0,1] 0.7180946262218346 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.06 [[ 0.99938895 -0.03214886 -0.01371774 0.54147645] [ 0.03226361 0.99944553 0.00822746 -0.20951047] [ 0.01344563 -0.00866502 0.99987206 -0.05696384] [ 0. 0. 0. 1. ]] SLAMing on 10.129928850999997 meters Centerline goodness [0,1] 0.7162347456465104 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.06 [[ 0.99938252 -0.03245784 -0.01345629 0.54100649] [ 0.03257349 0.99943349 0.00846613 -0.2110159 ] [ 0.01317388 -0.00889922 0.99987362 -0.05717921] [ 0. 0. 0. 1. ]] SLAMing on 10.159928850999998 meters Centerline goodness [0,1] 0.7093526490820463 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.06 [[ 0.99937589 -0.03270108 -0.01335902 0.54070436] [ 0.03281725 0.99942462 0.00857099 -0.21225201] [ 0.01307105 -0.00900405 0.99987403 -0.0570704 ] [ 0. 0. 0. 1. ]] SLAMing on 10.189928850999998 meters Centerline goodness [0,1] 0.7266191960324864 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.06 [[ 0.99937493 -0.03275523 -0.01329817 0.54055682] [ 0.03287458 0.99942023 0.00885784 -0.21347061] [ 0.01300031 -0.00928947 0.99987234 -0.05709517] [ 0. 0. 0. 1. ]] SLAMing on 10.219928850999999 meters Centerline goodness [0,1] 0.701422016264595 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.06 [[ 0.99937629 -0.03273822 -0.01323811 0.54037094] [ 0.0328604 0.99941834 0.00911959 -0.2146803 ] [ 0.01293185 -0.00954891 0.99987078 -0.05699935] [ 0. 0. 0. 1. ]] SLAMing on 10.249928850999998 meters Centerline goodness [0,1] 0.7258181818181818 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99937759 -0.03270378 -0.01322479 0.54040065] [ 0.03282917 0.99941698 0.00937807 -0.21555421] [ 0.01291038 -0.00980639 0.99986857 -0.05709707] [ 0. 0. 0. 1. ]] SLAMing on 10.279928850999998 meters Centerline goodness [0,1] 0.7258181818181818 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99937759 -0.03270378 -0.01322479 0.54040065] [ 0.03282917 0.99941698 0.00937807 -0.21555421] [ 0.01291038 -0.00980639 0.99986857 -0.05709707] [ 0. 0. 0. 1. ]] SLAMing on 10.309928850999999 meters Centerline goodness [0,1] 0.7323583346539585 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99938244 -0.03252234 -0.01330527 0.5406396 ] [ 0.03265487 0.99941798 0.00986753 -0.21743861] [ 0.01297662 -0.01029591 0.99986279 -0.0571641 ] [ 0. 0. 0. 1. ]] SLAMing on 10.339928850999998 meters Centerline goodness [0,1] 0.73039637599094 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.9993861 -0.03240099 -0.01332647 0.54071124] [ 0.0325378 0.99941866 0.01018037 -0.21849174] [ 0.01298887 -0.01060773 0.99985937 -0.0572189 ] [ 0. 0. 0. 1. ]] SLAMing on 10.369928850999997 meters Centerline goodness [0,1] 0.7263005910752154 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99939053 -0.03223185 -0.01340415 0.54094718] [ 0.0323733 0.99942098 0.01047251 -0.21973297] [ 0.01305884 -0.01090006 0.99985532 -0.05722715] [ 0. 0. 0. 1. ]] SLAMing on 10.399928850999999 meters Centerline goodness [0,1] 0.7266224505964642 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99939279 -0.0321621 -0.01340305 0.54096257] [ 0.03230445 0.99942247 0.01054319 -0.21998246] [ 0.01305621 -0.01096977 0.99985459 -0.05718949] [ 0. 0. 0. 1. ]] SLAMing on 10.429928850999998 meters Centerline goodness [0,1] 0.7209906086328337 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.9993939 -0.03207233 -0.01353513 0.54132067] [ 0.03221617 0.99942528 0.01054647 -0.22014821] [ 0.0131891 -0.01097613 0.99985278 -0.05716573] [ 0. 0. 0. 1. ]] SLAMing on 10.459928850999997 meters Centerline goodness [0,1] 0.7179544993348514 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.9993938 -0.03205517 -0.01358305 0.541406 ] [ 0.03220013 0.99942532 0.01059164 -0.22049996] [ 0.01323572 -0.0110226 0.99985165 -0.05710746] [ 0. 0. 0. 1. ]] SLAMing on 10.489928850999998 meters Centerline goodness [0,1] 0.7173967007424458 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99939371 -0.03209104 -0.01350474 0.54122907] [ 0.03223629 0.99942322 0.010679 -0.22109178] [ 0.01315425 -0.01110787 0.99985178 -0.05706591] [ 0. 0. 0. 1. ]] SLAMing on 10.519928850999998 meters Centerline goodness [0,1] 0.7257352610007657 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99939469 -0.03204806 -0.01353422 0.54140727] [ 0.03219552 0.999423 0.01082192 -0.22215575] [ 0.01317959 -0.01125111 0.99984984 -0.05714005] [ 0. 0. 0. 1. ]] SLAMing on 10.549928850999997 meters Centerline goodness [0,1] 0.7410716294979409 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99939385 -0.03204083 -0.01361287 0.54171628] [ 0.03218934 0.99942307 0.01083365 -0.22226546] [ 0.01325789 -0.01126527 0.99984865 -0.05725616] [ 0. 0. 0. 1. ]] SLAMing on 10.579928850999998 meters Centerline goodness [0,1] 0.7360226786959749 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99939399 -0.03201299 -0.01366813 0.54177727] [ 0.03216206 0.999424 0.01082944 -0.22214744] [ 0.01331357 -0.01126247 0.99984794 -0.05714687] [ 0. 0. 0. 1. ]] SLAMing on 10.609928850999998 meters Centerline goodness [0,1] 0.7007540799099605 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.9993937 -0.03196772 -0.01379508 0.54198817] [ 0.0321182 0.99942542 0.01082808 -0.22203423] [ 0.013441 -0.01126459 0.99984621 -0.0570216 ] [ 0. 0. 0. 1. ]] SLAMing on 10.639928850999999 meters Centerline goodness [0,1] 0.7400477348464378 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99939247 -0.03200619 -0.01379442 0.54171211] [ 0.03215305 0.99942718 0.01055875 -0.22124946] [ 0.01344858 -0.01099587 0.9998491 -0.0564798 ] [ 0. 0. 0. 1. ]] SLAMing on 10.669928850999998 meters Centerline goodness [0,1] 0.7404722778740742 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99939683 -0.03184877 -0.0138433 0.54195933] [ 0.03199805 0.99943067 0.01069882 -0.22149163] [ 0.01349467 -0.01113533 0.99984694 -0.05660631] [ 0. 0. 0. 1. ]] SLAMing on 10.699928850999997 meters Centerline goodness [0,1] 0.7435487142502986 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99939793 -0.03182211 -0.01382531 0.54209456] [ 0.03197305 0.99942998 0.01083738 -0.22212738] [ 0.01347257 -0.01127289 0.99984569 -0.05683236] [ 0. 0. 0. 1. ]] SLAMing on 10.729928850999999 meters Centerline goodness [0,1] 0.7409656164968854 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99939452 -0.0319506 -0.01377501 0.54215811] [ 0.03210032 0.99942643 0.01078831 -0.22246536] [ 0.01342242 -0.01122396 0.99984692 -0.05697817] [ 0. 0. 0. 1. ]] SLAMing on 10.759928850999998 meters Centerline goodness [0,1] 0.7354270170626981 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99939465 -0.03194314 -0.01378267 0.54233895] [ 0.03209189 0.99942754 0.01071024 -0.22224549] [ 0.01343266 -0.01114607 0.99984765 -0.05708592] [ 0. 0. 0. 1. ]] SLAMing on 10.789928850999997 meters Centerline goodness [0,1] 0.7254215217440112 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99939883 -0.03178076 -0.01385486 0.54271379] [ 0.03192673 0.99943563 0.010445 -0.22043682] [ 0.01351509 -0.01088106 0.99984946 -0.05719388] [ 0. 0. 0. 1. ]] SLAMing on 10.819928850999998 meters Centerline goodness [0,1] 0.7312072892938497 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99939803 -0.03175959 -0.01396078 0.54288753] [ 0.03190343 0.99943887 0.01020375 -0.21941949] [ 0.01362888 -0.01064301 0.99985048 -0.05702513] [ 0. 0. 0. 1. ]] SLAMing on 10.849928850999998 meters Centerline goodness [0,1] 0.7249915454852891 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.9994004 -0.03165379 -0.01403104 0.54324332] [ 0.03179724 0.99944309 0.01012117 -0.21887301] [ 0.01370285 -0.01056125 0.99985033 -0.05717227] [ 0. 0. 0. 1. ]] SLAMing on 10.879928850999997 meters Centerline goodness [0,1] 0.7285666028600383 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99940099 -0.03165925 -0.01397681 0.54322389] [ 0.0318002 0.99944442 0.00998 -0.21880367] [ 0.01365309 -0.01041849 0.99985251 -0.05721017] [ 0. 0. 0. 1. ]] SLAMing on 10.909928850999998 meters Centerline goodness [0,1] 0.7239513159076619 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99939558 -0.03187933 -0.01386276 0.54305848] [ 0.03201735 0.99943877 0.00985069 -0.21885333] [ 0.01354094 -0.01028859 0.99985538 -0.05728159] [ 0. 0. 0. 1. ]] SLAMing on 10.939928850999998 meters Centerline goodness [0,1] 0.710056105090016 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99938854 -0.03208647 -0.01389232 0.54288281] [ 0.03222268 0.9994337 0.00969413 -0.21872375] [ 0.0135734 -0.01013586 0.9998565 -0.05701355] [ 0. 0. 0. 1. ]] SLAMing on 10.969928850999997 meters Centerline goodness [0,1] 0.7069662921348314 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.9993847 -0.03217399 -0.01396596 0.5430347 ] [ 0.0323091 0.99943221 0.0095592 -0.21839296] [ 0.01365047 -0.01000455 0.99985678 -0.05695937] [ 0. 0. 0. 1. ]] SLAMing on 10.999928850999998 meters Centerline goodness [0,1] 0.6957272238163559 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99937501 -0.03252939 -0.01383542 0.54264374] [ 0.03265802 0.99942447 0.00917488 -0.2176177 ] [ 0.013529 -0.00962098 0.99986219 -0.05675576] [ 0. 0. 0. 1. ]] SLAMing on 11.029928850999998 meters Centerline goodness [0,1] 0.7334894508117358 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99936786 -0.03275407 -0.01382242 0.54252195] [ 0.03288153 0.99941786 0.00909637 -0.21774067] [ 0.01351643 -0.00954512 0.99986309 -0.05672053] [ 0. 0. 0. 1. ]] SLAMing on 11.059928850999999 meters Centerline goodness [0,1] 0.7330101465614431 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99936527 -0.03290703 -0.01364494 0.54233419] [ 0.03303299 0.99941273 0.00911112 -0.21789689] [ 0.01333711 -0.00955607 0.99986539 -0.0570063 ] [ 0. 0. 0. 1. ]] SLAMing on 11.089928850999998 meters Centerline goodness [0,1] 0.7208526747487494 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99935095 -0.03343008 -0.01342031 0.54176648] [ 0.03355135 0.99939723 0.00891511 -0.21838961] [ 0.01311419 -0.00935959 0.9998702 -0.05697898] [ 0. 0. 0. 1. ]] SLAMing on 11.119928850999997 meters Centerline goodness [0,1] 0.7140381672517778 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99934301 -0.03366284 -0.01342962 0.5419109 ] [ 0.03378469 0.99938904 0.00895195 -0.21892183] [ 0.01312007 -0.00939979 0.99986975 -0.05718124] [ 0. 0. 0. 1. ]] SLAMing on 11.149928850999999 meters Centerline goodness [0,1] 0.7098999887627824 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99933776 -0.03387226 -0.01329321 0.54154148] [ 0.03399402 0.99938113 0.00904261 -0.2196995 ] [ 0.01297869 -0.00948851 0.99987075 -0.05712213] [ 0. 0. 0. 1. ]] SLAMing on 11.179928850999998 meters Centerline goodness [0,1] 0.7053705910122968 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99932855 -0.03419505 -0.01315879 0.54108724] [ 0.03431529 0.99937032 0.00902315 -0.22036222] [ 0.01284196 -0.00946864 0.99987271 -0.05697267] [ 0. 0. 0. 1. ]] SLAMing on 11.209928850999997 meters Centerline goodness [0,1] 0.7179758104401781 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99931218 -0.03474769 -0.01295215 0.54035881] [ 0.03486349 0.99935313 0.00882424 -0.2211089 ] [ 0.01263715 -0.00926973 0.99987718 -0.05665872] [ 0. 0. 0. 1. ]] SLAMing on 11.239928850999998 meters Centerline goodness [0,1] 0.7113364886184359 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99930565 -0.03497772 -0.01283649 0.54005366] [ 0.03509154 0.99934578 0.00875158 -0.22137341] [ 0.01252198 -0.00919595 0.99987931 -0.0565995 ] [ 0. 0. 0. 1. ]] SLAMing on 11.269928850999998 meters Centerline goodness [0,1] 0.7068160808099029 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99930133 -0.03511466 -0.0127991 0.53984225] [ 0.03522803 0.99934106 0.00874292 -0.2215017 ] [ 0.01248366 -0.0091877 0.99987986 -0.05647013] [ 0. 0. 0. 1. ]] SLAMing on 11.299928850999997 meters Centerline goodness [0,1] 0.7091192130674127 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99929584 -0.03531178 -0.01268488 0.53941438] [ 0.03542236 0.99933542 0.00860077 -0.22126896] [ 0.01237274 -0.00904404 0.99988255 -0.05623711] [ 0. 0. 0. 1. ]] SLAMing on 11.329928850999998 meters Centerline goodness [0,1] 0.7091192130674127 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99929584 -0.03531178 -0.01268488 0.53941438] [ 0.03542236 0.99933542 0.00860077 -0.22126896] [ 0.01237274 -0.00904404 0.99988255 -0.05623711] [ 0. 0. 0. 1. ]] SLAMing on 11.359928850999998 meters Centerline goodness [0,1] 0.7084271687235384 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99929517 -0.03530526 -0.01275532 0.53947446] [ 0.03541583 0.99933609 0.00854925 -0.22084116] [ 0.01244502 -0.00899497 0.9998821 -0.05613117] [ 0. 0. 0. 1. ]] SLAMing on 11.389928850999997 meters Centerline goodness [0,1] 0.7093407705629653 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99930625 -0.03496886 -0.01281405 0.53990005] [ 0.03508018 0.99934778 0.00856762 -0.22015024] [ 0.01250609 -0.00901119 0.99988119 -0.05629976] [ 0. 0. 0. 1. ]] SLAMing on 11.419928850999998 meters Centerline goodness [0,1] 0.7162101279509822 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99930655 -0.03491052 -0.01294875 0.54016197] [ 0.03502308 0.99934976 0.00857025 -0.22006753] [ 0.01264113 -0.00901781 0.99987943 -0.05628836] [ 0. 0. 0. 1. ]] SLAMing on 11.449928850999997 meters Centerline goodness [0,1] 0.7173780694040452 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99930652 -0.03489421 -0.01299511 0.54019396] [ 0.03500716 0.99935033 0.00856833 -0.21999266] [ 0.01268768 -0.00901731 0.99987885 -0.05622713] [ 0. 0. 0. 1. ]] SLAMing on 11.479928850999999 meters Centerline goodness [0,1] 0.7112822365746805 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99929856 -0.03514463 -0.01293237 0.5398162 ] [ 0.0352551 0.99934291 0.00841582 -0.21980956] [ 0.0126281 -0.00886585 0.99988096 -0.05596728] [ 0. 0. 0. 1. ]] SLAMing on 11.509928850999998 meters Centerline goodness [0,1] 0.7168542874545988 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99929134 -0.03537013 -0.01287558 0.53942963] [ 0.03547916 0.99933562 0.00834 -0.21998086] [ 0.01257203 -0.0087909 0.99988233 -0.05570339] [ 0. 0. 0. 1. ]] SLAMing on 11.539928850999997 meters Centerline goodness [0,1] 0.7171553393685538 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99928514 -0.0355651 -0.0128189 0.53907726] [ 0.03567444 0.99932812 0.00840438 -0.22059383] [ 0.01251138 -0.00885567 0.99988251 -0.05546135] [ 0. 0. 0. 1. ]] SLAMing on 11.569928850999998 meters Centerline goodness [0,1] 0.7102022471910112 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99927853 -0.03576346 -0.0127828 0.53885317] [ 0.03587318 0.99932054 0.0084598 -0.22148982] [ 0.01247156 -0.00891226 0.99988251 -0.05535661] [ 0. 0. 0. 1. ]] SLAMing on 11.599928850999998 meters Centerline goodness [0,1] 0.705796613970176 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99927163 -0.0359739 -0.01273115 0.53862614] [ 0.03608608 0.99931087 0.00869412 -0.22324788] [ 0.01240961 -0.00914721 0.99988116 -0.0553335 ] [ 0. 0. 0. 1. ]] SLAMing on 11.629928850999997 meters Centerline goodness [0,1] 0.7045698924731183 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99926594 -0.03613728 -0.01271497 0.53843557] [ 0.03624998 0.99930447 0.00874755 -0.22392336] [ 0.01239001 -0.00920205 0.9998809 -0.05515668] [ 0. 0. 0. 1. ]] SLAMing on 11.659928850999998 meters Centerline goodness [0,1] 0.7072256152326208 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.06 [[ 0.99926349 -0.03617429 -0.01280239 0.53852836] [ 0.03628867 0.99930245 0.00881771 -0.22429269] [ 0.01247449 -0.00927579 0.99987917 -0.05503684] [ 0. 0. 0. 1. ]] SLAMing on 11.689928850999998 meters Centerline goodness [0,1] 0.6975706049933825 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.22, Z:-0.05 [[ 0.99926104 -0.03622775 -0.01284241 0.53847503] [ 0.0363433 0.9992999 0.00888154 -0.22458081] [ 0.01251166 -0.00934171 0.99987809 -0.05488023] [ 0. 0. 0. 1. ]] SLAMing on 11.719928850999997 meters Centerline goodness [0,1] 0.7010685723246488 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.23, Z:-0.05 [[ 0.99925789 -0.03630124 -0.01288017 0.53839657] [ 0.03641776 0.99929675 0.00892991 -0.22500438] [ 0.01254695 -0.00939235 0.99987717 -0.054684 ] [ 0. 0. 0. 1. ]] SLAMing on 11.749928850999998 meters Centerline goodness [0,1] 0.7010031643439036 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.23, Z:-0.05 [[ 0.99924161 -0.03680931 -0.01269991 0.53773552] [ 0.03692622 0.99927658 0.00909738 -0.22730661] [ 0.01235586 -0.00955944 0.99987797 -0.0544847 ] [ 0. 0. 0. 1. ]] SLAMing on 11.779928850999998 meters Centerline goodness [0,1] 0.6907566782161618 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.23, Z:-0.05 [[ 0.99923427 -0.0370113 -0.01269028 0.53791199] [ 0.03713139 0.99926654 0.00936177 -0.22887758] [ 0.01233448 -0.00982581 0.99987565 -0.05485031] [ 0. 0. 0. 1. ]] SLAMing on 11.809928850999997 meters Centerline goodness [0,1] 0.7049697783747482 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.23, Z:-0.05 [[ 0.99922459 -0.03730968 -0.01257781 0.53765985] [ 0.03742978 0.99925455 0.00945306 -0.23017461] [ 0.01221574 -0.00991651 0.99987621 -0.05490004] [ 0. 0. 0. 1. ]] SLAMing on 11.839928850999998 meters Centerline goodness [0,1] 0.68602780136772 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.23, Z:-0.05 [[ 0.9992158 -0.03759534 -0.012425 0.53731253] [ 0.037714 0.99924382 0.0094578 -0.23107234] [ 0.01206004 -0.00991898 0.99987808 -0.05487163] [ 0. 0. 0. 1. ]] SLAMing on 11.869928850999997 meters Centerline goodness [0,1] 0.6989832322511595 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.23, Z:-0.05 [[ 0.99920993 -0.03776351 -0.01238661 0.53721543] [ 0.03788261 0.99923679 0.00952625 -0.23180449] [ 0.01201741 -0.00998796 0.9998779 -0.05487106] [ 0. 0. 0. 1. ]] SLAMing on 11.899928850999999 meters Centerline goodness [0,1] 0.6745929065358018 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.23, Z:-0.05 [[ 0.99919749 -0.03815748 -0.01218089 0.53622308] [ 0.03827446 0.99922192 0.00951909 -0.23277036] [ 0.01180818 -0.00997767 0.9998805 -0.05419439] [ 0. 0. 0. 1. ]] SLAMing on 11.929928850999998 meters Centerline goodness [0,1] 0.6944122368890475 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.23, Z:-0.05 [[ 0.99919104 -0.03836415 -0.01206067 0.5357227 ] [ 0.0384807 0.99921338 0.00958471 -0.23360185] [ 0.01168347 -0.01004106 0.99988133 -0.05386418] [ 0. 0. 0. 1. ]] SLAMing on 11.959928850999997 meters Centerline goodness [0,1] 0.6875627440044618 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.23, Z:-0.05 [[ 0.99918607 -0.03852402 -0.01196258 0.53544949] [ 0.03864127 0.99920577 0.00973005 -0.23456922] [ 0.01157824 -0.01018438 0.9998811 -0.05381126] [ 0. 0. 0. 1. ]] SLAMing on 11.989928850999998 meters Centerline goodness [0,1] 0.6847857540345019 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.24, Z:-0.05 [[ 0.99918159 -0.03866733 -0.01187411 0.53524016] [ 0.0387874 0.99919691 0.0100537 -0.23649465] [ 0.01147583 -0.01050604 0.99987896 -0.05380039] [ 0. 0. 0. 1. ]] SLAMing on 12.019928850999998 meters Centerline goodness [0,1] 0.6864180499310222 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.24, Z:-0.05 [[ 0.99917764 -0.03876475 -0.01188863 0.53508244] [ 0.03888623 0.99919196 0.01016345 -0.23732566] [ 0.01148504 -0.01061739 0.99987767 -0.05359495] [ 0. 0. 0. 1. ]] SLAMing on 12.049928850999997 meters Centerline goodness [0,1] 0.681549208044136 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.24, Z:-0.05 [[ 0.99917302 -0.03893326 -0.01172485 0.53459979] [ 0.03905408 0.99918444 0.01025811 -0.23828242] [ 0.01131591 -0.01070753 0.99987864 -0.05341164] [ 0. 0. 0. 1. ]] SLAMing on 12.079928850999998 meters Centerline goodness [0,1] 0.6807905840550744 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.24, Z:-0.05 [[ 0.99916876 -0.03905349 -0.01168845 0.53430019] [ 0.03917479 0.99917892 0.01033542 -0.2389766 ] [ 0.01127522 -0.01078472 0.99987827 -0.05311142] [ 0. 0. 0. 1. ]] SLAMing on 12.109928850999998 meters Centerline goodness [0,1] 0.6897241103558577 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.24, Z:-0.05 [[ 0.99916711 -0.03915663 -0.01148222 0.53362817] [ 0.03927795 0.99917276 0.01053787 -0.24008181] [ 0.0110601 -0.01098009 0.99987855 -0.0528111 ] [ 0. 0. 0. 1. ]] SLAMing on 12.139928850999997 meters Centerline goodness [0,1] 0.6873375830131266 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.24, Z:-0.05 [[ 0.99917055 -0.03905362 -0.01153409 0.53380863] [ 0.03917858 0.9991737 0.01081423 -0.24088756] [ 0.01110222 -0.01125715 0.999875 -0.05293034] [ 0. 0. 0. 1. ]] SLAMing on 12.169928850999998 meters Centerline goodness [0,1] 0.6873375830131266 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.24, Z:-0.05 [[ 0.99917055 -0.03905362 -0.01153409 0.53380863] [ 0.03917858 0.9991737 0.01081423 -0.24088756] [ 0.01110222 -0.01125715 0.999875 -0.05293034] [ 0. 0. 0. 1. ]] SLAMing on 12.199928850999997 meters Centerline goodness [0,1] 0.7009453641649284 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.24, Z:-0.05 [[ 0.99917296 -0.03896154 -0.01163571 0.53411517] [ 0.03909 0.99917488 0.01102422 -0.2415868 ] [ 0.01119659 -0.01146994 0.99987153 -0.05307635] [ 0. 0. 0. 1. ]] SLAMing on 12.229928850999997 meters Centerline goodness [0,1] 0.6948141247449207 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.24, Z:-0.05 [[ 0.9991812 -0.03875432 -0.01162037 0.53427788] [ 0.03888581 0.99917963 0.01131176 -0.24242914] [ 0.01117246 -0.01175437 0.9998685 -0.05325654] [ 0. 0. 0. 1. ]] SLAMing on 12.259928850999998 meters Centerline goodness [0,1] 0.6951777154344032 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.24, Z:-0.05 [[ 0.99918113 -0.03874118 -0.01167041 0.53453281] [ 0.03887397 0.99917938 0.01137436 -0.2428762 ] [ 0.01122018 -0.01181873 0.9998672 -0.05335546] [ 0. 0. 0. 1. ]] SLAMing on 12.289928850999997 meters Centerline goodness [0,1] 0.6658257540551904 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.24, Z:-0.05 [[ 0.99917592 -0.03886111 -0.01171762 0.53440453] [ 0.03899403 0.99917513 0.01133688 -0.24326136] [ 0.01126739 -0.01178446 0.99986708 -0.05305231] [ 0. 0. 0. 1. ]] SLAMing on 12.319928850999998 meters Centerline goodness [0,1] 0.6935043187026264 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.24, Z:-0.05 [[ 0.99917191 -0.03893894 -0.01180043 0.53463755] [ 0.03907253 0.99917237 0.01130957 -0.24382767] [ 0.01135028 -0.01176127 0.99986641 -0.05306374] [ 0. 0. 0. 1. ]] SLAMing on 12.349928850999998 meters Centerline goodness [0,1] 0.6897328826141711 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.25, Z:-0.05 [[ 0.9991696 -0.03899701 -0.01180402 0.53452043] [ 0.03913402 0.99916655 0.01160779 -0.24561922] [ 0.01134151 -0.01206009 0.99986295 -0.05297915] [ 0. 0. 0. 1. ]] SLAMing on 12.379928850999997 meters Centerline goodness [0,1] 0.6916887709991159 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.25, Z:-0.05 [[ 0.99916471 -0.03913436 -0.01176378 0.53427345] [ 0.03927162 0.99916039 0.01167248 -0.24645072] [ 0.0112971 -0.01212471 0.99986267 -0.0527736 ] [ 0. 0. 0. 1. ]] SLAMing on 12.409928850999998 meters Centerline goodness [0,1] 0.694742181641745 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.25, Z:-0.05 [[ 0.99916035 -0.03924698 -0.01175861 0.53433639] [ 0.03938423 0.99915591 0.01167723 -0.24701762] [ 0.01129039 -0.01213053 0.99986268 -0.05277774] [ 0. 0. 0. 1. ]] SLAMing on 12.439928850999998 meters Centerline goodness [0,1] 0.6876766160367361 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.25, Z:-0.05 [[ 0.99915591 -0.0393241 -0.01187772 0.53425621] [ 0.039462 0.99915365 0.01160725 -0.24704762] [ 0.01141123 -0.01206617 0.99986209 -0.05233303] [ 0. 0. 0. 1. ]] SLAMing on 12.469928850999997 meters Centerline goodness [0,1] 0.687432512836334 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.25, Z:-0.05 [[ 0.9991607 -0.03919445 -0.01190357 0.53420628] [ 0.03933297 0.99915842 0.01163462 -0.24710834] [ 0.01143754 -0.01209306 0.99986146 -0.05208981] [ 0. 0. 0. 1. ]] SLAMing on 12.499928850999998 meters Centerline goodness [0,1] 0.6912192541655646 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.25, Z:-0.05 [[ 0.99916486 -0.03905384 -0.01201625 0.53450002] [ 0.03919579 0.99916172 0.01181342 -0.24766211] [ 0.01154482 -0.01227454 0.99985802 -0.05211904] [ 0. 0. 0. 1. ]] SLAMing on 12.529928850999998 meters Centerline goodness [0,1] 0.6904829888642403 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.25, Z:-0.05 [[ 0.99916746 -0.03891261 -0.01225518 0.53524127] [ 0.03906067 0.99916379 0.01208242 -0.24860313] [ 0.01177478 -0.01255105 0.9998519 -0.05242666] [ 0. 0. 0. 1. ]] SLAMing on 12.559928850999997 meters Centerline goodness [0,1] 0.6865947611710324 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.25, Z:-0.05 [[ 0.99916866 -0.03885381 -0.01234354 0.53548449] [ 0.03900549 0.99916336 0.01229464 -0.24944107] [ 0.01185552 -0.01276589 0.99984823 -0.05252089] [ 0. 0. 0. 1. ]] SLAMing on 12.589928850999998 meters Centerline goodness [0,1] 0.6865776683014801 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.25, Z:-0.05 [[ 0.99916966 -0.03881605 -0.01238195 0.53531192] [ 0.03896982 0.99916308 0.01242912 -0.25019046] [ 0.01188914 -0.01290133 0.99984609 -0.05217675] [ 0. 0. 0. 1. ]] SLAMing on 12.619928850999997 meters Centerline goodness [0,1] 0.6870779720664247 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.25, Z:-0.05 [[ 0.99916836 -0.03882976 -0.01244342 0.53530327] [ 0.03898434 0.9991625 0.01243045 -0.2504194 ] [ 0.01195032 -0.01290521 0.99984531 -0.05198719] [ 0. 0. 0. 1. ]] SLAMing on 12.649928850999997 meters Centerline goodness [0,1] 0.6871690069659613 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.25, Z:-0.05 [[ 0.99916857 -0.03884242 -0.01238705 0.53503918] [ 0.03899557 0.9991628 0.0123715 -0.25056315] [ 0.01189614 -0.01284426 0.99984674 -0.05169124] [ 0. 0. 0. 1. ]] SLAMing on 12.679928850999998 meters Centerline goodness [0,1] 0.6827971167369902 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.25, Z:-0.05 [[ 0.9991774 -0.0385989 -0.01243586 0.53483196] [ 0.03875402 0.99917079 0.01248402 -0.2509374 ] [ 0.01194368 -0.01295569 0.99984474 -0.05113477] [ 0. 0. 0. 1. ]] SLAMing on 12.709928850999997 meters Centerline goodness [0,1] 0.6992575344873033 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.25, Z:-0.05 [[ 0.99917814 -0.03857095 -0.01246316 0.53482067] [ 0.0387264 0.9991719 0.01248124 -0.25088252] [ 0.01197142 -0.01295363 0.99984443 -0.05098884] [ 0. 0. 0. 1. ]] SLAMing on 12.739928850999998 meters Centerline goodness [0,1] 0.6994918945076216 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.25, Z:-0.05 [[ 0.99917616 -0.03860612 -0.0125129 0.5349201 ] [ 0.03876237 0.99917033 0.01249521 -0.25112398] [ 0.01202012 -0.01296994 0.99984364 -0.05096369] [ 0. 0. 0. 1. ]] SLAMing on 12.769928850999998 meters Centerline goodness [0,1] 0.6962891269439739 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.25, Z:-0.05 [[ 0.99917714 -0.03853859 -0.01264182 0.53547822] [ 0.03869902 0.9991702 0.01270047 -0.25182995] [ 0.01214187 -0.01317924 0.99983943 -0.05133229] [ 0. 0. 0. 1. ]] SLAMing on 12.799928850999997 meters Centerline goodness [0,1] 0.6925168278190708 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.25, Z:-0.05 [[ 0.99917433 -0.03853881 -0.01286154 0.53595992] [ 0.03870321 0.99916892 0.01278786 -0.2525179 ] [ 0.01235802 -0.01327508 0.99983551 -0.05135803] [ 0. 0. 0. 1. ]] SLAMing on 12.829928850999998 meters Centerline goodness [0,1] 0.6971513913597329 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.25, Z:-0.05 [[ 0.9991802 -0.03840205 -0.01281456 0.53590408] [ 0.03856879 0.99917101 0.01302848 -0.25326281] [ 0.01230362 -0.01351204 0.99983301 -0.05137294] [ 0. 0. 0. 1. ]] SLAMing on 12.859928850999998 meters Centerline goodness [0,1] 0.7036518083895262 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.25, Z:-0.05 [[ 0.99917464 -0.03852735 -0.01287173 0.53583927] [ 0.03869237 0.99916883 0.01282763 -0.2531475 ] [ 0.01236681 -0.01331508 0.99983487 -0.05102214] [ 0. 0. 0. 1. ]] SLAMing on 12.889928850999997 meters Centerline goodness [0,1] 0.6827256373129744 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.25, Z:-0.05 [[ 0.99916811 -0.03866741 -0.01295872 0.53548511] [ 0.03883196 0.99916509 0.01269626 -0.25335631] [ 0.01245697 -0.01318891 0.99983542 -0.05029354] [ 0. 0. 0. 1. ]] SLAMing on 12.919928850999998 meters Centerline goodness [0,1] 0.7034653356975548 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.25, Z:-0.05 [[ 0.99916363 -0.03876437 -0.01301388 0.53551056] [ 0.03893044 0.99916045 0.01275969 -0.25397357] [ 0.01250834 -0.01325565 0.9998339 -0.05015904] [ 0. 0. 0. 1. ]] SLAMing on 12.949928850999997 meters Centerline goodness [0,1] 0.6881936995118108 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.26, Z:-0.05 [[ 0.99916052 -0.03888968 -0.01287853 0.53509565] [ 0.03905726 0.99915205 0.01302735 -0.25582705] [ 0.01236098 -0.01351941 0.9998322 -0.04996657] [ 0. 0. 0. 1. ]] SLAMing on 12.979928850999997 meters Centerline goodness [0,1] 0.6744725553707432 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.26, Z:-0.05 [[ 0.99915141 -0.03912719 -0.01286583 0.53499874] [ 0.03929394 0.99914346 0.01297424 -0.25632907] [ 0.01234717 -0.01346878 0.99983306 -0.04988392] [ 0. 0. 0. 1. ]] SLAMing on 13.009928850999998 meters Centerline goodness [0,1] 0.7121238628411477 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.26, Z:-0.05 [[ 0.9991481 -0.03924507 -0.01276314 0.53465993] [ 0.03941159 0.9991376 0.01306817 -0.25718601] [ 0.01223927 -0.01356005 0.99983315 -0.04967785] [ 0. 0. 0. 1. ]] SLAMing on 13.039928850999997 meters Centerline goodness [0,1] 0.709889485869043 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.26, Z:-0.05 [[ 0.99914782 -0.03919711 -0.01293168 0.53494188] [ 0.03936664 0.99913861 0.01312633 -0.25760282] [ 0.01240603 -0.01362422 0.99983022 -0.0495608 ] [ 0. 0. 0. 1. ]] SLAMing on 13.069928850999997 meters Centerline goodness [0,1] 0.6791941023341281 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.26, Z:-0.05 [[ 0.99914373 -0.03927019 -0.01302542 0.53510871] [ 0.0394394 0.99913741 0.01299864 -0.25753064] [ 0.01250372 -0.01350122 0.99983067 -0.04945817] [ 0. 0. 0. 1. ]] SLAMing on 13.099928850999998 meters Centerline goodness [0,1] 0.7106287163343826 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.26, Z:-0.05 [[ 0.99914179 -0.03928361 -0.01313341 0.535312 ] [ 0.03945401 0.99913711 0.01297766 -0.25757488] [ 0.01261226 -0.01348469 0.99982953 -0.04940595] [ 0. 0. 0. 1. ]] SLAMing on 13.129928850999997 meters Centerline goodness [0,1] 0.7079768027136448 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.26, Z:-0.05 [[ 0.99913929 -0.0393385 -0.01315908 0.53520238] [ 0.03950875 0.99913546 0.01293789 -0.25775621] [ 0.01263874 -0.01344665 0.99982971 -0.04915801] [ 0. 0. 0. 1. ]] SLAMing on 13.159928850999998 meters Centerline goodness [0,1] 0.7188429246108099 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.26, Z:-0.05 [[ 0.99913338 -0.03946332 -0.01323412 0.53502887] [ 0.03963421 0.99913086 0.01290912 -0.25824566] [ 0.01271318 -0.01342246 0.99982909 -0.04871536] [ 0. 0. 0. 1. ]] SLAMing on 13.189928850999998 meters Centerline goodness [0,1] 0.7093619714928077 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.26, Z:-0.05 [[ 0.99913096 -0.03954633 -0.01316857 0.5347068 ] [ 0.03971904 0.99912471 0.01312307 -0.25954224] [ 0.01263808 -0.01363471 0.99982717 -0.04850549] [ 0. 0. 0. 1. ]] SLAMing on 13.219928850999997 meters Centerline goodness [0,1] 0.720983992672395 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.26, Z:-0.05 [[ 0.99912123 -0.03975818 -0.0132689 0.53460658] [ 0.039931 0.99911755 0.01302447 -0.25980363] [ 0.01273936 -0.01354286 0.99982713 -0.04813078] [ 0. 0. 0. 1. ]] SLAMing on 13.249928850999998 meters Centerline goodness [0,1] 0.7108228511530399 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.26, Z:-0.05 [[ 0.99911789 -0.0398271 -0.01331304 0.53467801] [ 0.04000219 0.99911299 0.01315506 -0.26047947] [ 0.0127773 -0.013676 0.99982484 -0.04813518] [ 0. 0. 0. 1. ]] SLAMing on 13.279928850999998 meters Centerline goodness [0,1] 0.7215449370815432 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.26, Z:-0.05 [[ 0.99910877 -0.04004796 -0.01333534 0.53463251] [ 0.04022273 0.99910479 0.01310563 -0.26108513] [ 0.01279854 -0.01363034 0.99982519 -0.04798892] [ 0. 0. 0. 1. ]] SLAMing on 13.309928850999997 meters Centerline goodness [0,1] 0.7082808359038971 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.26, Z:-0.05 [[ 0.99910189 -0.0401863 -0.01343445 0.53475257] [ 0.04036328 0.99909824 0.01317279 -0.26227797] [ 0.01289297 -0.01370322 0.99982298 -0.04784372] [ 0. 0. 0. 1. ]] SLAMing on 13.339928850999998 meters Centerline goodness [0,1] 0.7080301483524838 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.26, Z:-0.05 [[ 0.99910213 -0.04015828 -0.01349997 0.53469105] [ 0.04033583 0.99909967 0.01314769 -0.26243384] [ 0.01295982 -0.01368041 0.99982243 -0.04751483] [ 0. 0. 0. 1. ]] SLAMing on 13.369928850999997 meters Centerline goodness [0,1] 0.6994146702352199 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.26, Z:-0.05 [[ 0.99910529 -0.04007478 -0.01351383 0.53468021] [ 0.04025313 0.99910239 0.01319434 -0.26254235] [ 0.01297294 -0.01372651 0.99982163 -0.04739967] [ 0. 0. 0. 1. ]] SLAMing on 13.399928850999997 meters Centerline goodness [0,1] 0.714499804526302 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.26, Z:-0.05 [[ 0.99910289 -0.0400982 -0.01362186 0.53462567] [ 0.04027661 0.99910288 0.01308576 -0.26240475] [ 0.01308493 -0.01362266 0.99982159 -0.04697295] [ 0. 0. 0. 1. ]] SLAMing on 13.429928850999998 meters Centerline goodness [0,1] 0.713375518219507 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.26, Z:-0.05 [[ 0.99911213 -0.0398457 -0.01368458 0.53427692] [ 0.04002811 0.99910971 0.01332469 -0.26307895] [ 0.01314147 -0.01386063 0.99981758 -0.04626926] [ 0. 0. 0. 1. ]] SLAMing on 13.459928850999997 meters Centerline goodness [0,1] 0.7080933023195148 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.26, Z:-0.05 [[ 0.99911212 -0.03979259 -0.01383888 0.534648 ] [ 0.03997736 0.99911152 0.01334121 -0.26339587] [ 0.01329571 -0.01388261 0.99981523 -0.04622156] [ 0. 0. 0. 1. ]] SLAMing on 13.489928850999997 meters Centerline goodness [0,1] 0.7082019270504818 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.26, Z:-0.05 [[ 0.99911466 -0.03968373 -0.01396783 0.53503017] [ 0.03987193 0.99911409 0.01346364 -0.26370486] [ 0.01342117 -0.01400864 0.9998118 -0.04635522] [ 0. 0. 0. 1. ]] SLAMing on 13.519928850999998 meters Centerline goodness [0,1] 0.7086593635889411 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.26, Z:-0.05 [[ 0.99913445 -0.03910283 -0.01418869 0.5356068 ] [ 0.03930158 0.99912917 0.0140103 -0.26459889] [ 0.01362849 -0.01455582 0.99980118 -0.04646776] [ 0. 0. 0. 1. ]] SLAMing on 13.549928850999997 meters Centerline goodness [0,1] 0.705234339352063 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.26, Z:-0.05 [[ 0.9991368 -0.03896304 -0.01440623 0.53609875] [ 0.03916569 0.99913377 0.01406239 -0.26472572] [ 0.01384584 -0.01461448 0.99979733 -0.0464271 ] [ 0. 0. 0. 1. ]] SLAMing on 13.579928850999998 meters Centerline goodness [0,1] 0.7082427142235754 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.26, Z:-0.05 [[ 0.99914108 -0.03881175 -0.01451708 0.53619874] [ 0.0390157 0.99913996 0.01403986 -0.2644733 ] [ 0.01395968 -0.0145942 0.99979605 -0.04621133] [ 0. 0. 0. 1. ]] SLAMing on 13.609928850999998 meters Centerline goodness [0,1] 0.7085581273929691 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.26, Z:-0.05 [[ 0.99914731 -0.03866033 -0.0144922 0.53599813] [ 0.03886222 0.99914764 0.01391845 -0.26393833] [ 0.01394175 -0.01446978 0.99979811 -0.04582814] [ 0. 0. 0. 1. ]] SLAMing on 13.639928850999997 meters Centerline goodness [0,1] 0.7061095200902543 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.26, Z:-0.05 [[ 0.99917345 -0.03792252 -0.01463869 0.53627768] [ 0.03812882 0.99917362 0.01408106 -0.2633305 ] [ 0.0140926 -0.01462758 0.99979369 -0.0454948 ] [ 0. 0. 0. 1. ]] SLAMing on 13.669928850999998 meters Centerline goodness [0,1] 0.7067251335041028 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.26, Z:-0.05 [[ 0.99917872 -0.03772552 -0.01478777 0.536572 ] [ 0.03793661 0.99917834 0.01426407 -0.26380231] [ 0.0142375 -0.01481335 0.99978891 -0.04544994] [ 0. 0. 0. 1. ]] SLAMing on 13.699928850999997 meters Centerline goodness [0,1] 0.7037342955266704 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.26, Z:-0.05 [[ 0.99918297 -0.03757991 -0.01487076 0.53682153] [ 0.03779627 0.99917959 0.01454586 -0.26482242] [ 0.01431193 -0.01509603 0.99978362 -0.04553 ] [ 0. 0. 0. 1. ]] SLAMing on 13.729928850999997 meters Centerline goodness [0,1] 0.7033655722773995 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.27, Z:-0.05 [[ 0.99918012 -0.03755745 -0.01511701 0.53742657] [ 0.03777894 0.99917883 0.01464326 -0.26552419] [ 0.01455463 -0.01520236 0.9997785 -0.04563471] [ 0. 0. 0. 1. ]] SLAMing on 13.759928850999998 meters Centerline goodness [0,1] 0.6957833941288866 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.27, Z:-0.05 [[ 0.9991781 -0.03764827 -0.01502445 0.53680518] [ 0.03786859 0.99917519 0.01465956 -0.26607583] [ 0.01446015 -0.01521646 0.99977966 -0.04500134] [ 0. 0. 0. 1. ]] SLAMing on 13.789928850999997 meters Centerline goodness [0,1] 0.6900507723884628 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.27, Z:-0.04 [[ 0.999162 -0.03796386 -0.0152986 0.53702684] [ 0.03818386 0.99916762 0.01435446 -0.26602869] [ 0.01474092 -0.0149266 0.99977993 -0.04452106] [ 0. 0. 0. 1. ]] SLAMing on 13.819928850999997 meters Centerline goodness [0,1] 0.6885721712008317 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.27, Z:-0.04 [[ 0.99915271 -0.03818795 -0.01534726 0.53673054] [ 0.03840854 0.99915914 0.0143453 -0.26666093] [ 0.01478654 -0.01492261 0.99977931 -0.0440649 ] [ 0. 0. 0. 1. ]] SLAMing on 13.849928850999998 meters Centerline goodness [0,1] 0.6915001839787018 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.27, Z:-0.04 [[ 0.99913928 -0.03846863 -0.01551975 0.53666842] [ 0.03869139 0.99914862 0.01431796 -0.2677921 ] [ 0.01495574 -0.01490611 0.99977704 -0.04353096] [ 0. 0. 0. 1. ]] SLAMing on 13.879928850999997 meters Centerline goodness [0,1] 0.762678494158373 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.27, Z:-0.04 [[ 0.99912227 -0.0388647 -0.01562741 0.53659686] [ 0.0390891 0.99913311 0.01432012 -0.26913627] [ 0.01505732 -0.01491841 0.99977533 -0.04327278] [ 0. 0. 0. 1. ]] SLAMing on 13.909928850999997 meters Centerline goodness [0,1] 0.6719428188904965 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.27, Z:-0.04 [[ 0.99899331 -0.04200419 -0.01574872 0.53739346] [ 0.04218148 0.99904831 0.01109945 -0.27026989] [ 0.01526751 -0.01175258 0.99981437 -0.04325702] [ 0. 0. 0. 1. ]] SLAMing on 13.939928850999998 meters Centerline goodness [0,1] 0.738048066155569 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.27, Z:-0.04 [[ 0.99897945 -0.04233047 -0.01575388 0.53723707] [ 0.04250759 0.99903467 0.01108334 -0.27116345] [ 0.01526951 -0.01174168 0.99981447 -0.04307013] [ 0. 0. 0. 1. ]] SLAMing on 13.969928850999997 meters Centerline goodness [0,1] 0.7500107986696039 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.27, Z:-0.04 [[ 0.99897243 -0.04247945 -0.01579785 0.53696165] [ 0.04265786 0.99902771 0.01113317 -0.27183157] [ 0.01530955 -0.01179563 0.99981322 -0.04262578] [ 0. 0. 0. 1. ]] SLAMing on 13.999928850999998 meters Centerline goodness [0,1] 0.7308089945722409 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.27, Z:-0.04 [[ 0.99896925 -0.04256148 -0.01577829 0.5365822 ] [ 0.04274077 0.99902336 0.01120536 -0.27231344] [ 0.01528596 -0.01186819 0.99981273 -0.04218586] [ 0. 0. 0. 1. ]] SLAMing on 14.029928850999998 meters Centerline goodness [0,1] 0.650094696969697 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.27, Z:-0.04 [[ 0.9989678 -0.04255754 -0.0158802 0.53654406] [ 0.04273861 0.99902304 0.01124215 -0.27254511] [ 0.01538624 -0.01190925 0.9998107 -0.04182697] [ 0. 0. 0. 1. ]] SLAMing on 14.059928850999997 meters Centerline goodness [0,1] 0.7256189451022605 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.27, Z:-0.04 [[ 0.99896634 -0.04253944 -0.01602039 0.53661441] [ 0.04272441 0.99902201 0.01138646 -0.27325076] [ 0.01552035 -0.01205915 0.99980683 -0.04156415] [ 0. 0. 0. 1. ]] SLAMing on 14.089928850999998 meters Centerline goodness [0,1] 0.7256189451022605 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.27, Z:-0.04 [[ 0.99896634 -0.04253944 -0.01602039 0.53661441] [ 0.04272441 0.99902201 0.01138646 -0.27325076] [ 0.01552035 -0.01205915 0.99980683 -0.04156415] [ 0. 0. 0. 1. ]] SLAMing on 14.119928850999997 meters Centerline goodness [0,1] 0.7236022837444791 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.27, Z:-0.04 [[ 0.99896067 -0.04264569 -0.01609117 0.53687734] [ 0.04283486 0.99901482 0.01160009 -0.27447967] [ 0.01558062 -0.0122773 0.99980324 -0.04172937] [ 0. 0. 0. 1. ]] SLAMing on 14.149928850999997 meters Centerline goodness [0,1] 0.717758096838839 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.28, Z:-0.04 [[ 0.99882882 -0.04558224 -0.01622518 0.53836853] [ 0.04572731 0.99891621 0.00868482 -0.27615123] [ 0.01581172 -0.00941658 0.99983064 -0.04262237] [ 0. 0. 0. 1. ]] SLAMing on 14.179928850999998 meters Centerline goodness [0,1] 0.7064891990265125 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.28, Z:-0.04 [[ 0.99881793 -0.04581439 -0.01624121 0.53812501] [ 0.0459631 0.99890346 0.00890383 -0.27753217] [ 0.01581547 -0.0096398 0.99982846 -0.04236114] [ 0. 0. 0. 1. ]] SLAMing on 14.209928850999997 meters Centerline goodness [0,1] 0.7185398448746321 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.28, Z:-0.04 [[ 0.9988101 -0.04599591 -0.0162098 0.53794573] [ 0.04614622 0.99889394 0.00902345 -0.2782523 ] [ 0.01577683 -0.00976073 0.9998279 -0.04221197] [ 0. 0. 0. 1. ]] SLAMing on 14.239928850999997 meters Centerline goodness [0,1] 0.6994387458873621 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.28, Z:-0.04 [[ 0.99879819 -0.04627213 -0.01615783 0.5373898 ] [ 0.04641906 0.99888294 0.00883976 -0.27822503] [ 0.01573075 -0.00957916 0.99983038 -0.04161617] [ 0. 0. 0. 1. ]] SLAMing on 14.269928850999998 meters Centerline goodness [0,1] 0.6959601597046323 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.28, Z:-0.04 [[ 0.99879357 -0.04637247 -0.01615529 0.5370029 ] [ 0.04652063 0.99887751 0.00891873 -0.27869335] [ 0.01572357 -0.00965953 0.99982972 -0.04111751] [ 0. 0. 0. 1. ]] SLAMing on 14.299928850999997 meters Centerline goodness [0,1] 0.6922135109010847 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.28, Z:-0.04 [[ 0.99879433 -0.04632509 -0.01624393 0.5372746 ] [ 0.04647738 0.99887765 0.00912631 -0.27946919] [ 0.01580293 -0.00987028 0.99982641 -0.04125504] [ 0. 0. 0. 1. ]] SLAMing on 14.329928850999996 meters Centerline goodness [0,1] 0.707725054288233 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.28, Z:-0.04 [[ 0.99880292 -0.04610416 -0.01634443 0.53776231] [ 0.04626206 0.99888494 0.00941788 -0.28008744] [ 0.015892 -0.01016273 0.99982207 -0.04162913] [ 0. 0. 0. 1. ]] SLAMing on 14.359928850999998 meters Centerline goodness [0,1] 0.7044708205447404 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.28, Z:-0.04 [[ 0.99880255 -0.04604384 -0.01653578 0.53832896] [ 0.04620647 0.99888587 0.00959115 -0.28047327] [ 0.01607574 -0.01034372 0.99981727 -0.04184743] [ 0. 0. 0. 1. ]] SLAMing on 14.389928850999997 meters Centerline goodness [0,1] 0.7087445440667397 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.28, Z:-0.04 [[ 0.99880439 -0.04601472 -0.01650564 0.53829995] [ 0.04617851 0.99888627 0.00968333 -0.28042261] [ 0.01604168 -0.01043396 0.99981688 -0.04186886] [ 0. 0. 0. 1. ]] SLAMing on 14.419928850999998 meters Centerline goodness [0,1] 0.7315717168247972 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.28, Z:-0.04 [[ 0.99880213 -0.04603481 -0.0165863 0.53823444] [ 0.04619764 0.99888647 0.00957079 -0.28000956] [ 0.01612725 -0.01032557 0.99981663 -0.04148398] [ 0. 0. 0. 1. ]] SLAMing on 14.449928850999997 meters Centerline goodness [0,1] 0.7250354335781471 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.28, Z:-0.04 [[ 0.99881187 -0.04583002 -0.01656677 0.53778337] [ 0.04599188 0.99889641 0.00952465 -0.28004503] [ 0.01611197 -0.01027527 0.99981739 -0.04078969] [ 0. 0. 0. 1. ]] SLAMing on 14.479928850999997 meters Centerline goodness [0,1] 0.7154315943400285 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.28, Z:-0.04 [[ 0.9988208 -0.04560186 -0.01665764 0.53821972] [ 0.04576805 0.99890465 0.0097354 -0.28045687] [ 0.01619544 -0.01048631 0.99981386 -0.0410533 ] [ 0. 0. 0. 1. ]] SLAMing on 14.509928850999998 meters Centerline goodness [0,1] 0.7434434842279073 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.28, Z:-0.04 [[ 0.99882296 -0.04551369 -0.01676894 0.53874737] [ 0.04568158 0.99890829 0.00976837 -0.28037094] [ 0.01630604 -0.01052291 0.99981167 -0.04134119] [ 0. 0. 0. 1. ]] SLAMing on 14.539928850999997 meters Centerline goodness [0,1] 0.7217781788492115 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.28, Z:-0.04 [[ 0.99882628 -0.04538658 -0.01691501 0.53903808] [ 0.04555663 0.99891362 0.00980704 -0.2800394 ] [ 0.01645153 -0.01056612 0.99980883 -0.04130809] [ 0. 0. 0. 1. ]] SLAMing on 14.569928850999997 meters Centerline goodness [0,1] 0.7280556333024738 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.28, Z:-0.04 [[ 0.99882764 -0.04534163 -0.01695549 0.53895269] [ 0.04551104 0.99891633 0.00974243 -0.27931607] [ 0.01649538 -0.01050267 0.99980878 -0.04106564] [ 0. 0. 0. 1. ]] SLAMing on 14.599928850999998 meters Centerline goodness [0,1] 0.7170345582083789 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.28, Z:-0.04 [[ 0.99882367 -0.04544214 -0.01692003 0.53834405] [ 0.04560759 0.99891403 0.00952443 -0.27872223] [ 0.01646884 -0.01028491 0.99981148 -0.04026228] [ 0. 0. 0. 1. ]] SLAMing on 14.629928850999997 meters Centerline goodness [0,1] 0.737070539954019 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.28, Z:-0.04 [[ 0.99881905 -0.04550417 -0.01702591 0.53829999] [ 0.04567152 0.99891064 0.00957293 -0.27940041] [ 0.01657176 -0.01033922 0.99980922 -0.03990225] [ 0. 0. 0. 1. ]] SLAMing on 14.659928850999997 meters Centerline goodness [0,1] 0.7292814127429759 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.28, Z:-0.04 [[ 0.99881199 -0.04567736 -0.01697622 0.53812766] [ 0.0458461 0.99890155 0.00968691 -0.28051156] [ 0.0165151 -0.01045369 0.99980897 -0.03982169] [ 0. 0. 0. 1. ]] SLAMing on 14.689928850999998 meters Centerline goodness [0,1] 0.7284135686140141 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.28, Z:-0.04 [[ 0.99879081 -0.04616439 -0.01690468 0.53785398] [ 0.04633414 0.99887801 0.00979144 -0.28249998] [ 0.0164337 -0.01056286 0.99980916 -0.03979552] [ 0. 0. 0. 1. ]] SLAMing on 14.719928850999997 meters Centerline goodness [0,1] 0.720368782161235 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.28, Z:-0.04 [[ 0.99877477 -0.0465044 -0.01692021 0.53771453] [ 0.0466738 0.99886252 0.009758 -0.28282813] [ 0.01644717 -0.01053578 0.99980923 -0.03966707] [ 0. 0. 0. 1. ]] SLAMing on 14.749928850999996 meters Centerline goodness [0,1] 0.7177777301284388 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.28, Z:-0.04 [[ 0.9987606 -0.04682151 -0.01688198 0.53744149] [ 0.04699049 0.9988477 0.00975567 -0.28321428] [ 0.01640575 -0.01053687 0.99980989 -0.03945431] [ 0. 0. 0. 1. ]] SLAMing on 14.779928850999998 meters Centerline goodness [0,1] 0.701808453718566 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.28, Z:-0.04 [[ 0.99874782 -0.04709755 -0.01687064 0.53734118] [ 0.04726884 0.99883312 0.00990184 -0.28404545] [ 0.0163846 -0.01068689 0.99980865 -0.0394287 ] [ 0. 0. 0. 1. ]] SLAMing on 14.809928850999997 meters Centerline goodness [0,1] 0.6121753246753247 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.29, Z:-0.04 [[ 0.99859286 -0.05105731 -0.01433385 0.58498499] [ 0.05113478 0.99867878 0.00509129 -0.28633542] [ 0.01405496 -0.00581708 0.9998843 -0.03948773] [ 0. 0. 0. 1. ]] SLAMing on 14.839928850999998 meters Centerline goodness [0,1] 0.6925278151493797 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.28, Z:-0.04 [[ 0.99862482 -0.0510162 -0.01207581 0.51291026] [ 0.05105449 0.99869171 0.00288373 -0.28485888] [ 0.0119129 -0.00349628 0.99992293 -0.04113548] [ 0. 0. 0. 1. ]] SLAMing on 14.869928850999997 meters Centerline goodness [0,1] 0.7170812036185548 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.29, Z:-0.04 [[ 0.99861537 -0.05118035 -0.01216176 0.51285905] [ 0.05122127 0.99868259 0.0030771 -0.28602501] [ 0.01198825 -0.00369578 0.99992131 -0.04090137] [ 0. 0. 0. 1. ]] SLAMing on 14.899928850999997 meters Centerline goodness [0,1] 0.6944468139554721 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.29, Z:-0.04 [[ 0.99862 -0.05106239 -0.01227726 0.51329814] [ 0.05111064 0.99868633 0.00364889 -0.28720868] [ 0.01207481 -0.00427135 0.99991797 -0.04127419] [ 0. 0. 0. 1. ]] SLAMing on 14.929928850999998 meters Centerline goodness [0,1] 0.7034192956634884 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.29, Z:-0.04 [[ 0.9986001 -0.0514803 -0.01215002 0.51267058] [ 0.05153072 0.9986639 0.00387354 -0.28859372] [ 0.01193438 -0.00449422 0.99991868 -0.04090839] [ 0. 0. 0. 1. ]] SLAMing on 14.959928850999997 meters Centerline goodness [0,1] 0.7004715471440459 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.29, Z:-0.04 [[ 0.9986012 -0.05146153 -0.01213914 0.51257294] [ 0.05151557 0.99866344 0.0041815 -0.28936507] [ 0.01190773 -0.004801 0.99991757 -0.0408479 ] [ 0. 0. 0. 1. ]] SLAMing on 14.989928850999997 meters Centerline goodness [0,1] 0.6862281318587653 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.29, Z:-0.04 [[ 0.99859979 -0.05149613 -0.01210779 0.51241175] [ 0.05155326 0.99866031 0.00445467 -0.29009961] [ 0.01186217 -0.00507263 0.99991678 -0.0407432 ] [ 0. 0. 0. 1. ]] SLAMing on 15.019928850999998 meters Centerline goodness [0,1] 0.690267375114696 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.29, Z:-0.04 [[ 0.99860255 -0.05144504 -0.01209747 0.51225774] [ 0.05150583 0.99866131 0.00476805 -0.2910984 ] [ 0.01183598 -0.00538448 0.99991545 -0.04059083] [ 0. 0. 0. 1. ]] SLAMing on 15.049928850999997 meters Centerline goodness [0,1] 0.6855597365945437 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.29, Z:-0.04 [[ 0.9986059 -0.05138143 -0.0120913 0.51237192] [ 0.05144617 0.99866272 0.00510505 -0.29213743] [ 0.01181283 -0.00571999 0.99991387 -0.04078271] [ 0. 0. 0. 1. ]] SLAMing on 15.079928850999996 meters Centerline goodness [0,1] 0.6755633247351255 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.29, Z:-0.04 [[ 0.99859107 -0.05168229 -0.01203364 0.51209341] [ 0.05175006 0.99864552 0.0053897 -0.29398051] [ 0.01173879 -0.00600484 0.99991307 -0.04072086] [ 0. 0. 0. 1. ]] SLAMing on 15.109928850999998 meters Centerline goodness [0,1] 0.6736664818999701 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.29, Z:-0.04 [[ 0.99858311 -0.0518361 -0.0120329 0.51189821] [ 0.05190529 0.99863681 0.00551084 -0.29465504] [ 0.01173083 -0.0061276 0.99991242 -0.04052731] [ 0. 0. 0. 1. ]] SLAMing on 15.139928850999997 meters Centerline goodness [0,1] 0.6803708439897698 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.30, Z:-0.04 [[ 0.99857301 -0.05201425 -0.01210248 0.51186173] [ 0.05208456 0.99862715 0.0055685 -0.29506973] [ 0.01179622 -0.00619091 0.99991126 -0.04032152] [ 0. 0. 0. 1. ]] SLAMing on 15.169928850999996 meters Centerline goodness [0,1] 0.6762806164865384 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.30, Z:-0.04 [[ 0.99857044 -0.05205658 -0.01213199 0.51184313] [ 0.05212996 0.99862339 0.00581317 -0.29553759] [ 0.01181268 -0.0064373 0.99990951 -0.04031675] [ 0. 0. 0. 1. ]] SLAMing on 15.199928850999997 meters Centerline goodness [0,1] 0.6696519959058342 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.30, Z:-0.04 [[ 0.99856749 -0.05211232 -0.0121359 0.51193954] [ 0.05218862 0.99861888 0.00605708 -0.29656825] [ 0.01180349 -0.00668176 0.99990801 -0.04052776] [ 0. 0. 0. 1. ]] SLAMing on 15.229928850999997 meters Centerline goodness [0,1] 0.6664182758840937 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.30, Z:-0.04 [[ 0.99857475 -0.05192478 -0.01234052 0.51263536] [ 0.05200585 0.99862664 0.00634178 -0.29731244] [ 0.01199428 -0.00697452 0.99990374 -0.0408878 ] [ 0. 0. 0. 1. ]] SLAMing on 15.259928850999998 meters Centerline goodness [0,1] 0.6644462415935983 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.30, Z:-0.04 [[ 0.9985765 -0.0518701 -0.01242878 0.51274382] [ 0.05195347 0.99862847 0.00648136 -0.29778902] [ 0.01207554 -0.00711785 0.99990175 -0.04080882] [ 0. 0. 0. 1. ]] SLAMing on 15.289928850999997 meters Centerline goodness [0,1] 0.6606282767145475 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.30, Z:-0.04 [[ 0.99858319 -0.05174519 -0.01241156 0.51236345] [ 0.05182832 0.99863504 0.00647199 -0.29750232] [ 0.01205973 -0.0071061 0.99990203 -0.04029462] [ 0. 0. 0. 1. ]] SLAMing on 15.319928850999997 meters Centerline goodness [0,1] 0.653883825909207 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.30, Z:-0.04 [[ 0.99858643 -0.05166107 -0.01250076 0.51237329] [ 0.05174473 0.99863943 0.00646375 -0.29702654] [ 0.01214983 -0.00710147 0.99990097 -0.04002589] [ 0. 0. 0. 1. ]] SLAMing on 15.349928850999998 meters Centerline goodness [0,1] 0.6667445069525528 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.30, Z:-0.04 [[ 0.99859715 -0.05142075 -0.01263489 0.51280281] [ 0.05150888 0.99864972 0.00675121 -0.29694852] [ 0.01227068 -0.00739255 0.99989739 -0.04023136] [ 0. 0. 0. 1. ]] SLAMing on 15.379928850999997 meters Centerline goodness [0,1] 0.6279376142110408 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.30, Z:-0.04 [[ 0.99861004 -0.05117178 -0.01262696 0.51292902] [ 0.05126275 0.99866075 0.00698893 -0.29725796] [ 0.01225241 -0.0076265 0.99989585 -0.04036026] [ 0. 0. 0. 1. ]] SLAMing on 15.409928850999997 meters Centerline goodness [0,1] 0.6253916824760728 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.30, Z:-0.04 [[ 0.99861215 -0.05111572 -0.01268686 0.51299857] [ 0.05120926 0.99866227 0.00716081 -0.29783937] [ 0.01230386 -0.00780056 0.99989388 -0.04032438] [ 0. 0. 0. 1. ]] SLAMing on 15.439928850999998 meters Centerline goodness [0,1] 0.6886181632305333 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.30, Z:-0.04 [[ 0.99861238 -0.05108297 -0.01279989 0.5133865 ] [ 0.05118047 0.99866194 0.00740875 -0.29859785] [ 0.0124043 -0.00805357 0.99989063 -0.04057809] [ 0. 0. 0. 1. ]] SLAMing on 15.469928850999997 meters Centerline goodness [0,1] 0.6850184156181474 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.30, Z:-0.04 [[ 0.99860483 -0.05123407 -0.01278536 0.51329422] [ 0.05133207 0.99865379 0.00745793 -0.29920302] [ 0.01238605 -0.00810382 0.99989045 -0.04051306] [ 0. 0. 0. 1. ]] SLAMing on 15.499928850999996 meters Centerline goodness [0,1] 0.6804492087799898 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.30, Z:-0.04 [[ 0.99857708 -0.05181143 -0.01262488 0.5124547 ] [ 0.0519071 0.99862471 0.00737174 -0.29997362] [ 0.01222558 -0.00801657 0.99989313 -0.03995453] [ 0. 0. 0. 1. ]] SLAMing on 15.529928850999998 meters Centerline goodness [0,1] 0.6739832561302113 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.30, Z:-0.04 [[ 0.99857727 -0.05178748 -0.01270786 0.51249124] [ 0.05188726 0.99862364 0.00765144 -0.30089246] [ 0.01229412 -0.00829993 0.99988998 -0.03977451] [ 0. 0. 0. 1. ]] SLAMing on 15.559928850999997 meters Centerline goodness [0,1] 0.6432310985819962 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.30, Z:-0.04 [[ 0.99857369 -0.05185121 -0.01272937 0.51253593] [ 0.05195326 0.99861889 0.00782141 -0.30170482] [ 0.01230624 -0.00847159 0.99988839 -0.03975265] [ 0. 0. 0. 1. ]] SLAMing on 15.589928850999998 meters Centerline goodness [0,1] 0.6395715320073256 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.30, Z:-0.04 [[ 0.99856814 -0.05196381 -0.01270592 0.51242752] [ 0.05206763 0.99861167 0.00798106 -0.30260758] [ 0.01227355 -0.0086312 0.99988742 -0.03968115] [ 0. 0. 0. 1. ]] SLAMing on 15.619928850999997 meters Centerline goodness [0,1] 0.6640399320305863 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.30, Z:-0.04 [[ 0.99856518 -0.05202037 -0.01270691 0.5123194 ] [ 0.05212892 0.99860532 0.00836621 -0.304346 ] [ 0.01225398 -0.0090166 0.99988426 -0.03955477] [ 0. 0. 0. 1. ]] SLAMing on 15.649928850999997 meters Centerline goodness [0,1] 0.6614871184423093 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.30, Z:-0.04 [[ 0.99856351 -0.05203703 -0.01276983 0.51247786] [ 0.05214838 0.99860277 0.00854744 -0.30495535] [ 0.01230721 -0.00920109 0.99988193 -0.03960662] [ 0. 0. 0. 1. ]] SLAMing on 15.679928850999998 meters Centerline goodness [0,1] 0.6601298866675156 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.31, Z:-0.04 [[ 0.99856259 -0.05202276 -0.0128992 0.51261962] [ 0.05213674 0.99860238 0.00866285 -0.30536015] [ 0.0124305 -0.00932292 0.99987928 -0.03943344] [ 0. 0. 0. 1. ]] SLAMing on 15.709928850999997 meters Centerline goodness [0,1] 0.663749258286005 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.31, Z:-0.04 [[ 0.99856955 -0.051885 -0.01291538 0.51244603] [ 0.05200143 0.99860781 0.00884793 -0.30581491] [ 0.01243833 -0.00950689 0.99987745 -0.03909953] [ 0. 0. 0. 1. ]] SLAMing on 15.739928850999997 meters Centerline goodness [0,1] 0.6638719673975335 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.31, Z:-0.04 [[ 0.99857275 -0.05180602 -0.01298433 0.51229579] [ 0.05192465 0.9986107 0.00897189 -0.30627278] [ 0.01250149 -0.00963329 0.99987545 -0.0386717 ] [ 0. 0. 0. 1. ]] SLAMing on 15.769928850999998 meters Centerline goodness [0,1] 0.6648273520235999 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.31, Z:-0.04 [[ 0.99857183 -0.05179873 -0.01308368 0.51220385] [ 0.05192043 0.9986094 0.00913955 -0.30718327] [ 0.01259207 -0.00980581 0.99987263 -0.03827629] [ 0. 0. 0. 1. ]] SLAMing on 15.799928850999997 meters Centerline goodness [0,1] 0.6462170286633642 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.31, Z:-0.04 [[ 0.99857604 -0.05170041 -0.01315115 0.512548 ] [ 0.0518275 0.99861073 0.00951374 -0.30841185] [ 0.01264101 -0.01018178 0.99986826 -0.03852376] [ 0. 0. 0. 1. ]] SLAMing on 15.829928850999996 meters Centerline goodness [0,1] 0.652154569721622 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.31, Z:-0.04 [[ 0.99858768 -0.05145499 -0.01323023 0.51267108] [ 0.05158955 0.99861791 0.01003882 -0.31011116] [ 0.0126954 -0.01070718 0.99986208 -0.03848397] [ 0. 0. 0. 1. ]] SLAMing on 15.859928850999998 meters Centerline goodness [0,1] 0.6617830753922046 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.31, Z:-0.04 [[ 0.99859742 -0.05123404 -0.01335166 0.51291017] [ 0.05137375 0.99862597 0.01033964 -0.310515 ] [ 0.01280357 -0.01101106 0.9998574 -0.0384812 ] [ 0. 0. 0. 1. ]] SLAMing on 15.889928850999997 meters Centerline goodness [0,1] 0.6824753210911793 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.31, Z:-0.04 [[ 0.99861005 -0.05098165 -0.01337286 0.51297137] [ 0.05112399 0.99863683 0.01052685 -0.31048143] [ 0.01281795 -0.01119589 0.99985517 -0.0384413 ] [ 0. 0. 0. 1. ]] SLAMing on 15.919928850999996 meters Centerline goodness [0,1] 0.6757922330507579 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.31, Z:-0.04 [[ 0.99862302 -0.05067302 -0.01357601 0.51345907] [ 0.05082044 0.99865002 0.01074348 -0.31065505] [ 0.01301328 -0.01141863 0.99985012 -0.0384462 ] [ 0. 0. 0. 1. ]] SLAMing on 15.949928850999997 meters Centerline goodness [0,1] 0.6950350108946288 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.31, Z:-0.04 [[ 0.99865459 -0.05001262 -0.01370216 0.51377991] [ 0.05016846 0.99867711 0.01127624 -0.31162129] [ 0.01312008 -0.01194849 0.99984254 -0.03838074] [ 0. 0. 0. 1. ]] SLAMing on 15.979928850999997 meters Centerline goodness [0,1] 0.6950350108946288 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.31, Z:-0.04 [[ 0.99865459 -0.05001262 -0.01370216 0.51377991] [ 0.05016846 0.99867711 0.01127624 -0.31162129] [ 0.01312008 -0.01194849 0.99984254 -0.03838074] [ 0. 0. 0. 1. ]] SLAMing on 16.009928850999998 meters Centerline goodness [0,1] 0.6941535591639463 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.31, Z:-0.04 [[ 0.99866499 -0.04978899 -0.01375814 0.51385105] [ 0.0499481 0.9986859 0.01147399 -0.31190206] [ 0.01316878 -0.01214587 0.99983952 -0.03830004] [ 0. 0. 0. 1. ]] SLAMing on 16.039928850999996 meters Centerline goodness [0,1] 0.686763833573426 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.31, Z:-0.04 [[ 0.99870051 -0.04903365 -0.01389193 0.51395299] [ 0.04919902 0.99871901 0.01182358 -0.31221776] [ 0.01329438 -0.01249169 0.99983359 -0.03781076] [ 0. 0. 0. 1. ]] SLAMing on 16.069928850999997 meters Centerline goodness [0,1] 0.6917417576592813 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.31, Z:-0.04 [[ 0.9987096 -0.04882077 -0.01398815 0.51395125] [ 0.04898758 0.99872919 0.0118412 -0.31199132] [ 0.01339228 -0.01251116 0.99983204 -0.03748789] [ 0. 0. 0. 1. ]] SLAMing on 16.099928850999998 meters Centerline goodness [0,1] 0.6888032686241717 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.31, Z:-0.04 [[ 0.99872701 -0.04843108 -0.01409925 0.51416082] [ 0.04860254 0.99874511 0.01208324 -0.31202831] [ 0.01349636 -0.01275311 0.99982759 -0.03736129] [ 0. 0. 0. 1. ]] SLAMing on 16.129928850999995 meters Centerline goodness [0,1] 0.6856962158743544 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.04 [[ 0.99874315 -0.04801717 -0.01436933 0.51504034] [ 0.048195 0.99876225 0.01229666 -0.31181341] [ 0.01376109 -0.01297373 0.99982114 -0.03768162] [ 0. 0. 0. 1. ]] SLAMing on 16.159928850999997 meters Centerline goodness [0,1] 0.6999703402398203 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.04 [[ 0.99876304 -0.04754828 -0.01454481 0.51547656] [ 0.04773169 0.99878155 0.01253381 -0.3115702 ] [ 0.01393113 -0.01321255 0.99981566 -0.0376945 ] [ 0. 0. 0. 1. ]] SLAMing on 16.189928850999998 meters Centerline goodness [0,1] 0.7128459750686669 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.04 [[ 0.99880479 -0.04662966 -0.0146517 0.51596364] [ 0.04682132 0.99881839 0.01302236 -0.31194476] [ 0.01402716 -0.01369281 0.99980785 -0.03781215] [ 0. 0. 0. 1. ]] SLAMing on 16.219928851 meters Centerline goodness [0,1] 0.7127340349097671 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.04 [[ 0.99881589 -0.0463472 -0.0147906 0.51620625] [ 0.04654359 0.99882874 0.01322242 -0.31238889] [ 0.01416045 -0.01389517 0.99980318 -0.03769653] [ 0. 0. 0. 1. ]] SLAMing on 16.249928850999996 meters Centerline goodness [0,1] 0.7133538150751231 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.04 [[ 0.99882047 -0.04620802 -0.01491588 0.51662218] [ 0.04640632 0.99883498 0.01323395 -0.31262617] [ 0.01428699 -0.01391053 0.99980117 -0.03777959] [ 0. 0. 0. 1. ]] SLAMing on 16.279928850999998 meters Centerline goodness [0,1] 0.7127024003039963 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.04 [[ 0.99883019 -0.0459409 -0.01508908 0.51685019] [ 0.04614267 0.99884621 0.01330766 -0.31237851] [ 0.01446031 -0.01398834 0.99979759 -0.03755986] [ 0. 0. 0. 1. ]] SLAMing on 16.309928851 meters Centerline goodness [0,1] 0.7065939178615235 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.04 [[ 0.99897799 -0.04258426 -0.01515091 0.51567497] [ 0.04283627 0.99894225 0.01671653 -0.31265189] [ 0.01442302 -0.01734846 0.99974547 -0.03643035] [ 0. 0. 0. 1. ]] SLAMing on 16.339928850999996 meters Centerline goodness [0,1] 0.7160037978689735 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.04 [[ 0.99898273 -0.04242619 -0.01528115 0.51586606] [ 0.04267817 0.99895164 0.01655865 -0.31193697] [ 0.01456261 -0.01719398 0.99974612 -0.03620435] [ 0. 0. 0. 1. ]] SLAMing on 16.369928850999997 meters Centerline goodness [0,1] 0.7543178075250201 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.04 [[ 0.9989965 -0.0420376 -0.01545401 0.51631736] [ 0.04229487 0.99896533 0.01671538 -0.31184138] [ 0.01473535 -0.01735223 0.99974085 -0.03625494] [ 0. 0. 0. 1. ]] SLAMing on 16.399928851 meters Centerline goodness [0,1] 0.7461273484224096 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.04 [[ 0.99903245 -0.04113052 -0.01557076 0.51687179] [ 0.04139693 0.99899485 0.01719252 -0.31199838] [ 0.01484797 -0.01782046 0.99973095 -0.03649633] [ 0. 0. 0. 1. ]] SLAMing on 16.429928850999996 meters Centerline goodness [0,1] 0.7146869390771831 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.04 [[ 0.99904022 -0.04089356 -0.01569601 0.51735982] [ 0.04116416 0.99900223 0.01732215 -0.31187603] [ 0.01497199 -0.01795164 0.99972675 -0.03673969] [ 0. 0. 0. 1. ]] SLAMing on 16.459928850999997 meters Centerline goodness [0,1] 0.7422402159244265 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.04 [[ 0.99903596 -0.04095939 -0.01579459 0.51753818] [ 0.04123046 0.99900098 0.01723605 -0.31194167] [ 0.01507284 -0.01787065 0.99972669 -0.03667702] [ 0. 0. 0. 1. ]] SLAMing on 16.489928851 meters Centerline goodness [0,1] 0.7336405140344944 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.04 [[ 0.99901207 -0.04154801 -0.0157684 0.51667027] [ 0.04181505 0.99898072 0.01700049 -0.31302292] [ 0.015046 -0.01764305 0.99973113 -0.0357033 ] [ 0. 0. 0. 1. ]] SLAMing on 16.519928850999996 meters Centerline goodness [0,1] 0.7299807883125382 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.04 [[ 0.99899292 -0.04199649 -0.01579354 0.51632321] [ 0.0422587 0.99896793 0.0166518 -0.31310376] [ 0.01507792 -0.01730244 0.99973661 -0.03518942] [ 0. 0. 0. 1. ]] SLAMing on 16.549928850999997 meters Centerline goodness [0,1] 0.7200532386867791 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.03 [[ 0.9989774 -0.04238008 -0.01575096 0.5157974 ] [ 0.04263712 0.9989567 0.01635821 -0.31325458] [ 0.01504126 -0.01701306 0.99974212 -0.03457592] [ 0. 0. 0. 1. ]] SLAMing on 16.579928851 meters Centerline goodness [0,1] 0.7181756728209895 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.03 [[ 0.99896179 -0.04276494 -0.01570038 0.51532175] [ 0.04301657 0.99894535 0.01605504 -0.31326792] [ 0.01499722 -0.01671375 0.99974784 -0.03405227] [ 0. 0. 0. 1. ]] SLAMing on 16.609928850999996 meters Centerline goodness [0,1] 0.7218284605324221 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.03 [[ 0.9989453 -0.04308429 -0.01587579 0.51547572] [ 0.04333606 0.99893447 0.01587146 -0.313454 ] [ 0.01517507 -0.01654272 0.999748 -0.03383227] [ 0. 0. 0. 1. ]] SLAMing on 16.639928850999997 meters Centerline goodness [0,1] 0.7092234548335974 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.03 [[ 0.99894266 -0.04310383 -0.01598818 0.51582905] [ 0.04335672 0.99893435 0.01582286 -0.31334913] [ 0.01528912 -0.01649933 0.99974698 -0.03399706] [ 0. 0. 0. 1. ]] SLAMing on 16.669928850999998 meters Centerline goodness [0,1] 0.7009855536368614 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.03 [[ 0.99893676 -0.04317002 -0.0161773 0.51650719] [ 0.04342228 0.9989353 0.01558106 -0.31262386] [ 0.01548744 -0.01626695 0.99974773 -0.03431172] [ 0. 0. 0. 1. ]] SLAMing on 16.699928850999996 meters Centerline goodness [0,1] 0.6971655997304582 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.03 [[ 0.99893241 -0.04324517 -0.01624481 0.51655491] [ 0.04349497 0.99893568 0.01535204 -0.31182449] [ 0.01556362 -0.01604221 0.99975018 -0.03415458] [ 0. 0. 0. 1. ]] SLAMing on 16.729928850999997 meters Centerline goodness [0,1] 0.695934684922259 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.03 [[ 0.99892565 -0.04337362 -0.01631785 0.51644332] [ 0.04361953 0.99893517 0.01502886 -0.31083428] [ 0.01564862 -0.01572449 0.9997539 -0.03379793] [ 0. 0. 0. 1. ]] SLAMing on 16.759928850999998 meters Centerline goodness [0,1] 0.7204410087441389 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.03 [[ 0.99892303 -0.04344486 -0.01628848 0.51604039] [ 0.04368157 0.99894071 0.0144698 -0.30939067] [ 0.01564258 -0.01516572 0.99976263 -0.03314888] [ 0. 0. 0. 1. ]] SLAMing on 16.789928850999996 meters Centerline goodness [0,1] 0.7183999322364103 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.03 [[ 0.99892096 -0.04348293 -0.01631403 0.51608493] [ 0.04371596 0.99894294 0.01420959 -0.30859818] [ 0.01567891 -0.01490744 0.99976594 -0.03308637] [ 0. 0. 0. 1. ]] SLAMing on 16.819928850999997 meters Centerline goodness [0,1] 0.7168730519754023 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.03 [[ 0.99891033 -0.04360521 -0.01663523 0.51672978] [ 0.04383616 0.99894369 0.01378026 -0.3075326 ] [ 0.01601676 -0.01449447 0.99976666 -0.0330554 ] [ 0. 0. 0. 1. ]] SLAMing on 16.849928850999998 meters Centerline goodness [0,1] 0.6943551117129316 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.31, Z:-0.03 [[ 0.99891406 -0.04353791 -0.01658747 0.51658425] [ 0.04376201 0.99895217 0.0133956 -0.30588188] [ 0.01598687 -0.01410695 0.99977268 -0.03286211] [ 0. 0. 0. 1. ]] SLAMing on 16.879928850999995 meters Centerline goodness [0,1] 0.7173636979343041 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.30, Z:-0.03 [[ 0.99896011 -0.04249424 -0.01652094 0.51593474] [ 0.04272095 0.9989942 0.01362044 -0.30213081] [ 0.01592553 -0.01431207 0.99977074 -0.03216165] [ 0. 0. 0. 1. ]] SLAMing on 16.909928850999997 meters Centerline goodness [0,1] 0.7132614966909894 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.30, Z:-0.03 [[ 0.99896141 -0.04244859 -0.01655949 0.51598005] [ 0.04267064 0.99900074 0.01329448 -0.30068902] [ 0.01597861 -0.01398728 0.99977449 -0.03205621] [ 0. 0. 0. 1. ]] SLAMing on 16.939928850999998 meters Centerline goodness [0,1] 0.715149842940827 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.30, Z:-0.03 [[ 0.99895648 -0.0425606 -0.01656932 0.51596794] [ 0.04277751 0.99900051 0.01296423 -0.29969969] [ 0.01600099 -0.01365949 0.99977867 -0.03198685] [ 0. 0. 0. 1. ]] SLAMing on 16.969928850999995 meters Centerline goodness [0,1] 0.6832149294878591 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.30, Z:-0.03 [[ 0.99893853 -0.04299424 -0.01653207 0.51592321] [ 0.04320092 0.99899001 0.01235446 -0.29842253] [ 0.0159842 -0.01305555 0.99978701 -0.03198702] [ 0. 0. 0. 1. ]] SLAMing on 16.999928850999996 meters Centerline goodness [0,1] 0.7044904201537874 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.30, Z:-0.03 [[ 0.99892529 -0.0433758 -0.01633425 0.51528747] [ 0.04357217 0.99897983 0.01186427 -0.29731171] [ 0.01580296 -0.01256323 0.9997962 -0.03165237] [ 0. 0. 0. 1. ]] SLAMing on 17.029928850999998 meters Centerline goodness [0,1] 0.697043027871532 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.30, Z:-0.03 [[ 0.99890773 -0.04378414 -0.01631856 0.51503502] [ 0.04397351 0.99896729 0.01143202 -0.2963668 ] [ 0.01580116 -0.01213712 0.99980149 -0.03139652] [ 0. 0. 0. 1. ]] SLAMing on 17.059928851 meters Centerline goodness [0,1] 0.6908202294942627 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.30, Z:-0.03 [[ 0.9988882 -0.04424319 -0.01627566 0.51456109] [ 0.04442391 0.99895314 0.010915 -0.29545214] [ 0.0157757 -0.01162589 0.99980796 -0.03088159] [ 0. 0. 0. 1. ]] SLAMing on 17.089928850999996 meters Centerline goodness [0,1] 0.7320589423547172 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.29, Z:-0.03 [[ 0.99886563 -0.04479911 -0.01613955 0.5139603 ] [ 0.04497093 0.9989337 0.01044443 -0.29494126] [ 0.01565444 -0.01115839 0.9998152 -0.03046461] [ 0. 0. 0. 1. ]] SLAMing on 17.119928850999997 meters Centerline goodness [0,1] 0.6695885281477384 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.29, Z:-0.03 [[ 0.99882406 -0.04581906 -0.01584643 0.51304489] [ 0.04597551 0.99889592 0.0096532 -0.29384605] [ 0.01538664 -0.01037039 0.99982784 -0.03012948] [ 0. 0. 0. 1. ]] SLAMing on 17.149928851 meters Centerline goodness [0,1] 0.6635031847133758 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.29, Z:-0.03 [[ 0.9988033 -0.04622814 -0.0159667 0.51334576] [ 0.04637961 0.99888106 0.00925008 -0.29282539] [ 0.01552122 -0.00997954 0.99982974 -0.03026511] [ 0. 0. 0. 1. ]] SLAMing on 17.179928850999996 meters Centerline goodness [0,1] 0.7401281478170169 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.29, Z:-0.03 [[ 0.99878905 -0.04653491 -0.01596669 0.51351415] [ 0.04668004 0.99887077 0.0088408 -0.29142223] [ 0.01553726 -0.00957542 0.99983344 -0.03050203] [ 0. 0. 0. 1. ]] SLAMing on 17.209928850999997 meters Centerline goodness [0,1] 0.6480850338687002 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.29, Z:-0.03 [[ 0.9987699 -0.04691583 -0.01604949 0.51403413] [ 0.04705246 0.9988584 0.00824389 -0.28914808] [ 0.01564439 -0.00898891 0.99983721 -0.03099395] [ 0. 0. 0. 1. ]] SLAMing on 17.239928851 meters Centerline goodness [0,1] 0.718223322097538 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.29, Z:-0.03 [[ 0.99876052 -0.04715875 -0.01592067 0.51394393] [ 0.04728847 0.99885026 0.00787189 -0.2879139 ] [ 0.01553114 -0.008615 0.99984227 -0.03124147] [ 0. 0. 0. 1. ]] SLAMing on 17.269928850999996 meters Centerline goodness [0,1] 0.7116814121377006 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.29, Z:-0.03 [[ 0.99874612 -0.04745762 -0.01593646 0.51376295] [ 0.04757972 0.99884024 0.00737209 -0.28655991] [ 0.01556812 -0.0081211 0.99984583 -0.03094234] [ 0. 0. 0. 1. ]] SLAMing on 17.299928850999997 meters Centerline goodness [0,1] 0.7048733946527733 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.28, Z:-0.03 [[ 0.99870983 -0.04827404 -0.01575734 0.51258189] [ 0.04837299 0.99881156 0.00595947 -0.28298841] [ 0.01545093 -0.00671401 0.99985809 -0.02974093] [ 0. 0. 0. 1. ]] SLAMing on 17.329928851 meters Centerline goodness [0,1] 0.7163899879580251 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.28, Z:-0.03 [[ 0.99869292 -0.04863686 -0.01571298 0.51215583] [ 0.04872519 0.99879823 0.00528776 -0.28100579] [ 0.01543691 -0.00604646 0.99986256 -0.02927012] [ 0. 0. 0. 1. ]] SLAMing on 17.359928850999996 meters Centerline goodness [0,1] 0.7102239783537698 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.28, Z:-0.03 [[ 0.99868831 -0.048705 -0.01579501 0.51223314] [ 0.04878821 0.998797 0.00492609 -0.2794991 ] [ 0.01553609 -0.00569024 0.99986312 -0.02911661] [ 0. 0. 0. 1. ]] SLAMing on 17.389928850999997 meters Centerline goodness [0,1] 0.7067919821059876 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.28, Z:-0.03 [[ 0.99868473 -0.04881284 -0.01568818 0.51204531] [ 0.0488893 0.99879394 0.00452752 -0.27797908] [ 0.01544826 -0.00528855 0.99986668 -0.02907767] [ 0. 0. 0. 1. ]] SLAMing on 17.419928850999998 meters Centerline goodness [0,1] 0.7017396184062851 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.27, Z:-0.03 [[ 0.99867519 -0.04901076 -0.01567841 0.51208391] [ 0.04907391 0.99878841 0.00366828 -0.2743368 ] [ 0.01547963 -0.00443282 0.99987036 -0.02909239] [ 0. 0. 0. 1. ]] SLAMing on 17.449928850999996 meters Centerline goodness [0,1] 0.708277530565516 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.27, Z:-0.03 [[ 0.99866823 -0.04913412 -0.01573566 0.51231154] [ 0.04918989 0.99878439 0.00317668 -0.27225098] [ 0.01556045 -0.00394648 0.99987114 -0.02920636] [ 0. 0. 0. 1. ]] SLAMing on 17.479928850999997 meters Centerline goodness [0,1] 0.7049741224366054 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.27, Z:-0.03 [[ 0.99866739 -0.04909599 -0.01590684 0.51286884] [ 0.04914622 0.99878772 0.00278225 -0.27014176] [ 0.01575095 -0.00356031 0.99986961 -0.02942864] [ 0. 0. 0. 1. ]] SLAMing on 17.509928850999998 meters Centerline goodness [0,1] 0.6928105994787142 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.27, Z:-0.03 [[ 0.99866406 -0.04911449 -0.01605789 0.51322678] [ 0.04915714 0.99878847 0.00227202 -0.26800832] [ 0.01592685 -0.00305834 0.99986848 -0.02941291] [ 0. 0. 0. 1. ]] SLAMing on 17.539928850999996 meters Centerline goodness [0,1] 0.6836552684242583 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.27, Z:-0.03 [[ 0.99879106 -0.04646303 -0.0160498 0.51221116] [ 0.04654889 0.99890341 0.00501808 -0.26643415] [ 0.01579904 -0.00575911 0.9998586 -0.02890679] [ 0. 0. 0. 1. ]] SLAMing on 17.569928850999997 meters Centerline goodness [0,1] 0.681777623016823 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.26, Z:-0.03 [[ 0.99878697 -0.04653527 -0.01609519 0.51230254] [ 0.04661333 0.99890283 0.00450899 -0.26445159] [ 0.0158677 -0.00525377 0.9998603 -0.028839 ] [ 0. 0. 0. 1. ]] SLAMing on 17.599928850999998 meters Centerline goodness [0,1] 0.6830333741044907 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.26, Z:-0.03 [[ 0.99879045 -0.04645971 -0.0160978 0.5124123 ] [ 0.04653057 0.99890863 0.00405533 -0.26226147] [ 0.01589182 -0.00479947 0.9998622 -0.02882358] [ 0. 0. 0. 1. ]] SLAMing on 17.629928850999995 meters Centerline goodness [0,1] 0.7168757800696315 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.26, Z:-0.03 [[ 0.99892916 -0.04339443 -0.0160457 0.51161126] [ 0.04350729 0.99903029 0.00675211 -0.25921289] [ 0.01573714 -0.00744298 0.99984846 -0.02850023] [ 0. 0. 0. 1. ]] SLAMing on 17.659928850999997 meters Centerline goodness [0,1] 0.7191541687709976 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.26, Z:-0.03 [[ 0.99893519 -0.04321871 -0.01614397 0.51194134] [ 0.04332451 0.99904142 0.00626262 -0.25690953] [ 0.01585783 -0.00695538 0.99985006 -0.02848634] [ 0. 0. 0. 1. ]] SLAMing on 17.689928850999998 meters Centerline goodness [0,1] 0.6818711906176425 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.25, Z:-0.03 [[ 0.99894289 -0.04298893 -0.01628048 0.5124916 ] [ 0.04309022 0.99905363 0.00592208 -0.25481517] [ 0.01601048 -0.00661735 0.99984993 -0.02871378] [ 0. 0. 0. 1. ]] SLAMing on 17.719928850999995 meters Centerline goodness [0,1] 0.7163020776080027 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.25, Z:-0.03 [[ 0.99907229 -0.03983132 -0.01637129 0.51195369] [ 0.03997574 0.99916372 0.00859119 -0.25177554] [ 0.0160154 -0.00923768 0.99982907 -0.02833928] [ 0. 0. 0. 1. ]] SLAMing on 17.749928850999996 meters Centerline goodness [0,1] 0.6815365006812288 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.25, Z:-0.03 [[ 0.99907634 -0.03973001 -0.01637053 0.51203947] [ 0.03986573 0.99917262 0.00804926 -0.24945458] [ 0.01603719 -0.00869444 0.99983359 -0.02823942] [ 0. 0. 0. 1. ]] SLAMing on 17.779928850999998 meters Centerline goodness [0,1] 0.7184825760917513 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.25, Z:-0.03 [[ 0.99908417 -0.03950348 -0.01644073 0.51222107] [ 0.03963389 0.99918473 0.00768358 -0.24757686] [ 0.0161238 -0.00832815 0.99983532 -0.02805855] [ 0. 0. 0. 1. ]] SLAMing on 17.809928850999995 meters Centerline goodness [0,1] 0.7573427037061593 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.25, Z:-0.03 [[ 0.99908442 -0.03944903 -0.01655564 0.51250078] [ 0.03957438 0.99918987 0.00731315 -0.24588706] [ 0.01625373 -0.00796163 0.9998362 -0.02802587] [ 0. 0. 0. 1. ]] SLAMing on 17.839928850999996 meters Centerline goodness [0,1] 0.713982018689933 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.24, Z:-0.03 [[ 0.99908839 -0.03935013 -0.01655152 0.51253931] [ 0.03947154 0.99919566 0.00707349 -0.24465809] [ 0.01625987 -0.00772036 0.99983799 -0.027993 ] [ 0. 0. 0. 1. ]] SLAMing on 17.869928850999997 meters Centerline goodness [0,1] 0.7543638135743399 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.24, Z:-0.03 [[ 0.99909979 -0.03904211 -0.01659288 0.51274037] [ 0.039155 0.99921178 0.00653415 -0.24169495] [ 0.01632469 -0.00717796 0.99984098 -0.02783699] [ 0. 0. 0. 1. ]] SLAMing on 17.899928851 meters Centerline goodness [0,1] 0.7543638135743399 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.24, Z:-0.03 [[ 0.99909979 -0.03904211 -0.01659288 0.51274037] [ 0.039155 0.99921178 0.00653415 -0.24169495] [ 0.01632469 -0.00717796 0.99984098 -0.02783699] [ 0. 0. 0. 1. ]] SLAMing on 17.929928850999996 meters Centerline goodness [0,1] 0.7528414777908761 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.24, Z:-0.03 [[ 0.99910094 -0.03898009 -0.01666956 0.51285155] [ 0.0390888 0.99921622 0.00624612 -0.24019148] [ 0.01641302 -0.00689209 0.99984154 -0.02769669] [ 0. 0. 0. 1. ]] SLAMing on 17.959928850999997 meters Centerline goodness [0,1] 0.7536000355011205 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.24, Z:-0.03 [[ 0.99910503 -0.03885311 -0.01672059 0.51308976] [ 0.0389585 0.99922267 0.00602415 -0.23878703] [ 0.01647354 -0.00667017 0.99984205 -0.02775335] [ 0. 0. 0. 1. ]] SLAMing on 17.989928851 meters Centerline goodness [0,1] 0.7575622775800712 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.24, Z:-0.03 [[ 0.99911793 -0.03851403 -0.01673386 0.51329886] [ 0.03861455 0.99923777 0.00572592 -0.23686495] [ 0.01650058 -0.00636704 0.99984358 -0.02777521] [ 0. 0. 0. 1. ]] SLAMing on 18.019928850999996 meters Centerline goodness [0,1] 0.7540688367129136 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.24, Z:-0.03 [[ 0.99912233 -0.03834826 -0.01685179 0.5136297 ] [ 0.03844729 0.99924498 0.00559217 -0.2358616 ] [ 0.01662461 -0.00623517 0.99984236 -0.02781576] [ 0. 0. 0. 1. ]] SLAMing on 18.049928850999997 meters Centerline goodness [0,1] 0.7652311392179567 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.23, Z:-0.03 [[ 0.99913508 -0.03800616 -0.01687072 0.51401148] [ 0.03810461 0.99925833 0.00555237 -0.23459538] [ 0.01664718 -0.00619042 0.99984226 -0.02810296] [ 0. 0. 0. 1. ]] SLAMing on 18.079928851 meters Centerline goodness [0,1] 0.7761000959029373 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.23, Z:-0.03 [[ 0.9991444 -0.03762789 -0.0171645 0.51472063] [ 0.0377244 0.99927395 0.00533377 -0.23321038] [ 0.01695134 -0.00597673 0.99983845 -0.02800622] [ 0. 0. 0. 1. ]] SLAMing on 18.109928850999996 meters Centerline goodness [0,1] 0.7716514315088394 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.23, Z:-0.03 [[ 0.99916373 -0.03701945 -0.01736106 0.51549657] [ 0.03711744 0.99929656 0.0053562 -0.23190855] [ 0.01715056 -0.00599612 0.99983494 -0.02823108] [ 0. 0. 0. 1. ]] SLAMing on 18.139928850999997 meters Centerline goodness [0,1] 0.7780446739252441 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.23, Z:-0.03 [[ 0.99930177 -0.03316942 -0.01719756 0.5147824 ] [ 0.03332447 0.99940576 0.0088093 -0.2305732 ] [ 0.01689514 -0.00937625 0.9998133 -0.02805899] [ 0. 0. 0. 1. ]] SLAMing on 18.169928850999998 meters Centerline goodness [0,1] 0.8058280762409358 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.23, Z:-0.03 [[ 0.99931913 -0.0325396 -0.01739094 0.51543045] [ 0.03269238 0.99942868 0.00857437 -0.22848509] [ 0.01710199 -0.00913708 0.999812 -0.02798882] [ 0. 0. 0. 1. ]] SLAMing on 18.199928850999996 meters Centerline goodness [0,1] 0.8065307408407597 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.23, Z:-0.03 [[ 0.99935024 -0.03148557 -0.0175431 0.51622654] [ 0.03164129 0.99946168 0.00867103 -0.22629369] [ 0.01726065 -0.00922049 0.99980851 -0.02812365] [ 0. 0. 0. 1. ]] SLAMing on 18.229928850999997 meters Centerline goodness [0,1] 0.8098535947122651 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.23, Z:-0.03 [[ 0.99945691 -0.02795579 -0.01744579 0.51536468] [ 0.02816669 0.99953165 0.01196282 -0.22536679] [ 0.01710319 -0.01244771 0.99977624 -0.02765075] [ 0. 0. 0. 1. ]] SLAMing on 18.259928850999998 meters Centerline goodness [0,1] 0.8185411913528654 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.22, Z:-0.03 [[ 0.99956617 -0.02377573 -0.01738361 0.51491527] [ 0.02404189 0.99959439 0.01526589 -0.22331874] [ 0.0170136 -0.0156772 0.99973235 -0.02724821] [ 0. 0. 0. 1. ]] SLAMing on 18.289928850999996 meters Centerline goodness [0,1] 0.8204867236621884 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.22, Z:-0.03 [[ 0.99957866 -0.02313198 -0.017533 0.51570156] [ 0.02339911 0.99961084 0.01518712 -0.22209672] [ 0.01717486 -0.01559098 0.99973094 -0.02746475] [ 0. 0. 0. 1. ]] SLAMing on 18.319928850999997 meters Centerline goodness [0,1] 0.8198518585634358 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.22, Z:-0.03 [[ 0.99959142 -0.02250273 -0.01762465 0.51646287] [ 0.02277157 0.99962507 0.01520423 -0.22101991] [ 0.01727591 -0.01559936 0.99972906 -0.02787119] [ 0. 0. 0. 1. ]] SLAMing on 18.349928850999998 meters Centerline goodness [0,1] 0.8256714113827783 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.22, Z:-0.03 [[ 0.99959779 -0.02205216 -0.01783168 0.51725014] [ 0.02232115 0.99963788 0.01502934 -0.21955628] [ 0.01749379 -0.01542131 0.99972804 -0.02804271] [ 0. 0. 0. 1. ]] SLAMing on 18.379928850999995 meters Centerline goodness [0,1] 0.8271191078880755 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.22, Z:-0.03 [[ 0.99967209 -0.01838553 -0.01782352 0.51681497] [ 0.01870916 0.99965995 0.0181644 -0.21750226] [ 0.0174835 -0.01849191 0.99967614 -0.02768945] [ 0. 0. 0. 1. ]] SLAMing on 18.409928850999997 meters Centerline goodness [0,1] 0.8303907909462577 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.22, Z:-0.03 [[ 0.99967688 -0.01807454 -0.01787312 0.51689097] [ 0.01839009 0.99967507 0.01765123 -0.21538193] [ 0.01754827 -0.01797422 0.99968444 -0.02730197] [ 0. 0. 0. 1. ]] SLAMing on 18.439928850999998 meters Centerline goodness [0,1] 0.831064980295115 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.21, Z:-0.03 [[ 0.99968392 -0.01769683 -0.01785712 0.51696652] [ 0.01800639 0.99968774 0.01732578 -0.21377198] [ 0.01754493 -0.01764185 0.99969042 -0.02703199] [ 0. 0. 0. 1. ]] SLAMing on 18.469928850999995 meters Centerline goodness [0,1] 0.8338663292304153 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.21, Z:-0.03 [[ 0.99969622 -0.01705449 -0.01779371 0.51706856] [ 0.01735628 0.99970575 0.01694627 -0.21132015] [ 0.01749947 -0.01724995 0.99969806 -0.02679187] [ 0. 0. 0. 1. ]] SLAMing on 18.499928850999996 meters Centerline goodness [0,1] 0.8336254208366001 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.21, Z:-0.03 [[ 0.99969597 -0.01702259 -0.0178384 0.51723926] [ 0.01731818 0.99971307 0.0165488 -0.21011224] [ 0.01755158 -0.01685269 0.99970392 -0.02668045] [ 0. 0. 0. 1. ]] SLAMing on 18.529928850999998 meters Centerline goodness [0,1] 0.8344396810030885 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.21, Z:-0.03 [[ 0.9996912 -0.01723688 -0.01789934 0.51720764] [ 0.01752421 0.99971806 0.01602199 -0.20900166] [ 0.01761813 -0.01633072 0.99971141 -0.02638964] [ 0. 0. 0. 1. ]] SLAMing on 18.559928850999995 meters Centerline goodness [0,1] 0.8317948954631467 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.21, Z:-0.03 [[ 0.99968873 -0.01725664 -0.018018 0.51752338] [ 0.01753967 0.99972336 0.01567041 -0.20804265] [ 0.0177426 -0.01598156 0.99971485 -0.02635388] [ 0. 0. 0. 1. ]] SLAMing on 18.589928850999996 meters Centerline goodness [0,1] 0.836030703782484 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.21, Z:-0.03 [[ 0.99968492 -0.017432 -0.01806036 0.51736944] [ 0.01770412 0.99973047 0.0150185 -0.20634964] [ 0.01779369 -0.01533351 0.9997241 -0.02586187] [ 0. 0. 0. 1. ]] SLAMing on 18.619928850999997 meters Centerline goodness [0,1] 0.8377532569891974 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.03 [[ 0.9996795 -0.01773438 -0.01806608 0.51695965] [ 0.01799425 0.99973547 0.01432498 -0.2046502 ] [ 0.01780726 -0.01464548 0.99973417 -0.02514121] [ 0. 0. 0. 1. ]] SLAMing on 18.649928850999995 meters Centerline goodness [0,1] 0.8351893613558692 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.03 [[ 0.99967493 -0.01803529 -0.0180211 0.51684021] [ 0.01828388 0.99973862 0.01372585 -0.20302399] [ 0.01776884 -0.01405089 0.99974339 -0.02503931] [ 0. 0. 0. 1. ]] SLAMing on 18.679928850999996 meters Centerline goodness [0,1] 0.8363369997442038 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.03 [[ 0.99966903 -0.01824429 -0.01813758 0.51717146] [ 0.01848935 0.99973876 0.01343689 -0.20257119] [ 0.01788769 -0.01376779 0.99974521 -0.02516374] [ 0. 0. 0. 1. ]] SLAMing on 18.709928850999997 meters Centerline goodness [0,1] 0.8347813933987096 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.03 [[ 0.99966494 -0.01850372 -0.01810013 0.51705748] [ 0.01874125 0.99973929 0.01304269 -0.20199425] [ 0.01785407 -0.01337754 0.99975111 -0.02505754] [ 0. 0. 0. 1. ]] SLAMing on 18.739928851 meters Centerline goodness [0,1] 0.8368870433443755 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.02 [[ 0.99965536 -0.01919696 -0.0179064 0.51592704] [ 0.01941527 0.9997383 0.01209905 -0.20033352] [ 0.01766945 -0.01244254 0.99976646 -0.02405352] [ 0. 0. 0. 1. ]] SLAMing on 18.769928850999996 meters Centerline goodness [0,1] 0.8376022435148399 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.02 [[ 0.9996499 -0.01957136 -0.01780539 0.51538288] [ 0.01977987 0.99973694 0.01161074 -0.19933375] [ 0.01757347 -0.01195886 0.99977405 -0.0236142 ] [ 0. 0. 0. 1. ]] SLAMing on 18.799928850999997 meters Centerline goodness [0,1] 0.8346764747223914 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.02 [[ 0.99964567 -0.01976018 -0.01783471 0.51537201] [ 0.01996415 0.99973647 0.01133251 -0.19852987] [ 0.01760608 -0.01168455 0.99977672 -0.02351401] [ 0. 0. 0. 1. ]] SLAMing on 18.829928851 meters Centerline goodness [0,1] 0.8345165296033363 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.02 [[ 0.9996411 -0.01998994 -0.01783434 0.51528214] [ 0.0201876 0.999736 0.01097253 -0.19794162] [ 0.01761029 -0.01132862 0.99978075 -0.02330455] [ 0. 0. 0. 1. ]] SLAMing on 18.859928850999996 meters Centerline goodness [0,1] 0.8388035190615836 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.02 [[ 0.99963567 -0.02031964 -0.01776629 0.51527766] [ 0.02050982 0.99973358 0.0105885 -0.19707076] [ 0.0175464 -0.01094902 0.9997861 -0.02348358] [ 0. 0. 0. 1. ]] SLAMing on 18.889928850999997 meters Centerline goodness [0,1] 0.8360798122065728 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.02 [[ 0.99963116 -0.0204943 -0.01781954 0.51543727] [ 0.0206831 0.9997312 0.01047598 -0.19692799] [ 0.01760005 -0.01084068 0.99978634 -0.02361694] [ 0. 0. 0. 1. ]] SLAMing on 18.919928850999998 meters Centerline goodness [0,1] 0.8351080083680041 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.02 [[ 0.99962363 -0.02090684 -0.01776242 0.51502424] [ 0.02108832 0.99972668 0.010092 -0.19655048] [ 0.01754657 -0.01046278 0.9997913 -0.02326317] [ 0. 0. 0. 1. ]] SLAMing on 18.949928850999996 meters Centerline goodness [0,1] 0.8386998141919703 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.02 [[ 0.9996178 -0.02128555 -0.01764028 0.51450732] [ 0.02145857 0.9997229 0.0096779 -0.1958972 ] [ 0.01742939 -0.01005273 0.99979756 -0.02290455] [ 0. 0. 0. 1. ]] SLAMing on 18.979928850999997 meters Centerline goodness [0,1] 0.8374304048315561 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.19, Z:-0.02 [[ 0.99960659 -0.02191075 -0.01750947 0.51350062] [ 0.02206905 0.99971684 0.0088993 -0.1941874 ] [ 0.01730952 -0.00928222 0.99980709 -0.0219286 ] [ 0. 0. 0. 1. ]] SLAMing on 19.009928850999998 meters Centerline goodness [0,1] 0.8379054724019075 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.19, Z:-0.02 [[ 0.99960056 -0.02223599 -0.01744347 0.51335529] [ 0.02238776 0.99971277 0.00855427 -0.19330098] [ 0.01724825 -0.00894137 0.99981126 -0.02194379] [ 0. 0. 0. 1. ]] SLAMing on 19.039928850999996 meters Centerline goodness [0,1] 0.8379119580121992 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.19, Z:-0.02 [[ 0.99959523 -0.02249469 -0.01741742 0.51327994] [ 0.02264196 0.99970914 0.00830513 -0.19289698] [ 0.01722553 -0.00869614 0.99981381 -0.02190427] [ 0. 0. 0. 1. ]] SLAMing on 19.069928850999997 meters Centerline goodness [0,1] 0.8343521941048242 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.19, Z:-0.02 [[ 0.99958887 -0.02301448 -0.01710056 0.51258649] [ 0.023151 0.99970133 0.00782863 -0.19162822] [ 0.01691528 -0.00822131 0.99982313 -0.02196379] [ 0. 0. 0. 1. ]] SLAMing on 19.099928850999998 meters Centerline goodness [0,1] 0.8330290889262938 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.19, Z:-0.02 [[ 0.99958602 -0.02308756 -0.01716853 0.51278331] [ 0.0232196 0.99970202 0.00753159 -0.19036873] [ 0.01698953 -0.00792711 0.99982424 -0.02198151] [ 0. 0. 0. 1. ]] SLAMing on 19.129928850999995 meters Centerline goodness [0,1] 0.8343305284736955 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.19, Z:-0.02 [[ 0.99958075 -0.02340707 -0.01704186 0.51235988] [ 0.0235301 0.99969824 0.00705478 -0.18877979] [ 0.01687158 -0.00745282 0.99982989 -0.02180605] [ 0. 0. 0. 1. ]] SLAMing on 19.159928850999997 meters Centerline goodness [0,1] 0.833843139129188 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.19, Z:-0.02 [[ 0.99957717 -0.02352805 -0.01708564 0.51246053] [ 0.02363993 0.9997002 0.00637635 -0.18601556] [ 0.01693049 -0.00677756 0.9998337 -0.02160075] [ 0. 0. 0. 1. ]] SLAMing on 19.189928850999998 meters Centerline goodness [0,1] 0.8374228727220548 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.19, Z:-0.02 [[ 0.99957647 -0.02359063 -0.01704026 0.5124418 ] [ 0.02369869 0.99970012 0.00616796 -0.18509217] [ 0.01688964 -0.00656918 0.99983578 -0.02163641] [ 0. 0. 0. 1. ]] SLAMing on 19.219928850999995 meters Centerline goodness [0,1] 0.8383463151587778 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99957281 -0.02366482 -0.01715156 0.51265755] [ 0.02376947 0.99969992 0.00592309 -0.1842485 ] [ 0.01700624 -0.00632825 0.99983536 -0.02156553] [ 0. 0. 0. 1. ]] SLAMing on 19.249928850999996 meters Centerline goodness [0,1] 0.8356167676184982 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99957169 -0.02374999 -0.01709921 0.51263934] [ 0.02384992 0.9996995 0.00566433 -0.18295295] [ 0.01695954 -0.00606972 0.99983775 -0.02163438] [ 0. 0. 0. 1. ]] SLAMing on 19.279928850999998 meters Centerline goodness [0,1] 0.8399412981763942 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99957057 -0.02373615 -0.01718329 0.51307033] [ 0.02383373 0.99970083 0.00549618 -0.18167172] [ 0.0170477 -0.00590336 0.99983725 -0.02190294] [ 0. 0. 0. 1. ]] SLAMing on 19.309928850999995 meters Centerline goodness [0,1] 0.84392502970201 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99961327 -0.02210173 -0.01687665 0.51283085] [ 0.02222449 0.99972764 0.00712159 -0.1791097 ] [ 0.01671465 -0.00749391 0.99983222 -0.02263438] [ 0. 0. 0. 1. ]] SLAMing on 19.339928850999996 meters Centerline goodness [0,1] 0.8444492932819356 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99961168 -0.02211499 -0.01695364 0.51296994] [ 0.02223284 0.99972973 0.00679439 -0.17758189] [ 0.0167988 -0.00716868 0.99983319 -0.02250661] [ 0. 0. 0. 1. ]] SLAMing on 19.369928850999997 meters Centerline goodness [0,1] 0.8436701000803565 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99961369 -0.02208244 -0.01687724 0.51292885] [ 0.02219603 0.99973203 0.00657302 -0.17617727] [ 0.01672757 -0.00694509 0.99983596 -0.02258026] [ 0. 0. 0. 1. ]] SLAMing on 19.399928850999995 meters Centerline goodness [0,1] 0.8455209121761847 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.9996125 -0.02213157 -0.01688318 0.5129101 ] [ 0.02223567 0.99973473 0.00600333 -0.17352439] [ 0.01674584 -0.00637642 0.99983945 -0.02237718] [ 0. 0. 0. 1. ]] SLAMing on 19.429928850999996 meters Centerline goodness [0,1] 0.8486429551244365 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99961086 -0.02212454 -0.01698938 0.51318289] [ 0.02222432 0.99973672 0.00570717 -0.17210871] [ 0.01685864 -0.00608253 0.99983938 -0.02235788] [ 0. 0. 0. 1. ]] SLAMing on 19.459928850999997 meters Centerline goodness [0,1] 0.8482887123663823 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99960819 -0.02232297 -0.01688636 0.51281906] [ 0.02241431 0.99973504 0.00523967 -0.1705226 ] [ 0.01676492 -0.00561611 0.99984369 -0.02207125] [ 0. 0. 0. 1. ]] SLAMing on 19.489928850999995 meters Centerline goodness [0,1] 0.8475251420000491 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99960475 -0.02244324 -0.01693065 0.51275692] [ 0.02252929 0.99973413 0.00490909 -0.16938269] [ 0.01681598 -0.00528859 0.99984461 -0.02179428] [ 0. 0. 0. 1. ]] SLAMing on 19.519928850999996 meters Centerline goodness [0,1] 0.8483962148211872 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99960176 -0.02261966 -0.01687251 0.51261699] [ 0.02270141 0.99973139 0.00466931 -0.16850419] [ 0.01676236 -0.00505048 0.99984675 -0.02174612] [ 0. 0. 0. 1. ]] SLAMing on 19.549928850999997 meters Centerline goodness [0,1] 0.8481476022012578 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99959651 -0.02274794 -0.01701022 0.51350673] [ 0.02283088 0.9997283 0.00469805 -0.1674948 ] [ 0.01689872 -0.00508451 0.99984428 -0.02274179] [ 0. 0. 0. 1. ]] SLAMing on 19.579928851 meters Centerline goodness [0,1] 0.8503493740895287 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99959028 -0.02301848 -0.01701236 0.51356318] [ 0.02309767 0.99972321 0.00447305 -0.16679872] [ 0.01690468 -0.00486416 0.99984527 -0.02288797] [ 0. 0. 0. 1. ]] SLAMing on 19.609928850999996 meters Centerline goodness [0,1] 0.8481489746832305 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99958607 -0.0230989 -0.01715036 0.51394249] [ 0.02317551 0.99972224 0.00428212 -0.16608603] [ 0.01704669 -0.00467782 0.99984375 -0.0229837 ] [ 0. 0. 0. 1. ]] SLAMing on 19.639928850999997 meters Centerline goodness [0,1] 0.8518959107806692 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99958766 -0.02296499 -0.01723741 0.51453463] [ 0.02304419 0.99972472 0.00441006 -0.16576239] [ 0.01713138 -0.00480547 0.9998417 -0.02349444] [ 0. 0. 0. 1. ]] SLAMing on 19.669928850999998 meters Centerline goodness [0,1] 0.852438660971491 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.16, Z:-0.02 [[ 0.99958589 -0.02307215 -0.01719663 0.51450858] [ 0.02314693 0.99972341 0.00416254 -0.1643937 ] [ 0.01709584 -0.00455886 0.99984346 -0.02356736] [ 0. 0. 0. 1. ]] SLAMing on 19.699928850999996 meters Centerline goodness [0,1] 0.8538968303293971 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.16, Z:-0.02 [[ 0.99958109 -0.0232455 -0.01724199 0.51443858] [ 0.02331755 0.99972015 0.00398969 -0.16371547] [ 0.01714442 -0.00439006 0.99984339 -0.02339578] [ 0. 0. 0. 1. ]] SLAMing on 19.729928850999997 meters Centerline goodness [0,1] 0.8550561797752809 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.16, Z:-0.02 [[ 0.99957783 -0.02345289 -0.01715005 0.51411264] [ 0.02352263 0.99971579 0.00387591 -0.16323657] [ 0.01705427 -0.00427769 0.99984541 -0.02332902] [ 0. 0. 0. 1. ]] SLAMing on 19.759928850999998 meters Centerline goodness [0,1] 0.8533734550247445 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.16, Z:-0.02 [[ 0.99957443 -0.02353005 -0.01724219 0.51431711] [ 0.0235998 0.99971406 0.00385313 -0.16299488] [ 0.01714659 -0.0042584 0.99984392 -0.02339125] [ 0. 0. 0. 1. ]] SLAMing on 19.789928850999996 meters Centerline goodness [0,1] 0.8533734550247445 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.16, Z:-0.02 [[ 0.99957443 -0.02353005 -0.01724219 0.51431711] [ 0.0235998 0.99971406 0.00385313 -0.16299488] [ 0.01714659 -0.0042584 0.99984392 -0.02339125] [ 0. 0. 0. 1. ]] SLAMing on 19.819928850999997 meters Centerline goodness [0,1] 0.8512460670229236 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.16, Z:-0.02 [[ 0.99957033 -0.02377934 -0.01713792 0.51393267] [ 0.02384665 0.99970866 0.00373387 -0.16264857] [ 0.01704414 -0.00414095 0.99984616 -0.02330567] [ 0. 0. 0. 1. ]] SLAMing on 19.849928850999998 meters Centerline goodness [0,1] 0.8541088873897509 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.16, Z:-0.02 [[ 0.99956972 -0.02383774 -0.0170919 0.5139789 ] [ 0.02390627 0.99970692 0.00381625 -0.16252199] [ 0.01699592 -0.00422322 0.99984664 -0.02358282] [ 0. 0. 0. 1. ]] SLAMing on 19.879928850999995 meters Centerline goodness [0,1] 0.852761809547613 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.16, Z:-0.02 [[ 0.99956597 -0.02405727 -0.0170034 0.51353452] [ 0.02412237 0.99970241 0.00363425 -0.16238205] [ 0.01691091 -0.00404283 0.99984883 -0.02321859] [ 0. 0. 0. 1. ]] SLAMing on 19.909928850999997 meters Centerline goodness [0,1] 0.8511659293694234 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.16, Z:-0.02 [[ 0.99956315 -0.02417039 -0.017009 0.5134477 ] [ 0.0242339 0.99970005 0.00353808 -0.16224015] [ 0.01691838 -0.00394873 0.99984908 -0.02307 ] [ 0. 0. 0. 1. ]] SLAMing on 19.939928850999998 meters Centerline goodness [0,1] 0.8499175783006144 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.16, Z:-0.02 [[ 0.99955929 -0.02444651 -0.01684041 0.51292999] [ 0.02451072 0.99969302 0.00361742 -0.16249478] [ 0.01674681 -0.00402859 0.99985165 -0.02303586] [ 0. 0. 0. 1. ]] SLAMing on 19.969928850999995 meters Centerline goodness [0,1] 0.8467069456234084 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.16, Z:-0.02 [[ 0.99955855 -0.0245323 -0.0167594 0.51277232] [ 0.02459974 0.99969004 0.00383012 -0.1632525 ] [ 0.01666025 -0.0042407 0.99985222 -0.02312436] [ 0. 0. 0. 1. ]] SLAMing on 19.999928850999996 meters Centerline goodness [0,1] 0.8457184180340133 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.16, Z:-0.02 [[ 0.99955428 -0.02470649 -0.01675814 0.5127278 ] [ 0.02477531 0.99968539 0.00391159 -0.16380641] [ 0.01665622 -0.00432503 0.99985192 -0.02317398] [ 0. 0. 0. 1. ]] SLAMing on 20.029928850999998 meters Centerline goodness [0,1] 0.8430737010072804 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.16, Z:-0.02 [[ 0.99954967 -0.02498782 -0.01661521 0.51219804] [ 0.02505481 0.99967872 0.00383608 -0.16393269] [ 0.01651402 -0.00425064 0.9998546 -0.02296586] [ 0. 0. 0. 1. ]] SLAMing on 20.059928850999995 meters Centerline goodness [0,1] 0.8479514643097895 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.16, Z:-0.02 [[ 0.99954892 -0.02499249 -0.01665356 0.5123567 ] [ 0.02506172 0.99967806 0.0039613 -0.16386037] [ 0.0165492 -0.00437688 0.99985347 -0.02314849] [ 0. 0. 0. 1. ]] SLAMing on 20.089928850999996 meters Centerline goodness [0,1] 0.8432311144353029 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.16, Z:-0.02 [[ 0.99954157 -0.02525934 -0.01669176 0.51233847] [ 0.02532876 0.99967133 0.00396064 -0.16415368] [ 0.01658623 -0.00438161 0.99985284 -0.02314805] [ 0. 0. 0. 1. ]] SLAMing on 20.119928850999997 meters Centerline goodness [0,1] 0.8485446595877577 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.16, Z:-0.02 [[ 0.99953679 -0.0255247 -0.01657387 0.51193832] [ 0.02559217 0.99966497 0.00387194 -0.16446349] [ 0.01646949 -0.0042943 0.99985515 -0.02302627] [ 0. 0. 0. 1. ]] SLAMing on 20.149928850999995 meters Centerline goodness [0,1] 0.8416076239896217 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99953582 -0.02553603 -0.01661498 0.5120494 ] [ 0.02560578 0.99966412 0.00399858 -0.16501521] [ 0.01650729 -0.00442216 0.99985397 -0.02314377] [ 0. 0. 0. 1. ]] SLAMing on 20.179928850999996 meters Centerline goodness [0,1] 0.8397745973171097 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99953463 -0.02557949 -0.01661963 0.51227379] [ 0.02565116 0.99966249 0.00411342 -0.16541651] [ 0.0165088 -0.00453782 0.99985342 -0.02348688] [ 0. 0. 0. 1. ]] SLAMing on 20.209928850999997 meters Centerline goodness [0,1] 0.8426322606356481 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99952583 -0.0258582 -0.01671756 0.51226754] [ 0.02593105 0.9996551 0.00415566 -0.16599965] [ 0.01660434 -0.0045872 0.99985162 -0.02340514] [ 0. 0. 0. 1. ]] SLAMing on 20.239928850999995 meters Centerline goodness [0,1] 0.8365332006963442 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99952476 -0.02574556 -0.01695356 0.51284124] [ 0.02582305 0.99965699 0.00436797 -0.16618669] [ 0.01683529 -0.00480369 0.99984674 -0.02349019] [ 0. 0. 0. 1. ]] SLAMing on 20.269928850999996 meters Centerline goodness [0,1] 0.8314472007794349 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99951933 -0.02598341 -0.01691072 0.51227404] [ 0.0260562 0.99965208 0.00409808 -0.16567832] [ 0.01679835 -0.00453674 0.99984861 -0.02285631] [ 0. 0. 0. 1. ]] SLAMing on 20.299928850999997 meters Centerline goodness [0,1] 0.8366017964071857 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99951998 -0.02607684 -0.01672775 0.51166189] [ 0.02614692 0.99965017 0.00398472 -0.16582238] [ 0.01661799 -0.00442018 0.99985214 -0.02246975] [ 0. 0. 0. 1. ]] SLAMing on 20.329928850999995 meters Centerline goodness [0,1] 0.8385276196184197 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99952256 -0.02595005 -0.0167703 0.51166415] [ 0.02602286 0.99965278 0.00413793 -0.16641116] [ 0.01665709 -0.00457237 0.99985081 -0.02227735] [ 0. 0. 0. 1. ]] SLAMing on 20.359928850999996 meters Centerline goodness [0,1] 0.8224490305193023 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99951994 -0.02599183 -0.01686189 0.51176543] [ 0.02606535 0.99965161 0.00415468 -0.16631105] [ 0.01674803 -0.00459219 0.9998492 -0.02224937] [ 0. 0. 0. 1. ]] SLAMing on 20.389928850999997 meters Centerline goodness [0,1] 0.8458514846527465 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99951633 -0.02616389 -0.0168093 0.51163486] [ 0.02623697 0.99964717 0.00414196 -0.16617514] [ 0.016695 -0.00458098 0.99985013 -0.02231147] [ 0. 0. 0. 1. ]] SLAMing on 20.419928850999998 meters Centerline goodness [0,1] 0.8452725638977636 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99951355 -0.02614895 -0.01699696 0.51205913] [ 0.02622488 0.99964699 0.0042597 -0.16656475] [ 0.01687957 -0.00470337 0.99984647 -0.02240578] [ 0. 0. 0. 1. ]] SLAMing on 20.449928850999996 meters Centerline goodness [0,1] 0.7978834922378076 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99951132 -0.026179 -0.0170815 0.51212274] [ 0.02625713 0.99964569 0.0043659 -0.16706619] [ 0.01696115 -0.00481227 0.99984457 -0.02230952] [ 0. 0. 0. 1. ]] SLAMing on 20.479928850999997 meters Centerline goodness [0,1] 0.8172316595574846 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99950949 -0.02631289 -0.01698261 0.5118666 ] [ 0.0263915 0.9996419 0.00442177 -0.16767449] [ 0.01686018 -0.0048678 0.99984601 -0.02228147] [ 0. 0. 0. 1. ]] SLAMing on 20.509928850999998 meters Centerline goodness [0,1] 0.8453538997387735 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99950179 -0.02672845 -0.01678588 0.5111311 ] [ 0.02680761 0.99963044 0.00450879 -0.1690531 ] [ 0.01665917 -0.00495653 0.99984894 -0.02204013] [ 0. 0. 0. 1. ]] SLAMing on 20.539928850999996 meters Centerline goodness [0,1] 0.8364706466673288 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.9994982 -0.02688158 -0.01675483 0.51103022] [ 0.02696196 0.99962592 0.00458999 -0.16968863] [ 0.01662517 -0.00503943 0.99984909 -0.02206176] [ 0. 0. 0. 1. ]] SLAMing on 20.569928850999997 meters Centerline goodness [0,1] 0.8321216617210683 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99949168 -0.02708697 -0.01681275 0.51115626] [ 0.02716811 0.99962022 0.00461661 -0.17018112] [ 0.01668132 -0.00507104 0.999848 -0.02215033] [ 0. 0. 0. 1. ]] SLAMing on 20.599928850999998 meters Centerline goodness [0,1] 0.8408695652173913 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.9994833 -0.02749187 -0.01665322 0.51042726] [ 0.02757251 0.99960908 0.00463181 -0.1713412 ] [ 0.01651937 -0.00508859 0.9998506 -0.02180001] [ 0. 0. 0. 1. ]] SLAMing on 20.629928850999995 meters Centerline goodness [0,1] 0.827179461763394 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.9994812 -0.0275208 -0.01673124 0.51058957] [ 0.02760421 0.99960753 0.00477484 -0.17215643] [ 0.01659326 -0.00523422 0.99984862 -0.02185126] [ 0. 0. 0. 1. ]] SLAMing on 20.659928850999997 meters Centerline goodness [0,1] 0.8389024721543059 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99948356 -0.02739496 -0.01679701 0.51106787] [ 0.02748437 0.99960915 0.00511515 -0.17323061] [ 0.01665031 -0.00557416 0.99984584 -0.02227793] [ 0. 0. 0. 1. ]] SLAMing on 20.689928850999998 meters Centerline goodness [0,1] 0.8308244615003714 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99948308 -0.02737887 -0.01685143 0.51123412] [ 0.02747013 0.99960906 0.00520779 -0.17374534] [ 0.01670226 -0.00566801 0.99984444 -0.02232657] [ 0. 0. 0. 1. ]] SLAMing on 20.719928850999995 meters Centerline goodness [0,1] 0.8284278535534817 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99948062 -0.02748359 -0.01682663 0.51096661] [ 0.02757379 0.99960649 0.00515244 -0.17382643] [ 0.0166784 -0.00561374 0.99984515 -0.02200419] [ 0. 0. 0. 1. ]] SLAMing on 20.749928850999996 meters Centerline goodness [0,1] 0.8243293453221372 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99947162 -0.02792782 -0.0166289 0.50977508] [ 0.02801048 0.9995963 0.00475864 -0.17315816] [ 0.01648929 -0.00522191 0.99985041 -0.02101718] [ 0. 0. 0. 1. ]] SLAMing on 20.779928850999998 meters Centerline goodness [0,1] 0.8183439869183886 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99946937 -0.0280303 -0.01659168 0.50956742] [ 0.02811347 0.99959321 0.00480091 -0.17333978] [ 0.01645036 -0.00526481 0.99985082 -0.02090345] [ 0. 0. 0. 1. ]] SLAMing on 20.809928850999995 meters Centerline goodness [0,1] 0.8082218920257553 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99946707 -0.02809277 -0.01662432 0.50959353] [ 0.02817716 0.99959111 0.00486374 -0.17400181] [ 0.01648088 -0.00532958 0.99984998 -0.02088515] [ 0. 0. 0. 1. ]] SLAMing on 20.839928850999996 meters Centerline goodness [0,1] 0.7970850082616094 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99945785 -0.02846411 -0.01654715 0.50953334] [ 0.02855052 0.9995798 0.00500954 -0.17599399] [ 0.01639761 -0.00547926 0.99985054 -0.02125478] [ 0. 0. 0. 1. ]] SLAMing on 20.869928850999997 meters Centerline goodness [0,1] 0.7913945636905788 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99945363 -0.02861876 -0.01653493 0.50949857] [ 0.02870579 0.99957515 0.00504996 -0.1763884 ] [ 0.01638339 -0.00552185 0.99985054 -0.02130985] [ 0. 0. 0. 1. ]] SLAMing on 20.899928850999995 meters Centerline goodness [0,1] 0.7881387357543694 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99944861 -0.02880019 -0.01652318 0.50940427] [ 0.02888531 0.99957055 0.00493578 -0.17598889] [ 0.01637393 -0.00541033 0.9998513 -0.02122698] [ 0. 0. 0. 1. ]] SLAMing on 20.929928850999996 meters Centerline goodness [0,1] 0.7608212822664232 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99943617 -0.02924959 -0.01648658 0.50894509] [ 0.02933236 0.99955818 0.00480168 -0.17571161] [ 0.01633885 -0.00528256 0.99985256 -0.02085601] [ 0. 0. 0. 1. ]] SLAMing on 20.959928850999997 meters Centerline goodness [0,1] 0.7648788200706574 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99942536 -0.02966257 -0.0164035 0.50852752] [ 0.02974217 0.99954688 0.00463047 -0.17613028] [ 0.01625872 -0.00511569 0.99985473 -0.02065329] [ 0. 0. 0. 1. ]] SLAMing on 20.989928850999995 meters Centerline goodness [0,1] 0.749341408769727 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99941852 -0.02989201 -0.01640372 0.50865562] [ 0.02997569 0.99953872 0.00487917 -0.17750857] [ 0.01625031 -0.00536805 0.99985355 -0.0210445 ] [ 0. 0. 0. 1. ]] SLAMing on 21.019928850999996 meters Centerline goodness [0,1] 0.7335052179251074 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99940977 -0.03021683 -0.016342 0.50854058] [ 0.03030227 0.99952824 0.00500628 -0.1787081 ] [ 0.01618301 -0.00549853 0.99985393 -0.021243 ] [ 0. 0. 0. 1. ]] SLAMing on 21.049928850999997 meters Centerline goodness [0,1] 0.720259925665198 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99938507 -0.03118265 -0.0160353 0.50706626] [ 0.03125782 0.99950141 0.00445849 -0.1789591 ] [ 0.01588828 -0.00495698 0.99986149 -0.02035031] [ 0. 0. 0. 1. ]] SLAMing on 21.079928850999995 meters Centerline goodness [0,1] 0.7122626406915745 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99937214 -0.03163556 -0.0159538 0.50633373] [ 0.03170386 0.99948911 0.00404666 -0.1783735 ] [ 0.01581763 -0.00454992 0.99986454 -0.0196116 ] [ 0. 0. 0. 1. ]] SLAMing on 21.109928850999996 meters Centerline goodness [0,1] 0.7187476925348888 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99936093 -0.03199334 -0.01594245 0.50590719] [ 0.03205704 0.99947898 0.00375581 -0.17778801] [ 0.01581398 -0.00426448 0.99986586 -0.01913103] [ 0. 0. 0. 1. ]] SLAMing on 21.139928850999997 meters Centerline goodness [0,1] 0.7077803542355321 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99934864 -0.03244152 -0.0158066 0.50538344] [ 0.03250419 0.99946466 0.00372352 -0.17801287] [ 0.01567734 -0.00423488 0.99986813 -0.01905512] [ 0. 0. 0. 1. ]] SLAMing on 21.169928850999995 meters Centerline goodness [0,1] 0.6956724743813432 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99934536 -0.03246247 -0.0159702 0.50597338] [ 0.03253127 0.99946244 0.00406754 -0.17902946] [ 0.01582957 -0.00458441 0.99986419 -0.0195828 ] [ 0. 0. 0. 1. ]] SLAMing on 21.199928850999996 meters Centerline goodness [0,1] 0.6932703892208207 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99933669 -0.03271686 -0.01599311 0.50608669] [ 0.03278617 0.99945402 0.00409089 -0.17960917] [ 0.01585054 -0.00461253 0.99986373 -0.01979958] [ 0. 0. 0. 1. ]] SLAMing on 21.229928850999997 meters Centerline goodness [0,1] 0.7289855072463768 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99933243 -0.03288529 -0.01591403 0.50600932] [ 0.03295656 0.9994478 0.0042371 -0.18028994] [ 0.0157659 -0.00475874 0.99986439 -0.0200193 ] [ 0. 0. 0. 1. ]] SLAMing on 21.259928850999998 meters Centerline goodness [0,1] 0.678438022215669 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.18, Z:-0.02 [[ 0.999315 -0.03353266 -0.01565524 0.50481312] [ 0.0335966 0.9994281 0.0038395 -0.18011208] [ 0.01551753 -0.00436283 0.99987008 -0.0192943 ] [ 0. 0. 0. 1. ]] SLAMing on 21.289928850999996 meters Centerline goodness [0,1] 0.6775534295762524 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.18, Z:-0.02 [[ 0.99931189 -0.03363244 -0.01563973 0.50449217] [ 0.03369266 0.99942575 0.00360265 -0.17960683] [ 0.01550958 -0.00412711 0.9998712 -0.01877294] [ 0. 0. 0. 1. ]] SLAMing on 21.319928850999997 meters Centerline goodness [0,1] 0.7342018420923015 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.18, Z:-0.02 [[ 0.99931105 -0.03371866 -0.0155073 0.50402982] [ 0.03377467 0.99942381 0.00336454 -0.17874273] [ 0.01538492 -0.00388598 0.99987409 -0.0184167 ] [ 0. 0. 0. 1. ]] SLAMing on 21.349928850999998 meters Centerline goodness [0,1] 0.7546522533195124 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.18, Z:-0.02 [[ 0.99933542 -0.03294139 -0.01560693 0.50491941] [ 0.03300032 0.99944909 0.00353353 -0.17751927] [ 0.01548194 -0.00404622 0.99987196 -0.01882675] [ 0. 0. 0. 1. ]] SLAMing on 21.379928850999995 meters Centerline goodness [0,1] 0.7147898620468399 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99934062 -0.03265291 -0.01587837 0.50587852] [ 0.03271422 0.9994582 0.00361708 -0.17720837] [ 0.01575166 -0.00413414 0.99986739 -0.01924504] [ 0. 0. 0. 1. ]] SLAMing on 21.409928850999997 meters Centerline goodness [0,1] 0.7273220673492045 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99934822 -0.03231781 -0.01608392 0.50678066] [ 0.03238561 0.99946755 0.00397297 -0.17757859] [ 0.01594696 -0.00449127 0.99986275 -0.01982418] [ 0. 0. 0. 1. ]] SLAMing on 21.439928850999998 meters Centerline goodness [0,1] 0.7457154146293278 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99935134 -0.03228488 -0.01595545 0.50669443] [ 0.0323539 0.99946812 0.0040867 -0.17763608] [ 0.01581503 -0.00460027 0.99986435 -0.02005987] [ 0. 0. 0. 1. ]] SLAMing on 21.469928850999995 meters Centerline goodness [0,1] 0.7414843053767699 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99934603 -0.03240522 -0.01604423 0.50663893] [ 0.0324714 0.99946513 0.00388174 -0.17726671] [ 0.01590986 -0.00440018 0.99986375 -0.01968307] [ 0. 0. 0. 1. ]] SLAMing on 21.499928850999996 meters Centerline goodness [0,1] 0.7319513584466404 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99934345 -0.03257589 -0.01585815 0.50592355] [ 0.03263874 0.99946029 0.00372045 -0.17689382] [ 0.01572839 -0.0042356 0.99986733 -0.01917697] [ 0. 0. 0. 1. ]] SLAMing on 21.529928850999998 meters Centerline goodness [0,1] 0.7261975308641975 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99934454 -0.0325551 -0.01583185 0.50601933] [ 0.03262135 0.99946 0.00394422 -0.17750168] [ 0.0156949 -0.00445809 0.99986689 -0.0194447 ] [ 0. 0. 0. 1. ]] SLAMing on 21.559928850999995 meters Centerline goodness [0,1] 0.7244575156937374 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99934289 -0.03264327 -0.01575435 0.50584674] [ 0.03271012 0.99945686 0.00400391 -0.17807816] [ 0.01561509 -0.00451661 0.99986788 -0.01943311] [ 0. 0. 0. 1. ]] SLAMing on 21.589928850999996 meters Centerline goodness [0,1] 0.7174556943278867 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99934737 -0.03255264 -0.0156573 0.50585235] [ 0.03262536 0.99945791 0.00441177 -0.1791935 ] [ 0.0155052 -0.00491971 0.99986768 -0.0197685 ] [ 0. 0. 0. 1. ]] SLAMing on 21.619928850999997 meters Centerline goodness [0,1] 0.7187168414558914 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99934948 -0.03247041 -0.0156938 0.50609126] [ 0.03254661 0.99945952 0.00462491 -0.17958963] [ 0.01553515 -0.00513268 0.99986615 -0.01997625] [ 0. 0. 0. 1. ]] SLAMing on 21.649928850999995 meters Centerline goodness [0,1] 0.7186350280253833 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99935059 -0.03242314 -0.01572076 0.50626464] [ 0.03250416 0.99945946 0.00492597 -0.1803748 ] [ 0.01555254 -0.00543376 0.99986429 -0.02022181] [ 0. 0. 0. 1. ]] SLAMing on 21.679928850999996 meters Centerline goodness [0,1] 0.7060762607626077 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99934806 -0.03254864 -0.0156221 0.50574596] [ 0.03263037 0.99945496 0.00500517 -0.1813339 ] [ 0.01545067 -0.00551166 0.99986544 -0.0197422 ] [ 0. 0. 0. 1. ]] SLAMing on 21.709928850999997 meters Centerline goodness [0,1] 0.7060762607626077 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99934806 -0.03254864 -0.0156221 0.50574596] [ 0.03263037 0.99945496 0.00500517 -0.1813339 ] [ 0.01545067 -0.00551166 0.99986544 -0.0197422 ] [ 0. 0. 0. 1. ]] SLAMing on 21.739928850999995 meters Centerline goodness [0,1] 0.7020542883885905 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99934791 -0.03261882 -0.01548459 0.50529524] [ 0.03269948 0.9994528 0.00498486 -0.18136298] [ 0.01531352 -0.00548795 0.99986768 -0.0195036 ] [ 0. 0. 0. 1. ]] SLAMing on 21.769928850999996 meters Centerline goodness [0,1] 0.6976429817877946 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99935207 -0.03249193 -0.01548259 0.50517645] [ 0.03257526 0.99945596 0.00516044 -0.18182133] [ 0.01530649 -0.00566144 0.99986682 -0.01930673] [ 0. 0. 0. 1. ]] SLAMing on 21.799928850999997 meters Centerline goodness [0,1] 0.6963689072327044 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99935073 -0.03255876 -0.01542866 0.5050061 ] [ 0.03264343 0.99945318 0.00526799 -0.18247738] [ 0.0152487 -0.00576822 0.99986709 -0.01924237] [ 0. 0. 0. 1. ]] SLAMing on 21.829928850999995 meters Centerline goodness [0,1] 0.6963340521466379 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.02 [[ 0.99935447 -0.03248331 -0.01534506 0.5050297 ] [ 0.03257297 0.99945351 0.00562961 -0.18352799] [ 0.0151538 -0.00612581 0.99986641 -0.01961454] [ 0. 0. 0. 1. ]] SLAMing on 21.859928850999996 meters Centerline goodness [0,1] 0.7167620165273092 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.19, Z:-0.02 [[ 0.99936313 -0.03232738 -0.01510856 0.50504724] [ 0.03242512 0.9994545 0.00626977 -0.18536223] [ 0.01489764 -0.00675568 0.9998662 -0.02038371] [ 0. 0. 0. 1. ]] SLAMing on 21.889928850999997 meters Centerline goodness [0,1] 0.721321893867175 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.19, Z:-0.02 [[ 0.99936806 -0.03215972 -0.0151405 0.50540561] [ 0.0322622 0.99945782 0.00657345 -0.18589442] [ 0.01492089 -0.00705776 0.99986377 -0.02076373] [ 0. 0. 0. 1. ]] SLAMing on 21.919928850999995 meters Centerline goodness [0,1] 0.7347058679527039 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.19, Z:-0.02 [[ 0.99936899 -0.032116 -0.01517209 0.5055443 ] [ 0.03222199 0.99945764 0.00679418 -0.18646194] [ 0.01494566 -0.00727877 0.99986181 -0.0208735 ] [ 0. 0. 0. 1. ]] SLAMing on 21.949928850999996 meters Centerline goodness [0,1] 0.7197709830673651 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.19, Z:-0.02 [[ 0.99936581 -0.03223419 -0.01513026 0.50549589] [ 0.03234256 0.99945252 0.00697338 -0.18711428] [ 0.0148972 -0.00745831 0.99986121 -0.02102795] [ 0. 0. 0. 1. ]] SLAMing on 21.979928850999997 meters Centerline goodness [0,1] 0.7006142118423928 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.19, Z:-0.02 [[ 0.99933604 -0.03322376 -0.01495548 0.50458091] [ 0.03333066 0.99942017 0.00695679 -0.18934112] [ 0.01471568 -0.00745065 0.99986396 -0.02082234] [ 0. 0. 0. 1. ]] SLAMing on 22.009928850999994 meters Centerline goodness [0,1] 0.6937474240550827 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.19, Z:-0.02 [[ 0.99932632 -0.03362721 -0.01470119 0.50387093] [ 0.0337349 0.99940531 0.00713963 -0.19085179] [ 0.01445236 -0.00763076 0.99986644 -0.02082365] [ 0. 0. 0. 1. ]] SLAMing on 22.039928850999996 meters Centerline goodness [0,1] 0.6633948214587917 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.19, Z:-0.02 [[ 0.99931617 -0.03400383 -0.01452327 0.50311438] [ 0.03411066 0.99939233 0.00717217 -0.19205884] [ 0.01427056 -0.00766267 0.99986881 -0.02049438] [ 0. 0. 0. 1. ]] SLAMing on 22.069928850999997 meters Centerline goodness [0,1] 0.7019054510371443 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.19, Z:-0.02 [[ 0.99930565 -0.03439289 -0.01433024 0.50235884] [ 0.03449883 0.99937871 0.00721256 -0.19311409] [ 0.01407328 -0.00770192 0.9998713 -0.02021408] [ 0. 0. 0. 1. ]] SLAMing on 22.099928850999998 meters Centerline goodness [0,1] 0.6904904808777279 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.19, Z:-0.02 [[ 0.99928887 -0.03497844 -0.01408042 0.5015062 ] [ 0.03508329 0.99935795 0.00727023 -0.1944943 ] [ 0.01381708 -0.00775905 0.99987443 -0.01999232] [ 0. 0. 0. 1. ]] SLAMing on 22.129928850999995 meters Centerline goodness [0,1] 0.7136324251468181 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.19, Z:-0.02 [[ 0.99928433 -0.03507652 -0.0141589 0.50161866] [ 0.035183 0.99935391 0.00734231 -0.19495063] [ 0.01389221 -0.00783521 0.9998728 -0.0200141 ] [ 0. 0. 0. 1. ]] SLAMing on 22.159928850999997 meters Centerline goodness [0,1] 0.7074534459589172 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99928625 -0.03498734 -0.01424326 0.50209829] [ 0.03509933 0.99935424 0.00769004 -0.19592832] [ 0.01396501 -0.00818448 0.99986899 -0.02049237] [ 0. 0. 0. 1. ]] SLAMing on 22.189928850999998 meters Centerline goodness [0,1] 0.6795784744790672 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99927547 -0.03532473 -0.01416658 0.50209159] [ 0.03544068 0.99933961 0.00801917 -0.19821913] [ 0.01387395 -0.00851543 0.99986749 -0.02092473] [ 0. 0. 0. 1. ]] SLAMing on 22.219928850999995 meters Centerline goodness [0,1] 0.6979206409767265 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99927008 -0.03550065 -0.01410742 0.50184323] [ 0.03561755 0.99933247 0.00812393 -0.19924898] [ 0.01380959 -0.00862047 0.99986748 -0.02085275] [ 0. 0. 0. 1. ]] SLAMing on 22.249928850999996 meters Centerline goodness [0,1] 0.6910216718266253 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99926675 -0.03568661 -0.01387168 0.5012381 ] [ 0.03580233 0.99932537 0.00818485 -0.19990752] [ 0.01357023 -0.00867548 0.99987028 -0.02071046] [ 0. 0. 0. 1. ]] SLAMing on 22.279928850999998 meters Centerline goodness [0,1] 0.6884411351904275 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.999263 -0.03583391 -0.01376194 0.50076198] [ 0.03594767 0.99932077 0.00810967 -0.19994927] [ 0.01346199 -0.0085984 0.99987241 -0.02038902] [ 0. 0. 0. 1. ]] SLAMing on 22.309928850999995 meters Centerline goodness [0,1] 0.6793018881401938 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99926138 -0.03596116 -0.01354571 0.49989122] [ 0.03607079 0.99931771 0.00793837 -0.19962088] [ 0.01325099 -0.00842111 0.99987674 -0.01971575] [ 0. 0. 0. 1. ]] SLAMing on 22.339928850999996 meters Centerline goodness [0,1] 0.679676729260756 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99926005 -0.03602551 -0.01347241 0.49990156] [ 0.03613428 0.99931557 0.00791899 -0.19961252] [ 0.0131779 -0.00839994 0.99987788 -0.01993028] [ 0. 0. 0. 1. ]] SLAMing on 22.369928850999997 meters Centerline goodness [0,1] 0.6832429604261796 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99926493 -0.03585132 -0.0135751 0.50033061] [ 0.03596498 0.99931922 0.00822307 -0.20040391] [ 0.01327105 -0.00870526 0.99987404 -0.02024074] [ 0. 0. 0. 1. ]] SLAMing on 22.399928850999995 meters Centerline goodness [0,1] 0.6773941089977706 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99926622 -0.03580156 -0.01361106 0.50079579] [ 0.0359186 0.99931896 0.00845356 -0.20107356] [ 0.01329914 -0.00893625 0.99987163 -0.02077541] [ 0. 0. 0. 1. ]] SLAMing on 22.429928850999996 meters Centerline goodness [0,1] 0.6736647989219093 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.9992732 -0.03558201 -0.01367485 0.50174589] [ 0.03570706 0.99932167 0.00901157 -0.20226758] [ 0.01334493 -0.00949331 0.99986589 -0.02196858] [ 0. 0. 0. 1. ]] SLAMing on 22.459928850999997 meters Centerline goodness [0,1] 0.6885890151515152 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99927244 -0.0356294 -0.01360655 0.50162293] [ 0.03575457 0.99931945 0.00906934 -0.20235067] [ 0.01327416 -0.00954924 0.9998663 -0.02202878] [ 0. 0. 0. 1. ]] SLAMing on 22.489928850999995 meters Centerline goodness [0,1] 0.6750331188493566 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99926623 -0.03582296 -0.01355393 0.50125355] [ 0.03594532 0.99931417 0.00889477 -0.20209626] [ 0.013226 -0.00937544 0.99986858 -0.02171481] [ 0. 0. 0. 1. ]] SLAMing on 22.519928850999996 meters Centerline goodness [0,1] 0.6872275914345272 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.999254 -0.03623472 -0.01336015 0.50001388] [ 0.03634887 0.99930384 0.00840226 -0.20184052] [ 0.0130464 -0.00888162 0.99987545 -0.02051358] [ 0. 0. 0. 1. ]] SLAMing on 22.549928850999997 meters Centerline goodness [0,1] 0.668580784471917 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99925454 -0.03628263 -0.01318847 0.49964707] [ 0.03639612 0.99930155 0.0084697 -0.2021399 ] [ 0.01287195 -0.0089434 0.99987716 -0.02051137] [ 0. 0. 0. 1. ]] SLAMing on 22.579928850999995 meters Centerline goodness [0,1] 0.7010940503595415 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99925626 -0.03625047 -0.0131468 0.49967783] [ 0.03636426 0.99930226 0.00852254 -0.20230205] [ 0.01282868 -0.00899427 0.99987726 -0.02067067] [ 0. 0. 0. 1. ]] SLAMing on 22.609928850999996 meters Centerline goodness [0,1] 0.6801824271360365 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99926411 -0.03603925 -0.0131309 0.50015547] [ 0.03615682 0.99930713 0.00882894 -0.20263012] [ 0.01280362 -0.00929722 0.99987481 -0.02134307] [ 0. 0. 0. 1. ]] SLAMing on 22.639928850999997 meters Centerline goodness [0,1] 0.7081666942755047 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99926756 -0.03590787 -0.0132273 0.50088446] [ 0.03602863 0.99931016 0.00900763 -0.20271496] [ 0.01289473 -0.00947759 0.99987194 -0.02204523] [ 0. 0. 0. 1. ]] SLAMing on 22.669928850999995 meters Centerline goodness [0,1] 0.6494310099573257 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99927073 -0.0357903 -0.01330632 0.5012164 ] [ 0.03591349 0.99931313 0.00913709 -0.20265433] [ 0.01297016 -0.00960831 0.99986972 -0.0222942 ] [ 0. 0. 0. 1. ]] SLAMing on 22.699928850999996 meters Centerline goodness [0,1] 0.6969546625085643 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99926757 -0.03588273 -0.01329496 0.50124035] [ 0.0360051 0.99931033 0.00908241 -0.20250106] [ 0.01295989 -0.00955445 0.99987037 -0.02237815] [ 0. 0. 0. 1. ]] SLAMing on 22.729928850999997 meters Centerline goodness [0,1] 0.7019276309557639 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99926561 -0.03592069 -0.01333942 0.5012425 ] [ 0.03604393 0.99930863 0.00911564 -0.20280676] [ 0.01300276 -0.00958975 0.99986947 -0.02228195] [ 0. 0. 0. 1. ]] SLAMing on 22.759928850999994 meters Centerline goodness [0,1] 0.6944765317428511 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99924892 -0.0364332 -0.01319894 0.50067336] [ 0.03655455 0.99929047 0.00907257 -0.2039926 ] [ 0.01285903 -0.00954824 0.99987173 -0.02211262] [ 0. 0. 0. 1. ]] SLAMing on 22.789928850999996 meters Centerline goodness [0,1] 0.6933750382164108 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99924808 -0.03645485 -0.01320275 0.50091343] [ 0.03657873 0.99928782 0.00926594 -0.20465274] [ 0.01285556 -0.00974191 0.99986991 -0.02246887] [ 0. 0. 0. 1. ]] SLAMing on 22.819928850999997 meters Centerline goodness [0,1] 0.6998771150392287 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99924786 -0.03648938 -0.0131239 0.50075088] [ 0.03661267 0.99928644 0.00928008 -0.20453583] [ 0.01277591 -0.0097536 0.99987081 -0.02250363] [ 0. 0. 0. 1. ]] SLAMing on 22.849928850999994 meters Centerline goodness [0,1] 0.6316883116883116 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99925147 -0.03641173 -0.01306502 0.50081424] [ 0.03653225 0.99929097 0.00910765 -0.20348587] [ 0.01272413 -0.00957812 0.99987317 -0.02258198] [ 0. 0. 0. 1. ]] SLAMing on 22.879928850999995 meters Centerline goodness [0,1] 0.6762206062895457 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99925684 -0.03624412 -0.0131202 0.50119498] [ 0.03636646 0.99929609 0.00920915 -0.2033554 ] [ 0.01277719 -0.00967944 0.99987152 -0.02286165] [ 0. 0. 0. 1. ]] SLAMing on 22.909928850999997 meters Centerline goodness [0,1] 0.6850235849056604 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.9992575 -0.0361808 -0.01324399 0.50159764] [ 0.03630456 0.99929818 0.00922685 -0.20328683] [ 0.01290086 -0.00970082 0.99986972 -0.02305618] [ 0. 0. 0. 1. ]] SLAMing on 22.939928850999998 meters Centerline goodness [0,1] 0.7006733608978145 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99926343 -0.03598902 -0.01331903 0.50202191] [ 0.03611708 0.99930239 0.00950248 -0.20415521] [ 0.01296776 -0.00997652 0.99986614 -0.02339836] [ 0. 0. 0. 1. ]] SLAMing on 22.969928850999995 meters Centerline goodness [0,1] 0.7100224294652343 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99926637 -0.03586514 -0.01343181 0.50245782] [ 0.03599605 0.99930548 0.009635 -0.20451717] [ 0.01307692 -0.01011142 0.99986337 -0.02360813] [ 0. 0. 0. 1. ]] SLAMing on 22.999928850999996 meters Centerline goodness [0,1] 0.7059920672395883 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.9992634 -0.03594493 -0.01343957 0.5023031 ] [ 0.0360748 0.99930347 0.00954871 -0.20431832] [ 0.01308698 -0.01002651 0.99986409 -0.02339367] [ 0. 0. 0. 1. ]] SLAMing on 23.029928850999998 meters Centerline goodness [0,1] 0.7083234807283045 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99925834 -0.03607923 -0.01345616 0.50196427] [ 0.03620554 0.99930142 0.00926469 -0.20370082] [ 0.0131125 -0.00974501 0.99986654 -0.02283762] [ 0. 0. 0. 1. ]] SLAMing on 23.059928850999995 meters Centerline goodness [0,1] 0.7102938397581255 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99926212 -0.03592886 -0.01357712 0.50215872] [ 0.036056 0.99930707 0.00923826 -0.20326022] [ 0.01323579 -0.00972098 0.99986515 -0.02268186] [ 0. 0. 0. 1. ]] SLAMing on 23.089928850999996 meters Centerline goodness [0,1] 0.71709140815409 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99926298 -0.03589864 -0.01359383 0.5021055 ] [ 0.03602404 0.99930953 0.00909567 -0.20258063] [ 0.01325792 -0.00957868 0.99986623 -0.02251689] [ 0. 0. 0. 1. ]] SLAMing on 23.119928850999997 meters Centerline goodness [0,1] 0.7160007547525826 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99927197 -0.03563481 -0.01362684 0.50260062] [ 0.03576318 0.99931706 0.00929581 -0.2028218 ] [ 0.01328627 -0.00977639 0.99986394 -0.02295232] [ 0. 0. 0. 1. ]] SLAMing on 23.149928850999995 meters Centerline goodness [0,1] 0.688742973215551 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99927037 -0.03567921 -0.01362792 0.50264141] [ 0.03580912 0.99931434 0.00941062 -0.20347021] [ 0.01328281 -0.00989176 0.99986285 -0.02304736] [ 0. 0. 0. 1. ]] SLAMing on 23.179928850999996 meters Centerline goodness [0,1] 0.7080701423588196 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.20, Z:-0.02 [[ 0.99926277 -0.03591462 -0.01356671 0.50244595] [ 0.03604445 0.99930551 0.00944964 -0.2042561 ] [ 0.01321791 -0.00993168 0.99986332 -0.02303716] [ 0. 0. 0. 1. ]] SLAMing on 23.209928850999997 meters Centerline goodness [0,1] 0.7026195230823447 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.21, Z:-0.02 [[ 0.99925807 -0.03601279 -0.01365242 0.50264264] [ 0.0361455 0.99930041 0.00960198 -0.20534388] [ 0.01329708 -0.01008833 0.9998607 -0.02310442] [ 0. 0. 0. 1. ]] SLAMing on 23.239928850999995 meters Centerline goodness [0,1] 0.6967797962728255 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.21, Z:-0.02 [[ 0.99923585 -0.03667667 -0.01351091 0.50197713] [ 0.03680901 0.99927544 0.00967973 -0.20709148] [ 0.0131461 -0.01016965 0.99986187 -0.02292463] [ 0. 0. 0. 1. ]] SLAMing on 23.269928850999996 meters Centerline goodness [0,1] 0.7041110668136301 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.21, Z:-0.02 [[ 0.99922919 -0.03692696 -0.01332038 0.50159732] [ 0.03705875 0.99926517 0.00978645 -0.2079655 ] [ 0.01294921 -0.01027254 0.99986339 -0.02300023] [ 0. 0. 0. 1. ]] SLAMing on 23.299928850999997 meters Centerline goodness [0,1] 0.7013807629300257 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.21, Z:-0.02 [[ 0.9992228 -0.03712226 -0.01325621 0.50135731] [ 0.03725425 0.99925725 0.0098523 -0.20855078] [ 0.01288062 -0.01033849 0.99986359 -0.0229353 ] [ 0. 0. 0. 1. ]] SLAMing on 23.329928850999995 meters Centerline goodness [0,1] 0.683343074225599 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.21, Z:-0.02 [[ 0.99921745 -0.03727622 -0.01322771 0.50116286] [ 0.03740852 0.99925103 0.0098989 -0.20904814] [ 0.01284881 -0.01038599 0.99986351 -0.02279552] [ 0. 0. 0. 1. ]] SLAMing on 23.359928850999996 meters Centerline goodness [0,1] 0.6921569542294592 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.21, Z:-0.02 [[ 0.99921052 -0.03751254 -0.01308261 0.50088608] [ 0.03764516 0.9992407 0.01004279 -0.2105561 ] [ 0.01269595 -0.01052736 0.99986398 -0.02287452] [ 0. 0. 0. 1. ]] SLAMing on 23.389928850999997 meters Centerline goodness [0,1] 0.6968857648263662 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.21, Z:-0.02 [[ 0.99921145 -0.03747121 -0.01312952 0.50104453] [ 0.03760677 0.99924021 0.01023432 -0.21155762] [ 0.01273605 -0.01072001 0.99986143 -0.02298716] [ 0. 0. 0. 1. ]] SLAMing on 23.419928850999995 meters Centerline goodness [0,1] 0.6900603808639107 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.21, Z:-0.02 [[ 0.99921454 -0.03739866 -0.01310145 0.50100084] [ 0.03753766 0.99923975 0.01052882 -0.21276087] [ 0.01269772 -0.01101235 0.99985874 -0.0229797 ] [ 0. 0. 0. 1. ]] SLAMing on 23.449928850999996 meters Centerline goodness [0,1] 0.6914021686131556 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.21, Z:-0.02 [[ 0.99921704 -0.03729574 -0.01320352 0.50116612] [ 0.03743741 0.99924221 0.01065071 -0.21308491] [ 0.01279628 -0.01113668 0.9998561 -0.0228853 ] [ 0. 0. 0. 1. ]] SLAMing on 23.479928850999997 meters Centerline goodness [0,1] 0.6900139340455178 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.21, Z:-0.02 [[ 0.99921955 -0.03722664 -0.01320879 0.50113712] [ 0.03736928 0.99924401 0.01072142 -0.21333426] [ 0.01279968 -0.01120665 0.99985528 -0.02276276] [ 0. 0. 0. 1. ]] SLAMing on 23.509928850999994 meters Centerline goodness [0,1] 0.6809389061557731 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.21, Z:-0.02 [[ 0.9992262 -0.03705163 -0.01319753 0.50125437] [ 0.03719586 0.99924902 0.01085609 -0.21376845] [ 0.01278538 -0.01133858 0.99985397 -0.022806 ] [ 0. 0. 0. 1. ]] SLAMing on 23.539928850999996 meters Centerline goodness [0,1] 0.6810069074220018 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.22, Z:-0.02 [[ 0.99923989 -0.03671818 -0.0130924 0.50119456] [ 0.03686716 0.99925599 0.01132567 -0.21505225] [ 0.0126668 -0.01179974 0.99985015 -0.02294807] [ 0. 0. 0. 1. ]] SLAMing on 23.569928850999997 meters Centerline goodness [0,1] 0.6791615631716392 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.22, Z:-0.02 [[ 0.99924325 -0.03664364 -0.01304506 0.50126055] [ 0.036793 0.99925789 0.01139961 -0.21527931] [ 0.01261765 -0.01187095 0.99984993 -0.02308692] [ 0. 0. 0. 1. ]] SLAMing on 23.599928850999994 meters Centerline goodness [0,1] 0.6791615631716392 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.22, Z:-0.02 [[ 0.99924325 -0.03664364 -0.01304506 0.50126055] [ 0.036793 0.99925789 0.01139961 -0.21527931] [ 0.01261765 -0.01187095 0.99984993 -0.02308692] [ 0. 0. 0. 1. ]] SLAMing on 23.629928850999995 meters Centerline goodness [0,1] 0.6811015442856814 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.22, Z:-0.02 [[ 0.99925073 -0.03642085 -0.01309583 0.50155826] [ 0.03657359 0.99926341 0.01161896 -0.21556608] [ 0.01266301 -0.01208921 0.99984674 -0.02327251] [ 0. 0. 0. 1. ]] SLAMing on 23.659928850999997 meters Centerline goodness [0,1] 0.7020220673099118 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.22, Z:-0.02 [[ 0.99925905 -0.03615178 -0.01320602 0.50195718] [ 0.03630801 0.99927112 0.01178806 -0.2158181 ] [ 0.01277024 -0.01225881 0.99984331 -0.02340822] [ 0. 0. 0. 1. ]] SLAMing on 23.689928850999998 meters Centerline goodness [0,1] 0.7062096029547553 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.22, Z:-0.02 [[ 0.99926487 -0.03593449 -0.01335753 0.50240916] [ 0.0360941 0.99927746 0.01190706 -0.21600348] [ 0.01292001 -0.01238044 0.99983989 -0.02348484] [ 0. 0. 0. 1. ]] SLAMing on 23.719928850999995 meters Centerline goodness [0,1] 0.7097912582170454 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.22, Z:-0.02 [[ 0.99929097 -0.03515349 -0.01348269 0.50338461] [ 0.03532161 0.99929857 0.01244025 -0.21650417] [ 0.01303592 -0.01290766 0.99983171 -0.02413745] [ 0. 0. 0. 1. ]] SLAMing on 23.749928850999996 meters Centerline goodness [0,1] 0.729753419601873 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.22, Z:-0.02 [[ 0.99929534 -0.03495868 -0.01366464 0.50391772] [ 0.03512974 0.99930476 0.01248579 -0.21635599] [ 0.01321865 -0.01295703 0.99982868 -0.02424504] [ 0. 0. 0. 1. ]] SLAMing on 23.779928850999998 meters Centerline goodness [0,1] 0.7225466885200489 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.22, Z:-0.02 [[ 0.99930803 -0.03454629 -0.01378459 0.50444293] [ 0.0347226 0.99931549 0.01276265 -0.2166194 ] [ 0.01333425 -0.01323246 0.99982353 -0.02447886] [ 0. 0. 0. 1. ]] SLAMing on 23.809928850999995 meters Centerline goodness [0,1] 0.7187622676365315 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.22, Z:-0.02 [[ 0.99931728 -0.03427591 -0.01378882 0.50456825] [ 0.03445404 0.99932309 0.01289513 -0.21677675] [ 0.0133375 -0.01336141 0.99982178 -0.02447529] [ 0. 0. 0. 1. ]] SLAMing on 23.839928850999996 meters Centerline goodness [0,1] 0.719592570401438 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.22, Z:-0.02 [[ 0.99932951 -0.03380885 -0.0140533 0.50530094] [ 0.03399209 0.9993374 0.01301153 -0.21663849] [ 0.01360408 -0.01348051 0.99981659 -0.0244974 ] [ 0. 0. 0. 1. ]] SLAMing on 23.869928850999997 meters Centerline goodness [0,1] 0.7335022457675918 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.22, Z:-0.02 [[ 0.99934196 -0.03339774 -0.01415076 0.50575167] [ 0.03358187 0.99935167 0.01298071 -0.21600882] [ 0.01370806 -0.01344738 0.99981561 -0.02457493] [ 0. 0. 0. 1. ]] SLAMing on 23.899928850999995 meters Centerline goodness [0,1] 0.735801041064199 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.22, Z:-0.02 [[ 0.99946307 -0.0295277 -0.01420183 0.50528553] [ 0.0297644 0.99941651 0.0167547 -0.21613291] [ 0.01369882 -0.01716841 0.99975876 -0.02418434] [ 0. 0. 0. 1. ]] SLAMing on 23.929928850999996 meters Centerline goodness [0,1] 0.7540976005563927 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.21, Z:-0.02 [[ 0.9994717 -0.02913728 -0.0143994 0.50586892] [ 0.02937548 0.9994303 0.01661808 -0.21486614] [ 0.01390699 -0.01703229 0.99975822 -0.02414684] [ 0. 0. 0. 1. ]] SLAMing on 23.959928850999997 meters Centerline goodness [0,1] 0.7502087585822973 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.21, Z:-0.02 [[ 0.99948373 -0.02857895 -0.01468056 0.50685412] [ 0.02882403 0.99944393 0.01676316 -0.2145044 ] [ 0.01419333 -0.01717766 0.99975171 -0.02439721] [ 0. 0. 0. 1. ]] SLAMing on 23.989928850999995 meters Centerline goodness [0,1] 0.7513032598873983 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.21, Z:-0.02 [[ 0.99949106 -0.02822696 -0.01486151 0.50753379] [ 0.0284759 0.99945304 0.01681471 -0.21435096] [ 0.01437876 -0.01722935 0.99974817 -0.02456953] [ 0. 0. 0. 1. ]] SLAMing on 24.019928850999996 meters Centerline goodness [0,1] 0.7606306847038182 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.22, Z:-0.02 [[ 0.99949533 -0.02800697 -0.01499 0.50806044] [ 0.02826009 0.9994569 0.01694885 -0.21536505] [ 0.01450718 -0.01736392 0.99974399 -0.02477823] [ 0. 0. 0. 1. ]] SLAMing on 24.049928850999997 meters Centerline goodness [0,1] 0.7484490740740741 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.22, Z:-0.02 [[ 0.99949659 -0.0279718 -0.0149714 0.5080304 ] [ 0.02822539 0.99945696 0.01700354 -0.2157522 ] [ 0.01448765 -0.01741755 0.99974334 -0.02471376] [ 0. 0. 0. 1. ]] SLAMing on 24.079928850999995 meters Centerline goodness [0,1] 0.7516666666666667 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.21, Z:-0.02 [[ 0.99950037 -0.02777615 -0.01508315 0.50811839] [ 0.02802637 0.99946868 0.01663945 -0.21457666] [ 0.01461296 -0.01705386 0.99974778 -0.02420475] [ 0. 0. 0. 1. ]] SLAMing on 24.109928850999996 meters Centerline goodness [0,1] 0.7763755094479436 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.21, Z:-0.02 [[ 0.9995074 -0.02745179 -0.01521019 0.50861742] [ 0.02770148 0.99948078 0.01645578 -0.21349714] [ 0.01475056 -0.01686902 0.9997489 -0.02422259] [ 0. 0. 0. 1. ]] SLAMing on 24.139928850999997 meters Centerline goodness [0,1] 0.770991656789607 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.21, Z:-0.02 [[ 0.99951762 -0.0269577 -0.01542114 0.50939918] [ 0.02720927 0.99949616 0.0163429 -0.2122551 ] [ 0.01497281 -0.01675461 0.99974752 -0.02435074] [ 0. 0. 0. 1. ]] SLAMing on 24.169928850999995 meters Centerline goodness [0,1] 0.7842022190241864 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.21, Z:-0.02 [[ 0.99953018 -0.02637906 -0.01560673 0.51031667] [ 0.0266343 0.99951105 0.01637905 -0.21137681] [ 0.01516703 -0.01678703 0.99974405 -0.02474353] [ 0. 0. 0. 1. ]] SLAMing on 24.199928850999996 meters Centerline goodness [0,1] 0.7858737096624198 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.21, Z:-0.03 [[ 0.99953956 -0.02587525 -0.0158476 0.51128906] [ 0.02613478 0.99952397 0.01639502 -0.21055914] [ 0.01541584 -0.01680165 0.99973999 -0.02508863] [ 0. 0. 0. 1. ]] SLAMing on 24.229928850999997 meters Centerline goodness [0,1] 0.757954228300307 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.21, Z:-0.03 [[ 0.99956249 -0.02491261 -0.01594308 0.51230786] [ 0.02517514 0.99954715 0.01648377 -0.20902452] [ 0.01552521 -0.01687792 0.99973702 -0.02560495] [ 0. 0. 0. 1. ]] SLAMing on 24.259928850999994 meters Centerline goodness [0,1] 0.7910913451463432 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.21, Z:-0.03 [[ 0.99956317 -0.02486145 -0.01598049 0.51240899] [ 0.02512052 0.99955282 0.01622066 -0.20807341] [ 0.01557007 -0.01661501 0.99974072 -0.02546063] [ 0. 0. 0. 1. ]] SLAMing on 24.289928850999996 meters Centerline goodness [0,1] 0.7849702901083537 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.21, Z:-0.03 [[ 0.99956143 -0.02490481 -0.01602188 0.51231521] [ 0.02515881 0.99955777 0.01585254 -0.20722098] [ 0.01561999 -0.01624868 0.99974597 -0.02503372] [ 0. 0. 0. 1. ]] SLAMing on 24.319928850999997 meters Centerline goodness [0,1] 0.7879098838565232 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.21, Z:-0.02 [[ 0.99956158 -0.02487944 -0.01605179 0.51241827] [ 0.02513078 0.99956164 0.0156515 -0.20649783] [ 0.01565535 -0.01604803 0.99974865 -0.02497755] [ 0. 0. 0. 1. ]] SLAMing on 24.349928850999994 meters Centerline goodness [0,1] 0.7887379726486965 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.21, Z:-0.02 [[ 0.99956138 -0.02493831 -0.01597287 0.51234934] [ 0.02518191 0.99956678 0.01523588 -0.20539149] [ 0.015586 -0.01563143 0.99975634 -0.02490958] [ 0. 0. 0. 1. ]] SLAMing on 24.379928850999995 meters Centerline goodness [0,1] 0.7847693707566319 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.03 [[ 0.99955829 -0.02500358 -0.01606368 0.51275266] [ 0.02524614 0.99956754 0.01507891 -0.20495918] [ 0.0156797 -0.0154778 0.99975726 -0.0251839 ] [ 0. 0. 0. 1. ]] SLAMing on 24.409928850999997 meters Centerline goodness [0,1] 0.7886249066467513 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.03 [[ 0.99955541 -0.02510612 -0.01608327 0.51317058] [ 0.02534622 0.99956764 0.01490311 -0.20437572] [ 0.01570216 -0.01530414 0.99975958 -0.02564319] [ 0. 0. 0. 1. ]] SLAMing on 24.439928850999994 meters Centerline goodness [0,1] 0.7884633348902382 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.03 [[ 0.9995507 -0.02521728 -0.01620167 0.51369324] [ 0.02545574 0.99956809 0.01468478 -0.20373435] [ 0.01582437 -0.0150906 0.9997609 -0.02598011] [ 0. 0. 0. 1. ]] SLAMing on 24.469928850999995 meters Centerline goodness [0,1] 0.7904430645688407 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.03 [[ 0.99954671 -0.02534563 -0.01624741 0.5140701 ] [ 0.02558116 0.99956821 0.01445646 -0.20317071] [ 0.01587399 -0.01486554 0.99976349 -0.02627292] [ 0. 0. 0. 1. ]] SLAMing on 24.499928850999996 meters Centerline goodness [0,1] 0.7892654838256636 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.03 [[ 0.99953651 -0.02592649 -0.0159559 0.51320676] [ 0.02614845 0.99956194 0.0138631 -0.20222506] [ 0.01558948 -0.01427389 0.99977659 -0.0259579 ] [ 0. 0. 0. 1. ]] SLAMing on 24.529928850999998 meters Centerline goodness [0,1] 0.7855954640238045 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.03 [[ 0.99952891 -0.02631719 -0.01579107 0.51249432] [ 0.02652972 0.99955815 0.01340408 -0.20167155] [ 0.01543133 -0.0138167 0.99978546 -0.02542812] [ 0. 0. 0. 1. ]] SLAMing on 24.559928850999995 meters Centerline goodness [0,1] 0.7859438410471744 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.03 [[ 0.99952179 -0.02663882 -0.01570216 0.51213507] [ 0.02684369 0.99955531 0.0129842 -0.201023 ] [ 0.0153493 -0.01339949 0.9997924 -0.02512304] [ 0. 0. 0. 1. ]] SLAMing on 24.589928850999996 meters Centerline goodness [0,1] 0.7818893393639709 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.02 [[ 0.99951269 -0.02708852 -0.01551085 0.51169156] [ 0.02728054 0.99955208 0.01230477 -0.19936867] [ 0.01517059 -0.01272192 0.99980398 -0.02495206] [ 0. 0. 0. 1. ]] SLAMing on 24.619928850999997 meters Centerline goodness [0,1] 0.7844029168327511 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.03 [[ 0.99950752 -0.02729516 -0.01548202 0.51175242] [ 0.02748058 0.99955159 0.01189307 -0.19815412] [ 0.01515046 -0.01231266 0.99980941 -0.02500044] [ 0. 0. 0. 1. ]] SLAMing on 24.649928850999995 meters Centerline goodness [0,1] 0.7818079175781526 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.03 [[ 0.99950573 -0.02737798 -0.0154512 0.51203914] [ 0.02756006 0.99955171 0.01169673 -0.19717806] [ 0.01512404 -0.01211679 0.99981221 -0.02541803] [ 0. 0. 0. 1. ]] SLAMing on 24.679928850999996 meters Centerline goodness [0,1] 0.7787494123178185 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.03 [[ 0.99950437 -0.02737459 -0.01554529 0.51266709] [ 0.0275561 0.99955313 0.01158497 -0.19641037] [ 0.01522121 -0.01200759 0.99981205 -0.0259396 ] [ 0. 0. 0. 1. ]] SLAMing on 24.709928850999997 meters Centerline goodness [0,1] 0.777152584046527 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.19, Z:-0.03 [[ 0.99950178 -0.02749248 -0.01550318 0.51304602] [ 0.02766791 0.99955424 0.01121682 -0.19483592] [ 0.01518789 -0.01164017 0.9998169 -0.02645666] [ 0. 0. 0. 1. ]] SLAMing on 24.739928850999995 meters Centerline goodness [0,1] 0.7795993574600775 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.19, Z:-0.03 [[ 0.99949844 -0.02759654 -0.01553371 0.51330796] [ 0.02776826 0.99955441 0.01094972 -0.19379005] [ 0.01522462 -0.01137558 0.99981939 -0.02668945] [ 0. 0. 0. 1. ]] SLAMing on 24.769928850999996 meters Centerline goodness [0,1] 0.771273571496257 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.19, Z:-0.03 [[ 0.99949367 -0.02780375 -0.0154709 0.51318165] [ 0.02797036 0.99955192 0.01065899 -0.19273387] [ 0.01516761 -0.01108632 0.9998235 -0.02670166] [ 0. 0. 0. 1. ]] SLAMing on 24.799928850999997 meters Centerline goodness [0,1] 0.7779761904761905 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.19, Z:-0.03 [[ 0.99948625 -0.02814406 -0.01533454 0.5127935 ] [ 0.02830299 0.99954686 0.01024783 -0.19164723] [ 0.01503918 -0.01067658 0.9998299 -0.02657876] [ 0. 0. 0. 1. ]] SLAMing on 24.829928850999995 meters Centerline goodness [0,1] 0.759581382012807 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.19, Z:-0.03 [[ 0.99947366 -0.02882704 -0.01487936 0.5117588 ] [ 0.028969 0.99953597 0.00941504 -0.18926928] [ 0.01460105 -0.00984113 0.99984497 -0.02643264] [ 0. 0. 0. 1. ]] SLAMing on 24.859928850999996 meters Centerline goodness [0,1] 0.7633189861310378 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.19, Z:-0.03 [[ 0.99946667 -0.02914154 -0.01473565 0.51127057] [ 0.02927318 0.99953273 0.00879827 -0.1875875 ] [ 0.01447237 -0.00922493 0.99985271 -0.02611178] [ 0. 0. 0. 1. ]] SLAMing on 24.889928850999997 meters Centerline goodness [0,1] 0.755852441715437 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.19, Z:-0.03 [[ 0.99946758 -0.02915266 -0.0146519 0.51143159] [ 0.02927991 0.99953471 0.00854685 -0.18626864] [ 0.01439592 -0.00897131 0.99985613 -0.02644041] [ 0. 0. 0. 1. ]] SLAMing on 24.919928850999995 meters Centerline goodness [0,1] 0.760491447843893 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.03 [[ 0.99946386 -0.02933512 -0.01454089 0.51179298] [ 0.02945585 0.99953278 0.00815977 -0.18374948] [ 0.01429473 -0.00858371 0.99986098 -0.02730739] [ 0. 0. 0. 1. ]] SLAMing on 24.949928850999996 meters Centerline goodness [0,1] 0.7593406062946515 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.03 [[ 0.99945888 -0.02953114 -0.01448671 0.51196058] [ 0.02964701 0.99952961 0.00784945 -0.18233952] [ 0.01424809 -0.00827469 0.99986425 -0.02771181] [ 0. 0. 0. 1. ]] SLAMing on 24.979928850999997 meters Centerline goodness [0,1] 0.7572046283547117 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.03 [[ 0.99945382 -0.02968914 -0.01451251 0.51209349] [ 0.02980117 0.99952722 0.00756492 -0.1811198 ] [ 0.01428105 -0.00799328 0.99986607 -0.02783537] [ 0. 0. 0. 1. ]] SLAMing on 25.009928850999994 meters Centerline goodness [0,1] 0.7438607548907905 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.03 [[ 0.99944833 -0.02993267 -0.01438975 0.51180302] [ 0.030038 0.99952311 0.00716026 -0.1796597 ] [ 0.01416856 -0.00758855 0.99987082 -0.02777495] [ 0. 0. 0. 1. ]] SLAMing on 25.039928850999996 meters Centerline goodness [0,1] 0.762863262425157 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.03 [[ 0.9994352 -0.03043072 -0.01425687 0.5111825 ] [ 0.03052625 0.99951262 0.00653186 -0.17819844] [ 0.01405115 -0.00696338 0.99987703 -0.02734168] [ 0. 0. 0. 1. ]] SLAMing on 25.069928850999997 meters Centerline goodness [0,1] 0.7364072819438013 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.03 [[ 0.99941224 -0.03128413 -0.01401681 0.51048112] [ 0.03137007 0.99949011 0.00595366 -0.17690737] [ 0.01382341 -0.00638987 0.99988403 -0.02741375] [ 0. 0. 0. 1. ]] SLAMing on 25.099928850999994 meters Centerline goodness [0,1] 0.7273705842058911 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.03 [[ 0.99939907 -0.03174867 -0.01391094 0.51019444] [ 0.03182853 0.9994779 0.00555717 -0.1761933 ] [ 0.01372724 -0.00599659 0.9998878 -0.02741138] [ 0. 0. 0. 1. ]] SLAMing on 25.129928850999995 meters Centerline goodness [0,1] 0.7394022605241866 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.03 [[ 0.99939578 -0.03187326 -0.01386244 0.51040262] [ 0.03195083 0.9994748 0.00541044 -0.17531445] [ 0.01368271 -0.00585009 0.99988927 -0.02782728] [ 0. 0. 0. 1. ]] SLAMing on 25.159928850999997 meters Centerline goodness [0,1] 0.7431253369932846 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.03 [[ 0.99939757 -0.03178757 -0.01393027 0.51119067] [ 0.03186644 0.99947713 0.00547681 -0.17447802] [ 0.01374889 -0.00591742 0.99988797 -0.02872522] [ 0. 0. 0. 1. ]] SLAMing on 25.189928850999994 meters Centerline goodness [0,1] 0.7435151395601144 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.03 [[ 0.99940608 -0.03145125 -0.01408237 0.51225829] [ 0.03152769 0.99948915 0.00523926 -0.17223715] [ 0.01391039 -0.00568013 0.99988711 -0.02943414] [ 0. 0. 0. 1. ]] SLAMing on 25.219928850999995 meters Centerline goodness [0,1] 0.74076179647527 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.03 [[ 0.99941289 -0.0312167 -0.01412037 0.51290144] [ 0.0312925 0.99949685 0.0051793 -0.17067574] [ 0.01395158 -0.00561812 0.99988689 -0.03004576] [ 0. 0. 0. 1. ]] SLAMing on 25.249928850999996 meters Centerline goodness [0,1] 0.7401498610559746 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.03 [[ 0.99941845 -0.0309647 -0.01428109 0.51346961] [ 0.03104049 0.99950503 0.00511635 -0.16942104] [ 0.0141156 -0.00555667 0.99988493 -0.03021188] [ 0. 0. 0. 1. ]] SLAMing on 25.279928850999994 meters Centerline goodness [0,1] 0.7431680413395607 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.03 [[ 0.99941839 -0.03091543 -0.01439172 0.51371483] [ 0.03098839 0.99950786 0.00487479 -0.16798702] [ 0.01423393 -0.00531793 0.99988455 -0.03009179] [ 0. 0. 0. 1. ]] SLAMing on 25.309928850999995 meters Centerline goodness [0,1] 0.7508100294102986 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.03 [[ 0.99941718 -0.03100447 -0.01428332 0.51321635] [ 0.03106643 0.99950876 0.00413639 -0.16528506] [ 0.01414806 -0.00457771 0.99988943 -0.02941156] [ 0. 0. 0. 1. ]] SLAMing on 25.339928850999996 meters Centerline goodness [0,1] 0.7535783751433844 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.16, Z:-0.03 [[ 0.99941921 -0.03097079 -0.01421433 0.51323804] [ 0.03103102 0.99951027 0.00403591 -0.16442181] [ 0.01408238 -0.00447465 0.99989083 -0.0295574 ] [ 0. 0. 0. 1. ]] SLAMing on 25.369928850999997 meters Centerline goodness [0,1] 0.7552615154163026 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.16, Z:-0.03 [[ 0.99942414 -0.03080722 -0.01422344 0.51349688] [ 0.03086841 0.99951504 0.0041026 -0.16380366] [ 0.01409015 -0.00453929 0.99989043 -0.02986609] [ 0. 0. 0. 1. ]] SLAMing on 25.399928850999995 meters Centerline goodness [0,1] 0.7510370333349993 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.16, Z:-0.03 [[ 0.99942612 -0.03065973 -0.01440157 0.51411701] [ 0.03071983 0.99952015 0.00397063 -0.16275286] [ 0.01427292 -0.00441077 0.99988841 -0.0300865 ] [ 0. 0. 0. 1. ]] SLAMing on 25.429928850999996 meters Centerline goodness [0,1] 0.760478591316126 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.16, Z:-0.03 [[ 0.99952149 -0.02760251 -0.01396029 0.51496143] [ 0.02769896 0.99959343 0.00676345 -0.16165602] [ 0.01376793 -0.0071469 0.99987968 -0.03202234] [ 0. 0. 0. 1. ]] SLAMing on 25.459928850999997 meters Centerline goodness [0,1] 0.7574423110797956 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.03 [[ 0.99954054 -0.02672322 -0.01430318 0.51664598] [ 0.02682545 0.9996156 0.00700377 -0.16040777] [ 0.01411052 -0.00738424 0.99987318 -0.03284034] [ 0. 0. 0. 1. ]] SLAMing on 25.489928850999995 meters Centerline goodness [0,1] 0.7640271890441195 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.03 [[ 0.99955486 -0.02592306 -0.01476744 0.51849973] [ 0.02603108 0.99963542 0.00717044 -0.15914784] [ 0.01457618 -0.00755166 0.99986524 -0.03355105] [ 0. 0. 0. 1. ]] SLAMing on 25.519928850999996 meters Centerline goodness [0,1] 0.7640271890441195 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.03 [[ 0.99955486 -0.02592306 -0.01476744 0.51849973] [ 0.02603108 0.99963542 0.00717044 -0.15914784] [ 0.01457618 -0.00755166 0.99986524 -0.03355105] [ 0. 0. 0. 1. ]] SLAMing on 25.549928850999997 meters Centerline goodness [0,1] 0.7711913594266535 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.03 [[ 0.99964502 -0.02225714 -0.01464408 0.51773325] [ 0.02241646 0.99969031 0.01080637 -0.15868322] [ 0.01439902 -0.0111308 0.99983437 -0.03328623] [ 0. 0. 0. 1. ]] SLAMing on 25.579928850999995 meters Centerline goodness [0,1] 0.778967350037965 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.03 [[ 0.99965184 -0.02178188 -0.01489092 0.51851853] [ 0.02194309 0.99970142 0.0107502 -0.15776649] [ 0.01465231 -0.01107321 0.99983133 -0.03329221] [ 0. 0. 0. 1. ]] SLAMing on 25.609928850999996 meters Centerline goodness [0,1] 0.7863521055301878 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.03 [[ 0.99965636 -0.02145951 -0.01505481 0.5188614 ] [ 0.02161888 0.9997111 0.01050471 -0.15658685] [ 0.01482504 -0.01082657 0.99983149 -0.03292331] [ 0. 0. 0. 1. ]] SLAMing on 25.639928850999997 meters Centerline goodness [0,1] 0.7906427101069913 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.03 [[ 0.99966405 -0.02095205 -0.01525802 0.51958532] [ 0.02111035 0.99972421 0.01028876 -0.15520677] [ 0.01503824 -0.0106074 0.99983065 -0.03278624] [ 0. 0. 0. 1. ]] SLAMing on 25.669928850999995 meters Centerline goodness [0,1] 0.8001020668537893 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.03 [[ 0.99974197 -0.01684788 -0.01523618 0.51958023] [ 0.01706068 0.99975719 0.013946 -0.15387432] [ 0.01499752 -0.01420234 0.99978666 -0.03289847] [ 0. 0. 0. 1. ]] SLAMing on 25.699928850999996 meters Centerline goodness [0,1] 0.8041643218908272 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.03 [[ 0.99975158 -0.0158528 -0.01566761 0.52139785] [ 0.01607427 0.99977121 0.014112 -0.15274272] [ 0.01544031 -0.01436033 0.99977766 -0.03346767] [ 0. 0. 0. 1. ]] SLAMing on 25.729928850999997 meters Centerline goodness [0,1] 0.8095470168778536 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.03 [[ 0.99975683 -0.0150192 -0.01614663 0.52323546] [ 0.01524899 0.99978284 0.01420379 -0.15164015] [ 0.01592979 -0.01444655 0.99976874 -0.03405112] [ 0. 0. 0. 1. ]] SLAMing on 25.759928850999994 meters Centerline goodness [0,1] 0.810536044362292 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.03 [[ 0.99976626 -0.01394864 -0.01651876 0.52512655] [ 0.01418897 0.99979387 0.01452178 -0.15083806] [ 0.01631279 -0.01475277 0.99975809 -0.03490101] [ 0. 0. 0. 1. ]] SLAMing on 25.789928850999996 meters Centerline goodness [0,1] 0.815202267456841 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.04 [[ 0.99981587 -0.00933347 -0.01676626 0.52631026] [ 0.00964842 0.99977665 0.01880315 -0.15090174] [ 0.01658701 -0.01896146 0.99968262 -0.03577224] [ 0. 0. 0. 1. ]] SLAMing on 25.819928850999997 meters Centerline goodness [0,1] 0.8138815093755642 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.04 [[ 0.99981598 -0.00866945 -0.01711266 0.52738837] [ 0.00898898 0.99978502 0.01868436 -0.14979031] [ 0.016947 -0.01883474 0.99967897 -0.03564535] [ 0. 0. 0. 1. ]] SLAMing on 25.849928850999994 meters Centerline goodness [0,1] 0.8145896656534954 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.04 [[ 0.99981462 -0.00826781 -0.0173887 0.52797336] [ 0.00858771 0.99979377 0.0184031 -0.1486336 ] [ 0.01723296 -0.01854902 0.99967943 -0.03518419] [ 0. 0. 0. 1. ]] SLAMing on 25.879928850999995 meters Centerline goodness [0,1] 0.8131457576460281 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.03 [[ 0.99981287 -0.00779633 -0.01770453 0.52874167] [ 0.00811836 0.99980158 0.01819071 -0.14782112] [ 0.01755919 -0.01833103 0.99967777 -0.03477049] [ 0. 0. 0. 1. ]] SLAMing on 25.909928850999997 meters Centerline goodness [0,1] 0.8150180801682353 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.03 [[ 0.99981501 -0.00646759 -0.0181137 0.53041145] [ 0.0067977 0.99981085 0.01822244 -0.14704583] [ 0.01799242 -0.0183422 0.99966986 -0.03467953] [ 0. 0. 0. 1. ]] SLAMing on 25.939928850999994 meters Centerline goodness [0,1] 0.8137922177988957 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.03 [[ 0.99981333 -0.00587605 -0.01840583 0.53132542] [ 0.00620984 0.99981634 0.01813075 -0.14645557] [ 0.01829591 -0.01824166 0.99966619 -0.03454939] [ 0. 0. 0. 1. ]] SLAMing on 25.969928850999995 meters Centerline goodness [0,1] 0.8145163360110874 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.03 [[ 0.99980951 -0.0051652 -0.01882217 0.53265611] [ 0.00550802 0.99981906 0.0182076 -0.14602355] [ 0.01872472 -0.0183078 0.99965705 -0.03465748] [ 0. 0. 0. 1. ]] SLAMing on 25.999928850999996 meters Centerline goodness [0,1] 0.8142721754053431 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.03 [[ 0.99980559 -0.00461878 -0.01916898 0.53369907] [ 0.00496586 0.99982387 0.0180986 -0.14536615] [ 0.01908201 -0.01819027 0.99965243 -0.03457468] [ 0. 0. 0. 1. ]] SLAMing on 26.029928850999994 meters Centerline goodness [0,1] 0.8131927339901478 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.04 [[ 0.99980083 -0.00358582 -0.01963259 0.53559713] [ 0.00394837 0.99982182 0.01845918 -0.1447242 ] [ 0.0195629 -0.01853302 0.99963684 -0.0351912 ] [ 0. 0. 0. 1. ]] SLAMing on 26.059928850999995 meters Centerline goodness [0,1] 0.8130649137222679 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.04 [[ 0.99979524 -0.00323641 -0.01997511 0.53655027] [ 0.00360617 0.9998223 0.01850307 -0.14471965] [ 0.01991168 -0.01857131 0.99962925 -0.03520921] [ 0. 0. 0. 1. ]] SLAMing on 26.089928850999996 meters Centerline goodness [0,1] 0.8117405266538215 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.03 [[ 0.99979197 -0.00323448 -0.02013853 0.53669071] [ 0.00360355 0.99982572 0.01831763 -0.14498014] [ 0.02007577 -0.01838639 0.99962938 -0.03474176] [ 0. 0. 0. 1. ]] SLAMing on 26.119928850999994 meters Centerline goodness [0,1] 0.810891114469404 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.03 [[ 0.99977094 -0.00636748 -0.02043325 0.53772677] [ 0.00665504 0.99987934 0.01403617 -0.1434623 ] [ 0.02034141 -0.01416894 0.99969269 -0.03405713] [ 0. 0. 0. 1. ]] SLAMing on 26.149928850999995 meters Centerline goodness [0,1] 0.8117392411510058 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.03 [[ 0.99973719 -0.01026611 -0.02049755 0.53759365] [ 0.01046413 0.99989939 0.00957669 -0.14303939] [ 0.02039717 -0.00978867 0.99974404 -0.03283197] [ 0. 0. 0. 1. ]] SLAMing on 26.179928850999996 meters Centerline goodness [0,1] 0.8116273746852827 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.03 [[ 0.99973448 -0.01067836 -0.02041902 0.53715142] [ 0.01087336 0.99989611 0.00946259 -0.14397307] [ 0.02031585 -0.0096821 0.99974673 -0.03261968] [ 0. 0. 0. 1. ]] SLAMing on 26.209928850999997 meters Centerline goodness [0,1] 0.8128956802522184 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.03 [[ 0.99973234 -0.01107697 -0.0203115 0.53683258] [ 0.01127057 0.99989191 0.00944153 -0.14484788] [ 0.02020472 -0.00966793 0.99974912 -0.0326812 ] [ 0. 0. 0. 1. ]] SLAMing on 26.239928850999995 meters Centerline goodness [0,1] 0.8075421967661818 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.03 [[ 0.99972772 -0.01146486 -0.02032355 0.53668623] [ 0.01165831 0.99988762 0.00942551 -0.14579354] [ 0.0202132 -0.00965988 0.99974903 -0.03263554] [ 0. 0. 0. 1. ]] SLAMing on 26.269928850999996 meters Centerline goodness [0,1] 0.8075466903824164 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.03 [[ 0.99971563 -0.01264798 -0.0202161 0.53562309] [ 0.01283527 0.99987565 0.00916162 -0.14743283] [ 0.02009771 -0.0094185 0.99975366 -0.03219977] [ 0. 0. 0. 1. ]] SLAMing on 26.299928850999997 meters Centerline goodness [0,1] 0.8074494789421638 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.03 [[ 0.99970801 -0.01323242 -0.02021879 0.53522456] [ 0.01341655 0.9998695 0.00899865 -0.14852441] [ 0.02009708 -0.00926729 0.99975508 -0.03187516] [ 0. 0. 0. 1. ]] SLAMing on 26.329928850999995 meters Centerline goodness [0,1] 0.8044750779210906 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.03 [[ 0.99970337 -0.01375297 -0.02010038 0.53472818] [ 0.01393594 0.99986247 0.00899086 -0.14979672] [ 0.01997396 -0.00926831 0.99975754 -0.03182397] [ 0. 0. 0. 1. ]] SLAMing on 26.359928850999996 meters Centerline goodness [0,1] 0.8040506329113923 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.03 [[ 0.99969756 -0.01439793 -0.01993701 0.5339217 ] [ 0.01457732 0.99985429 0.00888224 -0.15100433] [ 0.01980622 -0.00917019 0.99976178 -0.03154141] [ 0. 0. 0. 1. ]] SLAMing on 26.389928850999997 meters Centerline goodness [0,1] 0.8041871297655815 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.03 [[ 0.99962502 -0.01880699 -0.01990248 0.53335468] [ 0.01890112 0.999811 0.00455208 -0.15059042] [ 0.01981311 -0.00492655 0.99979156 -0.03054077] [ 0. 0. 0. 1. ]] SLAMing on 26.419928850999995 meters Centerline goodness [0,1] 0.8013765978367748 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.03 [[ 0.99961408 -0.01956233 -0.01972307 0.53246329] [ 0.0196541 0.99979685 0.00446977 -0.15153122] [ 0.01963162 -0.00485568 0.99979549 -0.03031256] [ 0. 0. 0. 1. ]] SLAMing on 26.449928850999996 meters Centerline goodness [0,1] 0.7994245475884001 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.03 [[ 0.99960356 -0.02034388 -0.01946423 0.53154242] [ 0.02043247 0.99978171 0.00436331 -0.15242168] [ 0.01937122 -0.00475929 0.99980103 -0.03023917] [ 0. 0. 0. 1. ]] SLAMing on 26.479928850999997 meters Centerline goodness [0,1] 0.7982769014367528 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.03 [[ 0.99959638 -0.0207917 -0.01935925 0.53125454] [ 0.02088418 0.99977138 0.0045868 -0.15390649] [ 0.01925946 -0.00498925 0.99980207 -0.03051681] [ 0. 0. 0. 1. ]] SLAMing on 26.509928850999994 meters Centerline goodness [0,1] 0.7890628921347187 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.03 [[ 0.99956674 -0.02231971 -0.01918745 0.53007443] [ 0.02240234 0.99974062 0.00410242 -0.1553383 ] [ 0.01909091 -0.00453049 0.99980749 -0.03030621] [ 0. 0. 0. 1. ]] SLAMing on 26.539928850999996 meters Centerline goodness [0,1] 0.785862890086477 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.03 [[ 0.99956053 -0.02272792 -0.0190314 0.52981168] [ 0.02281062 0.99973123 0.00413962 -0.15583128] [ 0.0189322 -0.00457192 0.99981032 -0.0306501 ] [ 0. 0. 0. 1. ]] SLAMing on 26.569928850999997 meters Centerline goodness [0,1] 0.7740224651639857 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.03 [[ 0.99955171 -0.02321783 -0.01890256 0.5295099 ] [ 0.02330138 0.99971961 0.00421219 -0.15634895] [ 0.01879946 -0.00465076 0.99981246 -0.03098984] [ 0. 0. 0. 1. ]] SLAMing on 26.599928850999994 meters Centerline goodness [0,1] 0.7699552801858746 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.03 [[ 0.9995434 -0.02367889 -0.0187696 0.52912509] [ 0.02376274 0.99970856 0.00425665 -0.15696678] [ 0.01866334 -0.00470072 0.99981477 -0.03112114] [ 0. 0. 0. 1. ]] SLAMing on 26.629928850999995 meters Centerline goodness [0,1] 0.7487887717896209 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.03 [[ 0.99951265 -0.02533225 -0.01824088 0.52684639] [ 0.02540017 0.99967123 0.00350148 -0.15675098] [ 0.01814619 -0.00396309 0.99982749 -0.03025205] [ 0. 0. 0. 1. ]] SLAMing on 26.659928850999997 meters Centerline goodness [0,1] 0.74945 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.03 [[ 0.99950092 -0.02599073 -0.01795504 0.52586598] [ 0.02605475 0.99965493 0.00334109 -0.15698888] [ 0.01786201 -0.00380724 0.99983321 -0.03005264] [ 0. 0. 0. 1. ]] SLAMing on 26.689928850999994 meters Centerline goodness [0,1] 0.7312378289309432 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.03 [[ 0.99947793 -0.02715122 -0.01751229 0.5245074 ] [ 0.02720895 0.99962506 0.003067 -0.15737109] [ 0.01742246 -0.00354189 0.99984194 -0.03013526] [ 0. 0. 0. 1. ]] SLAMing on 26.719928850999995 meters Centerline goodness [0,1] 0.7324217775338091 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.03 [[ 0.99946925 -0.02748761 -0.01748285 0.52439328] [ 0.02754296 0.99961632 0.00293288 -0.15702638] [ 0.01739552 -0.00341285 0.99984286 -0.03026523] [ 0. 0. 0. 1. ]] SLAMing on 26.749928850999996 meters Centerline goodness [0,1] 0.7434858714678669 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.03 [[ 0.99946761 -0.02757377 -0.01744098 0.5245881 ] [ 0.02762821 0.9996141 0.00288827 -0.15631555] [ 0.01735461 -0.0033686 0.99984372 -0.0307148 ] [ 0. 0. 0. 1. ]] SLAMing on 26.779928850999994 meters Centerline goodness [0,1] 0.7241016388513006 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.03 [[ 0.99946278 -0.02768065 -0.01754808 0.52505072] [ 0.02773295 0.9996116 0.00274409 -0.15497583] [ 0.0174653 -0.00322928 0.99984226 -0.03111084] [ 0. 0. 0. 1. ]] SLAMing on 26.809928850999995 meters Centerline goodness [0,1] 0.7418269472204088 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.03 [[ 0.99945924 -0.02785183 -0.0174786 0.52518258] [ 0.02790127 0.99960733 0.00259109 -0.15374187] [ 0.01739957 -0.00307737 0.99984388 -0.03153963] [ 0. 0. 0. 1. ]] SLAMing on 26.839928850999996 meters Centerline goodness [0,1] 0.7364774980547677 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.03 [[ 0.99945414 -0.02797138 -0.01757914 0.5254588 ] [ 0.02801951 0.99960426 0.00249706 -0.15291715] [ 0.01750234 -0.00298826 0.99984236 -0.03170774] [ 0. 0. 0. 1. ]] SLAMing on 26.869928850999994 meters Centerline goodness [0,1] 0.7069008909246489 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.03 [[ 0.99943203 -0.02899007 -0.01718107 0.52401633] [ 0.02902417 0.9995772 0.00173898 -0.15143175] [ 0.01712339 -0.00223666 0.99985088 -0.03125775] [ 0. 0. 0. 1. ]] SLAMing on 26.899928850999995 meters Centerline goodness [0,1] 0.7398181497619827 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.03 [[ 0.99942662 -0.02936555 -0.01685527 0.52330251] [ 0.02939685 0.99956652 0.00161194 -0.15109975] [ 0.01680063 -0.00210651 0.99985664 -0.03140237] [ 0. 0. 0. 1. ]] SLAMing on 26.929928850999996 meters Centerline goodness [0,1] 0.7382413087934561 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.03 [[ 0.99941842 -0.02970044 -0.01675402 0.52293151] [ 0.02972766 0.99955708 0.00137849 -0.15058502] [ 0.01670566 -0.00187575 0.99985869 -0.03128226] [ 0. 0. 0. 1. ]] SLAMing on 26.959928850999994 meters Centerline goodness [0,1] 0.7214294734183608 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.03 [[ 9.99401736e-01 -3.03394260e-02 -1.66038731e-02 5.22472960e-01] [ 3.03552301e-02 9.99538928e-01 7.00577172e-04 -1.48050753e-01] [ 1.65749624e-02 -1.20417243e-03 9.99861901e-01 -3.12311795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.989928850999995 meters Centerline goodness [0,1] 0.7291445069138429 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.03 [[ 9.99398119e-01 -3.04297169e-02 -1.66562902e-02 5.22706908e-01] [ 3.04414840e-02 9.99536448e-01 4.53324996e-04 -1.46450679e-01] [ 1.66347746e-02 -9.60094340e-04 9.99861172e-01 -3.13713401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.019928850999996 meters Centerline goodness [0,1] 0.728486722075816 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.03 [[ 9.99398708e-01 -3.03167016e-02 -1.68261634e-02 5.23460911e-01] [ 3.03278692e-02 9.99539921e-01 4.08877132e-04 -1.45290315e-01] [ 1.68060262e-02 -9.18932961e-04 9.99858346e-01 -3.18523057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.049928850999997 meters Centerline goodness [0,1] 0.7294778014832877 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:-0.03 [[ 9.99402809e-01 -3.01613763e-02 -1.68616975e-02 5.24055823e-01] [ 3.01748663e-02 9.99544486e-01 5.46139248e-04 -1.44846020e-01] [ 1.68375445e-02 -1.05461257e-03 9.99857682e-01 -3.25458515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.079928850999995 meters Centerline goodness [0,1] 0.7249223879077815 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:-0.03 [[ 9.99402955e-01 -3.01953617e-02 -1.67920496e-02 5.24615042e-01] [ 3.02093265e-02 9.99543427e-01 5.78538303e-04 -1.44293674e-01] [ 1.67669136e-02 -1.08546940e-03 9.99858836e-01 -3.35697575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.109928850999996 meters Centerline goodness [0,1] 0.7262038359518466 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:-0.03 [[ 9.99399305e-01 -3.03124633e-02 -1.67983307e-02 5.24783230e-01] [ 3.03246829e-02 9.99539989e-01 4.73128795e-04 -1.43433083e-01] [ 1.67762616e-02 -9.82248639e-04 9.99858786e-01 -3.38230224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.139928850999997 meters Centerline goodness [0,1] 0.7224019770196938 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:-0.03 [[ 9.99392757e-01 -3.04895841e-02 -1.68671762e-02 5.24908278e-01] [ 3.04955628e-02 9.99534897e-01 9.73063193e-05 -1.41587214e-01] [ 1.68563644e-02 -6.11621261e-04 9.99857734e-01 -3.37482271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.169928850999995 meters Centerline goodness [0,1] 0.7177489621239301 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:-0.03 [[ 0.99947125 -0.02805639 -0.01643339 0.52273226] [ 0.02811638 0.99959877 0.00343079 -0.14135463] [ 0.01633054 -0.00389102 0.99985908 -0.03336515] [ 0. 0. 0. 1. ]] SLAMing on 27.199928850999996 meters Centerline goodness [0,1] 0.7156123338976963 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:-0.03 [[ 0.99946834 -0.02816824 -0.01641907 0.52280964] [ 0.02821842 0.99959777 0.00283286 -0.13863608] [ 0.01633267 -0.00329468 0.99986118 -0.03329905] [ 0. 0. 0. 1. ]] SLAMing on 27.229928850999997 meters Centerline goodness [0,1] 0.7295204281156735 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:-0.03 [[ 0.99946945 -0.02812979 -0.01641776 0.52307248] [ 0.02817918 0.99959901 0.00278519 -0.13826972] [ 0.01633283 -0.00324635 0.99986134 -0.03362098] [ 0. 0. 0. 1. ]] SLAMing on 27.259928850999994 meters Centerline goodness [0,1] 0.7372735005283914 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:-0.03 [[ 0.99947221 -0.02795002 -0.01655584 0.52393269] [ 0.02799959 0.9996041 0.0027699 -0.13762958] [ 0.01647187 -0.00323199 0.99985911 -0.03427963] [ 0. 0. 0. 1. ]] SLAMing on 27.289928850999996 meters Centerline goodness [0,1] 0.7331850165562914 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:-0.03 [[ 0.99946473 -0.02816223 -0.01664783 0.5241513 ] [ 0.0282022 0.99959988 0.00217061 -0.13502566] [ 0.01658004 -0.00263895 0.99985906 -0.03419921] [ 0. 0. 0. 1. ]] SLAMing on 27.319928850999997 meters Centerline goodness [0,1] 0.7361869516834451 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.03 [[ 0.99946039 -0.02827541 -0.01671634 0.52439253] [ 0.0283108 0.99959739 0.00188433 -0.13349788] [ 0.01665633 -0.00235657 0.9998585 -0.03429356] [ 0. 0. 0. 1. ]] SLAMing on 27.349928850999994 meters Centerline goodness [0,1] 0.7327260493763263 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.03 [[ 0.99946045 -0.02813201 -0.01695301 0.52517929] [ 0.02816834 0.99960137 0.0019078 -0.13268586] [ 0.01689258 -0.00238431 0.99985447 -0.03463911] [ 0. 0. 0. 1. ]] SLAMing on 27.379928850999995 meters Centerline goodness [0,1] 0.732546986390149 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.03 [[ 0.99945531 -0.02829229 -0.01698895 0.52532233] [ 0.02832671 0.99959712 0.00178905 -0.13201517] [ 0.01693149 -0.00226931 0.99985408 -0.03483469] [ 0. 0. 0. 1. ]] SLAMing on 27.409928850999997 meters Centerline goodness [0,1] 0.732546986390149 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.03 [[ 0.99945531 -0.02829229 -0.01698895 0.52532233] [ 0.02832671 0.99959712 0.00178905 -0.13201517] [ 0.01693149 -0.00226931 0.99985408 -0.03483469] [ 0. 0. 0. 1. ]] SLAMing on 27.439928850999994 meters Centerline goodness [0,1] 0.7248829206447773 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.04 [[ 0.99944355 -0.02877409 -0.01687119 0.52515188] [ 0.0288061 0.99958365 0.00165691 -0.13171356] [ 0.01681649 -0.00214198 0.9998563 -0.03521906] [ 0. 0. 0. 1. ]] SLAMing on 27.469928850999995 meters Centerline goodness [0,1] 0.7187572996963326 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.03 [[ 0.99943322 -0.02919895 -0.01675303 0.52453774] [ 0.02922639 0.99957184 0.00139533 -0.13139378] [ 0.01670512 -0.00188417 0.99985868 -0.03488934] [ 0. 0. 0. 1. ]] SLAMing on 27.499928850999996 meters Centerline goodness [0,1] 0.7110290868446363 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.03 [[ 0.99942486 -0.0295278 -0.01667516 0.52416017] [ 0.02955096 0.99956262 0.00114446 -0.13072458] [ 0.01663407 -0.00163657 0.9998603 -0.03472495] [ 0. 0. 0. 1. ]] SLAMing on 27.529928850999994 meters Centerline goodness [0,1] 0.7127087608114075 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.03 [[ 9.99418377e-01 -2.98070111e-02 -1.65665041e-02 5.23839605e-01] [ 2.98252038e-02 9.99554766e-01 8.52130694e-04 -1.29672429e-01] [ 1.65337287e-02 -1.34573444e-03 9.99862403e-01 -3.46498567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.559928850999995 meters Centerline goodness [0,1] 0.719516966171983 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.03 [[ 9.99397106e-01 -3.05731639e-02 -1.64531399e-02 5.22948317e-01] [ 3.05760760e-02 9.99532440e-01 -7.45881391e-05 -1.27152021e-01] [ 1.64477275e-02 -4.28529285e-04 9.99864635e-01 -3.39015683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.589928850999996 meters Centerline goodness [0,1] 0.7205134225561556 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.03 [[ 9.99395759e-01 -3.06239866e-02 -1.64404187e-02 5.23150488e-01] [ 3.06261619e-02 9.99530902e-01 -1.19495258e-04 -1.26509936e-01] [ 1.64363659e-02 -3.84083870e-04 9.99864840e-01 -3.42460290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.619928850999994 meters Centerline goodness [0,1] 0.7243479169933615 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.03 [[ 9.99391488e-01 -3.08230983e-02 -1.63275650e-02 5.22998582e-01] [ 3.08207342e-02 9.99524850e-01 -3.96460645e-04 -1.25717919e-01] [ 1.63320271e-02 -1.07008148e-04 9.99866618e-01 -3.43171662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.649928850999995 meters Centerline goodness [0,1] 0.71382645060115 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.03 [[ 9.99386042e-01 -3.10977246e-02 -1.61390784e-02 5.22671958e-01] [ 3.10926441e-02 9.99516347e-01 -5.65681488e-04 -1.24514597e-01] [ 1.61488641e-02 6.35275631e-05 9.99869597e-01 -3.45954639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.679928850999996 meters Centerline goodness [0,1] 0.7024834480412425 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.03 [[ 9.99378962e-01 -3.13547335e-02 -1.60801196e-02 5.22482445e-01] [ 3.13463949e-02 9.99508284e-01 -7.70410215e-04 -1.23686860e-01] [ 1.60963687e-02 2.65877983e-04 9.99870410e-01 -3.46222993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.709928850999994 meters Centerline goodness [0,1] 0.7088498352424291 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.03 [[ 9.99374882e-01 -3.14752372e-02 -1.60982990e-02 5.22636734e-01] [ 3.14672273e-02 9.99504502e-01 -7.50684292e-04 -1.23089235e-01] [ 1.61139503e-02 2.43646191e-04 9.99870132e-01 -3.49474155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.739928850999995 meters Centerline goodness [0,1] 0.7176835030977633 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.04 [[ 9.99365702e-01 -3.17622362e-02 -1.61044935e-02 5.22672967e-01] [ 3.17512061e-02 9.99495361e-01 -9.40192832e-04 -1.22258127e-01] [ 1.61262292e-02 4.28259377e-04 9.99869872e-01 -3.50912365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.769928850999996 meters Centerline goodness [0,1] 0.7110684816313659 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.04 [[ 9.99351921e-01 -3.22298482e-02 -1.60304645e-02 5.22446499e-01] [ 3.22122768e-02 9.99480134e-01 -1.35319154e-03 -1.20508934e-01] [ 1.60657439e-02 8.35936801e-04 9.99870588e-01 -3.51768688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.799928850999994 meters Centerline goodness [0,1] 0.710451606119552 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.04 [[ 9.99348090e-01 -3.23473806e-02 -1.60325264e-02 5.22762811e-01] [ 3.23283502e-02 9.99476258e-01 -1.44481109e-03 -1.19846332e-01] [ 1.60708653e-02 9.25564080e-04 9.99870427e-01 -3.56458056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.829928850999995 meters Centerline goodness [0,1] 0.7065177398160316 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.04 [[ 9.99347353e-01 -3.24067885e-02 -1.59583206e-02 5.23048469e-01] [ 3.23894535e-02 9.99474421e-01 -1.34359315e-03 -1.19829073e-01] [ 1.59934748e-02 8.25834975e-04 9.99871755e-01 -3.63243677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.859928850999996 meters Centerline goodness [0,1] 0.7018183726483167 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.04 [[ 9.99350600e-01 -3.23398532e-02 -1.58906512e-02 5.23542965e-01] [ 3.23297991e-02 9.99476860e-01 -8.89254695e-04 -1.20417296e-01] [ 1.59110965e-02 3.74935653e-04 9.99873340e-01 -3.74189257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.889928850999997 meters Centerline goodness [0,1] 0.696547737901319 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.04 [[ 9.99340580e-01 -3.27569623e-02 -1.56648355e-02 5.23041651e-01] [ 3.27449402e-02 9.99463217e-01 -1.02339797e-03 -1.20259619e-01] [ 1.56899503e-02 5.09779019e-04 9.99876775e-01 -3.76386073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.919928850999995 meters Centerline goodness [0,1] 0.692980842509132 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.04 [[ 0.99930807 -0.03397667 -0.01513163 0.52094391] [ 0.03395055 0.99942155 -0.00197999 -0.11848441] [ 0.01519015 0.00146489 0.99988355 -0.03667296] [ 0. 0. 0. 1. ]] SLAMing on 27.949928850999996 meters Centerline goodness [0,1] 0.6870582052292734 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.04 [[ 0.99929562 -0.03440144 -0.01499366 0.52010026] [ 0.0343688 0.99940627 -0.00242962 -0.11747104] [ 0.01506834 0.0019126 0.99988464 -0.03600123] [ 0. 0. 0. 1. ]] SLAMing on 27.979928850999997 meters Centerline goodness [0,1] 0.6973646104836374 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.04 [[ 0.99928605 -0.03474319 -0.01484274 0.5194485 ] [ 0.03470467 0.99939356 -0.00284449 -0.11637587] [ 0.01493256 0.00232735 0.99988579 -0.03554309] [ 0. 0. 0. 1. ]] SLAMing on 28.009928850999994 meters Centerline goodness [0,1] 0.6950807558323657 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.04 [[ 0.99927602 -0.03508813 -0.01470557 0.51882422] [ 0.03504458 0.9993806 -0.00320896 -0.11568742] [ 0.01480906 0.00269129 0.99988672 -0.0351392 ] [ 0. 0. 0. 1. ]] SLAMing on 28.039928850999996 meters Centerline goodness [0,1] 0.6881672246092205 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.11, Z:-0.04 [[ 0.99926441 -0.03554588 -0.01439184 0.51808956] [ 0.03550056 0.9993639 -0.00339197 -0.11491113] [ 0.01450326 0.00287856 0.99989068 -0.03532157] [ 0. 0. 0. 1. ]] SLAMing on 28.069928850999997 meters Centerline goodness [0,1] 0.6910401647785788 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.11, Z:-0.04 [[ 0.99925974 -0.0357109 -0.01430716 0.51811755] [ 0.03566688 0.99935822 -0.00331974 -0.1146618 ] [ 0.01441653 0.00280699 0.99989214 -0.03580838] [ 0. 0. 0. 1. ]] SLAMing on 28.099928850999994 meters Centerline goodness [0,1] 0.6868175553906499 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.11, Z:-0.04 [[ 0.99925775 -0.03577811 -0.01427858 0.51836748] [ 0.03573541 0.99935605 -0.0032346 -0.11431467] [ 0.01438511 0.00272195 0.99989282 -0.0362946 ] [ 0. 0. 0. 1. ]] SLAMing on 28.129928850999995 meters Centerline goodness [0,1] 0.6789402784014369 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.11, Z:-0.04 [[ 0.99925037 -0.03596886 -0.01431545 0.51868655] [ 0.03592772 0.99934952 -0.00312092 -0.11399366] [ 0.0144184 0.00260426 0.99989266 -0.03688946] [ 0. 0. 0. 1. ]] SLAMing on 28.159928850999997 meters Centerline goodness [0,1] 0.6749245672542481 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.11, Z:-0.04 [[ 0.99924741 -0.03610987 -0.01416652 0.51842142] [ 0.0360711 0.99934477 -0.002983 -0.114204 ] [ 0.01426496 0.00246975 0.9998952 -0.03718147] [ 0. 0. 0. 1. ]] SLAMing on 28.189928850999994 meters Centerline goodness [0,1] 0.6734137693813833 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.11, Z:-0.04 [[ 0.99924918 -0.03608592 -0.01410228 0.51868693] [ 0.03605269 0.9993465 -0.00260348 -0.11491366] [ 0.01418702 0.0020931 0.99989717 -0.03789559] [ 0. 0. 0. 1. ]] SLAMing on 28.219928850999995 meters Centerline goodness [0,1] 0.6712433862433862 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.04 [[ 0.99924925 -0.03614701 -0.01394054 0.51868496] [ 0.03611922 0.99934498 -0.00224016 -0.11560819] [ 0.01401238 0.00173496 0.99990032 -0.03863193] [ 0. 0. 0. 1. ]] SLAMing on 28.249928850999996 meters Centerline goodness [0,1] 0.6614391875809906 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.04 [[ 0.99922369 -0.03699717 -0.01353583 0.51730653] [ 0.03696814 0.99931359 -0.00238833 -0.11571126] [ 0.0136149 0.00188609 0.99990553 -0.03851337] [ 0. 0. 0. 1. ]] SLAMing on 28.279928850999994 meters Centerline goodness [0,1] 0.6578139879377843 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.04 [[ 0.99921537 -0.0372489 -0.01345993 0.5168034 ] [ 0.0372212 0.9993044 -0.00230294 -0.1161962 ] [ 0.01353635 0.00180014 0.99990676 -0.0382871 ] [ 0. 0. 0. 1. ]] SLAMing on 28.309928850999995 meters Centerline goodness [0,1] 0.6551286793848756 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.04 [[ 0.99920849 -0.03749138 -0.01329592 0.51631236] [ 0.037466 0.99929558 -0.00215283 -0.11683041] [ 0.01336726 0.00165298 0.99990929 -0.03830937] [ 0. 0. 0. 1. ]] SLAMing on 28.339928850999996 meters Centerline goodness [0,1] 0.6431265993088348 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.04 [[ 0.9991811 -0.03836475 -0.01285629 0.51460276] [ 0.03834148 0.99926259 -0.00205156 -0.11836578] [ 0.01292552 0.00155695 0.99991525 -0.03800408] [ 0. 0. 0. 1. ]] SLAMing on 28.369928850999994 meters Centerline goodness [0,1] 0.6407956010418585 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.04 [[ 0.99918073 -0.0384003 -0.01277802 0.51455652] [ 0.03838305 0.99926183 -0.00159257 -0.11957106] [ 0.01282974 0.00110081 0.99991709 -0.03842118] [ 0. 0. 0. 1. ]] SLAMing on 28.399928850999995 meters Centerline goodness [0,1] 0.6386137313119105 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.04 [[ 9.99183774e-01 -3.83807289e-02 -1.25978694e-02 5.14490601e-01] [ 3.83717457e-02 9.99263078e-01 -9.54093895e-04 -1.21020243e-01] [ 1.26252046e-02 4.69912897e-04 9.99920189e-01 -3.91752990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.429928850999996 meters Centerline goodness [0,1] 0.6308298319327731 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.04 [[ 9.99179016e-01 -3.85564741e-02 -1.24375470e-02 5.14153874e-01] [ 3.85528057e-02 9.99256421e-01 -5.34667305e-04 -1.22511495e-01] [ 1.24489135e-02 5.47260210e-05 9.99922508e-01 -3.95118504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.459928850999994 meters Centerline goodness [0,1] 0.6592367531889258 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.04 [[ 9.99132598e-01 -3.98170870e-02 -1.21922790e-02 5.12898388e-01] [ 3.98153188e-02 9.99206981e-01 -3.87816513e-04 -1.26052965e-01] [ 1.21980520e-02 -9.79593567e-05 9.99925596e-01 -3.95546257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.489928850999995 meters Centerline goodness [0,1] 0.650696043541972 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.04 [[ 9.99127686e-01 -4.00065395e-02 -1.19726510e-02 5.12372659e-01] [ 4.00117783e-02 9.99199188e-01 1.98252394e-04 -1.27925727e-01] [ 1.19551317e-02 -6.77126510e-04 9.99928306e-01 -3.99333597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.519928850999996 meters Centerline goodness [0,1] 0.6570508625428654 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.04 [[ 9.99121625e-01 -4.02007101e-02 -1.18271325e-02 5.11764339e-01] [ 4.02085799e-02 9.99191216e-01 4.28275010e-04 -1.29127121e-01] [ 1.18003499e-02 -9.03451025e-04 9.99929965e-01 -3.97309900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.549928850999994 meters Centerline goodness [0,1] 0.6519627046932539 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.04 [[ 9.99112476e-01 -4.04859716e-02 -1.16252065e-02 5.10796139e-01] [ 4.04980944e-02 9.99179288e-01 8.09199552e-04 -1.31180781e-01] [ 1.15829043e-02 -1.27928008e-03 9.99932098e-01 -3.93433998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.579928850999995 meters Centerline goodness [0,1] 0.6471479314667781 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.04 [[ 0.99911486 -0.04044554 -0.01156093 0.51069626] [ 0.04046135 0.99918046 0.00113721 -0.13219346] [ 0.01150546 -0.00160397 0.99993252 -0.03950837] [ 0. 0. 0. 1. ]] SLAMing on 28.609928850999996 meters Centerline goodness [0,1] 0.6505324550212201 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.13, Z:-0.04 [[ 0.99912227 -0.04025698 -0.01157879 0.51078836] [ 0.0402779 0.99918727 0.00157938 -0.1336532 ] [ 0.0115058 -0.00204436 0.99993172 -0.03960238] [ 0. 0. 0. 1. ]] SLAMing on 28.639928850999993 meters Centerline goodness [0,1] 0.6498662719742412 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.14, Z:-0.04 [[ 0.99913132 -0.04003157 -0.01157889 0.51076238] [ 0.0400603 0.99919471 0.00225996 -0.13597038] [ 0.0114791 -0.00272185 0.99993041 -0.03976966] [ 0. 0. 0. 1. ]] SLAMing on 28.669928850999995 meters Centerline goodness [0,1] 0.640817811030577 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.14, Z:-0.04 [[ 0.99914456 -0.0396509 -0.01174513 0.51143731] [ 0.03968699 0.99920808 0.00285576 -0.13735185] [ 0.0116226 -0.00331944 0.99992695 -0.04022519] [ 0. 0. 0. 1. ]] SLAMing on 28.699928850999996 meters Centerline goodness [0,1] 0.6506595485526214 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.14, Z:-0.04 [[ 0.99915796 -0.03923722 -0.01199198 0.51227542] [ 0.03928149 0.99922213 0.00347847 -0.13890798] [ 0.01184617 -0.00394661 0.99992204 -0.04065302] [ 0. 0. 0. 1. ]] SLAMing on 28.729928850999997 meters Centerline goodness [0,1] 0.6421607923249981 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.14, Z:-0.04 [[ 0.99917456 -0.03872774 -0.01226188 0.51317102] [ 0.03878054 0.99923935 0.00409755 -0.14033807] [ 0.01209386 -0.00456969 0.99991642 -0.04099437] [ 0. 0. 0. 1. ]] SLAMing on 28.759928850999994 meters Centerline goodness [0,1] 0.6504333470903838 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.14, Z:-0.04 [[ 0.99918482 -0.0384118 -0.01241872 0.51355151] [ 0.0384698 0.99924978 0.00446622 -0.14145121] [ 0.01223785 -0.00494033 0.99991291 -0.04096954] [ 0. 0. 0. 1. ]] SLAMing on 28.789928850999996 meters Centerline goodness [0,1] 0.6327830797007996 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.14, Z:-0.04 [[ 0.99920324 -0.03788077 -0.01256701 0.51382035] [ 0.0379464 0.99926714 0.00502565 -0.14340653] [ 0.01236743 -0.00549852 0.9999084 -0.04067886] [ 0. 0. 0. 1. ]] SLAMing on 28.819928850999997 meters Centerline goodness [0,1] 0.6557926200783344 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.15, Z:-0.04 [[ 0.9992194 -0.03736665 -0.01281886 0.51457489] [ 0.03744168 0.99928276 0.00566405 -0.14515115] [ 0.01259802 -0.00613959 0.99990179 -0.04089891] [ 0. 0. 0. 1. ]] SLAMing on 28.849928850999994 meters Centerline goodness [0,1] 0.6510230802803523 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.04 [[ 0.99923603 -0.03687573 -0.01294396 0.51519389] [ 0.03695899 0.99929722 0.00625305 -0.14668421] [ 0.01270428 -0.00672667 0.99989667 -0.04126645] [ 0. 0. 0. 1. ]] SLAMing on 28.879928850999995 meters Centerline goodness [0,1] 0.6745659254699803 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.04 [[ 0.99926323 -0.036037 -0.01320361 0.51572065] [ 0.03612974 0.9993236 0.0068542 -0.14868729] [ 0.01294768 -0.00732619 0.99988934 -0.04078618] [ 0. 0. 0. 1. ]] SLAMing on 28.909928850999997 meters Centerline goodness [0,1] 0.678282944841911 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.04 [[ 0.99927645 -0.03558341 -0.01343101 0.51615284] [ 0.03568014 0.99933852 0.00703213 -0.1490969 ] [ 0.0131719 -0.00750626 0.99988507 -0.0404292 ] [ 0. 0. 0. 1. ]] SLAMing on 28.939928850999994 meters Centerline goodness [0,1] 0.674437648744786 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.04 [[ 0.99929448 -0.0349874 -0.01365348 0.51687458] [ 0.03509175 0.9993561 0.00747974 -0.15005937] [ 0.01338299 -0.00795358 0.99987881 -0.04054012] [ 0. 0. 0. 1. ]] SLAMing on 28.969928850999995 meters Centerline goodness [0,1] 0.6747614917606244 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.04 [[ 0.99933958 -0.03340279 -0.01430591 0.51910387] [ 0.03353177 0.99939827 0.00887235 -0.15329408] [ 0.01400094 -0.00934619 0.9998583 -0.04117096] [ 0. 0. 0. 1. ]] SLAMing on 28.999928850999996 meters Centerline goodness [0,1] 0.686602139582272 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.15, Z:-0.04 [[ 0.99935599 -0.032791 -0.01457274 0.51995536] [ 0.03292944 0.99941382 0.00936325 -0.15452816] [ 0.01425717 -0.00983709 0.99984997 -0.0412975 ] [ 0. 0. 0. 1. ]] SLAMing on 29.029928850999994 meters Centerline goodness [0,1] 0.6769984515015358 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.04 [[ 0.99937018 -0.03220016 -0.01491261 0.52076795] [ 0.03234843 0.9994285 0.00981036 -0.15556697] [ 0.0145882 -0.01028658 0.99984067 -0.04121009] [ 0. 0. 0. 1. ]] SLAMing on 29.059928850999995 meters Centerline goodness [0,1] 0.6803066456820835 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.04 [[ 0.99938312 -0.03163391 -0.01525399 0.52167948] [ 0.031791 0.99944282 0.01016765 -0.15624779] [ 0.01492385 -0.01064632 0.99983195 -0.04120797] [ 0. 0. 0. 1. ]] SLAMing on 29.089928850999996 meters Centerline goodness [0,1] 0.6857424890531272 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.04 [[ 0.99941217 -0.03037153 -0.01590215 0.52346664] [ 0.03055292 0.99946938 0.01129077 -0.15893038] [ 0.01555079 -0.01176999 0.9998098 -0.04142772] [ 0. 0. 0. 1. ]] SLAMing on 29.119928850999994 meters Centerline goodness [0,1] 0.6890083812985963 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.04 [[ 0.99942723 -0.0297612 -0.0161087 0.52431155] [ 0.02995526 0.99947989 0.01194293 -0.16067804] [ 0.01574489 -0.01241863 0.99979892 -0.04181038] [ 0. 0. 0. 1. ]] SLAMing on 29.149928850999995 meters Centerline goodness [0,1] 0.6965459904769102 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.04 [[ 0.99944021 -0.02918239 -0.01636042 0.52507132] [ 0.02938835 0.99948999 0.01249316 -0.16228664] [ 0.01598749 -0.01296697 0.99978811 -0.04190053] [ 0. 0. 0. 1. ]] SLAMing on 29.179928850999996 meters Centerline goodness [0,1] 0.6934168805677186 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.04 [[ 0.99945145 -0.02862507 -0.0166557 0.52584663] [ 0.02884238 0.9995 0.01295648 -0.16349356] [ 0.01627649 -0.01342977 0.99977733 -0.04192568] [ 0. 0. 0. 1. ]] SLAMing on 29.209928850999994 meters Centerline goodness [0,1] 0.6935988976575223 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.04 [[ 0.99945742 -0.02827577 -0.01689227 0.5263833 ] [ 0.02849949 0.99950726 0.01315361 -0.16413437] [ 0.01651202 -0.0136279 0.99977079 -0.04176545] [ 0. 0. 0. 1. ]] SLAMing on 29.239928850999995 meters Centerline goodness [0,1] 0.7007260891337006 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.04 [[ 0.99947131 -0.02756916 -0.01723478 0.52675916] [ 0.02780501 0.99952087 0.01359793 -0.16575044] [ 0.01685163 -0.01406996 0.999759 -0.04088195] [ 0. 0. 0. 1. ]] SLAMing on 29.269928850999996 meters Centerline goodness [0,1] 0.697976842473804 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.04 [[ 0.99947537 -0.02740773 -0.01725693 0.52662319] [ 0.02764769 0.99952214 0.01382356 -0.16685256] [ 0.01686981 -0.01429342 0.99975552 -0.04055974] [ 0. 0. 0. 1. ]] SLAMing on 29.299928850999994 meters Centerline goodness [0,1] 0.6972870536604827 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.04 [[ 0.99948115 -0.02704877 -0.01748715 0.52708825] [ 0.0272995 0.99952556 0.01426159 -0.16862862] [ 0.01709309 -0.01473158 0.99974537 -0.04040596] [ 0. 0. 0. 1. ]] SLAMing on 29.329928850999995 meters Centerline goodness [0,1] 0.6972870536604827 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.04 [[ 0.99948115 -0.02704877 -0.01748715 0.52708825] [ 0.0272995 0.99952556 0.01426159 -0.16862862] [ 0.01709309 -0.01473158 0.99974537 -0.04040596] [ 0. 0. 0. 1. ]] SLAMing on 29.359928850999996 meters Centerline goodness [0,1] 0.6931992669275349 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.04 [[ 0.99948323 -0.02674921 -0.01782579 0.52776152] [ 0.02701447 0.99952533 0.01480957 -0.17060342] [ 0.01742119 -0.01528347 0.99973142 -0.0404118 ] [ 0. 0. 0. 1. ]] SLAMing on 29.389928850999993 meters Centerline goodness [0,1] 0.6890712550205782 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.04 [[ 0.99948115 -0.02682416 -0.01782984 0.52746915] [ 0.02710257 0.99951153 0.01556096 -0.17422591] [ 0.01740372 -0.01603613 0.99971994 -0.04028522] [ 0. 0. 0. 1. ]] SLAMing on 29.419928850999995 meters Centerline goodness [0,1] 0.7055629927115871 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.04 [[ 0.99947886 -0.02690036 -0.01784316 0.52719788] [ 0.02718433 0.99950448 0.01586814 -0.17590868] [ 0.01740746 -0.01634493 0.99971487 -0.03997784] [ 0. 0. 0. 1. ]] SLAMing on 29.449928850999996 meters Centerline goodness [0,1] 0.686597378230923 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.04 [[ 0.99947537 -0.0269377 -0.01798155 0.52716366] [ 0.02722604 0.99950144 0.01598781 -0.17725829] [ 0.01754191 -0.01646899 0.99971049 -0.03952764] [ 0. 0. 0. 1. ]] SLAMing on 29.479928850999993 meters Centerline goodness [0,1] 0.6808940585031666 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.04 [[ 0.99947541 -0.0269738 -0.0179253 0.52684915] [ 0.02726495 0.99949694 0.01620165 -0.17888429] [ 0.01747926 -0.01668188 0.99970805 -0.03927507] [ 0. 0. 0. 1. ]] SLAMing on 29.509928850999994 meters Centerline goodness [0,1] 0.696338290875178 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.04 [[ 0.99938573 -0.02986821 -0.01833175 0.52846301] [ 0.03010946 0.9994617 0.01302809 -0.18087575] [ 0.01793275 -0.01357205 0.99974708 -0.03933567] [ 0. 0. 0. 1. ]] SLAMing on 29.539928850999996 meters Centerline goodness [0,1] 0.703728182908619 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.04 [[ 0.99938157 -0.03001692 -0.01831585 0.52816577] [ 0.03026305 0.99945332 0.01331179 -0.18259815] [ 0.01790626 -0.01385785 0.99974363 -0.03909962] [ 0. 0. 0. 1. ]] SLAMing on 29.569928850999997 meters Centerline goodness [0,1] 0.7028171427172822 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.04 [[ 0.99937527 -0.03030413 -0.01818599 0.52745237] [ 0.03054962 0.99944374 0.01337684 -0.18363865] [ 0.0177705 -0.01392405 0.99974513 -0.03861694] [ 0. 0. 0. 1. ]] SLAMing on 29.599928850999994 meters Centerline goodness [0,1] 0.6806188329881837 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.04 [[ 0.99936147 -0.0308517 -0.01802273 0.52644648] [ 0.0310948 0.99942705 0.01336744 -0.1851408 ] [ 0.01759999 -0.01391932 0.99974821 -0.03790171] [ 0. 0. 0. 1. ]] SLAMing on 29.629928850999995 meters Centerline goodness [0,1] 0.6936978571254835 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.04 [[ 0.9993581 -0.03100076 -0.01795382 0.52617213] [ 0.0312482 0.99941818 0.01366966 -0.18707075] [ 0.01751961 -0.01422191 0.99974537 -0.03783214] [ 0. 0. 0. 1. ]] SLAMing on 29.659928850999997 meters Centerline goodness [0,1] 0.6867633506329728 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.04 [[ 0.99935572 -0.0310781 -0.0179527 0.52623548] [ 0.03133428 0.99940853 0.01416897 -0.18956098] [ 0.01750174 -0.01472237 0.99973844 -0.03811978] [ 0. 0. 0. 1. ]] SLAMing on 29.689928850999994 meters Centerline goodness [0,1] 0.6882627292718881 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.04 [[ 0.99935164 -0.03121814 -0.01793687 0.52616864] [ 0.03148109 0.99939816 0.0145693 -0.19184124] [ 0.01747125 -0.01512452 0.99973297 -0.03823097] [ 0. 0. 0. 1. ]] SLAMing on 29.719928850999995 meters Centerline goodness [0,1] 0.6699796865931515 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.04 [[ 0.99933261 -0.03198002 -0.01765282 0.5248766 ] [ 0.03223796 0.99937466 0.01452561 -0.19333242] [ 0.01717725 -0.01508501 0.99973866 -0.03764593] [ 0. 0. 0. 1. ]] SLAMing on 29.749928850999996 meters Centerline goodness [0,1] 0.6904577567018291 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.04 [[ 0.99932268 -0.03229797 -0.01763558 0.52438588] [ 0.03255131 0.99936816 0.01427193 -0.19314598] [ 0.01716349 -0.01483632 0.99974262 -0.0370509 ] [ 0. 0. 0. 1. ]] SLAMing on 29.779928850999994 meters Centerline goodness [0,1] 0.6925717324566705 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.04 [[ 0.99931559 -0.03255466 -0.01756542 0.52381289] [ 0.03280251 0.99936363 0.01401152 -0.1929457 ] [ 0.0170981 -0.01457812 0.99974753 -0.03648018] [ 0. 0. 0. 1. ]] SLAMing on 29.809928850999995 meters Centerline goodness [0,1] 0.6774099883855982 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.04 [[ 0.99931816 -0.03249423 -0.01753126 0.52381492] [ 0.0327434 0.99936407 0.01411809 -0.19341727] [ 0.01706136 -0.0146825 0.99974663 -0.03651011] [ 0. 0. 0. 1. ]] SLAMing on 29.839928850999996 meters Centerline goodness [0,1] 0.6867723587074912 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.04 [[ 0.99932012 -0.03241254 -0.01757054 0.52398602] [ 0.0326645 0.99936482 0.01424741 -0.19409679] [ 0.01709758 -0.01481165 0.99974411 -0.03657529] [ 0. 0. 0. 1. ]] SLAMing on 29.869928850999994 meters Centerline goodness [0,1] 0.6889531381761234 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.04 [[ 0.99932623 -0.03219905 -0.01761557 0.52442718] [ 0.03245939 0.99936498 0.01469812 -0.19578668] [ 0.01713112 -0.01526 0.99973679 -0.0370551 ] [ 0. 0. 0. 1. ]] SLAMing on 29.899928850999995 meters Centerline goodness [0,1] 0.679383429672447 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.04 [[ 0.99932129 -0.03243243 -0.01746697 0.52400682] [ 0.03268933 0.9993585 0.01462865 -0.19616601] [ 0.01698132 -0.01518971 0.99974042 -0.03693902] [ 0. 0. 0. 1. ]] SLAMing on 29.929928850999996 meters Centerline goodness [0,1] 0.6855250481695568 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.04 [[ 0.99931457 -0.03263698 -0.0174707 0.5237866 ] [ 0.03289042 0.99935491 0.0144213 -0.19598136] [ 0.01698877 -0.01498604 0.99974337 -0.03662025] [ 0. 0. 0. 1. ]] SLAMing on 29.959928850999994 meters Centerline goodness [0,1] 0.6868984150724917 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.04 [[ 0.99931075 -0.03271196 -0.01754856 0.52381024] [ 0.03296374 0.99935488 0.01425564 -0.19562802] [ 0.01707091 -0.01482429 0.99974438 -0.03636934] [ 0. 0. 0. 1. ]] SLAMing on 29.989928850999995 meters Centerline goodness [0,1] 0.6842689846673911 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.04 [[ 0.99931176 -0.03262471 -0.01765295 0.52393137] [ 0.03287375 0.99936137 0.01400615 -0.19505193] [ 0.01718473 -0.01457683 0.99974607 -0.03599871] [ 0. 0. 0. 1. ]] SLAMing on 30.019928850999996 meters Centerline goodness [0,1] 0.6815428061113659 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.04 [[ 0.99931365 -0.0325171 -0.01774475 0.52413532] [ 0.03276756 0.99936479 0.01401087 -0.19524927] [ 0.01727789 -0.0145827 0.99974438 -0.03591213] [ 0. 0. 0. 1. ]] SLAMing on 30.049928850999994 meters Centerline goodness [0,1] 0.6847671246106671 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.04 [[ 0.99931631 -0.03242069 -0.01777114 0.52438315] [ 0.03267303 0.99936666 0.01409827 -0.1954324 ] [ 0.01730281 -0.01466927 0.99974268 -0.03613346] [ 0. 0. 0. 1. ]] SLAMing on 30.079928850999995 meters Centerline goodness [0,1] 0.6971623320119889 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.04 [[ 0.99931725 -0.0323522 -0.01784311 0.52460427] [ 0.03260492 0.99936943 0.01405937 -0.1950153 ] [ 0.017377 -0.01463155 0.99974195 -0.03618751] [ 0. 0. 0. 1. ]] SLAMing on 30.109928850999996 meters Centerline goodness [0,1] 0.6785084221464994 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.04 [[ 0.99931394 -0.0324532 -0.01784483 0.52440797] [ 0.03270287 0.99936871 0.01388168 -0.19468611] [ 0.01738306 -0.01445574 0.9997444 -0.03589036] [ 0. 0. 0. 1. ]] SLAMing on 30.139928850999993 meters Centerline goodness [0,1] 0.6774652987326494 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.04 [[ 0.99930693 -0.03266022 -0.01785977 0.52407379] [ 0.03290505 0.99936607 0.01359089 -0.19441273] [ 0.01740456 -0.01416915 0.99974813 -0.03534277] [ 0. 0. 0. 1. ]] SLAMing on 30.169928850999995 meters Centerline goodness [0,1] 0.6744809270883632 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.03 [[ 0.99929889 -0.0329195 -0.01783369 0.52372249] [ 0.0331593 0.99936129 0.01332198 -0.19420196] [ 0.01738375 -0.01390399 0.99975221 -0.03493505] [ 0. 0. 0. 1. ]] SLAMing on 30.199928850999996 meters Centerline goodness [0,1] 0.6724075548158333 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.03 [[ 0.99929342 -0.03317415 -0.01766757 0.52318266] [ 0.03341026 0.99935401 0.01324103 -0.19466692] [ 0.0172169 -0.01382195 0.99975624 -0.03470933] [ 0. 0. 0. 1. ]] SLAMing on 30.229928850999993 meters Centerline goodness [0,1] 0.6862603678326722 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.03 [[ 0.99916715 -0.03668807 -0.01786055 0.52427991] [ 0.03685923 0.99927673 0.00934982 -0.19463509] [ 0.0175046 -0.01000036 0.99979677 -0.03476855] [ 0. 0. 0. 1. ]] SLAMing on 30.259928850999994 meters Centerline goodness [0,1] 0.6837397200981099 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.03 [[ 0.99915486 -0.03715091 -0.01758936 0.52351263] [ 0.03732066 0.99925892 0.00942268 -0.19574218] [ 0.01722626 -0.01007116 0.99980089 -0.03474648] [ 0. 0. 0. 1. ]] SLAMing on 30.289928850999996 meters Centerline goodness [0,1] 0.6775784860748582 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.03 [[ 0.9991376 -0.03773693 -0.01731972 0.52272342] [ 0.03790395 0.999237 0.00941841 -0.19680518] [ 0.01695108 -0.01006678 0.99980564 -0.0346892 ] [ 0. 0. 0. 1. ]] SLAMing on 30.319928850999993 meters Centerline goodness [0,1] 0.6632350833612 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.03 [[ 0.99897253 -0.04188351 -0.01731069 0.52288167] [ 0.04198358 0.99910339 0.00545869 -0.19720216] [ 0.01706654 -0.00617984 0.99983526 -0.03436497] [ 0. 0. 0. 1. ]] SLAMing on 30.349928850999994 meters Centerline goodness [0,1] 0.6710221436590784 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.03 [[ 0.99896057 -0.04224315 -0.0171259 0.52221022] [ 0.04234347 0.99908776 0.00553802 -0.1981617 ] [ 0.01687634 -0.00625744 0.999838 -0.0341447 ] [ 0. 0. 0. 1. ]] SLAMing on 30.379928850999995 meters Centerline goodness [0,1] 0.6493775439765775 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.03 [[ 0.99895012 -0.04253636 -0.01700933 0.5216284 ] [ 0.04263633 0.9990752 0.00555832 -0.19876957] [ 0.01675716 -0.0062777 0.99983988 -0.03383962] [ 0. 0. 0. 1. ]] SLAMing on 30.409928850999997 meters Centerline goodness [0,1] 0.6630672628674722 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.03 [[ 0.99894496 -0.04277244 -0.01671803 0.52087275] [ 0.04287155 0.99906481 0.00561596 -0.19960008] [ 0.01646219 -0.00632676 0.99984447 -0.0336836 ] [ 0. 0. 0. 1. ]] SLAMing on 30.439928850999994 meters Centerline goodness [0,1] 0.6633034290745544 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.03 [[ 0.99894291 -0.04284061 -0.01666546 0.52075423] [ 0.04294034 0.99906153 0.00567352 -0.20012489] [ 0.01640677 -0.00638315 0.99984502 -0.0337006 ] [ 0. 0. 0. 1. ]] SLAMing on 30.469928850999995 meters Centerline goodness [0,1] 0.6725407305372155 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.03 [[ 0.99894081 -0.04291381 -0.01660303 0.5206505 ] [ 0.04301382 0.99905814 0.00571434 -0.20050947] [ 0.01634217 -0.00642245 0.99984583 -0.03375602] [ 0. 0. 0. 1. ]] SLAMing on 30.499928850999996 meters Centerline goodness [0,1] 0.6578441835645678 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.03 [[ 0.99894255 -0.04287123 -0.01660832 0.52093 ] [ 0.04297494 0.9990585 0.00593845 -0.2009942 ] [ 0.01633809 -0.00664591 0.99984444 -0.0341518 ] [ 0. 0. 0. 1. ]] SLAMing on 30.529928850999994 meters Centerline goodness [0,1] 0.6609080999099484 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.03 [[ 0.9989389 -0.0429239 -0.01669181 0.52124461] [ 0.04303067 0.99905518 0.00609097 -0.20137878] [ 0.01641459 -0.00680276 0.99984213 -0.03443005] [ 0. 0. 0. 1. ]] SLAMing on 30.559928850999995 meters Centerline goodness [0,1] 0.6670699307334662 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.03 [[ 0.99894044 -0.04293417 -0.01657275 0.52129374] [ 0.04304477 0.9990528 0.00637519 -0.20211587] [ 0.01628334 -0.00708181 0.99984234 -0.03487758] [ 0. 0. 0. 1. ]] SLAMing on 30.589928850999996 meters Centerline goodness [0,1] 0.6640728791041943 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.03 [[ 0.9989411 -0.04294684 -0.01650016 0.52117408] [ 0.04305543 0.99905293 0.00628286 -0.20189208] [ 0.0162147 -0.00698663 0.99984412 -0.03487758] [ 0. 0. 0. 1. ]] SLAMing on 30.619928850999994 meters Centerline goodness [0,1] 0.6600194667996107 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.03 [[ 0.99894747 -0.04273302 -0.01666835 0.52156127] [ 0.04284114 0.99906276 0.00618443 -0.20141026] [ 0.01638845 -0.00689201 0.99984195 -0.03477367] [ 0. 0. 0. 1. ]] SLAMing on 30.649928850999995 meters Centerline goodness [0,1] 0.665068135416172 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.04 [[ 0.99898745 -0.04168875 -0.01691543 0.52281149] [ 0.0417989 0.99910674 0.0062107 -0.19999489] [ 0.01664141 -0.00691145 0.99983763 -0.0350959 ] [ 0. 0. 0. 1. ]] SLAMing on 30.679928850999996 meters Centerline goodness [0,1] 0.6659997141632128 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.04 [[ 0.99900312 -0.04119728 -0.01719164 0.52380598] [ 0.04130735 0.99912788 0.00609747 -0.19857556] [ 0.01692545 -0.00680154 0.99983362 -0.03535454] [ 0. 0. 0. 1. ]] SLAMing on 30.709928850999994 meters Centerline goodness [0,1] 0.6778619749958167 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.04 [[ 0.99901926 -0.04070126 -0.01743323 0.52455772] [ 0.0408098 0.99914942 0.00591623 -0.19695886] [ 0.01717761 -0.00662187 0.99983053 -0.03534079] [ 0. 0. 0. 1. ]] SLAMing on 30.739928850999995 meters Centerline goodness [0,1] 0.6788142898189828 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.04 [[ 0.9991739 -0.03670828 -0.01743641 0.52446546] [ 0.03688295 0.9992715 0.00980354 -0.19646121] [ 0.01706384 -0.01043855 0.99979991 -0.03570489] [ 0. 0. 0. 1. ]] SLAMing on 30.769928850999996 meters Centerline goodness [0,1] 0.6823797529087201 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.04 [[ 0.99918575 -0.03632491 -0.01755939 0.52517756] [ 0.03650162 0.99928505 0.00985018 -0.19589202] [ 0.01718903 -0.01048311 0.9997973 -0.03611179] [ 0. 0. 0. 1. ]] SLAMing on 30.799928850999994 meters Centerline goodness [0,1] 0.6674746214212004 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.04 [[ 0.99920127 -0.03582782 -0.01769723 0.52609734] [ 0.03600804 0.99930175 0.00997172 -0.1954715 ] [ 0.01732761 -0.010601 0.99979367 -0.0366759 ] [ 0. 0. 0. 1. ]] SLAMing on 30.829928850999995 meters Centerline goodness [0,1] 0.6816982489805709 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.04 [[ 0.99921666 -0.03527236 -0.01794223 0.52732589] [ 0.03545623 0.99932085 0.01003494 -0.19473204] [ 0.01757608 -0.01066324 0.99978867 -0.03730666] [ 0. 0. 0. 1. ]] SLAMing on 30.859928850999996 meters Centerline goodness [0,1] 0.6895844888706683 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.04 [[ 0.99935758 -0.03109937 -0.01781143 0.52724771] [ 0.03134629 0.99941392 0.01375596 -0.1934519 ] [ 0.01737319 -0.01430545 0.99974673 -0.0377949 ] [ 0. 0. 0. 1. ]] SLAMing on 30.889928850999993 meters Centerline goodness [0,1] 0.7007407048799381 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.04 [[ 0.99936901 -0.03060259 -0.01802924 0.52790001] [ 0.03084504 0.99943534 0.01332643 -0.19119978] [ 0.01761124 -0.01387413 0.99974864 -0.03758294] [ 0. 0. 0. 1. ]] SLAMing on 30.919928850999995 meters Centerline goodness [0,1] 0.7057796741660202 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.04 [[ 0.99938959 -0.02977345 -0.01827552 0.52895612] [ 0.03001545 0.99946341 0.0131136 -0.18915389] [ 0.01787527 -0.01365415 0.99974699 -0.03761313] [ 0. 0. 0. 1. ]] SLAMing on 30.949928850999996 meters Centerline goodness [0,1] 0.713526428710747 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.04 [[ 0.99952086 -0.02492597 -0.01835075 0.53000436] [ 0.025238 0.99953737 0.01697299 -0.18688248] [ 0.01791919 -0.01742799 0.99968754 -0.03860495] [ 0. 0. 0. 1. ]] SLAMing on 30.979928850999993 meters Centerline goodness [0,1] 0.7150201983106867 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.04 [[ 0.99953912 -0.02390734 -0.01870772 0.53158295] [ 0.02422454 0.9995634 0.01691681 -0.18497205] [ 0.01829512 -0.0173622 0.99968187 -0.03904507] [ 0. 0. 0. 1. ]] SLAMing on 31.009928850999994 meters Centerline goodness [0,1] 0.7282906988140743 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.04 [[ 0.99955367 -0.02302659 -0.01903275 0.53284162] [ 0.02334194 0.9995911 0.01651613 -0.18257195] [ 0.01864466 -0.01695302 0.99968244 -0.03900945] [ 0. 0. 0. 1. ]] SLAMing on 31.039928850999996 meters Centerline goodness [0,1] 0.7318032142330564 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.04 [[ 0.99956654 -0.02223489 -0.01929628 0.53395161] [ 0.02254988 0.99961344 0.01626263 -0.18032942] [ 0.01892722 -0.01669071 0.99968154 -0.03913919] [ 0. 0. 0. 1. ]] SLAMing on 31.069928850999993 meters Centerline goodness [0,1] 0.7463312368972747 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.04 [[ 0.99964893 -0.01815866 -0.01929469 0.53392592] [ 0.01853773 0.999635 0.01965262 -0.17809962] [ 0.01893078 -0.0200034 0.99962067 -0.03921192] [ 0. 0. 0. 1. ]] SLAMing on 31.099928850999994 meters Centerline goodness [0,1] 0.7590167984189723 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.04 [[ 0.99964724 -0.01798229 -0.01954573 0.53441618] [ 0.01835361 0.99965126 0.0189871 -0.17584255] [ 0.01919748 -0.01933914 0.99962866 -0.03878363] [ 0. 0. 0. 1. ]] SLAMing on 31.129928850999995 meters Centerline goodness [0,1] 0.7476779035494019 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.04 [[ 0.99964746 -0.01786754 -0.01963934 0.5346701 ] [ 0.01822971 0.99966414 0.0184195 -0.17371794] [ 0.01930363 -0.01877103 0.99963744 -0.0385431 ] [ 0. 0. 0. 1. ]] SLAMing on 31.159928850999997 meters Centerline goodness [0,1] 0.7480271837893007 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.17, Z:-0.04 [[ 0.99964989 -0.0175085 -0.01983827 0.53545635] [ 0.01786075 0.99968345 0.01772014 -0.1705217 ] [ 0.01952173 -0.01806826 0.99964616 -0.03850925] [ 0. 0. 0. 1. ]] SLAMing on 31.189928850999994 meters Centerline goodness [0,1] 0.7478401593427113 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.17, Z:-0.04 [[ 0.99964865 -0.01755244 -0.01986191 0.53572507] [ 0.01789909 0.99968817 0.01741242 -0.16983997] [ 0.01955008 -0.01776181 0.9996511 -0.03861529] [ 0. 0. 0. 1. ]] SLAMing on 31.219928850999995 meters Centerline goodness [0,1] 0.7478401593427113 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.17, Z:-0.04 [[ 0.99964865 -0.01755244 -0.01986191 0.53572507] [ 0.01789909 0.99968817 0.01741242 -0.16983997] [ 0.01955008 -0.01776181 0.9996511 -0.03861529] [ 0. 0. 0. 1. ]] SLAMing on 31.249928850999996 meters Centerline goodness [0,1] 0.7773252036583538 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.17, Z:-0.04 [[ 0.99964725 -0.01757366 -0.01991323 0.53623385] [ 0.01791865 0.9996901 0.0172806 -0.16925646] [ 0.01960337 -0.01763133 0.99965236 -0.03911256] [ 0. 0. 0. 1. ]] SLAMing on 31.279928850999994 meters Centerline goodness [0,1] 0.737907255646612 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.17, Z:-0.04 [[ 0.99964585 -0.01760988 -0.0199516 0.53668191] [ 0.01795218 0.99969245 0.01710938 -0.16868547] [ 0.01964417 -0.0174615 0.99965454 -0.03952873] [ 0. 0. 0. 1. ]] SLAMing on 31.309928850999995 meters Centerline goodness [0,1] 0.7639273853222464 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.17, Z:-0.04 [[ 0.9996411 -0.01793251 -0.01990209 0.53657161] [ 0.01826638 0.99969331 0.01672214 -0.16799375] [ 0.01959612 -0.01707968 0.99966208 -0.03951839] [ 0. 0. 0. 1. ]] SLAMing on 31.339928850999996 meters Centerline goodness [0,1] 0.7426918163372661 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.04 [[ 0.99962259 -0.01923355 -0.01961479 0.53490794] [ 0.01954418 0.99968462 0.01577002 -0.16677951] [ 0.01930529 -0.01614743 0.99968323 -0.03855322] [ 0. 0. 0. 1. ]] SLAMing on 31.369928850999994 meters Centerline goodness [0,1] 0.7411304870715574 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.04 [[ 0.99961222 -0.02005802 -0.01931559 0.53367304] [ 0.02035265 0.99967762 0.01517965 -0.16637038] [ 0.01900489 -0.01556689 0.9996982 -0.03794989] [ 0. 0. 0. 1. ]] SLAMing on 31.399928850999995 meters Centerline goodness [0,1] 0.7388297205863927 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.04 [[ 0.99959942 -0.02080224 -0.01919023 0.53279611] [ 0.02108687 0.99966882 0.01475116 -0.16643488] [ 0.01887701 -0.01514991 0.99970703 -0.03740218] [ 0. 0. 0. 1. ]] SLAMing on 31.429928850999996 meters Centerline goodness [0,1] 0.731973197319732 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.04 [[ 0.9995878 -0.02157308 -0.01894296 0.53190921] [ 0.02184807 0.99965713 0.01443201 -0.16685825] [ 0.01862512 -0.01483992 0.9997164 -0.03722907] [ 0. 0. 0. 1. ]] SLAMing on 31.459928850999994 meters Centerline goodness [0,1] 0.7121457995256522 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.04 [[ 0.99957875 -0.02213747 -0.01876832 0.53135738] [ 0.02240912 0.99964533 0.01438918 -0.16788254] [ 0.01844312 -0.0148037 0.99972031 -0.03729969] [ 0. 0. 0. 1. ]] SLAMing on 31.489928850999995 meters Centerline goodness [0,1] 0.7001368669901704 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.04 [[ 0.99947037 -0.02658658 -0.01876522 0.5313576 ] [ 0.02677808 0.9995911 0.01002858 -0.16729767] [ 0.01849092 -0.01052576 0.99977362 -0.03701497] [ 0. 0. 0. 1. ]] SLAMing on 31.519928850999996 meters Centerline goodness [0,1] 0.6988990780088968 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.04 [[ 0.99945371 -0.02744643 -0.0184113 0.53007661] [ 0.02762822 0.99957127 0.00969334 -0.16743454] [ 0.01813736 -0.01019671 0.99978351 -0.03667277] [ 0. 0. 0. 1. ]] SLAMing on 31.549928850999994 meters Centerline goodness [0,1] 0.6969893008210998 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.04 [[ 0.99943794 -0.02821217 -0.01810765 0.52892317] [ 0.02838489 0.99955331 0.00935343 -0.16725819] [ 0.01783569 -0.00986215 0.99979229 -0.03625739] [ 0. 0. 0. 1. ]] SLAMing on 31.579928850999995 meters Centerline goodness [0,1] 0.6967412935323383 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.04 [[ 0.99942232 -0.02889943 -0.01788451 0.52789196] [ 0.02906229 0.99953785 0.00891402 -0.16714169] [ 0.01761864 -0.00942864 0.99980032 -0.03567124] [ 0. 0. 0. 1. ]] SLAMing on 31.609928850999996 meters Centerline goodness [0,1] 0.6810856447567728 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.04 [[ 0.99930183 -0.03270792 -0.01805661 0.52874165] [ 0.03280346 0.99944921 0.00502012 -0.16712999] [ 0.01788246 -0.00560894 0.99982436 -0.03576299] [ 0. 0. 0. 1. ]] SLAMing on 31.639928850999993 meters Centerline goodness [0,1] 0.687797619047619 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.04 [[ 0.99929548 -0.03296534 -0.01793987 0.52868712] [ 0.03306245 0.99944005 0.00514341 -0.16798574] [ 0.01776027 -0.00573293 0.99982584 -0.036184 ] [ 0. 0. 0. 1. ]] SLAMing on 31.669928850999995 meters Centerline goodness [0,1] 0.6904460809839074 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.04 [[ 0.99928412 -0.03338082 -0.01780335 0.52853117] [ 0.03347503 0.99942695 0.00501989 -0.16750467] [ 0.01762558 -0.00561227 0.99982891 -0.03654516] [ 0. 0. 0. 1. ]] SLAMing on 31.699928850999996 meters Centerline goodness [0,1] 0.6882800457461091 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.04 [[ 0.99928245 -0.03339148 -0.01787694 0.52877373] [ 0.03348337 0.99942743 0.00486595 -0.1664618 ] [ 0.01770422 -0.00546104 0.99982835 -0.03661313] [ 0. 0. 0. 1. ]] SLAMing on 31.729928850999993 meters Centerline goodness [0,1] 0.6888097964059934 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.04 [[ 0.99928269 -0.03329909 -0.01803518 0.52910298] [ 0.0333862 0.99943216 0.00455091 -0.16495013] [ 0.0178734 -0.00514978 0.999827 -0.03639955] [ 0. 0. 0. 1. ]] SLAMing on 31.759928850999994 meters Centerline goodness [0,1] 0.6879641166209818 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.04 [[ 0.99929008 -0.03293898 -0.01828568 0.52988184] [ 0.03302386 0.99944505 0.00435975 -0.1636986 ] [ 0.01813192 -0.00496052 0.9998233 -0.0364054 ] [ 0. 0. 0. 1. ]] SLAMing on 31.789928850999996 meters Centerline goodness [0,1] 0.689751801441153 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.04 [[ 0.99941245 -0.02902223 -0.01823364 0.52970675] [ 0.02917683 0.99954005 0.00827071 -0.16365622] [ 0.01798521 -0.00879785 0.99979954 -0.03680581] [ 0. 0. 0. 1. ]] SLAMing on 31.819928850999993 meters Centerline goodness [0,1] 0.7005105360628661 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.04 [[ 0.99942284 -0.02845484 -0.01855533 0.53102044] [ 0.02861128 0.99955681 0.0082211 -0.16243941] [ 0.01831318 -0.00874725 0.99979404 -0.03723559] [ 0. 0. 0. 1. ]] SLAMing on 31.849928850999994 meters Centerline goodness [0,1] 0.691958235028362 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.04 [[ 0.99942751 -0.02812424 -0.01880617 0.53179631] [ 0.02827854 0.99956815 0.00798955 -0.16100413] [ 0.01857334 -0.00851679 0.99979123 -0.0372337 ] [ 0. 0. 0. 1. ]] SLAMing on 31.879928850999995 meters Centerline goodness [0,1] 0.7000453217846712 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.04 [[ 0.99942749 -0.0280465 -0.01892318 0.53213917] [ 0.02819785 0.99957209 0.00777941 -0.15964081] [ 0.0186969 -0.00830855 0.99979068 -0.03728512] [ 0. 0. 0. 1. ]] SLAMing on 31.909928850999993 meters Centerline goodness [0,1] 0.7005676800807368 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.04 [[ 0.99942976 -0.02777256 -0.01920515 0.53273289] [ 0.02791811 0.99958317 0.00735228 -0.15806194] [ 0.01899295 -0.00788426 0.99978853 -0.03683211] [ 0. 0. 0. 1. ]] SLAMing on 31.939928850999994 meters Centerline goodness [0,1] 0.7003240834514888 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.04 [[ 0.99942935 -0.02774841 -0.01926136 0.53279819] [ 0.02789085 0.99958529 0.00716601 -0.15740993] [ 0.01905453 -0.00769913 0.9997888 -0.03664932] [ 0. 0. 0. 1. ]] SLAMing on 31.969928850999995 meters Centerline goodness [0,1] 0.7077079623505469 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.04 [[ 0.99942916 -0.02767748 -0.01937276 0.5330181 ] [ 0.02781537 0.99958937 0.00688484 -0.1565018 ] [ 0.01917425 -0.00741977 0.99978863 -0.03644917] [ 0. 0. 0. 1. ]] SLAMing on 31.999928850999996 meters Centerline goodness [0,1] 0.7137075219549447 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.04 [[ 0.99943507 -0.02749194 -0.01933221 0.53322081] [ 0.0276235 0.9995968 0.00657148 -0.15513882] [ 0.01914375 -0.00710179 0.99979152 -0.03644999] [ 0. 0. 0. 1. ]] SLAMing on 32.029928851 meters Centerline goodness [0,1] 0.7083799450828842 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.04 [[ 0.99943409 -0.02747701 -0.01940386 0.53343357] [ 0.02760624 0.99959823 0.00642385 -0.15448537] [ 0.01921955 -0.00695588 0.99979109 -0.03642348] [ 0. 0. 0. 1. ]] SLAMing on 32.059928850999995 meters Centerline goodness [0,1] 0.7151226470363483 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.04 [[ 0.99943113 -0.02755478 -0.01944618 0.53362875] [ 0.02768237 0.99959677 0.00632325 -0.15378385] [ 0.0192641 -0.00685797 0.99979091 -0.03659622] [ 0. 0. 0. 1. ]] SLAMing on 32.089928850999996 meters Centerline goodness [0,1] 0.7138741586783601 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.04 [[ 0.99943039 -0.02748983 -0.01957537 0.53403995] [ 0.02761845 0.99959849 0.00633082 -0.15338882] [ 0.01939347 -0.00686786 0.99978834 -0.03672773] [ 0. 0. 0. 1. ]] SLAMing on 32.119928851 meters Centerline goodness [0,1] 0.7120922284285969 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.04 [[ 0.9994269 -0.02756629 -0.01964639 0.53441674] [ 0.02769668 0.99959591 0.00639596 -0.15337025] [ 0.01946214 -0.00693644 0.99978653 -0.03709557] [ 0. 0. 0. 1. ]] SLAMing on 32.149928851 meters Centerline goodness [0,1] 0.726060296371998 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.04 [[ 0.999426 -0.02762612 -0.01960792 0.53445275] [ 0.02775899 0.99959327 0.00653716 -0.15400724] [ 0.01941934 -0.0070777 0.99978637 -0.03730614] [ 0. 0. 0. 1. ]] SLAMing on 32.179928851 meters Centerline goodness [0,1] 0.7136843716516148 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.04 [[ 0.99941991 -0.02791799 -0.01950482 0.53416238] [ 0.02804938 0.99958544 0.0064954 -0.15459776] [ 0.0193154 -0.00703873 0.99978866 -0.037301 ] [ 0. 0. 0. 1. ]] SLAMing on 32.209928851 meters Centerline goodness [0,1] 0.7046150704512968 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.04 [[ 0.99940447 -0.02876268 -0.0190633 0.53275461] [ 0.0288849 0.99956372 0.00616699 -0.15485523] [ 0.01887761 -0.00671396 0.99979926 -0.03701926] [ 0. 0. 0. 1. ]] SLAMing on 32.239928850999995 meters Centerline goodness [0,1] 0.6982975799679365 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.04 [[ 0.99940038 -0.02890304 -0.01906577 0.53288283] [ 0.02902674 0.99955914 0.00624343 -0.15530693] [ 0.01887691 -0.00679311 0.99979874 -0.0372319 ] [ 0. 0. 0. 1. ]] SLAMing on 32.269928850999996 meters Centerline goodness [0,1] 0.7092028911737758 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.04 [[ 0.99939262 -0.02930902 -0.01885157 0.53230781] [ 0.02943025 0.9995477 0.00618574 -0.15551747] [ 0.01866174 -0.00673679 0.99980316 -0.03726128] [ 0. 0. 0. 1. ]] SLAMing on 32.299928851 meters Centerline goodness [0,1] 0.7047389150044467 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.04 [[ 0.99936943 -0.030448 -0.01826648 0.53020681] [ 0.03055437 0.99951757 0.00557258 -0.15561764] [ 0.01808799 -0.00612718 0.99981762 -0.03643159] [ 0. 0. 0. 1. ]] SLAMing on 32.329928851 meters Centerline goodness [0,1] 0.7045703095195707 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.04 [[ 0.99936389 -0.03078761 -0.01799829 0.52944471] [ 0.03089141 0.99950752 0.00551773 -0.15606838] [ 0.01781955 -0.00607021 0.99982279 -0.03631812] [ 0. 0. 0. 1. ]] SLAMing on 32.359928851 meters Centerline goodness [0,1] 0.6985217677933011 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.04 [[ 0.9993574 -0.03116044 -0.01771475 0.52888715] [ 0.0312624 0.99949604 0.00550766 -0.15663469] [ 0.0175342 -0.00605793 0.99982791 -0.03650473] [ 0. 0. 0. 1. ]] SLAMing on 32.389928851 meters Centerline goodness [0,1] 0.693527950940145 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.04 [[ 0.99935194 -0.03142166 -0.01756097 0.52853279] [ 0.03152412 0.99948737 0.0055888 -0.15731621] [ 0.01737636 -0.00613877 0.99983017 -0.0366174 ] [ 0. 0. 0. 1. ]] SLAMing on 32.419928851 meters Centerline goodness [0,1] 0.6903251888723249 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.04 [[ 0.99933151 -0.03223551 -0.01724523 0.52779181] [ 0.03233637 0.99946134 0.00560211 -0.15822637] [ 0.01705535 -0.00615601 0.9998356 -0.03704218] [ 0. 0. 0. 1. ]] SLAMing on 32.449928850999996 meters Centerline goodness [0,1] 0.6852889711662821 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.04 [[ 0.99932355 -0.03263437 -0.01695426 0.52718897] [ 0.0327355 0.99944767 0.00572181 -0.15897364] [ 0.01675817 -0.00627295 0.99983989 -0.03736212] [ 0. 0. 0. 1. ]] SLAMing on 32.479928851 meters Centerline goodness [0,1] 0.6996816413158826 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.04 [[ 0.99931834 -0.03289166 -0.01676283 0.52687803] [ 0.03299574 0.99943766 0.00597105 -0.16010478] [ 0.01655701 -0.00652009 0.99984166 -0.03773257] [ 0. 0. 0. 1. ]] SLAMing on 32.509928851 meters Centerline goodness [0,1] 0.6875868867376084 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.04 [[ 0.99930748 -0.0333565 -0.01648958 0.52622939] [ 0.03346082 0.99942147 0.00609142 -0.16131539] [ 0.01627686 -0.00663896 0.99984548 -0.03790966] [ 0. 0. 0. 1. ]] SLAMing on 32.539928851 meters Centerline goodness [0,1] 0.6830686365810072 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.04 [[ 0.99926878 -0.03465102 -0.01616193 0.52478993] [ 0.03474946 0.99937893 0.0058501 -0.16297772] [ 0.01594918 -0.00640744 0.99985227 -0.03760821] [ 0. 0. 0. 1. ]] SLAMing on 32.569928851 meters Centerline goodness [0,1] 0.6751056976041876 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.04 [[ 0.99925497 -0.03517889 -0.01587266 0.52375075] [ 0.03527191 0.99936196 0.00561872 -0.16305642] [ 0.01566487 -0.00617439 0.99985823 -0.03719666] [ 0. 0. 0. 1. ]] SLAMing on 32.599928851 meters Centerline goodness [0,1] 0.6820854271356784 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.04 [[ 0.9992428 -0.03564349 -0.01560028 0.52288449] [ 0.03573153 0.99934683 0.00540133 -0.16303455] [ 0.01539756 -0.00595466 0.99986372 -0.03694825] [ 0. 0. 0. 1. ]] SLAMing on 32.629928850999995 meters Centerline goodness [0,1] 0.6833287212900304 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.04 [[ 0.99923476 -0.03593736 -0.01543997 0.5223036 ] [ 0.03602201 0.99933726 0.00523954 -0.16320493] [ 0.01524144 -0.00579171 0.99986707 -0.03664652] [ 0. 0. 0. 1. ]] SLAMing on 32.659928851 meters Centerline goodness [0,1] 0.6618253090762891 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.04 [[ 0.99922281 -0.03641574 -0.01508867 0.52136474] [ 0.03649678 0.9993206 0.00513062 -0.16407314] [ 0.01489158 -0.00567732 0.999873 -0.03655255] [ 0. 0. 0. 1. ]] SLAMing on 32.689928851 meters Centerline goodness [0,1] 0.6748731535404534 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.04 [[ 0.99922347 -0.03646295 -0.01493012 0.52123665] [ 0.03654569 0.99931789 0.00530675 -0.16497486] [ 0.01472644 -0.00584826 0.99987446 -0.03686211] [ 0. 0. 0. 1. ]] SLAMing on 32.719928851 meters Centerline goodness [0,1] 0.6728432108027007 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.04 [[ 0.99921736 -0.03669756 -0.01476344 0.52088057] [ 0.03677967 0.99930919 0.00532914 -0.16546022] [ 0.01455767 -0.00586796 0.99987681 -0.03694452] [ 0. 0. 0. 1. ]] SLAMing on 32.749928851 meters Centerline goodness [0,1] 0.6599016607295168 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.04 [[ 0.99919809 -0.03737455 -0.01436351 0.51958468] [ 0.0374499 0.99928593 0.00501333 -0.16515761] [ 0.01416588 -0.00554722 0.99988427 -0.03651743] [ 0. 0. 0. 1. ]] SLAMing on 32.779928851 meters Centerline goodness [0,1] 0.6675688544720948 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.04 [[ 0.9991973 -0.03742694 -0.01428183 0.51945069] [ 0.03750066 0.99928445 0.00492908 -0.16470125] [ 0.01408713 -0.0054607 0.99988586 -0.03646914] [ 0. 0. 0. 1. ]] SLAMing on 32.809928850999995 meters Centerline goodness [0,1] 0.6664492335482577 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.04 [[ 0.99920098 -0.03734646 -0.01423529 0.51972695] [ 0.03742129 0.99928694 0.00502646 -0.16450086] [ 0.01403742 -0.00555514 0.99988604 -0.03690368] [ 0. 0. 0. 1. ]] SLAMing on 32.839928850999996 meters Centerline goodness [0,1] 0.6734652918893154 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.04 [[ 0.99921027 -0.03709517 -0.01424012 0.52027001] [ 0.03717384 0.99929476 0.00529942 -0.1649378 ] [ 0.01403349 -0.00582459 0.99988456 -0.03753672] [ 0. 0. 0. 1. ]] SLAMing on 32.869928851 meters Centerline goodness [0,1] 0.661595621830597 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.04 [[ 0.9992231 -0.03679785 -0.01411087 0.52112542] [ 0.03688416 0.9993021 0.00590555 -0.1665149 ] [ 0.01388371 -0.00642143 0.999883 -0.03902656] [ 0. 0. 0. 1. ]] SLAMing on 32.899928851 meters Centerline goodness [0,1] 0.6588987833939546 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.04 [[ 0.99921981 -0.0369153 -0.01403684 0.52116665] [ 0.03700075 0.99929795 0.00587784 -0.16646881] [ 0.01381 -0.00639263 0.9998842 -0.03928715] [ 0. 0. 0. 1. ]] SLAMing on 32.929928851 meters Centerline goodness [0,1] 0.6728922628324367 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.04 [[ 0.99921766 -0.03697536 -0.01403206 0.52125447] [ 0.03705976 0.9992962 0.00580339 -0.16625964] [ 0.0138076 -0.00631888 0.9998847 -0.0393479 ] [ 0. 0. 0. 1. ]] SLAMing on 32.959928851 meters Centerline goodness [0,1] 0.6673374418312161 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.04 [[ 0.99921385 -0.03712004 -0.01392047 0.52103225] [ 0.03720196 0.99929167 0.00567239 -0.16580778] [ 0.01370005 -0.00618579 0.99988702 -0.03934162] [ 0. 0. 0. 1. ]] SLAMing on 32.989928850999995 meters Centerline goodness [0,1] 0.6585488199443204 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.04 [[ 0.99920951 -0.0373463 -0.01362416 0.52037931] [ 0.03742286 0.99928488 0.00540852 -0.16550422] [ 0.01341243 -0.0059141 0.99989256 -0.03916238] [ 0. 0. 0. 1. ]] SLAMing on 33.019928850999996 meters Centerline goodness [0,1] 0.6534092333926824 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.04 [[ 0.99921165 -0.03733126 -0.01350745 0.52020544] [ 0.03740746 0.99928532 0.00543338 -0.16577487] [ 0.01329496 -0.00593437 0.99989401 -0.03918386] [ 0. 0. 0. 1. ]] SLAMing on 33.049928851 meters Centerline goodness [0,1] 0.664817313940121 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.04 [[ 0.99920688 -0.03755295 -0.01324331 0.5196008 ] [ 0.03762746 0.99927713 0.00542231 -0.16662669] [ 0.01303011 -0.00591633 0.9998976 -0.03911877] [ 0. 0. 0. 1. ]] SLAMing on 33.079928851 meters Centerline goodness [0,1] 0.6465945702939634 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.04 [[ 0.999201 -0.03780708 -0.01296083 0.5189218 ] [ 0.03787859 0.9992682 0.00531672 -0.16681148] [ 0.01275034 -0.00580341 0.99990187 -0.03903562] [ 0. 0. 0. 1. ]] SLAMing on 33.109928851 meters Centerline goodness [0,1] 0.6632517928087753 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.04 [[ 0.9991988 -0.03792929 -0.01277232 0.51851547] [ 0.03800014 0.99926341 0.00535072 -0.16709943] [ 0.01255996 -0.00583179 0.99990411 -0.03903553] [ 0. 0. 0. 1. ]] SLAMing on 33.139928851 meters Centerline goodness [0,1] 0.6631265930331351 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.04 [[ 0.99919812 -0.03799152 -0.01263982 0.5182808 ] [ 0.03806251 0.99926064 0.00542394 -0.16756665] [ 0.01242441 -0.0059007 0.9999054 -0.03908535] [ 0. 0. 0. 1. ]] SLAMing on 33.169928850999995 meters Centerline goodness [0,1] 0.6631265930331351 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.04 [[ 0.99919812 -0.03799152 -0.01263982 0.5182808 ] [ 0.03806251 0.99926064 0.00542394 -0.16756665] [ 0.01242441 -0.0059007 0.9999054 -0.03908535] [ 0. 0. 0. 1. ]] SLAMing on 33.199928850999996 meters Centerline goodness [0,1] 0.6598683554403111 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.04 [[ 0.99919725 -0.03807803 -0.01244643 0.5183106 ] [ 0.03815313 0.99925476 0.00585352 -0.16886813] [ 0.01221426 -0.00632369 0.99990541 -0.03986383] [ 0. 0. 0. 1. ]] SLAMing on 33.229928851 meters Centerline goodness [0,1] 0.6603204664955519 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.04 [[ 0.99920236 -0.03800709 -0.01225137 0.51833503] [ 0.03808547 0.99925507 0.00622903 -0.16984764] [ 0.0120055 -0.00669066 0.99990555 -0.04045602] [ 0. 0. 0. 1. ]] SLAMing on 33.259928851 meters Centerline goodness [0,1] 0.6521501094963169 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.04 [[ 0.99920093 -0.03806916 -0.01217526 0.51827319] [ 0.03814835 0.99925197 0.00633996 -0.17054001] [ 0.0119248 -0.00679936 0.99990578 -0.04059999] [ 0. 0. 0. 1. ]] SLAMing on 33.289928851 meters Centerline goodness [0,1] 0.6528458724272665 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.04 [[ 0.99920423 -0.03801569 -0.01207126 0.51834103] [ 0.03809748 0.9992521 0.00661968 -0.17156943] [ 0.01181058 -0.0070743 0.99990523 -0.04096381] [ 0. 0. 0. 1. ]] SLAMing on 33.319928851 meters Centerline goodness [0,1] 0.6564319877084728 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.04 [[ 0.99920543 -0.03800371 -0.01200952 0.51853736] [ 0.03808841 0.99925052 0.00690437 -0.17272614] [ 0.01173813 -0.00735631 0.99990405 -0.04143076] [ 0. 0. 0. 1. ]] SLAMing on 33.349928851 meters Centerline goodness [0,1] 0.6558660325009908 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.04 [[ 0.99919539 -0.03835501 -0.0117246 0.51777827] [ 0.03843894 0.9992363 0.00701907 -0.17424067] [ 0.01144643 -0.0074641 0.99990663 -0.04137151] [ 0. 0. 0. 1. ]] SLAMing on 33.379928850999995 meters Centerline goodness [0,1] 0.6488496628322095 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.04 [[ 0.99919268 -0.03846065 -0.01160912 0.5174315 ] [ 0.03854411 0.99923201 0.00705313 -0.17450707] [ 0.01132893 -0.0074949 0.99990774 -0.04125482] [ 0. 0. 0. 1. ]] SLAMing on 33.409928851 meters Centerline goodness [0,1] 0.6541098433284658 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.04 [[ 0.999194 -0.03840296 -0.01168633 0.51781955] [ 0.03848902 0.99923286 0.00723063 -0.1751748 ] [ 0.01139969 -0.0076746 0.99990557 -0.04155346] [ 0. 0. 0. 1. ]] SLAMing on 33.439928851 meters Centerline goodness [0,1] 0.6567193724791527 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.04 [[ 0.99919757 -0.0383259 -0.01163376 0.51793276] [ 0.03841302 0.99923484 0.00735996 -0.17567297] [ 0.01134278 -0.00780094 0.99990524 -0.04177187] [ 0. 0. 0. 1. ]] SLAMing on 33.469928851 meters Centerline goodness [0,1] 0.6485234367257953 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.04 [[ 0.99919617 -0.03840225 -0.01150125 0.51777861] [ 0.03848863 0.99923174 0.00738567 -0.17587342] [ 0.01120878 -0.0078224 0.99990658 -0.04198081] [ 0. 0. 0. 1. ]] SLAMing on 33.499928851 meters Centerline goodness [0,1] 0.6538585408150626 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.04 [[ 0.99919984 -0.03832661 -0.01143477 0.51788015] [ 0.03841351 0.99923394 0.007479 -0.17608124] [ 0.01113937 -0.00791227 0.99990665 -0.04223853] [ 0. 0. 0. 1. ]] SLAMing on 33.529928851 meters Centerline goodness [0,1] 0.6505946799585451 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.04 [[ 0.99919748 -0.03841874 -0.01133096 0.51778209] [ 0.0385047 0.99923051 0.00746807 -0.17643519] [ 0.01103533 -0.00789838 0.99990791 -0.04237411] [ 0. 0. 0. 1. ]] SLAMing on 33.559928850999995 meters Centerline goodness [0,1] 0.6528209684584629 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.04 [[ 0.99919877 -0.03841331 -0.01123514 0.51765637] [ 0.03849882 0.99923053 0.00749604 -0.17671685] [ 0.01093855 -0.00792258 0.99990879 -0.04242876] [ 0. 0. 0. 1. ]] SLAMing on 33.589928850999996 meters Centerline goodness [0,1] 0.6501505949735842 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.04 [[ 0.99919962 -0.03840358 -0.01119313 0.51757084] [ 0.0384887 0.99923096 0.00749059 -0.17682803] [ 0.01089686 -0.0079154 0.9999093 -0.04236081] [ 0. 0. 0. 1. ]] SLAMing on 33.619928851 meters Centerline goodness [0,1] 0.6507975641626192 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.04 [[ 0.99920418 -0.03831763 -0.01108013 0.51753835] [ 0.03840253 0.9992338 0.00755377 -0.1770481 ] [ 0.01078219 -0.00797326 0.99991008 -0.04250941] [ 0. 0. 0. 1. ]] SLAMing on 33.649928851 meters Centerline goodness [0,1] 0.6460663086851569 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.04 [[ 0.99921529 -0.03799599 -0.0111854 0.51808488] [ 0.0380845 0.99924401 0.00780917 -0.17728323] [ 0.01088023 -0.00822904 0.99990695 -0.04283847] [ 0. 0. 0. 1. ]] SLAMing on 33.679928851 meters Centerline goodness [0,1] 0.6544485829160602 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.04 [[ 0.99922208 -0.03782506 -0.01115828 0.51836211] [ 0.03791525 0.99924906 0.00798471 -0.1773312 ] [ 0.01084787 -0.00840157 0.99990586 -0.04323363] [ 0. 0. 0. 1. ]] SLAMing on 33.709928851 meters Centerline goodness [0,1] 0.6550952123210156 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.04 [[ 0.99922966 -0.03759141 -0.0112685 0.51898086] [ 0.03768314 0.99925738 0.00804154 -0.17710272] [ 0.01095784 -0.00845997 0.99990417 -0.04356804] [ 0. 0. 0. 1. ]] SLAMing on 33.739928850999995 meters Centerline goodness [0,1] 0.6561250185157754 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.04 [[ 0.99925687 -0.0367619 -0.01158769 0.52050499] [ 0.03686184 0.99928394 0.00853264 -0.17726675] [ 0.01126571 -0.00895344 0.99989645 -0.04444947] [ 0. 0. 0. 1. ]] SLAMing on 33.769928850999996 meters Centerline goodness [0,1] 0.6547308279564596 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.04 [[ 0.99926542 -0.0364984 -0.01168259 0.52109621] [ 0.03660169 0.9992916 0.00875272 -0.17780973] [ 0.01135486 -0.00917389 0.99989345 -0.04482177] [ 0. 0. 0. 1. ]] SLAMing on 33.799928851 meters Centerline goodness [0,1] 0.6530828326602974 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.05 [[ 0.99927303 -0.03625597 -0.01178661 0.5216335 ] [ 0.03636357 0.99929768 0.00904692 -0.17838278] [ 0.01145033 -0.00946894 0.99988961 -0.04519629] [ 0. 0. 0. 1. ]] SLAMing on 33.829928851 meters Centerline goodness [0,1] 0.6537003299029986 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.05 [[ 0.99927636 -0.03617947 -0.01173921 0.52162013] [ 0.03628773 0.99929956 0.00914321 -0.17875607] [ 0.01140019 -0.00956258 0.99988929 -0.04527165] [ 0. 0. 0. 1. ]] SLAMing on 33.859928851 meters Centerline goodness [0,1] 0.6538092543848859 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.05 [[ 0.99928109 -0.03600941 -0.01185861 0.52186038] [ 0.03612115 0.9993037 0.00934724 -0.17940796] [ 0.01151376 -0.00976887 0.99988599 -0.04520641] [ 0. 0. 0. 1. ]] SLAMing on 33.889928851 meters Centerline goodness [0,1] 0.6527944969905417 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.05 [[ 0.99928208 -0.03598428 -0.01185157 0.52183407] [ 0.03609575 0.99930478 0.00933024 -0.17940345] [ 0.01150759 -0.00975133 0.99988624 -0.04514435] [ 0. 0. 0. 1. ]] SLAMing on 33.919928850999995 meters Centerline goodness [0,1] 0.6475381670021109 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.05 [[ 0.99928647 -0.03584711 -0.01189673 0.52207314] [ 0.03596019 0.99930872 0.00943139 -0.17976764] [ 0.01155042 -0.00985247 0.99988475 -0.04523106] [ 0. 0. 0. 1. ]] SLAMing on 33.949928850999996 meters Centerline goodness [0,1] 0.6546760819821371 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.05 [[ 0.99928615 -0.03587204 -0.0118483 0.52203945] [ 0.03598479 0.99930771 0.00944398 -0.17988678] [ 0.01150133 -0.00986359 0.99988521 -0.04531627] [ 0. 0. 0. 1. ]] SLAMing on 33.979928851 meters Centerline goodness [0,1] 0.6551572142227446 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.05 [[ 0.99927971 -0.03605398 -0.01183915 0.5218881 ] [ 0.03616582 0.99930185 0.0093725 -0.18030152] [ 0.01149297 -0.00979392 0.99988599 -0.04513727] [ 0. 0. 0. 1. ]] SLAMing on 34.009928851 meters Centerline goodness [0,1] 0.6534189815382352 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.05 [[ 0.99927585 -0.03617061 -0.01180905 0.52179585] [ 0.03628217 0.99929763 0.00937309 -0.18054285] [ 0.01146173 -0.00979476 0.99988634 -0.04512601] [ 0. 0. 0. 1. ]] SLAMing on 34.039928851 meters Centerline goodness [0,1] 0.6519809747965088 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.05 [[ 0.99927269 -0.03630852 -0.0116522 0.52161064] [ 0.03641903 0.99929225 0.00941596 -0.18104556] [ 0.01130207 -0.00983347 0.99988778 -0.04533716] [ 0. 0. 0. 1. ]] SLAMing on 34.069928851 meters Centerline goodness [0,1] 0.6474654940759741 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.05 [[ 0.9992671 -0.03649166 -0.01155951 0.52179116] [ 0.03660563 0.99928168 0.00980618 -0.18329619] [ 0.01119337 -0.01022214 0.9998851 -0.04603303] [ 0. 0. 0. 1. ]] SLAMing on 34.099928851 meters Centerline goodness [0,1] 0.6511928574913401 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.05 [[ 0.99926345 -0.03662741 -0.01144483 0.52159596] [ 0.03674205 0.99927503 0.00997211 -0.1843846 ] [ 0.01107128 -0.01038527 0.99988478 -0.04616193] [ 0. 0. 0. 1. ]] SLAMing on 34.129928850999995 meters Centerline goodness [0,1] 0.6540375701390584 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.05 [[ 0.99925435 -0.03688401 -0.0114152 0.52142235] [ 0.03699636 0.99926742 0.00979235 -0.18447184] [ 0.01104565 -0.01020737 0.9998869 -0.04600493] [ 0. 0. 0. 1. ]] SLAMing on 34.159928851 meters Centerline goodness [0,1] 0.6580591623547789 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.05 [[ 0.99924942 -0.03704445 -0.01132699 0.52113676] [ 0.03715393 0.99926332 0.00961257 -0.18410837] [ 0.01096255 -0.01002619 0.99988964 -0.04585348] [ 0. 0. 0. 1. ]] SLAMing on 34.189928851 meters Centerline goodness [0,1] 0.654284600769718 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.18, Z:-0.05 [[ 0.99925216 -0.03696625 -0.01134129 0.52147526] [ 0.03707759 0.99926464 0.00976899 -0.18444226] [ 0.01097182 -0.0101822 0.99988796 -0.04625522] [ 0. 0. 0. 1. ]] SLAMing on 34.219928851 meters Centerline goodness [0,1] 0.6526663749939234 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.05 [[ 0.99925389 -0.0369079 -0.01137845 0.5218119 ] [ 0.03702181 0.99926474 0.00996796 -0.18523069] [ 0.01100219 -0.01038178 0.99988558 -0.04662043] [ 0. 0. 0. 1. ]] SLAMing on 34.249928851 meters Centerline goodness [0,1] 0.6527275814393481 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.05 [[ 0.99925385 -0.03692296 -0.01133341 0.52191287] [ 0.03703775 0.99926292 0.01009067 -0.18604789] [ 0.01095248 -0.0105029 0.99988486 -0.04681294] [ 0. 0. 0. 1. ]] SLAMing on 34.279928851 meters Centerline goodness [0,1] 0.6550040090385596 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.05 [[ 0.99924969 -0.03708162 -0.01118044 0.52154978] [ 0.03719574 0.99925616 0.01017817 -0.18669108] [ 0.0107947 -0.0105864 0.99988569 -0.04681144] [ 0. 0. 0. 1. ]] SLAMing on 34.309928850999995 meters Centerline goodness [0,1] 0.6519143980200903 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.05 [[ 0.99922941 -0.03769819 -0.0109283 0.52025153] [ 0.0378062 0.99923653 0.00985101 -0.18711291] [ 0.01054859 -0.01025658 0.99989176 -0.04589857] [ 0. 0. 0. 1. ]] SLAMing on 34.339928850999996 meters Centerline goodness [0,1] 0.6454849498327759 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.05 [[ 0.99922338 -0.03790619 -0.01075869 0.51982956] [ 0.03801258 0.99922859 0.00986292 -0.18751493] [ 0.01037653 -0.01026423 0.99989348 -0.04588017] [ 0. 0. 0. 1. ]] SLAMing on 34.369928851 meters Centerline goodness [0,1] 0.6471898145906956 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.05 [[ 0.99922197 -0.03795492 -0.01071854 0.51978453] [ 0.03806237 0.99922527 0.01000534 -0.18850933] [ 0.01033049 -0.01040553 0.9998925 -0.04592061] [ 0. 0. 0. 1. ]] SLAMing on 34.399928851 meters Centerline goodness [0,1] 0.6515521198212344 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.05 [[ 0.99922198 -0.03797907 -0.01063164 0.51986313] [ 0.03808798 0.99922196 0.010236 -0.18960979] [ 0.01023461 -0.01063297 0.99989109 -0.04628043] [ 0. 0. 0. 1. ]] SLAMing on 34.429928851 meters Centerline goodness [0,1] 0.6503167987665326 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.05 [[ 0.9992129 -0.03825772 -0.01048448 0.51955111] [ 0.03836726 0.99920902 0.01045361 -0.19123266] [ 0.01007626 -0.01084764 0.99989039 -0.04641984] [ 0. 0. 0. 1. ]] SLAMing on 34.459928851 meters Centerline goodness [0,1] 0.6322495183044317 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.05 [[ 0.99920911 -0.03840014 -0.0103244 0.51932597] [ 0.03850922 0.99920221 0.0105818 -0.19214024] [ 0.00990983 -0.01097101 0.99989071 -0.04656822] [ 0. 0. 0. 1. ]] SLAMing on 34.489928850999995 meters Centerline goodness [0,1] 0.6485318479748385 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.05 [[ 0.99920838 -0.03843598 -0.01026058 0.51936043] [ 0.03854524 0.99919986 0.01067232 -0.19273794] [ 0.00984217 -0.01105936 0.99989041 -0.04675195] [ 0. 0. 0. 1. ]] SLAMing on 34.519928850999996 meters Centerline goodness [0,1] 0.6466381228024015 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.05 [[ 0.99920687 -0.03843808 -0.01039911 0.51960272] [ 0.03854909 0.99919948 0.01069461 -0.19322706] [ 0.00997971 -0.01108701 0.99988874 -0.04664882] [ 0. 0. 0. 1. ]] SLAMing on 34.549928851 meters Centerline goodness [0,1] 0.64997606510292 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.05 [[ 0.99921794 -0.03811465 -0.01052514 0.5201039 ] [ 0.03823016 0.9992084 0.01100137 -0.19373933] [ 0.01009749 -0.01139514 0.99988409 -0.0469073 ] [ 0. 0. 0. 1. ]] SLAMing on 34.579928851 meters Centerline goodness [0,1] 0.6462046362527212 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.05 [[ 0.99925031 -0.03717522 -0.01080804 0.52138486] [ 0.03729833 0.99923891 0.01142079 -0.19369394] [ 0.01037525 -0.01181535 0.99987637 -0.04731752] [ 0. 0. 0. 1. ]] SLAMing on 34.609928851 meters Centerline goodness [0,1] 0.648226916459568 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.05 [[ 0.99926137 -0.03681683 -0.01101073 0.52198921] [ 0.03694142 0.99925316 0.01133379 -0.19284408] [ 0.01058523 -0.01173217 0.99987515 -0.04729728] [ 0. 0. 0. 1. ]] SLAMing on 34.639928851 meters Centerline goodness [0,1] 0.6537559247378752 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.05 [[ 0.99927985 -0.03622178 -0.01130343 0.52290045] [ 0.03635038 0.99927423 0.01138705 -0.19203467] [ 0.01088276 -0.01178974 0.99987128 -0.0473202 ] [ 0. 0. 0. 1. ]] SLAMing on 34.669928850999995 meters Centerline goodness [0,1] 0.6585559185242121 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.05 [[ 0.99942413 -0.03191984 -0.01151183 0.52346554] [ 0.03209596 0.99936533 0.01545274 -0.19227824] [ 0.01101128 -0.01581332 0.99981433 -0.04771111] [ 0. 0. 0. 1. ]] SLAMing on 34.699928850999996 meters Centerline goodness [0,1] 0.6596847333189376 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.19, Z:-0.05 [[ 0.99944086 -0.03126388 -0.01185454 0.52471025] [ 0.03144811 0.99938228 0.01568677 -0.19198512] [ 0.01135678 -0.0160508 0.99980668 -0.04813317] [ 0. 0. 0. 1. ]] SLAMing on 34.729928851 meters Centerline goodness [0,1] 0.6586344416682683 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.05 [[ 0.99945288 -0.03071485 -0.01226913 0.52598837] [ 0.03090794 0.99939622 0.01587128 -0.19182263] [ 0.01177424 -0.01624181 0.99979877 -0.04845569] [ 0. 0. 0. 1. ]] SLAMing on 34.759928851 meters Centerline goodness [0,1] 0.6614852365278812 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.05 [[ 0.99948375 -0.02956329 -0.01257991 0.52734053] [ 0.02976615 0.99942468 0.01625666 -0.19164891] [ 0.01209208 -0.01662272 0.99978871 -0.04874318] [ 0. 0. 0. 1. ]] SLAMing on 34.789928851 meters Centerline goodness [0,1] 0.6614785992217899 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.05 [[ 0.99948723 -0.02937196 -0.01274976 0.52772019] [ 0.02957601 0.99943251 0.01612208 -0.19092157] [ 0.01226899 -0.0164909 0.99978874 -0.04860971] [ 0. 0. 0. 1. ]] SLAMing on 34.819928851 meters Centerline goodness [0,1] 0.6617986164488855 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.05 [[ 0.99949011 -0.02920938 -0.01289719 0.52782792] [ 0.02941296 0.99944107 0.01588774 -0.19011216] [ 0.01242591 -0.01625899 0.9997906 -0.04808228] [ 0. 0. 0. 1. ]] SLAMing on 34.849928850999994 meters Centerline goodness [0,1] 0.6642600143919405 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.05 [[ 0.99949175 -0.02909606 -0.01302518 0.52804065] [ 0.02929929 0.99944747 0.01569407 -0.1896775 ] [ 0.01256135 -0.01606773 0.999792 -0.04776712] [ 0. 0. 0. 1. ]] SLAMing on 34.879928850999995 meters Centerline goodness [0,1] 0.6680536848181644 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.05 [[ 0.99949318 -0.0290158 -0.01309454 0.52812117] [ 0.0292195 0.99945062 0.01564248 -0.18977421] [ 0.01263347 -0.01601717 0.9997919 -0.04754998] [ 0. 0. 0. 1. ]] SLAMing on 34.909928851 meters Centerline goodness [0,1] 0.6687823337804177 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.05 [[ 0.99949771 -0.0287892 -0.01324837 0.52864924] [ 0.02900107 0.99944991 0.01608791 -0.19207972] [ 0.01277793 -0.01646405 0.99978281 -0.0477188 ] [ 0. 0. 0. 1. ]] SLAMing on 34.939928851 meters Centerline goodness [0,1] 0.6690888230232336 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.05 [[ 0.99949277 -0.02896353 -0.01324073 0.52840743] [ 0.02917559 0.99944442 0.01611319 -0.19325208] [ 0.01276668 -0.01649133 0.9997825 -0.0474371 ] [ 0. 0. 0. 1. ]] SLAMing on 34.969928851 meters Centerline goodness [0,1] 0.6652448468962231 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.05 [[ 0.99947582 -0.02961109 -0.01308662 0.52735519] [ 0.02981827 0.99942838 0.01593078 -0.19449456] [ 0.01260741 -0.01631265 0.99978745 -0.04666019] [ 0. 0. 0. 1. ]] SLAMing on 34.999928851 meters Centerline goodness [0,1] 0.6696979074916085 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.05 [[ 0.99946959 -0.02979819 -0.01313788 0.52713258] [ 0.03000582 0.99942324 0.01590087 -0.1952265 ] [ 0.01265648 -0.01628665 0.99978726 -0.04621519] [ 0. 0. 0. 1. ]] SLAMing on 35.029928851 meters Centerline goodness [0,1] 0.6690092357368409 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.05 [[ 0.99945905 -0.03015319 -0.0131295 0.52684949] [ 0.03035846 0.99941535 0.01572673 -0.19603956] [ 0.01264762 -0.01611681 0.99979012 -0.04586326] [ 0. 0. 0. 1. ]] SLAMing on 35.059928850999995 meters Centerline goodness [0,1] 0.6690092357368409 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.05 [[ 0.99945905 -0.03015319 -0.0131295 0.52684949] [ 0.03035846 0.99941535 0.01572673 -0.19603956] [ 0.01264762 -0.01611681 0.99979012 -0.04586326] [ 0. 0. 0. 1. ]] SLAMing on 35.089928850999996 meters Centerline goodness [0,1] 0.6608765619083681 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.05 [[ 0.99945087 -0.030408 -0.01316462 0.52687853] [ 0.03061542 0.99940553 0.01585206 -0.19746101] [ 0.01267477 -0.0162464 0.99978768 -0.04592495] [ 0. 0. 0. 1. ]] SLAMing on 35.119928851 meters Centerline goodness [0,1] 0.6617657453877147 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.05 [[ 0.99934656 -0.03351043 -0.01354631 0.52899213] [ 0.033687 0.99934757 0.01302373 -0.20011532] [ 0.01310104 -0.01347155 0.99982342 -0.04711239] [ 0. 0. 0. 1. ]] SLAMing on 35.149928851 meters Centerline goodness [0,1] 0.6624988270620249 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.05 [[ 0.99933626 -0.0337757 -0.01364739 0.52926502] [ 0.03395627 0.99933583 0.01322399 -0.20172114] [ 0.01319168 -0.01367862 0.99981942 -0.04733395] [ 0. 0. 0. 1. ]] SLAMing on 35.179928851 meters Centerline goodness [0,1] 0.6609549705820303 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.05 [[ 0.99932288 -0.03420729 -0.01355169 0.52883315] [ 0.03438532 0.99932241 0.01312887 -0.20267975] [ 0.0130934 -0.01358596 0.99982198 -0.04711356] [ 0. 0. 0. 1. ]] SLAMing on 35.209928851 meters Centerline goodness [0,1] 0.6561189834875278 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.05 [[ 0.99930924 -0.03466112 -0.01340309 0.52810319] [ 0.03483453 0.99930947 0.01292841 -0.20320965] [ 0.01294572 -0.01338637 0.99982659 -0.04662219] [ 0. 0. 0. 1. ]] SLAMing on 35.239928850999995 meters Centerline goodness [0,1] 0.6556016597510373 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.05 [[ 0.99928599 -0.03538606 -0.0132417 0.52675718] [ 0.03555176 0.99928972 0.01249481 -0.20395705] [ 0.01279015 -0.01295666 0.99983425 -0.04533664] [ 0. 0. 0. 1. ]] SLAMing on 35.269928850999996 meters Centerline goodness [0,1] 0.6587698783910196 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.05 [[ 0.99928255 -0.03550894 -0.01317203 0.52649148] [ 0.03567496 0.99928414 0.01259018 -0.20467224] [ 0.01271554 -0.01305106 0.99983398 -0.04524129] [ 0. 0. 0. 1. ]] SLAMing on 35.299928851 meters Centerline goodness [0,1] 0.6587779489333894 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.21, Z:-0.05 [[ 0.99927798 -0.03564414 -0.01315383 0.52650425] [ 0.03581014 0.99927907 0.01260831 -0.20542728] [ 0.01269493 -0.01307025 0.99983399 -0.04531547] [ 0. 0. 0. 1. ]] SLAMing on 35.329928851 meters Centerline goodness [0,1] 0.6551700079073446 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.21, Z:-0.05 [[ 0.99926682 -0.03596594 -0.01312527 0.52629695] [ 0.03613114 0.99926795 0.01257399 -0.20652619] [ 0.01266342 -0.013039 0.9998348 -0.04516887] [ 0. 0. 0. 1. ]] SLAMing on 35.359928851 meters Centerline goodness [0,1] 0.6530323418866875 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.21, Z:-0.05 [[ 0.99926517 -0.03600564 -0.01314181 0.52648162] [ 0.03617084 0.99926673 0.01255708 -0.20655307] [ 0.01268004 -0.01302321 0.99983479 -0.04528877] [ 0. 0. 0. 1. ]] SLAMing on 35.389928851 meters Centerline goodness [0,1] 0.656406552182119 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.21, Z:-0.05 [[ 0.99926264 -0.03611897 -0.01302301 0.52610636] [ 0.0362822 0.99926311 0.01252361 -0.20623547] [ 0.01256108 -0.01298688 0.99983677 -0.04514321] [ 0. 0. 0. 1. ]] SLAMing on 35.419928850999995 meters Centerline goodness [0,1] 0.6494970193740686 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.21, Z:-0.04 [[ 0.99926032 -0.0361755 -0.01304435 0.52609144] [ 0.03633754 0.99926256 0.0124064 -0.20622468] [ 0.01258592 -0.01287123 0.99983795 -0.04493097] [ 0. 0. 0. 1. ]] SLAMing on 35.449928850999996 meters Centerline goodness [0,1] 0.6436244419642857 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.21, Z:-0.04 [[ 0.99925811 -0.03625104 -0.01300358 0.52585486] [ 0.03641146 0.99926094 0.01231962 -0.20689269] [ 0.01254737 -0.01278396 0.99983955 -0.0446199 ] [ 0. 0. 0. 1. ]] SLAMing on 35.479928851 meters Centerline goodness [0,1] 0.6441277001418374 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.21, Z:-0.05 [[ 0.99926591 -0.03601454 -0.0130609 0.52632087] [ 0.03617932 0.99926579 0.01260722 -0.20760727] [ 0.01259727 -0.0130705 0.99983522 -0.04504783] [ 0. 0. 0. 1. ]] SLAMing on 35.509928851 meters Centerline goodness [0,1] 0.64599609375 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.21, Z:-0.05 [[ 0.99927031 -0.03585581 -0.01316096 0.52675229] [ 0.03602268 0.99927066 0.01266936 -0.20763043] [ 0.01269709 -0.01313421 0.99983312 -0.04527825] [ 0. 0. 0. 1. ]] SLAMing on 35.539928851 meters Centerline goodness [0,1] 0.6584105405279576 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.21, Z:-0.05 [[ 0.99928667 -0.03531444 -0.01338089 0.52745161] [ 0.03548306 0.99929108 0.01258142 -0.20588929] [ 0.0129271 -0.01304724 0.99983132 -0.04521961] [ 0. 0. 0. 1. ]] SLAMing on 35.569928851 meters Centerline goodness [0,1] 0.653683082514094 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.05 [[ 0.99929512 -0.03501347 -0.0135396 0.52794821] [ 0.03518217 0.99930363 0.01242873 -0.20457688] [ 0.01309499 -0.01289632 0.99983109 -0.04518788] [ 0. 0. 0. 1. ]] SLAMing on 35.599928850999994 meters Centerline goodness [0,1] 0.665920119447555 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.05 [[ 0.99930658 -0.03459159 -0.01377643 0.52884011] [ 0.03476362 0.99931801 0.01245023 -0.20380827] [ 0.01333636 -0.01292052 0.99982759 -0.04550127] [ 0. 0. 0. 1. ]] SLAMing on 35.629928850999995 meters Centerline goodness [0,1] 0.6676627136053787 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.05 [[ 0.99933864 -0.03353136 -0.01406857 0.53036551] [ 0.03371247 0.99934908 0.0128404 -0.2031944 ] [ 0.01362885 -0.0133062 0.99981858 -0.04629483] [ 0. 0. 0. 1. ]] SLAMing on 35.659928851 meters Centerline goodness [0,1] 0.668791296023908 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.05 [[ 0.99934574 -0.03325871 -0.01421123 0.530874 ] [ 0.03344201 0.9993579 0.0128614 -0.20275799] [ 0.01377435 -0.01332824 0.9998163 -0.04640228] [ 0. 0. 0. 1. ]] SLAMing on 35.689928851 meters Centerline goodness [0,1] 0.6660425492077608 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.05 [[ 0.99934484 -0.03324421 -0.01430804 0.53092982] [ 0.03342388 0.99936301 0.01250687 -0.20167197] [ 0.01388315 -0.0129769 0.99981941 -0.04603002] [ 0. 0. 0. 1. ]] SLAMing on 35.719928851 meters Centerline goodness [0,1] 0.6586189114434391 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.05 [[ 0.99934383 -0.03323602 -0.01439726 0.53100323] [ 0.0334124 0.99936733 0.01218825 -0.20044108] [ 0.01398306 -0.0126613 0.99982207 -0.04576056] [ 0. 0. 0. 1. ]] SLAMing on 35.749928851 meters Centerline goodness [0,1] 0.6808410666040174 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.05 [[ 0.99935898 -0.0326973 -0.01457771 0.53182939] [ 0.03287365 0.99938717 0.01202569 -0.19843501] [ 0.01417557 -0.0124972 0.99982142 -0.04597079] [ 0. 0. 0. 1. ]] SLAMing on 35.779928851 meters Centerline goodness [0,1] 0.6679510372859057 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.05 [[ 0.99936214 -0.03259078 -0.01459961 0.5321701 ] [ 0.03276561 0.99939221 0.01190075 -0.19749277] [ 0.01420288 -0.01237152 0.9998226 -0.04625616] [ 0. 0. 0. 1. ]] SLAMing on 35.809928850999995 meters Centerline goodness [0,1] 0.6670513424399435 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.05 [[ 0.99936251 -0.03253044 -0.01470833 0.53251095] [ 0.03270337 0.99939693 0.01167366 -0.19643207] [ 0.01431971 -0.01214723 0.99982368 -0.0463157 ] [ 0. 0. 0. 1. ]] SLAMing on 35.839928850999996 meters Centerline goodness [0,1] 0.6797730322793304 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.05 [[ 0.99936113 -0.03258379 -0.0146843 0.53261478] [ 0.0327527 0.99939832 0.01141287 -0.19543412] [ 0.01430359 -0.01188653 0.99982704 -0.04641267] [ 0. 0. 0. 1. ]] SLAMing on 35.869928851 meters Centerline goodness [0,1] 0.6784863845337734 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.05 [[ 0.99936139 -0.03255882 -0.01472171 0.53282726] [ 0.03272421 0.99940237 0.01113668 -0.19440917] [ 0.01435032 -0.01161132 0.99982961 -0.046453 ] [ 0. 0. 0. 1. ]] SLAMing on 35.899928851 meters Centerline goodness [0,1] 0.6763740286733272 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.05 [[ 0.99935655 -0.03272157 -0.01468936 0.53288737] [ 0.03288358 0.99939946 0.01092612 -0.19361154] [ 0.01432302 -0.01140212 0.99983241 -0.04664474] [ 0. 0. 0. 1. ]] SLAMing on 35.929928851 meters Centerline goodness [0,1] 0.6704201362604087 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.05 [[ 0.99935112 -0.03288569 -0.01469262 0.5328807 ] [ 0.03304509 0.99939614 0.01074127 -0.19302812] [ 0.01433052 -0.01121982 0.99983436 -0.04664431] [ 0. 0. 0. 1. ]] SLAMing on 35.959928851 meters Centerline goodness [0,1] 0.6784160863261475 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.05 [[ 0.99933133 -0.03354667 -0.01454336 0.53201709] [ 0.03369393 0.99938216 0.01000114 -0.19134463] [ 0.01419887 -0.01048447 0.99984422 -0.04599667] [ 0. 0. 0. 1. ]] SLAMing on 35.989928850999995 meters Centerline goodness [0,1] 0.6753987686309935 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.05 [[ 0.99931647 -0.0340366 -0.01442561 0.53146966] [ 0.03417615 0.99937029 0.00953988 -0.19064542] [ 0.01409182 -0.01002637 0.99985044 -0.04563882] [ 0. 0. 0. 1. ]] SLAMing on 36.019928850999996 meters Centerline goodness [0,1] 0.6718304504846988 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.05 [[ 0.99931359 -0.03414172 -0.01437697 0.53172463] [ 0.03428037 0.999367 0.00951057 -0.1904714 ] [ 0.01404316 -0.00999689 0.99985141 -0.0460975 ] [ 0. 0. 0. 1. ]] SLAMing on 36.049928851 meters Centerline goodness [0,1] 0.6719777079165477 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.05 [[ 0.99930598 -0.03435722 -0.01439249 0.53181357] [ 0.03449205 0.99936237 0.00922744 -0.18969974] [ 0.01406628 -0.00971746 0.99985384 -0.0461562 ] [ 0. 0. 0. 1. ]] SLAMing on 36.079928851 meters Centerline goodness [0,1] 0.6631315538608198 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.05 [[ 0.99929582 -0.03462043 -0.01446672 0.53247601] [ 0.03475235 0.9993557 0.00896958 -0.18831333] [ 0.01414686 -0.00946602 0.99985512 -0.04697341] [ 0. 0. 0. 1. ]] SLAMing on 36.109928851 meters Centerline goodness [0,1] 0.6730084371041373 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.05 [[ 0.99928893 -0.03484247 -0.0144097 0.53239079] [ 0.03497008 0.99935048 0.00870087 -0.18727504] [ 0.01409719 -0.00919859 0.99985832 -0.0470715 ] [ 0. 0. 0. 1. ]] SLAMing on 36.139928851 meters Centerline goodness [0,1] 0.6676171079429736 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.05 [[ 0.99928074 -0.03510868 -0.01433137 0.53209932] [ 0.03522895 0.9993454 0.0082276 -0.18581957] [ 0.01403313 -0.00872656 0.99986345 -0.04683101] [ 0. 0. 0. 1. ]] SLAMing on 36.169928850999995 meters Centerline goodness [0,1] 0.6751262929997595 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.05 [[ 0.99927314 -0.035371 -0.01421553 0.53168534] [ 0.03548429 0.99933981 0.00779784 -0.1842438 ] [ 0.01393033 -0.0082966 0.99986855 -0.04662997] [ 0. 0. 0. 1. ]] SLAMing on 36.199928850999996 meters Centerline goodness [0,1] 0.6730387649421672 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.05 [[ 0.99926388 -0.03571071 -0.01401548 0.53096921] [ 0.03581094 0.9993343 0.00696674 -0.18155611] [ 0.01375737 -0.00746352 0.99987751 -0.04608988] [ 0. 0. 0. 1. ]] SLAMing on 36.229928851 meters Centerline goodness [0,1] 0.6753595815778004 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.05 [[ 0.99925534 -0.03593711 -0.014046 0.5309609 ] [ 0.03603167 0.99932926 0.00653823 -0.18004861] [ 0.01380161 -0.00703946 0.99987997 -0.04597699] [ 0. 0. 0. 1. ]] SLAMing on 36.259928851 meters Centerline goodness [0,1] 0.6678872829566398 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.05 [[ 0.99924832 -0.03615309 -0.01399113 0.53091401] [ 0.03624378 0.99932322 0.00628348 -0.17879722] [ 0.0137545 -0.00678585 0.99988238 -0.04614211] [ 0. 0. 0. 1. ]] SLAMing on 36.289928851 meters Centerline goodness [0,1] 0.6692710860914297 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.05 [[ 0.99924067 -0.03638795 -0.01392849 0.53089471] [ 0.03647516 0.99931619 0.00605878 -0.17756764] [ 0.0136985 -0.00656222 0.99988464 -0.04643054] [ 0. 0. 0. 1. ]] SLAMing on 36.319928851 meters Centerline goodness [0,1] 0.6673905617100191 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.05 [[ 0.99922605 -0.036891 -0.01365144 0.53049253] [ 0.0369699 0.99930084 0.00557357 -0.17549973] [ 0.01343628 -0.00607395 0.99989128 -0.04682842] [ 0. 0. 0. 1. ]] SLAMing on 36.349928850999994 meters Centerline goodness [0,1] 0.6664634295051581 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.05 [[ 0.99921399 -0.03729957 -0.01342204 0.53002309] [ 0.03737421 0.999287 0.00535371 -0.17494977] [ 0.01321278 -0.00585114 0.99989559 -0.04701645] [ 0. 0. 0. 1. ]] SLAMing on 36.379928850999995 meters Centerline goodness [0,1] 0.6697225278083364 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.05 [[ 0.99920308 -0.03765039 -0.0132532 0.52970625] [ 0.03772095 0.99927522 0.00511456 -0.17416673] [ 0.01305103 -0.00561041 0.99989909 -0.0471684 ] [ 0. 0. 0. 1. ]] SLAMing on 36.409928851 meters Centerline goodness [0,1] 0.6738806152642262 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.05 [[ 0.999194 -0.03793052 -0.01313856 0.52972418] [ 0.03799757 0.99926586 0.00489163 -0.17304073] [ 0.01294337 -0.00538692 0.99990172 -0.04762165] [ 0. 0. 0. 1. ]] SLAMing on 36.439928851 meters Centerline goodness [0,1] 0.664404703576678 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.05 [[ 0.99918498 -0.03813395 -0.01323581 0.53015599] [ 0.03819674 0.99926 0.00452374 -0.17065844] [ 0.01305351 -0.00502562 0.99990217 -0.04800267] [ 0. 0. 0. 1. ]] SLAMing on 36.469928851 meters Centerline goodness [0,1] 0.6652139656276161 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.05 [[ 0.99917816 -0.03833338 -0.01317441 0.53001561] [ 0.03839111 0.99925414 0.00415713 -0.16926401] [ 0.01300523 -0.00465949 0.99990457 -0.04799176] [ 0. 0. 0. 1. ]] SLAMing on 36.499928851 meters Centerline goodness [0,1] 0.673246100391809 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.05 [[ 0.99917512 -0.03837978 -0.01326927 0.53036169] [ 0.03843605 0.99925301 0.00401255 -0.16819165] [ 0.01310536 -0.00451926 0.99990391 -0.0482214 ] [ 0. 0. 0. 1. ]] SLAMing on 36.529928850999994 meters Centerline goodness [0,1] 0.670126732087381 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.05 [[ 0.99917292 -0.03845143 -0.0132275 0.53050122] [ 0.03850527 0.99925102 0.00384012 -0.16714206] [ 0.01306993 -0.00434628 0.99990514 -0.04850654] [ 0. 0. 0. 1. ]] SLAMing on 36.559928850999995 meters Centerline goodness [0,1] 0.6653250697548088 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.05 [[ 0.99916085 -0.03881985 -0.01306198 0.53005748] [ 0.03886709 0.99923866 0.00338239 -0.16527596] [ 0.01292073 -0.00388723 0.99990897 -0.04848516] [ 0. 0. 0. 1. ]] SLAMing on 36.589928850999996 meters Centerline goodness [0,1] 0.6623639960435213 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99914753 -0.03922032 -0.01288356 0.52947148] [ 0.03926276 0.99922424 0.00305742 -0.16431759] [ 0.01275365 -0.00356066 0.99991233 -0.04833786] [ 0. 0. 0. 1. ]] SLAMing on 36.619928851 meters Centerline goodness [0,1] 0.6610454478017902 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99912382 -0.03991041 -0.01259943 0.52866523] [ 0.03994695 0.99919826 0.00266126 -0.16340838] [ 0.01248311 -0.00316224 0.99991708 -0.04833381] [ 0. 0. 0. 1. ]] SLAMing on 36.649928851 meters Centerline goodness [0,1] 0.6663289011912412 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99911671 -0.04014228 -0.01242582 0.52848348] [ 0.04017793 0.99918907 0.00263296 -0.16342583] [ 0.01231005 -0.00312987 0.99991933 -0.04869544] [ 0. 0. 0. 1. ]] SLAMing on 36.679928851 meters Centerline goodness [0,1] 0.6578608884931236 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99910766 -0.04039813 -0.01232342 0.52836096] [ 0.0404324 0.99917904 0.00254485 -0.16333027] [ 0.0122105 -0.00304084 0.99992083 -0.04893416] [ 0. 0. 0. 1. ]] SLAMing on 36.709928851 meters Centerline goodness [0,1] 0.6691595265217176 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99910096 -0.04057666 -0.01228047 0.5283493 ] [ 0.04060993 0.99917202 0.00247144 -0.16305013] [ 0.01217002 -0.00296793 0.99992154 -0.04910724] [ 0. 0. 0. 1. ]] SLAMing on 36.739928850999995 meters Centerline goodness [0,1] 0.6619927661893673 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99908866 -0.0408897 -0.01224294 0.52830291] [ 0.04091908 0.99916013 0.00215866 -0.16146089] [ 0.01214439 -0.00265766 0.99992272 -0.04925496] [ 0. 0. 0. 1. ]] SLAMing on 36.769928850999996 meters Centerline goodness [0,1] 0.6573554949144134 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99908993 -0.0408087 -0.01240814 0.52861436] [ 0.04083808 0.99916352 0.00212396 -0.16088388] [ 0.01231108 -0.00262875 0.99992076 -0.04915532] [ 0. 0. 0. 1. ]] SLAMing on 36.799928851 meters Centerline goodness [0,1] 0.6593815969204023 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99909014 -0.04080186 -0.01241384 0.52872558] [ 0.04083064 0.99916393 0.0020737 -0.16034725] [ 0.01231885 -0.00257867 0.9999208 -0.04926987] [ 0. 0. 0. 1. ]] SLAMing on 36.829928851 meters Centerline goodness [0,1] 0.6624074486788996 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99910297 -0.0404956 -0.01238398 0.52936341] [ 0.04052774 0.99917564 0.00235529 -0.16039378] [ 0.01227839 -0.00285507 0.99992054 -0.05011335] [ 0. 0. 0. 1. ]] SLAMing on 36.859928851 meters Centerline goodness [0,1] 0.6595533498759305 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99910357 -0.04043756 -0.01252427 0.52978793] [ 0.04046939 0.99917814 0.00229797 -0.15999629] [ 0.01242106 -0.00280276 0.99991893 -0.05023087] [ 0. 0. 0. 1. ]] SLAMing on 36.889928851 meters Centerline goodness [0,1] 0.6610127399607619 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99910642 -0.040318 -0.01268186 0.5301657 ] [ 0.04034941 0.99918314 0.00223133 -0.15917675] [ 0.01258154 -0.00274104 0.99991709 -0.05022958] [ 0. 0. 0. 1. ]] SLAMing on 36.919928850999995 meters Centerline goodness [0,1] 0.6599483075699588 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99911253 -0.04009761 -0.01289727 0.53076326] [ 0.04012899 0.99919212 0.00218333 -0.15813588] [ 0.0127993 -0.00269895 0.99991444 -0.05032088] [ 0. 0. 0. 1. ]] SLAMing on 36.949928850999996 meters Centerline goodness [0,1] 0.6599483075699588 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99911253 -0.04009761 -0.01289727 0.53076326] [ 0.04012899 0.99919212 0.00218333 -0.15813588] [ 0.0127993 -0.00269895 0.99991444 -0.05032088] [ 0. 0. 0. 1. ]] SLAMing on 36.979928851 meters Centerline goodness [0,1] 0.6587329279234373 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99926317 -0.03616863 -0.01284289 0.5307268 ] [ 0.03625106 0.9993232 0.00624522 -0.15846373] [ 0.01260831 -0.00670619 0.99989802 -0.05099546] [ 0. 0. 0. 1. ]] SLAMing on 37.009928851 meters Centerline goodness [0,1] 0.6735178063033814 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99928043 -0.03561417 -0.01304805 0.53161825] [ 0.03570046 0.99934178 0.00644089 -0.15804162] [ 0.01281007 -0.00690208 0.99989413 -0.0513238 ] [ 0. 0. 0. 1. ]] SLAMing on 37.039928851 meters Centerline goodness [0,1] 0.6642714570858284 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99928971 -0.03525618 -0.01330726 0.53233602] [ 0.03534465 0.99935422 0.00647271 -0.15749519] [ 0.01307047 -0.00693845 0.9998905 -0.05133218] [ 0. 0. 0. 1. ]] SLAMing on 37.069928851 meters Centerline goodness [0,1] 0.6736093663634993 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99940935 -0.03172961 -0.01319793 0.53149681] [ 0.03186599 0.99943955 0.01025447 -0.15778074] [ 0.01286516 -0.01066898 0.99986032 -0.05116684] [ 0. 0. 0. 1. ]] SLAMing on 37.099928850999994 meters Centerline goodness [0,1] 0.6806302457656933 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99941723 -0.03140669 -0.01337252 0.53202156] [ 0.03154279 0.99945146 0.01009152 -0.15674305] [ 0.01304824 -0.01050745 0.99985966 -0.05102094] [ 0. 0. 0. 1. ]] SLAMing on 37.129928850999995 meters Centerline goodness [0,1] 0.6746472851646003 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.9994238 -0.03112742 -0.01353373 0.53241512] [ 0.0312634 0.9994616 0.00995538 -0.15610203] [ 0.01321656 -0.01037276 0.99985885 -0.05078222] [ 0. 0. 0. 1. ]] SLAMing on 37.159928851 meters Centerline goodness [0,1] 0.6716834872775779 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99943083 -0.03082145 -0.01371298 0.53281531] [ 0.03095896 0.99947132 0.0099313 -0.15606654] [ 0.01339963 -0.01035019 0.99985665 -0.05054568] [ 0. 0. 0. 1. ]] SLAMing on 37.189928851 meters Centerline goodness [0,1] 0.6744396194683602 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99944773 -0.03020773 -0.01384659 0.53352527] [ 0.03034864 0.99948853 0.01008145 -0.15607615] [ 0.01353497 -0.01049611 0.99985331 -0.0506155 ] [ 0. 0. 0. 1. ]] SLAMing on 37.219928851 meters Centerline goodness [0,1] 0.6731267124148506 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99944857 -0.0301464 -0.01391967 0.53371671] [ 0.0302875 0.9994908 0.01004009 -0.15577329] [ 0.0136099 -0.01045615 0.99985271 -0.05061331] [ 0. 0. 0. 1. ]] SLAMing on 37.249928851 meters Centerline goodness [0,1] 0.679463006259899 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99944821 -0.03012395 -0.01399338 0.53379238] [ 0.03026469 0.99949232 0.00995755 -0.15583628] [ 0.01368632 -0.01037556 0.99985251 -0.05036499] [ 0. 0. 0. 1. ]] SLAMing on 37.279928850999994 meters Centerline goodness [0,1] 0.6791408882852975 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.9994403 -0.03046822 -0.01381216 0.53293335] [ 0.03060612 0.99948264 0.00988498 -0.15651626] [ 0.01350383 -0.01030218 0.99985575 -0.04980678] [ 0. 0. 0. 1. ]] SLAMing on 37.309928850999995 meters Centerline goodness [0,1] 0.6723683219049055 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.999434 -0.0307491 -0.01364476 0.53238206] [ 0.0308843 0.99947482 0.00981064 -0.15689563] [ 0.01333593 -0.0102265 0.99985878 -0.04964434] [ 0. 0. 0. 1. ]] SLAMing on 37.339928850999996 meters Centerline goodness [0,1] 0.675801720031091 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99942827 -0.03090872 -0.01370343 0.53228435] [ 0.03104441 0.99946994 0.00980271 -0.15769739] [ 0.01339318 -0.01022252 0.99985805 -0.04933955] [ 0. 0. 0. 1. ]] SLAMing on 37.369928851 meters Centerline goodness [0,1] 0.6724980575954285 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99942438 -0.03113456 -0.01347423 0.53180292] [ 0.03127067 0.99946081 0.01001151 -0.158901 ] [ 0.01315526 -0.0104271 0.9998591 -0.04950728] [ 0. 0. 0. 1. ]] SLAMing on 37.399928851 meters Centerline goodness [0,1] 0.6601346297681376 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99930751 -0.03456673 -0.01377087 0.53285906] [ 0.03465541 0.99937975 0.00625414 -0.15950398] [ 0.01354614 -0.00672705 0.99988562 -0.04920707] [ 0. 0. 0. 1. ]] SLAMing on 37.429928851 meters Centerline goodness [0,1] 0.6646318674473651 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99929978 -0.03485274 -0.01360987 0.53237328] [ 0.03494282 0.99936857 0.00643855 -0.16087005] [ 0.01337688 -0.0069096 0.99988665 -0.0492119 ] [ 0. 0. 0. 1. ]] SLAMing on 37.459928851 meters Centerline goodness [0,1] 0.6735079732318332 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99929077 -0.03518994 -0.01340271 0.53180858] [ 0.03528004 0.99935602 0.00654651 -0.16192117] [ 0.01316371 -0.00701471 0.99988875 -0.04921065] [ 0. 0. 0. 1. ]] SLAMing on 37.489928850999995 meters Centerline goodness [0,1] 0.6700325005582157 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.05 [[ 0.99928535 -0.03538855 -0.01328293 0.5316104 ] [ 0.03548056 0.99934753 0.00675628 -0.16320186] [ 0.01303517 -0.00722274 0.99988895 -0.04943524] [ 0. 0. 0. 1. ]] SLAMing on 37.519928850999996 meters Centerline goodness [0,1] 0.6504912028903022 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.05 [[ 0.99926636 -0.03594052 -0.01322992 0.53134799] [ 0.03603557 0.99932587 0.00701782 -0.16535505] [ 0.01296878 -0.00748941 0.99988785 -0.04967061] [ 0. 0. 0. 1. ]] SLAMing on 37.549928851 meters Centerline goodness [0,1] 0.6539940828402366 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.05 [[ 0.99926108 -0.0360835 -0.01323944 0.53144153] [ 0.03618093 0.99931935 0.00719499 -0.16635161] [ 0.01297081 -0.00766868 0.99988647 -0.04982917] [ 0. 0. 0. 1. ]] SLAMing on 37.579928851 meters Centerline goodness [0,1] 0.6560207484253426 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.05 [[ 0.99925264 -0.03635547 -0.0131315 0.53089651] [ 0.03645126 0.99930999 0.00713073 -0.16688412] [ 0.01286319 -0.00760407 0.99988835 -0.04948737] [ 0. 0. 0. 1. ]] SLAMing on 37.609928851 meters Centerline goodness [0,1] 0.6567911589126252 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.05 [[ 0.99924104 -0.03670858 -0.01303167 0.53007322] [ 0.03680036 0.999299 0.00687387 -0.16716987] [ 0.0127702 -0.00734822 0.99989146 -0.04870752] [ 0. 0. 0. 1. ]] SLAMing on 37.639928851 meters Centerline goodness [0,1] 0.649756433597402 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.05 [[ 0.99923068 -0.03704734 -0.01286612 0.52914932] [ 0.03713501 0.99928817 0.00664349 -0.16762776] [ 0.01261084 -0.00711616 0.99989516 -0.04790306] [ 0. 0. 0. 1. ]] SLAMing on 37.669928850999995 meters Centerline goodness [0,1] 0.6593274127284804 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.05 [[ 0.99922835 -0.03709401 -0.01291304 0.5290357 ] [ 0.03718117 0.9992869 0.00657646 -0.16770115] [ 0.01265988 -0.00705151 0.999895 -0.04756549] [ 0. 0. 0. 1. ]] SLAMing on 37.699928850999996 meters Centerline goodness [0,1] 0.6476216242805843 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.05 [[ 0.99923065 -0.03702515 -0.01293214 0.5290686 ] [ 0.03711385 0.99928867 0.00668769 -0.16832832] [ 0.01267533 -0.00716251 0.99989401 -0.0474635 ] [ 0. 0. 0. 1. ]] SLAMing on 37.729928851 meters Centerline goodness [0,1] 0.6577403598340739 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.05 [[ 0.99922827 -0.03707316 -0.01297866 0.52912123] [ 0.03716432 0.99928566 0.00685477 -0.16931261] [ 0.01271526 -0.00733183 0.99989228 -0.04743615] [ 0. 0. 0. 1. ]] SLAMing on 37.759928851 meters Centerline goodness [0,1] 0.6526645614550439 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.05 [[ 0.99921367 -0.03747075 -0.01296116 0.52896884] [ 0.03756429 0.99926934 0.00705086 -0.17173077] [ 0.01268749 -0.0075322 0.99989114 -0.04751939] [ 0. 0. 0. 1. ]] SLAMing on 37.789928851 meters Centerline goodness [0,1] 0.6496225539295923 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.05 [[ 0.99921717 -0.03736166 -0.01300557 0.52936952] [ 0.03746053 0.99927038 0.00744397 -0.17322192] [ 0.01271796 -0.00792533 0.99988771 -0.04791594] [ 0. 0. 0. 1. ]] SLAMing on 37.819928851 meters Centerline goodness [0,1] 0.6506495730677954 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.17, Z:-0.05 [[ 0.99922085 -0.03728879 -0.01293214 0.52952837] [ 0.03739152 0.99927029 0.00779479 -0.17440354] [ 0.01263204 -0.00827227 0.99988599 -0.04834252] [ 0. 0. 0. 1. ]] SLAMing on 37.849928850999994 meters Centerline goodness [0,1] 0.6465670623217724 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.05 [[ 0.9992187 -0.03731597 -0.01301974 0.52973274] [ 0.03742037 0.99926863 0.00786853 -0.1751072 ] [ 0.0127166 -0.00834959 0.99988428 -0.04833511] [ 0. 0. 0. 1. ]] SLAMing on 37.879928850999995 meters Centerline goodness [0,1] 0.6515946414191942 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.05 [[ 0.9992139 -0.037417 -0.01309744 0.52943971] [ 0.03752203 0.99926483 0.00786764 -0.17598511] [ 0.01279343 -0.0083529 0.99988327 -0.04768864] [ 0. 0. 0. 1. ]] SLAMing on 37.909928851 meters Centerline goodness [0,1] 0.6520489907229297 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.05 [[ 0.99921132 -0.03750906 -0.01303115 0.52914047] [ 0.0376139 0.99926115 0.00789549 -0.17654424] [ 0.01272537 -0.00837941 0.99988392 -0.04746966] [ 0. 0. 0. 1. ]] SLAMing on 37.939928851 meters Centerline goodness [0,1] 0.6488296758165477 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.05 [[ 0.99921287 -0.03746194 -0.01304784 0.52912116] [ 0.03756958 0.99926114 0.00810523 -0.17741759] [ 0.01273457 -0.00858905 0.99988202 -0.04737903] [ 0. 0. 0. 1. ]] SLAMing on 37.969928851 meters Centerline goodness [0,1] 0.6523428016508861 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.05 [[ 0.99921607 -0.03736182 -0.01308983 0.52926262] [ 0.03747233 0.99926318 0.00830147 -0.17818579] [ 0.01277003 -0.00878547 0.99987986 -0.04739102] [ 0. 0. 0. 1. ]] SLAMing on 37.999928851 meters Centerline goodness [0,1] 0.6406325798001358 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.05 [[ 0.99921191 -0.03748592 -0.01305207 0.52901105] [ 0.03759918 0.99925638 0.00854345 -0.18016878] [ 0.01272211 -0.00902747 0.99987832 -0.04722291] [ 0. 0. 0. 1. ]] SLAMing on 38.029928850999994 meters Centerline goodness [0,1] 0.6547414315126558 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.05 [[ 0.99920766 -0.0375992 -0.01305156 0.528949 ] [ 0.03771391 0.99925108 0.00865674 -0.18126776] [ 0.0127163 -0.0091421 0.99987735 -0.04716897] [ 0. 0. 0. 1. ]] SLAMing on 38.059928850999995 meters Centerline goodness [0,1] 0.6532076839434577 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.05 [[ 0.99920475 -0.03770696 -0.01296341 0.52871204] [ 0.03782295 0.99924551 0.00882189 -0.1823721 ] [ 0.01262099 -0.00930519 0.99987705 -0.04717559] [ 0. 0. 0. 1. ]] SLAMing on 38.089928850999996 meters Centerline goodness [0,1] 0.6425066153476064 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.05 [[ 0.99919867 -0.03786306 -0.01297733 0.52857218] [ 0.03798135 0.99923798 0.00899339 -0.18399753] [ 0.01262692 -0.00947908 0.99987535 -0.04694707] [ 0. 0. 0. 1. ]] SLAMing on 38.119928851 meters Centerline goodness [0,1] 0.6500913725113013 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.18, Z:-0.05 [[ 0.99919721 -0.03790569 -0.01296544 0.52842665] [ 0.0380256 0.99923505 0.00913045 -0.18480762] [ 0.01260942 -0.00961614 0.99987426 -0.04682292] [ 0. 0. 0. 1. ]] SLAMing on 38.149928851 meters Centerline goodness [0,1] 0.6486324087871942 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.05 [[ 0.99919576 -0.03796961 -0.01288969 0.52818 ] [ 0.03809004 0.99923168 0.00922991 -0.18569622] [ 0.01252933 -0.00971346 0.99987432 -0.04665064] [ 0. 0. 0. 1. ]] SLAMing on 38.179928851 meters Centerline goodness [0,1] 0.6354606525911708 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.05 [[ 0.99919148 -0.03805882 -0.01295779 0.52797603] [ 0.03817921 0.99922879 0.00917432 -0.18648366] [ 0.01259864 -0.00966162 0.99987396 -0.04611756] [ 0. 0. 0. 1. ]] SLAMing on 38.209928850999994 meters Centerline goodness [0,1] 0.6489796894811128 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.05 [[ 0.99918001 -0.03840627 -0.01281682 0.52700712] [ 0.0385257 0.99921521 0.00920537 -0.18829636] [ 0.01245322 -0.0096916 0.99987549 -0.04529942] [ 0. 0. 0. 1. ]] SLAMing on 38.239928850999995 meters Centerline goodness [0,1] 0.6509080495429922 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.05 [[ 0.99917943 -0.03840927 -0.01285317 0.52699899] [ 0.03853102 0.99921354 0.00936263 -0.18922156] [ 0.01248345 -0.00985019 0.99987356 -0.04519239] [ 0. 0. 0. 1. ]] SLAMing on 38.269928850999996 meters Centerline goodness [0,1] 0.6414627178363965 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.04 [[ 0.99917766 -0.03844755 -0.01287617 0.52689351] [ 0.03857064 0.99921118 0.00945112 -0.19008011] [ 0.01250264 -0.00993999 0.99987243 -0.0449653 ] [ 0. 0. 0. 1. ]] SLAMing on 38.299928851 meters Centerline goodness [0,1] 0.6304971432635547 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.04 [[ 0.99915486 -0.03906853 -0.01277563 0.52603781] [ 0.03919027 0.99918735 0.00942181 -0.19249427] [ 0.01239715 -0.00991452 0.999874 -0.04427339] [ 0. 0. 0. 1. ]] SLAMing on 38.329928851 meters Centerline goodness [0,1] 0.6268617901555629 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.19, Z:-0.04 [[ 0.99914346 -0.03938351 -0.01270017 0.5256501 ] [ 0.03950511 0.99917449 0.00947028 -0.19393098] [ 0.01231671 -0.00996389 0.9998745 -0.04405054] [ 0. 0. 0. 1. ]] SLAMing on 38.359928851 meters Centerline goodness [0,1] 0.6447706941723511 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.04 [[ 0.99914011 -0.03944488 -0.01277243 0.52570263] [ 0.0395705 0.99916935 0.0097359 -0.19568619] [ 0.01237779 -0.01023294 0.99987103 -0.04391702] [ 0. 0. 0. 1. ]] SLAMing on 38.389928851 meters Centerline goodness [0,1] 0.6390197926484449 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.04 [[ 0.99913004 -0.03968627 -0.01281242 0.52558402] [ 0.03981595 0.99915669 0.01002991 -0.19800963] [ 0.01240357 -0.01053133 0.99986761 -0.0438151 ] [ 0. 0. 0. 1. ]] SLAMing on 38.419928850999995 meters Centerline goodness [0,1] 0.6463650061211037 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.04 [[ 0.9991289 -0.03971569 -0.01281055 0.52550355] [ 0.03984746 0.99915371 0.01020002 -0.19903566] [ 0.0123946 -0.01070161 0.99986592 -0.04372407] [ 0. 0. 0. 1. ]] SLAMing on 38.449928850999996 meters Centerline goodness [0,1] 0.6399746609732063 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.04 [[ 0.9991268 -0.03973979 -0.0128993 0.52555019] [ 0.0398731 0.9991522 0.01024734 -0.19985441] [ 0.01248114 -0.01075273 0.99986429 -0.04346607] [ 0. 0. 0. 1. ]] SLAMing on 38.479928851 meters Centerline goodness [0,1] 0.6426731606799981 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.04 [[ 0.99912786 -0.03971886 -0.01288117 0.52499589] [ 0.0398525 0.99915259 0.01029001 -0.20103967] [ 0.01246155 -0.01079439 0.99986409 -0.04254658] [ 0. 0. 0. 1. ]] SLAMing on 38.509928851 meters Centerline goodness [0,1] 0.6041422887900773 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.20, Z:-0.04 [[ 0.99913536 -0.03953723 -0.01285808 0.52498806] [ 0.03967298 0.99915776 0.01048005 -0.20182663] [ 0.0124329 -0.01098111 0.99986241 -0.04245581] [ 0. 0. 0. 1. ]] SLAMing on 38.539928851 meters Centerline goodness [0,1] 0.6423147910193211 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.04 [[ 0.99914253 -0.03933498 -0.01292184 0.52515103] [ 0.03947373 0.9991637 0.01066439 -0.20270578] [ 0.01249155 -0.01116532 0.99985964 -0.04233899] [ 0. 0. 0. 1. ]] SLAMing on 38.569928851 meters Centerline goodness [0,1] 0.647373336446416 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.20, Z:-0.04 [[ 0.9991496 -0.03911712 -0.01303552 0.52538549] [ 0.03926024 0.99916946 0.01090987 -0.20369276] [ 0.01259793 -0.01141237 0.99985551 -0.04224068] [ 0. 0. 0. 1. ]] SLAMing on 38.599928850999994 meters Centerline goodness [0,1] 0.6476751495960325 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.21, Z:-0.04 [[ 0.99916974 -0.03853437 -0.01322619 0.52583309] [ 0.03868597 0.99918635 0.01140365 -0.20518649] [ 0.012776 -0.01190585 0.9998475 -0.0419855 ] [ 0. 0. 0. 1. ]] SLAMing on 38.629928850999995 meters Centerline goodness [0,1] 0.6510669027208349 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.21, Z:-0.04 [[ 0.99917215 -0.03843069 -0.01334498 0.52591255] [ 0.03858412 0.99918991 0.01143613 -0.20539303] [ 0.01289467 -0.01194157 0.99984555 -0.04166425] [ 0. 0. 0. 1. ]] SLAMing on 38.659928851 meters Centerline goodness [0,1] 0.648822518463468 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.21, Z:-0.04 [[ 0.99918395 -0.03803864 -0.01358276 0.52647286] [ 0.03819932 0.99920079 0.01177283 -0.2061668 ] [ 0.01312408 -0.01228208 0.99983844 -0.04163101] [ 0. 0. 0. 1. ]] SLAMing on 38.689928851 meters Centerline goodness [0,1] 0.6351754609174397 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.21, Z:-0.04 [[ 0.9992089 -0.03731902 -0.01374302 0.52725045] [ 0.03749284 0.99921727 0.01261502 -0.2087844 ] [ 0.01326149 -0.01312031 0.99982598 -0.0419699 ] [ 0. 0. 0. 1. ]] SLAMing on 38.719928851 meters Centerline goodness [0,1] 0.6507388706165749 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.21, Z:-0.04 [[ 0.99922043 -0.03695103 -0.01389768 0.52773786] [ 0.03713192 0.99922593 0.01299085 -0.20996114] [ 0.01340689 -0.01349677 0.99981903 -0.0420663 ] [ 0. 0. 0. 1. ]] SLAMing on 38.749928851 meters Centerline goodness [0,1] 0.6510121457489879 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.21, Z:-0.04 [[ 0.99922615 -0.03675368 -0.01400934 0.52797031] [ 0.03693809 0.99923116 0.01314 -0.21042445] [ 0.01351562 -0.01364731 0.99981552 -0.04197819] [ 0. 0. 0. 1. ]] SLAMing on 38.779928850999994 meters Centerline goodness [0,1] 0.6380246229182547 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.21, Z:-0.04 [[ 0.99923535 -0.03645735 -0.01412729 0.52831778] [ 0.03664579 0.99923957 0.0133176 -0.21068653] [ 0.01363102 -0.01382512 0.99981151 -0.04194558] [ 0. 0. 0. 1. ]] SLAMing on 38.809928850999995 meters Centerline goodness [0,1] 0.656407180102441 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.21, Z:-0.04 [[ 0.99926279 -0.03560281 -0.01436338 0.5289874 ] [ 0.03579953 0.99926536 0.0136795 -0.21122399] [ 0.0138658 -0.01418361 0.99980326 -0.04173825] [ 0. 0. 0. 1. ]] SLAMing on 38.839928850999996 meters Centerline goodness [0,1] 0.656407180102441 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.21, Z:-0.04 [[ 0.99926279 -0.03560281 -0.01436338 0.5289874 ] [ 0.03579953 0.99926536 0.0136795 -0.21122399] [ 0.0138658 -0.01418361 0.99980326 -0.04173825] [ 0. 0. 0. 1. ]] SLAMing on 38.869928851 meters Centerline goodness [0,1] 0.6551461597028355 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.21, Z:-0.04 [[ 0.99927417 -0.03521579 -0.01452494 0.52951181] [ 0.03541932 0.99927445 0.01400162 -0.21202208] [ 0.01402132 -0.01450592 0.99979647 -0.04186194] [ 0. 0. 0. 1. ]] SLAMing on 38.899928851 meters Centerline goodness [0,1] 0.6532747677306596 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.21, Z:-0.04 [[ 0.99928006 -0.0350567 -0.01450489 0.52955086] [ 0.03526304 0.99927685 0.01422296 -0.21297617] [ 0.0139958 -0.01472421 0.99979364 -0.04186138] [ 0. 0. 0. 1. ]] SLAMing on 38.929928851 meters Centerline goodness [0,1] 0.6526682560058683 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.21, Z:-0.04 [[ 0.99928253 -0.03492013 -0.01466315 0.52989873] [ 0.03513177 0.99927847 0.01443245 -0.21375881] [ 0.01414859 -0.01493724 0.99978833 -0.04184452] [ 0. 0. 0. 1. ]] SLAMing on 38.959928850999994 meters Centerline goodness [0,1] 0.6602424547975342 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.22, Z:-0.04 [[ 0.99929294 -0.03455995 -0.0148062 0.53023006] [ 0.03478071 0.99928357 0.01492138 -0.21536143] [ 0.01427991 -0.0154258 0.99977904 -0.04175256] [ 0. 0. 0. 1. ]] SLAMing on 38.989928850999995 meters Centerline goodness [0,1] 0.6608920520859556 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.22, Z:-0.04 [[ 0.99928975 -0.03467186 -0.01476023 0.52983419] [ 0.03489066 0.99928105 0.01483313 -0.21583107] [ 0.01423532 -0.01533759 0.99978103 -0.04126086] [ 0. 0. 0. 1. ]] SLAMing on 39.019928850999996 meters Centerline goodness [0,1] 0.6568234404710087 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.22, Z:-0.04 [[ 0.99929112 -0.03462245 -0.01478348 0.52962807] [ 0.03484309 0.99928116 0.0149374 -0.21652341] [ 0.01425568 -0.01544192 0.99977914 -0.04087003] [ 0. 0. 0. 1. ]] SLAMing on 39.049928851 meters Centerline goodness [0,1] 0.6673602377958157 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.22, Z:-0.04 [[ 0.99928845 -0.03470156 -0.01477829 0.5293108 ] [ 0.03491982 0.99928087 0.01477637 -0.21683022] [ 0.0142549 -0.01528191 0.99978161 -0.04035072] [ 0. 0. 0. 1. ]] SLAMing on 39.079928851 meters Centerline goodness [0,1] 0.6679896895458382 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.22, Z:-0.04 [[ 0.99930204 -0.03429271 -0.01481363 0.52951438] [ 0.03451696 0.99928916 0.01515771 -0.21815633] [ 0.0142833 -0.01565845 0.99977537 -0.04031761] [ 0. 0. 0. 1. ]] SLAMing on 39.109928851 meters Centerline goodness [0,1] 0.652371951080644 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.22, Z:-0.04 [[ 0.99930835 -0.03407216 -0.01489679 0.52981578] [ 0.03429886 0.99929546 0.01523717 -0.21828785] [ 0.01436713 -0.01573757 0.99977293 -0.04036048] [ 0. 0. 0. 1. ]] SLAMing on 39.139928851 meters Centerline goodness [0,1] 0.6706254408117762 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.22, Z:-0.04 [[ 0.99931131 -0.03390254 -0.0150842 0.5301836 ] [ 0.03413093 0.99930254 0.01514977 -0.21779451] [ 0.01456006 -0.01565418 0.99977145 -0.0402103 ] [ 0. 0. 0. 1. ]] SLAMing on 39.169928850999995 meters Centerline goodness [0,1] 0.6749042494984497 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.22, Z:-0.04 [[ 0.99934177 -0.03287475 -0.01533892 0.53116011] [ 0.03311059 0.9993333 0.01538323 -0.21671953] [ 0.01482298 -0.01588099 0.99976401 -0.0402516 ] [ 0. 0. 0. 1. ]] SLAMing on 39.199928850999996 meters Centerline goodness [0,1] 0.6769433945079466 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.22, Z:-0.04 [[ 0.99935657 -0.03232342 -0.01554507 0.53184138] [ 0.0325647 0.99934902 0.01552684 -0.21643992] [ 0.01503307 -0.01602307 0.9997586 -0.04031827] [ 0. 0. 0. 1. ]] SLAMing on 39.229928851 meters Centerline goodness [0,1] 0.6788091547369381 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.22, Z:-0.04 [[ 0.99936638 -0.03194122 -0.01570326 0.53246024] [ 0.0321851 0.99936125 0.01553123 -0.2158883 ] [ 0.01519714 -0.0160268 0.99975606 -0.04053927] [ 0. 0. 0. 1. ]] SLAMing on 39.259928851 meters Centerline goodness [0,1] 0.6838099578443659 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.22, Z:-0.04 [[ 0.99938222 -0.03128775 -0.01600785 0.53340235] [ 0.03153947 0.99937885 0.01572194 -0.21568863] [ 0.015506 -0.0162171 0.99974825 -0.04067458] [ 0. 0. 0. 1. ]] SLAMing on 39.289928851 meters Centerline goodness [0,1] 0.6986229538096758 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.22, Z:-0.04 [[ 0.99950438 -0.02703832 -0.01612234 0.5334533 ] [ 0.02735434 0.99943139 0.01971383 -0.2159384 ] [ 0.01558014 -0.02014508 0.99967566 -0.04065259] [ 0. 0. 0. 1. ]] SLAMing on 39.319928851 meters Centerline goodness [0,1] 0.7080793552952994 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.21, Z:-0.04 [[ 0.99951954 -0.02630965 -0.01638556 0.53439613] [ 0.02662981 0.99945247 0.01963709 -0.21448008] [ 0.01585995 -0.020064 0.9996729 -0.04075416] [ 0. 0. 0. 1. ]] SLAMing on 39.349928850999994 meters Centerline goodness [0,1] 0.7182625005718468 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.04 [[ 0.99953777 -0.02541911 -0.01667684 0.53551675] [ 0.02574334 0.99947791 0.019524 -0.21279459] [ 0.01617185 -0.01994429 0.99967029 -0.040814 ] [ 0. 0. 0. 1. ]] SLAMing on 39.379928850999995 meters Centerline goodness [0,1] 0.7266884705989982 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.04 [[ 0.99955892 -0.02438339 -0.01695342 0.53676978] [ 0.02471576 0.99950079 0.01968013 -0.21150125] [ 0.01646509 -0.02009047 0.99966258 -0.0412396 ] [ 0. 0. 0. 1. ]] SLAMing on 39.409928851 meters Centerline goodness [0,1] 0.7579111386081896 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.04 [[ 0.99966872 -0.01910694 -0.01724462 0.53795727] [ 0.0195154 0.99952536 0.02383697 -0.2103972 ] [ 0.01678099 -0.02416561 0.99956712 -0.04167906] [ 0. 0. 0. 1. ]] SLAMing on 39.439928851 meters Centerline goodness [0,1] 0.7633200018388269 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.04 [[ 0.99969408 -0.01758973 -0.0173879 0.53930785] [ 0.01800704 0.99954635 0.02414225 -0.20845046] [ 0.01695536 -0.02444797 0.99955731 -0.04226384] [ 0. 0. 0. 1. ]] SLAMing on 39.469928851 meters Centerline goodness [0,1] 0.7710209170245186 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.04 [[ 0.99979035 -0.01084237 -0.01736956 0.54112902] [ 0.01134941 0.99950436 0.02936375 -0.20645291] [ 0.01704258 -0.02955473 0.99941786 -0.04379752] [ 0. 0. 0. 1. ]] SLAMing on 39.499928851 meters Centerline goodness [0,1] 0.7748708085185271 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.04 [[ 0.99980187 -0.0092804 -0.01760965 0.54265278] [ 0.00979897 0.99951398 0.02959358 -0.20413955] [ 0.01732645 -0.02976027 0.99940688 -0.0442751 ] [ 0. 0. 0. 1. ]] SLAMing on 39.529928850999994 meters Centerline goodness [0,1] 0.7769495947079101 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.04 [[ 0.9998129 -0.00782487 -0.01769016 0.54382642] [ 0.00834857 0.9995232 0.02972658 -0.20168081] [ 0.01744912 -0.02986871 0.99940152 -0.04469566] [ 0. 0. 0. 1. ]] SLAMing on 39.559928850999995 meters Centerline goodness [0,1] 0.781348603482529 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.04 [[ 0.99981899 -0.00683182 -0.01775697 0.5445411 ] [ 0.00735194 0.99954092 0.02939225 -0.19902631] [ 0.01754801 -0.02951748 0.99941022 -0.04460294] [ 0. 0. 0. 1. ]] SLAMing on 39.589928850999996 meters Centerline goodness [0,1] 0.7833928235957167 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.20, Z:-0.04 [[ 0.99982177 -0.00584096 -0.01795313 0.54543408] [ 0.00636368 0.99955339 0.02919795 -0.19707043] [ 0.01777457 -0.029307 0.99941241 -0.0444904 ] [ 0. 0. 0. 1. ]] SLAMing on 39.619928851 meters Centerline goodness [0,1] 0.7804745986157541 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.20, Z:-0.04 [[ 0.99983763 -0.00124711 -0.01797652 0.54593781] [ 0.00184236 0.99944922 0.03313403 -0.19631923] [ 0.0179253 -0.03316177 0.99928924 -0.04493171] [ 0. 0. 0. 1. ]] SLAMing on 39.649928851 meters Centerline goodness [0,1] 0.7824577152036285 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.05 [[ 9.99832788e-01 -6.16998944e-04 -1.82760891e-02 5.47018627e-01] [ 1.21728087e-03 9.99459476e-01 3.28523179e-02 -1.94621972e-01] [ 1.82459406e-02 -3.28690718e-02 9.99293105e-01 -4.50599934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.679928851 meters Centerline goodness [0,1] 0.780651431822492 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.05 [[ 9.99828404e-01 -2.30933221e-04 -1.85231989e-02 5.47902219e-01] [ 8.31628420e-04 9.99473722e-01 3.24282017e-02 -1.92503949e-01] [ 1.85059618e-02 -3.24380416e-02 9.99302408e-01 -4.51857494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.709928850999994 meters Centerline goodness [0,1] 0.7820509780675756 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.05 [[ 9.99820209e-01 7.18421456e-04 -1.89481732e-02 5.49653163e-01] [-1.10491507e-04 9.99485767e-01 3.20653802e-02 -1.89495177e-01] [ 1.89614659e-02 -3.20575216e-02 9.99306148e-01 -4.55759007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.739928850999995 meters Centerline goodness [0,1] 0.7849119466920514 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.05 [[ 9.99816125e-01 6.69050862e-04 -1.91642311e-02 5.50136695e-01] [-6.19479868e-05 9.99498630e-01 3.16620490e-02 -1.88594413e-01] [ 1.91758062e-02 -3.16550399e-02 9.99314889e-01 -4.54897484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.769928850999996 meters Centerline goodness [0,1] 0.7826314786585366 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.05 [[ 0.99980947 -0.00191578 -0.01942545 0.55187643] [ 0.00245669 0.99960882 0.02785987 -0.18658778] [ 0.01936447 -0.02790229 0.99942307 -0.0459908 ] [ 0. 0. 0. 1. ]] SLAMing on 39.799928851 meters Centerline goodness [0,1] 0.7826563169674746 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.05 [[ 0.99978605 -0.00597992 -0.01980161 0.55238401] [ 0.00643549 0.99971422 0.02302318 -0.18458721] [ 0.01965828 -0.02314569 0.99953881 -0.0450605 ] [ 0. 0. 0. 1. ]] SLAMing on 39.829928851 meters Centerline goodness [0,1] 0.7823540615179507 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.04 [[ 0.99975003 -0.00996299 -0.02001554 0.55268387] [ 0.01032948 0.99977934 0.01829111 -0.18230441] [ 0.01982889 -0.01849329 0.99963234 -0.04426155] [ 0. 0. 0. 1. ]] SLAMing on 39.859928851 meters Centerline goodness [0,1] 0.7847405609877953 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.04 [[ 0.99969654 -0.01412827 -0.02017954 0.55271 ] [ 0.01440273 0.99980485 0.01352135 -0.1801845 ] [ 0.01998457 -0.01380789 0.99970494 -0.04327631] [ 0. 0. 0. 1. ]] SLAMing on 39.889928851 meters Centerline goodness [0,1] 0.7829203455805563 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.04 [[ 0.99962585 -0.01831267 -0.02031779 0.55291763] [ 0.01849818 0.99978856 0.00898061 -0.17877576] [ 0.02014904 -0.0093531 0.99975324 -0.04266953] [ 0. 0. 0. 1. ]] SLAMing on 39.919928850999995 meters Centerline goodness [0,1] 0.7850048593168512 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.04 [[ 0.99952254 -0.02367752 -0.01985121 0.55117363] [ 0.02376997 0.99970762 0.00443395 -0.17886389] [ 0.01974042 -0.00490369 0.99979311 -0.04173373] [ 0. 0. 0. 1. ]] SLAMing on 39.949928850999996 meters Centerline goodness [0,1] 0.7822373233288502 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.04 [[ 9.99416842e-01 -2.76989532e-02 -1.99685843e-02 5.51752324e-01] [ 2.77116766e-02 9.99615893e-01 3.60693276e-04 -1.78052587e-01] [ 1.99509234e-02 -9.13845885e-04 9.99800543e-01 -4.17047309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.979928851 meters Centerline goodness [0,1] 0.7780399188411268 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.04 [[ 9.99390617e-01 -2.88107395e-02 -1.97062332e-02 5.50427622e-01] [ 2.88195792e-02 9.99584616e-01 1.64669852e-04 -1.79286635e-01] [ 1.96933032e-02 -7.32494852e-04 9.99805800e-01 -4.12314103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.009928851 meters Centerline goodness [0,1] 0.7808960870079206 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.04 [[ 9.99364512e-01 -2.99563214e-02 -1.93181535e-02 5.48779386e-01] [ 2.99605852e-02 9.99551079e-01 -6.87290970e-05 -1.80581888e-01] [ 1.93115400e-02 -5.10097763e-04 9.99813385e-01 -4.06501769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.039928851 meters Centerline goodness [0,1] 0.7740516896738235 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.04 [[ 0.9992144 -0.03465316 -0.01922845 0.5486602 ] [ 0.03457605 0.9993927 -0.00432827 -0.18021086] [ 0.01936676 0.00366002 0.99980575 -0.04052397] [ 0. 0. 0. 1. ]] SLAMing on 40.069928851 meters Centerline goodness [0,1] 0.7676100998238403 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.04 [[ 0.99919715 -0.03522955 -0.01907693 0.54819239] [ 0.03515616 0.99937314 -0.00416906 -0.18083859] [ 0.01921185 0.00349505 0.99980933 -0.04077731] [ 0. 0. 0. 1. ]] SLAMing on 40.099928850999994 meters Centerline goodness [0,1] 0.7636444799473722 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.04 [[ 0.99917691 -0.03590899 -0.01886899 0.54754828] [ 0.03583339 0.9993484 -0.00432947 -0.18095242] [ 0.01901216 0.00364977 0.99981259 -0.04082688] [ 0. 0. 0. 1. ]] SLAMing on 40.129928850999995 meters Centerline goodness [0,1] 0.7326875029463065 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.04 [[ 0.99913521 -0.03722594 -0.01852168 0.54655662] [ 0.03714321 0.99929847 -0.00479115 -0.1805956 ] [ 0.01868704 0.00409905 0.99981698 -0.04109958] [ 0. 0. 0. 1. ]] SLAMing on 40.159928851 meters Centerline goodness [0,1] 0.7445310654382236 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.04 [[ 0.99912126 -0.03763401 -0.01844947 0.54635502] [ 0.03754768 0.99928231 -0.00500322 -0.18012554] [ 0.01862452 0.00430609 0.99981728 -0.04122733] [ 0. 0. 0. 1. ]] SLAMing on 40.189928851 meters Centerline goodness [0,1] 0.7520809685962921 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.04 [[ 0.99910997 -0.03797604 -0.01836008 0.54621843] [ 0.03788635 0.99926848 -0.00520832 -0.17950751] [ 0.01854444 0.00450809 0.99981787 -0.04141826] [ 0. 0. 0. 1. ]] SLAMing on 40.219928851 meters Centerline goodness [0,1] 0.7320200794613756 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.04 [[ 0.99919444 -0.03578054 -0.01817188 0.54501517] [ 0.03574579 0.99935842 -0.00223371 -0.17824153] [ 0.01824015 0.00158234 0.99983238 -0.04165083] [ 0. 0. 0. 1. ]] SLAMing on 40.249928851 meters Centerline goodness [0,1] 0.731862780204827 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.04 [[ 0.99929306 -0.03295413 -0.01809411 0.54398495] [ 0.03298003 0.99945537 0.00113457 -0.17770804] [ 0.01804687 -0.00173051 0.99983564 -0.04153498] [ 0. 0. 0. 1. ]] SLAMing on 40.279928850999994 meters Centerline goodness [0,1] 0.733699168483861 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.04 [[ 0.99938443 -0.03023637 -0.01779122 0.54237426] [ 0.03031655 0.99953129 0.00425466 -0.1767217 ] [ 0.01765423 -0.00479141 0.99983267 -0.04111515] [ 0. 0. 0. 1. ]] SLAMing on 40.309928850999995 meters Centerline goodness [0,1] 0.7358458759783263 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.04 [[ 0.9994736 -0.027295 -0.01753565 0.54094781] [ 0.02742925 0.9995959 0.00746167 -0.17586055] [ 0.0173249 -0.00793873 0.9998184 -0.04070766] [ 0. 0. 0. 1. ]] SLAMing on 40.339928850999996 meters Centerline goodness [0,1] 0.7570323827936201 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.17, Z:-0.04 [[ 0.9994716 -0.02731057 -0.01762522 0.54132564] [ 0.02743214 0.99960126 0.00669279 -0.17292122] [ 0.01743541 -0.00717275 0.99982226 -0.040635 ] [ 0. 0. 0. 1. ]] SLAMing on 40.369928851 meters Centerline goodness [0,1] 0.758903376471733 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.17, Z:-0.04 [[ 0.99952973 -0.02535905 -0.01724074 0.54192655] [ 0.0255018 0.99964187 0.00811123 -0.16927803] [ 0.01702887 -0.00854709 0.99981847 -0.0421869 ] [ 0. 0. 0. 1. ]] SLAMing on 40.399928851 meters Centerline goodness [0,1] 0.7508902873310893 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.17, Z:-0.04 [[ 0.99952825 -0.02536384 -0.01731891 0.54265919] [ 0.02549967 0.99964543 0.00766734 -0.16696047] [ 0.0171183 -0.00810535 0.99982062 -0.0428082 ] [ 0. 0. 0. 1. ]] SLAMing on 40.429928851 meters Centerline goodness [0,1] 0.7465485165964947 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.16, Z:-0.04 [[ 0.99952176 -0.02561126 -0.01732956 0.54289176] [ 0.02573586 0.99964423 0.00700538 -0.16449181] [ 0.01714398 -0.00744802 0.99982529 -0.04301415] [ 0. 0. 0. 1. ]] SLAMing on 40.459928850999994 meters Centerline goodness [0,1] 0.7399062191510366 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.16, Z:-0.04 [[ 0.9995109 -0.0261103 -0.01721106 0.54311609] [ 0.02621571 0.99963873 0.00592762 -0.16006687] [ 0.01705007 -0.00637593 0.99983431 -0.04355723] [ 0. 0. 0. 1. ]] SLAMing on 40.489928850999995 meters Centerline goodness [0,1] 0.7512079090165762 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.16, Z:-0.04 [[ 0.99949948 -0.02666222 -0.01702666 0.54258727] [ 0.0267521 0.99962923 0.00507296 -0.15746684] [ 0.01688509 -0.00552592 0.99984217 -0.04332107] [ 0. 0. 0. 1. ]] SLAMing on 40.519928850999996 meters Centerline goodness [0,1] 0.7284284756536638 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.04 [[ 0.99948752 -0.02720117 -0.01687557 0.54213956] [ 0.02727677 0.99961882 0.00426593 -0.15497579] [ 0.0167531 -0.00472405 0.9998485 -0.04315129] [ 0. 0. 0. 1. ]] SLAMing on 40.549928851 meters Centerline goodness [0,1] 0.726803738317757 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.04 [[ 0.99945487 -0.02863894 -0.01642479 0.54040193] [ 0.0286824 0.99958566 0.00241624 -0.15021717] [ 0.01634879 -0.00288602 0.99986218 -0.04209496] [ 0. 0. 0. 1. ]] SLAMing on 40.579928851 meters Centerline goodness [0,1] 0.72485540449185 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.04 [[ 0.99943945 -0.02934186 -0.01611964 0.53946393] [ 0.02937285 0.9995671 0.00168869 -0.14819746] [ 0.01606311 -0.00216122 0.99986864 -0.04184359] [ 0. 0. 0. 1. ]] SLAMing on 40.609928851 meters Centerline goodness [0,1] 0.7290389062028753 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.04 [[ 9.99420802e-01 -3.00838591e-02 -1.59066390e-02 5.38737209e-01] [ 3.01018540e-02 9.99546438e-01 8.93015235e-04 -1.46097588e-01] [ 1.58725590e-02 -1.37131733e-03 9.99873083e-01 -4.16010376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.63992885099999 meters Centerline goodness [0,1] 0.709321052896472 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.04 [[ 9.99404767e-01 -3.06990255e-02 -1.57378783e-02 5.38315110e-01] [ 3.07079725e-02 9.99528345e-01 3.27106857e-04 -1.44406955e-01] [ 1.57204136e-02 -8.10190486e-04 9.99876098e-01 -4.17240432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.669928850999995 meters Centerline goodness [0,1] 0.7198726693951796 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.04 [[ 9.99368896e-01 -3.21205953e-02 -1.51683102e-02 5.37141735e-01] [ 3.21142772e-02 9.99483986e-01 -6.59985248e-04 -1.41598038e-01] [ 1.51816822e-02 1.72449411e-04 9.99884737e-01 -4.23168395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.699928850999996 meters Centerline goodness [0,1] 0.6969100272644653 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.04 [[ 9.99358261e-01 -3.24882086e-02 -1.50858207e-02 5.37287686e-01] [ 3.24795161e-02 9.99472064e-01 -8.20915449e-04 -1.40595429e-01] [ 1.51045265e-02 3.30408478e-04 9.99885866e-01 -4.29776351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.729928851 meters Centerline goodness [0,1] 0.6987970115233633 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.04 [[ 9.99341981e-01 -3.31161289e-02 -1.47961681e-02 5.36707058e-01] [ 3.31001408e-02 9.99451163e-01 -1.32421513e-03 -1.39059163e-01] [ 1.48319003e-02 8.33588520e-04 9.99889654e-01 -4.32151109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.759928851 meters Centerline goodness [0,1] 0.6987970115233633 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.04 [[ 9.99341981e-01 -3.31161289e-02 -1.47961681e-02 5.36707058e-01] [ 3.31001408e-02 9.99451163e-01 -1.32421513e-03 -1.39059163e-01] [ 1.48319003e-02 8.33588520e-04 9.99889654e-01 -4.32151109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.789928851 meters Centerline goodness [0,1] 0.7076950435688336 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.04 [[ 0.99932776 -0.03365189 -0.01454568 0.53618363] [ 0.03362906 0.99943274 -0.00181108 -0.13730372] [ 0.01459837 0.0013207 0.99989257 -0.04341044] [ 0. 0. 0. 1. ]] SLAMing on 40.819928851 meters Centerline goodness [0,1] 0.6788682131022177 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.04 [[ 0.99930471 -0.03443531 -0.01429363 0.53586861] [ 0.03439947 0.99940439 -0.0027456 -0.13380308] [ 0.01437966 0.00225199 0.99989407 -0.0437829 ] [ 0. 0. 0. 1. ]] SLAMing on 40.849928850999994 meters Centerline goodness [0,1] 0.7044861629750883 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.04 [[ 0.99929525 -0.0347186 -0.01426945 0.53572606] [ 0.03467611 0.99939343 -0.00321401 -0.13210782] [ 0.01437238 0.00271694 0.99989302 -0.0436562 ] [ 0. 0. 0. 1. ]] SLAMing on 40.879928850999995 meters Centerline goodness [0,1] 0.6905726149587328 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.04 [[ 0.99928453 -0.03507632 -0.01414479 0.53536473] [ 0.03502627 0.99937928 -0.00377082 -0.13031454] [ 0.01426828 0.00327268 0.99989285 -0.04347153] [ 0. 0. 0. 1. ]] SLAMing on 40.909928851 meters Centerline goodness [0,1] 0.6682245390580863 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.04 [[ 0.99926546 -0.03563643 -0.01409185 0.53523506] [ 0.03557294 0.99935588 -0.00473086 -0.1269081 ] [ 0.01425136 0.0042261 0.99988951 -0.04337352] [ 0. 0. 0. 1. ]] SLAMing on 40.939928851 meters Centerline goodness [0,1] 0.6769778052741474 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.04 [[ 0.99925913 -0.03585724 -0.0139803 0.53520851] [ 0.03579169 0.9993472 -0.00491141 -0.12565509] [ 0.01414728 0.0044074 0.99989021 -0.04377185] [ 0. 0. 0. 1. ]] SLAMing on 40.969928851 meters Centerline goodness [0,1] 0.6907030180982625 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.12, Z:-0.04 [[ 0.99925129 -0.03606852 -0.01399723 0.53535517] [ 0.03599923 0.99933844 -0.00517082 -0.12473338] [ 0.01417448 0.00466306 0.99988866 -0.04395378] [ 0. 0. 0. 1. ]] SLAMing on 40.999928851 meters Centerline goodness [0,1] 0.6899894299930392 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.12, Z:-0.04 [[ 0.99924721 -0.03619323 -0.01396663 0.53557835] [ 0.03612386 0.99933385 -0.00518802 -0.12414326] [ 0.01414509 0.00467958 0.999889 -0.04442079] [ 0. 0. 0. 1. ]] SLAMing on 41.029928850999994 meters Centerline goodness [0,1] 0.6756490901089798 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.04 [[ 0.99921981 -0.03709771 -0.01354704 0.53425941] [ 0.03702017 0.99929692 -0.00593058 -0.12225536] [ 0.01375753 0.00542444 0.99989065 -0.04412965] [ 0. 0. 0. 1. ]] SLAMing on 41.059928850999995 meters Centerline goodness [0,1] 0.6839136958658871 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.04 [[ 0.99920969 -0.03740592 -0.01344558 0.53396592] [ 0.03732744 0.99928482 -0.00604176 -0.12189572] [ 0.01366196 0.0055351 0.99989135 -0.04419243] [ 0. 0. 0. 1. ]] SLAMing on 41.089928850999996 meters Centerline goodness [0,1] 0.6812939594538685 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.04 [[ 0.99920788 -0.03747124 -0.01339842 0.53421103] [ 0.03739626 0.99928366 -0.0058038 -0.12209335] [ 0.0136063 0.00529816 0.99989339 -0.04488107] [ 0. 0. 0. 1. ]] SLAMing on 41.119928851 meters Centerline goodness [0,1] 0.6773942786069651 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.04 [[ 0.99919816 -0.03775637 -0.01332251 0.53402327] [ 0.03767985 0.99927216 -0.00594852 -0.1217941 ] [ 0.01353741 0.00544176 0.99989356 -0.04496901] [ 0. 0. 0. 1. ]] SLAMing on 41.149928851 meters Centerline goodness [0,1] 0.6786426112390961 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.05 [[ 0.99918518 -0.03811223 -0.01328305 0.53402015] [ 0.03803285 0.99925739 -0.00617882 -0.120713 ] [ 0.01350867 0.0056686 0.99989269 -0.04521739] [ 0. 0. 0. 1. ]] SLAMing on 41.179928851 meters Centerline goodness [0,1] 0.6680822414418147 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.05 [[ 0.99918473 -0.03809246 -0.01337314 0.53439491] [ 0.03801208 0.99925796 -0.00621387 -0.11999688] [ 0.01359992 0.00570046 0.99989127 -0.045447 ] [ 0. 0. 0. 1. ]] SLAMing on 41.209928850999994 meters Centerline goodness [0,1] 0.6644716374572228 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.05 [[ 0.99917538 -0.03835525 -0.01332045 0.5344712 ] [ 0.03826933 0.99924536 -0.00664638 -0.11840018] [ 0.01356532 0.00613113 0.99988919 -0.04563856] [ 0. 0. 0. 1. ]] SLAMing on 41.239928850999995 meters Centerline goodness [0,1] 0.6669004389724409 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.05 [[ 0.9991717 -0.03843588 -0.01336421 0.53463111] [ 0.03834958 0.99924222 -0.00665541 -0.11819828] [ 0.01360989 0.00613738 0.99988855 -0.04583305] [ 0. 0. 0. 1. ]] SLAMing on 41.269928850999996 meters Centerline goodness [0,1] 0.6641284856675069 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.05 [[ 0.99917173 -0.03845451 -0.01330815 0.53491227] [ 0.03837102 0.99924259 -0.00647343 -0.11826463] [ 0.013547 0.00595742 0.99989049 -0.04648319] [ 0. 0. 0. 1. ]] SLAMing on 41.299928851 meters Centerline goodness [0,1] 0.6605754984273868 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.12, Z:-0.05 [[ 0.9991735 -0.03839409 -0.01334964 0.53541959] [ 0.03831375 0.99924638 -0.00622273 -0.11825507] [ 0.01357849 0.00570611 0.99989153 -0.04718368] [ 0. 0. 0. 1. ]] SLAMing on 41.329928851 meters Centerline goodness [0,1] 0.6573582943317733 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.12, Z:-0.05 [[ 0.99916544 -0.03863547 -0.01325623 0.5352604 ] [ 0.03855478 0.9992367 -0.006289 -0.11760715] [ 0.01348909 0.00577266 0.99989235 -0.04737342] [ 0. 0. 0. 1. ]] SLAMing on 41.359928851 meters Centerline goodness [0,1] 0.6739028458250809 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.05 [[ 0.99915453 -0.0389577 -0.01313515 0.534733 ] [ 0.03887343 0.99922227 -0.00661154 -0.11683571] [ 0.0133825 0.00609534 0.99989187 -0.04706081] [ 0. 0. 0. 1. ]] SLAMing on 41.38992885099999 meters Centerline goodness [0,1] 0.6693962707002217 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.05 [[ 0.99924586 -0.03665358 -0.0128151 0.53266583] [ 0.03661907 0.99932504 -0.00291718 -0.11834377] [ 0.01291338 0.0024457 0.99991363 -0.04698966] [ 0. 0. 0. 1. ]] SLAMing on 41.419928850999995 meters Centerline goodness [0,1] 0.6778795811518324 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.05 [[ 0.99923557 -0.03697141 -0.01270356 0.53201055] [ 0.03693331 0.99931254 -0.00322094 -0.11757452] [ 0.01281391 0.00274929 0.99991412 -0.0465438 ] [ 0. 0. 0. 1. ]] SLAMing on 41.449928850999996 meters Centerline goodness [0,1] 0.6679837760041869 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.05 [[ 0.99922996 -0.03709628 -0.01278102 0.53184118] [ 0.0370525 0.99930667 -0.00364535 -0.11640415] [ 0.01290739 0.00316898 0.99991167 -0.04593623] [ 0. 0. 0. 1. ]] SLAMing on 41.479928851 meters Centerline goodness [0,1] 0.6612249169348299 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.05 [[ 0.99923054 -0.03710733 -0.01270332 0.53165324] [ 0.03706156 0.99930568 -0.0038195 -0.11583352] [ 0.01283623 0.00334576 0.99991201 -0.04576096] [ 0. 0. 0. 1. ]] SLAMing on 41.509928851 meters Centerline goodness [0,1] 0.6698011891976845 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.05 [[ 0.99923143 -0.03706274 -0.0127635 0.53179785] [ 0.03701554 0.99930702 -0.00391498 -0.11542998] [ 0.01289976 0.00343952 0.99991088 -0.04565612] [ 0. 0. 0. 1. ]] SLAMing on 41.539928851 meters Centerline goodness [0,1] 0.6705679051135025 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.11, Z:-0.05 [[ 0.99922772 -0.03719321 -0.01267406 0.53151396] [ 0.0371446 0.9993017 -0.00404959 -0.11498742] [ 0.01281583 0.00357569 0.99991148 -0.04553405] [ 0. 0. 0. 1. ]] SLAMing on 41.569928851 meters Centerline goodness [0,1] 0.6637112756858246 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.05 [[ 0.9992326 -0.03704725 -0.01271696 0.53198853] [ 0.03700306 0.99930833 -0.00369296 -0.11573369] [ 0.01284498 0.00321955 0.99991232 -0.04610651] [ 0. 0. 0. 1. ]] SLAMing on 41.599928850999994 meters Centerline goodness [0,1] 0.6587120914776147 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.05 [[ 0.99923272 -0.03708077 -0.0126088 0.53192899] [ 0.03703925 0.99930764 -0.00351072 -0.11635385] [ 0.01273025 0.003041 0.99991434 -0.04641906] [ 0. 0. 0. 1. ]] SLAMing on 41.629928850999995 meters Centerline goodness [0,1] 0.6740187111273716 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.05 [[ 0.99923973 -0.03692429 -0.01251231 0.53216189] [ 0.03689074 0.99931509 -0.00290201 -0.11755991] [ 0.01261089 0.00243821 0.99991751 -0.04720792] [ 0. 0. 0. 1. ]] SLAMing on 41.659928851 meters Centerline goodness [0,1] 0.6675543024227235 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.05 [[ 0.99924057 -0.03695291 -0.01235989 0.5320277 ] [ 0.03692934 0.99931561 -0.00213017 -0.11964649] [ 0.01243015 0.0016721 0.99992134 -0.04791506] [ 0. 0. 0. 1. ]] SLAMing on 41.689928851 meters Centerline goodness [0,1] 0.667206097306327 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.05 [[ 0.99924165 -0.03689816 -0.01243545 0.53226808] [ 0.03687627 0.99931787 -0.00198546 -0.12015606] [ 0.01250023 0.00152538 0.99992071 -0.04799871] [ 0. 0. 0. 1. ]] SLAMing on 41.719928851 meters Centerline goodness [0,1] 0.6657871362140133 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.05 [[ 0.99924531 -0.03682697 -0.01235289 0.5322426 ] [ 0.03680923 0.99932093 -0.00166046 -0.12080361] [ 0.01240566 0.00120451 0.99992232 -0.04830023] [ 0. 0. 0. 1. ]] SLAMing on 41.749928851 meters Centerline goodness [0,1] 0.667729708534832 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.05 [[ 9.99250385e-01 -3.66632772e-02 -1.24287213e-02 5.32619234e-01] [ 3.66499833e-02 9.99327324e-01 -1.29577277e-03 -1.21610241e-01] [ 1.24678681e-02 8.39289009e-04 9.99921921e-01 -4.86637734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.779928850999994 meters Centerline goodness [0,1] 0.6526839950986782 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.12, Z:-0.05 [[ 9.99256083e-01 -3.66215131e-02 -1.20890710e-02 5.32202450e-01] [ 3.66174675e-02 9.99329201e-01 -5.55896379e-04 -1.23780216e-01] [ 1.21013195e-02 1.12811672e-04 9.99926770e-01 -4.93579291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.809928850999995 meters Centerline goodness [0,1] 0.6602983988355167 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.05 [[ 9.99255654e-01 -3.66518197e-02 -1.20325238e-02 5.31990419e-01] [ 3.66513345e-02 9.99328080e-01 -2.60904198e-04 -1.25123125e-01] [ 1.20340016e-02 -1.80298061e-04 9.99927573e-01 -4.93622038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.839928850999996 meters Centerline goodness [0,1] 0.6519876405369616 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.05 [[ 9.99257147e-01 -3.66468212e-02 -1.19232584e-02 5.31825995e-01] [ 3.66510674e-02 9.99328114e-01 1.37743043e-04 -1.26532765e-01] [ 1.19101995e-02 -5.74640867e-04 9.99928906e-01 -4.96097509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.869928851 meters Centerline goodness [0,1] 0.6503792601828762 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.05 [[ 9.99248988e-01 -3.69770029e-02 -1.15827896e-02 5.30597230e-01] [ 3.69828936e-02 9.99315855e-01 2.94725542e-04 -1.27848492e-01] [ 1.15639672e-02 -7.22869274e-04 9.99932874e-01 -4.91782135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.899928851 meters Centerline goodness [0,1] 0.6540165272129109 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.05 [[ 9.99252198e-01 -3.69012003e-02 -1.15475308e-02 5.30587510e-01] [ 3.69111071e-02 9.99318344e-01 6.45895175e-04 -1.28971983e-01] [ 1.15158250e-02 -1.07164432e-03 9.99933116e-01 -4.93358677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.929928851 meters Centerline goodness [0,1] 0.6547880731335178 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.05 [[ 0.99926237 -0.03665412 -0.01145392 0.53082971] [ 0.03667101 0.99932659 0.00126781 -0.13059396] [ 0.01139973 -0.0016869 0.9999336 -0.04999094] [ 0. 0. 0. 1. ]] SLAMing on 41.959928850999994 meters Centerline goodness [0,1] 0.6618699460045987 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.05 [[ 0.99926953 -0.03645701 -0.01145787 0.53104947] [ 0.03648206 0.99933234 0.00198429 -0.13324192] [ 0.01137788 -0.00240085 0.99993239 -0.0504205 ] [ 0. 0. 0. 1. ]] SLAMing on 41.989928850999995 meters Centerline goodness [0,1] 0.6467855575915555 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.05 [[ 0.99927597 -0.03622527 -0.01163044 0.53154047] [ 0.0362537 0.9993401 0.00224283 -0.13410417] [ 0.01154151 -0.00266285 0.99992985 -0.05050291] [ 0. 0. 0. 1. ]] SLAMing on 42.019928850999996 meters Centerline goodness [0,1] 0.6613594137076796 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.05 [[ 0.99928024 -0.03604835 -0.01181144 0.5318881 ] [ 0.0360795 0.99934596 0.00243409 -0.13475552] [ 0.01171597 -0.00285849 0.99992728 -0.05042231] [ 0. 0. 0. 1. ]] SLAMing on 42.049928851 meters Centerline goodness [0,1] 0.6549254039011569 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.14, Z:-0.05 [[ 0.99928562 -0.03586172 -0.01192387 0.53218615] [ 0.03589613 0.99935192 0.00268424 -0.13553987] [ 0.01181988 -0.00311034 0.99992531 -0.05043598] [ 0. 0. 0. 1. ]] SLAMing on 42.079928851 meters Centerline goodness [0,1] 0.6559233897956032 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.14, Z:-0.05 [[ 0.99929556 -0.03560256 -0.01186738 0.53190507] [ 0.03564269 0.99935951 0.00318739 -0.13774537] [ 0.0117463 -0.00360813 0.9999245 -0.05014375] [ 0. 0. 0. 1. ]] SLAMing on 42.109928851 meters Centerline goodness [0,1] 0.6590009764119431 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.14, Z:-0.05 [[ 0.9993017 -0.03537983 -0.01201586 0.53213701] [ 0.03542401 0.9993663 0.00348357 -0.13877549] [ 0.011885 -0.00390678 0.99992174 -0.04997902] [ 0. 0. 0. 1. ]] SLAMing on 42.13992885099999 meters Centerline goodness [0,1] 0.6619504930156122 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.14, Z:-0.05 [[ 0.99930912 -0.0351123 -0.01218262 0.53264636] [ 0.0351609 0.99937444 0.00379881 -0.13983704] [ 0.01204161 -0.00422454 0.99991857 -0.05009484] [ 0. 0. 0. 1. ]] SLAMing on 42.169928850999995 meters Centerline goodness [0,1] 0.6606593519278097 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.14, Z:-0.05 [[ 0.99932067 -0.0347515 -0.01226948 0.53317171] [ 0.03480722 0.99938455 0.00435707 -0.14122177] [ 0.01211051 -0.00478118 0.99991523 -0.05052531] [ 0. 0. 0. 1. ]] SLAMing on 42.199928850999996 meters Centerline goodness [0,1] 0.6538658343140766 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.14, Z:-0.05 [[ 0.99933184 -0.03440818 -0.01232703 0.53337156] [ 0.03447317 0.99939261 0.00509957 -0.14393298] [ 0.01214407 -0.00552112 0.99991102 -0.05062071] [ 0. 0. 0. 1. ]] SLAMing on 42.229928851 meters Centerline goodness [0,1] 0.6591315910601954 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.05 [[ 0.9993376 -0.03425356 -0.01229074 0.53335033] [ 0.03432259 0.99939595 0.00544966 -0.14529908] [ 0.01209665 -0.0058679 0.99990962 -0.05063921] [ 0. 0. 0. 1. ]] SLAMing on 42.259928851 meters Centerline goodness [0,1] 0.6515560535832527 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.05 [[ 0.99934659 -0.03393871 -0.01243241 0.53392958] [ 0.03401541 0.99940324 0.00601047 -0.14699456] [ 0.012221 -0.00642944 0.99990465 -0.05103216] [ 0. 0. 0. 1. ]] SLAMing on 42.289928851 meters Centerline goodness [0,1] 0.654427974154314 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.05 [[ 0.99935956 -0.03352434 -0.0125135 0.53445297] [ 0.03361314 0.99941072 0.00695454 -0.15066894] [ 0.01227298 -0.0073707 0.99989752 -0.05151285] [ 0. 0. 0. 1. ]] SLAMing on 42.31992885099999 meters Centerline goodness [0,1] 0.651386387275172 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.05 [[ 0.99936625 -0.03335103 -0.01244252 0.53456306] [ 0.03344513 0.99941292 0.0074324 -0.15243929] [ 0.01218734 -0.00784383 0.99989497 -0.05185047] [ 0. 0. 0. 1. ]] SLAMing on 42.349928850999994 meters Centerline goodness [0,1] 0.6514154048716261 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.15, Z:-0.05 [[ 0.99937422 -0.03307966 -0.01252642 0.53496753] [ 0.03318053 0.99941789 0.00793246 -0.15407178] [ 0.01225673 -0.00834313 0.99989008 -0.05213933] [ 0. 0. 0. 1. ]] SLAMing on 42.379928850999995 meters Centerline goodness [0,1] 0.6602223907000253 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.16, Z:-0.05 [[ 0.99938517 -0.03268139 -0.01269703 0.53559592] [ 0.03278904 0.99942729 0.00836452 -0.15532853] [ 0.0124164 -0.0087757 0.9998844 -0.05231619] [ 0. 0. 0. 1. ]] SLAMing on 42.409928851 meters Centerline goodness [0,1] 0.6626895038216079 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.16, Z:-0.05 [[ 0.99941546 -0.03154462 -0.01317866 0.53735295] [ 0.03166814 0.99945543 0.00927207 -0.15705946] [ 0.012879 -0.009684 0.99987017 -0.05291084] [ 0. 0. 0. 1. ]] SLAMing on 42.439928851 meters Centerline goodness [0,1] 0.6629057848742035 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.16, Z:-0.05 [[ 0.99942587 -0.03114864 -0.01332986 0.53809418] [ 0.03127877 0.99946395 0.00966744 -0.15802891] [ 0.01302159 -0.01007883 0.99986442 -0.05330983] [ 0. 0. 0. 1. ]] SLAMing on 42.469928851 meters Centerline goodness [0,1] 0.6639623069364308 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.16, Z:-0.05 [[ 0.9994347 -0.03081974 -0.01343253 0.53850545] [ 0.03095632 0.9994699 0.01008138 -0.15929349] [ 0.01311471 -0.01049151 0.99985896 -0.05346025] [ 0. 0. 0. 1. ]] SLAMing on 42.499928851 meters Centerline goodness [0,1] 0.6631104848652594 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.16, Z:-0.05 [[ 0.99944032 -0.03057795 -0.01356579 0.5389616 ] [ 0.03072122 0.99947303 0.01048178 -0.16073193] [ 0.01323813 -0.01089267 0.99985304 -0.05363543] [ 0. 0. 0. 1. ]] SLAMing on 42.529928850999994 meters Centerline goodness [0,1] 0.6608255939119333 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.16, Z:-0.05 [[ 0.99944668 -0.03029791 -0.01372506 0.53932885] [ 0.03045137 0.99947446 0.01111403 -0.16320517] [ 0.01338112 -0.01152583 0.99984404 -0.05370644] [ 0. 0. 0. 1. ]] SLAMing on 42.559928850999995 meters Centerline goodness [0,1] 0.6591374232516348 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.16, Z:-0.05 [[ 0.99944774 -0.03026612 -0.01371799 0.53928676] [ 0.03042144 0.99947375 0.01125852 -0.16422195] [ 0.01337002 -0.01166962 0.99984252 -0.05357975] [ 0. 0. 0. 1. ]] SLAMing on 42.589928850999996 meters Centerline goodness [0,1] 0.6565903867292895 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.17, Z:-0.05 [[ 0.99944987 -0.03020035 -0.01370723 0.53929209] [ 0.03035926 0.99947247 0.01153713 -0.16552761] [ 0.01335158 -0.01194692 0.99983949 -0.05363012] [ 0. 0. 0. 1. ]] SLAMing on 42.619928851 meters Centerline goodness [0,1] 0.6634550917533709 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.17, Z:-0.05 [[ 0.9994554 -0.02995119 -0.01385047 0.53979072] [ 0.03012031 0.99947222 0.01216791 -0.16829532] [ 0.01347872 -0.01257846 0.99983004 -0.05391517] [ 0. 0. 0. 1. ]] SLAMing on 42.649928851 meters Centerline goodness [0,1] 0.6634550917533709 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.17, Z:-0.05 [[ 0.9994554 -0.02995119 -0.01385047 0.53979072] [ 0.03012031 0.99947222 0.01216791 -0.16829532] [ 0.01347872 -0.01257846 0.99983004 -0.05391517] [ 0. 0. 0. 1. ]] SLAMing on 42.679928851 meters Centerline goodness [0,1] 0.6520495473087256 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.17, Z:-0.05 [[ 0.99945836 -0.02985046 -0.01385383 0.54001227] [ 0.03002372 0.99947139 0.012471 -0.16941407] [ 0.01347424 -0.01288019 0.99982626 -0.05419781] [ 0. 0. 0. 1. ]] SLAMing on 42.709928850999994 meters Centerline goodness [0,1] 0.6511000569208305 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.17, Z:-0.05 [[ 0.99945863 -0.02982542 -0.01388841 0.540171 ] [ 0.03000073 0.99947059 0.01258985 -0.1703054 ] [ 0.01350556 -0.0129997 0.99982429 -0.05425019] [ 0. 0. 0. 1. ]] SLAMing on 42.739928850999995 meters Centerline goodness [0,1] 0.6600875565778734 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.17, Z:-0.05 [[ 0.99945762 -0.02989143 -0.01381942 0.53984781] [ 0.03006773 0.99946679 0.01273044 -0.17160632] [ 0.01343152 -0.01313906 0.99982346 -0.05399675] [ 0. 0. 0. 1. ]] SLAMing on 42.769928850999996 meters Centerline goodness [0,1] 0.666378501210295 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.17, Z:-0.05 [[ 0.99945726 -0.02986184 -0.01390885 0.53995687] [ 0.03004069 0.9994663 0.01283211 -0.17233767] [ 0.01351824 -0.01324298 0.99982092 -0.05382418] [ 0. 0. 0. 1. ]] SLAMing on 42.799928851 meters Centerline goodness [0,1] 0.6609002517151177 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.17, Z:-0.05 [[ 0.99945933 -0.02974553 -0.01400914 0.54021527] [ 0.02992785 0.99946766 0.01298959 -0.17325405] [ 0.0136153 -0.01340184 0.99981749 -0.05378794] [ 0. 0. 0. 1. ]] SLAMing on 42.829928851 meters Centerline goodness [0,1] 0.6582100937523069 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.17, Z:-0.05 [[ 0.99946211 -0.02963586 -0.01404296 0.54026524] [ 0.02982167 0.99946791 0.01321195 -0.17432973] [ 0.01364394 -0.01362363 0.9998141 -0.05373113] [ 0. 0. 0. 1. ]] SLAMing on 42.859928851 meters Centerline goodness [0,1] 0.6626331193585676 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.17, Z:-0.05 [[ 0.99946072 -0.02966364 -0.01408337 0.54008984] [ 0.02984922 0.99946784 0.01315547 -0.17469764] [ 0.01368564 -0.01356876 0.99981428 -0.05334386] [ 0. 0. 0. 1. ]] SLAMing on 42.88992885099999 meters Centerline goodness [0,1] 0.6609573892957192 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.05 [[ 0.99946234 -0.02958428 -0.01413546 0.53972527] [ 0.02977063 0.99947013 0.01315944 -0.17518375] [ 0.01373865 -0.01357319 0.99981349 -0.05256946] [ 0. 0. 0. 1. ]] SLAMing on 42.919928850999995 meters Centerline goodness [0,1] 0.6531772083680368 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.05 [[ 0.99946071 -0.02959594 -0.01422583 0.53964656] [ 0.02978316 0.99947009 0.01313396 -0.17577631] [ 0.01382958 -0.01355057 0.99981254 -0.05212781] [ 0. 0. 0. 1. ]] SLAMing on 42.949928850999996 meters Centerline goodness [0,1] 0.6509583689415213 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.05 [[ 0.99946202 -0.02950921 -0.01431368 0.53976836] [ 0.02970176 0.99946855 0.01343193 -0.17767911] [ 0.01390971 -0.01384985 0.99980733 -0.05199063] [ 0. 0. 0. 1. ]] SLAMing on 42.979928851 meters Centerline goodness [0,1] 0.6575325752769509 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.05 [[ 0.9994602 -0.02954144 -0.01437389 0.53984129] [ 0.02973713 0.99946528 0.01359653 -0.1787469 ] [ 0.01396454 -0.01401663 0.99980424 -0.05195888] [ 0. 0. 0. 1. ]] SLAMing on 43.009928851 meters Centerline goodness [0,1] 0.6532175689479061 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.05 [[ 0.99945888 -0.02956498 -0.01441719 0.53998471] [ 0.02976362 0.9994622 0.01376384 -0.17984503] [ 0.01400251 -0.0141855 0.99980133 -0.05202299] [ 0. 0. 0. 1. ]] SLAMing on 43.039928851 meters Centerline goodness [0,1] 0.6573803967327888 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.05 [[ 0.99945853 -0.0295979 -0.01437384 0.53977849] [ 0.02979873 0.99945837 0.01396438 -0.18127103] [ 0.01395274 -0.01438514 0.99979917 -0.05186594] [ 0. 0. 0. 1. ]] SLAMing on 43.06992885099999 meters Centerline goodness [0,1] 0.6560150830291751 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.18, Z:-0.05 [[ 0.99944033 -0.03020821 -0.01436999 0.53905402] [ 0.03040946 0.99943949 0.01399922 -0.18397786] [ 0.01393904 -0.01442837 0.99979874 -0.05116051] [ 0. 0. 0. 1. ]] SLAMing on 43.099928850999994 meters Centerline goodness [0,1] 0.6506738674446079 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.19, Z:-0.05 [[ 0.99942879 -0.03065127 -0.01423365 0.53844383] [ 0.03084985 0.99942671 0.01394785 -0.18524941] [ 0.01379797 -0.01437899 0.99980141 -0.05086474] [ 0. 0. 0. 1. ]] SLAMing on 43.129928850999995 meters Centerline goodness [0,1] 0.6574367849245265 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.19, Z:-0.05 [[ 0.99942301 -0.0308691 -0.01416868 0.538078 ] [ 0.03106868 0.99941794 0.01408948 -0.18675326] [ 0.0137255 -0.01452155 0.99980035 -0.0506281 ] [ 0. 0. 0. 1. ]] SLAMing on 43.159928851 meters Centerline goodness [0,1] 0.6558626806990626 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.19, Z:-0.05 [[ 0.99941086 -0.0312891 -0.01410392 0.53746686] [ 0.03148703 0.99940558 0.0140373 -0.18804969] [ 0.01365632 -0.01447312 0.999802 -0.05011504] [ 0. 0. 0. 1. ]] SLAMing on 43.189928851 meters Centerline goodness [0,1] 0.6520503451075923 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.19, Z:-0.05 [[ 0.99928407 -0.03502358 -0.01430709 0.53794125] [ 0.03517357 0.99932742 0.01036965 -0.18926531] [ 0.01393429 -0.01086546 0.99984388 -0.04957693] [ 0. 0. 0. 1. ]] SLAMing on 43.219928851 meters Centerline goodness [0,1] 0.649165697467423 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.19, Z:-0.05 [[ 0.9992677 -0.0355278 -0.01420712 0.53733725] [ 0.03567574 0.99931035 0.01029915 -0.19065777] [ 0.01383142 -0.01079846 0.99984603 -0.04922819] [ 0. 0. 0. 1. ]] SLAMing on 43.249928851 meters Centerline goodness [0,1] 0.6478582609933115 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.19, Z:-0.05 [[ 0.99925471 -0.03593596 -0.01409352 0.53665094] [ 0.03608385 0.99929482 0.01038345 -0.19234043] [ 0.01371044 -0.01088426 0.99984677 -0.04879666] [ 0. 0. 0. 1. ]] SLAMing on 43.279928850999994 meters Centerline goodness [0,1] 0.6407090926258143 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.19, Z:-0.05 [[ 0.99911909 -0.03944447 -0.0143241 0.53744873] [ 0.03954489 0.99919468 0.00679591 -0.19345641] [ 0.0140445 -0.00735636 0.99987431 -0.04849223] [ 0. 0. 0. 1. ]] SLAMing on 43.309928850999995 meters Centerline goodness [0,1] 0.6397645673925838 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.99910971 -0.03975086 -0.01413032 0.5369311 ] [ 0.03985304 0.99918086 0.00702479 -0.19532632] [ 0.0138395 -0.00758167 0.99987549 -0.0484656 ] [ 0. 0. 0. 1. ]] SLAMing on 43.339928850999996 meters Centerline goodness [0,1] 0.636018201435474 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.99909873 -0.0400257 -0.0141305 0.53678213] [ 0.04013145 0.99916788 0.00728132 -0.197239 ] [ 0.01382731 -0.00784183 0.99987365 -0.04840311] [ 0. 0. 0. 1. ]] SLAMing on 43.369928851 meters Centerline goodness [0,1] 0.6356734464335927 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.99908387 -0.04046071 -0.01394134 0.53599192] [ 0.04056507 0.99915033 0.00728586 -0.19846487] [ 0.01363471 -0.00784472 0.99987627 -0.04805659] [ 0. 0. 0. 1. ]] SLAMing on 43.399928851 meters Centerline goodness [0,1] 0.623683288567091 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.99906334 -0.04099965 -0.01383755 0.53528762] [ 0.04110486 0.99912739 0.00740583 -0.20080599] [ 0.01352184 -0.00796768 0.99987683 -0.04764206] [ 0. 0. 0. 1. ]] SLAMing on 43.429928851 meters Centerline goodness [0,1] 0.6261562478156528 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.99906721 -0.04089855 -0.01385724 0.53544458] [ 0.0410086 0.99912871 0.00775289 -0.20199833] [ 0.01352808 -0.00831392 0.99987393 -0.04785757] [ 0. 0. 0. 1. ]] SLAMing on 43.459928850999994 meters Centerline goodness [0,1] 0.6296546266989387 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.99906912 -0.04081721 -0.01395886 0.53564438] [ 0.04092995 0.99913088 0.00788847 -0.20286906] [ 0.01362475 -0.00845246 0.99987145 -0.04776723] [ 0. 0. 0. 1. ]] SLAMing on 43.489928850999995 meters Centerline goodness [0,1] 0.6170988184498247 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.99907497 -0.04065399 -0.01401605 0.53582576] [ 0.04077068 0.99913535 0.00814262 -0.20380393] [ 0.0136729 -0.00870654 0.99986862 -0.04781281] [ 0. 0. 0. 1. ]] SLAMing on 43.519928850999996 meters Centerline goodness [0,1] 0.6352533382961895 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.99909463 -0.04009439 -0.01422551 0.53641529] [ 0.04021995 0.99915338 0.00865284 -0.20497896] [ 0.01386654 -0.00921715 0.99986137 -0.0478734 ] [ 0. 0. 0. 1. ]] SLAMing on 43.549928851 meters Centerline goodness [0,1] 0.6382110995249681 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.99910987 -0.03964144 -0.01442276 0.53697173] [ 0.03977075 0.99917015 0.0087921 -0.2048463 ] [ 0.01406226 -0.00935788 0.99985733 -0.04778911] [ 0. 0. 0. 1. ]] SLAMing on 43.579928851 meters Centerline goodness [0,1] 0.6371508833840225 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99925495 -0.0357863 -0.01445262 0.53625512] [ 0.03597318 0.9992697 0.01288431 -0.20634101] [ 0.01398098 -0.01339462 0.99981254 -0.04731517] [ 0. 0. 0. 1. ]] SLAMing on 43.609928851 meters Centerline goodness [0,1] 0.6432569265426508 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99926344 -0.03548057 -0.01461865 0.53658583] [ 0.03567112 0.99927919 0.01298704 -0.20634885] [ 0.01414732 -0.01349893 0.9998088 -0.04714057] [ 0. 0. 0. 1. ]] SLAMing on 43.63992885099999 meters Centerline goodness [0,1] 0.6374739281575899 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.999269 -0.03530558 -0.01466216 0.5364803 ] [ 0.03549762 0.99928454 0.01305078 -0.2066214 ] [ 0.0141909 -0.01356171 0.99980733 -0.04677079] [ 0. 0. 0. 1. ]] SLAMing on 43.669928850999995 meters Centerline goodness [0,1] 0.6396775242786116 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99928528 -0.03475632 -0.01486388 0.53695791] [ 0.03495404 0.99930101 0.01325563 -0.2067456 ] [ 0.01439277 -0.01376571 0.99980166 -0.0465702 ] [ 0. 0. 0. 1. ]] SLAMing on 43.699928850999996 meters Centerline goodness [0,1] 0.6401793180340054 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99929054 -0.03453835 -0.01501705 0.53741731] [ 0.03473858 0.99930815 0.01328322 -0.20671389] [ 0.01454788 -0.01379547 0.999799 -0.04658138] [ 0. 0. 0. 1. ]] SLAMing on 43.729928851 meters Centerline goodness [0,1] 0.6396069960281514 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99929421 -0.03437882 -0.01513857 0.53775502] [ 0.03458093 0.99931343 0.01329785 -0.20655095] [ 0.01467102 -0.01381197 0.99979697 -0.04659675] [ 0. 0. 0. 1. ]] SLAMing on 43.759928851 meters Centerline goodness [0,1] 0.6350089225706274 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99930071 -0.03411528 -0.01530482 0.53822155] [ 0.03432197 0.99932029 0.01345219 -0.2069399 ] [ 0.01483549 -0.01396807 0.99979238 -0.04663728] [ 0. 0. 0. 1. ]] SLAMing on 43.789928851 meters Centerline goodness [0,1] 0.6399833035734991 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99929882 -0.03419359 -0.01525324 0.53803698] [ 0.03440034 0.99931689 0.01350428 -0.20733955] [ 0.01478106 -0.01401953 0.99979247 -0.04653054] [ 0. 0. 0. 1. ]] SLAMing on 43.81992885099999 meters Centerline goodness [0,1] 0.6455675650600733 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99929397 -0.03432348 -0.01527919 0.53810258] [ 0.03453077 0.99931223 0.0135164 -0.20775735] [ 0.01480475 -0.01403446 0.9997919 -0.04658234] [ 0. 0. 0. 1. ]] SLAMing on 43.849928850999994 meters Centerline goodness [0,1] 0.6444742191831454 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99928543 -0.03454856 -0.01533031 0.53814821] [ 0.03475496 0.99930592 0.01340788 -0.20824236] [ 0.01485645 -0.0139311 0.99979258 -0.04650494] [ 0. 0. 0. 1. ]] SLAMing on 43.879928850999995 meters Centerline goodness [0,1] 0.6412621359223301 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99927501 -0.03484077 -0.0153484 0.53821604] [ 0.03505056 0.99929275 0.01361854 -0.20985382] [ 0.01486306 -0.01414663 0.99978946 -0.04677941] [ 0. 0. 0. 1. ]] SLAMing on 43.909928851 meters Centerline goodness [0,1] 0.650169272932452 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.9992678 -0.03503076 -0.01538544 0.53823471] [ 0.03524088 0.99928623 0.01360529 -0.21046512] [ 0.01489785 -0.01413753 0.99978907 -0.04672017] [ 0. 0. 0. 1. ]] SLAMing on 43.939928851 meters Centerline goodness [0,1] 0.6455973104909275 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99925995 -0.03528014 -0.01532547 0.53813912] [ 0.03548774 0.99927903 0.01349206 -0.21077855] [ 0.01483842 -0.01402594 0.99979153 -0.04676907] [ 0. 0. 0. 1. ]] SLAMing on 43.969928851 meters Centerline goodness [0,1] 0.6455480241619403 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99924887 -0.03559888 -0.01531076 0.53785116] [ 0.03580347 0.99927031 0.01330281 -0.21102604] [ 0.01482602 -0.01384099 0.99979429 -0.04646746] [ 0. 0. 0. 1. ]] SLAMing on 43.99992885099999 meters Centerline goodness [0,1] 0.6323315727564176 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99924023 -0.03585673 -0.01527302 0.53759061] [ 0.03605814 0.99926353 0.01312257 -0.21113571] [ 0.01479124 -0.01366332 0.99979725 -0.04624107] [ 0. 0. 0. 1. ]] SLAMing on 44.029928850999994 meters Centerline goodness [0,1] 0.6426296108212917 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99922764 -0.03627589 -0.01510561 0.53702805] [ 0.03647081 0.9992523 0.01283471 -0.21116223] [ 0.01462873 -0.01337571 0.99980353 -0.04597485] [ 0. 0. 0. 1. ]] SLAMing on 44.059928850999995 meters Centerline goodness [0,1] 0.640553207131042 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99911679 -0.03909599 -0.01539944 0.53850182] [ 0.03924117 0.99918704 0.00924069 -0.21001504] [ 0.01502564 -0.00983682 0.99983872 -0.04602844] [ 0. 0. 0. 1. ]] SLAMing on 44.089928850999996 meters Centerline goodness [0,1] 0.6388285331237575 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.9991036 -0.03948976 -0.01525008 0.5377254 ] [ 0.03962817 0.99917501 0.00888299 -0.21003903] [ 0.01488672 -0.00947936 0.99984425 -0.0453984 ] [ 0. 0. 0. 1. ]] SLAMing on 44.119928851 meters Centerline goodness [0,1] 0.6385417147073744 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99909814 -0.03964774 -0.01519758 0.53741745] [ 0.03978314 0.99917035 0.00871335 -0.20989163] [ 0.01483951 -0.0093101 0.99984654 -0.04512648] [ 0. 0. 0. 1. ]] SLAMing on 44.149928851 meters Centerline goodness [0,1] 0.6383699232877975 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99909346 -0.03980873 -0.01508405 0.53711516] [ 0.03994087 0.99916536 0.00856268 -0.20967779] [ 0.0147306 -0.00915739 0.99984956 -0.04503961] [ 0. 0. 0. 1. ]] SLAMing on 44.179928851 meters Centerline goodness [0,1] 0.6346825323899661 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99909742 -0.039722 -0.01505018 0.53718616] [ 0.03985588 0.99916754 0.00870274 -0.21006165] [ 0.01469196 -0.00929473 0.99984887 -0.04517523] [ 0. 0. 0. 1. ]] SLAMing on 44.209928850999994 meters Centerline goodness [0,1] 0.6376420060958714 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99909775 -0.03970623 -0.01506962 0.53733187] [ 0.03984039 0.9991681 0.00870914 -0.21008993] [ 0.01471128 -0.00930166 0.99984852 -0.04525853] [ 0. 0. 0. 1. ]] SLAMing on 44.239928850999995 meters Centerline goodness [0,1] 0.6423280179078301 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99909919 -0.03962875 -0.0151782 0.53776099] [ 0.039764 0.99917109 0.00871526 -0.20985367] [ 0.01482024 -0.00931095 0.99984682 -0.04549198] [ 0. 0. 0. 1. ]] SLAMing on 44.269928850999996 meters Centerline goodness [0,1] 0.6402720147533425 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99910151 -0.03952627 -0.0152921 0.53825318] [ 0.03966308 0.99917481 0.00874874 -0.20954832] [ 0.01493367 -0.00934741 0.99984479 -0.04578262] [ 0. 0. 0. 1. ]] SLAMing on 44.299928851 meters Centerline goodness [0,1] 0.6428934479253303 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99910666 -0.03937466 -0.01534639 0.53841035] [ 0.03950827 0.99918307 0.00850252 -0.20856375] [ 0.01499907 -0.00910123 0.99984609 -0.04557388] [ 0. 0. 0. 1. ]] SLAMing on 44.329928851 meters Centerline goodness [0,1] 0.6441832540525563 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99910888 -0.03925025 -0.01551968 0.53882539] [ 0.03938276 0.9991895 0.00832679 -0.20771242] [ 0.01518027 -0.00893057 0.99984489 -0.04550613] [ 0. 0. 0. 1. ]] SLAMing on 44.359928851 meters Centerline goodness [0,1] 0.6422058687401648 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99910964 -0.03918514 -0.01563473 0.53913619] [ 0.03931544 0.99919389 0.00811522 -0.20662544] [ 0.01530413 -0.00872268 0.99984484 -0.04550469] [ 0. 0. 0. 1. ]] SLAMing on 44.38992885099999 meters Centerline goodness [0,1] 0.6444789398081645 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99911067 -0.03911473 -0.01574528 0.53947673] [ 0.03924304 0.99919827 0.00792412 -0.20563496] [ 0.01542271 -0.00853497 0.99984464 -0.04554144] [ 0. 0. 0. 1. ]] SLAMing on 44.419928850999995 meters Centerline goodness [0,1] 0.6459833666310459 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.99912118 -0.03880324 -0.01584873 0.54023688] [ 0.03892904 0.99921225 0.0077075 -0.20406333] [ 0.01553717 -0.00831771 0.99984469 -0.04594448] [ 0. 0. 0. 1. ]] SLAMing on 44.449928850999996 meters Centerline goodness [0,1] 0.6504895007325071 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.99911744 -0.03888386 -0.01588655 0.54045146] [ 0.039007 0.99921067 0.0075159 -0.20340186] [ 0.01558177 -0.00812895 0.99984555 -0.04613108] [ 0. 0. 0. 1. ]] SLAMing on 44.479928851 meters Centerline goodness [0,1] 0.6483188972711186 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.99910162 -0.03939467 -0.01562077 0.53954714] [ 0.03950762 0.99919483 0.00698893 -0.20276257] [ 0.01533286 -0.00759979 0.99985356 -0.04558862] [ 0. 0. 0. 1. ]] SLAMing on 44.509928851 meters Centerline goodness [0,1] 0.6468272456205739 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.99909454 -0.03964866 -0.01542996 0.53887629] [ 0.03975766 0.99918606 0.00682257 -0.20278211] [ 0.0151469 -0.00742985 0.99985767 -0.04524149] [ 0. 0. 0. 1. ]] SLAMing on 44.539928851 meters Centerline goodness [0,1] 0.6440070723990322 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.04 [[ 0.99908453 -0.03991684 -0.01538681 0.53853664] [ 0.04002279 0.9991767 0.00663996 -0.2028464 ] [ 0.0151091 -0.0072497 0.99985957 -0.04496348] [ 0. 0. 0. 1. ]] SLAMing on 44.56992885099999 meters Centerline goodness [0,1] 0.6440070723990322 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.04 [[ 0.99908453 -0.03991684 -0.01538681 0.53853664] [ 0.04002279 0.9991767 0.00663996 -0.2028464 ] [ 0.0151091 -0.0072497 0.99985957 -0.04496348] [ 0. 0. 0. 1. ]] SLAMing on 44.599928850999994 meters Centerline goodness [0,1] 0.6463020263825233 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.04 [[ 0.99907858 -0.04008874 -0.01532591 0.53832404] [ 0.04019437 0.99916977 0.00664732 -0.20317939] [ 0.0150467 -0.00725721 0.99986046 -0.0449128 ] [ 0. 0. 0. 1. ]] SLAMing on 44.629928850999995 meters Centerline goodness [0,1] 0.6413409117271778 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.99906455 -0.0404842 -0.01520076 0.53800261] [ 0.0405899 0.99915336 0.00671062 -0.20402752] [ 0.01491622 -0.00732134 0.99986194 -0.04501464] [ 0. 0. 0. 1. ]] SLAMing on 44.659928851 meters Centerline goodness [0,1] 0.6366186733439985 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.99905819 -0.04069512 -0.01505473 0.53773147] [ 0.04080118 0.9991441 0.00680639 -0.2046786 ] [ 0.01476486 -0.00741423 0.9998635 -0.04512688] [ 0. 0. 0. 1. ]] SLAMing on 44.689928851 meters Centerline goodness [0,1] 0.6366117059408459 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99905016 -0.04090097 -0.01502929 0.53758459] [ 0.04100795 0.99913513 0.00688035 -0.20533008] [ 0.01473487 -0.00749014 0.99986338 -0.04510469] [ 0. 0. 0. 1. ]] SLAMing on 44.719928851 meters Centerline goodness [0,1] 0.6365402854565223 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.9990403 -0.04121139 -0.01483601 0.53704773] [ 0.0413163 0.99912273 0.00683566 -0.20578563] [ 0.01454129 -0.00744207 0.99986657 -0.04503064] [ 0. 0. 0. 1. ]] SLAMing on 44.74992885099999 meters Centerline goodness [0,1] 0.635413052027668 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99903019 -0.04151453 -0.01467076 0.53685124] [ 0.0416194 0.9991096 0.00691648 -0.20666285] [ 0.01437056 -0.00752036 0.99986846 -0.04536895] [ 0. 0. 0. 1. ]] SLAMing on 44.779928850999994 meters Centerline goodness [0,1] 0.6352652532172947 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99903182 -0.04147134 -0.01468194 0.53698364] [ 0.04157791 0.99911054 0.00702933 -0.20675628] [ 0.01437736 -0.00763297 0.99986751 -0.04550719] [ 0. 0. 0. 1. ]] SLAMing on 44.809928850999995 meters Centerline goodness [0,1] 0.6333433588598663 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99903191 -0.0414453 -0.01474869 0.53730203] [ 0.04155228 0.99911165 0.00702254 -0.20646694] [ 0.01444454 -0.00762858 0.99986657 -0.04570486] [ 0. 0. 0. 1. ]] SLAMing on 44.839928850999996 meters Centerline goodness [0,1] 0.633446024174501 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.21, Z:-0.05 [[ 0.99904262 -0.04117957 -0.01476807 0.53754341] [ 0.04128521 0.99912343 0.00692122 -0.20546128] [ 0.01447011 -0.0075243 0.99986699 -0.04575728] [ 0. 0. 0. 1. ]] SLAMing on 44.869928851 meters Centerline goodness [0,1] 0.635611102093816 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.99905128 -0.04090959 -0.01493117 0.53802205] [ 0.0410154 0.99913503 0.00685019 -0.20465756] [ 0.01463802 -0.0074561 0.99986506 -0.04578549] [ 0. 0. 0. 1. ]] SLAMing on 44.899928851 meters Centerline goodness [0,1] 0.6375988314127385 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.99905963 -0.04063908 -0.01511059 0.53858941] [ 0.04074317 0.99914755 0.00664579 -0.20359311] [ 0.01482763 -0.00725519 0.99986374 -0.04579056] [ 0. 0. 0. 1. ]] SLAMing on 44.929928851 meters Centerline goodness [0,1] 0.6344926796445394 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.99907146 -0.04024234 -0.01538752 0.53933419] [ 0.04034721 0.99916414 0.00656677 -0.20268797] [ 0.0151104 -0.00718152 0.99986004 -0.04573379] [ 0. 0. 0. 1. ]] SLAMing on 44.959928850999994 meters Centerline goodness [0,1] 0.6452710576609332 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.99921778 -0.0364572 -0.0153201 0.53884355] [ 0.03661828 0.99927554 0.01036848 -0.20274521] [ 0.01493099 -0.01092137 0.99982888 -0.04581723] [ 0. 0. 0. 1. ]] SLAMing on 44.989928850999995 meters Centerline goodness [0,1] 0.639849956897556 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.9992304 -0.03599574 -0.01558597 0.53966608] [ 0.03615961 0.99929229 0.01036308 -0.20197095] [ 0.01520191 -0.01091869 0.99982483 -0.04592951] [ 0. 0. 0. 1. ]] SLAMing on 45.019928850999996 meters Centerline goodness [0,1] 0.6457116257418829 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.9992436 -0.03554616 -0.01577006 0.54042603] [ 0.03571326 0.9993075 0.01044434 -0.20144263] [ 0.01538789 -0.01099964 0.99982109 -0.04621493] [ 0. 0. 0. 1. ]] SLAMing on 45.049928851 meters Centerline goodness [0,1] 0.6482264203815706 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.99927913 -0.03442748 -0.01599935 0.54165138] [ 0.03460012 0.99934457 0.01064228 -0.20024442] [ 0.01562247 -0.01118819 0.99981536 -0.0465538 ] [ 0. 0. 0. 1. ]] SLAMing on 45.079928851 meters Centerline goodness [0,1] 0.6430590268856136 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.99928745 -0.03416729 -0.01603711 0.54198 ] [ 0.03433898 0.9993545 0.01055582 -0.19944215] [ 0.01566609 -0.011099 0.99981568 -0.04668136] [ 0. 0. 0. 1. ]] SLAMing on 45.109928851 meters Centerline goodness [0,1] 0.6457963982457777 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.9992948 -0.03389279 -0.01616101 0.54235454] [ 0.03406353 0.99936546 0.01040923 -0.19871365] [ 0.01579796 -0.01095239 0.99981522 -0.04655443] [ 0. 0. 0. 1. ]] SLAMing on 45.13992885099999 meters Centerline goodness [0,1] 0.6376689189189189 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.99930464 -0.03355681 -0.01625372 0.54269566] [ 0.0337282 0.99937706 0.01038748 -0.19804423] [ 0.01589503 -0.01092846 0.99981394 -0.0465649 ] [ 0. 0. 0. 1. ]] SLAMing on 45.169928850999995 meters Centerline goodness [0,1] 0.6671044916148704 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.20, Z:-0.05 [[ 0.99934147 -0.03226473 -0.01660186 0.54429757] [ 0.03244478 0.99941634 0.01069209 -0.19688017] [ 0.01624719 -0.01122369 0.99980501 -0.04707177] [ 0. 0. 0. 1. ]] SLAMing on 45.199928850999996 meters Centerline goodness [0,1] 0.6507475277686647 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.20, Z:-0.05 [[ 0.99935127 -0.03184251 -0.01682537 0.54517461] [ 0.0320255 0.99942955 0.01072066 -0.19619171] [ 0.0164744 -0.01125255 0.99980097 -0.04740105] [ 0. 0. 0. 1. ]] SLAMing on 45.229928851 meters Centerline goodness [0,1] 0.6682035199400862 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.20, Z:-0.05 [[ 0.99935819 -0.03149 -0.01707588 0.54601491] [ 0.03167568 0.99944077 0.01071478 -0.19556183] [ 0.01672892 -0.0112488 0.99979678 -0.04762628] [ 0. 0. 0. 1. ]] SLAMing on 45.259928851 meters Centerline goodness [0,1] 0.6715660953275417 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.05 [[ 0.99938443 -0.03049521 -0.01734396 0.54742821] [ 0.03068943 0.99946795 0.01104471 -0.19497219] [ 0.01699792 -0.01157019 0.99978858 -0.04826801] [ 0. 0. 0. 1. ]] SLAMing on 45.289928851 meters Centerline goodness [0,1] 0.6691776964235427 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.05 [[ 0.99939152 -0.03015322 -0.01753214 0.5480515 ] [ 0.03034905 0.99947869 0.01101258 -0.1943853 ] [ 0.01719093 -0.01153796 0.99978565 -0.04838237] [ 0. 0. 0. 1. ]] SLAMing on 45.31992885099999 meters Centerline goodness [0,1] 0.6758735597118251 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.05 [[ 0.99939958 -0.02972446 -0.01780267 0.54890286] [ 0.02992456 0.99949074 0.01108066 -0.19392691] [ 0.01746424 -0.01160674 0.99978012 -0.04854134] [ 0. 0. 0. 1. ]] SLAMing on 45.349928850999994 meters Centerline goodness [0,1] 0.6934243030231737 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.05 [[ 0.9994168 -0.02900107 -0.01802796 0.54965674] [ 0.02920395 0.99951191 0.0110939 -0.19259626] [ 0.01769743 -0.01161392 0.99977593 -0.04843157] [ 0. 0. 0. 1. ]] SLAMing on 45.379928850999995 meters Centerline goodness [0,1] 0.6960867515322962 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.05 [[ 0.99942264 -0.02867816 -0.01821952 0.550174 ] [ 0.0288827 0.99952158 0.01106388 -0.19193652] [ 0.01789351 -0.01158372 0.99977279 -0.04840431] [ 0. 0. 0. 1. ]] SLAMing on 45.409928851 meters Centerline goodness [0,1] 0.6881971465629053 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.05 [[ 0.99942688 -0.02840728 -0.01841043 0.5506846 ] [ 0.02861336 0.99952971 0.01102852 -0.19150999] [ 0.01808848 -0.01154899 0.99976969 -0.0483946 ] [ 0. 0. 0. 1. ]] SLAMing on 45.439928851 meters Centerline goodness [0,1] 0.6955325005293246 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.05 [[ 0.9994315 -0.02813544 -0.0185762 0.55127898] [ 0.02834347 0.99953736 0.01103231 -0.19118139] [ 0.0182572 -0.01155255 0.99976658 -0.04855653] [ 0. 0. 0. 1. ]] SLAMing on 45.469928851 meters Centerline goodness [0,1] 0.6950502961361287 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.05 [[ 0.99943813 -0.02784556 -0.01865594 0.55185469] [ 0.02805434 0.9995456 0.01102475 -0.19079397] [ 0.01834047 -0.01154194 0.99976518 -0.04884704] [ 0. 0. 0. 1. ]] SLAMing on 45.49992885099999 meters Centerline goodness [0,1] 0.6949647058823529 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.05 [[ 0.9994548 -0.02711887 -0.01883258 0.55271604] [ 0.02732876 0.99956621 0.01097903 -0.18941095] [ 0.01852667 -0.01148772 0.99976237 -0.0489982 ] [ 0. 0. 0. 1. ]] SLAMing on 45.529928850999994 meters Centerline goodness [0,1] 0.7244972534596978 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.05 [[ 0.99945883 -0.02686039 -0.01898846 0.55325242] [ 0.02706798 0.99957567 0.01076085 -0.18807042] [ 0.01869136 -0.01126901 0.99976179 -0.04901272] [ 0. 0. 0. 1. ]] SLAMing on 45.559928850999995 meters Centerline goodness [0,1] 0.6985788022343209 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.19, Z:-0.05 [[ 0.99946223 -0.02660367 -0.01917026 0.55371068] [ 0.02680855 0.99958533 0.01051044 -0.18670699] [ 0.0188827 -0.01101871 0.99976099 -0.04888943] [ 0. 0. 0. 1. ]] SLAMing on 45.589928850999996 meters Centerline goodness [0,1] 0.7156895167005244 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.19, Z:-0.05 [[ 0.99948731 -0.02540078 -0.01949134 0.55540521] [ 0.02561267 0.99961468 0.01069938 -0.18534257] [ 0.01921206 -0.01119312 0.99975277 -0.04951327] [ 0. 0. 0. 1. ]] SLAMing on 45.619928851 meters Centerline goodness [0,1] 0.7336391148099111 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.18, Z:-0.05 [[ 0.99949691 -0.02481151 -0.01975628 0.55654925] [ 0.02502746 0.99962886 0.01075982 -0.18453552] [ 0.01948198 -0.01124886 0.99974693 -0.04997939] [ 0. 0. 0. 1. ]] SLAMing on 45.649928851 meters Centerline goodness [0,1] 0.7115903603049099 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.18, Z:-0.05 [[ 0.99950969 -0.02423194 -0.01982906 0.55722863] [ 0.02444667 0.99964431 0.01065916 -0.18306413] [ 0.01956372 -0.01113869 0.99974656 -0.05020368] [ 0. 0. 0. 1. ]] SLAMing on 45.67992885099999 meters Centerline goodness [0,1] 0.7590712562405943 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.18, Z:-0.05 [[ 0.99960155 -0.02005065 -0.01986722 0.5570687 ] [ 0.02033142 0.99969481 0.01403289 -0.18040287] [ 0.01957979 -0.01443122 0.99970414 -0.0498675 ] [ 0. 0. 0. 1. ]] SLAMing on 45.709928850999994 meters Centerline goodness [0,1] 0.7667560963924688 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.18, Z:-0.05 [[ 0.9996127 -0.01924554 -0.02010138 0.55803061] [ 0.01952416 0.99971473 0.01375745 -0.17800454] [ 0.01983088 -0.01414458 0.99970329 -0.0498024 ] [ 0. 0. 0. 1. ]] SLAMing on 45.739928850999995 meters Centerline goodness [0,1] 0.7707646789983884 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.18, Z:-0.05 [[ 0.99962089 -0.01859416 -0.02030624 0.55877738] [ 0.01886866 0.99973203 0.01341088 -0.1758079 ] [ 0.02005143 -0.01378895 0.99970386 -0.04961969] [ 0. 0. 0. 1. ]] SLAMing on 45.769928850999996 meters Centerline goodness [0,1] 0.7814862221363538 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.18, Z:-0.05 [[ 0.99968816 -0.01443798 -0.02037457 0.559212 ] [ 0.01478993 0.99974215 0.01723068 -0.17530149] [ 0.02012054 -0.01752664 0.99964393 -0.05012302] [ 0. 0. 0. 1. ]] SLAMing on 45.799928851 meters Centerline goodness [0,1] 0.7804531212340323 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.05 [[ 0.99968405 -0.01438093 -0.02061533 0.55974587] [ 0.01472653 0.9997519 0.01671125 -0.17412607] [ 0.02036989 -0.01700956 0.99964781 -0.0498599 ] [ 0. 0. 0. 1. ]] SLAMing on 45.829928851 meters Centerline goodness [0,1] 0.7842928129923645 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.05 [[ 0.99968067 -0.01443923 -0.02073794 0.55998095] [ 0.0147784 0.99975799 0.01629615 -0.17299723] [ 0.02049762 -0.01659742 0.99965213 -0.04968173] [ 0. 0. 0. 1. ]] SLAMing on 45.859928851 meters Centerline goodness [0,1] 0.7874808863862528 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.05 [[ 0.9996769 -0.01474306 -0.02070607 0.55986296] [ 0.01506855 0.99976394 0.01565248 -0.17147657] [ 0.02047042 -0.01595943 0.99966307 -0.04943304] [ 0. 0. 0. 1. ]] SLAMing on 45.88992885099999 meters Centerline goodness [0,1] 0.7876645775640091 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.05 [[ 0.99966932 -0.01514762 -0.02077964 0.55971707] [ 0.01546621 0.99976397 0.01525749 -0.1709969 ] [ 0.02054362 -0.01557382 0.99966765 -0.04912138] [ 0. 0. 0. 1. ]] SLAMing on 45.919928850999995 meters Centerline goodness [0,1] 0.779633450661488 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.05 [[ 0.99966369 -0.01556409 -0.02074266 0.55950162] [ 0.01587669 0.99976155 0.01499224 -0.17123118] [ 0.02050438 -0.01531652 0.99967243 -0.04899097] [ 0. 0. 0. 1. ]] SLAMing on 45.949928850999996 meters Centerline goodness [0,1] 0.7847551055098225 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.05 [[ 0.9996558 -0.01615693 -0.02066961 0.55901137] [ 0.01646298 0.99975607 0.01472301 -0.1717694 ] [ 0.02042669 -0.01505823 0.99967795 -0.04878475] [ 0. 0. 0. 1. ]] SLAMing on 45.979928851 meters Centerline goodness [0,1] 0.7669985019088581 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.05 [[ 0.99957927 -0.02023761 -0.02077785 0.55936479] [ 0.02046217 0.99973387 0.01065297 -0.17183727] [ 0.02055673 -0.01107365 0.99972736 -0.04856448] [ 0. 0. 0. 1. ]] SLAMing on 46.009928851 meters Centerline goodness [0,1] 0.7779467864213627 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.05 [[ 0.99956666 -0.02111394 -0.02051066 0.55808941] [ 0.02132686 0.99972033 0.01021852 -0.17233513] [ 0.02028917 -0.01065152 0.99973741 -0.04789636] [ 0. 0. 0. 1. ]] SLAMing on 46.039928851 meters Centerline goodness [0,1] 0.7753848377538484 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.05 [[ 0.99955276 -0.02188012 -0.02038483 0.5572555 ] [ 0.02208647 0.99970652 0.00995317 -0.17297916] [ 0.02016107 -0.01039895 0.99974266 -0.04746046] [ 0. 0. 0. 1. ]] SLAMing on 46.06992885099999 meters Centerline goodness [0,1] 0.7652005174644243 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.05 [[ 0.99945204 -0.02609491 -0.02036365 0.55722346] [ 0.02621785 0.99963946 0.00579381 -0.17282894] [ 0.02020512 -0.00632453 0.99977585 -0.04696533] [ 0. 0. 0. 1. ]] SLAMing on 46.099928850999994 meters Centerline goodness [0,1] 0.7591824004990044 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.05 [[ 0.99943882 -0.02681007 -0.02008161 0.55630515] [ 0.02692978 0.99962099 0.00571491 -0.17378566] [ 0.01992078 -0.0062525 0.99978201 -0.04690072] [ 0. 0. 0. 1. ]] SLAMing on 46.129928850999995 meters Centerline goodness [0,1] 0.7453720377440034 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.05 [[ 0.99942699 -0.02750273 -0.01973025 0.55542862] [ 0.02761929 0.99960249 0.0056595 -0.17464393] [ 0.01956676 -0.00620119 0.99978932 -0.04702701] [ 0. 0. 0. 1. ]] SLAMing on 46.159928851 meters Centerline goodness [0,1] 0.7583870037489185 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.05 [[ 0.99941394 -0.02809462 -0.01955686 0.5547461 ] [ 0.02820819 0.99958663 0.00555593 -0.17536552] [ 0.01939268 -0.00610434 0.99979331 -0.04685856] [ 0. 0. 0. 1. ]] SLAMing on 46.189928851 meters Centerline goodness [0,1] 0.7249826393046144 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.05 [[ 0.99938521 -0.02923223 -0.01935658 0.55388367] [ 0.02933738 0.99955619 0.00517049 -0.17584998] [ 0.01919684 -0.00573518 0.99979927 -0.0467654 ] [ 0. 0. 0. 1. ]] SLAMing on 46.219928851 meters Centerline goodness [0,1] 0.7167114351496546 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.05 [[ 0.9993779 -0.02965639 -0.01908718 0.55337075] [ 0.02975664 0.99954472 0.00498961 -0.17568205] [ 0.01893052 -0.00555447 0.99980537 -0.04693948] [ 0. 0. 0. 1. ]] SLAMing on 46.24992885099999 meters Centerline goodness [0,1] 0.7146618791143028 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.18, Z:-0.05 [[ 0.999372 -0.02987213 -0.0190592 0.55341103] [ 0.029968 0.9995395 0.00476423 -0.17512881] [ 0.0189081 -0.00533241 0.99980701 -0.04706007] [ 0. 0. 0. 1. ]] SLAMing on 46.279928850999994 meters Centerline goodness [0,1] 0.7308478653036681 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.05 [[ 0.9993652 -0.03016214 -0.01895892 0.55341794] [ 0.0302486 0.9995332 0.00428996 -0.17335281] [ 0.01882068 -0.00486072 0.99981106 -0.04734222] [ 0. 0. 0. 1. ]] SLAMing on 46.309928850999995 meters Centerline goodness [0,1] 0.7005767844268205 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.05 [[ 0.99936872 -0.02991331 -0.01916651 0.5543905 ] [ 0.03000221 0.99954029 0.00436753 -0.1726962 ] [ 0.01902705 -0.00493981 0.99980677 -0.0479805 ] [ 0. 0. 0. 1. ]] SLAMing on 46.339928850999996 meters Centerline goodness [0,1] 0.7061606797991502 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.05 [[ 0.99936588 -0.0299348 -0.01928056 0.55488333] [ 0.0300194 0.99954085 0.00411331 -0.17138939] [ 0.01914858 -0.00468949 0.99980565 -0.04829908] [ 0. 0. 0. 1. ]] SLAMing on 46.369928851 meters Centerline goodness [0,1] 0.7261875938211224 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.05 [[ 0.99936899 -0.02977916 -0.01936044 0.55541447] [ 0.02986222 0.99954596 0.00401563 -0.17012753] [ 0.01923207 -0.00459124 0.9998045 -0.04867639] [ 0. 0. 0. 1. ]] SLAMing on 46.399928851 meters Centerline goodness [0,1] 0.727529320161565 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.05 [[ 0.99936658 -0.02988528 -0.01932097 0.55547603] [ 0.02995237 0.99954623 0.00319239 -0.16680098] [ 0.0192168 -0.00376908 0.99980824 -0.04849706] [ 0. 0. 0. 1. ]] SLAMing on 46.42992885099999 meters Centerline goodness [0,1] 0.71644884424071 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.05 [[ 0.99936453 -0.02990984 -0.0193891 0.55577646] [ 0.02997185 0.99954649 0.00291566 -0.165621 ] [ 0.0192931 -0.00349494 0.99980776 -0.04860296] [ 0. 0. 0. 1. ]] SLAMing on 46.459928850999994 meters Centerline goodness [0,1] 0.71644884424071 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.05 [[ 0.99936453 -0.02990984 -0.0193891 0.55577646] [ 0.02997185 0.99954649 0.00291566 -0.165621 ] [ 0.0192931 -0.00349494 0.99980776 -0.04860296] [ 0. 0. 0. 1. ]] SLAMing on 46.489928850999995 meters Centerline goodness [0,1] 0.7094680331869204 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.16, Z:-0.05 [[ 0.99936146 -0.03006518 -0.01930686 0.55578465] [ 0.03012239 0.99954263 0.00267909 -0.16472392] [ 0.01921748 -0.00325895 0.99981002 -0.04883852] [ 0. 0. 0. 1. ]] SLAMing on 46.519928850999996 meters Centerline goodness [0,1] 0.6994984709480122 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.16, Z:-0.05 [[ 0.99935441 -0.03042186 -0.01911231 0.55565542] [ 0.03046646 0.99953369 0.00204689 -0.16239918] [ 0.01904113 -0.00262785 0.99981525 -0.04910028] [ 0. 0. 0. 1. ]] SLAMing on 46.549928851 meters Centerline goodness [0,1] 0.6842182172430589 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.16, Z:-0.05 [[ 0.99935315 -0.03037154 -0.01925745 0.55627211] [ 0.03041257 0.99953573 0.00184138 -0.16104368] [ 0.01919259 -0.00242586 0.99981286 -0.04938402] [ 0. 0. 0. 1. ]] SLAMing on 46.579928851 meters Centerline goodness [0,1] 0.6786326460649394 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.16, Z:-0.05 [[ 0.99934835 -0.03055563 -0.01921516 0.55619105] [ 0.0305882 0.99953109 0.00140332 -0.15936726] [ 0.01916327 -0.00199017 0.99981439 -0.04932878] [ 0. 0. 0. 1. ]] SLAMing on 46.609928851 meters Centerline goodness [0,1] 0.7105644705477601 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.16, Z:-0.05 [[ 9.99348046e-01 -3.06621736e-02 -1.90607960e-02 5.56296004e-01] [ 3.06814315e-02 9.99528956e-01 7.18660656e-04 -1.56304391e-01] [ 1.90297818e-02 -1.30300463e-03 9.99818068e-01 -4.96250406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.63992885099999 meters Centerline goodness [0,1] 0.7155242682474992 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.15, Z:-0.05 [[ 9.99347586e-01 -3.05914898e-02 -1.91979974e-02 5.56864982e-01] [ 3.06068843e-02 9.99531370e-01 5.08501299e-04 -1.54827392e-01] [ 1.91734448e-02 -1.09576043e-03 9.99815572e-01 -4.99245245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.669928850999995 meters Centerline goodness [0,1] 0.6953688160363385 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.15, Z:-0.05 [[ 9.99346301e-01 -3.04811961e-02 -1.94388341e-02 5.57845955e-01] [ 3.04918121e-02 9.99534985e-01 2.49895275e-04 -1.53039486e-01] [ 1.94221776e-02 -8.42457195e-04 9.99811017e-01 -5.03800049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.699928850999996 meters Centerline goodness [0,1] 0.7154562383612664 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.15, Z:-0.05 [[ 9.99343192e-01 -3.05401550e-02 -1.95059715e-02 5.58214986e-01] [ 3.05446027e-02 9.99533402e-01 -6.99385433e-05 -1.51540826e-01] [ 1.94990059e-02 -5.25909542e-04 9.99809738e-01 -5.05913375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.729928851 meters Centerline goodness [0,1] 0.7096379830842544 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.15, Z:-0.05 [[ 9.99338608e-01 -3.07613051e-02 -1.93930100e-02 5.58592354e-01] [ 3.07603961e-02 9.99526727e-01 -3.45238308e-04 -1.49361398e-01] [ 1.93944518e-02 -2.51526698e-04 9.99811878e-01 -5.14738769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.759928851 meters Centerline goodness [0,1] 0.7025030570736942 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.15, Z:-0.05 [[ 9.99330774e-01 -3.10267172e-02 -1.93738550e-02 5.58679499e-01] [ 3.10221416e-02 9.99518553e-01 -5.36740621e-04 -1.48545578e-01] [ 1.93811808e-02 -6.46370518e-05 9.99812165e-01 -5.17405085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.789928851 meters Centerline goodness [0,1] 0.6791165962974992 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.15, Z:-0.05 [[ 9.99322170e-01 -3.14342865e-02 -1.91595084e-02 5.58238698e-01] [ 3.14255799e-02 9.99505809e-01 -7.55412635e-04 -1.47661107e-01] [ 1.91737858e-02 1.52801931e-04 9.99816154e-01 -5.19446244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.81992885099999 meters Centerline goodness [0,1] 0.6921034836835382 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.15, Z:-0.05 [[ 9.99311148e-01 -3.18756859e-02 -1.90044699e-02 5.57989469e-01] [ 3.18630268e-02 9.99491776e-01 -9.68614178e-04 -1.46893579e-01] [ 1.90256866e-02 3.62407011e-04 9.99818930e-01 -5.22782413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.849928850999994 meters Centerline goodness [0,1] 0.6726526937121704 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.15, Z:-0.05 [[ 9.99284507e-01 -3.29159621e-02 -1.86282786e-02 5.57341132e-01] [ 3.28944605e-02 9.99457765e-01 -1.45956596e-03 -1.45672356e-01] [ 1.86662207e-02 8.45754476e-04 9.99825413e-01 -5.29337677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.879928850999995 meters Centerline goodness [0,1] 0.6756377838419748 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.15, Z:-0.05 [[ 9.99274860e-01 -3.33503274e-02 -1.83714671e-02 5.56916585e-01] [ 3.33266787e-02 9.99443244e-01 -1.59198946e-03 -1.45195990e-01] [ 1.84143321e-02 9.78575056e-04 9.99829963e-01 -5.33591123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.909928851 meters Centerline goodness [0,1] 0.6715718225119077 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.14, Z:-0.05 [[ 0.99924347 -0.03451414 -0.01792364 0.55564199] [ 0.03447678 0.99940264 -0.00238933 -0.14317847] [ 0.01799539 0.00176957 0.9998365 -0.05336456] [ 0. 0. 0. 1. ]] SLAMing on 46.939928851 meters Centerline goodness [0,1] 0.6683447442609747 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.14, Z:-0.05 [[ 0.99922486 -0.03518846 -0.01764806 0.5547483 ] [ 0.03514369 0.99937823 -0.00284049 -0.14202955] [ 0.01773704 0.00221807 0.99984023 -0.05321182] [ 0. 0. 0. 1. ]] SLAMing on 46.969928851 meters Centerline goodness [0,1] 0.6685916025721851 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.14, Z:-0.05 [[ 0.99921619 -0.03552236 -0.01746924 0.55449624] [ 0.0354751 0.99936603 -0.00300805 -0.14134522] [ 0.01756502 0.00238597 0.99984288 -0.0534811 ] [ 0. 0. 0. 1. ]] SLAMing on 46.99992885099999 meters Centerline goodness [0,1] 0.6673903165547534 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.14, Z:-0.05 [[ 0.99920119 -0.03604958 -0.01724568 0.55381048] [ 0.03599704 0.99934629 -0.00334719 -0.14060264] [ 0.01735507 0.00272372 0.99984568 -0.0533769 ] [ 0. 0. 0. 1. ]] SLAMing on 47.029928850999994 meters Centerline goodness [0,1] 0.662199069391058 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.14, Z:-0.05 [[ 0.99917379 -0.03700107 -0.01681252 0.55257347] [ 0.03693908 0.99930958 -0.00398237 -0.13904447] [ 0.01694826 0.00335804 0.99985073 -0.05330115] [ 0. 0. 0. 1. ]] SLAMing on 47.059928850999995 meters Centerline goodness [0,1] 0.6667678684376976 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.14, Z:-0.05 [[ 0.99916117 -0.03741358 -0.01664852 0.55208185] [ 0.03734667 0.99929307 -0.00431168 -0.13807107] [ 0.01679807 0.0036863 0.99985211 -0.05322342] [ 0. 0. 0. 1. ]] SLAMing on 47.089928850999996 meters Centerline goodness [0,1] 0.6630998456907238 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.14, Z:-0.05 [[ 0.99915352 -0.03766355 -0.01654376 0.55199523] [ 0.03759454 0.99928311 -0.00446256 -0.13700824] [ 0.01669997 0.00383683 0.99985318 -0.05353817] [ 0. 0. 0. 1. ]] SLAMing on 47.119928851 meters Centerline goodness [0,1] 0.6688930086090865 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.14, Z:-0.05 [[ 0.99914502 -0.03792264 -0.01646544 0.5519676 ] [ 0.03784953 0.99927226 -0.00473004 -0.13582908] [ 0.01663283 0.00410279 0.99985325 -0.05377356] [ 0. 0. 0. 1. ]] SLAMing on 47.149928851 meters Centerline goodness [0,1] 0.6674291523700597 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.06 [[ 0.999143 -0.03798692 -0.01643968 0.55282682] [ 0.03791314 0.99926962 -0.00477688 -0.13413637] [ 0.01660913 0.00414951 0.99985345 -0.05508168] [ 0. 0. 0. 1. ]] SLAMing on 47.17992885099999 meters Centerline goodness [0,1] 0.6665986116782361 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.06 [[ 0.99914436 -0.03791549 -0.01652168 0.55345535] [ 0.03784081 0.9992722 -0.00481002 -0.13293923] [ 0.01669203 0.00418071 0.99985194 -0.05570054] [ 0. 0. 0. 1. ]] SLAMing on 47.209928850999994 meters Centerline goodness [0,1] 0.6684847712501594 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.06 [[ 0.9991531 -0.03755756 -0.01680786 0.55483352] [ 0.03748397 0.9992863 -0.00467275 -0.13182944] [ 0.01697136 0.00403876 0.99984782 -0.05659357] [ 0. 0. 0. 1. ]] SLAMing on 47.239928850999995 meters Centerline goodness [0,1] 0.665282583621684 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.06 [[ 9.99263025e-01 -3.47742242e-02 -1.62530264e-02 5.53389211e-01] [ 3.47594921e-02 9.99395000e-01 -1.18812034e-03 -1.30871885e-01] [ 1.62845093e-02 6.22297778e-04 9.99867205e-01 -5.74442496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.269928850999996 meters Centerline goodness [0,1] 0.6668120478218482 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.06 [[ 9.99262620e-01 -3.47077951e-02 -1.64190326e-02 5.54059806e-01] [ 3.46910174e-02 9.99397233e-01 -1.30564708e-03 -1.29618886e-01] [ 1.64544519e-02 7.35091379e-04 9.99864346e-01 -5.78307883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.299928851 meters Centerline goodness [0,1] 0.6646107984478196 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.06 [[ 0.9992565 -0.03491942 -0.01634257 0.55386641] [ 0.03489652 0.99938951 -0.00168461 -0.12817914] [ 0.01639142 0.00111306 0.99986503 -0.05779763] [ 0. 0. 0. 1. ]] SLAMing on 47.329928851 meters Centerline goodness [0,1] 0.6636632771270434 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.06 [[ 0.99925683 -0.03486209 -0.01644448 0.5543671 ] [ 0.03483649 0.99939133 -0.00184044 -0.12700921] [ 0.01649863 0.0012662 0.99986309 -0.05806688] [ 0. 0. 0. 1. ]] SLAMing on 47.359928851 meters Centerline goodness [0,1] 0.6632697814813859 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.12, Z:-0.06 [[ 0.99925227 -0.03495906 -0.01651573 0.55479993] [ 0.03492314 0.99938698 -0.00245845 -0.12436061] [ 0.01659155 0.00187983 0.99986058 -0.0581739 ] [ 0. 0. 0. 1. ]] SLAMing on 47.38992885099999 meters Centerline goodness [0,1] 0.6651597737077317 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.06 [[ 0.99925159 -0.03495355 -0.01656824 0.55517175] [ 0.03491434 0.9993868 -0.00264948 -0.12316794] [ 0.01665069 0.00206903 0.99985923 -0.0584063 ] [ 0. 0. 0. 1. ]] SLAMing on 47.419928850999995 meters Centerline goodness [0,1] 0.668790798880945 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.06 [[ 0.99924909 -0.0350314 -0.01655486 0.55537506] [ 0.03498837 0.99938356 -0.00288192 -0.12179441] [ 0.01664561 0.00230053 0.99985881 -0.05867637] [ 0. 0. 0. 1. ]] SLAMing on 47.449928850999996 meters Centerline goodness [0,1] 0.6647080140815904 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.06 [[ 0.999249 -0.03499407 -0.01663888 0.55580377] [ 0.03494947 0.99938469 -0.00296366 -0.12081965] [ 0.01673235 0.00237992 0.99985717 -0.05896318] [ 0. 0. 0. 1. ]] SLAMing on 47.479928851 meters Centerline goodness [0,1] 0.6665192162577086 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.06 [[ 0.99923931 -0.03532459 -0.0165217 0.55552252] [ 0.035274 0.99937209 -0.00334341 -0.11937039] [ 0.01662943 0.00275808 0.99985792 -0.05900203] [ 0. 0. 0. 1. ]] SLAMing on 47.509928851 meters Centerline goodness [0,1] 0.6630703236708696 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.06 [[ 0.99923659 -0.03543074 -0.01645879 0.55567886] [ 0.03538092 0.99936842 -0.00330807 -0.11888782] [ 0.0165656 0.00272322 0.99985907 -0.05952005] [ 0. 0. 0. 1. ]] SLAMing on 47.539928851 meters Centerline goodness [0,1] 0.663269020749909 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.06 [[ 0.99923485 -0.03553295 -0.01634367 0.55556663] [ 0.03548332 0.99936476 -0.00331701 -0.11855833] [ 0.01645115 0.00273454 0.99986093 -0.05975009] [ 0. 0. 0. 1. ]] SLAMing on 47.56992885099999 meters Centerline goodness [0,1] 0.6666059106887123 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.06 [[ 0.99923268 -0.03560921 -0.01631049 0.5559277 ] [ 0.03555953 0.99936203 -0.00332598 -0.1177839 ] [ 0.01641852 0.00274344 0.99986144 -0.06040784] [ 0. 0. 0. 1. ]] SLAMing on 47.599928850999994 meters Centerline goodness [0,1] 0.6627997914494265 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.06 [[ 0.99923291 -0.03559607 -0.01632499 0.55628856] [ 0.03554543 0.99936234 -0.00338175 -0.11699355] [ 0.01643495 0.00279888 0.99986102 -0.06083658] [ 0. 0. 0. 1. ]] SLAMing on 47.629928850999995 meters Centerline goodness [0,1] 0.6570118774744739 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.06 [[ 0.99923707 -0.03544783 -0.01639307 0.55681921] [ 0.03539918 0.99936797 -0.00324806 -0.11661147] [ 0.01649785 0.00266528 0.99986035 -0.06134341] [ 0. 0. 0. 1. ]] SLAMing on 47.659928851 meters Centerline goodness [0,1] 0.665580182529335 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.06 [[ 0.99924123 -0.03534152 -0.01636893 0.5571928 ] [ 0.03529368 0.99937185 -0.0032025 -0.11541479] [ 0.01647183 0.00262235 0.99986089 -0.06190206] [ 0. 0. 0. 1. ]] SLAMing on 47.689928851 meters Centerline goodness [0,1] 0.6645083807634067 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.11, Z:-0.06 [[ 0.99924285 -0.03532426 -0.01630734 0.55716463] [ 0.03527605 0.99937237 -0.00323448 -0.11474818] [ 0.01641136 0.00265677 0.99986179 -0.06202602] [ 0. 0. 0. 1. ]] SLAMing on 47.719928851 meters Centerline goodness [0,1] 0.6656326573171367 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.11, Z:-0.06 [[ 0.9992473 -0.03514304 -0.01642544 0.55763062] [ 0.03509646 0.99937907 -0.00311525 -0.11454306] [ 0.01652472 0.00253643 0.99986024 -0.06227414] [ 0. 0. 0. 1. ]] SLAMing on 47.74992885099999 meters Centerline goodness [0,1] 0.6594227504244482 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.11, Z:-0.06 [[ 0.99925354 -0.0349807 -0.01639263 0.55794556] [ 0.034939 0.99938546 -0.00282341 -0.11469008] [ 0.01648132 0.00224856 0.99986165 -0.06284517] [ 0. 0. 0. 1. ]] SLAMing on 47.779928850999994 meters Centerline goodness [0,1] 0.6642316723193321 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.06 [[ 0.99925801 -0.03482641 -0.0164485 0.55841627] [ 0.03479059 0.9993916 -0.00245921 -0.11506355] [ 0.01652414 0.00188513 0.99986169 -0.06344076] [ 0. 0. 0. 1. ]] SLAMing on 47.809928850999995 meters Centerline goodness [0,1] 0.6628705759435811 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.11, Z:-0.06 [[ 0.99925425 -0.03498725 -0.0163354 0.55803326] [ 0.03495279 0.99938611 -0.00239068 -0.11487717] [ 0.01640902 0.00181793 0.99986371 -0.0634575 ] [ 0. 0. 0. 1. ]] SLAMing on 47.839928850999996 meters Centerline goodness [0,1] 0.6645789295127744 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.06 [[ 0.99925712 -0.0348933 -0.01636053 0.55839192] [ 0.03486436 0.99938995 -0.00205096 -0.11542265] [ 0.01642211 0.00147904 0.99986405 -0.06397694] [ 0. 0. 0. 1. ]] SLAMing on 47.869928851 meters Centerline goodness [0,1] 0.6542646176324785 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.06 [[ 0.99925616 -0.03499745 -0.01619559 0.55806303] [ 0.03496997 0.99938641 -0.00197686 -0.11601125] [ 0.01625483 0.00140903 0.99986689 -0.06402087] [ 0. 0. 0. 1. ]] SLAMing on 47.899928851 meters Centerline goodness [0,1] 0.6604457187540727 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.06 [[ 0.99925421 -0.03508576 -0.01612505 0.5579886 ] [ 0.03506051 0.99938349 -0.00184556 -0.11682787] [ 0.01617986 0.00127883 0.99986828 -0.06420458] [ 0. 0. 0. 1. ]] SLAMing on 47.92992885099999 meters Centerline goodness [0,1] 0.6567953326040528 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.06 [[ 9.99249399e-01 -3.53907634e-02 -1.57521931e-02 5.57290370e-01] [ 3.53722678e-02 9.99373152e-01 -1.45131460e-03 -1.18344340e-01] [ 1.57936820e-02 8.93034447e-04 9.99874873e-01 -6.47100819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.959928850999994 meters Centerline goodness [0,1] 0.6543659991145603 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.06 [[ 9.99243956e-01 -3.55968854e-02 -1.56326012e-02 5.56950902e-01] [ 3.55807901e-02 9.99365949e-01 -1.30660939e-03 -1.18777070e-01] [ 1.56692006e-02 7.49401228e-04 9.99876950e-01 -6.48665286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.989928850999995 meters Centerline goodness [0,1] 0.6574112626210056 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.07 [[ 9.99242480e-01 -3.57025719e-02 -1.54852262e-02 5.56730092e-01] [ 3.56904457e-02 9.99362332e-01 -1.05882124e-03 -1.19483544e-01] [ 1.55131544e-02 5.05344541e-04 9.99879536e-01 -6.51455248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.019928850999996 meters Centerline goodness [0,1] 0.6539151691675552 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.07 [[ 9.99241221e-01 -3.57671345e-02 -1.54173176e-02 5.56641733e-01] [ 3.57601594e-02 9.99360136e-01 -7.27951035e-04 -1.20619009e-01] [ 1.54334893e-02 1.76072947e-04 9.99880881e-01 -6.53966951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.049928851 meters Centerline goodness [0,1] 0.6496747609298468 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.07 [[ 9.99234722e-01 -3.60805644e-02 -1.51050963e-02 5.56119523e-01] [ 3.60824019e-02 9.99348807e-01 -1.50956178e-04 -1.23560650e-01] [ 1.51007065e-02 -3.94187498e-04 9.99885900e-01 -6.60470467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.079928851 meters Centerline goodness [0,1] 0.6530258321685563 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.07 [[ 9.99233791e-01 -3.61418189e-02 -1.50199574e-02 5.56071543e-01] [ 3.61488469e-02 9.99346398e-01 1.96598027e-04 -1.24942021e-01] [ 1.50030349e-02 -7.39401533e-04 9.99887175e-01 -6.63767746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.10992885099999 meters Centerline goodness [0,1] 0.6482692655688546 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.13, Z:-0.07 [[ 9.99233147e-01 -3.62101579e-02 -1.48977413e-02 5.55852119e-01] [ 3.62223360e-02 9.99343605e-01 5.48337823e-04 -1.26350250e-01] [ 1.48681071e-02 -1.08754832e-03 9.99888872e-01 -6.65733859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.13992885099999 meters Centerline goodness [0,1] 0.639055694440865 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.13, Z:-0.07 [[ 0.99922908 -0.03635602 -0.01481492 0.55565545] [ 0.03637632 0.99933755 0.00110301 -0.12859607] [ 0.014765 -0.00164107 0.99988964 -0.06690595] [ 0. 0. 0. 1. ]] SLAMing on 48.169928850999995 meters Centerline goodness [0,1] 0.6530875006437658 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.13, Z:-0.07 [[ 0.99923196 -0.03623898 -0.01490745 0.55596065] [ 0.03626444 0.99934119 0.00144093 -0.12973431] [ 0.01484542 -0.00198043 0.99988784 -0.06708942] [ 0. 0. 0. 1. ]] SLAMing on 48.199928850999996 meters Centerline goodness [0,1] 0.6483937291184785 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.13, Z:-0.07 [[ 0.99923735 -0.03606871 -0.01495884 0.55615663] [ 0.03609895 0.99934668 0.00175663 -0.13075727] [ 0.01488571 -0.00229529 0.99988657 -0.06719562] [ 0. 0. 0. 1. ]] SLAMing on 48.229928851 meters Centerline goodness [0,1] 0.6503354497082487 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.13, Z:-0.07 [[ 0.99924397 -0.03582192 -0.01510882 0.55648748] [ 0.03585673 0.99935486 0.00203974 -0.13163048] [ 0.015026 -0.00257995 0.99988377 -0.06715383] [ 0. 0. 0. 1. ]] SLAMing on 48.259928851 meters Centerline goodness [0,1] 0.6422755901479851 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.13, Z:-0.07 [[ 0.9992713 -0.03496788 -0.01530087 0.55740971] [ 0.03501385 0.99938305 0.00274655 -0.13312926] [ 0.01519539 -0.00328029 0.99987916 -0.06744672] [ 0. 0. 0. 1. ]] SLAMing on 48.289928851 meters Centerline goodness [0,1] 0.6511413182867403 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.13, Z:-0.07 [[ 0.99928485 -0.03444143 -0.01560709 0.55830637] [ 0.03449237 0.99940044 0.00300686 -0.13350005] [ 0.01549417 -0.00354304 0.99987368 -0.06748299] [ 0. 0. 0. 1. ]] SLAMing on 48.31992885099999 meters Centerline goodness [0,1] 0.6513855715643219 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.13, Z:-0.07 [[ 0.99930283 -0.03375525 -0.0159513 0.55939107] [ 0.03381494 0.99942203 0.00348746 -0.134065 ] [ 0.01582436 -0.00402442 0.99986669 -0.06771113] [ 0. 0. 0. 1. ]] SLAMing on 48.349928850999994 meters Centerline goodness [0,1] 0.6515345596146949 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.13, Z:-0.07 [[ 0.99931537 -0.03321417 -0.01629767 0.56038784] [ 0.03327999 0.9994389 0.00378418 -0.13443095] [ 0.01616283 -0.00432398 0.99986002 -0.06778502] [ 0. 0. 0. 1. ]] SLAMing on 48.379928850999995 meters Centerline goodness [0,1] 0.6515345596146949 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.13, Z:-0.07 [[ 0.99931537 -0.03321417 -0.01629767 0.56038784] [ 0.03327999 0.9994389 0.00378418 -0.13443095] [ 0.01616283 -0.00432398 0.99986002 -0.06778502] [ 0. 0. 0. 1. ]] SLAMing on 48.409928851 meters Centerline goodness [0,1] 0.6565868110537876 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.14, Z:-0.07 [[ 0.99935054 -0.03181044 -0.01692922 0.56268913] [ 0.03189716 0.99947926 0.0048774 -0.1364636 ] [ 0.01676525 -0.00541423 0.99984479 -0.06851986] [ 0. 0. 0. 1. ]] SLAMing on 48.439928851 meters Centerline goodness [0,1] 0.6570715304666803 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.14, Z:-0.07 [[ 0.99936315 -0.03122648 -0.0172686 0.56375495] [ 0.03132311 0.99949497 0.00535371 -0.13762889] [ 0.01709271 -0.00589121 0.99983655 -0.06878722] [ 0. 0. 0. 1. ]] SLAMing on 48.469928851 meters Centerline goodness [0,1] 0.656973640731044 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.14, Z:-0.07 [[ 0.99938425 -0.03027144 -0.01774169 0.56500013] [ 0.03038346 0.99951983 0.00607841 -0.13951922] [ 0.01754917 -0.00661372 0.99982413 -0.06871643] [ 0. 0. 0. 1. ]] SLAMing on 48.49992885099999 meters Centerline goodness [0,1] 0.6568206639067381 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.14, Z:-0.07 [[ 0.99939324 -0.02982354 -0.01799171 0.56573496] [ 0.02994232 0.99953134 0.006369 -0.14012702] [ 0.01779334 -0.00690384 0.99981785 -0.06875335] [ 0. 0. 0. 1. ]] SLAMing on 48.529928850999994 meters Centerline goodness [0,1] 0.6563925783230254 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.14, Z:-0.07 [[ 0.99940058 -0.02946387 -0.01817584 0.5662852 ] [ 0.02958959 0.99953977 0.00668668 -0.14075664] [ 0.01797046 -0.00722048 0.99981245 -0.06884508] [ 0. 0. 0. 1. ]] SLAMing on 48.559928850999995 meters Centerline goodness [0,1] 0.6544999873702291 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.14, Z:-0.07 [[ 0.99940664 -0.02915009 -0.01834769 0.56693602] [ 0.02928176 0.99954704 0.00694876 -0.14128128] [ 0.01813682 -0.00748189 0.99980752 -0.06908483] [ 0. 0. 0. 1. ]] SLAMing on 48.589928850999996 meters Centerline goodness [0,1] 0.6570484525941434 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.14, Z:-0.07 [[ 0.99941787 -0.0285104 -0.01873696 0.56804859] [ 0.02865722 0.99956029 0.00761479 -0.14310713] [ 0.01851163 -0.00814731 0.99979545 -0.06927398] [ 0. 0. 0. 1. ]] SLAMing on 48.619928851 meters Centerline goodness [0,1] 0.6576667338303446 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.14, Z:-0.07 [[ 0.99942153 -0.02829814 -0.01886303 0.56856877] [ 0.02845035 0.99956438 0.00785032 -0.14401652] [ 0.01863266 -0.00838243 0.99979126 -0.06950933] [ 0. 0. 0. 1. ]] SLAMing on 48.649928851 meters Centerline goodness [0,1] 0.6574325684380032 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.15, Z:-0.07 [[ 0.99942447 -0.02806984 -0.01904759 0.56904719] [ 0.02822793 0.99956884 0.0080821 -0.14505434] [ 0.01881251 -0.00861513 0.99978591 -0.06952714] [ 0. 0. 0. 1. ]] SLAMing on 48.67992885099999 meters Centerline goodness [0,1] 0.6562633496670436 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.15, Z:-0.07 [[ 0.99942956 -0.02784526 -0.01911007 0.56941061] [ 0.02801072 0.99957194 0.00844554 -0.14632083] [ 0.01886673 -0.00897601 0.99978172 -0.06978688] [ 0. 0. 0. 1. ]] SLAMing on 48.709928850999994 meters Centerline goodness [0,1] 0.6567993989481593 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.15, Z:-0.07 [[ 0.99943001 -0.0278034 -0.0191473 0.56932128] [ 0.02797741 0.9995691 0.008881 -0.14908174] [ 0.01889213 -0.00941163 0.99977723 -0.06965963] [ 0. 0. 0. 1. ]] SLAMing on 48.739928850999995 meters Centerline goodness [0,1] 0.6560345688880008 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.15, Z:-0.07 [[ 0.99943386 -0.02764903 -0.01916994 0.56972705] [ 0.02782926 0.99957036 0.00919955 -0.15011343] [ 0.01890734 -0.00972783 0.99977392 -0.07009995] [ 0. 0. 0. 1. ]] SLAMing on 48.769928850999996 meters Centerline goodness [0,1] 0.6582657517155334 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.15, Z:-0.07 [[ 0.99943318 -0.02757291 -0.01931479 0.5699756 ] [ 0.02775695 0.99957119 0.00932646 -0.15080927] [ 0.01904935 -0.00985729 0.99976995 -0.06996641] [ 0. 0. 0. 1. ]] SLAMing on 48.799928851 meters Centerline goodness [0,1] 0.6568241796544341 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.15, Z:-0.07 [[ 0.99943455 -0.02754178 -0.0192883 0.56976211] [ 0.02773171 0.99956883 0.00964932 -0.15246081] [ 0.01901422 -0.01017876 0.9997674 -0.06978382] [ 0. 0. 0. 1. ]] SLAMing on 48.829928851 meters Centerline goodness [0,1] 0.656062874251497 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.15, Z:-0.07 [[ 0.99943583 -0.02751474 -0.01926018 0.56972346] [ 0.02771006 0.9995665 0.00994848 -0.15404095] [ 0.0189781 -0.01047657 0.99976501 -0.06981718] [ 0. 0. 0. 1. ]] SLAMing on 48.85992885099999 meters Centerline goodness [0,1] 0.6529147313777601 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.16, Z:-0.07 [[ 0.99943392 -0.02751767 -0.01935486 0.56988627] [ 0.02772035 0.99956283 0.01028224 -0.15608434] [ 0.01906346 -0.01081294 0.9997598 -0.0698163 ] [ 0. 0. 0. 1. ]] SLAMing on 48.88992885099999 meters Centerline goodness [0,1] 0.6545183714001985 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.16, Z:-0.07 [[ 0.9994311 -0.02763403 -0.01933492 0.56984901] [ 0.02784133 0.99955683 0.01053583 -0.15789593] [ 0.0190352 -0.01106814 0.99975755 -0.06990362] [ 0. 0. 0. 1. ]] SLAMing on 48.919928850999995 meters Centerline goodness [0,1] 0.6497397769516728 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.16, Z:-0.07 [[ 0.99941617 -0.02820347 -0.01928451 0.56905119] [ 0.02841412 0.99953856 0.01073806 -0.16081429] [ 0.01897276 -0.01127974 0.99975637 -0.06934467] [ 0. 0. 0. 1. ]] SLAMing on 48.949928850999996 meters Centerline goodness [0,1] 0.6520621105726436 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.16, Z:-0.07 [[ 0.99940829 -0.02850167 -0.01925435 0.56859487] [ 0.02871174 0.99953022 0.01072288 -0.16190145] [ 0.01893969 -0.01126936 0.99975712 -0.06891454] [ 0. 0. 0. 1. ]] SLAMing on 48.979928851 meters Centerline goodness [0,1] 0.656628736454965 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.16, Z:-0.07 [[ 0.99940285 -0.02868184 -0.019269 0.56841711] [ 0.02889512 0.99952321 0.01088265 -0.16337876] [ 0.01894768 -0.01143293 0.99975511 -0.06869612] [ 0. 0. 0. 1. ]] SLAMing on 49.009928851 meters Centerline goodness [0,1] 0.6498085043700285 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.07 [[ 0.99929991 -0.03176048 -0.01977252 0.5700264 ] [ 0.03191755 0.999461 0.00767962 -0.16561189] [ 0.01951796 -0.00830533 0.99977501 -0.06859465] [ 0. 0. 0. 1. ]] SLAMing on 49.039928851 meters Centerline goodness [0,1] 0.6496455988031296 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.07 [[ 0.99930147 -0.03170179 -0.01978798 0.57025897] [ 0.03186967 0.99945817 0.00822684 -0.16802378] [ 0.01951645 -0.00885173 0.99977035 -0.06896901] [ 0. 0. 0. 1. ]] SLAMing on 49.06992885099999 meters Centerline goodness [0,1] 0.6503729062232546 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.07 [[ 0.99930051 -0.03168625 -0.01986147 0.57041629] [ 0.03186319 0.99945475 0.00865654 -0.17012579] [ 0.01957635 -0.00928334 0.99976527 -0.06906316] [ 0. 0. 0. 1. ]] SLAMing on 49.099928850999994 meters Centerline goodness [0,1] 0.6482719906277458 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.07 [[ 0.99929735 -0.03179738 -0.01984249 0.57029936] [ 0.03197964 0.99944857 0.00893678 -0.17169442] [ 0.01954738 -0.00956506 0.99976318 -0.06909598] [ 0. 0. 0. 1. ]] SLAMing on 49.129928850999995 meters Centerline goodness [0,1] 0.6472604404686664 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.07 [[ 0.99929235 -0.03184763 -0.02001296 0.57036295] [ 0.03203836 0.99944353 0.00928307 -0.17393174] [ 0.01970618 -0.00991769 0.99975662 -0.06871665] [ 0. 0. 0. 1. ]] SLAMing on 49.159928851 meters Centerline goodness [0,1] 0.6529883381924197 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.07 [[ 0.99929606 -0.03161192 -0.020201 0.5706809 ] [ 0.03180838 0.99944904 0.0094791 -0.17486038] [ 0.01989021 -0.01011499 0.999751 -0.06846575] [ 0. 0. 0. 1. ]] SLAMing on 49.189928851 meters Centerline goodness [0,1] 0.654416396143224 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.18, Z:-0.07 [[ 0.99930106 -0.03138581 -0.02030554 0.57109146] [ 0.03158567 0.99945496 0.00959823 -0.17547023] [ 0.01999323 -0.01023289 0.99974775 -0.06847963] [ 0. 0. 0. 1. ]] SLAMing on 49.219928851 meters Centerline goodness [0,1] 0.6561787947835361 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.18, Z:-0.07 [[ 0.99932231 -0.03060471 -0.02045172 0.57179985] [ 0.03081929 0.99947231 0.01025997 -0.17706769] [ 0.02012692 -0.01088333 0.9997382 -0.06873827] [ 0. 0. 0. 1. ]] SLAMing on 49.24992885099999 meters Centerline goodness [0,1] 0.6583885476616531 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.18, Z:-0.07 [[ 0.99932341 -0.03042588 -0.02066385 0.57230035] [ 0.03064517 0.99947643 0.01037948 -0.17786801] [ 0.02033722 -0.01100571 0.9997326 -0.06869553] [ 0. 0. 0. 1. ]] SLAMing on 49.279928850999994 meters Centerline goodness [0,1] 0.6566919252859694 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.18, Z:-0.07 [[ 0.99932896 -0.03016737 -0.02077397 0.57277189] [ 0.03039303 0.99948146 0.01063357 -0.17881999] [ 0.02044241 -0.01125782 0.99972765 -0.06885632] [ 0. 0. 0. 1. ]] SLAMing on 49.309928850999995 meters Centerline goodness [0,1] 0.6626084860173578 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.18, Z:-0.07 [[ 0.99933516 -0.02980364 -0.02099971 0.57339273] [ 0.0300418 0.9994868 0.01111858 -0.18005785] [ 0.02065756 -0.01174206 0.99971765 -0.06900716] [ 0. 0. 0. 1. ]] SLAMing on 49.339928850999996 meters Centerline goodness [0,1] 0.6583044982698962 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.18, Z:-0.07 [[ 0.99933537 -0.02972435 -0.02110171 0.57376686] [ 0.02996658 0.99948751 0.01125711 -0.18064685] [ 0.02075629 -0.01188198 0.99971396 -0.06910577] [ 0. 0. 0. 1. ]] SLAMing on 49.369928851 meters Centerline goodness [0,1] 0.6527731092436975 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.18, Z:-0.07 [[ 0.99933472 -0.02964856 -0.02123884 0.57407835] [ 0.02989572 0.99948783 0.01141575 -0.18166099] [ 0.0208895 -0.01204311 0.99970925 -0.06909973] [ 0. 0. 0. 1. ]] SLAMing on 49.399928851 meters Centerline goodness [0,1] 0.6584607287255676 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.18, Z:-0.07 [[ 0.99934032 -0.02931924 -0.02143128 0.57479159] [ 0.02958109 0.99949029 0.01200478 -0.18450841] [ 0.02106838 -0.01263082 0.99969825 -0.06939361] [ 0. 0. 0. 1. ]] SLAMing on 49.42992885099999 meters Centerline goodness [0,1] 0.6527060623446166 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.07 [[ 0.99934129 -0.02924754 -0.02148411 0.57502529] [ 0.02951416 0.99948991 0.01219938 -0.18536695] [ 0.02111635 -0.01282543 0.99969476 -0.06955631] [ 0. 0. 0. 1. ]] SLAMing on 49.459928850999994 meters Centerline goodness [0,1] 0.6542056074766356 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.07 [[ 0.99933714 -0.02936963 -0.02151046 0.57492646] [ 0.0296344 0.99948762 0.01209522 -0.18576528] [ 0.02114421 -0.01272465 0.99969546 -0.06930596] [ 0. 0. 0. 1. ]] SLAMing on 49.489928850999995 meters Centerline goodness [0,1] 0.6595136589896873 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.07 [[ 0.99933406 -0.02947052 -0.02151555 0.57480646] [ 0.02973385 0.99948553 0.01202372 -0.18599155] [ 0.02115013 -0.01265545 0.99969621 -0.06907782] [ 0. 0. 0. 1. ]] SLAMing on 49.519928850999996 meters Centerline goodness [0,1] 0.663407322817786 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.07 [[ 0.99933858 -0.02913813 -0.02175722 0.5753159 ] [ 0.02940836 0.99949296 0.01220508 -0.18650258] [ 0.02139056 -0.01283685 0.99968878 -0.06888663] [ 0. 0. 0. 1. ]] SLAMing on 49.549928851 meters Centerline goodness [0,1] 0.6508910938206391 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.07 [[ 0.9993422 -0.02890256 -0.02190477 0.57591526] [ 0.02917696 0.99949843 0.01231266 -0.18673035] [ 0.02153791 -0.01294368 0.99968424 -0.06911746] [ 0. 0. 0. 1. ]] SLAMing on 49.579928851 meters Centerline goodness [0,1] 0.6528504806319597 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.07 [[ 0.99934682 -0.02870616 -0.02195186 0.57613109] [ 0.02898448 0.99950211 0.01246744 -0.18715551] [ 0.02158304 -0.01309556 0.99968129 -0.0691933 ] [ 0. 0. 0. 1. ]] SLAMing on 49.60992885099999 meters Centerline goodness [0,1] 0.6597984695090071 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.07 [[ 0.99935695 -0.02814873 -0.02221104 0.57687549] [ 0.02843492 0.99951527 0.01267588 -0.18733277] [ 0.02184347 -0.0132993 0.99967294 -0.06915685] [ 0. 0. 0. 1. ]] SLAMing on 49.63992885099999 meters Centerline goodness [0,1] 0.6678394826930392 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.07 [[ 0.9993586 -0.02797924 -0.02235066 0.57719273] [ 0.02826516 0.99952129 0.01258076 -0.18692028] [ 0.02198796 -0.01320444 0.99967103 -0.06902626] [ 0. 0. 0. 1. ]] SLAMing on 49.669928850999995 meters Centerline goodness [0,1] 0.6621004566210046 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.07 [[ 0.99936069 -0.02782831 -0.0224452 0.57742588] [ 0.02811452 0.99952607 0.01253841 -0.18649651] [ 0.02208564 -0.01316143 0.99966945 -0.0689383 ] [ 0. 0. 0. 1. ]] SLAMing on 49.699928850999996 meters Centerline goodness [0,1] 0.6674821852731592 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.07 [[ 0.99936678 -0.02747125 -0.0226134 0.57807029] [ 0.0277626 0.99953422 0.01267238 -0.18628112] [ 0.02225475 -0.01329216 0.99966397 -0.06915246] [ 0. 0. 0. 1. ]] SLAMing on 49.729928851 meters Centerline goodness [0,1] 0.6657574535708356 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.07 [[ 0.99936416 -0.02746691 -0.02273421 0.57831317] [ 0.02775868 0.99953499 0.01261955 -0.1865811 ] [ 0.02237702 -0.0132426 0.99966189 -0.0690329 ] [ 0. 0. 0. 1. ]] SLAMing on 49.759928851 meters Centerline goodness [0,1] 0.6666666666666667 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.07 [[ 0.99936366 -0.02745808 -0.0227667 0.57843615] [ 0.02775064 0.99953502 0.01263546 -0.18675459] [ 0.02240917 -0.01325921 0.99966095 -0.06908993] [ 0. 0. 0. 1. ]] SLAMing on 49.78992885099999 meters Centerline goodness [0,1] 0.6662706427468219 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.07 [[ 0.9993602 -0.02754329 -0.02281576 0.57854404] [ 0.02783549 0.99953323 0.01258987 -0.186828 ] [ 0.02245834 -0.0132169 0.99966041 -0.06912247] [ 0. 0. 0. 1. ]] SLAMing on 49.81992885099999 meters Centerline goodness [0,1] 0.6719647008587559 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.07 [[ 0.99935498 -0.02779492 -0.02273924 0.5783681 ] [ 0.02808024 0.99952968 0.0123257 -0.18682741] [ 0.02238596 -0.01295628 0.99966545 -0.069024 ] [ 0. 0. 0. 1. ]] SLAMing on 49.849928850999994 meters Centerline goodness [0,1] 0.6613201288855193 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.07 [[ 0.99935052 -0.02793847 -0.02275923 0.57830166] [ 0.02821772 0.99952926 0.01204229 -0.18672988] [ 0.02241207 -0.01267668 0.99966845 -0.06873344] [ 0. 0. 0. 1. ]] SLAMing on 49.879928850999995 meters Centerline goodness [0,1] 0.657657871612796 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.07 [[ 0.99934873 -0.02810298 -0.02263472 0.57802951] [ 0.02837693 0.99952676 0.01187429 -0.18667341] [ 0.02229031 -0.01250886 0.99967328 -0.06868195] [ 0. 0. 0. 1. ]] SLAMing on 49.909928851 meters Centerline goodness [0,1] 0.6570207715133531 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.07 [[ 0.9993417 -0.02832284 -0.02267124 0.57791725] [ 0.02859122 0.99952385 0.0116024 -0.18655932] [ 0.02233183 -0.01224296 0.99967565 -0.06836298] [ 0. 0. 0. 1. ]] SLAMing on 49.939928851 meters Centerline goodness [0,1] 0.66423930891697 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.07 [[ 0.99932952 -0.02874564 -0.02267589 0.577415 ] [ 0.02900109 0.99951866 0.01101794 -0.18543647] [ 0.02234825 -0.01166818 0.99968215 -0.06767625] [ 0. 0. 0. 1. ]] SLAMing on 49.969928851 meters Centerline goodness [0,1] 0.6688840844836188 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99932074 -0.02896695 -0.02278093 0.57756615] [ 0.02921527 0.99951647 0.01064436 -0.18473976] [ 0.02246158 -0.01130268 0.99968381 -0.0675022 ] [ 0. 0. 0. 1. ]] SLAMing on 49.99992885099999 meters Centerline goodness [0,1] 0.6612818680009531 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99931781 -0.0290532 -0.02279982 0.57765285] [ 0.02929952 0.99951505 0.01054484 -0.18460914] [ 0.0224824 -0.01120567 0.99968444 -0.06756561] [ 0. 0. 0. 1. ]] SLAMing on 50.029928850999994 meters Centerline goodness [0,1] 0.6639260265484617 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.9993133 -0.02927706 -0.02271085 0.57750639] [ 0.02951777 0.9995108 0.01033701 -0.18438601] [ 0.0223971 -0.01100028 0.99968863 -0.06762079] [ 0. 0. 0. 1. ]] SLAMing on 50.059928850999995 meters Centerline goodness [0,1] 0.6632188565027766 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99930935 -0.02937819 -0.02275413 0.57768818] [ 0.02961875 0.99950811 0.01030825 -0.18445644] [ 0.0224401 -0.01097508 0.99968795 -0.0677553 ] [ 0. 0. 0. 1. ]] SLAMing on 50.089928850999996 meters Centerline goodness [0,1] 0.663273576809383 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.9993027 -0.02967429 -0.0226617 0.57735396] [ 0.0299081 0.99950214 0.01004907 -0.18406727] [ 0.02235222 -0.01071983 0.99969268 -0.06760309] [ 0. 0. 0. 1. ]] SLAMing on 50.119928851 meters Centerline goodness [0,1] 0.6576295413936868 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99929034 -0.03025795 -0.02243393 0.57652428] [ 0.03048062 0.99948876 0.00965125 -0.18406761] [ 0.02213044 -0.0103282 0.99970174 -0.06720711] [ 0. 0. 0. 1. ]] SLAMing on 50.149928851 meters Centerline goodness [0,1] 0.6557638706910928 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99928403 -0.03049361 -0.02239568 0.57632118] [ 0.03071191 0.99948342 0.009469 -0.18415966] [ 0.02209537 -0.01015003 0.99970434 -0.06706753] [ 0. 0. 0. 1. ]] SLAMing on 50.17992885099999 meters Centerline goodness [0,1] 0.6676105268167325 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.9992779 -0.0307415 -0.02233 0.57603254] [ 0.03095464 0.99947787 0.0092629 -0.18406665] [ 0.02203358 -0.00994743 0.99970774 -0.06688373] [ 0. 0. 0. 1. ]] SLAMing on 50.209928850999994 meters Centerline goodness [0,1] 0.6633696245167106 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99927299 -0.03075877 -0.02252547 0.5766054 ] [ 0.03097458 0.99947695 0.00929492 -0.18429681] [ 0.02222779 -0.00998588 0.99970306 -0.0670686 ] [ 0. 0. 0. 1. ]] SLAMing on 50.239928850999995 meters Centerline goodness [0,1] 0.661151728066844 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99926507 -0.0311666 -0.02231523 0.57611611] [ 0.03137719 0.99946573 0.00914984 -0.18461684] [ 0.02201814 -0.0098433 0.99970911 -0.0671325 ] [ 0. 0. 0. 1. ]] SLAMing on 50.269928850999996 meters Centerline goodness [0,1] 0.661151728066844 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99926507 -0.0311666 -0.02231523 0.57611611] [ 0.03137719 0.99946573 0.00914984 -0.18461684] [ 0.02201814 -0.0098433 0.99970911 -0.0671325 ] [ 0. 0. 0. 1. ]] SLAMing on 50.299928851 meters Centerline goodness [0,1] 0.6607388764898618 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99925942 -0.03140881 -0.02222837 0.57594319] [ 0.03161619 0.9994592 0.00904023 -0.1849249 ] [ 0.0219324 -0.00973631 0.99971205 -0.0671731 ] [ 0. 0. 0. 1. ]] SLAMing on 50.329928851 meters Centerline goodness [0,1] 0.666239498789691 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.07 [[ 0.99925521 -0.0315218 -0.0222574 0.57616486] [ 0.03173039 0.9994552 0.00908181 -0.18544498] [ 0.021959 -0.00978129 0.99971102 -0.06739614] [ 0. 0. 0. 1. ]] SLAMing on 50.35992885099999 meters Centerline goodness [0,1] 0.6593500367411762 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.07 [[ 0.99924655 -0.0318788 -0.02213752 0.57574887] [ 0.03208578 0.99944407 0.00905816 -0.18615689] [ 0.02183645 -0.00976164 0.9997139 -0.06735257] [ 0. 0. 0. 1. ]] SLAMing on 50.38992885099999 meters Centerline goodness [0,1] 0.6593839796718042 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.07 [[ 0.99924074 -0.03208162 -0.02210699 0.57561228] [ 0.03228698 0.99943815 0.00899606 -0.18629028] [ 0.02180596 -0.00970299 0.99971514 -0.06731595] [ 0. 0. 0. 1. ]] SLAMing on 50.419928850999995 meters Centerline goodness [0,1] 0.6538488977669972 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.07 [[ 0.99923744 -0.03233131 -0.0218914 0.57505393] [ 0.03253236 0.99943114 0.00889101 -0.18634009] [ 0.02159149 -0.00959641 0.99972082 -0.06722527] [ 0. 0. 0. 1. ]] SLAMing on 50.449928850999996 meters Centerline goodness [0,1] 0.6600014248735424 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.07 [[ 0.99922681 -0.03262098 -0.02194655 0.57492279] [ 0.0328182 0.99942358 0.00868697 -0.18651187] [ 0.02165053 -0.0094005 0.9997214 -0.06689287] [ 0. 0. 0. 1. ]] SLAMing on 50.479928851 meters Centerline goodness [0,1] 0.6502758227125738 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.07 [[ 0.99921242 -0.03317657 -0.02176798 0.57396479] [ 0.03336556 0.99940811 0.00837682 -0.18681834] [ 0.02147718 -0.00909652 0.99972796 -0.06626178] [ 0. 0. 0. 1. ]] SLAMing on 50.509928851 meters Centerline goodness [0,1] 0.6539967257456047 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.07 [[ 0.99920796 -0.03333081 -0.02173732 0.57404737] [ 0.03351797 0.99940362 0.00830358 -0.18689141] [ 0.0214476 -0.00902559 0.99972923 -0.06642111] [ 0. 0. 0. 1. ]] SLAMing on 50.53992885099999 meters Centerline goodness [0,1] 0.654158552225336 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.07 [[ 0.9992054 -0.03339395 -0.02175813 0.57422119] [ 0.03358021 0.99940196 0.00825196 -0.18686974] [ 0.02146955 -0.00897604 0.99972921 -0.06658159] [ 0. 0. 0. 1. ]] SLAMing on 50.56992885099999 meters Centerline goodness [0,1] 0.6574363129423539 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.07 [[ 0.99920831 -0.03326763 -0.02181786 0.57494728] [ 0.03345307 0.99940673 0.00819046 -0.18597008] [ 0.02153244 -0.00891385 0.99972841 -0.06729224] [ 0. 0. 0. 1. ]] SLAMing on 50.599928850999994 meters Centerline goodness [0,1] 0.6576971661462927 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.07 [[ 0.99920952 -0.03316576 -0.02191725 0.57537149] [ 0.03334906 0.99941133 0.00805135 -0.18513626] [ 0.02163732 -0.00877591 0.99972737 -0.06747726] [ 0. 0. 0. 1. ]] SLAMing on 50.629928850999995 meters Centerline goodness [0,1] 0.6573173058576607 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99921214 -0.0330928 -0.02190796 0.57552874] [ 0.03327255 0.99941516 0.00789159 -0.18443689] [ 0.021634 -0.00861431 0.99972885 -0.0675459 ] [ 0. 0. 0. 1. ]] SLAMing on 50.659928851 meters Centerline goodness [0,1] 0.6565871629865314 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99921966 -0.03283017 -0.02196001 0.57600765] [ 0.03300591 0.99942558 0.00768861 -0.1829526 ] [ 0.02169497 -0.00840742 0.99972929 -0.06782657] [ 0. 0. 0. 1. ]] SLAMing on 50.689928851 meters Centerline goodness [0,1] 0.6588989640404814 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99922123 -0.0326873 -0.0221013 0.57679594] [ 0.03286319 0.99943064 0.00764237 -0.18202812] [ 0.0218389 -0.00836274 0.99972653 -0.06837466] [ 0. 0. 0. 1. ]] SLAMing on 50.719928851 meters Centerline goodness [0,1] 0.658160080664522 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99921615 -0.0326999 -0.02231154 0.57709985] [ 0.03286993 0.999433 0.00729724 -0.1807139 ] [ 0.02206027 -0.0080249 0.99972443 -0.06809144] [ 0. 0. 0. 1. ]] SLAMing on 50.74992885099999 meters Centerline goodness [0,1] 0.6589037478091763 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99921441 -0.03271305 -0.02237001 0.57727282] [ 0.03287749 0.99943471 0.00702321 -0.17952371] [ 0.02212762 -0.00775316 0.99972509 -0.06802258] [ 0. 0. 0. 1. ]] SLAMing on 50.779928850999994 meters Centerline goodness [0,1] 0.6624399198125739 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99920772 -0.03297662 -0.02228162 0.57667327] [ 0.03312407 0.99943151 0.0062809 -0.17713899] [ 0.02206183 -0.00701398 0.999732 -0.06734469] [ 0. 0. 0. 1. ]] SLAMing on 50.809928850999995 meters Centerline goodness [0,1] 0.6673188878421141 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99920505 -0.03299687 -0.02237126 0.57676537] [ 0.03313967 0.99943246 0.0060427 -0.17631944] [ 0.02215917 -0.00677927 0.99973147 -0.0671166 ] [ 0. 0. 0. 1. ]] SLAMing on 50.839928850999996 meters Centerline goodness [0,1] 0.6601368836005708 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99920316 -0.03300674 -0.02244107 0.57693163] [ 0.03314592 0.99943335 0.0058586 -0.17567717] [ 0.02223498 -0.00659776 0.999731 -0.06707515] [ 0. 0. 0. 1. ]] SLAMing on 50.869928851 meters Centerline goodness [0,1] 0.6676037223730128 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.07 [[ 0.99919782 -0.03318945 -0.02240934 0.5768134 ] [ 0.03332206 0.99942914 0.00557047 -0.17468034] [ 0.02221167 -0.00631272 0.99973336 -0.06705991] [ 0. 0. 0. 1. ]] SLAMing on 50.899928851 meters Centerline goodness [0,1] 0.6696274723941269 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.07 [[ 0.99919701 -0.03312792 -0.02253632 0.57742592] [ 0.03326098 0.99943126 0.00555497 -0.17402425] [ 0.02233947 -0.00630009 0.99973059 -0.06744918] [ 0. 0. 0. 1. ]] SLAMing on 50.92992885099999 meters Centerline goodness [0,1] 0.6659856500060806 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.07 [[ 0.99918907 -0.03338225 -0.02251285 0.57737885] [ 0.03350967 0.9994243 0.00530673 -0.17341814] [ 0.02232274 -0.00605683 0.99973247 -0.06748936] [ 0. 0. 0. 1. ]] SLAMing on 50.959928850999994 meters Centerline goodness [0,1] 0.6686060665076197 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.07 [[ 0.99918667 -0.03346876 -0.0224911 0.57758746] [ 0.03359959 0.99942044 0.00546441 -0.17378778] [ 0.02229518 -0.00621566 0.99973211 -0.06796769] [ 0. 0. 0. 1. ]] SLAMing on 50.989928850999995 meters Centerline goodness [0,1] 0.6666828675577157 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.07 [[ 0.99917174 -0.03401024 -0.0223413 0.57725405] [ 0.0341389 0.9994025 0.00540252 -0.1745523 ] [ 0.02214421 -0.00616075 0.9997358 -0.06820634] [ 0. 0. 0. 1. ]] SLAMing on 51.019928850999996 meters Centerline goodness [0,1] 0.6573474092949885 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.07 [[ 0.99916339 -0.03439847 -0.02211942 0.57674034] [ 0.03452416 0.99938967 0.00532558 -0.17496617] [ 0.02192272 -0.00608478 0.99974115 -0.06827997] [ 0. 0. 0. 1. ]] SLAMing on 51.049928851 meters Centerline goodness [0,1] 0.6570749800004848 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99914733 -0.03494496 -0.02198796 0.57616156] [ 0.03506513 0.999372 0.00510388 -0.1752658 ] [ 0.0217958 -0.00587054 0.99974521 -0.06805229] [ 0. 0. 0. 1. ]] SLAMing on 51.079928851 meters Centerline goodness [0,1] 0.6504126031507877 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.18, Z:-0.07 [[ 0.99911422 -0.03609264 -0.02163539 0.57472646] [ 0.0362055 0.99933261 0.00484724 -0.17633024] [ 0.02144601 -0.00562626 0.99975418 -0.06767146] [ 0. 0. 0. 1. ]] SLAMing on 51.10992885099999 meters Centerline goodness [0,1] 0.6589823770392456 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.18, Z:-0.07 [[ 0.99909977 -0.03660095 -0.0214483 0.5740403 ] [ 0.0367086 0.99931521 0.00464664 -0.1766719 ] [ 0.02126354 -0.00542979 0.99975916 -0.06743633] [ 0. 0. 0. 1. ]] SLAMing on 51.13992885099999 meters Centerline goodness [0,1] 0.6553306603545723 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.18, Z:-0.07 [[ 0.99909006 -0.03683091 -0.02150673 0.57409799] [ 0.0369399 0.99930647 0.00469231 -0.17728915] [ 0.02131899 -0.0054825 0.99975769 -0.06750008] [ 0. 0. 0. 1. ]] SLAMing on 51.169928850999995 meters Centerline goodness [0,1] 0.6587161295009323 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.18, Z:-0.07 [[ 0.99906939 -0.0375058 -0.02129942 0.57316261] [ 0.03760766 0.99928289 0.0044021 -0.17793155] [ 0.02111904 -0.00519902 0.99976345 -0.06706278] [ 0. 0. 0. 1. ]] SLAMing on 51.199928850999996 meters Centerline goodness [0,1] 0.6480367282831945 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.18, Z:-0.07 [[ 0.99906595 -0.03753694 -0.0214058 0.57363501] [ 0.03764172 0.99928111 0.00451271 -0.17829581] [ 0.02122101 -0.00531424 0.99976069 -0.06742384] [ 0. 0. 0. 1. ]] SLAMing on 51.229928851 meters Centerline goodness [0,1] 0.6547175291668683 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.18, Z:-0.07 [[ 0.99906217 -0.03758824 -0.02149205 0.57375157] [ 0.03769225 0.99927947 0.0044547 -0.17823055] [ 0.02130912 -0.00526061 0.99975909 -0.06735704] [ 0. 0. 0. 1. ]] SLAMing on 51.259928851 meters Centerline goodness [0,1] 0.6598982311606494 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.18, Z:-0.07 [[ 0.99906684 -0.03740353 -0.02159704 0.57390422] [ 0.03750381 0.99928742 0.0042567 -0.17710274] [ 0.02142244 -0.0050627 0.99975769 -0.06709528] [ 0. 0. 0. 1. ]] SLAMing on 51.28992885099999 meters Centerline goodness [0,1] 0.6464886923992519 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.18, Z:-0.07 [[ 0.99906751 -0.03726418 -0.02180585 0.57429162] [ 0.03736277 0.99929323 0.00413125 -0.1764413 ] [ 0.02163649 -0.00494213 0.99975369 -0.06689827] [ 0. 0. 0. 1. ]] SLAMing on 51.31992885099999 meters Centerline goodness [0,1] 0.6573645290338224 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99908167 -0.03675504 -0.02202012 0.57524286] [ 0.03685978 0.99931089 0.00436977 -0.17633691] [ 0.02184433 -0.00517741 0.99974798 -0.0672808 ] [ 0. 0. 0. 1. ]] SLAMing on 51.349928850999994 meters Centerline goodness [0,1] 0.6598118573616276 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99908887 -0.03637734 -0.0223187 0.57602497] [ 0.03648194 0.99932507 0.00429721 -0.17569793] [ 0.02214731 -0.00510753 0.99974167 -0.06720327] [ 0. 0. 0. 1. ]] SLAMing on 51.379928850999995 meters Centerline goodness [0,1] 0.6580092896573526 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.07 [[ 0.99911537 -0.03542395 -0.0226633 0.57725384] [ 0.03553339 0.99935861 0.00444453 -0.17483774] [ 0.02249132 -0.0052459 0.99973327 -0.06726825] [ 0. 0. 0. 1. ]] SLAMing on 51.409928851 meters Centerline goodness [0,1] 0.6577040890747314 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.07 [[ 0.99912406 -0.03506246 -0.0228416 0.5778237 ] [ 0.0351748 0.99937089 0.00453508 -0.17450946] [ 0.02266822 -0.00533456 0.99972881 -0.06733948] [ 0. 0. 0. 1. ]] SLAMing on 51.439928851 meters Centerline goodness [0,1] 0.6590709903593339 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.07 [[ 0.99913135 -0.03471433 -0.0230534 0.57838936] [ 0.03483017 0.99938246 0.00464244 -0.17445046] [ 0.022878 -0.00544136 0.99972346 -0.06733043] [ 0. 0. 0. 1. ]] SLAMing on 51.46992885099999 meters Centerline goodness [0,1] 0.6622534253230978 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.07 [[ 0.99914655 -0.0341139 -0.02328986 0.57897864] [ 0.03423454 0.99940229 0.00480099 -0.17415565] [ 0.02311216 -0.00559421 0.99971723 -0.06714216] [ 0. 0. 0. 1. ]] SLAMing on 51.49992885099999 meters Centerline goodness [0,1] 0.663071529434679 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.07 [[ 0.99915106 -0.03393118 -0.02336295 0.57920718] [ 0.0340548 0.99940789 0.00491368 -0.17400424] [ 0.02318239 -0.00570513 0.99971497 -0.06713733] [ 0. 0. 0. 1. ]] SLAMing on 51.529928850999994 meters Centerline goodness [0,1] 0.6568586922160349 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.07 [[ 0.99915432 -0.03376447 -0.02346515 0.57951577] [ 0.0338913 0.99941288 0.00502813 -0.17406638] [ 0.0232816 -0.00581915 0.99971201 -0.06717379] [ 0. 0. 0. 1. ]] SLAMing on 51.559928850999995 meters Centerline goodness [0,1] 0.6617393626058885 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.07 [[ 0.99915853 -0.0335948 -0.02352906 0.57979974] [ 0.03372723 0.99941726 0.00525422 -0.17460548] [ 0.02333883 -0.00604337 0.99970935 -0.06735375] [ 0. 0. 0. 1. ]] SLAMing on 51.589928850999996 meters Centerline goodness [0,1] 0.6653656881045308 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.07 [[ 0.99915751 -0.03363917 -0.02350902 0.57977908] [ 0.03377151 0.99941576 0.00525518 -0.17491418] [ 0.0233185 -0.00604469 0.99970981 -0.06734763] [ 0. 0. 0. 1. ]] SLAMing on 51.619928851 meters Centerline goodness [0,1] 0.664792282708808 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.9991491 -0.0338657 -0.02354142 0.57959672] [ 0.03399342 0.99940931 0.00504663 -0.1750666 ] [ 0.02335661 -0.00584259 0.99971012 -0.0670051 ] [ 0. 0. 0. 1. ]] SLAMing on 51.649928851 meters Centerline goodness [0,1] 0.6563080560716095 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99914628 -0.03384304 -0.02369301 0.57998723] [ 0.03397475 0.99940927 0.00517883 -0.17583607] [ 0.02350374 -0.00597937 0.99970587 -0.06708169] [ 0. 0. 0. 1. ]] SLAMing on 51.67992885099999 meters Centerline goodness [0,1] 0.6516497003826438 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.999126 -0.03461379 -0.0234332 0.57884793] [ 0.03473712 0.99938459 0.00487661 -0.17663744] [ 0.02324998 -0.00568635 0.99971351 -0.06657573] [ 0. 0. 0. 1. ]] SLAMing on 51.709928850999994 meters Centerline goodness [0,1] 0.6526848061642186 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99911721 -0.03487234 -0.02342459 0.5786796 ] [ 0.03499565 0.99937558 0.00487477 -0.17733335] [ 0.02323996 -0.00569022 0.99971372 -0.06649316] [ 0. 0. 0. 1. ]] SLAMing on 51.739928850999995 meters Centerline goodness [0,1] 0.6486167056610145 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.9991153 -0.03501113 -0.02329898 0.57862886] [ 0.03513781 0.99936972 0.00504978 -0.17807108] [ 0.0231075 -0.00586399 0.99971579 -0.06689145] [ 0. 0. 0. 1. ]] SLAMing on 51.769928850999996 meters Centerline goodness [0,1] 0.66054693132119 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99910688 -0.03530658 -0.0232141 0.57844257] [ 0.03543116 0.99935972 0.00497747 -0.17859038] [ 0.0230235 -0.00579553 0.99971813 -0.06693618] [ 0. 0. 0. 1. ]] SLAMing on 51.799928851 meters Centerline goodness [0,1] 0.656888246628131 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99908592 -0.03605641 -0.02296206 0.57717146] [ 0.03616841 0.99933566 0.00448073 -0.17841928] [ 0.02278525 -0.00530714 0.9997263 -0.06611971] [ 0. 0. 0. 1. ]] SLAMing on 51.829928851 meters Centerline goodness [0,1] 0.6565019615393872 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99907998 -0.03629387 -0.02284603 0.57665101] [ 0.03640259 0.99932769 0.00436112 -0.17858811] [ 0.02267239 -0.00518876 0.99972948 -0.06580604] [ 0. 0. 0. 1. ]] SLAMing on 51.85992885099999 meters Centerline goodness [0,1] 0.6560477370611872 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99907428 -0.03660978 -0.02259017 0.57608651] [ 0.03671652 0.99931635 0.00432853 -0.17901279] [ 0.02241626 -0.00515396 0.99973544 -0.0658796 ] [ 0. 0. 0. 1. ]] SLAMing on 51.88992885099999 meters Centerline goodness [0,1] 0.6492016927959988 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99905559 -0.0372525 -0.02236484 0.57510515] [ 0.03735001 0.99929441 0.00395809 -0.17953799] [ 0.02220162 -0.00478968 0.99974204 -0.06537915] [ 0. 0. 0. 1. ]] SLAMing on 51.919928850999995 meters Centerline goodness [0,1] 0.6513045363656075 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.18, Z:-0.07 [[ 0.99905235 -0.03734891 -0.02234871 0.57499869] [ 0.03744532 0.99929103 0.00391079 -0.17956132] [ 0.0221868 -0.00474394 0.99974259 -0.0652959 ] [ 0. 0. 0. 1. ]] SLAMing on 51.949928850999996 meters Centerline goodness [0,1] 0.6509695290858726 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.9990504 -0.03740385 -0.02234377 0.57517371] [ 0.03749964 0.9992891 0.00388319 -0.17925394] [ 0.02218264 -0.00471739 0.99974281 -0.06555345] [ 0. 0. 0. 1. ]] SLAMing on 51.979928851 meters Centerline goodness [0,1] 0.6476435757955038 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99904782 -0.03747229 -0.0223447 0.57513399] [ 0.037566 0.99928697 0.00378886 -0.17875496] [ 0.02218679 -0.00462465 0.99974315 -0.06548544] [ 0. 0. 0. 1. ]] SLAMing on 52.009928851 meters Centerline goodness [0,1] 0.6441691172925806 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99904683 -0.03744582 -0.02243328 0.57517222] [ 0.03753696 0.99928855 0.00365533 -0.17878293] [ 0.02228045 -0.00449392 0.99974166 -0.06515494] [ 0. 0. 0. 1. ]] SLAMing on 52.03992885099999 meters Centerline goodness [0,1] 0.6433231421074171 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99904602 -0.03749242 -0.02239124 0.5750538 ] [ 0.03758437 0.99928661 0.00370015 -0.17937999] [ 0.02223654 -0.00453818 0.99974244 -0.06507728] [ 0. 0. 0. 1. ]] SLAMing on 52.06992885099999 meters Centerline goodness [0,1] 0.6403716216216216 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99904522 -0.03748747 -0.02243518 0.57515127] [ 0.03758033 0.99928664 0.00373159 -0.1799065 ] [ 0.02227929 -0.00457115 0.99974134 -0.06504144] [ 0. 0. 0. 1. ]] SLAMing on 52.099928850999994 meters Centerline goodness [0,1] 0.6534151034151034 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.9990499 -0.03722793 -0.02265798 0.57593685] [ 0.03732684 0.99929527 0.00395839 -0.18035535] [ 0.02249465 -0.00480038 0.99973544 -0.0653297 ] [ 0. 0. 0. 1. ]] SLAMing on 52.129928850999995 meters Centerline goodness [0,1] 0.6354733144039655 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99905687 -0.0369146 -0.02286241 0.57630373] [ 0.03701381 0.99930702 0.00393163 -0.17959707] [ 0.02270144 -0.00477415 0.99973089 -0.06500628] [ 0. 0. 0. 1. ]] SLAMing on 52.159928851 meters Centerline goodness [0,1] 0.6362870011320119 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.06 [[ 0.99906321 -0.03663738 -0.02303045 0.57657063] [ 0.0367393 0.99931681 0.0040181 -0.17954169] [ 0.0228675 -0.00486046 0.99972669 -0.06470894] [ 0. 0. 0. 1. ]] SLAMing on 52.189928851 meters Centerline goodness [0,1] 0.6362870011320119 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.06 [[ 0.99906321 -0.03663738 -0.02303045 0.57657063] [ 0.0367393 0.99931681 0.0040181 -0.17954169] [ 0.0228675 -0.00486046 0.99972669 -0.06470894] [ 0. 0. 0. 1. ]] SLAMing on 52.21992885099999 meters Centerline goodness [0,1] 0.6527453481934381 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.06 [[ 0.9990693 -0.03643193 -0.02309201 0.57676788] [ 0.03653532 0.99932407 0.00407087 -0.17950195] [ 0.02292809 -0.00491076 0.99972506 -0.06466294] [ 0. 0. 0. 1. ]] SLAMing on 52.24992885099999 meters Centerline goodness [0,1] 0.657731363395736 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99908576 -0.03586677 -0.02326432 0.5775399 ] [ 0.03598132 0.99934222 0.00452408 -0.18040312] [ 0.02308675 -0.00535702 0.99971911 -0.06504559] [ 0. 0. 0. 1. ]] SLAMing on 52.279928850999994 meters Centerline goodness [0,1] 0.6581512605042017 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99909404 -0.03551498 -0.02344751 0.57828943] [ 0.03563803 0.99935299 0.00485081 -0.18105033] [ 0.02326006 -0.00568204 0.9997133 -0.06538421] [ 0. 0. 0. 1. ]] SLAMing on 52.309928850999995 meters Centerline goodness [0,1] 0.6521102766513904 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99909608 -0.03540717 -0.02352364 0.57850101] [ 0.03553438 0.99935589 0.00501161 -0.18132156] [ 0.02333104 -0.00584297 0.99971072 -0.06546905] [ 0. 0. 0. 1. ]] SLAMing on 52.339928850999996 meters Centerline goodness [0,1] 0.6505503993093028 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99909726 -0.03527241 -0.02367527 0.57894993] [ 0.03540315 0.99935997 0.00512584 -0.18127837] [ 0.02347932 -0.0059594 0.99970656 -0.06557242] [ 0. 0. 0. 1. ]] SLAMing on 52.369928851 meters Centerline goodness [0,1] 0.6552973063730781 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99909239 -0.03537986 -0.02372064 0.57875505] [ 0.03550962 0.99935647 0.00507164 -0.18168114] [ 0.02352595 -0.00590935 0.99970576 -0.06517361] [ 0. 0. 0. 1. ]] SLAMing on 52.399928851 meters Centerline goodness [0,1] 0.6504325383549204 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.07 [[ 0.99909371 -0.03527276 -0.02382414 0.57908713] [ 0.03540949 0.99935861 0.00534176 -0.1828552 ] [ 0.02362044 -0.00618052 0.99970189 -0.06527094] [ 0. 0. 0. 1. ]] SLAMing on 52.42992885099999 meters Centerline goodness [0,1] 0.6560365008838565 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.06 [[ 0.99909008 -0.03540596 -0.02377887 0.57876653] [ 0.03554431 0.9993534 0.0054208 -0.18396302] [ 0.02357157 -0.00626107 0.99970255 -0.06499102] [ 0. 0. 0. 1. ]] SLAMing on 52.459928850999994 meters Centerline goodness [0,1] 0.644531343141229 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.07 [[ 0.99908793 -0.03548256 -0.02375509 0.57872938] [ 0.03562342 0.99934997 0.00553266 -0.18504823] [ 0.02354334 -0.00637385 0.9997025 -0.06500566] [ 0. 0. 0. 1. ]] SLAMing on 52.489928850999995 meters Centerline goodness [0,1] 0.6525851798903979 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.06 [[ 0.99907669 -0.03590043 -0.02359941 0.57796778] [ 0.03604132 0.99933477 0.00557172 -0.18644705] [ 0.02338368 -0.00641713 0.99970597 -0.06457604] [ 0. 0. 0. 1. ]] SLAMing on 52.519928850999996 meters Centerline goodness [0,1] 0.6547166222898441 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.06 [[ 0.99907561 -0.03592501 -0.02360759 0.57807803] [ 0.03607109 0.99933245 0.00579118 -0.18708943] [ 0.02338378 -0.00663738 0.99970453 -0.06474008] [ 0. 0. 0. 1. ]] SLAMing on 52.549928851 meters Centerline goodness [0,1] 0.6418013472020565 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.06 [[ 0.99906348 -0.0362825 -0.02357422 0.57748084] [ 0.03642288 0.99932104 0.00555295 -0.18737555] [ 0.02335674 -0.00640639 0.99970667 -0.06408419] [ 0. 0. 0. 1. ]] SLAMing on 52.579928851 meters Centerline goodness [0,1] 0.648738537558797 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.06 [[ 0.99903509 -0.03719393 -0.02335597 0.57585624] [ 0.03732336 0.99929007 0.00513052 -0.18982009] [ 0.02314857 -0.00599729 0.99971405 -0.06269019] [ 0. 0. 0. 1. ]] SLAMing on 52.60992885099999 meters Centerline goodness [0,1] 0.6447928490351873 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.06 [[ 0.99902784 -0.03744303 -0.02326792 0.57545502] [ 0.03757419 0.99928018 0.00522536 -0.1914797 ] [ 0.02305552 -0.00609456 0.99971561 -0.062467 ] [ 0. 0. 0. 1. ]] SLAMing on 52.63992885099999 meters Centerline goodness [0,1] 0.6435150198375212 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.06 [[ 0.99902118 -0.03771475 -0.02311431 0.57496659] [ 0.03784621 0.99926964 0.00527663 -0.19249685] [ 0.02289843 -0.00614625 0.9997189 -0.06233295] [ 0. 0. 0. 1. ]] SLAMing on 52.669928850999995 meters Centerline goodness [0,1] 0.6419359410430838 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.06 [[ 0.99901847 -0.03784868 -0.02301261 0.57476644] [ 0.03798323 0.99926358 0.00543796 -0.19323988] [ 0.02278985 -0.00630671 0.99972039 -0.06240258] [ 0. 0. 0. 1. ]] SLAMing on 52.699928850999996 meters Centerline goodness [0,1] 0.6479938017984176 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.06 [[ 0.99899439 -0.03840367 -0.02313819 0.57465413] [ 0.03854033 0.99924197 0.00548943 -0.19472455] [ 0.02290984 -0.00637567 0.99971721 -0.06216241] [ 0. 0. 0. 1. ]] SLAMing on 52.729928851 meters Centerline goodness [0,1] 0.6430888575458392 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.06 [[ 0.99899157 -0.03859123 -0.02294676 0.57415548] [ 0.03873171 0.99923334 0.00570924 -0.19621894] [ 0.02270884 -0.00659225 0.99972039 -0.06210809] [ 0. 0. 0. 1. ]] SLAMing on 52.759928851 meters Centerline goodness [0,1] 0.6330839060777369 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.06 [[ 0.99898837 -0.03871975 -0.0228696 0.57391695] [ 0.03886398 0.99922712 0.00589599 -0.19789253] [ 0.02262363 -0.00677883 0.99972107 -0.06202356] [ 0. 0. 0. 1. ]] SLAMing on 52.78992885099999 meters Centerline goodness [0,1] 0.6376736763049193 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.06 [[ 0.99898897 -0.0387116 -0.02285719 0.57370629] [ 0.03886244 0.99922538 0.00619205 -0.20003805] [ 0.02259978 -0.00707408 0.99971956 -0.06176883] [ 0. 0. 0. 1. ]] SLAMing on 52.81992885099999 meters Centerline goodness [0,1] 0.63461313218862 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.06 [[ 0.9989952 -0.0384101 -0.0230923 0.57428913] [ 0.03856471 0.99923632 0.0062873 -0.2002619 ] [ 0.02283317 -0.00717153 0.99971357 -0.06167947] [ 0. 0. 0. 1. ]] SLAMing on 52.849928850999994 meters Centerline goodness [0,1] 0.6204299314635915 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.06 [[ 0.99899841 -0.0382261 -0.0232582 0.57450575] [ 0.03838003 0.99924393 0.00620821 -0.19983095] [ 0.0230033 -0.00709464 0.99971022 -0.06133006] [ 0. 0. 0. 1. ]] SLAMing on 52.879928850999995 meters Centerline goodness [0,1] 0.647496664560073 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.06 [[ 0.99901813 -0.03758416 -0.02345632 0.57462932] [ 0.03774121 0.99926776 0.00628882 -0.19918201] [ 0.02320278 -0.00716791 0.99970508 -0.06058097] [ 0. 0. 0. 1. ]] SLAMing on 52.909928851 meters Centerline goodness [0,1] 0.6489623637003166 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.20, Z:-0.06 [[ 0.99902954 -0.03719256 -0.02359434 0.57501806] [ 0.0373536 0.99928148 0.0064217 -0.19913892] [ 0.02333855 -0.0072968 0.99970099 -0.06049835] [ 0. 0. 0. 1. ]] SLAMing on 52.939928851 meters Centerline goodness [0,1] 0.6455509516117706 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.20, Z:-0.06 [[ 0.99904044 -0.03676898 -0.02379597 0.57562335] [ 0.03693376 0.99929643 0.00652247 -0.19910747] [ 0.0235394 -0.00739508 0.99969556 -0.06045203] [ 0. 0. 0. 1. ]] SLAMing on 52.96992885099999 meters Centerline goodness [0,1] 0.6359876629749054 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.20, Z:-0.06 [[ 0.99905529 -0.03617989 -0.02407353 0.57650531] [ 0.03635291 0.99931595 0.00678891 -0.19922903] [ 0.02381144 -0.00765764 0.99968714 -0.06056568] [ 0. 0. 0. 1. ]] SLAMing on 52.99992885099999 meters Centerline goodness [0,1] 0.6477600056204773 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.20, Z:-0.06 [[ 0.99918156 -0.0325645 -0.02399523 0.57544341] [ 0.03282477 0.99940561 0.01053381 -0.20039512] [ 0.02363794 -0.01131282 0.99965657 -0.05990919] [ 0. 0. 0. 1. ]] SLAMing on 53.029928850999994 meters Centerline goodness [0,1] 0.6635310635310636 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.20, Z:-0.06 [[ 0.99918674 -0.03231523 -0.02411598 0.57555473] [ 0.0325738 0.99941515 0.01040679 -0.19969859] [ 0.02376558 -0.01118388 0.999655 -0.05949153] [ 0. 0. 0. 1. ]] SLAMing on 53.059928850999995 meters Centerline goodness [0,1] 0.6630167754615006 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.20, Z:-0.06 [[ 0.99919308 -0.03193905 -0.0243533 0.57614431] [ 0.03220078 0.99942698 0.0104317 -0.19902123] [ 0.02400617 -0.01120748 0.99964899 -0.05943476] [ 0. 0. 0. 1. ]] SLAMing on 53.089928850999996 meters Centerline goodness [0,1] 0.6517001075721435 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.20, Z:-0.06 [[ 0.99920894 -0.03121373 -0.02464156 0.57712776] [ 0.03148642 0.9994463 0.01075679 -0.19902311] [ 0.02429216 -0.01152415 0.99963848 -0.05961099] [ 0. 0. 0. 1. ]] SLAMing on 53.119928851 meters Centerline goodness [0,1] 0.6685853338948945 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.20, Z:-0.06 [[ 0.99921273 -0.03100382 -0.02475254 0.57771245] [ 0.03128237 0.99945064 0.01094652 -0.19960353] [ 0.02439955 -0.01171222 0.99963368 -0.0599763 ] [ 0. 0. 0. 1. ]] SLAMing on 53.14992885099999 meters Centerline goodness [0,1] 0.6691736347923576 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.20, Z:-0.06 [[ 0.99921557 -0.03079603 -0.02489681 0.57844409] [ 0.03108383 0.99945339 0.01125643 -0.20043578] [ 0.02453655 -0.01202149 0.99962665 -0.06053148] [ 0. 0. 0. 1. ]] SLAMing on 53.17992885099999 meters Centerline goodness [0,1] 0.668735417638824 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.20, Z:-0.06 [[ 0.99921355 -0.03079772 -0.02497548 0.57875149] [ 0.0310888 0.99945217 0.01135113 -0.20104041] [ 0.02461221 -0.01211866 0.99962362 -0.06068342] [ 0. 0. 0. 1. ]] SLAMing on 53.209928850999994 meters Centerline goodness [0,1] 0.6737239722992981 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.20, Z:-0.06 [[ 0.99920608 -0.0309957 -0.0250297 0.57845736] [ 0.03128339 0.99944797 0.01118507 -0.20134135] [ 0.02466919 -0.01195921 0.99962413 -0.06011036] [ 0. 0. 0. 1. ]] SLAMing on 53.239928850999995 meters Centerline goodness [0,1] 0.6628364076201996 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.20, Z:-0.06 [[ 0.99920095 -0.03112537 -0.02507335 0.57832391] [ 0.03140999 0.99944563 0.01103876 -0.20152582] [ 0.02471586 -0.01181749 0.99962467 -0.05972646] [ 0. 0. 0. 1. ]] SLAMing on 53.269928850999996 meters Centerline goodness [0,1] 0.6697673334265865 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.20, Z:-0.06 [[ 0.9991976 -0.03119508 -0.02512007 0.57811626] [ 0.03147714 0.9994449 0.01091237 -0.20173838] [ 0.02476572 -0.01169432 0.99962488 -0.05922899] [ 0. 0. 0. 1. ]] SLAMing on 53.299928851 meters Centerline goodness [0,1] 0.6690642474303348 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.20, Z:-0.06 [[ 0.99918706 -0.03152737 -0.02512455 0.57757855] [ 0.03180499 0.99943652 0.0107279 -0.20303253] [ 0.02477217 -0.01151827 0.99962676 -0.05844068] [ 0. 0. 0. 1. ]] SLAMing on 53.329928851 meters Centerline goodness [0,1] 0.6664660261604352 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.20, Z:-0.06 [[ 0.9991785 -0.03186545 -0.02503826 0.57708393] [ 0.03213833 0.99942751 0.01057265 -0.20352463] [ 0.02468702 -0.01136865 0.99963058 -0.05809076] [ 0. 0. 0. 1. ]] SLAMing on 53.35992885099999 meters Centerline goodness [0,1] 0.6480367799010844 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.20, Z:-0.06 [[ 0.99917299 -0.03207554 -0.02499001 0.57677924] [ 0.03234793 0.99942075 0.01057265 -0.20408265] [ 0.02463641 -0.01137228 0.99963179 -0.05787585] [ 0. 0. 0. 1. ]] SLAMing on 53.38992885099999 meters Centerline goodness [0,1] 0.6586761163609413 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.21, Z:-0.06 [[ 0.99916203 -0.03254101 -0.02482565 0.57586285] [ 0.03280766 0.99940747 0.01041026 -0.205212 ] [ 0.02447218 -0.01121601 0.99963759 -0.05721628] [ 0. 0. 0. 1. ]] SLAMing on 53.419928850999995 meters Centerline goodness [0,1] 0.6468655265776502 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.21, Z:-0.06 [[ 0.99915693 -0.03275256 -0.02475277 0.57554763] [ 0.03301586 0.99940171 0.01030425 -0.20566913] [ 0.02440047 -0.0111128 0.9996405 -0.05702199] [ 0. 0. 0. 1. ]] SLAMing on 53.449928850999996 meters Centerline goodness [0,1] 0.6560073937153419 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.21, Z:-0.06 [[ 0.99915503 -0.03282175 -0.02473778 0.5755607 ] [ 0.03308498 0.99939939 0.01030769 -0.20598096] [ 0.02438461 -0.01111743 0.99964083 -0.05706693] [ 0. 0. 0. 1. ]] SLAMing on 53.479928851 meters Centerline goodness [0,1] 0.6671675258327747 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.21, Z:-0.06 [[ 0.99915548 -0.03274467 -0.02482183 0.57568338] [ 0.03301044 0.99940117 0.0103741 -0.20640103] [ 0.02446727 -0.01118472 0.99963806 -0.05688986] [ 0. 0. 0. 1. ]] SLAMing on 53.509928851 meters Centerline goodness [0,1] 0.6426514296246804 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.21, Z:-0.06 [[ 0.99915477 -0.03275338 -0.02483856 0.57591468] [ 0.0330206 0.99940029 0.0104256 -0.2066902 ] [ 0.02448219 -0.01123697 0.99963711 -0.05705176] [ 0. 0. 0. 1. ]] SLAMing on 53.53992885099999 meters Centerline goodness [0,1] 0.6593540664349347 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.21, Z:-0.06 [[ 0.99914598 -0.03313399 -0.02468694 0.57525837] [ 0.03339684 0.99938897 0.01031227 -0.20759648] [ 0.02433017 -0.01112793 0.99964204 -0.05662698] [ 0. 0. 0. 1. ]] SLAMing on 53.56992885099999 meters Centerline goodness [0,1] 0.661708751297129 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.21, Z:-0.06 [[ 0.99914066 -0.03338495 -0.02456392 0.57494161] [ 0.03364632 0.99938067 0.01030496 -0.20819762] [ 0.02420467 -0.01112259 0.99964515 -0.0565762 ] [ 0. 0. 0. 1. ]] SLAMing on 53.599928850999994 meters Centerline goodness [0,1] 0.6579038235768053 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.21, Z:-0.06 [[ 0.99913407 -0.03359276 -0.02454877 0.57482546] [ 0.03385293 0.99937416 0.01026034 -0.20895435] [ 0.02418873 -0.0110825 0.99964598 -0.05643972] [ 0. 0. 0. 1. ]] SLAMing on 53.629928850999995 meters Centerline goodness [0,1] 0.6638078111310923 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.21, Z:-0.06 [[ 0.99912113 -0.03400413 -0.02450875 0.57442241] [ 0.03425649 0.99936353 0.00995136 -0.2091174 ] [ 0.02415477 -0.0107822 0.99965008 -0.0560716 ] [ 0. 0. 0. 1. ]] SLAMing on 53.659928851 meters Centerline goodness [0,1] 0.6598615996505506 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.21, Z:-0.06 [[ 0.9991149 -0.03415574 -0.02455198 0.57460736] [ 0.03440738 0.99935884 0.00990109 -0.20939208] [ 0.02419806 -0.0107371 0.99964952 -0.05620313] [ 0. 0. 0. 1. ]] SLAMing on 53.689928851 meters Centerline goodness [0,1] 0.6566405081352266 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.21, Z:-0.06 [[ 0.99910529 -0.0346493 -0.02424969 0.57371163] [ 0.0348851 0.99934741 0.0093693 -0.20864894] [ 0.02390923 -0.01020687 0.99966203 -0.05583298] [ 0. 0. 0. 1. ]] SLAMing on 53.71992885099999 meters Centerline goodness [0,1] 0.6580140375100678 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.21, Z:-0.06 [[ 0.99909675 -0.03488762 -0.02425981 0.57349936] [ 0.03511723 0.99934173 0.00910377 -0.2082051 ] [ 0.02392624 -0.00994748 0.99966424 -0.0555459 ] [ 0. 0. 0. 1. ]] SLAMing on 53.74992885099999 meters Centerline goodness [0,1] 0.6534379963628829 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.21, Z:-0.06 [[ 0.99908544 -0.03526419 -0.02418083 0.5730524 ] [ 0.03548499 0.99933179 0.00876351 -0.20794181] [ 0.02385564 -0.00961355 0.99966919 -0.05522115] [ 0. 0. 0. 1. ]] SLAMing on 53.779928850999994 meters Centerline goodness [0,1] 0.6494937873907041 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.21, Z:-0.06 [[ 0.99907071 -0.03578634 -0.02402216 0.57271924] [ 0.03599481 0.99931749 0.00830272 -0.20736537] [ 0.02370864 -0.00915968 0.99967695 -0.05525865] [ 0. 0. 0. 1. ]] SLAMing on 53.809928850999995 meters Centerline goodness [0,1] 0.6552749228003871 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.21, Z:-0.06 [[ 0.99906247 -0.03605038 -0.02396998 0.57258174] [ 0.03625069 0.9993109 0.00797527 -0.20679171] [ 0.02366595 -0.00883672 0.99968087 -0.05517885] [ 0. 0. 0. 1. ]] SLAMing on 53.839928850999996 meters Centerline goodness [0,1] 0.6430287351011734 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.21, Z:-0.06 [[ 0.99905543 -0.03632329 -0.02385104 0.5723205 ] [ 0.03651631 0.99930333 0.00770764 -0.20612435] [ 0.02355446 -0.00857131 0.99968581 -0.0551979 ] [ 0. 0. 0. 1. ]] SLAMing on 53.869928851 meters Centerline goodness [0,1] 0.6327083333333333 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.06 [[ 0.99904037 -0.03688048 -0.02362566 0.57178066] [ 0.03705985 0.99928711 0.00719965 -0.20496425] [ 0.0233433 -0.0080683 0.99969495 -0.0551539 ] [ 0. 0. 0. 1. ]] SLAMing on 53.89992885099999 meters Centerline goodness [0,1] 0.650597950544748 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.06 [[ 0.99903115 -0.03711823 -0.02364296 0.57186054] [ 0.03729184 0.99928028 0.00694494 -0.2045233 ] [ 0.02336816 -0.0078199 0.99969634 -0.05519574] [ 0. 0. 0. 1. ]] SLAMing on 53.92992885099999 meters Centerline goodness [0,1] 0.648709550026715 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.06 [[ 0.99902195 -0.03746479 -0.02348485 0.57142585] [ 0.03762907 0.99927003 0.00659233 -0.20380917] [ 0.02322072 -0.0074696 0.99970246 -0.05508154] [ 0. 0. 0. 1. ]] SLAMing on 53.959928850999994 meters Centerline goodness [0,1] 0.649570273588621 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.06 [[ 0.99901607 -0.03755046 -0.02359784 0.57183274] [ 0.03771379 0.99926735 0.00651479 -0.2035817 ] [ 0.02333591 -0.00739835 0.9997003 -0.05530148] [ 0. 0. 0. 1. ]] SLAMing on 53.989928850999995 meters Centerline goodness [0,1] 0.6444072679957247 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.05 [[ 0.99900051 -0.03807507 -0.02341536 0.57115686] [ 0.03822467 0.99925131 0.00597498 -0.20265507] [ 0.02317033 -0.00686406 0.99970797 -0.0549271 ] [ 0. 0. 0. 1. ]] SLAMing on 54.019928850999996 meters Centerline goodness [0,1] 0.6399434805772394 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.05 [[ 0.99899238 -0.03840062 -0.02322965 0.57077934] [ 0.03854081 0.99924124 0.0056178 -0.20188543] [ 0.0229963 -0.00650743 0.99971437 -0.05486984] [ 0. 0. 0. 1. ]] SLAMing on 54.049928851 meters Centerline goodness [0,1] 0.6394022624645035 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.05 [[ 0.99898358 -0.0386573 -0.02318239 0.57045674] [ 0.03878848 0.99923373 0.00523563 -0.20093702] [ 0.02296224 -0.00612951 0.99971754 -0.05456586] [ 0. 0. 0. 1. ]] SLAMing on 54.079928851 meters Centerline goodness [0,1] 0.6394022624645035 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.05 [[ 0.99898358 -0.0386573 -0.02318239 0.57045674] [ 0.03878848 0.99923373 0.00523563 -0.20093702] [ 0.02296224 -0.00612951 0.99971754 -0.05456586] [ 0. 0. 0. 1. ]] SLAMing on 54.10992885099999 meters Centerline goodness [0,1] 0.6511855634049102 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.05 [[ 0.99896952 -0.03912698 -0.02299958 0.57002251] [ 0.03924226 0.99921922 0.00458228 -0.19878091] [ 0.02280233 -0.00548011 0.99972497 -0.05450783] [ 0. 0. 0. 1. ]] SLAMing on 54.13992885099999 meters Centerline goodness [0,1] 0.6571415187145735 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.05 [[ 0.99896676 -0.0392114 -0.02297544 0.57012841] [ 0.03932231 0.99921691 0.00439579 -0.19792604] [ 0.02278509 -0.00529469 0.99972637 -0.05471064] [ 0. 0. 0. 1. ]] SLAMing on 54.169928850999995 meters Centerline goodness [0,1] 0.6439742840444185 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.06 [[ 0.99896608 -0.03926765 -0.02290887 0.57026236] [ 0.0393752 0.9992154 0.00426245 -0.19723343] [ 0.02272352 -0.00516008 0.99972847 -0.05501162] [ 0. 0. 0. 1. ]] SLAMing on 54.199928850999996 meters Centerline goodness [0,1] 0.6466309610122319 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.06 [[ 0.99896758 -0.0392286 -0.02291068 0.57082725] [ 0.03933253 0.99921775 0.00410357 -0.19569996] [ 0.02273178 -0.00500047 0.99972909 -0.05566022] [ 0. 0. 0. 1. ]] SLAMing on 54.229928851 meters Centerline goodness [0,1] 0.6489564460340242 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.06 [[ 0.9989595 -0.03940566 -0.02295908 0.57092306] [ 0.03950205 0.99921242 0.00375987 -0.19457815] [ 0.02279283 -0.00466289 0.99972934 -0.05559431] [ 0. 0. 0. 1. ]] SLAMing on 54.259928851 meters Centerline goodness [0,1] 0.6491434765192394 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.06 [[ 0.99894468 -0.03995891 -0.0226452 0.57007949] [ 0.04004311 0.99919258 0.00327719 -0.19354527] [ 0.02249596 -0.00418052 0.99973819 -0.0553609 ] [ 0. 0. 0. 1. ]] SLAMing on 54.28992885099999 meters Centerline goodness [0,1] 0.6451818460739657 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.06 [[ 0.99893155 -0.04033763 -0.0225531 0.56974357] [ 0.04041416 0.99917867 0.00294764 -0.19322151] [ 0.02241567 -0.00385596 0.9997413 -0.05521791] [ 0. 0. 0. 1. ]] SLAMing on 54.31992885099999 meters Centerline goodness [0,1] 0.648918587079713 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.06 [[ 0.99892545 -0.04051296 -0.02250899 0.56980659] [ 0.04058925 0.99917158 0.00294237 -0.19342403] [ 0.02237114 -0.00385283 0.99974231 -0.05547274] [ 0. 0. 0. 1. ]] SLAMing on 54.349928850999994 meters Centerline goodness [0,1] 0.6395192647578649 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.06 [[ 0.99892178 -0.04059875 -0.02251729 0.57006986] [ 0.04067562 0.999168 0.00296615 -0.19348834] [ 0.02237813 -0.00387885 0.99974205 -0.05579975] [ 0. 0. 0. 1. ]] SLAMing on 54.379928850999995 meters Centerline goodness [0,1] 0.6438197738912884 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.06 [[ 0.9989036 -0.04124028 -0.02215467 0.56897816] [ 0.04130472 0.99914357 0.00245901 -0.1928291 ] [ 0.02203428 -0.0033714 0.99975153 -0.05545675] [ 0. 0. 0. 1. ]] SLAMing on 54.409928851 meters Centerline goodness [0,1] 0.6365482233502537 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.06 [[ 0.99889745 -0.04142 -0.02209666 0.56885426] [ 0.04148229 0.99913643 0.00236781 -0.19261869] [ 0.0219795 -0.00328182 0.99975304 -0.05551009] [ 0. 0. 0. 1. ]] SLAMing on 54.439928851 meters Centerline goodness [0,1] 0.6292887819151447 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.06 [[ 0.99889175 -0.0415439 -0.02212163 0.56889782] [ 0.04160348 0.99913169 0.00223973 -0.19229444] [ 0.02200937 -0.00315758 0.99975278 -0.05548754] [ 0. 0. 0. 1. ]] SLAMing on 54.46992885099999 meters Centerline goodness [0,1] 0.64406098569909 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.06 [[ 0.9988789 -0.0419412 -0.02195153 0.56834974] [ 0.04199518 0.9991158 0.00200373 -0.19191018] [ 0.02184808 -0.00292334 0.99975703 -0.05536478] [ 0. 0. 0. 1. ]] SLAMing on 54.49992885099999 meters Centerline goodness [0,1] 0.636649338374291 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.06 [[ 0.99887136 -0.04218508 -0.02182712 0.56809981] [ 0.04223863 0.99910555 0.00199811 -0.19219656] [ 0.02172331 -0.0029178 0.99975976 -0.05549932] [ 0. 0. 0. 1. ]] SLAMing on 54.529928850999994 meters Centerline goodness [0,1] 0.6401880196523053 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.06 [[ 0.99886131 -0.04247836 -0.02171814 0.56784803] [ 0.04253114 0.99909319 0.00197373 -0.19259574] [ 0.0216146 -0.00289518 0.99976219 -0.05557543] [ 0. 0. 0. 1. ]] SLAMing on 54.559928850999995 meters Centerline goodness [0,1] 0.6386431722218291 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.06 [[ 0.99883882 -0.04308809 -0.02155056 0.56730648] [ 0.04314058 0.99906706 0.00197649 -0.19376053] [ 0.02144529 -0.0029039 0.99976581 -0.05556094] [ 0. 0. 0. 1. ]] SLAMing on 54.589928850999996 meters Centerline goodness [0,1] 0.6253005799424772 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.06 [[ 0.99882801 -0.04341654 -0.02139171 0.56689534] [ 0.04346782 0.99905295 0.00193784 -0.19419423] [ 0.02128732 -0.00286542 0.99976929 -0.05552714] [ 0. 0. 0. 1. ]] SLAMing on 54.619928851 meters Centerline goodness [0,1] 0.6325862799566835 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.06 [[ 0.99880557 -0.04401541 -0.02121515 0.56615933] [ 0.04406604 0.99902677 0.00192509 -0.19553737] [ 0.02110977 -0.00285765 0.99977308 -0.05525157] [ 0. 0. 0. 1. ]] SLAMing on 54.64992885099999 meters Centerline goodness [0,1] 0.6214734276876933 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.06 [[ 0.99879746 -0.04431585 -0.0209701 0.56557296] [ 0.04436778 0.99901323 0.0020175 -0.19624679] [ 0.02086 -0.00294547 0.99977807 -0.05528422] [ 0. 0. 0. 1. ]] SLAMing on 54.67992885099999 meters Centerline goodness [0,1] 0.6275182773454947 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.06 [[ 0.99879299 -0.04445369 -0.02089087 0.56532158] [ 0.04450752 0.9990068 0.00211894 -0.19700114] [ 0.02077593 -0.00304619 0.99977952 -0.05524265] [ 0. 0. 0. 1. ]] SLAMing on 54.709928850999994 meters Centerline goodness [0,1] 0.62180827323765 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.20, Z:-0.06 [[ 0.99878723 -0.04467052 -0.02070321 0.56479083] [ 0.04472326 0.99899723 0.00209134 -0.19745554] [ 0.02058902 -0.00301472 0.99978348 -0.05507573] [ 0. 0. 0. 1. ]] SLAMing on 54.739928850999995 meters Centerline goodness [0,1] 0.6237767476705529 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.20, Z:-0.05 [[ 0.9987785 -0.04488215 -0.02066622 0.56454657] [ 0.04493757 0.99898732 0.00222489 -0.1983649 ] [ 0.02054544 -0.00315087 0.99978396 -0.05492547] [ 0. 0. 0. 1. ]] SLAMing on 54.769928850999996 meters Centerline goodness [0,1] 0.6217449287569312 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.06 [[ 0.99878829 -0.04462847 -0.02074249 0.56505379] [ 0.04469132 0.99899752 0.00257601 -0.19894805] [ 0.02060673 -0.00349989 0.99978153 -0.05534921] [ 0. 0. 0. 1. ]] SLAMing on 54.799928851 meters Centerline goodness [0,1] 0.6245286112477455 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.06 [[ 0.99879569 -0.0443724 -0.02093485 0.56574308] [ 0.04443972 0.99900825 0.00276123 -0.19910763] [ 0.02079157 -0.00368824 0.99977703 -0.05566362] [ 0. 0. 0. 1. ]] SLAMing on 54.829928851 meters Centerline goodness [0,1] 0.6095113335984468 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.06 [[ 0.99882693 -0.04355554 -0.02115862 0.56695184] [ 0.04363251 0.99904256 0.00318933 -0.19915689] [ 0.02099945 -0.00410879 0.99977104 -0.0563266 ] [ 0. 0. 0. 1. ]] SLAMing on 54.85992885099999 meters Centerline goodness [0,1] 0.6321580746359508 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.06 [[ 0.99884281 -0.04305173 -0.02143822 0.56782031] [ 0.04313136 0.99906407 0.00326609 -0.1984742 ] [ 0.02127754 -0.00418697 0.99976484 -0.05641561] [ 0. 0. 0. 1. ]] SLAMing on 54.88992885099999 meters Centerline goodness [0,1] 0.613828863705685 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.06 [[ 0.99886074 -0.04252124 -0.02166017 0.5686922 ] [ 0.04260339 0.99908646 0.0033453 -0.19740323] [ 0.02149814 -0.00426429 0.99975979 -0.05668752] [ 0. 0. 0. 1. ]] SLAMing on 54.919928850999995 meters Centerline goodness [0,1] 0.6390483810240963 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.06 [[ 0.99902082 -0.03855036 -0.02170885 0.56824755] [ 0.03870907 0.99922643 0.00693859 -0.19633192] [ 0.02142457 -0.00777212 0.99974026 -0.0563273 ] [ 0. 0. 0. 1. ]] SLAMing on 54.949928850999996 meters Centerline goodness [0,1] 0.6159914963977796 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.20, Z:-0.06 [[ 0.999036 -0.03801671 -0.02194999 0.56896184] [ 0.03817752 0.99924677 0.00695423 -0.19526696] [ 0.02166908 -0.00778553 0.99973488 -0.05635342] [ 0. 0. 0. 1. ]] SLAMing on 54.979928851 meters Centerline goodness [0,1] 0.6487189799153084 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.06 [[ 0.9990507 -0.0374978 -0.02217251 0.56971311] [ 0.0376602 0.99926641 0.00695291 -0.19458232] [ 0.02189552 -0.00778133 0.99972998 -0.05635862] [ 0. 0. 0. 1. ]] SLAMing on 55.009928851 meters Centerline goodness [0,1] 0.6511776844801822 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.06 [[ 0.99909294 -0.03606546 -0.02264001 0.57177308] [ 0.03624075 0.99931584 0.00738023 -0.19351448] [ 0.02235835 -0.00819402 0.99971644 -0.05708558] [ 0. 0. 0. 1. ]] SLAMing on 55.03992885099999 meters Centerline goodness [0,1] 0.6504456243481559 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.06 [[ 0.99910558 -0.03553945 -0.02291256 0.57294278] [ 0.03571972 0.99933365 0.0075069 -0.19296711] [ 0.0226305 -0.00831861 0.99970929 -0.05760688] [ 0. 0. 0. 1. ]] SLAMing on 55.06992885099999 meters Centerline goodness [0,1] 0.6572386888053665 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.06 [[ 0.99923589 -0.03167785 -0.02289414 0.57262189] [ 0.03193769 0.99942851 0.01107434 -0.19251036] [ 0.02253024 -0.01179706 0.99967656 -0.05757087] [ 0. 0. 0. 1. ]] SLAMing on 55.099928850999994 meters Centerline goodness [0,1] 0.6569570068608599 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.19, Z:-0.06 [[ 0.99924301 -0.03099274 -0.02351298 0.57445661] [ 0.03125822 0.99945072 0.01100834 -0.19117632] [ 0.02315889 -0.01173499 0.99966292 -0.05784223] [ 0. 0. 0. 1. ]] SLAMing on 55.129928850999995 meters Centerline goodness [0,1] 0.6531065618804195 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.06 [[ 0.99926029 -0.03024491 -0.02375122 0.57554753] [ 0.03051323 0.99947365 0.01101689 -0.18974443] [ 0.02340552 -0.01173346 0.9996572 -0.05817294] [ 0. 0. 0. 1. ]] SLAMing on 55.159928851 meters Centerline goodness [0,1] 0.6613998183295884 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.06 [[ 0.99927639 -0.02944819 -0.02407292 0.57678345] [ 0.02972017 0.99949752 0.01101926 -0.18829527] [ 0.02373633 -0.01172673 0.99964947 -0.05839419] [ 0. 0. 0. 1. ]] SLAMing on 55.189928851 meters Centerline goodness [0,1] 0.6673004717435256 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.06 [[ 0.99940324 -0.02447249 -0.02437759 0.57821314] [ 0.02484577 0.99957681 0.01512914 -0.18702875] [ 0.02399703 -0.01572579 0.99958834 -0.05930067] [ 0. 0. 0. 1. ]] SLAMing on 55.21992885099999 meters Centerline goodness [0,1] 0.6788171394085697 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.06 [[ 0.99943943 -0.02266982 -0.02463529 0.58027539] [ 0.02306313 0.99960915 0.01580012 -0.18540276] [ 0.02426748 -0.01635943 0.99957164 -0.06039842] [ 0. 0. 0. 1. ]] SLAMing on 55.24992885099999 meters Centerline goodness [0,1] 0.6781778637022716 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.06 [[ 0.99948691 -0.02029864 -0.02477662 0.58233261] [ 0.02072035 0.99964273 0.01688424 -0.18362692] [ 0.02442504 -0.01738896 0.99955042 -0.06155493] [ 0. 0. 0. 1. ]] SLAMing on 55.279928850999994 meters Centerline goodness [0,1] 0.6930779913748994 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.06 [[ 0.99962621 -0.01190997 -0.02460883 0.58220098] [ 0.01251101 0.9996236 0.02441593 -0.18145404] [ 0.02430877 -0.02471468 0.99939895 -0.06201972] [ 0. 0. 0. 1. ]] SLAMing on 55.309928850999995 meters Centerline goodness [0,1] 0.6998410952206331 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.06 [[ 0.99966445 -0.00766205 -0.02474445 0.58268013] [ 0.00835708 0.99956996 0.02810787 -0.18016745] [ 0.02451845 -0.02830523 0.99929858 -0.06224466] [ 0. 0. 0. 1. ]] SLAMing on 55.339928850999996 meters Centerline goodness [0,1] 0.7127361963190184 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.06 [[ 0.99968443 -0.00344362 -0.02488335 0.58306457] [ 0.0042333 0.99948679 0.03175258 -0.17897045] [ 0.02476124 -0.0318479 0.99918596 -0.06223419] [ 0. 0. 0. 1. ]] SLAMing on 55.369928851 meters Centerline goodness [0,1] 0.7575915192945956 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.06 [[ 0.99968421 0.00492531 -0.02464191 0.58292957] [-0.00395521 0.99922108 0.03926314 -0.17727268] [ 0.0248161 -0.03915328 0.99892501 -0.06253486] [ 0. 0. 0. 1. ]] SLAMing on 55.39992885099999 meters Centerline goodness [0,1] 0.7629670111287759 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.06 [[ 0.99967185 0.00609731 -0.02487989 0.58431777] [-0.00512409 0.99922628 0.03899456 -0.17451224] [ 0.0250984 -0.03885428 0.99892963 -0.06267156] [ 0. 0. 0. 1. ]] SLAMing on 55.42992885099999 meters Centerline goodness [0,1] 0.771609398749159 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.06 [[ 0.99965841 0.00710064 -0.02515235 0.58568406] [-0.00612505 0.99923388 0.03865416 -0.17188806] [ 0.02540755 -0.03848689 0.99893604 -0.06277313] [ 0. 0. 0. 1. ]] SLAMing on 55.459928850999994 meters Centerline goodness [0,1] 0.7821002866770608 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.06 [[ 0.99961905 0.01151887 -0.02508129 0.58608116] [-0.01046042 0.99906576 0.04193072 -0.16872465] [ 0.02554085 -0.04165238 0.99880566 -0.06291572] [ 0. 0. 0. 1. ]] SLAMing on 55.489928850999995 meters Centerline goodness [0,1] 0.7805671077504726 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.06 [[ 0.99960599 0.01197336 -0.02538702 0.58717581] [-0.01091611 0.99908375 0.04138238 -0.16629506] [ 0.02585925 -0.04108895 0.9988208 -0.06290762] [ 0. 0. 0. 1. ]] SLAMing on 55.519928850999996 meters Centerline goodness [0,1] 0.7871098192847213 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.06 [[ 0.99959264 0.01238559 -0.02571282 0.58818314] [-0.01132645 0.99909758 0.04093586 -0.16439999] [ 0.02619663 -0.04062795 0.99883087 -0.06279213] [ 0. 0. 0. 1. ]] SLAMing on 55.549928851 meters Centerline goodness [0,1] 0.7921659220146222 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.06 [[ 0.99957496 0.01352319 -0.02582683 0.58943272] [-0.01246116 0.99908763 0.04084874 -0.16219902] [ 0.02635567 -0.04050954 0.9988315 -0.06315793] [ 0. 0. 0. 1. ]] SLAMing on 55.57992885099999 meters Centerline goodness [0,1] 0.7938401281823038 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.06 [[ 0.99956261 0.01373038 -0.02619296 0.59028659] [-0.01266463 0.99910214 0.04042927 -0.16088458] [ 0.02672455 -0.04007986 0.99883903 -0.06289631] [ 0. 0. 0. 1. ]] SLAMing on 55.60992885099999 meters Centerline goodness [0,1] 0.7936637294351347 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.06 [[ 0.99955516 0.01378312 -0.02644827 0.59087504] [-0.01271935 0.99911968 0.03997611 -0.15953042] [ 0.02697598 -0.03962192 0.99885054 -0.0627026 ] [ 0. 0. 0. 1. ]] SLAMing on 55.63992885099999 meters Centerline goodness [0,1] 0.7925157088707421 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.06 [[ 0.99955378 0.01368437 -0.0265516 0.59076416] [-0.01263442 0.99914692 0.03931661 -0.15803697] [ 0.02706697 -0.0389636 0.99887397 -0.0618787 ] [ 0. 0. 0. 1. ]] SLAMing on 55.669928850999995 meters Centerline goodness [0,1] 0.7918938197381159 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.06 [[ 0.99955915 0.01325363 -0.02656795 0.59031688] [-0.01221815 0.99917363 0.03876556 -0.15768012] [ 0.02705978 -0.03842386 0.99889508 -0.06117863] [ 0. 0. 0. 1. ]] SLAMing on 55.699928850999996 meters Centerline goodness [0,1] 0.7901567589576547 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.06 [[ 0.99958545 0.00984467 -0.0270557 0.59150432] [-0.00891488 0.99937271 0.03427394 -0.15563473] [ 0.02737615 -0.03401853 0.99904619 -0.06056904] [ 0. 0. 0. 1. ]] SLAMing on 55.729928851 meters Centerline goodness [0,1] 0.7890367135530392 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.06 [[ 0.99960008 0.00625715 -0.02757778 0.59245981] [-0.00543406 0.99954049 0.0298207 -0.15465591] [ 0.0277517 -0.02965891 0.99917476 -0.05959465] [ 0. 0. 0. 1. ]] SLAMing on 55.759928851 meters Centerline goodness [0,1] 0.7869929006085192 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.06 [[ 0.99960176 0.00320454 -0.02803668 0.59394244] [-0.00248538 0.99966794 0.02564812 -0.1529766 ] [ 0.02810956 -0.02556822 0.9992778 -0.05918913] [ 0. 0. 0. 1. ]] SLAMing on 55.78992885099999 meters Centerline goodness [0,1] 0.7875329681476972 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.15, Z:-0.06 [[ 9.99594348e-01 3.22166796e-04 -2.84787000e-02 5.95536116e-01] [ 2.94758872e-04 9.99765441e-01 2.16558527e-02 -1.51193482e-01] [ 2.84789969e-02 -2.16554623e-02 9.99359789e-01 -5.89439543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.81992885099999 meters Centerline goodness [0,1] 0.7879557225550929 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.15, Z:-0.06 [[ 9.99591545e-01 1.53175664e-04 -2.85782936e-02 5.95639550e-01] [ 4.60498238e-04 9.99769481e-01 2.14656098e-02 -1.51393272e-01] [ 2.85749938e-02 -2.14700023e-02 9.99361050e-01 -5.87532805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.849928850999994 meters Centerline goodness [0,1] 0.7895429468036645 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.15, Z:-0.06 [[ 0.99957462 -0.002442 -0.02906212 0.59780353] [ 0.00296582 0.99983368 0.01799462 -0.15103272] [ 0.02901335 -0.01807316 0.99941562 -0.05917762] [ 0. 0. 0. 1. ]] SLAMing on 55.879928850999995 meters Centerline goodness [0,1] 0.7848887094332004 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.15, Z:-0.06 [[ 0.99957035 -0.00249964 -0.0292039 0.59814676] [ 0.00302825 0.99983213 0.01807065 -0.15203203] [ 0.02915383 -0.01815132 0.99941012 -0.05926151] [ 0. 0. 0. 1. ]] SLAMing on 55.909928851 meters Centerline goodness [0,1] 0.7876424564139979 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.15, Z:-0.06 [[ 0.99954222 -0.00518819 -0.02980667 0.60038737] [ 0.00562874 0.99987588 0.01471532 -0.15226105] [ 0.02972662 -0.01487636 0.99944736 -0.05956073] [ 0. 0. 0. 1. ]] SLAMing on 55.939928851 meters Centerline goodness [0,1] 0.7884233543619775 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.15, Z:-0.06 [[ 0.99951166 -0.00789199 -0.03023505 0.60211678] [ 0.0082326 0.99990386 0.01115742 -0.15129585] [ 0.03014409 -0.01140088 0.99948054 -0.05965287] [ 0. 0. 0. 1. ]] SLAMing on 55.96992885099999 meters Centerline goodness [0,1] 0.7859008488623236 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.15, Z:-0.06 [[ 0.99950896 -0.00803576 -0.03028655 0.60204114] [ 0.00837536 0.99990328 0.01110293 -0.15205353] [ 0.0301944 -0.01135113 0.99947959 -0.05939091] [ 0. 0. 0. 1. ]] SLAMing on 55.99992885099999 meters Centerline goodness [0,1] 0.7859008488623236 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.15, Z:-0.06 [[ 0.99950896 -0.00803576 -0.03028655 0.60204114] [ 0.00837536 0.99990328 0.01110293 -0.15205353] [ 0.0301944 -0.01135113 0.99947959 -0.05939091] [ 0. 0. 0. 1. ]] SLAMing on 56.029928850999994 meters Centerline goodness [0,1] 0.7841649133353371 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.15, Z:-0.06 [[ 0.99950629 -0.00812152 -0.03035151 0.60206202] [ 0.00846285 0.9999022 0.01113427 -0.15304446] [ 0.03025812 -0.01138563 0.99947727 -0.05920394] [ 0. 0. 0. 1. ]] SLAMing on 56.059928850999995 meters Centerline goodness [0,1] 0.782767141751741 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.15, Z:-0.06 [[ 0.99946381 -0.01087837 -0.03088287 0.60435916] [ 0.01112561 0.99990733 0.0078454 -0.15330169] [ 0.03079466 -0.00818479 0.99949222 -0.05983546] [ 0. 0. 0. 1. ]] SLAMing on 56.089928850999996 meters Centerline goodness [0,1] 0.7827527781930532 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.15, Z:-0.06 [[ 0.99945969 -0.01090182 -0.03100776 0.60486584] [ 0.01115793 0.99990495 0.00809843 -0.15461897] [ 0.03091653 -0.00844004 0.99948634 -0.06021569] [ 0. 0. 0. 1. ]] SLAMing on 56.119928851 meters Centerline goodness [0,1] 0.7797957149975088 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.16, Z:-0.06 [[ 0.99945349 -0.01136386 -0.03104162 0.6046143 ] [ 0.0116265 0.99989802 0.00829359 -0.1571673 ] [ 0.03094421 -0.00864996 0.99948368 -0.06015014] [ 0. 0. 0. 1. ]] SLAMing on 56.14992885099999 meters Centerline goodness [0,1] 0.7786883210409993 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.16, Z:-0.06 [[ 0.99939991 -0.01442407 -0.03149238 0.60634493] [ 0.01457888 0.99988271 0.00469192 -0.15658287] [ 0.03142101 -0.00514823 0.99949298 -0.06034052] [ 0. 0. 0. 1. ]] SLAMing on 56.17992885099999 meters Centerline goodness [0,1] 0.7773924245051651 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.16, Z:-0.06 [[ 0.99939495 -0.01490972 -0.03142361 0.60564229] [ 0.01505921 0.99987636 0.00452573 -0.15805194] [ 0.03135225 -0.00499621 0.99949591 -0.05974278] [ 0. 0. 0. 1. ]] SLAMing on 56.209928850999994 meters Centerline goodness [0,1] 0.7673605123783718 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.16, Z:-0.06 [[ 9.99325637e-01 -1.87353443e-02 -3.15794058e-02 6.05942889e-01] [ 1.87740841e-02 9.99823318e-01 9.30651086e-04 -1.59482418e-01] [ 3.15563902e-02 -1.52289791e-03 9.99500813e-01 -5.93317723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.239928850999995 meters Centerline goodness [0,1] 0.7576583879922372 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.16, Z:-0.06 [[ 0.99931858 -0.01924104 -0.03149841 0.60546517] [ 0.01928956 0.99981317 0.0012372 -0.1614815 ] [ 0.03146872 -0.00184395 0.99950304 -0.05935079] [ 0. 0. 0. 1. ]] SLAMing on 56.269928850999996 meters Centerline goodness [0,1] 0.743751676379508 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.16, Z:-0.06 [[ 0.99922924 -0.02301213 -0.0318019 0.60630578] [ 0.0229621 0.99973446 -0.00193753 -0.16393914] [ 0.03183804 0.00120579 0.99949231 -0.05942749] [ 0. 0. 0. 1. ]] SLAMing on 56.299928851 meters Centerline goodness [0,1] 0.7333820484715625 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.17, Z:-0.06 [[ 9.99221726e-01 -2.34351465e-02 -3.17291136e-02 6.05806824e-01] [ 2.33987113e-02 9.99725058e-01 -1.51918677e-03 -1.66241570e-01] [ 3.17559923e-02 7.75584055e-04 9.99495350e-01 -5.94111057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.32992885099999 meters Centerline goodness [0,1] 0.7297972448583625 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.17, Z:-0.06 [[ 9.99209153e-01 -2.38451807e-02 -3.18194358e-02 6.05784214e-01] [ 2.38222785e-02 9.99715605e-01 -1.09871455e-03 -1.68696513e-01] [ 3.18365856e-02 3.39834171e-04 9.99493030e-01 -5.95842240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.35992885099999 meters Centerline goodness [0,1] 0.7182452497646008 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.17, Z:-0.06 [[ 9.99203001e-01 -2.41996616e-02 -3.17449209e-02 6.05538798e-01] [ 2.41947191e-02 9.99707119e-01 -5.39866897e-04 -1.71330500e-01] [ 3.17486880e-02 -2.28622822e-04 9.99495857e-01 -5.99181790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.38992885099999 meters Centerline goodness [0,1] 0.6905831751447726 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.17, Z:-0.06 [[ 0.99909784 -0.02806495 -0.03187269 0.60591506] [ 0.0279581 0.9996019 -0.0037933 -0.17401077] [ 0.03196646 0.00289877 0.99948474 -0.05979364] [ 0. 0. 0. 1. ]] SLAMing on 56.419928850999995 meters Centerline goodness [0,1] 0.7427873094987061 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.18, Z:-0.06 [[ 0.99909007 -0.02843253 -0.03179033 0.60542992] [ 0.02833987 0.99959269 -0.00336157 -0.17642966] [ 0.03187296 0.00245758 0.99948891 -0.0597357 ] [ 0. 0. 0. 1. ]] SLAMing on 56.449928850999996 meters Centerline goodness [0,1] 0.7073007846972118 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.18, Z:-0.06 [[ 0.99908777 -0.02872224 -0.03160162 0.60508975] [ 0.02864799 0.99958564 -0.00280014 -0.17883262] [ 0.03166895 0.00189226 0.99949662 -0.06019201] [ 0. 0. 0. 1. ]] SLAMing on 56.479928851 meters Centerline goodness [0,1] 0.7261422582249698 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.18, Z:-0.06 [[ 0.99896463 -0.0325121 -0.03182183 0.60570848] [ 0.03233888 0.99945929 -0.00594304 -0.18165257] [ 0.03199785 0.00490781 0.99947589 -0.06012335] [ 0. 0. 0. 1. ]] SLAMing on 56.509928851 meters Centerline goodness [0,1] 0.7136919661833467 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.18, Z:-0.06 [[ 0.99896582 -0.03275487 -0.03153414 0.60509039] [ 0.03259975 0.99945379 -0.00542102 -0.18388356] [ 0.03169448 0.00438741 0.99948797 -0.06042246] [ 0. 0. 0. 1. ]] SLAMing on 56.53992885099999 meters Centerline goodness [0,1] 0.71430929196237 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.19, Z:-0.06 [[ 0.99896311 -0.0328194 -0.03155306 0.60508962] [ 0.03268057 0.99945381 -0.00490546 -0.18609268] [ 0.03169682 0.0038692 0.99949004 -0.06057696] [ 0. 0. 0. 1. ]] SLAMing on 56.56992885099999 meters Centerline goodness [0,1] 0.7042411759198577 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.19, Z:-0.06 [[ 0.99896659 -0.03269502 -0.03157179 0.60546357] [ 0.03259095 0.99946153 -0.00380563 -0.18966211] [ 0.03167922 0.00277274 0.99949424 -0.06140611] [ 0. 0. 0. 1. ]] SLAMing on 56.599928850999994 meters Centerline goodness [0,1] 0.6965829944374329 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.19, Z:-0.06 [[ 0.99897261 -0.03239947 -0.03168606 0.6058929 ] [ 0.03231542 0.99947272 -0.00316124 -0.19122922] [ 0.03177177 0.00213405 0.99949287 -0.06172751] [ 0. 0. 0. 1. ]] SLAMing on 56.629928850999995 meters Centerline goodness [0,1] 0.6570099139543584 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.19, Z:-0.06 [[ 0.99897696 -0.0322397 -0.03171188 0.60605028] [ 0.0321677 0.99947862 -0.00277815 -0.19212344] [ 0.03178491 0.00175521 0.99949319 -0.06189757] [ 0. 0. 0. 1. ]] SLAMing on 56.659928851 meters Centerline goodness [0,1] 0.6927418602481574 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.19, Z:-0.06 [[ 0.99898828 -0.03176769 -0.03183119 0.60634252] [ 0.03171725 0.9994947 -0.00208858 -0.1939793 ] [ 0.03188146 0.00107687 0.99949108 -0.06190408] [ 0. 0. 0. 1. ]] SLAMing on 56.689928851 meters Centerline goodness [0,1] 0.6927950802487829 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.06 [[ 9.98993595e-01 -3.14531801e-02 -3.19764685e-02 6.06670567e-01] [ 3.14161958e-02 9.99505014e-01 -1.65849448e-03 -1.95014356e-01] [ 3.20128055e-02 6.52246361e-04 9.99487246e-01 -6.19350050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.71992885099999 meters Centerline goodness [0,1] 0.6921144452198186 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.06 [[ 9.99002852e-01 -3.09080015e-02 -3.22179688e-02 6.07501300e-01] [ 3.08872272e-02 9.99522223e-01 -1.14241342e-03 -1.95908579e-01] [ 3.22378855e-02 1.46150541e-04 9.99480214e-01 -6.22092746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.74992885099999 meters Centerline goodness [0,1] 0.739260157105895 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.06 [[ 9.99017723e-01 -3.00886532e-02 -3.25309290e-02 6.08397620e-01] [ 3.00836442e-02 9.99547178e-01 -6.43528616e-04 -1.96370169e-01] [ 3.25355611e-02 -3.35752400e-04 9.99470522e-01 -6.22506887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.779928850999994 meters Centerline goodness [0,1] 0.6987306393385351 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.06 [[ 9.99024188e-01 -2.97235482e-02 -3.26677615e-02 6.09038474e-01] [ 2.97257017e-02 9.99558006e-01 -4.19851283e-04 -1.96335412e-01] [ 3.26658020e-02 -5.51630546e-04 9.99466178e-01 -6.25979378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.809928850999995 meters Centerline goodness [0,1] 0.7419459735674634 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.06 [[ 9.99040231e-01 -2.90585789e-02 -3.27752465e-02 6.10026742e-01] [ 2.90758573e-02 9.99577207e-01 5.05877393e-05 -1.96828266e-01] [ 3.27599193e-02 -1.00350757e-03 9.99462746e-01 -6.33491425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.839928850999996 meters Centerline goodness [0,1] 0.7117770034843205 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.06 [[ 9.99045767e-01 -2.86792259e-02 -3.29402009e-02 6.10865371e-01] [ 2.87090028e-02 9.99587719e-01 4.31257648e-04 -1.97132135e-01] [ 3.29142522e-02 -1.37652645e-03 9.99457231e-01 -6.39240418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.869928851 meters Centerline goodness [0,1] 0.7399916208919095 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.06 [[ 9.99050788e-01 -2.84853786e-02 -3.29561391e-02 6.11207685e-01] [ 2.85202673e-02 9.99593041e-01 5.88943924e-04 -1.97117086e-01] [ 3.29259510e-02 -1.52830279e-03 9.99456625e-01 -6.42817387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.89992885099999 meters Centerline goodness [0,1] 0.7271140283499755 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.06 [[ 9.99056066e-01 -2.82326267e-02 -3.30135643e-02 6.11910284e-01] [ 2.82761363e-02 9.99599787e-01 8.51706140e-04 -1.97290834e-01] [ 3.29763060e-02 -1.78439823e-03 9.99454541e-01 -6.49960081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.92992885099999 meters Centerline goodness [0,1] 0.7413119330076763 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.07 [[ 9.99059592e-01 -2.82960978e-02 -3.28521387e-02 6.11747192e-01] [ 2.83408410e-02 9.99597915e-01 8.97008595e-04 -1.97136231e-01] [ 3.28135476e-02 -1.82722228e-03 9.99459820e-01 -6.52366986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.959928850999994 meters Centerline goodness [0,1] 0.7425217896571761 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.07 [[ 9.99054798e-01 -2.82397542e-02 -3.30458281e-02 6.12186013e-01] [ 2.82858365e-02 9.99599445e-01 9.27743303e-04 -1.96879088e-01] [ 3.30063922e-02 -1.86159529e-03 9.99453407e-01 -6.52648153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.989928850999995 meters Centerline goodness [0,1] 0.7058714103011278 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.07 [[ 9.99050742e-01 -2.85351421e-02 -3.29144438e-02 6.11695852e-01] [ 2.85776371e-02 9.99591239e-01 8.21266156e-04 -1.96817389e-01] [ 3.28775547e-02 -1.76110359e-03 9.99457835e-01 -6.50590686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.019928850999996 meters Centerline goodness [0,1] 0.7040742890307603 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.07 [[ 0.99904817 -0.02858478 -0.03294944 0.61198406] [ 0.02863513 0.99958937 0.00105715 -0.19759407] [ 0.0329057 -0.00199965 0.99945646 -0.06541268] [ 0. 0. 0. 1. ]] SLAMing on 57.049928851 meters Centerline goodness [0,1] 0.7438091473481061 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.07 [[ 9.99042909e-01 -2.89749443e-02 -3.27676497e-02 6.11497650e-01] [ 2.90226239e-02 9.99578274e-01 9.80290471e-04 -1.98060247e-01] [ 3.27254268e-02 -1.93035542e-03 9.99462516e-01 -6.54398201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.07992885099999 meters Centerline goodness [0,1] 0.7340911727177821 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.07 [[ 0.99904316 -0.02909078 -0.03265705 0.61151457] [ 0.02914496 0.99957449 0.00118425 -0.19880662] [ 0.03260871 -0.00213491 0.99946591 -0.06584654] [ 0. 0. 0. 1. ]] SLAMing on 57.10992885099999 meters Centerline goodness [0,1] 0.7183215813200786 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.07 [[ 0.9990274 -0.02966521 -0.03262263 0.61131368] [ 0.02971385 0.99955794 0.00100711 -0.19869502] [ 0.03257833 -0.00197547 0.99946723 -0.06599365] [ 0. 0. 0. 1. ]] SLAMing on 57.13992885099999 meters Centerline goodness [0,1] 0.7247419817651687 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.07 [[ 0.99902611 -0.0298346 -0.03250749 0.61128999] [ 0.02988525 0.99955276 0.00107316 -0.19866275] [ 0.03246093 -0.00204361 0.99947092 -0.06639838] [ 0. 0. 0. 1. ]] SLAMing on 57.169928850999995 meters Centerline goodness [0,1] 0.7109933590948007 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.07 [[ 9.99014836e-01 -3.02549755e-02 -3.24652836e-02 6.11485153e-01] [ 3.03026114e-02 9.99540294e-01 9.76156565e-04 -1.98507155e-01] [ 3.24208255e-02 -1.95897776e-03 9.99472387e-01 -6.70325016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.199928850999996 meters Centerline goodness [0,1] 0.7081142697622482 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.07 [[ 9.99009339e-01 -3.05007258e-02 -3.24044208e-02 6.11383657e-01] [ 3.05419836e-02 9.99533181e-01 7.78884978e-04 -1.98185726e-01] [ 3.23655373e-02 -1.76780866e-03 9.99474535e-01 -6.71282225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.229928851 meters Centerline goodness [0,1] 0.7108484199748686 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.07 [[ 9.99010927e-01 -3.04555893e-02 -3.23979247e-02 6.11955328e-01] [ 3.05001133e-02 9.99534375e-01 8.80860176e-04 -1.97916339e-01] [ 3.23560123e-02 -1.86812931e-03 9.99474661e-01 -6.78565296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.25992885099999 meters Centerline goodness [0,1] 0.7019100861868157 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.07 [[ 9.99011319e-01 -3.04046213e-02 -3.24336703e-02 6.12497026e-01] [ 3.04446194e-02 9.99536181e-01 7.39982601e-04 -1.96270273e-01] [ 3.23961280e-02 -1.72668174e-03 9.99473616e-01 -6.83869846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.28992885099999 meters Centerline goodness [0,1] 0.6948756857709817 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.19, Z:-0.07 [[ 9.99011750e-01 -3.03690567e-02 -3.24537108e-02 6.12587867e-01] [ 3.04017419e-02 9.99537628e-01 5.14038346e-04 -1.94910643e-01] [ 3.24230943e-02 -1.50017969e-03 9.99473107e-01 -6.83777992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.31992885099999 meters Centerline goodness [0,1] 0.6916969200140531 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.19, Z:-0.07 [[ 9.99012004e-01 -3.01841352e-02 -3.26179945e-02 6.13178878e-01] [ 3.02116292e-02 9.99543463e-01 3.50273072e-04 -1.93448539e-01] [ 3.25925305e-02 -1.33536976e-03 9.99467830e-01 -6.85413914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.349928850999994 meters Centerline goodness [0,1] 0.7039920957914795 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.19, Z:-0.07 [[ 9.99010398e-01 -3.00189620e-02 -3.28190068e-02 6.13717480e-01] [ 3.00381359e-02 9.99548749e-01 9.12324510e-05 -1.91827334e-01] [ 3.28014585e-02 -1.07696396e-03 9.99461307e-01 -6.85422050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.379928850999995 meters Centerline goodness [0,1] 0.6914703110273327 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.19, Z:-0.07 [[ 9.99029285e-01 -2.91335670e-02 -3.30412375e-02 6.15163148e-01] [ 2.91563050e-02 9.99574843e-01 2.06464400e-04 -1.89223872e-01] [ 3.30211748e-02 -1.16962438e-03 9.99453968e-01 -6.93958757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.409928851 meters Centerline goodness [0,1] 0.6932397959183674 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.19, Z:-0.07 [[ 9.99032791e-01 -2.89268504e-02 -3.31167532e-02 6.15645839e-01] [ 2.89434356e-02 9.99581051e-01 2.14312475e-05 -1.87840320e-01] [ 3.31022590e-02 -9.79923134e-04 9.99451490e-01 -6.96282663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.439928851 meters Centerline goodness [0,1] 0.7175431534581962 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.19, Z:-0.07 [[ 9.99037588e-01 -2.86019639e-02 -3.32539530e-02 6.16291183e-01] [ 2.86160648e-02 9.99590475e-01 -5.19153320e-05 -1.86499382e-01] [ 3.32418196e-02 -8.99731906e-04 9.99446933e-01 -6.99197526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.46992885099999 meters Centerline goodness [0,1] 0.7143536800038061 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.07 [[ 0.99912288 -0.02595153 -0.03286306 0.6168207 ] [ 0.02603819 0.9996585 0.00221179 -0.18468935] [ 0.03279444 -0.00306555 0.99945742 -0.07138912] [ 0. 0. 0. 1. ]] SLAMing on 57.49992885099999 meters Centerline goodness [0,1] 0.7249493866857211 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.07 [[ 0.99913037 -0.02546023 -0.03301932 0.61779368] [ 0.02554812 0.99967108 0.00224252 -0.18345526] [ 0.03295137 -0.00308415 0.9994522 -0.07194438] [ 0. 0. 0. 1. ]] SLAMing on 57.529928850999994 meters Centerline goodness [0,1] 0.7288042307784346 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.07 [[ 0.99922293 -0.02174535 -0.03287355 0.61742842] [ 0.02194581 0.99974263 0.00574955 -0.18215492] [ 0.03274006 -0.00646652 0.99944298 -0.07227144] [ 0. 0. 0. 1. ]] SLAMing on 57.559928850999995 meters Centerline goodness [0,1] 0.7314716908584062 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.07 [[ 0.99922425 -0.02138641 -0.03306836 0.61802296] [ 0.0215774 0.99975244 0.00542969 -0.18022423] [ 0.03294405 -0.00613901 0.99943834 -0.07217277] [ 0. 0. 0. 1. ]] SLAMing on 57.589928850999996 meters Centerline goodness [0,1] 0.7251816563206775 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.07 [[ 0.99925416 -0.01970113 -0.03321138 0.61992282] [ 0.01991146 0.99978366 0.0060141 -0.17777318] [ 0.03308571 -0.0066709 0.99943026 -0.07333278] [ 0. 0. 0. 1. ]] SLAMing on 57.619928851 meters Centerline goodness [0,1] 0.7433144736205812 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.07 [[ 0.99925427 -0.0193314 -0.03342454 0.62083624] [ 0.01953867 0.99979178 0.00588568 -0.17637232] [ 0.0333038 -0.00653436 0.99942391 -0.07366369] [ 0. 0. 0. 1. ]] SLAMing on 57.64992885099999 meters Centerline goodness [0,1] 0.7418839808408728 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.07 [[ 0.99925508 -0.01928003 -0.03342995 0.62094936] [ 0.01947743 0.99979467 0.00558918 -0.17499448] [ 0.03331533 -0.00623615 0.99942543 -0.07363216] [ 0. 0. 0. 1. ]] SLAMing on 57.67992885099999 meters Centerline goodness [0,1] 0.7671657702185395 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.07 [[ 0.99925251 -0.01910333 -0.03360771 0.62164979] [ 0.01929846 0.99979869 0.0054913 -0.17402153] [ 0.03349604 -0.00613577 0.99942002 -0.07389359] [ 0. 0. 0. 1. ]] SLAMing on 57.709928850999994 meters Centerline goodness [0,1] 0.7536407766990292 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.07 [[ 0.99925139 -0.01925019 -0.03355719 0.62171357] [ 0.01943443 0.99979775 0.00517284 -0.17260943] [ 0.03345082 -0.00582113 0.99942341 -0.07406815] [ 0. 0. 0. 1. ]] SLAMing on 57.739928850999995 meters Centerline goodness [0,1] 0.7626456310679611 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.07 [[ 0.99924934 -0.01940049 -0.03353161 0.62192519] [ 0.01958317 0.99979508 0.00512826 -0.17265704] [ 0.03342525 -0.00578106 0.9994245 -0.07443213] [ 0. 0. 0. 1. ]] SLAMing on 57.769928850999996 meters Centerline goodness [0,1] 0.7648302510389073 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.07 [[ 0.99924317 -0.02031986 -0.0331691 0.62095016] [ 0.02048622 0.99977917 0.00468347 -0.172868 ] [ 0.03306661 -0.00535944 0.99943878 -0.07445137] [ 0. 0. 0. 1. ]] SLAMing on 57.799928851 meters Centerline goodness [0,1] 0.7558628399232059 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.07 [[ 0.99923679 -0.02084837 -0.03303302 0.62052232] [ 0.02100364 0.99976989 0.00436032 -0.17283004] [ 0.03293452 -0.00505081 0.99944475 -0.07439992] [ 0. 0. 0. 1. ]] SLAMing on 57.82992885099999 meters Centerline goodness [0,1] 0.7508013598834385 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.07 [[ 0.99923272 -0.0213111 -0.03286055 0.62011934] [ 0.02145871 0.99976114 0.00414605 -0.17281586] [ 0.03276434 -0.00484802 0.99945135 -0.07447664] [ 0. 0. 0. 1. ]] SLAMing on 57.85992885099999 meters Centerline goodness [0,1] 0.7380854311535386 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.07 [[ 0.99921933 -0.02203463 -0.0327903 0.6195699 ] [ 0.02216827 0.99974734 0.0037174 -0.17257384] [ 0.03270011 -0.00444141 0.99945534 -0.07420747] [ 0. 0. 0. 1. ]] SLAMing on 57.88992885099999 meters Centerline goodness [0,1] 0.7380854311535386 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.07 [[ 0.99921933 -0.02203463 -0.0327903 0.6195699 ] [ 0.02216827 0.99974734 0.0037174 -0.17257384] [ 0.03270011 -0.00444141 0.99945534 -0.07420747] [ 0. 0. 0. 1. ]] SLAMing on 57.919928850999995 meters Centerline goodness [0,1] 0.7297330156105626 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.07 [[ 0.99921596 -0.02235171 -0.0326781 0.61928588] [ 0.02248049 0.99974088 0.00357863 -0.17244162] [ 0.03258964 -0.00431045 0.99945952 -0.07426782] [ 0. 0. 0. 1. ]] SLAMing on 57.949928850999996 meters Centerline goodness [0,1] 0.7299856737003132 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.07 [[ 0.99920972 -0.02251812 -0.03275459 0.6194705 ] [ 0.02264686 0.99973717 0.00356476 -0.17246466] [ 0.03266571 -0.00430374 0.99945707 -0.0744218 ] [ 0. 0. 0. 1. ]] SLAMing on 57.979928851 meters Centerline goodness [0,1] 0.7111084103062713 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.07 [[ 0.99920577 -0.02289057 -0.03261675 0.61912302] [ 0.0230129 0.99972945 0.00338006 -0.1721689 ] [ 0.03253055 -0.00412798 0.99946222 -0.07448384] [ 0. 0. 0. 1. ]] SLAMing on 58.00992885099999 meters Centerline goodness [0,1] 0.6974951361867705 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.07 [[ 0.99920086 -0.02354001 -0.0323034 0.61821664] [ 0.02365633 0.99971495 0.00322312 -0.17247824] [ 0.03221832 -0.00398472 0.99947291 -0.07447232] [ 0. 0. 0. 1. ]] SLAMing on 58.03992885099999 meters Centerline goodness [0,1] 0.704282519930002 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.07 [[ 0.99919656 -0.02374401 -0.03228705 0.61836748] [ 0.02386609 0.99970938 0.00340107 -0.1730914 ] [ 0.03219691 -0.00416891 0.99947285 -0.07489842] [ 0. 0. 0. 1. ]] SLAMing on 58.06992885099999 meters Centerline goodness [0,1] 0.6898209991985038 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.08 [[ 0.99919049 -0.02424695 -0.03210073 0.61799182] [ 0.02436592 0.99969759 0.00332023 -0.17352985] [ 0.03201052 -0.00409971 0.99947912 -0.07518344] [ 0. 0. 0. 1. ]] SLAMing on 58.099928850999994 meters Centerline goodness [0,1] 0.6798835940341943 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.08 [[ 0.99917284 -0.02514189 -0.03196129 0.61754761] [ 0.02525907 0.9996756 0.00326801 -0.17496079] [ 0.03186876 -0.00407262 0.99948376 -0.07555313] [ 0. 0. 0. 1. ]] SLAMing on 58.129928850999995 meters Centerline goodness [0,1] 0.6765608759759252 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.08 [[ 0.99916838 -0.02537956 -0.03191276 0.6176258 ] [ 0.02549884 0.99966928 0.00333632 -0.17544818] [ 0.03181753 -0.00414728 0.99948509 -0.07593449] [ 0. 0. 0. 1. ]] SLAMing on 58.159928851 meters Centerline goodness [0,1] 0.6785394319475048 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.08 [[ 0.99916074 -0.02596084 -0.03168372 0.61712178] [ 0.02606729 0.99965583 0.00295148 -0.17451261] [ 0.03159619 -0.00377491 0.99949359 -0.07609776] [ 0. 0. 0. 1. ]] SLAMing on 58.189928851 meters Centerline goodness [0,1] 0.696241407887681 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.08 [[ 0.99915687 -0.02598838 -0.03178289 0.61732967] [ 0.02608862 0.99965587 0.00274309 -0.17356428] [ 0.03170067 -0.00356995 0.99949103 -0.07603104] [ 0. 0. 0. 1. ]] SLAMing on 58.21992885099999 meters Centerline goodness [0,1] 0.6847270247893635 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.08 [[ 0.99915753 -0.02569959 -0.03199619 0.61820547] [ 0.02580068 0.99966332 0.00275042 -0.17274972] [ 0.03191473 -0.00357363 0.99948421 -0.07642463] [ 0. 0. 0. 1. ]] SLAMing on 58.24992885099999 meters Centerline goodness [0,1] 0.688466053609861 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.08 [[ 0.99916577 -0.02512151 -0.03219732 0.61905676] [ 0.02521435 0.99967899 0.00248062 -0.17042104] [ 0.03212467 -0.00329038 0.99947845 -0.07648937] [ 0. 0. 0. 1. ]] SLAMing on 58.279928850999994 meters Centerline goodness [0,1] 0.7027713964514395 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.08 [[ 0.9991674 -0.02457134 -0.03256911 0.62044352] [ 0.02467189 0.99969199 0.00268875 -0.169571 ] [ 0.03249301 -0.00349005 0.99946587 -0.07708957] [ 0. 0. 0. 1. ]] SLAMing on 58.309928850999995 meters Centerline goodness [0,1] 0.7013496932515337 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.08 [[ 0.99916643 -0.0245401 -0.03262264 0.62060999] [ 0.02462867 0.99969399 0.00231593 -0.16803311] [ 0.03255582 -0.00311745 0.99946506 -0.07692905] [ 0. 0. 0. 1. ]] SLAMing on 58.339928850999996 meters Centerline goodness [0,1] 0.6970544918998527 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.08 [[ 0.9991628 -0.02449302 -0.03276885 0.62105586] [ 0.02457345 0.99969592 0.00205391 -0.16660609] [ 0.03270858 -0.00285743 0.99946085 -0.07698724] [ 0. 0. 0. 1. ]] SLAMing on 58.369928851 meters Centerline goodness [0,1] 0.6849355578008329 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.08 [[ 0.99915836 -0.02454542 -0.03286469 0.62129004] [ 0.02460799 0.99969605 0.00150054 -0.16409602] [ 0.03281787 -0.00230801 0.99945868 -0.07683645] [ 0. 0. 0. 1. ]] SLAMing on 58.39992885099999 meters Centerline goodness [0,1] 0.6828906732550957 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.08 [[ 0.99915377 -0.02470462 -0.03288513 0.62120245] [ 0.02475704 0.99969279 0.00118789 -0.16296485] [ 0.03284569 -0.00200102 0.99945843 -0.07664947] [ 0. 0. 0. 1. ]] SLAMing on 58.42992885099999 meters Centerline goodness [0,1] 0.6933653156606246 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.08 [[ 0.99915181 -0.02452213 -0.03308066 0.62229089] [ 0.02457384 0.99969735 0.00115735 -0.1615226 ] [ 0.03304227 -0.00196929 0.99945202 -0.07746021] [ 0. 0. 0. 1. ]] SLAMing on 58.459928850999994 meters Centerline goodness [0,1] 0.6949840389992823 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.08 [[ 0.99915152 -0.02453736 -0.03307804 0.6226639 ] [ 0.02458893 0.99969698 0.0011531 -0.1608938 ] [ 0.03303972 -0.00196547 0.99945211 -0.07799853] [ 0. 0. 0. 1. ]] SLAMing on 58.489928850999995 meters Centerline goodness [0,1] 0.6814833188639464 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.08 [[ 0.99915259 -0.02447675 -0.03309063 0.62325628] [ 0.02453297 0.99969818 0.00129384 -0.16045805] [ 0.03304898 -0.00210455 0.99945152 -0.07880131] [ 0. 0. 0. 1. ]] SLAMing on 58.519928850999996 meters Centerline goodness [0,1] 0.6888718037747079 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.08 [[ 0.99915245 -0.02467018 -0.03295093 0.62370616] [ 0.02472864 0.99969327 0.00136757 -0.15981196] [ 0.03290708 -0.00218124 0.99945604 -0.07995988] [ 0. 0. 0. 1. ]] SLAMing on 58.549928851 meters Centerline goodness [0,1] 0.690147844452727 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.08 [[ 0.99915041 -0.02460535 -0.03306111 0.62439787] [ 0.02467046 0.99969442 0.00156279 -0.1597268 ] [ 0.03301255 -0.00237709 0.99945211 -0.08064707] [ 0. 0. 0. 1. ]] SLAMing on 58.57992885099999 meters Centerline goodness [0,1] 0.6915195225068391 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.08 [[ 0.9991493 -0.02473833 -0.03299525 0.62451156] [ 0.02480582 0.99969095 0.00163748 -0.15989296] [ 0.03294454 -0.00245456 0.99945417 -0.08112148] [ 0. 0. 0. 1. ]] SLAMing on 58.60992885099999 meters Centerline goodness [0,1] 0.6880779433274661 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.08 [[ 0.99914445 -0.02490844 -0.03301407 0.62468791] [ 0.02497621 0.9996867 0.00164166 -0.16005393] [ 0.03296284 -0.00246482 0.99945354 -0.08136963] [ 0. 0. 0. 1. ]] SLAMing on 58.63992885099999 meters Centerline goodness [0,1] 0.6845515940013904 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.08 [[ 0.99913671 -0.02539257 -0.03287939 0.62418122] [ 0.02545606 0.9996748 0.00151389 -0.15992835] [ 0.03283025 -0.00234956 0.99945818 -0.08139821] [ 0. 0. 0. 1. ]] SLAMing on 58.669928850999995 meters Centerline goodness [0,1] 0.6822971025296953 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.08 [[ 0.99913258 -0.0257119 -0.03275657 0.62359308] [ 0.02577015 0.99966697 0.00135713 -0.15984405] [ 0.03271076 -0.0022001 0.99946244 -0.08110207] [ 0. 0. 0. 1. ]] SLAMing on 58.699928850999996 meters Centerline goodness [0,1] 0.6834730420118049 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.08 [[ 0.99925064 -0.02856161 -0.0261228 0.63296785] [ 0.02882008 0.99953878 0.00957195 -0.16277873] [ 0.02583736 -0.01031764 0.99961291 -0.08459179] [ 0. 0. 0. 1. ]] SLAMing on 58.729928851 meters Centerline goodness [0,1] 0.676585184266038 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.08 [[ 0.99923846 -0.02915129 -0.02593663 0.63185166] [ 0.02940041 0.99952468 0.00927575 -0.16304245] [ 0.0256539 -0.01003123 0.99962055 -0.08385378] [ 0. 0. 0. 1. ]] SLAMing on 58.75992885099999 meters Centerline goodness [0,1] 0.6837981901574315 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.08 [[ 0.99922691 -0.02976041 -0.02568861 0.63081447] [ 0.02999899 0.99950984 0.00895231 -0.16354848] [ 0.02540959 -0.00971602 0.99962991 -0.08329404] [ 0. 0. 0. 1. ]] SLAMing on 58.78992885099999 meters Centerline goodness [0,1] 0.6799407114624506 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.08 [[ 0.99910195 -0.03357544 -0.02584529 0.63146977] [ 0.03371438 0.99941921 0.00495887 -0.1633227 ] [ 0.02566378 -0.00582578 0.99965366 -0.08301477] [ 0. 0. 0. 1. ]] SLAMing on 58.81992885099999 meters Centerline goodness [0,1] 0.6756910167818362 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.08 [[ 0.99909198 -0.03398613 -0.02569336 0.6310371 ] [ 0.03412534 0.99940506 0.00499927 -0.16447538] [ 0.02550817 -0.00587152 0.99965737 -0.08307502] [ 0. 0. 0. 1. ]] SLAMing on 58.849928850999994 meters Centerline goodness [0,1] 0.6740565572962853 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.08 [[ 0.99908406 -0.03427472 -0.02561789 0.63090164] [ 0.03441729 0.99939431 0.00514514 -0.16550849] [ 0.02542603 -0.00602213 0.99965857 -0.0832978 ] [ 0. 0. 0. 1. ]] SLAMing on 58.879928850999995 meters Centerline goodness [0,1] 0.6719602733664389 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.08 [[ 0.99907341 -0.03487505 -0.02522016 0.63024155] [ 0.03501666 0.99937323 0.00519513 -0.16671279] [ 0.02502317 -0.00607344 0.99966842 -0.0838438 ] [ 0. 0. 0. 1. ]] SLAMing on 58.909928851 meters Centerline goodness [0,1] 0.6739376631050273 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.08 [[ 0.99906713 -0.03498979 -0.02530972 0.63038496] [ 0.03513249 0.99936905 0.00521557 -0.16706155] [ 0.02511126 -0.0060999 0.99966605 -0.08384281] [ 0. 0. 0. 1. ]] SLAMing on 58.93992885099999 meters Centerline goodness [0,1] 0.6669375692648689 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.08 [[ 0.99906418 -0.03510523 -0.0252665 0.63043247] [ 0.0352477 0.999365 0.00521523 -0.16714303] [ 0.02506737 -0.00610094 0.99966715 -0.08405114] [ 0. 0. 0. 1. ]] SLAMing on 58.96992885099999 meters Centerline goodness [0,1] 0.6700516351118762 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.08 [[ 0.99906688 -0.0348843 -0.02546475 0.63125414] [ 0.0350328 0.99937153 0.00540869 -0.1674706 ] [ 0.02526007 -0.00629574 0.99966109 -0.08453796] [ 0. 0. 0. 1. ]] SLAMing on 58.99992885099999 meters Centerline goodness [0,1] 0.6758312020460358 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.08 [[ 0.99907234 -0.03466963 -0.02554362 0.63182343] [ 0.03482216 0.99937811 0.00555059 -0.16757945] [ 0.0253353 -0.00643492 0.9996583 -0.08493377] [ 0. 0. 0. 1. ]] SLAMing on 59.029928850999994 meters Centerline goodness [0,1] 0.6696645779579802 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.08 [[ 0.99907125 -0.03461132 -0.02566491 0.63212406] [ 0.03476168 0.99938085 0.00543565 -0.16709563] [ 0.02546088 -0.00632276 0.99965582 -0.08492626] [ 0. 0. 0. 1. ]] SLAMing on 59.059928850999995 meters Centerline goodness [0,1] 0.6722420366498585 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.08 [[ 0.9990715 -0.03460645 -0.02566193 0.63181484] [ 0.03474233 0.99938445 0.00486801 -0.16515327] [ 0.02547767 -0.00575505 0.99965883 -0.0841686 ] [ 0. 0. 0. 1. ]] SLAMing on 59.089928850999996 meters Centerline goodness [0,1] 0.6741318632638496 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.08 [[ 0.99906785 -0.03452374 -0.02591402 0.63232983] [ 0.03465509 0.99938858 0.00463656 -0.16421121] [ 0.02573811 -0.00553029 0.99965342 -0.08397861] [ 0. 0. 0. 1. ]] SLAMing on 59.119928851 meters Centerline goodness [0,1] 0.6737181697286115 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.08 [[ 0.99906752 -0.03446163 -0.0260092 0.63265042] [ 0.0345893 0.99939159 0.00447469 -0.16341169] [ 0.02583917 -0.00537016 0.99965169 -0.08401715] [ 0. 0. 0. 1. ]] SLAMing on 59.14992885099999 meters Centerline goodness [0,1] 0.6741509340957264 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.08 [[ 0.99907942 -0.03405114 -0.02609258 0.6332677 ] [ 0.03417654 0.99940624 0.0043748 -0.16214391] [ 0.02592812 -0.00526253 0.99964996 -0.0842696 ] [ 0. 0. 0. 1. ]] SLAMing on 59.17992885099999 meters Centerline goodness [0,1] 0.6750573210719657 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.08 [[ 0.99908534 -0.03373296 -0.02627875 0.63408083] [ 0.03385909 0.99941706 0.00436952 -0.16133854] [ 0.02611603 -0.0052553 0.9996451 -0.08459725] [ 0. 0. 0. 1. ]] SLAMing on 59.209928850999994 meters Centerline goodness [0,1] 0.6880509062097653 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.08 [[ 0.99909492 -0.03352017 -0.02618668 0.63384981] [ 0.03363076 0.99942712 0.00379421 -0.15869038] [ 0.0260445 -0.00467145 0.99964987 -0.08407684] [ 0. 0. 0. 1. ]] SLAMing on 59.239928850999995 meters Centerline goodness [0,1] 0.6824775956825271 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.08 [[ 0.99910452 -0.03306014 -0.02640442 0.63484561] [ 0.03317647 0.99944159 0.00397963 -0.15792542] [ 0.02625811 -0.00485207 0.99964342 -0.08457098] [ 0. 0. 0. 1. ]] SLAMing on 59.269928850999996 meters Centerline goodness [0,1] 0.6879388476669488 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99910755 -0.03296073 -0.02641396 0.6351006 ] [ 0.03307294 0.99944563 0.00382277 -0.1568765 ] [ 0.02627332 -0.00469295 0.99964378 -0.08474753] [ 0. 0. 0. 1. ]] SLAMing on 59.299928851 meters Centerline goodness [0,1] 0.6879052090319696 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99910622 -0.03288587 -0.0265573 0.63555648] [ 0.03299512 0.99944872 0.00368597 -0.15616698] [ 0.02642144 -0.00455894 0.9996405 -0.08481772] [ 0. 0. 0. 1. ]] SLAMing on 59.32992885099999 meters Centerline goodness [0,1] 0.67830566685747 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99909988 -0.03306822 -0.02656914 0.63561611] [ 0.03317174 0.99944366 0.00346458 -0.15509086] [ 0.02643979 -0.00434281 0.99964097 -0.08494157] [ 0. 0. 0. 1. ]] SLAMing on 59.35992885099999 meters Centerline goodness [0,1] 0.6814748335950939 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99908726 -0.03356124 -0.02642512 0.63535141] [ 0.03365373 0.99942886 0.00306282 -0.15351446] [ 0.02630724 -0.00394933 0.9996461 -0.08518577] [ 0. 0. 0. 1. ]] SLAMing on 59.38992885099999 meters Centerline goodness [0,1] 0.6823318564245532 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99908504 -0.03365176 -0.02639409 0.63563118] [ 0.03374373 0.99942587 0.00304684 -0.15300866] [ 0.0262764 -0.00393469 0.99964697 -0.08571131] [ 0. 0. 0. 1. ]] SLAMing on 59.419928850999995 meters Centerline goodness [0,1] 0.6808346213292118 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99908001 -0.03382407 -0.0263641 0.63578716] [ 0.03391202 0.99942063 0.00289571 -0.15228803] [ 0.02625088 -0.0037871 0.99964821 -0.08605614] [ 0. 0. 0. 1. ]] SLAMing on 59.449928850999996 meters Centerline goodness [0,1] 0.6798587099823388 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.9990741 -0.03407233 -0.02626806 0.63568079] [ 0.03415442 0.99941297 0.00268244 -0.15172107] [ 0.02616124 -0.00357713 0.99965134 -0.08620763] [ 0. 0. 0. 1. ]] SLAMing on 59.479928851 meters Centerline goodness [0,1] 0.6748231647879227 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99906846 -0.03434129 -0.02613215 0.63573034] [ 0.03441143 0.99940524 0.00223866 -0.14962076] [ 0.02603972 -0.00313582 0.99965599 -0.08667752] [ 0. 0. 0. 1. ]] SLAMing on 59.50992885099999 meters Centerline goodness [0,1] 0.6753448708301981 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99906424 -0.0343616 -0.02626636 0.63611809] [ 0.03442469 0.99940539 0.00195353 -0.14820192] [ 0.02618362 -0.00285591 0.99965307 -0.0867211 ] [ 0. 0. 0. 1. ]] SLAMing on 59.53992885099999 meters Centerline goodness [0,1] 0.673762263865419 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99905732 -0.03475068 -0.02601658 0.63552627] [ 0.03479739 0.99939348 0.00134497 -0.14569106] [ 0.02595406 -0.00224901 0.99966061 -0.08671448] [ 0. 0. 0. 1. ]] SLAMing on 59.56992885099999 meters Centerline goodness [0,1] 0.6712387483926275 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99905025 -0.03495926 -0.0260085 0.63545447] [ 0.03500116 0.9993866 0.00115735 -0.14519275] [ 0.02595209 -0.00206657 0.99966105 -0.08669571] [ 0. 0. 0. 1. ]] SLAMing on 59.599928850999994 meters Centerline goodness [0,1] 0.6776897171650672 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.09 [[ 9.99037227e-01 -3.54489849e-02 -2.58454687e-02 6.34649949e-01] [ 3.54826560e-02 9.99369935e-01 8.45199797e-04 -1.44846589e-01] [ 2.57992229e-02 -1.76145194e-03 9.99665593e-01 -8.62891495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.629928850999995 meters Centerline goodness [0,1] 0.6691507098469156 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99906605 -0.03875326 -0.01911078 0.64357453] [ 0.03892792 0.9992028 0.00885327 -0.1460696 ] [ 0.01875245 -0.00958895 0.99977817 -0.08999702] [ 0. 0. 0. 1. ]] SLAMing on 59.659928851 meters Centerline goodness [0,1] 0.6718125221440502 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99904537 -0.03942134 -0.01882329 0.64246487] [ 0.03958372 0.99918151 0.00833328 -0.14533354] [ 0.01847937 -0.00907042 0.9997881 -0.08951265] [ 0. 0. 0. 1. ]] SLAMing on 59.68992885099999 meters Centerline goodness [0,1] 0.6535538781093266 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99902604 -0.0400214 -0.01858138 0.6416634 ] [ 0.04017563 0.99916059 0.00800226 -0.14513394] [ 0.01824553 -0.00874099 0.99979533 -0.08934232] [ 0. 0. 0. 1. ]] SLAMing on 59.71992885099999 meters Centerline goodness [0,1] 0.6653345137220185 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99897608 -0.0414097 -0.01822142 0.64018729] [ 0.04155035 0.99910894 0.00740905 -0.1461968 ] [ 0.01789838 -0.00815857 0.99980652 -0.08896713] [ 0. 0. 0. 1. ]] SLAMing on 59.74992885099999 meters Centerline goodness [0,1] 0.6551532736217989 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99895359 -0.04206124 -0.01796035 0.6395489 ] [ 0.04219715 0.99908295 0.00725609 -0.14693282] [ 0.01763868 -0.00800637 0.99981237 -0.08910287] [ 0. 0. 0. 1. ]] SLAMing on 59.779928850999994 meters Centerline goodness [0,1] 0.6618773946360152 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99893693 -0.04252412 -0.01779659 0.63910753] [ 0.04265859 0.99906343 0.00724572 -0.14770795] [ 0.0174718 -0.00799719 0.99981537 -0.08919243] [ 0. 0. 0. 1. ]] SLAMing on 59.809928850999995 meters Centerline goodness [0,1] 0.6618773946360152 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99893693 -0.04252412 -0.01779659 0.63910753] [ 0.04265859 0.99906343 0.00724572 -0.14770795] [ 0.0174718 -0.00799719 0.99981537 -0.08919243] [ 0. 0. 0. 1. ]] SLAMing on 59.839928850999996 meters Centerline goodness [0,1] 0.6550837199919306 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99889416 -0.04370659 -0.01732586 0.63738545] [ 0.04383023 0.9990157 0.00682176 -0.14781179] [ 0.01701065 -0.00757361 0.99982662 -0.08882132] [ 0. 0. 0. 1. ]] SLAMing on 59.869928851 meters Centerline goodness [0,1] 0.6528318092254838 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99888055 -0.04409707 -0.01711997 0.63675328] [ 0.04421533 0.99900028 0.0065915 -0.14773685] [ 0.01681219 -0.00734109 0.99983172 -0.08862983] [ 0. 0. 0. 1. ]] SLAMing on 59.89992885099999 meters Centerline goodness [0,1] 0.6563429262637972 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99887305 -0.04433712 -0.01693661 0.63631293] [ 0.04445229 0.99899046 0.00648559 -0.14787194] [ 0.01663196 -0.00723116 0.99983553 -0.08858555] [ 0. 0. 0. 1. ]] SLAMing on 59.92992885099999 meters Centerline goodness [0,1] 0.6553974052147626 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.9988702 -0.04445299 -0.01680065 0.63595773] [ 0.04456417 0.99898665 0.00630201 -0.14802843] [ 0.01650348 -0.0070436 0.999839 -0.08835171] [ 0. 0. 0. 1. ]] SLAMing on 59.959928850999994 meters Centerline goodness [0,1] 0.658302229395743 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99887437 -0.04431838 -0.01690771 0.63623966] [ 0.04442963 0.99899289 0.00626175 -0.1478171 ] [ 0.01661318 -0.00700591 0.99983745 -0.08826966] [ 0. 0. 0. 1. ]] SLAMing on 59.989928850999995 meters Centerline goodness [0,1] 0.6600070543182506 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99887952 -0.04416022 -0.01701708 0.63655478] [ 0.04427151 0.99900018 0.00621963 -0.14738141] [ 0.01672541 -0.00696603 0.99983585 -0.08825234] [ 0. 0. 0. 1. ]] SLAMing on 60.019928850999996 meters Centerline goodness [0,1] 0.6673314316007372 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99888899 -0.04387266 -0.01720375 0.63688037] [ 0.04398385 0.99901338 0.00613875 -0.14672631] [ 0.01691745 -0.00688862 0.99983316 -0.08790904] [ 0. 0. 0. 1. ]] SLAMing on 60.049928851 meters Centerline goodness [0,1] 0.653582884999116 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.9988957 -0.04367438 -0.01731859 0.63705708] [ 0.04378759 0.99902155 0.00621258 -0.1468912 ] [ 0.01703032 -0.00696406 0.99983072 -0.08769401] [ 0. 0. 0. 1. ]] SLAMing on 60.07992885099999 meters Centerline goodness [0,1] 0.6645942325675437 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99890132 -0.04353018 -0.0173576 0.63713242] [ 0.04364469 0.99902742 0.00627339 -0.14684824] [ 0.01706763 -0.00702407 0.99982966 -0.08759688] [ 0. 0. 0. 1. ]] SLAMing on 60.10992885099999 meters Centerline goodness [0,1] 0.655855309689805 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99890868 -0.04332138 -0.01745582 0.63763248] [ 0.0434401 0.99903501 0.00648051 -0.14728357] [ 0.01715823 -0.00723172 0.99982663 -0.08787789] [ 0. 0. 0. 1. ]] SLAMing on 60.13992885099999 meters Centerline goodness [0,1] 0.6621659067435827 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99891761 -0.04310403 -0.01748298 0.63811057] [ 0.04322954 0.99904158 0.0068657 -0.14873708] [ 0.01717029 -0.00761405 0.99982359 -0.08837572] [ 0. 0. 0. 1. ]] SLAMing on 60.169928850999995 meters Centerline goodness [0,1] 0.6567634311057353 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99891644 -0.0431832 -0.01735402 0.63791771] [ 0.04331149 0.99903649 0.00708553 -0.14953514] [ 0.01703132 -0.00782948 0.9998243 -0.08861062] [ 0. 0. 0. 1. ]] SLAMing on 60.199928850999996 meters Centerline goodness [0,1] 0.6596392362072001 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99891444 -0.04324559 -0.0173133 0.63788235] [ 0.04337479 0.99903323 0.00715743 -0.15019206] [ 0.01698704 -0.00790062 0.9998245 -0.08867034] [ 0. 0. 0. 1. ]] SLAMing on 60.229928851 meters Centerline goodness [0,1] 0.654263370332997 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99890791 -0.04342622 -0.0172383 0.63757162] [ 0.04355226 0.99902659 0.00700456 -0.15028195] [ 0.01691733 -0.00774767 0.99982687 -0.08842464] [ 0. 0. 0. 1. ]] SLAMing on 60.25992885099999 meters Centerline goodness [0,1] 0.6710582663677356 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99890346 -0.04353575 -0.01721966 0.63730743] [ 0.04366305 0.99902118 0.00708689 -0.15069111] [ 0.01689427 -0.00783098 0.99982661 -0.08821232] [ 0. 0. 0. 1. ]] SLAMing on 60.28992885099999 meters Centerline goodness [0,1] 0.6486798514205401 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99890455 -0.04347373 -0.01731268 0.63762822] [ 0.04360314 0.99902321 0.00716877 -0.15097746] [ 0.01698412 -0.00791581 0.99982442 -0.08828962] [ 0. 0. 0. 1. ]] SLAMing on 60.31992885099999 meters Centerline goodness [0,1] 0.6585683841042999 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99889959 -0.04366224 -0.01712337 0.63709814] [ 0.04378941 0.99901539 0.00712329 -0.15123304] [ 0.01679549 -0.00786527 0.99982801 -0.08814645] [ 0. 0. 0. 1. ]] SLAMing on 60.349928850999994 meters Centerline goodness [0,1] 0.6648259243454906 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99889128 -0.04388385 -0.0170416 0.63671342] [ 0.04400936 0.99900617 0.00706059 -0.15171603] [ 0.01671481 -0.00780275 0.99982985 -0.08788423] [ 0. 0. 0. 1. ]] SLAMing on 60.379928850999995 meters Centerline goodness [0,1] 0.6652045317826348 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99888325 -0.04413891 -0.01685236 0.63608939] [ 0.04426366 0.99899463 0.00710268 -0.15312159] [ 0.01652192 -0.0078407 0.99983276 -0.08762684] [ 0. 0. 0. 1. ]] SLAMing on 60.409928851 meters Centerline goodness [0,1] 0.6647212063523871 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99887783 -0.04430017 -0.01675016 0.63583421] [ 0.04442464 0.99898727 0.00713338 -0.15369195] [ 0.01641719 -0.0078695 0.99983426 -0.0875993 ] [ 0. 0. 0. 1. ]] SLAMing on 60.43992885099999 meters Centerline goodness [0,1] 0.6624485211531261 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99886476 -0.04463001 -0.01665415 0.63533038] [ 0.04475569 0.99897164 0.00725129 -0.15498476] [ 0.0163134 -0.00798842 0.99983502 -0.08734928] [ 0. 0. 0. 1. ]] SLAMing on 60.46992885099999 meters Centerline goodness [0,1] 0.6603768881798694 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.09 [[ 0.99885901 -0.04477734 -0.01660337 0.63516201] [ 0.04490494 0.99896391 0.00739334 -0.1560391 ] [ 0.01625511 -0.00813047 0.99983482 -0.08735432] [ 0. 0. 0. 1. ]] SLAMing on 60.49992885099999 meters Centerline goodness [0,1] 0.6593179897599046 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99885069 -0.04501638 -0.0164568 0.63483883] [ 0.04514423 0.99895246 0.00748157 -0.15717391] [ 0.01610277 -0.0082159 0.99983659 -0.08738968] [ 0. 0. 0. 1. ]] SLAMing on 60.529928850999994 meters Centerline goodness [0,1] 0.6467542120911793 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.9988282 -0.04557778 -0.01627523 0.63405291] [ 0.04570639 0.99892586 0.00761919 -0.15963718] [ 0.01591048 -0.00835415 0.99983852 -0.0871792 ] [ 0. 0. 0. 1. ]] SLAMing on 60.559928850999995 meters Centerline goodness [0,1] 0.6591702786377709 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99882751 -0.04561895 -0.01620232 0.63387562] [ 0.04575042 0.99892215 0.00783863 -0.16125679] [ 0.01582726 -0.0085707 0.99983801 -0.08709953] [ 0. 0. 0. 1. ]] SLAMing on 60.589928850999996 meters Centerline goodness [0,1] 0.6462529620853081 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99882828 -0.04559935 -0.0162098 0.63400104] [ 0.04573642 0.99891999 0.00818791 -0.16275992] [ 0.01581893 -0.00891969 0.99983509 -0.08730915] [ 0. 0. 0. 1. ]] SLAMing on 60.61992885099999 meters Centerline goodness [0,1] 0.6457035961306521 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99882189 -0.04576236 -0.01614412 0.63342047] [ 0.04590329 0.99890999 0.00846926 -0.16468826] [ 0.01573895 -0.00920035 0.99983381 -0.08682415] [ 0. 0. 0. 1. ]] SLAMing on 60.64992885099999 meters Centerline goodness [0,1] 0.6555921699783592 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99881958 -0.04580652 -0.01616227 0.6331581 ] [ 0.04594949 0.99890685 0.00858815 -0.16534866] [ 0.01575121 -0.00932067 0.9998325 -0.08646827] [ 0. 0. 0. 1. ]] SLAMing on 60.67992885099999 meters Centerline goodness [0,1] 0.6497229169731744 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99883064 -0.04552886 -0.01626296 0.63322176] [ 0.04567844 0.99891613 0.00894698 -0.16718645] [ 0.01583799 -0.00967938 0.99982772 -0.08606433] [ 0. 0. 0. 1. ]] SLAMing on 60.709928850999994 meters Centerline goodness [0,1] 0.6494221917539909 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99883695 -0.04534433 -0.01639023 0.63352631] [ 0.04549832 0.99892253 0.0091476 -0.16813497] [ 0.01595778 -0.00988269 0.99982383 -0.0859829 ] [ 0. 0. 0. 1. ]] SLAMing on 60.739928850999995 meters Centerline goodness [0,1] 0.6491386462349324 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99887033 -0.04449736 -0.01667456 0.63468102] [ 0.0446657 0.9989533 0.00986281 -0.16984367] [ 0.01621824 -0.01059645 0.99981232 -0.08638386] [ 0. 0. 0. 1. ]] SLAMing on 60.769928850999996 meters Centerline goodness [0,1] 0.6442016970642739 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99888065 -0.04419043 -0.01687187 0.63524644] [ 0.04436464 0.9989644 0.0100948 -0.17017038] [ 0.0164083 -0.01083202 0.9998067 -0.08647278] [ 0. 0. 0. 1. ]] SLAMing on 60.799928851 meters Centerline goodness [0,1] 0.6574413042417142 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99888783 -0.04395666 -0.01705646 0.63568125] [ 0.04413518 0.99897314 0.01023472 -0.17051176] [ 0.01658906 -0.01097612 0.99980214 -0.08642954] [ 0. 0. 0. 1. ]] SLAMing on 60.82992885099999 meters Centerline goodness [0,1] 0.6552870164463234 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99889561 -0.04372754 -0.01718921 0.63603643] [ 0.04391068 0.99898106 0.01042562 -0.17079387] [ 0.01671581 -0.0111689 0.9997979 -0.08647721] [ 0. 0. 0. 1. ]] SLAMing on 60.85992885099999 meters Centerline goodness [0,1] 0.6510636224079533 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99892104 -0.0430063 -0.01752739 0.63725563] [ 0.04320197 0.99900644 0.01094191 -0.17197351] [ 0.0170394 -0.01168732 0.99978651 -0.08683431] [ 0. 0. 0. 1. ]] SLAMing on 60.88992885099999 meters Centerline goodness [0,1] 0.6619906967682229 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99895693 -0.04201439 -0.01788439 0.63862131] [ 0.04222118 0.99904386 0.01134652 -0.17231372] [ 0.01739058 -0.01208979 0.99977568 -0.08712877] [ 0. 0. 0. 1. ]] SLAMing on 60.919928850999995 meters Centerline goodness [0,1] 0.6601583369760552 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99896834 -0.04160004 -0.01821245 0.63949584] [ 0.04180975 0.99906181 0.01128922 -0.17187015] [ 0.01772573 -0.01203903 0.9997704 -0.08700751] [ 0. 0. 0. 1. ]] SLAMing on 60.949928850999996 meters Centerline goodness [0,1] 0.6630122301807728 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99898398 -0.04110261 -0.0184821 0.640216 ] [ 0.04131692 0.99908143 0.01136692 -0.1713423 ] [ 0.01799791 -0.012119 0.99976457 -0.08693105] [ 0. 0. 0. 1. ]] SLAMing on 60.979928851 meters Centerline goodness [0,1] 0.6609525664751145 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99902211 -0.03999028 -0.01885735 0.64151703] [ 0.04021336 0.99912375 0.01160288 -0.17051892] [ 0.01837682 -0.01234985 0.99975486 -0.08691147] [ 0. 0. 0. 1. ]] SLAMing on 61.00992885099999 meters Centerline goodness [0,1] 0.6676095491233631 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.9990338 -0.03959285 -0.01907535 0.64221849] [ 0.03981892 0.99913933 0.01162107 -0.17012196] [ 0.01859882 -0.0123694 0.99975051 -0.08694396] [ 0. 0. 0. 1. ]] SLAMing on 61.03992885099999 meters Centerline goodness [0,1] 0.663944019115424 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99906042 -0.03870717 -0.01949417 0.64324233] [ 0.03894064 0.99917253 0.01174218 -0.16958096] [ 0.01902354 -0.01249026 0.99974102 -0.08657376] [ 0. 0. 0. 1. ]] SLAMing on 61.06992885099999 meters Centerline goodness [0,1] 0.6659188451033944 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99907206 -0.0383071 -0.01968703 0.64378745] [ 0.03854495 0.99918664 0.01184704 -0.16924546] [ 0.01921719 -0.01259488 0.999736 -0.08655927] [ 0. 0. 0. 1. ]] SLAMing on 61.099928850999994 meters Centerline goodness [0,1] 0.6659342269098367 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99908886 -0.03780273 -0.0198094 0.64413221] [ 0.03804382 0.99920476 0.01193812 -0.16891755] [ 0.01934235 -0.01268087 0.9997325 -0.08631574] [ 0. 0. 0. 1. ]] SLAMing on 61.129928850999995 meters Centerline goodness [0,1] 0.6644501278772379 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99908754 -0.03775107 -0.01997337 0.64440343] [ 0.03799174 0.99920826 0.0118101 -0.16884392] [ 0.01951172 -0.01255815 0.99973076 -0.08606519] [ 0. 0. 0. 1. ]] SLAMing on 61.159928851 meters Centerline goodness [0,1] 0.6628300279839396 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99909404 -0.03753079 -0.02006314 0.64464759] [ 0.03777474 0.99921517 0.01192137 -0.16911637] [ 0.01959998 -0.01266845 0.99972764 -0.08599019] [ 0. 0. 0. 1. ]] SLAMing on 61.18992885099999 meters Centerline goodness [0,1] 0.673227010519172 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99908893 -0.03760786 -0.0201731 0.64480471] [ 0.03785172 0.99921315 0.01184568 -0.16970804] [ 0.01971173 -0.01259847 0.99972633 -0.08583932] [ 0. 0. 0. 1. ]] SLAMing on 61.21992885099999 meters Centerline goodness [0,1] 0.6686651940675292 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.9990866 -0.03768361 -0.02014741 0.64479299] [ 0.03792827 0.99920958 0.01190213 -0.17041849] [ 0.01968297 -0.01265541 0.99972617 -0.08587821] [ 0. 0. 0. 1. ]] SLAMing on 61.24992885099999 meters Centerline goodness [0,1] 0.6686651940675292 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.9990866 -0.03768361 -0.02014741 0.64479299] [ 0.03792827 0.99920958 0.01190213 -0.17041849] [ 0.01968297 -0.01265541 0.99972617 -0.08587821] [ 0. 0. 0. 1. ]] SLAMing on 61.279928850999994 meters Centerline goodness [0,1] 0.6836509285107416 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99908079 -0.03782716 -0.02016652 0.64493013] [ 0.03807536 0.99920199 0.01206889 -0.17185057] [ 0.0196939 -0.01282564 0.99972379 -0.08607708] [ 0. 0. 0. 1. ]] SLAMing on 61.309928850999995 meters Centerline goodness [0,1] 0.6831873012790952 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99907301 -0.03801776 -0.02019316 0.64486724] [ 0.038265 0.99919556 0.01200132 -0.17238478] [ 0.01972065 -0.01276289 0.99972406 -0.08590424] [ 0. 0. 0. 1. ]] SLAMing on 61.339928850999996 meters Centerline goodness [0,1] 0.6759597033314811 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99906157 -0.03839351 -0.02004772 0.64441248] [ 0.03863611 0.99918299 0.01185734 -0.17301676] [ 0.0195761 -0.01262078 0.99972871 -0.08573088] [ 0. 0. 0. 1. ]] SLAMing on 61.36992885099999 meters Centerline goodness [0,1] 0.6759597033314811 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99906157 -0.03839351 -0.02004772 0.64441248] [ 0.03863611 0.99918299 0.01185734 -0.17301676] [ 0.0195761 -0.01262078 0.99972871 -0.08573088] [ 0. 0. 0. 1. ]] SLAMing on 61.39992885099999 meters Centerline goodness [0,1] 0.6830160344911108 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99905662 -0.03851665 -0.02005811 0.64416612] [ 0.03875431 0.99918146 0.01159774 -0.17229974] [ 0.01959499 -0.01236413 0.99973155 -0.08530093] [ 0. 0. 0. 1. ]] SLAMing on 61.42992885099999 meters Centerline goodness [0,1] 0.6731719128329298 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99905221 -0.03863754 -0.02004529 0.64405282] [ 0.03886889 0.99918062 0.01128284 -0.17154629] [ 0.01959293 -0.01205129 0.99973541 -0.08509599] [ 0. 0. 0. 1. ]] SLAMing on 61.459928850999994 meters Centerline goodness [0,1] 0.6817443185952318 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.08 [[ 0.99905315 -0.03857438 -0.02012023 0.64406547] [ 0.0387999 0.9991871 0.01094116 -0.17052786] [ 0.01968183 -0.01171147 0.9997377 -0.08471233] [ 0. 0. 0. 1. ]] SLAMing on 61.489928850999995 meters Centerline goodness [0,1] 0.6796432650482369 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.08 [[ 0.99905352 -0.03855931 -0.02013071 0.64419475] [ 0.03878157 0.99918967 0.01077003 -0.16986813] [ 0.01969911 -0.01154054 0.99973935 -0.08476321] [ 0. 0. 0. 1. ]] SLAMing on 61.519928850999996 meters Centerline goodness [0,1] 0.6815933666294913 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.08 [[ 0.99905185 -0.03857156 -0.0201902 0.64449151] [ 0.03878861 0.99919257 0.01047122 -0.16897535] [ 0.01977001 -0.01124444 0.99974132 -0.0848439 ] [ 0. 0. 0. 1. ]] SLAMing on 61.549928851 meters Centerline goodness [0,1] 0.6826000097451639 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.99906565 -0.03807819 -0.02044223 0.64520453] [ 0.03829168 0.99921499 0.01015588 -0.1667267 ] [ 0.02003946 -0.01092916 0.99973945 -0.08465953] [ 0. 0. 0. 1. ]] SLAMing on 61.57992885099999 meters Centerline goodness [0,1] 0.6843250378917518 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.08 [[ 0.99906754 -0.0379793 -0.02053354 0.64549916] [ 0.03818631 0.99922273 0.00978495 -0.16498036] [ 0.02014595 -0.01055992 0.99974128 -0.08457185] [ 0. 0. 0. 1. ]] SLAMing on 61.60992885099999 meters Centerline goodness [0,1] 0.6845041473977831 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.08 [[ 0.9990692 -0.03791781 -0.02056635 0.64552065] [ 0.03811847 0.99922851 0.00945364 -0.16344696] [ 0.02019202 -0.0102288 0.99974379 -0.08434025] [ 0. 0. 0. 1. ]] SLAMing on 61.63992885099999 meters Centerline goodness [0,1] 0.6854664837318698 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.08 [[ 0.9990757 -0.03764007 -0.02076007 0.64625708] [ 0.0378355 0.99924252 0.00910287 -0.16159755] [ 0.02040172 -0.00987992 0.99974305 -0.08441854] [ 0. 0. 0. 1. ]] SLAMing on 61.669928850999995 meters Centerline goodness [0,1] 0.6805286516440674 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.08 [[ 0.99907295 -0.03768276 -0.02081489 0.64649969] [ 0.0378759 0.99924224 0.00896394 -0.16121062] [ 0.02046133 -0.00974401 0.99974316 -0.08454862] [ 0. 0. 0. 1. ]] SLAMing on 61.699928850999996 meters Centerline goodness [0,1] 0.6805286516440674 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.08 [[ 0.99907295 -0.03768276 -0.02081489 0.64649969] [ 0.0378759 0.99924224 0.00896394 -0.16121062] [ 0.02046133 -0.00974401 0.99974316 -0.08454862] [ 0. 0. 0. 1. ]] SLAMing on 61.729928851 meters Centerline goodness [0,1] 0.6913796075148351 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.08 [[ 0.99905446 -0.03834625 -0.02048769 0.64578909] [ 0.03852201 0.99922366 0.00825416 -0.15916246] [ 0.02015527 -0.00903558 0.99975603 -0.08463456] [ 0. 0. 0. 1. ]] SLAMing on 61.75992885099999 meters Centerline goodness [0,1] 0.6911127523387494 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.08 [[ 0.99903984 -0.03878522 -0.02037417 0.64531314] [ 0.03895123 0.99921055 0.00781551 -0.15832017] [ 0.02005495 -0.00860161 0.99976188 -0.08437733] [ 0. 0. 0. 1. ]] SLAMing on 61.78992885099999 meters Centerline goodness [0,1] 0.6873380549317671 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99901368 -0.03957941 -0.0201279 0.64412598] [ 0.0397302 0.99918488 0.00714776 -0.15731959] [ 0.01982858 -0.00794039 0.99977186 -0.08367492] [ 0. 0. 0. 1. ]] SLAMing on 61.81992885099999 meters Centerline goodness [0,1] 0.6817217562900839 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99897104 -0.04086043 -0.01967947 0.6423834 ] [ 0.04099191 0.99913946 0.00632443 -0.15668816] [ 0.01940412 -0.00712462 0.99978634 -0.08301308] [ 0. 0. 0. 1. ]] SLAMing on 61.849928850999994 meters Centerline goodness [0,1] 0.6754228316797557 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99895767 -0.04123122 -0.01958469 0.64241403] [ 0.04136026 0.99912488 0.00622975 -0.15650647] [ 0.01931069 -0.00703328 0.99978879 -0.08353181] [ 0. 0. 0. 1. ]] SLAMing on 61.879928850999995 meters Centerline goodness [0,1] 0.680755683637528 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99894429 -0.04163663 -0.01940879 0.64235133] [ 0.04176305 0.99910859 0.00615417 -0.15640823] [ 0.01913525 -0.00695825 0.99979269 -0.08414001] [ 0. 0. 0. 1. ]] SLAMing on 61.909928851 meters Centerline goodness [0,1] 0.6697717975257529 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99889109 -0.04305703 -0.01904435 0.64104823] [ 0.0431697 0.99905237 0.00554469 -0.15599668] [ 0.01878756 -0.00636068 0.99980327 -0.08409902] [ 0. 0. 0. 1. ]] SLAMing on 61.93992885099999 meters Centerline goodness [0,1] 0.6647485923145313 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99886295 -0.04382931 -0.01875651 0.64011064] [ 0.04393273 0.99902128 0.00513767 -0.15576918] [ 0.01851297 -0.00595585 0.99981088 -0.08391056] [ 0. 0. 0. 1. ]] SLAMing on 61.96992885099999 meters Centerline goodness [0,1] 0.6734703963625581 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99881425 -0.04515254 -0.01820305 0.63863157] [ 0.04524313 0.99896543 0.00459555 -0.15542792] [ 0.01797672 -0.00541367 0.99982375 -0.08408069] [ 0. 0. 0. 1. ]] SLAMing on 61.99992885099999 meters Centerline goodness [0,1] 0.661969397828233 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99879671 -0.04559905 -0.01805164 0.63823494] [ 0.04568586 0.99894605 0.0044257 -0.15549213] [ 0.0178308 -0.00524508 0.99982726 -0.08411849] [ 0. 0. 0. 1. ]] SLAMing on 62.029928850999994 meters Centerline goodness [0,1] 0.6551877250974394 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99877389 -0.04622235 -0.01772583 0.63726041] [ 0.04630061 0.99891942 0.00403047 -0.15514977] [ 0.01752038 -0.00484624 0.99983476 -0.08389779] [ 0. 0. 0. 1. ]] SLAMing on 62.059928850999995 meters Centerline goodness [0,1] 0.6696810219158451 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99874096 -0.04708011 -0.01731916 0.63607258] [ 0.04714792 0.99888169 0.00352809 -0.15436719] [ 0.01713369 -0.00434021 0.99984379 -0.08374973] [ 0. 0. 0. 1. ]] SLAMing on 62.089928850999996 meters Centerline goodness [0,1] 0.6678877283302807 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99872555 -0.0474391 -0.01722785 0.6357789 ] [ 0.04750031 0.99886622 0.00316122 -0.15343045] [ 0.01705835 -0.00397551 0.99984659 -0.08367279] [ 0. 0. 0. 1. ]] SLAMing on 62.11992885099999 meters Centerline goodness [0,1] 0.6571485031123407 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.9987038 -0.04795954 -0.01704704 0.63532757] [ 0.04801644 0.99884221 0.00294415 -0.15281429] [ 0.01688611 -0.00375887 0.99985035 -0.08383326] [ 0. 0. 0. 1. ]] SLAMing on 62.14992885099999 meters Centerline goodness [0,1] 0.6642382793141044 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99869512 -0.04816846 -0.01696628 0.63512796] [ 0.04822421 0.99883235 0.0028919 -0.1531098 ] [ 0.01680717 -0.00370631 0.99985188 -0.08385877] [ 0. 0. 0. 1. ]] SLAMing on 62.17992885099999 meters Centerline goodness [0,1] 0.657922661204748 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.08 [[ 0.99867559 -0.04861611 -0.01683853 0.63480088] [ 0.04867062 0.99881084 0.00284227 -0.15359426] [ 0.01668033 -0.00365804 0.99985418 -0.08400692] [ 0. 0. 0. 1. ]] SLAMing on 62.209928850999994 meters Centerline goodness [0,1] 0.6543939468868998 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.08 [[ 0.99865651 -0.04904905 -0.01671429 0.63404561] [ 0.04909899 0.99879056 0.0025903 -0.15370842] [ 0.01656702 -0.00340748 0.99985695 -0.08340505] [ 0. 0. 0. 1. ]] SLAMing on 62.239928850999995 meters Centerline goodness [0,1] 0.6517366100183323 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.08 [[ 0.99865132 -0.04914253 -0.01674998 0.63403065] [ 0.04919057 0.99878636 0.00246799 -0.15373931] [ 0.01660837 -0.0032886 0.99985666 -0.08322069] [ 0. 0. 0. 1. ]] SLAMing on 62.269928850999996 meters Centerline goodness [0,1] 0.6497919556171983 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.08 [[ 0.99865966 -0.04891809 -0.01690872 0.63424734] [ 0.04896761 0.99879717 0.00252684 -0.15399228] [ 0.01676478 -0.00335143 0.99985384 -0.08287735] [ 0. 0. 0. 1. ]] SLAMing on 62.299928851 meters Centerline goodness [0,1] 0.6498651424046717 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99870155 -0.0479065 -0.01732555 0.63537063] [ 0.04796626 0.9988443 0.00304973 -0.15467292] [ 0.01715943 -0.00387681 0.99984525 -0.08275024] [ 0. 0. 0. 1. ]] SLAMing on 62.32992885099999 meters Centerline goodness [0,1] 0.6498651424046717 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99870155 -0.0479065 -0.01732555 0.63537063] [ 0.04796626 0.9988443 0.00304973 -0.15467292] [ 0.01715943 -0.00387681 0.99984525 -0.08275024] [ 0. 0. 0. 1. ]] SLAMing on 62.35992885099999 meters Centerline goodness [0,1] 0.6498651424046717 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99870155 -0.0479065 -0.01732555 0.63537063] [ 0.04796626 0.9988443 0.00304973 -0.15467292] [ 0.01715943 -0.00387681 0.99984525 -0.08275024] [ 0. 0. 0. 1. ]] SLAMing on 62.38992885099999 meters Centerline goodness [0,1] 0.6490555775316456 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.9987091 -0.04766715 -0.01754942 0.63579422] [ 0.04772896 0.99885545 0.00312041 -0.15463318] [ 0.01738059 -0.003954 0.99984113 -0.08253927] [ 0. 0. 0. 1. ]] SLAMing on 62.419928850999995 meters Centerline goodness [0,1] 0.6565516558586209 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99873254 -0.04705712 -0.01785909 0.63644333] [ 0.04712231 0.99888385 0.00324711 -0.15421255] [ 0.01768635 -0.00408455 0.99983524 -0.0821379 ] [ 0. 0. 0. 1. ]] SLAMing on 62.449928850999996 meters Centerline goodness [0,1] 0.652495790828959 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99875084 -0.04659175 -0.01805445 0.63705763] [ 0.04666371 0.99890422 0.00358489 -0.15518712] [ 0.01786764 -0.0044229 0.99983058 -0.08214425] [ 0. 0. 0. 1. ]] SLAMing on 62.479928851 meters Centerline goodness [0,1] 0.6533069600692298 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99875836 -0.04637812 -0.01818792 0.63746345] [ 0.04645456 0.99891317 0.00380293 -0.15589449] [ 0.01799178 -0.00464312 0.99982735 -0.08222756] [ 0. 0. 0. 1. ]] SLAMing on 62.50992885099999 meters Centerline goodness [0,1] 0.6493535333596525 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.9987703 -0.04610443 -0.01822848 0.63760496] [ 0.04618388 0.9989251 0.0039616 -0.15639015] [ 0.01802623 -0.00479859 0.999826 -0.08210838] [ 0. 0. 0. 1. ]] SLAMing on 62.53992885099999 meters Centerline goodness [0,1] 0.6681851943550383 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99878537 -0.04570123 -0.01841689 0.63779991] [ 0.04578149 0.99894363 0.00396014 -0.15633902] [ 0.01821645 -0.00479849 0.99982255 -0.08146447] [ 0. 0. 0. 1. ]] SLAMing on 62.56992885099999 meters Centerline goodness [0,1] 0.6686662223209657 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99879513 -0.04540314 -0.01862351 0.63830718] [ 0.04548563 0.99895687 0.00402959 -0.15630791] [ 0.01842113 -0.00487184 0.99981845 -0.08137284] [ 0. 0. 0. 1. ]] SLAMing on 62.599928850999994 meters Centerline goodness [0,1] 0.6686662223209657 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99879513 -0.04540314 -0.01862351 0.63830718] [ 0.04548563 0.99895687 0.00402959 -0.15630791] [ 0.01842113 -0.00487184 0.99981845 -0.08137284] [ 0. 0. 0. 1. ]] SLAMing on 62.629928850999995 meters Centerline goodness [0,1] 0.6686662223209657 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99879513 -0.04540314 -0.01862351 0.63830718] [ 0.04548563 0.99895687 0.00402959 -0.15630791] [ 0.01842113 -0.00487184 0.99981845 -0.08137284] [ 0. 0. 0. 1. ]] SLAMing on 62.659928851 meters Centerline goodness [0,1] 0.6769981665923394 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99881358 -0.04492375 -0.01879584 0.63898213] [ 0.04500815 0.99897824 0.00409189 -0.15580444] [ 0.01859281 -0.004933 0.99981497 -0.0814256 ] [ 0. 0. 0. 1. ]] SLAMing on 62.68992885099999 meters Centerline goodness [0,1] 0.6699483018774581 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99881863 -0.04473382 -0.01897989 0.6394246 ] [ 0.0448214 0.99898613 0.00421424 -0.15582762] [ 0.01877213 -0.00505997 0.99981098 -0.0814669 ] [ 0. 0. 0. 1. ]] SLAMing on 62.71992885099999 meters Centerline goodness [0,1] 0.674345445988457 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99882467 -0.04453336 -0.01913249 0.63993552] [ 0.04462416 0.9989944 0.00434523 -0.15601721] [ 0.01891975 -0.0051939 0.99980751 -0.08164312] [ 0. 0. 0. 1. ]] SLAMing on 62.74992885099999 meters Centerline goodness [0,1] 0.6675968685945719 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99882979 -0.04439939 -0.01917679 0.6402764 ] [ 0.04449171 0.999 0.00441465 -0.15629593] [ 0.0189616 -0.00526269 0.99980636 -0.08183723] [ 0. 0. 0. 1. ]] SLAMing on 62.779928850999994 meters Centerline goodness [0,1] 0.6767399267399268 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99883791 -0.0441426 -0.01934579 0.64077674] [ 0.04423671 0.99901111 0.00446379 -0.15607272] [ 0.01912962 -0.0053144 0.99980289 -0.08185827] [ 0. 0. 0. 1. ]] SLAMing on 62.809928850999995 meters Centerline goodness [0,1] 0.6749782905346731 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99884376 -0.04392275 -0.01954323 0.64153658] [ 0.04401868 0.99902055 0.00450577 -0.15549721] [ 0.01932619 -0.00536082 0.99979886 -0.0822194 ] [ 0. 0. 0. 1. ]] SLAMing on 62.839928850999996 meters Centerline goodness [0,1] 0.6726587488532394 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99884939 -0.0437336 -0.01967914 0.642013 ] [ 0.04383014 0.99902886 0.00450086 -0.15501911] [ 0.01946319 -0.00535822 0.99979622 -0.08234006] [ 0. 0. 0. 1. ]] SLAMing on 62.86992885099999 meters Centerline goodness [0,1] 0.6739798700976747 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99885742 -0.04355733 -0.0196624 0.64209704] [ 0.04364894 0.99903787 0.00425414 -0.15372854] [ 0.01945819 -0.00510752 0.99979763 -0.08222135] [ 0. 0. 0. 1. ]] SLAMing on 62.89992885099999 meters Centerline goodness [0,1] 0.6757836737732992 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99884533 -0.04389294 -0.01952989 0.64127263] [ 0.0439763 0.99902512 0.00385938 -0.15328238] [ 0.01934146 -0.00471377 0.99980182 -0.08144749] [ 0. 0. 0. 1. ]] SLAMing on 62.92992885099999 meters Centerline goodness [0,1] 0.6703893976621249 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99883364 -0.04423443 -0.01935648 0.64056858] [ 0.04431413 0.99901076 0.00370808 -0.15354855] [ 0.0191733 -0.00456152 0.99980577 -0.08106359] [ 0. 0. 0. 1. ]] SLAMing on 62.959928850999994 meters Centerline goodness [0,1] 0.6784297192738815 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.9988239 -0.04446505 -0.01933063 0.64065287] [ 0.04454479 0.99900048 0.00371409 -0.15397312] [ 0.01914616 -0.0045708 0.99980625 -0.08133535] [ 0. 0. 0. 1. ]] SLAMing on 62.989928850999995 meters Centerline goodness [0,1] 0.6653028837809021 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99882565 -0.04441742 -0.01934985 0.64104155] [ 0.04450148 0.99900157 0.00393546 -0.15437552] [ 0.01915573 -0.00479193 0.99980503 -0.08181731] [ 0. 0. 0. 1. ]] SLAMing on 63.019928850999996 meters Centerline goodness [0,1] 0.6599999999999999 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99881977 -0.04461144 -0.01920654 0.64073206] [ 0.04469622 0.99899259 0.00400747 -0.15481133] [ 0.01900841 -0.0048612 0.99980751 -0.08194418] [ 0. 0. 0. 1. ]] SLAMing on 63.04992885099999 meters Centerline goodness [0,1] 0.6721173171881591 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99879833 -0.04523923 -0.01884962 0.63984164] [ 0.04531933 0.99896516 0.00384354 -0.15557172] [ 0.01865623 -0.00469317 0.99981494 -0.08194178] [ 0. 0. 0. 1. ]] SLAMing on 63.07992885099999 meters Centerline goodness [0,1] 0.6630081199870874 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99879624 -0.04534979 -0.01869414 0.639761 ] [ 0.04543101 0.9989597 0.00394283 -0.15591549] [ 0.01849588 -0.00478738 0.99981748 -0.08233441] [ 0. 0. 0. 1. ]] SLAMing on 63.10992885099999 meters Centerline goodness [0,1] 0.6602699021914077 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99880705 -0.04506654 -0.01880103 0.64047792] [ 0.04515325 0.99897119 0.00421333 -0.15618998] [ 0.01859181 -0.00505723 0.99981437 -0.08290141] [ 0. 0. 0. 1. ]] SLAMing on 63.13992885099999 meters Centerline goodness [0,1] 0.6688505062537224 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.9988036 -0.04513651 -0.01881634 0.64025723] [ 0.04521971 0.99896898 0.00402003 -0.15583765] [ 0.01861549 -0.00486609 0.99981488 -0.08250078] [ 0. 0. 0. 1. ]] SLAMing on 63.169928850999995 meters Centerline goodness [0,1] 0.6674029035860529 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99878508 -0.04556485 -0.01876714 0.63933617] [ 0.04563794 0.99895197 0.00348478 -0.15518915] [ 0.01858868 -0.00433704 0.99981781 -0.08143296] [ 0. 0. 0. 1. ]] SLAMing on 63.199928850999996 meters Centerline goodness [0,1] 0.6660704970564125 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99876893 -0.04603651 -0.01847311 0.63813391] [ 0.04610539 0.99893106 0.00332035 -0.1554608 ] [ 0.0183005 -0.00416797 0.99982384 -0.08079192] [ 0. 0. 0. 1. ]] SLAMing on 63.229928851 meters Centerline goodness [0,1] 0.6621039603960396 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99873922 -0.04673635 -0.01832146 0.63734233] [ 0.04680525 0.99889842 0.0033503 -0.15676188] [ 0.01814469 -0.00420361 0.99982653 -0.08058082] [ 0. 0. 0. 1. ]] SLAMing on 63.25992885099999 meters Centerline goodness [0,1] 0.6569976814168024 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99872582 -0.04704905 -0.01825182 0.63716406] [ 0.04711792 0.99888368 0.00336165 -0.15748424] [ 0.01807329 -0.00421736 0.99982777 -0.08070149] [ 0. 0. 0. 1. ]] SLAMing on 63.28992885099999 meters Centerline goodness [0,1] 0.6491834015887896 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.9986722 -0.04828294 -0.01796116 0.63585118] [ 0.04834535 0.998826 0.00305633 -0.15978813] [ 0.01779251 -0.00392061 0.99983401 -0.08024271] [ 0. 0. 0. 1. ]] SLAMing on 63.31992885099999 meters Centerline goodness [0,1] 0.6437659658086068 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99865198 -0.04877753 -0.01774734 0.63504294] [ 0.04884016 0.99880176 0.0031126 -0.16139014] [ 0.01757425 -0.00397518 0.99983766 -0.07999162] [ 0. 0. 0. 1. ]] SLAMing on 63.349928850999994 meters Centerline goodness [0,1] 0.6515106925642535 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.08 [[ 0.99863827 -0.0491387 -0.01752126 0.63445308] [ 0.04920225 0.99878366 0.00321428 -0.16296877] [ 0.017342 -0.00407199 0.99984132 -0.07994263] [ 0. 0. 0. 1. ]] SLAMing on 63.379928850999995 meters Centerline goodness [0,1] 0.645952415848356 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.08 [[ 0.99862259 -0.04951287 -0.01736072 0.63382128] [ 0.04957837 0.99876458 0.00336255 -0.16532226] [ 0.01717278 -0.00421864 0.99984364 -0.07966263] [ 0. 0. 0. 1. ]] SLAMing on 63.409928851 meters Centerline goodness [0,1] 0.6430470522233334 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.08 [[ 0.99861983 -0.04953841 -0.01744632 0.63367697] [ 0.04960601 0.99876286 0.003463 -0.16612125] [ 0.01725319 -0.00432367 0.9998418 -0.07924112] [ 0. 0. 0. 1. ]] SLAMing on 63.43992885099999 meters Centerline goodness [0,1] 0.6478385041618864 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.08 [[ 0.99861372 -0.04965524 -0.01746392 0.63311846] [ 0.04972489 0.99875655 0.0035768 -0.16724122] [ 0.0172646 -0.00444023 0.9998411 -0.0784696 ] [ 0. 0. 0. 1. ]] SLAMing on 63.46992885099999 meters Centerline goodness [0,1] 0.6292137568199532 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.08 [[ 0.99861284 -0.04966244 -0.01749385 0.63298907] [ 0.04973643 0.99875507 0.00381982 -0.16847994] [ 0.01728237 -0.0046846 0.99983967 -0.07825781] [ 0. 0. 0. 1. ]] SLAMing on 63.49992885099999 meters Centerline goodness [0,1] 0.6298608243666659 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.08 [[ 0.99861972 -0.04951772 -0.01751169 0.63313506] [ 0.04959885 0.99876027 0.00422928 -0.17022629] [ 0.01728055 -0.005092 0.99983771 -0.0783384 ] [ 0. 0. 0. 1. ]] SLAMing on 63.529928850999994 meters Centerline goodness [0,1] 0.6271466394617309 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.08 [[ 0.99861442 -0.04965456 -0.01742613 0.63273841] [ 0.04973729 0.99875288 0.00434691 -0.17166062] [ 0.01718856 -0.00520762 0.9998387 -0.07807505] [ 0. 0. 0. 1. ]] SLAMing on 63.559928850999995 meters Centerline goodness [0,1] 0.6339769647696477 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.08 [[ 0.99860654 -0.04986602 -0.01727323 0.63217638] [ 0.0499503 0.99874165 0.00448235 -0.17314067] [ 0.01702798 -0.00533891 0.99984076 -0.07782193] [ 0. 0. 0. 1. ]] SLAMing on 63.589928850999996 meters Centerline goodness [0,1] 0.6325684535287313 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.08 [[ 0.99861528 -0.04966913 -0.01733472 0.63228765] [ 0.04976073 0.99874918 0.00489344 -0.17521935] [ 0.01706999 -0.00574925 0.99983777 -0.07769811] [ 0. 0. 0. 1. ]] SLAMing on 63.61992885099999 meters Centerline goodness [0,1] 0.6325684535287313 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.08 [[ 0.99861528 -0.04966913 -0.01733472 0.63228765] [ 0.04976073 0.99874918 0.00489344 -0.17521935] [ 0.01706999 -0.00574925 0.99983777 -0.07769811] [ 0. 0. 0. 1. ]] SLAMing on 63.64992885099999 meters Centerline goodness [0,1] 0.634953091171518 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.08 [[ 0.99862834 -0.04934819 -0.01749817 0.63279784] [ 0.04944569 0.99876336 0.00518342 -0.17586435] [ 0.01722073 -0.00604152 0.99983346 -0.07779212] [ 0. 0. 0. 1. ]] SLAMing on 63.67992885099999 meters Centerline goodness [0,1] 0.6378448524464098 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.08 [[ 0.99866427 -0.04847287 -0.0178902 0.63392677] [ 0.04858285 0.99880252 0.00576443 -0.17674682] [ 0.01758936 -0.00662588 0.99982334 -0.07785684] [ 0. 0. 0. 1. ]] SLAMing on 63.709928850999994 meters Centerline goodness [0,1] 0.6378826071299963 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.08 [[ 0.99868143 -0.04801972 -0.01815253 0.63454729] [ 0.04813523 0.99882292 0.00598057 -0.17710526] [ 0.01784398 -0.00684646 0.99981734 -0.07773628] [ 0. 0. 0. 1. ]] SLAMing on 63.739928850999995 meters Centerline goodness [0,1] 0.6513506387670478 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99870136 -0.04751017 -0.01839483 0.63528687] [ 0.04763361 0.99884481 0.00633146 -0.17778791] [ 0.01807277 -0.00719945 0.99981075 -0.07783143] [ 0. 0. 0. 1. ]] SLAMing on 63.769928850999996 meters Centerline goodness [0,1] 0.6500826010965595 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99873666 -0.04661097 -0.01877511 0.63641667] [ 0.04674709 0.99888308 0.00687753 -0.17907781] [ 0.01843358 -0.00774652 0.99980008 -0.07786047] [ 0. 0. 0. 1. ]] SLAMing on 63.79992885099999 meters Centerline goodness [0,1] 0.6499688861232109 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99874619 -0.04635324 -0.01890552 0.63654048] [ 0.04649361 0.99889368 0.0070536 -0.1797008 ] [ 0.01855764 -0.00792374 0.99979639 -0.07755062] [ 0. 0. 0. 1. ]] SLAMing on 63.82992885099999 meters Centerline goodness [0,1] 0.6511894252105652 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99876885 -0.04573204 -0.01921895 0.63715239] [ 0.04588121 0.99891954 0.00739367 -0.18075541] [ 0.01886006 -0.00826635 0.99978796 -0.07716601] [ 0. 0. 0. 1. ]] SLAMing on 63.85992885099999 meters Centerline goodness [0,1] 0.646861306915603 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99878016 -0.04540415 -0.01940736 0.63767239] [ 0.04555853 0.99893286 0.00758736 -0.18130858] [ 0.01904215 -0.00846227 0.99978287 -0.07715085] [ 0. 0. 0. 1. ]] SLAMing on 63.88992885099999 meters Centerline goodness [0,1] 0.6456438629401847 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99879288 -0.04501394 -0.01966052 0.63832517] [ 0.04517545 0.99894823 0.00784942 -0.18186135] [ 0.0192865 -0.00872812 0.9997759 -0.07717776] [ 0. 0. 0. 1. ]] SLAMing on 63.919928850999995 meters Centerline goodness [0,1] 0.649586228155455 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.9988192 -0.044275 -0.01999809 0.63936769] [ 0.04445018 0.99897627 0.00840143 -0.18278056] [ 0.01960564 -0.00928043 0.99976472 -0.0773877 ] [ 0. 0. 0. 1. ]] SLAMing on 63.949928850999996 meters Centerline goodness [0,1] 0.6532570234391697 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99883169 -0.04394801 -0.02009535 0.63981227] [ 0.04413007 0.99898785 0.00870749 -0.18330881] [ 0.01969233 -0.00958412 0.99976015 -0.07759703] [ 0. 0. 0. 1. ]] SLAMing on 63.979928851 meters Centerline goodness [0,1] 0.6668172845965421 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99884522 -0.04354851 -0.02029176 0.64036156] [ 0.04373867 0.99900226 0.00902321 -0.18388895] [ 0.01987857 -0.00990033 0.99975338 -0.07762806] [ 0. 0. 0. 1. ]] SLAMing on 64.00992885099998 meters Centerline goodness [0,1] 0.666579857000805 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99886709 -0.04294233 -0.02050577 0.64126449] [ 0.04314392 0.99902378 0.00949189 -0.18459021] [ 0.02007815 -0.01036583 0.99974468 -0.07795312] [ 0. 0. 0. 1. ]] SLAMing on 64.039928851 meters Centerline goodness [0,1] 0.6682648943745549 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99886628 -0.04289568 -0.02064247 0.6414263 ] [ 0.04309886 0.99902564 0.00950011 -0.1848065 ] [ 0.02021485 -0.01037901 0.99974178 -0.07774458] [ 0. 0. 0. 1. ]] SLAMing on 64.069928851 meters Centerline goodness [0,1] 0.668557651396965 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99886839 -0.0428307 -0.02067513 0.64136203] [ 0.04303613 0.99902744 0.00959533 -0.18588347] [ 0.02024405 -0.01047425 0.9997402 -0.07740853] [ 0. 0. 0. 1. ]] SLAMing on 64.09992885099999 meters Centerline goodness [0,1] 0.6716185257787959 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99886296 -0.04298336 -0.02062104 0.64110206] [ 0.04318663 0.99902171 0.00951553 -0.18619908] [ 0.02019186 -0.01039527 0.99974208 -0.07718872] [ 0. 0. 0. 1. ]] SLAMing on 64.12992885099999 meters Centerline goodness [0,1] 0.6662090513160386 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99885893 -0.04304755 -0.02068209 0.64096595] [ 0.04325005 0.99901963 0.00944551 -0.18643523] [ 0.02025521 -0.01032924 0.99974148 -0.07677476] [ 0. 0. 0. 1. ]] SLAMing on 64.15992885099999 meters Centerline goodness [0,1] 0.6704738531244101 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99885761 -0.04303779 -0.02076585 0.64102557] [ 0.04324124 0.99901997 0.00944956 -0.18743481] [ 0.02033881 -0.01033671 0.99973971 -0.07645193] [ 0. 0. 0. 1. ]] SLAMing on 64.18992885099999 meters Centerline goodness [0,1] 0.6677978084128667 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.9988517 -0.04319048 -0.0207331 0.64070044] [ 0.04339069 0.99901484 0.00930549 -0.18771818] [ 0.02031077 -0.01019443 0.99974174 -0.07604471] [ 0. 0. 0. 1. ]] SLAMing on 64.21992885099999 meters Centerline goodness [0,1] 0.6610818685966726 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99884594 -0.04339161 -0.02059015 0.64024164] [ 0.04358773 0.99900748 0.00917373 -0.18795678] [ 0.02017165 -0.01006062 0.99974591 -0.07581882] [ 0. 0. 0. 1. ]] SLAMing on 64.24992885099999 meters Centerline goodness [0,1] 0.6647104392121881 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99883842 -0.04356634 -0.02058594 0.63992387] [ 0.04376097 0.99900058 0.00910005 -0.18827179] [ 0.02016891 -0.00999034 0.99974667 -0.07538865] [ 0. 0. 0. 1. ]] SLAMing on 64.279928851 meters Centerline goodness [0,1] 0.6725220458553791 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99883571 -0.04360634 -0.02063271 0.63993771] [ 0.04380164 0.99899871 0.00910998 -0.18870313] [ 0.0202148 -0.01000312 0.99974562 -0.07521438] [ 0. 0. 0. 1. ]] SLAMing on 64.309928851 meters Centerline goodness [0,1] 0.6732591966966968 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99881798 -0.04404957 -0.0205492 0.63962593] [ 0.04424158 0.99898046 0.00898491 -0.18943502] [ 0.02013247 -0.00988341 0.99974847 -0.07512311] [ 0. 0. 0. 1. ]] SLAMing on 64.339928851 meters Centerline goodness [0,1] 0.6713944111027756 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99881139 -0.04426583 -0.02040456 0.63934245] [ 0.04445646 0.99897091 0.00898532 -0.19005628] [ 0.01998582 -0.00988176 0.99975143 -0.0751417 ] [ 0. 0. 0. 1. ]] SLAMing on 64.369928851 meters Centerline goodness [0,1] 0.6683765488487574 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99880122 -0.04454512 -0.02029439 0.63918185] [ 0.04473473 0.99895848 0.00898684 -0.19075365] [ 0.01987294 -0.00988393 0.99975366 -0.07526667] [ 0. 0. 0. 1. ]] SLAMing on 64.399928851 meters Centerline goodness [0,1] 0.6632607729897824 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.07 [[ 0.99876552 -0.0454195 -0.0201121 0.63794294] [ 0.04560151 0.99892195 0.00868539 -0.19238869] [ 0.01969593 -0.00959181 0.99976 -0.07435695] [ 0. 0. 0. 1. ]] SLAMing on 64.429928851 meters Centerline goodness [0,1] 0.6615581992069046 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.07 [[ 0.99875541 -0.04564226 -0.02011017 0.63781362] [ 0.04582493 0.99891144 0.00871815 -0.19328406] [ 0.01969036 -0.00962885 0.99975976 -0.07422203] [ 0. 0. 0. 1. ]] SLAMing on 64.45992885099999 meters Centerline goodness [0,1] 0.6598974119841454 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.07 [[ 0.99874621 -0.04589809 -0.01998434 0.63747433] [ 0.04607948 0.99889978 0.00871273 -0.19402836] [ 0.01956246 -0.00962267 0.99976233 -0.07412937] [ 0. 0. 0. 1. ]] SLAMing on 64.48992885099999 meters Centerline goodness [0,1] 0.6595037093885905 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.9987277 -0.0463055 -0.01996964 0.63701606] [ 0.04648751 0.99888056 0.00874856 -0.19554428] [ 0.01954218 -0.00966576 0.99976231 -0.07365756] [ 0. 0. 0. 1. ]] SLAMing on 64.51992885099999 meters Centerline goodness [0,1] 0.6613483824519845 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99872152 -0.04647542 -0.01988347 0.63673151] [ 0.04665664 0.99887267 0.00874891 -0.19624839] [ 0.01945445 -0.00966542 0.99976402 -0.0734976 ] [ 0. 0. 0. 1. ]] SLAMing on 64.54992885099999 meters Centerline goodness [0,1] 0.6575205613122067 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99871315 -0.04666442 -0.01986142 0.63648813] [ 0.04684448 0.99886432 0.00869894 -0.19695752] [ 0.01943293 -0.00961814 0.9997649 -0.07320882] [ 0. 0. 0. 1. ]] SLAMing on 64.57992885099999 meters Centerline goodness [0,1] 0.665894507632792 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99870794 -0.04686028 -0.01966106 0.63582836] [ 0.04703884 0.998855 0.00871942 -0.19792062] [ 0.01922995 -0.00963299 0.99976868 -0.07283069] [ 0. 0. 0. 1. ]] SLAMing on 64.60992885099999 meters Centerline goodness [0,1] 0.6652684758174782 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99870604 -0.04689116 -0.01968426 0.63567663] [ 0.04706953 0.99885374 0.0086984 -0.19809573] [ 0.01925382 -0.00961367 0.99976841 -0.07251813] [ 0. 0. 0. 1. ]] SLAMing on 64.639928851 meters Centerline goodness [0,1] 0.6606886988675758 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99869923 -0.04706335 -0.01961837 0.63514549] [ 0.04724059 0.99884591 0.00867085 -0.19883384] [ 0.01918765 -0.00958635 0.99976994 -0.07193232] [ 0. 0. 0. 1. ]] SLAMing on 64.669928851 meters Centerline goodness [0,1] 0.6672211825050254 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.07 [[ 0.99869274 -0.04724115 -0.01952162 0.63482045] [ 0.04741694 0.9988378 0.00864234 -0.1993075 ] [ 0.01909066 -0.0095567 0.99977208 -0.07177477] [ 0. 0. 0. 1. ]] SLAMing on 64.699928851 meters Centerline goodness [0,1] 0.6486686390532544 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.07 [[ 0.99869087 -0.04728435 -0.01951226 0.63482129] [ 0.04746109 0.99883523 0.00869652 -0.19985885] [ 0.01907832 -0.00961121 0.9997718 -0.07173815] [ 0. 0. 0. 1. ]] SLAMing on 64.729928851 meters Centerline goodness [0,1] 0.6413095921883974 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99870331 -0.04690835 -0.01978144 0.63615009] [ 0.0470969 0.99884818 0.00917613 -0.20095632] [ 0.01932822 -0.01009588 0.99976222 -0.07262516] [ 0. 0. 0. 1. ]] SLAMing on 64.759928851 meters Centerline goodness [0,1] 0.6429674712405191 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99870597 -0.04683356 -0.01982437 0.6364039 ] [ 0.04702541 0.99885017 0.00932446 -0.20132348] [ 0.01936488 -0.01024464 0.99976 -0.07278939] [ 0. 0. 0. 1. ]] SLAMing on 64.789928851 meters Centerline goodness [0,1] 0.6625716060459659 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99869738 -0.0470705 -0.01969554 0.63624311] [ 0.04725883 0.99884023 0.00920818 -0.20130397] [ 0.01923926 -0.01012697 0.99976362 -0.07295262] [ 0. 0. 0. 1. ]] SLAMing on 64.819928851 meters Centerline goodness [0,1] 0.6563341387642389 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.9986991 -0.04703658 -0.01968934 0.63618742] [ 0.04722424 0.99884216 0.0091769 -0.2014975 ] [ 0.01923489 -0.01009477 0.99976403 -0.07273633] [ 0. 0. 0. 1. ]] SLAMing on 64.84992885099999 meters Centerline goodness [0,1] 0.6400340872449215 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99869599 -0.04710384 -0.01968612 0.63613758] [ 0.04728915 0.99884019 0.00905593 -0.20162898] [ 0.01923672 -0.00997506 0.9997652 -0.07257244] [ 0. 0. 0. 1. ]] SLAMing on 64.87992885099999 meters Centerline goodness [0,1] 0.6673281491566099 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.9986926 -0.04718975 -0.01965223 0.63598531] [ 0.04737371 0.99883666 0.00900266 -0.20205071] [ 0.01920453 -0.00992189 0.99976634 -0.07239712] [ 0. 0. 0. 1. ]] SLAMing on 64.90992885099999 meters Centerline goodness [0,1] 0.6684107410395298 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.9986926 -0.04720059 -0.01962624 0.63570644] [ 0.04737915 0.99883879 0.00873451 -0.20160998] [ 0.01919118 -0.00965296 0.99976923 -0.07189558] [ 0. 0. 0. 1. ]] SLAMing on 64.93992885099999 meters Centerline goodness [0,1] 0.6697317477876106 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99869381 -0.04712566 -0.01974456 0.63593879] [ 0.04730428 0.99884282 0.00867931 -0.20117944] [ 0.01931269 -0.00960198 0.99976738 -0.07182019] [ 0. 0. 0. 1. ]] SLAMing on 64.96992885099999 meters Centerline goodness [0,1] 0.6656518831153855 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.9986977 -0.04702297 -0.01979266 0.63606045] [ 0.04720098 0.99884818 0.00862474 -0.20062642] [ 0.0193643 -0.00954774 0.99976691 -0.07173759] [ 0. 0. 0. 1. ]] SLAMing on 64.99992885099999 meters Centerline goodness [0,1] 0.6651208933185677 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99871098 -0.04667907 -0.01993588 0.63643187] [ 0.04686288 0.99886209 0.00885437 -0.20071762] [ 0.01949988 -0.0097772 0.99976205 -0.07171847] [ 0. 0. 0. 1. ]] SLAMing on 65.029928851 meters Centerline goodness [0,1] 0.6799215776727021 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99870852 -0.04676755 -0.01985172 0.63617959] [ 0.04695035 0.99885807 0.00884381 -0.20133721] [ 0.01941545 -0.00976443 0.99976382 -0.07154594] [ 0. 0. 0. 1. ]] SLAMing on 65.059928851 meters Centerline goodness [0,1] 0.6765829191974968 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99868715 -0.04730466 -0.01965305 0.63533435] [ 0.04748537 0.99883288 0.00883232 -0.20348644] [ 0.0192123 -0.00975395 0.99976785 -0.07106565] [ 0. 0. 0. 1. ]] SLAMing on 65.089928851 meters Centerline goodness [0,1] 0.6663914309961237 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.07 [[ 0.99867411 -0.0476345 -0.01951862 0.63487107] [ 0.04781316 0.99881761 0.00879101 -0.20438013] [ 0.01907678 -0.00971261 0.99977084 -0.0708415 ] [ 0. 0. 0. 1. ]] SLAMing on 65.119928851 meters Centerline goodness [0,1] 0.6609591392926634 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.21, Z:-0.07 [[ 0.9986633 -0.04790261 -0.0194151 0.63442037] [ 0.04808017 0.99880486 0.00878381 -0.20512398] [ 0.01897113 -0.00970555 0.99977292 -0.07056254] [ 0. 0. 0. 1. ]] SLAMing on 65.149928851 meters Centerline goodness [0,1] 0.6672989464542816 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.21, Z:-0.07 [[ 0.99865445 -0.04814335 -0.01927449 0.63412061] [ 0.04832095 0.99879259 0.00885678 -0.20591045] [ 0.01882482 -0.00977623 0.999775 -0.07061223] [ 0. 0. 0. 1. ]] SLAMing on 65.179928851 meters Centerline goodness [0,1] 0.6592305941270202 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.21, Z:-0.07 [[ 0.99862662 -0.04882998 -0.01898726 0.63316613] [ 0.04900457 0.99875942 0.00884102 -0.2077312 ] [ 0.018532 -0.00975934 0.99978064 -0.07033078] [ 0. 0. 0. 1. ]] SLAMing on 65.20992885099999 meters Centerline goodness [0,1] 0.6625347491227271 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.21, Z:-0.07 [[ 0.99861516 -0.04909621 -0.01890324 0.6328589 ] [ 0.04926966 0.99874655 0.0088218 -0.20872957] [ 0.01844643 -0.00974094 0.9997824 -0.07015252] [ 0. 0. 0. 1. ]] SLAMing on 65.23992885099999 meters Centerline goodness [0,1] 0.6613380698638247 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.21, Z:-0.07 [[ 0.99859116 -0.04961625 -0.01881259 0.63231228] [ 0.04978807 0.99872123 0.00877758 -0.21037711] [ 0.01835302 -0.00970185 0.9997845 -0.06974638] [ 0. 0. 0. 1. ]] SLAMing on 65.26992885099999 meters Centerline goodness [0,1] 0.6512354121079504 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.21, Z:-0.07 [[ 0.99858752 -0.0497177 -0.01873793 0.63215694] [ 0.04989027 0.99871543 0.00885744 -0.21090814] [ 0.01827349 -0.00977977 0.99978519 -0.06976364] [ 0. 0. 0. 1. ]] SLAMing on 65.29992885099999 meters Centerline goodness [0,1] 0.6496929724812373 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.21, Z:-0.07 [[ 0.99858052 -0.04989612 -0.01863656 0.63181732] [ 0.05006606 0.99870744 0.00876611 -0.21118416] [ 0.01817508 -0.00968672 0.99978789 -0.06952808] [ 0. 0. 0. 1. ]] SLAMing on 65.32992885099999 meters Centerline goodness [0,1] 0.6622268612012434 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.21, Z:-0.07 [[ 0.99856561 -0.05024166 -0.01850693 0.63116609] [ 0.05040587 0.99869251 0.00851612 -0.21134712] [ 0.01805486 -0.00943676 0.99979246 -0.06901375] [ 0. 0. 0. 1. ]] SLAMing on 65.35992885099999 meters Centerline goodness [0,1] 0.6385194279608031 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.21, Z:-0.07 [[ 0.99856196 -0.0503591 -0.01838408 0.63075961] [ 0.050519 0.99868828 0.00833921 -0.21115773] [ 0.01794001 -0.00925597 0.99979622 -0.0686932 ] [ 0. 0. 0. 1. ]] SLAMing on 65.389928851 meters Centerline goodness [0,1] 0.6391982182628062 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.21, Z:-0.07 [[ 0.99856567 -0.05027011 -0.0184262 0.63082892] [ 0.05042466 0.99869566 0.00802105 -0.21025425] [ 0.01799895 -0.00893868 0.99979805 -0.06840586] [ 0. 0. 0. 1. ]] SLAMing on 65.419928851 meters Centerline goodness [0,1] 0.6357712131877115 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.21, Z:-0.07 [[ 0.99857802 -0.04994435 -0.01864151 0.63144813] [ 0.05010113 0.99871179 0.00803968 -0.20971491] [ 0.01821596 -0.00896221 0.99979391 -0.06846965] [ 0. 0. 0. 1. ]] SLAMing on 65.449928851 meters Centerline goodness [0,1] 0.6627708290615816 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.21, Z:-0.07 [[ 0.99860268 -0.04938913 -0.01879915 0.63185459] [ 0.04954404 0.99874097 0.0078657 -0.20829248] [ 0.018387 -0.00878609 0.99979234 -0.06819155] [ 0. 0. 0. 1. ]] SLAMing on 65.479928851 meters Centerline goodness [0,1] 0.656986551173923 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.21, Z:-0.07 [[ 0.99861181 -0.04914144 -0.01896215 0.63228799] [ 0.04929559 0.99875417 0.00774927 -0.20730362] [ 0.01855771 -0.00867326 0.99979017 -0.06814333] [ 0. 0. 0. 1. ]] SLAMing on 65.509928851 meters Centerline goodness [0,1] 0.656986551173923 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.21, Z:-0.07 [[ 0.99861181 -0.04914144 -0.01896215 0.63228799] [ 0.04929559 0.99875417 0.00774927 -0.20730362] [ 0.01855771 -0.00867326 0.99979017 -0.06814333] [ 0. 0. 0. 1. ]] SLAMing on 65.539928851 meters Centerline goodness [0,1] 0.6662014049378762 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.21, Z:-0.07 [[ 0.9986212 -0.04888928 -0.01911882 0.63286363] [ 0.04904279 0.99876742 0.00764451 -0.20607597] [ 0.01872152 -0.00857161 0.99978799 -0.06832621] [ 0. 0. 0. 1. ]] SLAMing on 65.56992885099999 meters Centerline goodness [0,1] 0.6702949919963412 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.07 [[ 0.99865855 -0.04805114 -0.01929204 0.63366172] [ 0.04820789 0.99880731 0.00774377 -0.20458027] [ 0.01889694 -0.00866341 0.9997839 -0.06848797] [ 0. 0. 0. 1. ]] SLAMing on 65.59992885099999 meters Centerline goodness [0,1] 0.6663388977818432 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.07 [[ 0.998665 -0.04786265 -0.01942657 0.63398889] [ 0.04801993 0.99881661 0.00771179 -0.20425473] [ 0.01903447 -0.00863436 0.99978154 -0.06844345] [ 0. 0. 0. 1. ]] SLAMing on 65.62992885099999 meters Centerline goodness [0,1] 0.6754797246300575 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.07 [[ 0.99867354 -0.04767097 -0.0194585 0.63422349] [ 0.04782942 0.99882537 0.00776023 -0.20422471] [ 0.0190657 -0.00868063 0.99978055 -0.06856262] [ 0. 0. 0. 1. ]] SLAMing on 65.65992885099999 meters Centerline goodness [0,1] 0.6740647523166685 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.07 [[ 0.99868097 -0.0475036 -0.01948673 0.6342892 ] [ 0.04766129 0.99883381 0.00770915 -0.20395359] [ 0.01909779 -0.00862774 0.99978039 -0.06839005] [ 0. 0. 0. 1. ]] SLAMing on 65.68992885099999 meters Centerline goodness [0,1] 0.6795083092981733 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.07 [[ 0.99868042 -0.04752573 -0.01946079 0.63434885] [ 0.04768178 0.9988334 0.0076346 -0.20359695] [ 0.01907524 -0.00855245 0.99978147 -0.06848338] [ 0. 0. 0. 1. ]] SLAMing on 65.71992885099999 meters Centerline goodness [0,1] 0.6587177840961203 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.07 [[ 0.9986778 -0.0476035 -0.01940521 0.63437776] [ 0.04775712 0.99883059 0.00753064 -0.20311176] [ 0.01902404 -0.00844742 0.99978334 -0.06866807] [ 0. 0. 0. 1. ]] SLAMing on 65.74992885099999 meters Centerline goodness [0,1] 0.6586893671699325 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.07 [[ 0.9986761 -0.04762459 -0.01944075 0.63461294] [ 0.04777874 0.99882946 0.00754289 -0.20287811] [ 0.01905876 -0.00846176 0.99978256 -0.06891055] [ 0. 0. 0. 1. ]] SLAMing on 65.779928851 meters Centerline goodness [0,1] 0.6726378403111416 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.07 [[ 0.99867084 -0.04775796 -0.01938373 0.63471068] [ 0.04790967 0.99882397 0.00743889 -0.20260828] [ 0.01900566 -0.00835767 0.99978444 -0.069188 ] [ 0. 0. 0. 1. ]] SLAMing on 65.809928851 meters Centerline goodness [0,1] 0.6684796328169822 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.07 [[ 0.99866334 -0.04791683 -0.01937833 0.63466308] [ 0.04806529 0.99881774 0.00726929 -0.2022299 ] [ 0.0190071 -0.00819099 0.9997858 -0.06914797] [ 0. 0. 0. 1. ]] SLAMing on 65.839928851 meters Centerline goodness [0,1] 0.6634681603232175 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.07 [[ 0.99864783 -0.04830071 -0.01922366 0.63416211] [ 0.04844011 0.99880258 0.0068529 -0.20165866] [ 0.01886964 -0.00777483 0.99979172 -0.06888469] [ 0. 0. 0. 1. ]] SLAMing on 65.869928851 meters Centerline goodness [0,1] 0.6720115614892299 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.07 [[ 0.99863917 -0.04846536 -0.01925934 0.63449038] [ 0.04860397 0.99879502 0.00679494 -0.20137124] [ 0.01890681 -0.00772178 0.99979143 -0.06927736] [ 0. 0. 0. 1. ]] SLAMing on 65.899928851 meters Centerline goodness [0,1] 0.6655361757105943 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.07 [[ 0.998609 -0.04917346 -0.01902733 0.63376136] [ 0.0492974 0.99876551 0.0061003 -0.19984936] [ 0.01870387 -0.00702981 0.99980035 -0.06906174] [ 0. 0. 0. 1. ]] SLAMing on 65.929928851 meters Centerline goodness [0,1] 0.6563212304008472 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.07 [[ 0.99859662 -0.04946561 -0.01891945 0.6336276 ] [ 0.04958522 0.99875244 0.00590561 -0.1994946 ] [ 0.01860372 -0.00683545 0.99980357 -0.06922728] [ 0. 0. 0. 1. ]] SLAMing on 65.95992885099999 meters Centerline goodness [0,1] 0.652262948390511 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.07 [[ 0.99857843 -0.04989918 -0.01874008 0.63347074] [ 0.05001391 0.99873223 0.00570405 -0.19943523] [ 0.01843169 -0.00663321 0.99980812 -0.06956093] [ 0. 0. 0. 1. ]] SLAMing on 65.98992885099999 meters Centerline goodness [0,1] 0.6642082630106583 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.07 [[ 0.99856586 -0.05019416 -0.01862164 0.63314351] [ 0.05030287 0.99871932 0.00541598 -0.19912188] [ 0.01832594 -0.00634493 0.99981193 -0.06945904] [ 0. 0. 0. 1. ]] SLAMing on 66.01992885099999 meters Centerline goodness [0,1] 0.6622782705099779 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.07 [[ 0.99855948 -0.05032935 -0.01859917 0.63325026] [ 0.05043636 0.99871306 0.0053297 -0.19870819] [ 0.01830699 -0.0062601 0.99981282 -0.06970939] [ 0. 0. 0. 1. ]] SLAMing on 66.04992885099999 meters Centerline goodness [0,1] 0.6669525310587798 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.07 [[ 0.99854905 -0.05055377 -0.01855033 0.63285587] [ 0.05065476 0.99870363 0.00501499 -0.19788947] [ 0.01827276 -0.00594738 0.99981535 -0.06930961] [ 0. 0. 0. 1. ]] SLAMing on 66.07992885099999 meters Centerline goodness [0,1] 0.6623331398723158 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.07 [[ 0.99853884 -0.05078888 -0.01845722 0.63244636] [ 0.05087971 0.99869472 0.00448478 -0.19588545] [ 0.01820535 -0.00541733 0.99981959 -0.06892333] [ 0. 0. 0. 1. ]] SLAMing on 66.10992885099999 meters Centerline goodness [0,1] 0.6592219020172911 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.07 [[ 0.99853749 -0.05082856 -0.01842092 0.63240207] [ 0.05091669 0.99869344 0.00434699 -0.19513021] [ 0.0181759 -0.00527857 0.99982087 -0.06890912] [ 0. 0. 0. 1. ]] SLAMing on 66.139928851 meters Centerline goodness [0,1] 0.6498501150280018 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.07 [[ 0.99853932 -0.05081244 -0.01836616 0.63231726] [ 0.05089617 0.99869545 0.0041199 -0.19402327] [ 0.01813286 -0.00504865 0.99982284 -0.06885855] [ 0. 0. 0. 1. ]] SLAMing on 66.169928851 meters Centerline goodness [0,1] 0.6700533637825368 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.07 [[ 0.9985367 -0.05085993 -0.0183772 0.63238155] [ 0.05094305 0.99869321 0.00408287 -0.19373239] [ 0.01814553 -0.00501309 0.99982279 -0.06894891] [ 0. 0. 0. 1. ]] SLAMing on 66.199928851 meters Centerline goodness [0,1] 0.6627462853416555 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.07 [[ 0.99853127 -0.05095521 -0.01840845 0.63255644] [ 0.0510386 0.99868831 0.00408827 -0.1935846 ] [ 0.01817598 -0.00502181 0.99982219 -0.06918629] [ 0. 0. 0. 1. ]] SLAMing on 66.229928851 meters Centerline goodness [0,1] 0.6507544133765537 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.07 [[ 0.99851588 -0.05131328 -0.01824768 0.63246781] [ 0.05139612 0.99866993 0.00409983 -0.19387887] [ 0.01801303 -0.00503161 0.99982509 -0.06967357] [ 0. 0. 0. 1. ]] SLAMing on 66.259928851 meters Centerline goodness [0,1] 0.654308057533864 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.07 [[ 0.99851366 -0.05137132 -0.01820592 0.63281367] [ 0.05145591 0.9986664 0.00420819 -0.19409559] [ 0.01796546 -0.00513874 0.9998254 -0.0702797 ] [ 0. 0. 0. 1. ]] SLAMing on 66.289928851 meters Centerline goodness [0,1] 0.6596908831575747 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.07 [[ 0.99849851 -0.05168383 -0.01815217 0.63276515] [ 0.05176322 0.99865165 0.00393088 -0.19329221] [ 0.01792453 -0.0048646 0.99982751 -0.07044674] [ 0. 0. 0. 1. ]] SLAMing on 66.31992885099999 meters Centerline goodness [0,1] 0.6447223588374436 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.07 [[ 0.99848979 -0.05186571 -0.01811325 0.63270031] [ 0.05194014 0.99864348 0.00366281 -0.19228239] [ 0.01789871 -0.00459808 0.99982923 -0.07045747] [ 0. 0. 0. 1. ]] SLAMing on 66.34992885099999 meters Centerline goodness [0,1] 0.6581637437869268 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.07 [[ 0.99848014 -0.05206344 -0.01807761 0.63257731] [ 0.05213148 0.99863474 0.00331273 -0.19114942] [ 0.01788046 -0.0042501 0.9998311 -0.07037047] [ 0. 0. 0. 1. ]] SLAMing on 66.37992885099999 meters Centerline goodness [0,1] 0.6357578601595495 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.07 [[ 0.9984687 -0.05230368 -0.01801616 0.63284338] [ 0.05236398 0.99862388 0.00289152 -0.18914799] [ 0.01784013 -0.00383049 0.99983351 -0.07087596] [ 0. 0. 0. 1. ]] SLAMing on 66.40992885099999 meters Centerline goodness [0,1] 0.6527079712527597 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.07 [[ 0.99846188 -0.05247038 -0.01790915 0.63314234] [ 0.05252442 0.99861636 0.00256003 -0.18724843] [ 0.01775005 -0.00349676 0.99983634 -0.07161964] [ 0. 0. 0. 1. ]] SLAMing on 66.43992885099999 meters Centerline goodness [0,1] 0.6591913415412245 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.07 [[ 0.99844743 -0.05275517 -0.01787799 0.63301337] [ 0.0528003 0.99860296 0.0020614 -0.18590084] [ 0.01774427 -0.00300216 0.99983805 -0.07148142] [ 0. 0. 0. 1. ]] SLAMing on 66.46992885099999 meters Centerline goodness [0,1] 0.6592883691200493 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.07 [[ 0.99844732 -0.05273092 -0.0179556 0.63363685] [ 0.05276831 0.99860548 0.00161452 -0.18346049] [ 0.01784543 -0.0025595 0.99983748 -0.07186205] [ 0. 0. 0. 1. ]] SLAMing on 66.49992885099999 meters Centerline goodness [0,1] 0.6592883691200493 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.07 [[ 0.99844732 -0.05273092 -0.0179556 0.63363685] [ 0.05276831 0.99860548 0.00161452 -0.18346049] [ 0.01784543 -0.0025595 0.99983748 -0.07186205] [ 0. 0. 0. 1. ]] SLAMing on 66.529928851 meters Centerline goodness [0,1] 0.654 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.07 [[ 0.99846463 -0.0523624 -0.01807076 0.63441487] [ 0.0523919 0.99862592 0.00116292 -0.17997317] [ 0.01798504 -0.0021079 0.99983603 -0.07217996] [ 0. 0. 0. 1. ]] SLAMing on 66.559928851 meters Centerline goodness [0,1] 0.6597144423521559 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99847305 -0.05213759 -0.01825496 0.63524787] [ 0.05216558 0.99863789 0.00106033 -0.1784598 ] [ 0.01817481 -0.00201099 0.9998328 -0.07265574] [ 0. 0. 0. 1. ]] SLAMing on 66.589928851 meters Centerline goodness [0,1] 0.6569412890111204 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 9.98479970e-01 -5.19312044e-02 -1.84634550e-02 6.35857462e-01] [ 5.19553458e-02 9.98649064e-01 8.29932424e-04 -1.76919361e-01] [ 1.83954127e-02 -1.78794609e-03 9.99829191e-01 -7.27147875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.619928851 meters Centerline goodness [0,1] 0.6667789190099344 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 9.98491834e-01 -5.16602937e-02 -1.85815041e-02 6.36582020e-01] [ 5.16772011e-02 9.98663748e-01 4.30575769e-04 -1.74181626e-01] [ 1.85344308e-02 -1.39016651e-03 9.99827256e-01 -7.30550506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.649928851 meters Centerline goodness [0,1] 0.666682728214518 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 9.98496762e-01 -5.15158398e-02 -1.87172102e-02 6.37020212e-01] [ 5.15297526e-02 9.98671426e-01 2.61467902e-04 -1.73125981e-01] [ 1.86788732e-02 -1.22556806e-03 9.99824783e-01 -7.31113327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.679928851 meters Centerline goodness [0,1] 0.6605726446121107 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 9.98496783e-01 -5.15276926e-02 -1.86834397e-02 6.36969552e-01] [ 5.15311162e-02 9.98671345e-01 -2.98465840e-04 -1.71023795e-01] [ 1.86739951e-02 -6.64761321e-04 9.99825405e-01 -7.28658822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70992885099999 meters Centerline goodness [0,1] 0.6538694148099765 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 9.98492456e-01 -5.16253637e-02 -1.86450438e-02 6.36898572e-01] [ 5.16263372e-02 9.98666379e-01 -4.29434108e-04 -1.70546602e-01] [ 1.86423481e-02 -5.33788599e-04 9.99826074e-01 -7.28914122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.73992885099999 meters Centerline goodness [0,1] 0.6607056314820199 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 9.98491291e-01 -5.16917275e-02 -1.85231298e-02 6.36898946e-01] [ 5.16964105e-02 9.98662821e-01 -2.26243969e-04 -1.70424472e-01] [ 1.85100560e-02 -7.31676688e-04 9.99828407e-01 -7.33923532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.76992885099999 meters Centerline goodness [0,1] 0.6587230542181792 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 9.98490842e-01 -5.16987054e-02 -1.85278835e-02 6.37168806e-01] [ 5.17076017e-02 9.98662267e-01 1.10075462e-06 -1.71100721e-01] [ 1.85030412e-02 -9.59131513e-04 9.99828344e-01 -7.37911577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.79992885099999 meters Centerline goodness [0,1] 0.6551707482007438 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 9.98467910e-01 -5.22248905e-02 -1.82864522e-02 6.36794951e-01] [ 5.22384274e-02 9.98634607e-01 2.63063238e-04 -1.73068729e-01] [ 1.82477456e-02 -1.21791571e-03 9.99832754e-01 -7.43102821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.82992885099999 meters Centerline goodness [0,1] 0.6460422960725076 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 9.98455439e-01 -5.24888046e-02 -1.82115725e-02 6.36745304e-01] [ 5.25052816e-02 9.98620555e-01 4.27462000e-04 -1.74099631e-01] [ 1.81640136e-02 -1.38300550e-03 9.99834064e-01 -7.46031254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.85992885099999 meters Centerline goodness [0,1] 0.6439362807899636 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 9.98445208e-01 -5.27480283e-02 -1.80225406e-02 6.36379647e-01] [ 5.27692955e-02 9.98606480e-01 7.06189017e-04 -1.75468745e-01] [ 1.79601758e-02 -1.65612781e-03 9.99837331e-01 -7.48415633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.889928851 meters Centerline goodness [0,1] 0.6267475155802593 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 9.98387321e-01 -5.39131052e-02 -1.77801597e-02 6.35293447e-01] [ 5.39329851e-02 9.98544352e-01 6.40142499e-04 -1.77737195e-01] [ 1.77197660e-02 -1.59804725e-03 9.99841716e-01 -7.46456603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.919928851 meters Centerline goodness [0,1] 0.6293449278147445 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 9.98377428e-01 -5.41115706e-02 -1.77327079e-02 6.35150350e-01] [ 5.41348350e-02 9.98533286e-01 8.34215051e-04 -1.78847913e-01] [ 1.76615584e-02 -1.79281870e-03 9.99842415e-01 -7.47131610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.949928851 meters Centerline goodness [0,1] 0.6446052505048563 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99837441 -0.05415481 -0.01777067 0.63557824] [ 0.05418434 0.99853025 0.00118404 -0.18029618] [ 0.01768043 -0.00214501 0.99984139 -0.07527105] [ 0. 0. 0. 1. ]] SLAMing on 66.979928851 meters Centerline goodness [0,1] 0.6217730734230567 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99837817 -0.05406097 -0.01784514 0.63585101] [ 0.05409525 0.99853474 0.00144343 -0.18104369] [ 0.01774096 -0.00240642 0.99983972 -0.07548374] [ 0. 0. 0. 1. ]] SLAMing on 67.009928851 meters Centerline goodness [0,1] 0.6356603999521016 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99837219 -0.0541757 -0.01783132 0.63562583] [ 0.05421056 0.99852843 0.00147733 -0.18161787] [ 0.01772504 -0.00244157 0.99983992 -0.07518556] [ 0. 0. 0. 1. ]] SLAMing on 67.039928851 meters Centerline goodness [0,1] 0.6258846595256312 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.9983726 -0.05416336 -0.01784612 0.63551631] [ 0.05419961 0.99852891 0.00155324 -0.18196682] [ 0.01773574 -0.00251797 0.99983954 -0.07497109] [ 0. 0. 0. 1. ]] SLAMing on 67.06992885099999 meters Centerline goodness [0,1] 0.6382484617778735 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99837823 -0.05398701 -0.01806391 0.63555065] [ 0.05402157 0.99853874 0.00143015 -0.18211259] [ 0.01796031 -0.00240367 0.99983581 -0.07413126] [ 0. 0. 0. 1. ]] SLAMing on 67.09992885099999 meters Centerline goodness [0,1] 0.643296109423946 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99839598 -0.05357613 -0.01830466 0.63632942] [ 0.05361835 0.99855984 0.00182335 -0.18287547] [ 0.01818061 -0.00280189 0.99983079 -0.07438524] [ 0. 0. 0. 1. ]] SLAMing on 67.12992885099999 meters Centerline goodness [0,1] 0.6379458325386229 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99840589 -0.0533736 -0.01835594 0.63625818] [ 0.0534194 0.99857013 0.00201377 -0.18386347] [ 0.01822221 -0.00299112 0.99982949 -0.07397723] [ 0. 0. 0. 1. ]] SLAMing on 67.15992885099999 meters Centerline goodness [0,1] 0.6215875282637153 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99841385 -0.05318768 -0.0184624 0.63647456] [ 0.053236 0.99857968 0.00213522 -0.18428745] [ 0.01832261 -0.00311469 0.99982728 -0.07385337] [ 0. 0. 0. 1. ]] SLAMing on 67.18992885099999 meters Centerline goodness [0,1] 0.638022940364571 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99842326 -0.05292384 -0.01870977 0.63696292] [ 0.05297564 0.99859319 0.00228352 -0.18468171] [ 0.0185626 -0.00327108 0.99982235 -0.07371889] [ 0. 0. 0. 1. ]] SLAMing on 67.21992885099999 meters Centerline goodness [0,1] 0.6520014253474284 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.07 [[ 0.99848001 -0.05168502 -0.01913993 0.6385584 ] [ 0.05175456 0.99865485 0.00315586 -0.18597222] [ 0.01895108 -0.00414164 0.99981183 -0.07422636] [ 0. 0. 0. 1. ]] SLAMing on 67.24992885099999 meters Centerline goodness [0,1] 0.6546416204164888 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.07 [[ 0.99851002 -0.05097508 -0.01947513 0.63969113] [ 0.05105465 0.99868934 0.00361021 -0.18645372] [ 0.01926557 -0.00459912 0.99980382 -0.07452283] [ 0. 0. 0. 1. ]] SLAMing on 67.279928851 meters Centerline goodness [0,1] 0.643340375531132 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.07 [[ 0.99853938 -0.05022824 -0.01990531 0.64101663] [ 0.05031803 0.99872509 0.00403599 -0.18668501] [ 0.01967721 -0.00503169 0.99979372 -0.0748313 ] [ 0. 0. 0. 1. ]] SLAMing on 67.309928851 meters Centerline goodness [0,1] 0.661959106038992 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.07 [[ 0.99873728 -0.04607463 -0.02002456 0.640846 ] [ 0.04624959 0.9988949 0.0083636 -0.18829086] [ 0.01961708 -0.00927916 0.99976451 -0.07486544] [ 0. 0. 0. 1. ]] SLAMing on 67.339928851 meters Centerline goodness [0,1] 0.6458619871946882 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.07 [[ 0.99875884 -0.04544602 -0.02038227 0.64187961] [ 0.04562996 0.99892094 0.00865207 -0.18837969] [ 0.01996708 -0.00957138 0.99975482 -0.07496397] [ 0. 0. 0. 1. ]] SLAMing on 67.369928851 meters Centerline goodness [0,1] 0.6659416520875692 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99880389 -0.04423284 -0.02083863 0.64324558] [ 0.04443785 0.99896718 0.00947922 -0.18981645] [ 0.02039781 -0.0103939 0.99973791 -0.07505616] [ 0. 0. 0. 1. ]] SLAMing on 67.399928851 meters Centerline goodness [0,1] 0.6643484020533201 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.07 [[ 0.99881437 -0.04396394 -0.02090514 0.64335238] [ 0.04417476 0.99897642 0.00973195 -0.19054727] [ 0.02045589 -0.01064389 0.9997341 -0.07491214] [ 0. 0. 0. 1. ]] SLAMing on 67.429928851 meters Centerline goodness [0,1] 0.6643484020533201 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.07 [[ 0.99881437 -0.04396394 -0.02090514 0.64335238] [ 0.04417476 0.99897642 0.00973195 -0.19054727] [ 0.02045589 -0.01064389 0.9997341 -0.07491214] [ 0. 0. 0. 1. ]] SLAMing on 67.45992885099999 meters Centerline goodness [0,1] 0.6667532651567039 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.07 [[ 0.99881898 -0.04379368 -0.02104162 0.64355984] [ 0.04400966 0.99898192 0.00991292 -0.19138436] [ 0.02058607 -0.01082725 0.99972946 -0.07469866] [ 0. 0. 0. 1. ]] SLAMing on 67.48992885099999 meters Centerline goodness [0,1] 0.6648726144589641 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.07 [[ 0.99881619 -0.04384309 -0.0210713 0.64343743] [ 0.04406737 0.99897547 0.01029959 -0.19371627] [ 0.02059815 -0.01121595 0.99972492 -0.07450554] [ 0. 0. 0. 1. ]] SLAMing on 67.51992885099999 meters Centerline goodness [0,1] 0.6643551598922338 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99881984 -0.04372033 -0.0211532 0.64378368] [ 0.04395286 0.99897678 0.01065521 -0.19521819] [ 0.02066571 -0.01157237 0.99971946 -0.07467771] [ 0. 0. 0. 1. ]] SLAMing on 67.54992885099999 meters Centerline goodness [0,1] 0.6614046165719498 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99881416 -0.04384583 -0.02116189 0.64382336] [ 0.0440882 0.99896569 0.01112593 -0.19774697] [ 0.02065218 -0.01204573 0.99971415 -0.07478296] [ 0. 0. 0. 1. ]] SLAMing on 67.57992885099999 meters Centerline goodness [0,1] 0.6586523844048928 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99880786 -0.04398697 -0.02116598 0.64371624] [ 0.04423148 0.99895824 0.01122589 -0.19901644] [ 0.02065013 -0.01214871 0.99971295 -0.07463484] [ 0. 0. 0. 1. ]] SLAMing on 67.60992885099999 meters Centerline goodness [0,1] 0.6484116247609273 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.9988006 -0.04409142 -0.02129088 0.64389302] [ 0.04434053 0.99895174 0.01137316 -0.20036604] [ 0.0207671 -0.01230357 0.99970863 -0.07455172] [ 0. 0. 0. 1. ]] SLAMing on 67.639928851 meters Centerline goodness [0,1] 0.664682493547562 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99879967 -0.04406712 -0.02138471 0.64413394] [ 0.04432701 0.99894697 0.01183471 -0.20284221] [ 0.02084067 -0.01276842 0.99970127 -0.07467046] [ 0. 0. 0. 1. ]] SLAMing on 67.669928851 meters Centerline goodness [0,1] 0.6667672173751624 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99879157 -0.0442475 -0.02139055 0.64401631] [ 0.04450518 0.99894035 0.01172427 -0.20348633] [ 0.02084912 -0.01266209 0.99970245 -0.07441247] [ 0. 0. 0. 1. ]] SLAMing on 67.699928851 meters Centerline goodness [0,1] 0.6634501635313493 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99878799 -0.04433456 -0.02137738 0.64367957] [ 0.0445941 0.99893525 0.01182054 -0.20475405] [ 0.02083056 -0.01275952 0.9997016 -0.07389044] [ 0. 0. 0. 1. ]] SLAMing on 67.729928851 meters Centerline goodness [0,1] 0.6659255656684963 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99878007 -0.04453748 -0.02132561 0.64335405] [ 0.04479241 0.99892863 0.01162934 -0.20494664] [ 0.02078482 -0.01257038 0.99970494 -0.07353077] [ 0. 0. 0. 1. ]] SLAMing on 67.759928851 meters Centerline goodness [0,1] 0.660427993059572 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.07 [[ 0.99877458 -0.04465909 -0.02132825 0.64305633] [ 0.04491385 0.9989233 0.01161871 -0.20562124] [ 0.02078641 -0.01256241 0.99970501 -0.07309605] [ 0. 0. 0. 1. ]] SLAMing on 67.789928851 meters Centerline goodness [0,1] 0.6620899373387394 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.07 [[ 0.99877894 -0.04452498 -0.02140464 0.64300043] [ 0.04478045 0.99892941 0.01160757 -0.20699787] [ 0.0208649 -0.0125519 0.99970351 -0.07250883] [ 0. 0. 0. 1. ]] SLAMing on 67.81992885099999 meters Centerline goodness [0,1] 0.6600359165630612 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.07 [[ 0.99878155 -0.0444597 -0.0214185 0.64294657] [ 0.04471249 0.99893403 0.01147161 -0.20699486] [ 0.02088564 -0.01241531 0.99970478 -0.07222899] [ 0. 0. 0. 1. ]] SLAMing on 67.84992885099999 meters Centerline goodness [0,1] 0.6598492010422191 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.07 [[ 0.99880498 -0.04386213 -0.02155733 0.64318059] [ 0.04411744 0.99896 0.01151398 -0.20613552] [ 0.02102988 -0.01245127 0.99970131 -0.07173798] [ 0. 0. 0. 1. ]] SLAMing on 67.87992885099999 meters Centerline goodness [0,1] 0.6594929109130374 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.07 [[ 0.99880743 -0.04377442 -0.02162194 0.64319523] [ 0.04402929 0.99896456 0.01145546 -0.20555286] [ 0.02109809 -0.0123938 0.99970059 -0.07153264] [ 0. 0. 0. 1. ]] SLAMing on 67.90992885099999 meters Centerline goodness [0,1] 0.6582275559658435 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.07 [[ 0.99881366 -0.04362164 -0.02164294 0.64329171] [ 0.0438783 0.99897036 0.01152897 -0.20565306] [ 0.02111775 -0.01246495 0.99969929 -0.071504 ] [ 0. 0. 0. 1. ]] SLAMing on 67.93992885099999 meters Centerline goodness [0,1] 0.6583896799206148 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.07 [[ 0.99882463 -0.04333665 -0.02170951 0.64334832] [ 0.04359697 0.9989811 0.01166469 -0.20629167] [ 0.02118188 -0.01259745 0.99969627 -0.07119935] [ 0. 0. 0. 1. ]] SLAMing on 67.96992885099999 meters Centerline goodness [0,1] 0.6617968480386518 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.07 [[ 0.99882741 -0.04317776 -0.02189722 0.64393796] [ 0.04344225 0.99898684 0.01175004 -0.20699963] [ 0.02136769 -0.01268753 0.99969118 -0.07128344] [ 0. 0. 0. 1. ]] SLAMing on 67.99992885099999 meters Centerline goodness [0,1] 0.6598728755008982 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.07 [[ 0.99885014 -0.04254131 -0.02210509 0.64488465] [ 0.0428212 0.99900646 0.0123463 -0.20795932] [ 0.0215579 -0.01327867 0.99967942 -0.07185524] [ 0. 0. 0. 1. ]] SLAMing on 68.029928851 meters Centerline goodness [0,1] 0.6617521712087355 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.07 [[ 0.99885411 -0.04238261 -0.02223027 0.64520992] [ 0.04266643 0.99901177 0.01245215 -0.20773584] [ 0.02168055 -0.01338637 0.99967533 -0.07191116] [ 0. 0. 0. 1. ]] SLAMing on 68.059928851 meters Centerline goodness [0,1] 0.6616574229627413 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.07 [[ 0.99885138 -0.04242033 -0.02228089 0.6453502 ] [ 0.04269995 0.99901311 0.01222748 -0.20709848] [ 0.02174021 -0.01316483 0.99967697 -0.07180001] [ 0. 0. 0. 1. ]] SLAMing on 68.089928851 meters Centerline goodness [0,1] 0.6569324530218386 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.07 [[ 0.99885359 -0.04232111 -0.02237024 0.64558993] [ 0.04260127 0.99901767 0.01219935 -0.2069454 ] [ 0.02183198 -0.01313837 0.99967532 -0.07177856] [ 0. 0. 0. 1. ]] SLAMing on 68.119928851 meters Centerline goodness [0,1] 0.661045802755987 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.07 [[ 0.99885495 -0.04220078 -0.02253618 0.64621731] [ 0.04248692 0.99902041 0.01237261 -0.20752996] [ 0.02199197 -0.01331593 0.99966946 -0.07211595] [ 0. 0. 0. 1. ]] SLAMing on 68.149928851 meters Centerline goodness [0,1] 0.6467651389655806 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.07 [[ 0.9988388 -0.04264806 -0.02240961 0.64591499] [ 0.04292687 0.99900481 0.01211125 -0.20799892] [ 0.02187079 -0.01305916 0.99967551 -0.07212455] [ 0. 0. 0. 1. ]] SLAMing on 68.179928851 meters Centerline goodness [0,1] 0.6727607644485378 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.07 [[ 0.99882985 -0.04287451 -0.02237663 0.64578865] [ 0.04314841 0.99899775 0.01190428 -0.20795294] [ 0.02184381 -0.01285586 0.99967874 -0.07201029] [ 0. 0. 0. 1. ]] SLAMing on 68.20992885099999 meters Centerline goodness [0,1] 0.6734083431122155 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.07 [[ 0.99879912 -0.04375896 -0.0220335 0.64440301] [ 0.04400791 0.99897125 0.01094316 -0.2064529 ] [ 0.02153197 -0.01189966 0.99969734 -0.07111945] [ 0. 0. 0. 1. ]] SLAMing on 68.23992885099999 meters Centerline goodness [0,1] 0.6692210040392383 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.07 [[ 0.99877821 -0.04442567 -0.02164381 0.64330091] [ 0.04465687 0.9989491 0.01031804 -0.20549409] [ 0.02116267 -0.01127198 0.9997125 -0.07077433] [ 0. 0. 0. 1. ]] SLAMing on 68.26992885099999 meters Centerline goodness [0,1] 0.6363426193503641 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.07 [[ 0.99877105 -0.04462001 -0.0215743 0.64323546] [ 0.04484629 0.99894263 0.01012084 -0.20510157] [ 0.02109989 -0.01107593 0.99971602 -0.0708707 ] [ 0. 0. 0. 1. ]] SLAMing on 68.29992885099999 meters Centerline goodness [0,1] 0.6715880864498456 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99877079 -0.04457745 -0.02167373 0.64367587] [ 0.04479671 0.99894866 0.00973838 -0.20325066] [ 0.02121683 -0.01069732 0.99971767 -0.07103439] [ 0. 0. 0. 1. ]] SLAMing on 68.32992885099999 meters Centerline goodness [0,1] 0.6656386235043131 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99877259 -0.04450109 -0.0217476 0.6440433 ] [ 0.04471737 0.99895392 0.00956202 -0.20206551] [ 0.02129933 -0.01052278 0.99971776 -0.07123346] [ 0. 0. 0. 1. ]] SLAMing on 68.35992885099999 meters Centerline goodness [0,1] 0.6656386235043131 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99877259 -0.04450109 -0.0217476 0.6440433 ] [ 0.04471737 0.99895392 0.00956202 -0.20206551] [ 0.02129933 -0.01052278 0.99971776 -0.07123346] [ 0. 0. 0. 1. ]] SLAMing on 68.389928851 meters Centerline goodness [0,1] 0.6691969916382492 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99878259 -0.0442624 -0.02177573 0.6442151 ] [ 0.04447069 0.99896855 0.00917575 -0.19963656] [ 0.02134713 -0.01013296 0.99972077 -0.07113158] [ 0. 0. 0. 1. ]] SLAMing on 68.419928851 meters Centerline goodness [0,1] 0.6759527367831123 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99878609 -0.04413201 -0.02187947 0.6445283 ] [ 0.0443376 0.99897605 0.00900197 -0.19856364] [ 0.02145979 -0.00996113 0.99972009 -0.07116284] [ 0. 0. 0. 1. ]] SLAMing on 68.449928851 meters Centerline goodness [0,1] 0.6771505691820209 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99880417 -0.04368419 -0.02195272 0.64490045] [ 0.04388271 0.9989993 0.00864382 -0.19638816] [ 0.02155315 -0.00959682 0.99972164 -0.0710248 ] [ 0. 0. 0. 1. ]] SLAMing on 68.479928851 meters Centerline goodness [0,1] 0.6630794119715833 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.07 [[ 0.99880797 -0.04351658 -0.02211207 0.64529902] [ 0.04371047 0.99900924 0.00836202 -0.19536096] [ 0.02172627 -0.00931858 0.99972053 -0.07083725] [ 0. 0. 0. 1. ]] SLAMing on 68.509928851 meters Centerline goodness [0,1] 0.6800037635546774 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.07 [[ 0.99883209 -0.04292272 -0.02218318 0.64623816] [ 0.04311322 0.99903669 0.00818164 -0.1932368 ] [ 0.02181063 -0.00912848 0.99972044 -0.07149122] [ 0. 0. 0. 1. ]] SLAMing on 68.539928851 meters Centerline goodness [0,1] 0.6762517074089774 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.07 [[ 0.99884141 -0.04265923 -0.02227169 0.64677058] [ 0.04284766 0.99904916 0.00805292 -0.19206082] [ 0.02190698 -0.00899788 0.99971952 -0.07177166] [ 0. 0. 0. 1. ]] SLAMing on 68.56992885099999 meters Centerline goodness [0,1] 0.6956943000283581 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.07 [[ 0.998885 -0.04148596 -0.02253144 0.64853483] [ 0.04168366 0.99909574 0.0083769 -0.18996175] [ 0.02216354 -0.00930675 0.99971104 -0.0729181 ] [ 0. 0. 0. 1. ]] SLAMing on 68.59992885099999 meters Centerline goodness [0,1] 0.6805368493183053 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.07 [[ 0.99889113 -0.0411863 -0.02280807 0.64933675] [ 0.04138411 0.99910909 0.00826965 -0.18886476] [ 0.02244715 -0.00920437 0.99970566 -0.07306543] [ 0. 0. 0. 1. ]] SLAMing on 68.62992885099999 meters Centerline goodness [0,1] 0.6819063845899002 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.07 [[ 0.99891004 -0.04058203 -0.02306165 0.6502931 ] [ 0.04077716 0.9991358 0.00805468 -0.18651722] [ 0.02271484 -0.00898629 0.9997016 -0.07318297] [ 0. 0. 0. 1. ]] SLAMing on 68.65992885099999 meters Centerline goodness [0,1] 0.690737609260009 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.07 [[ 0.99890981 -0.04050688 -0.02320292 0.65059348] [ 0.04069711 0.9991412 0.00778562 -0.18515181] [ 0.02286762 -0.00872142 0.99970046 -0.07310489] [ 0. 0. 0. 1. ]] SLAMing on 68.68992885099999 meters Centerline goodness [0,1] 0.6935418504303049 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99891973 -0.04025835 -0.02320879 0.65088917] [ 0.04043746 0.9991554 0.00730008 -0.18232144] [ 0.0228953 -0.0082307 0.99970399 -0.073102 ] [ 0. 0. 0. 1. ]] SLAMing on 68.71992885099999 meters Centerline goodness [0,1] 0.6962869157985281 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99892009 -0.04020279 -0.0232892 0.65126477] [ 0.04037858 0.99915903 0.00712754 -0.18109502] [ 0.02298306 -0.00806023 0.99970336 -0.07329101] [ 0. 0. 0. 1. ]] SLAMing on 68.74992885099999 meters Centerline goodness [0,1] 0.6918168347593328 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99891345 -0.04042405 -0.02319077 0.65114995] [ 0.04059003 0.99915321 0.00673147 -0.18002838] [ 0.02289902 -0.00766547 0.9997084 -0.07333936] [ 0. 0. 0. 1. ]] SLAMing on 68.779928851 meters Centerline goodness [0,1] 0.6879609232832105 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99889823 -0.04092399 -0.02296865 0.65088379] [ 0.04107886 0.99913597 0.00631137 -0.17908322] [ 0.02269052 -0.00724794 0.99971626 -0.07371481] [ 0. 0. 0. 1. ]] SLAMing on 68.809928851 meters Centerline goodness [0,1] 0.6827962153594929 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99888278 -0.04138774 -0.02280897 0.65049071] [ 0.04153328 0.99911944 0.00594436 -0.17847746] [ 0.02254287 -0.00688505 0.99972217 -0.07375866] [ 0. 0. 0. 1. ]] SLAMing on 68.839928851 meters Centerline goodness [0,1] 0.6705056382390421 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99885324 -0.04219142 -0.0226295 0.64994506] [ 0.04232371 0.99908936 0.00539904 -0.17743273] [ 0.0223811 -0.00635061 0.99972934 -0.07379917] [ 0. 0. 0. 1. ]] SLAMing on 68.869928851 meters Centerline goodness [0,1] 0.6695606166277868 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99883904 -0.04257446 -0.02253873 0.64965838] [ 0.04269914 0.99907506 0.00507971 -0.17656296] [ 0.02230162 -0.0060362 0.99973307 -0.07376356] [ 0. 0. 0. 1. ]] SLAMing on 68.899928851 meters Centerline goodness [0,1] 0.6678947241686533 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.9988315 -0.04279488 -0.02245506 0.64974964] [ 0.0429165 0.99906634 0.00496242 -0.17588286] [ 0.02222173 -0.00592031 0.99973554 -0.07419655] [ 0. 0. 0. 1. ]] SLAMing on 68.92992885099999 meters Centerline goodness [0,1] 0.6667794316644113 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99881697 -0.04325969 -0.02220937 0.64957204] [ 0.04337694 0.99904713 0.00482447 -0.1752568 ] [ 0.0219795 -0.00578214 0.9997417 -0.0748877 ] [ 0. 0. 0. 1. ]] SLAMing on 68.95992885099999 meters Centerline goodness [0,1] 0.6678002894356005 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.08 [[ 0.99880766 -0.04351196 -0.02213526 0.64961164] [ 0.04362854 0.99903624 0.00481126 -0.17530789] [ 0.02190458 -0.00577125 0.99974341 -0.07528892] [ 0. 0. 0. 1. ]] SLAMing on 68.98992885099999 meters Centerline goodness [0,1] 0.6622369343030421 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.08 [[ 0.99879027 -0.04402974 -0.02189478 0.64929407] [ 0.04414221 0.9990143 0.00468009 -0.17509673] [ 0.02166714 -0.00564091 0.99974933 -0.07581685] [ 0. 0. 0. 1. ]] SLAMing on 69.01992885099999 meters Centerline goodness [0,1] 0.6670371623254241 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.99878045 -0.0443445 -0.02170644 0.64890266] [ 0.04445309 0.99900113 0.00454605 -0.17492209] [ 0.02148316 -0.00550542 0.99975405 -0.07594022] [ 0. 0. 0. 1. ]] SLAMing on 69.04992885099999 meters Centerline goodness [0,1] 0.658514755684567 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.99877148 -0.04462386 -0.02154621 0.64855796] [ 0.04472807 0.9989896 0.00437867 -0.17453025] [ 0.02132905 -0.00533701 0.99975826 -0.07595168] [ 0. 0. 0. 1. ]] SLAMing on 69.07992885099999 meters Centerline goodness [0,1] 0.6669423900350331 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.99875097 -0.04518798 -0.02132026 0.64760536] [ 0.04527602 0.99896779 0.00366468 -0.17264158] [ 0.02113266 -0.0046254 0.99976598 -0.07533806] [ 0. 0. 0. 1. ]] SLAMing on 69.10992885099999 meters Centerline goodness [0,1] 0.6643939024984171 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.99874122 -0.04549826 -0.02111609 0.64744607] [ 0.04557997 0.99895489 0.00340411 -0.17169312] [ 0.02093914 -0.00436229 0.99977124 -0.07580599] [ 0. 0. 0. 1. ]] SLAMing on 69.139928851 meters Centerline goodness [0,1] 0.6649946430310705 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.9987392 -0.04561605 -0.02095658 0.64747006] [ 0.04569837 0.99894927 0.00346583 -0.17155237] [ 0.02077646 -0.00441914 0.99977438 -0.07639387] [ 0. 0. 0. 1. ]] SLAMing on 69.169928851 meters Centerline goodness [0,1] 0.6639488331217654 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.99871774 -0.04620931 -0.02067807 0.64686556] [ 0.04628445 0.99892327 0.0031696 -0.17103761] [ 0.02050935 -0.00412261 0.99978116 -0.07665289] [ 0. 0. 0. 1. ]] SLAMing on 69.199928851 meters Centerline goodness [0,1] 0.6621212860418597 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.99870523 -0.04656964 -0.02047288 0.64640928] [ 0.04663975 0.99890739 0.00296051 -0.17041487] [ 0.02031264 -0.00391152 0.99978603 -0.07673216] [ 0. 0. 0. 1. ]] SLAMing on 69.229928851 meters Centerline goodness [0,1] 0.6580682984024623 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.99869404 -0.04691007 -0.0202399 0.64588479] [ 0.04697697 0.99889193 0.00284213 -0.16993021] [ 0.02008414 -0.00378922 0.99979111 -0.07685265] [ 0. 0. 0. 1. ]] SLAMing on 69.259928851 meters Centerline goodness [0,1] 0.6629276637341153 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.99866714 -0.04756943 -0.0200275 0.64554724] [ 0.04762987 0.99886179 0.00255157 -0.16887324] [ 0.01988332 -0.00350208 0.99979617 -0.0773662 ] [ 0. 0. 0. 1. ]] SLAMing on 69.289928851 meters Centerline goodness [0,1] 0.6573602204286655 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.9986587 -0.04776512 -0.01998241 0.64578016] [ 0.04782847 0.9988519 0.00270427 -0.16926954] [ 0.0198303 -0.00365637 0.99979667 -0.07796836] [ 0. 0. 0. 1. ]] SLAMing on 69.31992885099999 meters Centerline goodness [0,1] 0.6573602204286655 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.9986587 -0.04776512 -0.01998241 0.64578016] [ 0.04782847 0.9988519 0.00270427 -0.16926954] [ 0.0198303 -0.00365637 0.99979667 -0.07796836] [ 0. 0. 0. 1. ]] SLAMing on 69.34992885099999 meters Centerline goodness [0,1] 0.6552617429981915 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.99865108 -0.04799622 -0.01980847 0.64559386] [ 0.04805804 0.99884101 0.00265685 -0.16931051] [ 0.01965799 -0.00360522 0.99980026 -0.0782822 ] [ 0. 0. 0. 1. ]] SLAMing on 69.37992885099999 meters Centerline goodness [0,1] 0.6599166462368227 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.08 [[ 0.99862281 -0.04867654 -0.01957256 0.64493979] [ 0.04872807 0.99880974 0.00216431 -0.16825225] [ 0.01944391 -0.00311506 0.9998061 -0.07827944] [ 0. 0. 0. 1. ]] SLAMing on 69.40992885099999 meters Centerline goodness [0,1] 0.6579115165783794 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.99861767 -0.04879168 -0.01954797 0.64503999] [ 0.04884083 0.99880448 0.0020445 -0.16745799] [ 0.01942484 -0.00299642 0.99980683 -0.07850877] [ 0. 0. 0. 1. ]] SLAMing on 69.43992885099999 meters Centerline goodness [0,1] 0.6572180155374177 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.08 [[ 0.99859559 -0.0493164 -0.01935834 0.64456456] [ 0.04935605 0.99878001 0.00157522 -0.16603283] [ 0.01925704 -0.00252846 0.99981137 -0.07855738] [ 0. 0. 0. 1. ]] SLAMing on 69.46992885099999 meters Centerline goodness [0,1] 0.6566896653325803 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.08 [[ 0.998594 -0.04934777 -0.01936005 0.64477067] [ 0.04938876 0.99877828 0.00164459 -0.16595262] [ 0.01925524 -0.00259844 0.99981122 -0.07890859] [ 0. 0. 0. 1. ]] SLAMing on 69.49992885099999 meters Centerline goodness [0,1] 0.6557066154376632 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.08 [[ 0.9985772 -0.04977726 -0.01912576 0.64435377] [ 0.04981287 0.9987576 0.00138941 -0.16546527] [ 0.01903284 -0.00234015 0.99981612 -0.07917621] [ 0. 0. 0. 1. ]] SLAMing on 69.529928851 meters Centerline goodness [0,1] 0.6521332381397869 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.08 [[ 0.99857105 -0.04995144 -0.01899263 0.64414812] [ 0.04998425 0.99874922 0.00125637 -0.16521106] [ 0.01890612 -0.00220391 0.99981883 -0.07927168] [ 0. 0. 0. 1. ]] SLAMing on 69.559928851 meters Centerline goodness [0,1] 0.6190019193857965 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99855374 -0.05041695 -0.01866955 0.64330489] [ 0.05044481 0.99872633 0.00102416 -0.16475643] [ 0.01859413 -0.00196446 0.99982518 -0.07925996] [ 0. 0. 0. 1. ]] SLAMing on 69.589928851 meters Centerline goodness [0,1] 0.6517503505621294 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99855089 -0.05051397 -0.01855957 0.64305671] [ 0.05054395 0.99872118 0.00114969 -0.1647867 ] [ 0.01847776 -0.0020861 0.9998271 -0.07935819] [ 0. 0. 0. 1. ]] SLAMing on 69.619928851 meters Centerline goodness [0,1] 0.6470371371691204 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99854397 -0.05066017 -0.01853358 0.64297543] [ 0.05068923 0.99871387 0.00110146 -0.16453876] [ 0.01845395 -0.00203931 0.99982763 -0.07937653] [ 0. 0. 0. 1. ]] SLAMing on 69.649928851 meters Centerline goodness [0,1] 0.6451016179952644 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 9.98532280e-01 -5.09868316e-02 -1.82655329e-02 6.42280627e-01] [ 5.10123682e-02 9.98697584e-01 9.34586230e-04 -1.64193646e-01] [ 1.81940920e-02 -1.86498261e-03 9.99832734e-01 -7.92767373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67992885099999 meters Centerline goodness [0,1] 0.6370126033871604 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 9.98531267e-01 -5.09870363e-02 -1.83202593e-02 6.42380496e-01] [ 5.10125112e-02 9.98697585e-01 9.25611434e-04 -1.63946573e-01] [ 1.82492046e-02 -1.85881439e-03 9.99831742e-01 -7.92531429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70992885099999 meters Centerline goodness [0,1] 0.6363748580457216 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 9.98530056e-01 -5.10337281e-02 -1.82561189e-02 6.42239012e-01] [ 5.10536848e-02 9.98695713e-01 6.28464392e-04 -1.62594580e-01] [ 1.82002348e-02 -1.55958273e-03 9.99833146e-01 -7.91027318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.73992885099999 meters Centerline goodness [0,1] 0.6440707265273868 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 9.98533219e-01 -5.09775268e-02 -1.82401040e-02 6.42368423e-01] [ 5.09968999e-02 9.98698632e-01 5.98260656e-04 -1.62189589e-01] [ 1.81858691e-02 -1.52757190e-03 9.99833456e-01 -7.92021152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.76992885099999 meters Centerline goodness [0,1] 0.6335656070716273 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 9.98547760e-01 -5.06259592e-02 -1.84223538e-02 6.43228544e-01] [ 5.06494023e-02 9.98716169e-01 8.07885514e-04 -1.62047977e-01] [ 1.83578026e-02 -1.73979348e-03 9.99829968e-01 -7.96978620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.79992885099999 meters Centerline goodness [0,1] 0.645909977531419 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99856683 -0.05019102 -0.01857828 0.64439826] [ 0.0502202 0.99873756 0.00110692 -0.16204283] [ 0.01849927 -0.00203833 0.9998268 -0.08071261] [ 0. 0. 0. 1. ]] SLAMing on 69.82992885099999 meters Centerline goodness [0,1] 0.6287000811987894 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.08 [[ 0.99858044 -0.04985471 -0.01875149 0.64544764] [ 0.04989045 0.99875365 0.00144269 -0.16217368] [ 0.0186562 -0.00237617 0.99982313 -0.08157564] [ 0. 0. 0. 1. ]] SLAMing on 69.85992885099999 meters Centerline goodness [0,1] 0.6531371679235054 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.08 [[ 0.99859253 -0.04954848 -0.01891842 0.64612188] [ 0.04958492 0.99876884 0.00146172 -0.16137762] [ 0.0188227 -0.00239773 0.99981996 -0.08184918] [ 0. 0. 0. 1. ]] SLAMing on 69.889928851 meters Centerline goodness [0,1] 0.6465695442464809 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.08 [[ 0.99860887 -0.04910288 -0.01921564 0.64704114] [ 0.04914272 0.99879047 0.00160654 -0.16097682] [ 0.01911351 -0.00254861 0.99981407 -0.08206205] [ 0. 0. 0. 1. ]] SLAMing on 69.919928851 meters Centerline goodness [0,1] 0.6562608308164579 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.08 [[ 0.99862309 -0.0487154 -0.01946091 0.64776542] [ 0.04875484 0.99880956 0.00155699 -0.16013055] [ 0.01936189 -0.00250366 0.99980941 -0.08205524] [ 0. 0. 0. 1. ]] SLAMing on 69.949928851 meters Centerline goodness [0,1] 0.655371287128713 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.08 [[ 0.99866119 -0.0478361 -0.01968567 0.6484894 ] [ 0.04787398 0.99885232 0.00145714 -0.15835155] [ 0.01959338 -0.00239762 0.99980516 -0.08169349] [ 0. 0. 0. 1. ]] SLAMing on 69.979928851 meters Centerline goodness [0,1] 0.6452971339394089 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.08 [[ 0.99866927 -0.04760301 -0.01984056 0.64878715] [ 0.0476402 0.99886357 0.00140582 -0.15778755] [ 0.01975109 -0.00234916 0.99980217 -0.08154195] [ 0. 0. 0. 1. ]] SLAMing on 70.009928851 meters Centerline goodness [0,1] 0.652623487403293 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.08 [[ 0.99868729 -0.04717005 -0.0199671 0.64921179] [ 0.04720967 0.99888385 0.0015173 -0.15745592] [ 0.01987324 -0.00245795 0.99979949 -0.08149168] [ 0. 0. 0. 1. ]] SLAMing on 70.039928851 meters Centerline goodness [0,1] 0.6611392028554433 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.08 [[ 0.99869798 -0.04689903 -0.02007071 0.64972894] [ 0.0469433 0.99889604 0.00173986 -0.15764322] [ 0.01996696 -0.00267978 0.99979705 -0.08180721] [ 0. 0. 0. 1. ]] SLAMing on 70.06992885099999 meters Centerline goodness [0,1] 0.6546750129895835 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.08 [[ 0.99869312 -0.04708258 -0.0198819 0.64928483] [ 0.04713316 0.99888644 0.00208291 -0.15949675] [ 0.01976169 -0.00301728 0.99980017 -0.0819081 ] [ 0. 0. 0. 1. ]] SLAMing on 70.09992885099999 meters Centerline goodness [0,1] 0.6584968530174009 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.08 [[ 0.99869136 -0.0471691 -0.01976448 0.64924897] [ 0.04722697 0.99888113 0.00247107 -0.1611654 ] [ 0.01962581 -0.00340125 0.99980161 -0.08228151] [ 0. 0. 0. 1. ]] SLAMing on 70.12992885099999 meters Centerline goodness [0,1] 0.6480286562476999 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.08 [[ 0.99865661 -0.0479799 -0.01956818 0.64832405] [ 0.04804104 0.9988418 0.00266631 -0.16398169] [ 0.01941759 -0.0036028 0.99980497 -0.08209334] [ 0. 0. 0. 1. ]] SLAMing on 70.15992885099999 meters Centerline goodness [0,1] 0.6468028615679622 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.99864204 -0.04831286 -0.01949199 0.64793925] [ 0.04837569 0.99882538 0.00276482 -0.16512673] [ 0.01933552 -0.003704 0.99980619 -0.08197986] [ 0. 0. 0. 1. ]] SLAMing on 70.18992885099999 meters Centerline goodness [0,1] 0.6562699230052473 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.99863483 -0.04852036 -0.01934542 0.64755925] [ 0.04858714 0.99881445 0.00299691 -0.16654819] [ 0.01917707 -0.00393276 0.99980837 -0.082024 ] [ 0. 0. 0. 1. ]] SLAMing on 70.21992885099999 meters Centerline goodness [0,1] 0.6578411405295316 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.99862616 -0.04879493 -0.01910119 0.64701441] [ 0.04886634 0.99879991 0.00328946 -0.16803289] [ 0.01891776 -0.00421835 0.99981214 -0.08216883] [ 0. 0. 0. 1. ]] SLAMing on 70.24992885099999 meters Centerline goodness [0,1] 0.6354217574039683 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.99858161 -0.04975993 -0.01893989 0.64611419] [ 0.04982809 0.99875286 0.00314326 -0.17086147] [ 0.01875986 -0.00408254 0.99981568 -0.08172573] [ 0. 0. 0. 1. ]] SLAMing on 70.279928851 meters Centerline goodness [0,1] 0.6478856055245114 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.99857561 -0.04996788 -0.01870749 0.64572088] [ 0.05004171 0.998741 0.00349887 -0.17269371] [ 0.0185091 -0.00443004 0.99981888 -0.0819966 ] [ 0. 0. 0. 1. ]] SLAMing on 70.309928851 meters Centerline goodness [0,1] 0.6493660759739157 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99851328 -0.05120642 -0.0186853 0.64462472] [ 0.05127544 0.99867932 0.00323296 -0.17546739] [ 0.01849508 -0.00418625 0.99982019 -0.0811372 ] [ 0. 0. 0. 1. ]] SLAMing on 70.339928851 meters Centerline goodness [0,1] 0.6504270186335404 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99849867 -0.05154169 -0.01854368 0.64404647] [ 0.05161187 0.99866168 0.00332555 -0.17665193] [ 0.01834746 -0.00427763 0.99982252 -0.08089469] [ 0. 0. 0. 1. ]] SLAMing on 70.369928851 meters Centerline goodness [0,1] 0.6448903519388101 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99848749 -0.05181794 -0.01837465 0.64362649] [ 0.05189196 0.99864631 0.00357437 -0.17806872] [ 0.01816456 -0.00452246 0.99982478 -0.08100989] [ 0. 0. 0. 1. ]] SLAMing on 70.399928851 meters Centerline goodness [0,1] 0.642 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99847919 -0.05198493 -0.01835386 0.6436909 ] [ 0.05206551 0.9986359 0.00393985 -0.17976214] [ 0.01812401 -0.00488947 0.99982379 -0.08130815] [ 0. 0. 0. 1. ]] SLAMing on 70.42992885099999 meters Centerline goodness [0,1] 0.6404353689077249 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99844059 -0.05279018 -0.01815427 0.64276265] [ 0.05286812 0.99859412 0.00384 -0.18231447] [ 0.01792603 -0.00479379 0.99982782 -0.08083612] [ 0. 0. 0. 1. ]] SLAMing on 70.45992885099999 meters Centerline goodness [0,1] 0.6372737312142891 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99843452 -0.05290163 -0.0181637 0.64256942] [ 0.05297964 0.99858821 0.00384094 -0.18361865] [ 0.01793486 -0.00479723 0.99982765 -0.08046963] [ 0. 0. 0. 1. ]] SLAMing on 70.48992885099999 meters Centerline goodness [0,1] 0.6347780253479959 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99844091 -0.0527768 -0.01817559 0.64260521] [ 0.05285544 0.99859466 0.00387363 -0.18347029] [ 0.01794561 -0.00482827 0.99982731 -0.08039409] [ 0. 0. 0. 1. ]] SLAMing on 70.51992885099999 meters Centerline goodness [0,1] 0.6348169418521177 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99845633 -0.05240859 -0.01839259 0.64306881] [ 0.05248837 0.99861399 0.00388181 -0.1830243 ] [ 0.01816366 -0.00484122 0.99982331 -0.08018597] [ 0. 0. 0. 1. ]] SLAMing on 70.54992885099999 meters Centerline goodness [0,1] 0.6468765016818837 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99864712 -0.04865827 -0.01833836 0.64237908] [ 0.0488099 0.99877674 0.00791361 -0.18427568] [ 0.01793086 -0.008798 0.99980052 -0.08020378] [ 0. 0. 0. 1. ]] SLAMing on 70.57992885099999 meters Centerline goodness [0,1] 0.6450797167766485 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99867042 -0.04807739 -0.01859977 0.64329285] [ 0.04823471 0.99880315 0.00810387 -0.18428682] [ 0.0181879 -0.00899025 0.99979417 -0.08039589] [ 0. 0. 0. 1. ]] SLAMing on 70.60992885099999 meters Centerline goodness [0,1] 0.6400645192353989 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99870054 -0.0472787 -0.01902522 0.64464091] [ 0.0474461 0.9988381 0.00844548 -0.18431885] [ 0.01860382 -0.00933718 0.99978333 -0.08068163] [ 0. 0. 0. 1. ]] SLAMing on 70.639928851 meters Centerline goodness [0,1] 0.6467111901215586 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99888485 -0.04311464 -0.01924023 0.64483356] [ 0.04336023 0.99898086 0.01253531 -0.18502153] [ 0.01868017 -0.01335559 0.99973631 -0.08081287] [ 0. 0. 0. 1. ]] SLAMing on 70.669928851 meters Centerline goodness [0,1] 0.6510524541207071 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.08 [[ 0.99891205 -0.04229035 -0.01965303 0.64614282] [ 0.04254481 0.99901365 0.01271507 -0.18431464] [ 0.01909592 -0.01353737 0.99972601 -0.08096633] [ 0. 0. 0. 1. ]] SLAMing on 70.699928851 meters Centerline goodness [0,1] 0.6591477491342824 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.08 [[ 0.99906979 -0.03832018 -0.01977687 0.64579143] [ 0.03864883 0.99911641 0.01651244 -0.18425722] [ 0.01912663 -0.01726143 0.99966805 -0.08060125] [ 0. 0. 0. 1. ]] SLAMing on 70.729928851 meters Centerline goodness [0,1] 0.6599098556243823 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.08 [[ 0.99908119 -0.03785729 -0.02008995 0.6466195 ] [ 0.03819162 0.99913375 0.0165274 -0.18381316] [ 0.01944686 -0.01727948 0.99966156 -0.08053389] [ 0. 0. 0. 1. ]] SLAMing on 70.759928851 meters Centerline goodness [0,1] 0.6704976217495231 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.08 [[ 0.99912842 -0.03636133 -0.02050006 0.6486951 ] [ 0.03671536 0.99917831 0.01716626 -0.18372989] [ 0.01985903 -0.01790396 0.99964247 -0.08145744] [ 0. 0. 0. 1. ]] SLAMing on 70.789928851 meters Centerline goodness [0,1] 0.6692143962848297 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.08 [[ 0.9991452 -0.03571163 -0.02082205 0.64999973] [ 0.03607453 0.99919897 0.01732164 -0.18309441] [ 0.02018679 -0.01805798 0.99963313 -0.08199468] [ 0. 0. 0. 1. ]] SLAMing on 70.81992885099999 meters Centerline goodness [0,1] 0.6737391556511443 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.08 [[ 0.9991558 -0.03518627 -0.02120399 0.65127395] [ 0.03555288 0.99922032 0.01716803 -0.18186613] [ 0.02058338 -0.0179074 0.99962776 -0.08217417] [ 0. 0. 0. 1. ]] SLAMing on 70.84992885099999 meters Centerline goodness [0,1] 0.67591763652641 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.08 [[ 0.99928898 -0.03111912 -0.02128689 0.65146741] [ 0.0315653 0.99928198 0.0209561 -0.18141 ] [ 0.02061947 -0.02161313 0.99955376 -0.08250749] [ 0. 0. 0. 1. ]] SLAMing on 70.87992885099999 meters Centerline goodness [0,1] 0.6764677411548328 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.08 [[ 0.99929514 -0.03074029 -0.02154671 0.65220221] [ 0.03118892 0.99929698 0.02080398 -0.18048963] [ 0.02089204 -0.02146133 0.99955137 -0.08245107] [ 0. 0. 0. 1. ]] SLAMing on 70.90992885099999 meters Centerline goodness [0,1] 0.6784242424242424 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.08 [[ 0.99929852 -0.03046913 -0.02177371 0.65273966] [ 0.03091698 0.99931097 0.02053615 -0.17948439] [ 0.02113299 -0.02119492 0.99955199 -0.08217748] [ 0. 0. 0. 1. ]] SLAMing on 70.93992885099999 meters Centerline goodness [0,1] 0.6829315613328806 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.08 [[ 0.99931346 -0.02987766 -0.02190745 0.65321829] [ 0.03032081 0.99933642 0.02018349 -0.17744411] [ 0.02128988 -0.02083388 0.99955625 -0.08182114] [ 0. 0. 0. 1. ]] SLAMing on 70.96992885099999 meters Centerline goodness [0,1] 0.6789823760741855 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.08 [[ 0.99930674 -0.03007117 -0.02194901 0.65306041] [ 0.03050362 0.99934166 0.01964102 -0.17629989] [ 0.02134393 -0.02029692 0.99956614 -0.08133492] [ 0. 0. 0. 1. ]] SLAMing on 70.99992885099999 meters Centerline goodness [0,1] 0.6805353152628 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.08 [[ 0.99928919 -0.0307327 -0.02183164 0.65200564] [ 0.03114317 0.99933967 0.01871724 -0.17514788] [ 0.02124199 -0.01938384 0.99958644 -0.08017709] [ 0. 0. 0. 1. ]] SLAMing on 71.029928851 meters Centerline goodness [0,1] 0.676754684011261 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.99927393 -0.03136831 -0.02162509 0.65110204] [ 0.03176208 0.99933132 0.01811281 -0.17463293] [ 0.02104246 -0.01878651 0.99960206 -0.07960143] [ 0. 0. 0. 1. ]] SLAMing on 71.059928851 meters Centerline goodness [0,1] 0.675669087895481 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.99926168 -0.03185081 -0.02148529 0.65050049] [ 0.03223448 0.99932264 0.01775377 -0.17453957] [ 0.02090526 -0.01843323 0.99961152 -0.07925234] [ 0. 0. 0. 1. ]] SLAMing on 71.089928851 meters Centerline goodness [0,1] 0.6823162713680417 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.99912877 -0.03574074 -0.02154749 0.65111097] [ 0.03603309 0.99926162 0.01333554 -0.17277035] [ 0.02105495 -0.01410034 0.99967888 -0.07905024] [ 0. 0. 0. 1. ]] SLAMing on 71.119928851 meters Centerline goodness [0,1] 0.6797407829907041 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.9990035 -0.03884976 -0.02197056 0.6530088 ] [ 0.03906678 0.99919109 0.0095366 -0.17148225] [ 0.0215823 -0.01038541 0.99971313 -0.07936342] [ 0. 0. 0. 1. ]] SLAMing on 71.149928851 meters Centerline goodness [0,1] 0.6778748180494905 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.99899211 -0.0392458 -0.02178379 0.65272764] [ 0.03945915 0.99917648 0.00945185 -0.17194552] [ 0.0213949 -0.01030189 0.99971802 -0.07961344] [ 0. 0. 0. 1. ]] SLAMing on 71.17992885099999 meters Centerline goodness [0,1] 0.674166020170675 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.99895901 -0.04023034 -0.0215039 0.65185084] [ 0.04043395 0.9991406 0.00911866 -0.17255161] [ 0.02111857 -0.00997865 0.99972718 -0.07968337] [ 0. 0. 0. 1. ]] SLAMing on 71.20992885099999 meters Centerline goodness [0,1] 0.6757262217040707 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.99894596 -0.04062852 -0.02136113 0.65127871] [ 0.04082678 0.99912635 0.00892841 -0.17284141] [ 0.02097972 -0.00979111 0.99973196 -0.07940292] [ 0. 0. 0. 1. ]] SLAMing on 71.23992885099999 meters Centerline goodness [0,1] 0.6757262217040707 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.99894596 -0.04062852 -0.02136113 0.65127871] [ 0.04082678 0.99912635 0.00892841 -0.17284141] [ 0.02097972 -0.00979111 0.99973196 -0.07940292] [ 0. 0. 0. 1. ]] SLAMing on 71.26992885099999 meters Centerline goodness [0,1] 0.6555313483418059 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.99890669 -0.04170807 -0.02111553 0.64977909] [ 0.04189338 0.99908669 0.0084107 -0.17395461] [ 0.02074545 -0.00928611 0.99974166 -0.07835946] [ 0. 0. 0. 1. ]] SLAMing on 71.29992885099999 meters Centerline goodness [0,1] 0.6650825050661006 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.9988876 -0.04231489 -0.02080897 0.64867931] [ 0.04249341 0.99906299 0.00821306 -0.17485179] [ 0.02044194 -0.00908817 0.99974973 -0.07791276] [ 0. 0. 0. 1. ]] SLAMing on 71.32992885099999 meters Centerline goodness [0,1] 0.6665540132770067 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.08 [[ 0.99886633 -0.04295723 -0.02051191 0.64755783] [ 0.04312769 0.99903801 0.00794143 -0.17537089] [ 0.02015104 -0.00881706 0.99975807 -0.07743222] [ 0. 0. 0. 1. ]] SLAMing on 71.35992885099999 meters Centerline goodness [0,1] 0.6646644722615986 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.08 [[ 0.99880681 -0.04439103 -0.02035653 0.64583463] [ 0.04454846 0.99898021 0.00734634 -0.177436 ] [ 0.02000966 -0.00824443 0.99976579 -0.07604095] [ 0. 0. 0. 1. ]] SLAMing on 71.389928851 meters Centerline goodness [0,1] 0.6620813827871804 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.08 [[ 0.99879348 -0.0447863 -0.02014385 0.64520179] [ 0.04494508 0.99896131 0.00749982 -0.1788866 ] [ 0.01978704 -0.00839614 0.99976896 -0.07602068] [ 0. 0. 0. 1. ]] SLAMing on 71.419928851 meters Centerline goodness [0,1] 0.6594178655068585 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.08 [[ 0.9986241 -0.04836262 -0.02027209 0.64603726] [ 0.04845393 0.99881726 0.00403675 -0.18023324] [ 0.02005289 -0.00501346 0.99978635 -0.07605242] [ 0. 0. 0. 1. ]] SLAMing on 71.449928851 meters Centerline goodness [0,1] 0.6575273939971416 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.08 [[ 0.99860576 -0.04885825 -0.01998537 0.64516035] [ 0.04894893 0.99879298 0.00407339 -0.18160388] [ 0.01976223 -0.00504597 0.99979197 -0.07583076] [ 0. 0. 0. 1. ]] SLAMing on 71.479928851 meters Centerline goodness [0,1] 0.657660445629404 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99859163 -0.04919581 -0.01986279 0.64476282] [ 0.04929104 0.99877506 0.00433361 -0.18327843] [ 0.01962526 -0.00530656 0.99979332 -0.07583779] [ 0. 0. 0. 1. ]] SLAMing on 71.509928851 meters Centerline goodness [0,1] 0.6515993285893283 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.07 [[ 0.99848945 -0.05137391 -0.01948198 0.64312409] [ 0.05143767 0.99867232 0.00278523 -0.18569893] [ 0.01931303 -0.00378313 0.99980633 -0.07475207] [ 0. 0. 0. 1. ]] SLAMing on 71.539928851 meters Centerline goodness [0,1] 0.6439893227505729 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.07 [[ 0.99847821 -0.05164322 -0.01934514 0.64270222] [ 0.05171063 0.9986576 0.00300053 -0.18725944] [ 0.01916422 -0.00399632 0.99980836 -0.07470638] [ 0. 0. 0. 1. ]] SLAMing on 71.56992885099999 meters Centerline goodness [0,1] 0.6466793794288674 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.07 [[ 0.99846682 -0.05185642 -0.0193628 0.64259074] [ 0.05193073 0.99864506 0.0033546 -0.19014768] [ 0.0191626 -0.00435498 0.9998069 -0.07466505] [ 0. 0. 0. 1. ]] SLAMing on 71.59992885099999 meters Centerline goodness [0,1] 0.6458964779962877 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99848133 -0.05154608 -0.01944338 0.64304415] [ 0.05163143 0.99865854 0.00391319 -0.19182138] [ 0.01921559 -0.00491113 0.9998033 -0.07501339] [ 0. 0. 0. 1. ]] SLAMing on 71.62992885099999 meters Centerline goodness [0,1] 0.6428286899266584 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99849204 -0.05131657 -0.01949992 0.64336277] [ 0.05140763 0.99866893 0.00419699 -0.19228653] [ 0.01925859 -0.00519311 0.99980105 -0.07521569] [ 0. 0. 0. 1. ]] SLAMing on 71.65992885099999 meters Centerline goodness [0,1] 0.6438224616465629 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99849761 -0.05115435 -0.01964058 0.64353681] [ 0.05124942 0.99867633 0.00436764 -0.19261955] [ 0.01939116 -0.00536765 0.99979757 -0.07504624] [ 0. 0. 0. 1. ]] SLAMing on 71.68992885099999 meters Centerline goodness [0,1] 0.6370864324185689 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99851931 -0.05062306 -0.01991222 0.6444839 ] [ 0.0507293 0.99870058 0.0048667 -0.19345324] [ 0.01963997 -0.00586963 0.99978989 -0.07541502] [ 0. 0. 0. 1. ]] SLAMing on 71.71992885099999 meters Centerline goodness [0,1] 0.6485955056179775 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.08 [[ 0.99855056 -0.04988301 -0.02021069 0.64523948] [ 0.05000071 0.9987348 0.00536044 -0.19467283] [ 0.01991773 -0.00636322 0.99978137 -0.0753132 ] [ 0. 0. 0. 1. ]] SLAMing on 71.74992885099999 meters Centerline goodness [0,1] 0.6557675689562557 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.08 [[ 0.99856617 -0.04953895 -0.02028559 0.64550794] [ 0.0496635 0.99874984 0.00568264 -0.19560305] [ 0.01997872 -0.00668194 0.99977808 -0.07534897] [ 0. 0. 0. 1. ]] SLAMing on 71.779928851 meters Centerline goodness [0,1] 0.6522184459239257 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.07 [[ 0.99859627 -0.04886909 -0.02042797 0.64569055] [ 0.049004 0.99877961 0.00615621 -0.19680942] [ 0.02010219 -0.00714862 0.99977237 -0.07492414] [ 0. 0. 0. 1. ]] SLAMing on 71.809928851 meters Centerline goodness [0,1] 0.6547347338022265 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.07 [[ 0.99860646 -0.04863137 -0.02049698 0.64570748] [ 0.04876904 0.9987904 0.00627081 -0.19700517] [ 0.02016723 -0.00726169 0.99977025 -0.07463429] [ 0. 0. 0. 1. ]] SLAMing on 71.839928851 meters Centerline goodness [0,1] 0.6523902529761905 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.07 [[ 0.99861644 -0.04837537 -0.02061644 0.64595344] [ 0.04851795 0.99880134 0.00647248 -0.19727444] [ 0.02027862 -0.00746379 0.99976651 -0.07455077] [ 0. 0. 0. 1. ]] SLAMing on 71.869928851 meters Centerline goodness [0,1] 0.6548402856943443 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.07 [[ 0.99862823 -0.04805757 -0.02078751 0.64635156] [ 0.04820828 0.99881409 0.0068105 -0.1980444 ] [ 0.02043556 -0.00780328 0.99976072 -0.07455194] [ 0. 0. 0. 1. ]] SLAMing on 71.899928851 meters Centerline goodness [0,1] 0.6580376747948689 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.08 [[ 0.99865376 -0.04742961 -0.02100252 0.6472782 ] [ 0.04760336 0.99883546 0.00785125 -0.20127923] [ 0.02060568 -0.00884047 0.99974859 -0.07518353] [ 0. 0. 0. 1. ]] SLAMing on 71.92992885099999 meters Centerline goodness [0,1] 0.6578620404031108 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.08 [[ 0.99865992 -0.04729777 -0.02100663 0.64739367] [ 0.04748887 0.99883394 0.00869311 -0.20518205] [ 0.02057097 -0.00967904 0.99974154 -0.07543024] [ 0. 0. 0. 1. ]] SLAMing on 71.95992885099999 meters Centerline goodness [0,1] 0.6581785706107307 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.08 [[ 0.99865403 -0.04743578 -0.02097567 0.64715353] [ 0.0476297 0.99882591 0.00884354 -0.20640017] [ 0.02053154 -0.0098307 0.99974087 -0.07524491] [ 0. 0. 0. 1. ]] SLAMing on 71.98992885099999 meters Centerline goodness [0,1] 0.6548650258948623 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.07 [[ 0.99864934 -0.0475946 -0.02083865 0.64659445] [ 0.04779083 0.99881662 0.0090219 -0.20740583] [ 0.0203846 -0.01000561 0.99974214 -0.07497131] [ 0. 0. 0. 1. ]] SLAMing on 72.01992885099999 meters Centerline goodness [0,1] 0.6527425871396288 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.07 [[ 0.99864507 -0.04771944 -0.0207578 0.64591226] [ 0.04792486 0.99880564 0.00951348 -0.20993217] [ 0.02027903 -0.01049541 0.99973927 -0.07442725] [ 0. 0. 0. 1. ]] SLAMing on 72.04992885099999 meters Centerline goodness [0,1] 0.6524814603536795 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.07 [[ 0.99864511 -0.04774353 -0.02070031 0.64573515] [ 0.0479548 0.99880111 0.00983271 -0.21147455] [ 0.02020605 -0.01081207 0.99973737 -0.07439691] [ 0. 0. 0. 1. ]] SLAMing on 72.07992885099999 meters Centerline goodness [0,1] 0.6475053983407205 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.07 [[ 0.99864879 -0.04763522 -0.02077232 0.6461093 ] [ 0.04785566 0.9988017 0.01024715 -0.21321584] [ 0.0202593 -0.01122738 0.99973172 -0.07468699] [ 0. 0. 0. 1. ]] SLAMing on 72.10992885099999 meters Centerline goodness [0,1] 0.649138692079589 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99865503 -0.04751755 -0.02074174 0.64604359] [ 0.04774625 0.99880247 0.01067339 -0.21536344] [ 0.02020973 -0.01164938 0.99972789 -0.07462812] [ 0. 0. 0. 1. ]] SLAMing on 72.139928851 meters Centerline goodness [0,1] 0.6482690092816332 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99865568 -0.04750867 -0.02073082 0.6459824 ] [ 0.04773904 0.99880186 0.01076269 -0.21590799] [ 0.02019466 -0.01173789 0.99972716 -0.07454298] [ 0. 0. 0. 1. ]] SLAMing on 72.169928851 meters Centerline goodness [0,1] 0.6511712201531421 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99865238 -0.04760344 -0.0206721 0.6455483 ] [ 0.0478325 0.99879773 0.01073098 -0.21642286] [ 0.02013641 -0.01170532 0.99972872 -0.07409004] [ 0. 0. 0. 1. ]] SLAMing on 72.199928851 meters Centerline goodness [0,1] 0.6511396751530485 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99865386 -0.04757315 -0.02067051 0.6455361 ] [ 0.0478045 0.99879783 0.01084579 -0.21733282] [ 0.0201297 -0.01181934 0.99972751 -0.07399337] [ 0. 0. 0. 1. ]] SLAMing on 72.229928851 meters Centerline goodness [0,1] 0.6557314127023548 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99866916 -0.04717025 -0.0208535 0.64621948] [ 0.04741032 0.99881302 0.0111716 -0.21790044] [ 0.02030178 -0.01214541 0.99972012 -0.07426187] [ 0. 0. 0. 1. ]] SLAMing on 72.259928851 meters Centerline goodness [0,1] 0.6572021379761395 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99867202 -0.04707414 -0.02093366 0.64643849] [ 0.04731555 0.99881731 0.01119045 -0.21787569] [ 0.02038212 -0.01216608 0.99971824 -0.0742838 ] [ 0. 0. 0. 1. ]] SLAMing on 72.289928851 meters Centerline goodness [0,1] 0.6544788936093284 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99867491 -0.04699088 -0.02098298 0.64653759] [ 0.04723305 0.99882112 0.01119883 -0.21772398] [ 0.020432 -0.01217508 0.99971711 -0.07423644] [ 0. 0. 0. 1. ]] SLAMing on 72.31992885099999 meters Centerline goodness [0,1] 0.6583918214438853 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99867822 -0.04689985 -0.02102892 0.64662327] [ 0.04714352 0.99882483 0.01124525 -0.21763723] [ 0.02047681 -0.01222176 0.99971562 -0.07420438] [ 0. 0. 0. 1. ]] SLAMing on 72.34992885099999 meters Centerline goodness [0,1] 0.6590182391353299 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99868458 -0.04678268 -0.02098799 0.64627312] [ 0.04702628 0.99883011 0.01126686 -0.21801147] [ 0.02043634 -0.01223903 0.99971624 -0.07373197] [ 0. 0. 0. 1. ]] SLAMing on 72.37992885099999 meters Centerline goodness [0,1] 0.6562725468975469 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99868831 -0.04674038 -0.0209044 0.64595869] [ 0.04698635 0.99883009 0.01143384 -0.21903521] [ 0.02034552 -0.01240106 0.9997161 -0.07348981] [ 0. 0. 0. 1. ]] SLAMing on 72.40992885099999 meters Centerline goodness [0,1] 0.6464655540331095 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99868544 -0.04680608 -0.02089466 0.64597098] [ 0.04705398 0.99882575 0.01153425 -0.21982706] [ 0.02033025 -0.01250226 0.99971515 -0.07349269] [ 0. 0. 0. 1. ]] SLAMing on 72.43992885099999 meters Centerline goodness [0,1] 0.6532411874256737 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99868287 -0.04689854 -0.02080971 0.64588505] [ 0.04714822 0.99881969 0.01167395 -0.22073595] [ 0.02023766 -0.01263972 0.9997153 -0.07361746] [ 0. 0. 0. 1. ]] SLAMing on 72.46992885099999 meters Centerline goodness [0,1] 0.6505813562739431 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.9986839 -0.04692831 -0.02069288 0.64577851] [ 0.04717999 0.99881615 0.01184672 -0.22165338] [ 0.02011244 -0.01280742 0.99971569 -0.07375602] [ 0. 0. 0. 1. ]] SLAMing on 72.49992885099999 meters Centerline goodness [0,1] 0.6712046112095453 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99868323 -0.04701167 -0.02053552 0.64539791] [ 0.04726656 0.99880892 0.01210807 -0.22334245] [ 0.01994184 -0.01306277 0.9997158 -0.07370421] [ 0. 0. 0. 1. ]] SLAMing on 72.529928851 meters Centerline goodness [0,1] 0.6621158881851346 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.23, Z:-0.07 [[ 0.99866409 -0.0474928 -0.0203583 0.64469001] [ 0.04774947 0.99878346 0.01231229 -0.2257002 ] [ 0.01974879 -0.01326794 0.99971693 -0.07343391] [ 0. 0. 0. 1. ]] SLAMing on 72.559928851 meters Centerline goodness [0,1] 0.6507894092235064 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.23, Z:-0.07 [[ 0.99864664 -0.04786472 -0.0203433 0.64450904] [ 0.04812153 0.99876542 0.01232714 -0.226709 ] [ 0.01972815 -0.01328941 0.99971706 -0.07332334] [ 0. 0. 0. 1. ]] SLAMing on 72.589928851 meters Centerline goodness [0,1] 0.6509776008185599 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.23, Z:-0.07 [[ 0.99863096 -0.04819444 -0.02033471 0.64433919] [ 0.04845671 0.9987457 0.01260818 -0.22861862] [ 0.01970156 -0.01357627 0.99971373 -0.07328489] [ 0. 0. 0. 1. ]] SLAMing on 72.619928851 meters Centerline goodness [0,1] 0.647566509475932 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.23, Z:-0.07 [[ 0.99862075 -0.04847515 -0.02016821 0.64394367] [ 0.0487366 0.99873117 0.01268017 -0.22982659] [ 0.01952794 -0.01364561 0.99971619 -0.07322866] [ 0. 0. 0. 1. ]] SLAMing on 72.649928851 meters Centerline goodness [0,1] 0.6507361922316729 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.23, Z:-0.07 [[ 0.99860843 -0.04873678 -0.02014762 0.64370861] [ 0.04899893 0.99871772 0.01272909 -0.2312401 ] [ 0.01950141 -0.01369859 0.99971598 -0.0729685 ] [ 0. 0. 0. 1. ]] SLAMing on 72.67992885099999 meters Centerline goodness [0,1] 0.6524342907840746 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.23, Z:-0.07 [[ 0.99859695 -0.04900395 -0.02006826 0.64351844] [ 0.04926683 0.99870336 0.0128207 -0.23272923] [ 0.01941397 -0.01379141 0.99971641 -0.0729361 ] [ 0. 0. 0. 1. ]] SLAMing on 72.70992885099999 meters Centerline goodness [0,1] 0.6505267827437063 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.23, Z:-0.07 [[ 0.99858517 -0.04921387 -0.02014106 0.64359951] [ 0.0494829 0.99868927 0.01308377 -0.23487023] [ 0.01947075 -0.01406189 0.99971153 -0.07291444] [ 0. 0. 0. 1. ]] SLAMing on 72.73992885099999 meters Centerline goodness [0,1] 0.6532293789315141 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.07 [[ 0.99857582 -0.04941302 -0.02011691 0.64355512] [ 0.04968161 0.99867948 0.01307777 -0.23542038] [ 0.01944413 -0.01405859 0.9997121 -0.07293005] [ 0. 0. 0. 1. ]] SLAMing on 72.76992885099999 meters Centerline goodness [0,1] 0.649142983523167 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.07 [[ 0.99856706 -0.04963126 -0.02001426 0.6432513 ] [ 0.04989624 0.99867026 0.01296465 -0.23569611] [ 0.0193442 -0.01394471 0.99971563 -0.07281392] [ 0. 0. 0. 1. ]] SLAMing on 72.79992885099999 meters Centerline goodness [0,1] 0.6483092851635643 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.07 [[ 0.99855693 -0.04983882 -0.02000368 0.64314464] [ 0.05009899 0.99866322 0.01272262 -0.23569813] [ 0.01934286 -0.01370643 0.99971895 -0.07262362] [ 0. 0. 0. 1. ]] SLAMing on 72.82992885099999 meters Centerline goodness [0,1] 0.6499590245631133 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.07 [[ 0.99856292 -0.04968091 -0.02009745 0.64331786] [ 0.04994047 0.99867239 0.01262599 -0.23532471] [ 0.0194435 -0.01361152 0.9997183 -0.07246625] [ 0. 0. 0. 1. ]] SLAMing on 72.85992885099999 meters Centerline goodness [0,1] 0.6505084520459934 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.23, Z:-0.07 [[ 0.99857107 -0.04946242 -0.02023099 0.64370817] [ 0.04972259 0.99868402 0.01256575 -0.23483403] [ 0.01958284 -0.01355374 0.99971636 -0.07249703] [ 0. 0. 0. 1. ]] SLAMing on 72.889928851 meters Centerline goodness [0,1] 0.6588149264314838 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.23, Z:-0.07 [[ 0.99860359 -0.04871737 -0.02043233 0.64452303] [ 0.04898261 0.99871904 0.01268797 -0.2339275 ] [ 0.01978804 -0.01367108 0.99971073 -0.07271379] [ 0. 0. 0. 1. ]] SLAMing on 72.919928851 meters Centerline goodness [0,1] 0.6502761328099009 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.23, Z:-0.07 [[ 0.99860919 -0.04856364 -0.02052461 0.64468489] [ 0.04882588 0.9987294 0.01247451 -0.23285219] [ 0.01989272 -0.01345929 0.99971152 -0.07255542] [ 0. 0. 0. 1. ]] SLAMing on 72.949928851 meters Centerline goodness [0,1] 0.67260648343591 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.07 [[ 0.99864417 -0.0477927 -0.02063218 0.64523286] [ 0.04805604 0.9987669 0.01246201 -0.23131674] [ 0.02001115 -0.01343662 0.99970946 -0.07258367] [ 0. 0. 0. 1. ]] SLAMing on 72.979928851 meters Centerline goodness [0,1] 0.670346200641522 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.07 [[ 0.99865225 -0.04750647 -0.02090014 0.64599686] [ 0.04777046 0.99878238 0.01231813 -0.23033791] [ 0.0202895 -0.01329994 0.99970568 -0.07264673] [ 0. 0. 0. 1. ]] SLAMing on 73.009928851 meters Centerline goodness [0,1] 0.6567913298392112 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.07 [[ 0.99869719 -0.04645116 -0.02112379 0.64697672] [ 0.04672289 0.99882896 0.01255746 -0.2286787 ] [ 0.02051574 -0.01352806 0.999698 -0.07295903] [ 0. 0. 0. 1. ]] SLAMing on 73.03992885099998 meters Centerline goodness [0,1] 0.6742707221629314 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.07 [[ 0.99870317 -0.04626201 -0.02125586 0.64737946] [ 0.04653199 0.99884 0.01238697 -0.22756826] [ 0.02065815 -0.01335999 0.99969733 -0.07302664] [ 0. 0. 0. 1. ]] SLAMing on 73.06992885099999 meters Centerline goodness [0,1] 0.6823681167155947 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.07 [[ 0.99871066 -0.04604088 -0.02138372 0.64791854] [ 0.04631147 0.99885087 0.01233616 -0.22688215] [ 0.02079118 -0.01331056 0.99969523 -0.07325056] [ 0. 0. 0. 1. ]] SLAMing on 73.09992885099999 meters Centerline goodness [0,1] 0.67417627585594 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.07 [[ 0.99871726 -0.04584888 -0.0214875 0.64829771] [ 0.04611825 0.99886133 0.01221296 -0.22596002] [ 0.02090308 -0.01318826 0.99969452 -0.07337816] [ 0. 0. 0. 1. ]] SLAMing on 73.12992885099999 meters Centerline goodness [0,1] 0.67417627585594 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.07 [[ 0.99871726 -0.04584888 -0.0214875 0.64829771] [ 0.04611825 0.99886133 0.01221296 -0.22596002] [ 0.02090308 -0.01318826 0.99969452 -0.07337816] [ 0. 0. 0. 1. ]] SLAMing on 73.15992885099999 meters Centerline goodness [0,1] 0.6787344421437 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99872398 -0.04570896 -0.02147337 0.64851054] [ 0.04597538 0.99886951 0.01208154 -0.22499762] [ 0.02089686 -0.01305337 0.99969642 -0.07357871] [ 0. 0. 0. 1. ]] SLAMing on 73.18992885099999 meters Centerline goodness [0,1] 0.6862129611077717 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.9987309 -0.04551419 -0.02156487 0.64871381] [ 0.04577775 0.99888089 0.01188953 -0.22372125] [ 0.0209996 -0.01286163 0.99969675 -0.07347281] [ 0. 0. 0. 1. ]] SLAMing on 73.21992885099999 meters Centerline goodness [0,1] 0.6880365704091872 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99874018 -0.04525731 -0.02167538 0.64921467] [ 0.04552313 0.99889203 0.01193121 -0.22303078] [ 0.02111139 -0.01290291 0.99969387 -0.07379518] [ 0. 0. 0. 1. ]] SLAMing on 73.24992885099999 meters Centerline goodness [0,1] 0.6851950828433993 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99876208 -0.04466145 -0.02190121 0.65036374] [ 0.04492928 0.99891937 0.01189328 -0.22175693] [ 0.02134638 -0.01286256 0.9996894 -0.07443239] [ 0. 0. 0. 1. ]] SLAMing on 73.279928851 meters Centerline goodness [0,1] 0.6851884938359836 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99876352 -0.04459146 -0.02197778 0.65059471] [ 0.04485828 0.99892366 0.01180036 -0.22117495] [ 0.02142793 -0.01277165 0.99968882 -0.07448183] [ 0. 0. 0. 1. ]] SLAMing on 73.309928851 meters Centerline goodness [0,1] 0.6925494917067951 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.9987614 -0.04461029 -0.02203612 0.65066555] [ 0.04487269 0.99892582 0.01156042 -0.22050895] [ 0.02149673 -0.01253492 0.99969034 -0.0743062 ] [ 0. 0. 0. 1. ]] SLAMing on 73.339928851 meters Centerline goodness [0,1] 0.6932832315641146 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99875482 -0.04475442 -0.02204209 0.6504113 ] [ 0.0450107 0.99892292 0.0112709 -0.21987467] [ 0.02151393 -0.012249 0.99969351 -0.07390783] [ 0. 0. 0. 1. ]] SLAMing on 73.369928851 meters Centerline goodness [0,1] 0.6853229662399178 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99874487 -0.04498956 -0.02201395 0.65024294] [ 0.04523893 0.99891603 0.01096381 -0.21912941] [ 0.02149683 -0.01194594 0.99969754 -0.07377651] [ 0. 0. 0. 1. ]] SLAMing on 73.399928851 meters Centerline goodness [0,1] 0.689149035991153 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99874107 -0.04507796 -0.02200569 0.65024349] [ 0.04532529 0.99891311 0.01087286 -0.21911115] [ 0.02149165 -0.01185659 0.99969872 -0.07376257] [ 0. 0. 0. 1. ]] SLAMing on 73.42992885099999 meters Centerline goodness [0,1] 0.6978467031127971 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99873422 -0.04524104 -0.02198183 0.65016981] [ 0.04548551 0.99890714 0.01075117 -0.21932848] [ 0.02147141 -0.01173742 0.99970056 -0.0737065 ] [ 0. 0. 0. 1. ]] SLAMing on 73.45992885099999 meters Centerline goodness [0,1] 0.6731785642603867 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99871922 -0.0456137 -0.02189311 0.64993382] [ 0.04585417 0.9988918 0.01060996 -0.21978339] [ 0.02138488 -0.01160026 0.99970402 -0.07371985] [ 0. 0. 0. 1. ]] SLAMing on 73.48992885099999 meters Centerline goodness [0,1] 0.6693805625571592 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99870825 -0.04592218 -0.0217483 0.64957449] [ 0.04615647 0.99888013 0.0103959 -0.21969007] [ 0.02124655 -0.0113863 0.99970943 -0.0736668 ] [ 0. 0. 0. 1. ]] SLAMing on 73.51992885099999 meters Centerline goodness [0,1] 0.6915768766486341 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99869059 -0.04636703 -0.02161471 0.64900784] [ 0.04659336 0.99886301 0.01008715 -0.21939178] [ 0.02112242 -0.01108104 0.99971549 -0.07336713] [ 0. 0. 0. 1. ]] SLAMing on 73.54992885099999 meters Centerline goodness [0,1] 0.6790791238265534 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99867894 -0.04663806 -0.02157007 0.64873929] [ 0.04685901 0.99885291 0.00985366 -0.21939212] [ 0.02108577 -0.01085139 0.99971878 -0.07309827] [ 0. 0. 0. 1. ]] SLAMing on 73.57992885099999 meters Centerline goodness [0,1] 0.6747289594277411 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99867278 -0.04681276 -0.0214764 0.64863851] [ 0.0470278 0.99884726 0.00961943 -0.21923773] [ 0.02100133 -0.01061665 0.99972308 -0.07313798] [ 0. 0. 0. 1. ]] SLAMing on 73.60992885099999 meters Centerline goodness [0,1] 0.6722104085058758 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99865924 -0.04713096 -0.0214101 0.64823468] [ 0.04733993 0.99883498 0.00935998 -0.2192078 ] [ 0.02094401 -0.01036099 0.99972696 -0.072816 ] [ 0. 0. 0. 1. ]] SLAMing on 73.639928851 meters Centerline goodness [0,1] 0.674971991933677 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99863593 -0.04768829 -0.021263 0.64758343] [ 0.04788707 0.99881275 0.00893963 -0.21919802] [ 0.02081144 -0.00994565 0.99973395 -0.07238299] [ 0. 0. 0. 1. ]] SLAMing on 73.669928851 meters Centerline goodness [0,1] 0.6721057940154657 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99862931 -0.04782207 -0.0212731 0.64739031] [ 0.04801685 0.99880828 0.00874135 -0.21877375] [ 0.02082972 -0.00975084 0.99973549 -0.07207127] [ 0. 0. 0. 1. ]] SLAMing on 73.699928851 meters Centerline goodness [0,1] 0.6797400268937697 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.9986245 -0.04790515 -0.0213121 0.64745431] [ 0.04809575 0.99880637 0.008522 -0.21795452] [ 0.02087842 -0.0095353 0.99973655 -0.07200693] [ 0. 0. 0. 1. ]] SLAMing on 73.729928851 meters Centerline goodness [0,1] 0.6779892827515078 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99862601 -0.04785812 -0.0213468 0.64729923] [ 0.04804135 0.99881206 0.00815456 -0.2162146 ] [ 0.02093118 -0.00916889 0.99973887 -0.07157147] [ 0. 0. 0. 1. ]] SLAMing on 73.759928851 meters Centerline goodness [0,1] 0.6788152339890416 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99862231 -0.04789778 -0.02143115 0.64725997] [ 0.04807652 0.99881238 0.0079037 -0.21541134] [ 0.02102713 -0.00892315 0.99973908 -0.07125197] [ 0. 0. 0. 1. ]] SLAMing on 73.78992885099998 meters Centerline goodness [0,1] 0.6776833561290612 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.07 [[ 0.99862415 -0.04783314 -0.02148936 0.64743588] [ 0.04801079 0.99881614 0.00782788 -0.21505734] [ 0.02108949 -0.00884883 0.99973843 -0.07126792] [ 0. 0. 0. 1. ]] SLAMing on 73.81992885099999 meters Centerline goodness [0,1] 0.6722675879396984 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.07 [[ 0.99861873 -0.04798283 -0.02140749 0.64733414] [ 0.04815627 0.99881043 0.0076614 -0.2147421 ] [ 0.02101441 -0.00868172 0.99974148 -0.07134701] [ 0. 0. 0. 1. ]] SLAMing on 73.84992885099999 meters Centerline goodness [0,1] 0.6730674101722355 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.07 [[ 0.99859754 -0.04851938 -0.02118523 0.64653658] [ 0.04867795 0.99878976 0.00703402 -0.21325178] [ 0.02081831 -0.00805541 0.99975082 -0.07093868] [ 0. 0. 0. 1. ]] SLAMing on 73.87992885099999 meters Centerline goodness [0,1] 0.6743219253499921 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.07 [[ 0.99858792 -0.04873553 -0.02114291 0.64648144] [ 0.04888918 0.99878098 0.00681197 -0.21260413] [ 0.02078516 -0.00783601 0.99975326 -0.07101901] [ 0. 0. 0. 1. ]] SLAMing on 73.90992885099999 meters Centerline goodness [0,1] 0.6729558334082937 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.07 [[ 0.99856604 -0.04925259 -0.0209774 0.64606677] [ 0.04939504 0.99875928 0.00632711 -0.21160257] [ 0.02063975 -0.00735422 0.99975993 -0.07103369] [ 0. 0. 0. 1. ]] SLAMing on 73.93992885099999 meters Centerline goodness [0,1] 0.6580029203639223 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.07 [[ 0.99856018 -0.04943451 -0.02082783 0.64609818] [ 0.04957505 0.99875062 0.00628586 -0.21165728] [ 0.02049107 -0.00730935 0.99976332 -0.07151511] [ 0. 0. 0. 1. ]] SLAMing on 73.96992885099999 meters Centerline goodness [0,1] 0.6780496589604484 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.07 [[ 0.99854902 -0.04967252 -0.02079661 0.64620576] [ 0.04981173 0.9987392 0.00622962 -0.21178646] [ 0.02046095 -0.00725649 0.99976432 -0.07185464] [ 0. 0. 0. 1. ]] SLAMing on 73.99992885099999 meters Centerline goodness [0,1] 0.6727632674180558 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.07 [[ 0.99852491 -0.05017023 -0.02075922 0.6461415 ] [ 0.0503005 0.99871728 0.00580144 -0.21067033] [ 0.02044153 -0.00683708 0.99976767 -0.07199314] [ 0. 0. 0. 1. ]] SLAMing on 74.029928851 meters Centerline goodness [0,1] 0.6701251832637871 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.07 [[ 0.99851396 -0.05046312 -0.02057538 0.64570362] [ 0.05058724 0.99870419 0.00555699 -0.20968642] [ 0.02026829 -0.00658959 0.99977286 -0.0720208 ] [ 0. 0. 0. 1. ]] SLAMing on 74.059928851 meters Centerline goodness [0,1] 0.6768567818788918 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.07 [[ 0.99849912 -0.05077523 -0.02052764 0.64533845] [ 0.05089171 0.99869068 0.00519163 -0.20863989] [ 0.02023716 -0.00622852 0.99977581 -0.07169512] [ 0. 0. 0. 1. ]] SLAMing on 74.089928851 meters Centerline goodness [0,1] 0.6652893494998758 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.07 [[ 0.9984867 -0.05102759 -0.02050577 0.64515196] [ 0.05113869 0.99867939 0.00493019 -0.20789133] [ 0.02022712 -0.00597136 0.99977758 -0.07154681] [ 0. 0. 0. 1. ]] SLAMing on 74.119928851 meters Centerline goodness [0,1] 0.669754411332776 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.07 [[ 0.99846341 -0.05156845 -0.02028589 0.64442664] [ 0.05166839 0.99865446 0.00443349 -0.20705924] [ 0.02002996 -0.00547482 0.99978439 -0.07121717] [ 0. 0. 0. 1. ]] SLAMing on 74.149928851 meters Centerline goodness [0,1] 0.6673304068425578 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.07 [[ 0.99844654 -0.05194128 -0.02016472 0.64423954] [ 0.05203175 0.99863747 0.0039878 -0.20596394] [ 0.01993012 -0.00503081 0.99978872 -0.07131886] [ 0. 0. 0. 1. ]] SLAMing on 74.17992885099999 meters Centerline goodness [0,1] 0.6674816625916871 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.9984421 -0.05203618 -0.02013961 0.64425192] [ 0.05212072 0.99863396 0.00369509 -0.20473855] [ 0.01991982 -0.00473902 0.99979035 -0.07136955] [ 0. 0. 0. 1. ]] SLAMing on 74.20992885099999 meters Centerline goodness [0,1] 0.6678984357288597 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.07 [[ 0.99844294 -0.05196736 -0.02027552 0.64468846] [ 0.05204951 0.99863821 0.00354498 -0.20344144] [ 0.02006369 -0.00459479 0.99978815 -0.07156417] [ 0. 0. 0. 1. ]] SLAMing on 74.23992885099999 meters Centerline goodness [0,1] 0.6726189127331234 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.07 [[ 0.99844847 -0.05174927 -0.02055866 0.64558882] [ 0.05182967 0.99865016 0.00339704 -0.20200342] [ 0.02035512 -0.00445731 0.99978288 -0.0718979 ] [ 0. 0. 0. 1. ]] SLAMing on 74.26992885099999 meters Centerline goodness [0,1] 0.6679564801748077 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.07 [[ 0.99849309 -0.05075505 -0.02086825 0.64730773] [ 0.05084088 0.99870027 0.00360298 -0.19980483] [ 0.02065826 -0.00465851 0.99977574 -0.0729887 ] [ 0. 0. 0. 1. ]] SLAMing on 74.29992885099999 meters Centerline goodness [0,1] 0.6758404896765942 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.07 [[ 0.99850295 -0.05048138 -0.0210594 0.64800961] [ 0.05056289 0.99871524 0.00335611 -0.19820023] [ 0.02086292 -0.00441591 0.99977259 -0.07324258] [ 0. 0. 0. 1. ]] SLAMing on 74.32992885099999 meters Centerline goodness [0,1] 0.6727926854419213 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.07 [[ 0.99868579 -0.04671959 -0.02107089 0.64777819] [ 0.04687088 0.99887819 0.00674411 -0.19649913] [ 0.02073217 -0.00772286 0.99975524 -0.07343987] [ 0. 0. 0. 1. ]] SLAMing on 74.35992885099999 meters Centerline goodness [0,1] 0.6804964051838622 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.07 [[ 0.99870766 -0.04607311 -0.02145433 0.64926809] [ 0.04622766 0.99890803 0.0067643 -0.19465258] [ 0.02111925 -0.00774734 0.99974695 -0.07406128] [ 0. 0. 0. 1. ]] SLAMing on 74.389928851 meters Centerline goodness [0,1] 0.6932486909781752 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.07 [[ 0.99886049 -0.04271487 -0.02128754 0.64800407] [ 0.04293273 0.99902907 0.00988448 -0.19258487] [ 0.02084466 -0.01078715 0.99972453 -0.07351062] [ 0. 0. 0. 1. ]] SLAMing on 74.419928851 meters Centerline goodness [0,1] 0.6904369619195694 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.07 [[ 0.99885914 -0.04267998 -0.02142043 0.64825652] [ 0.04289043 0.99903496 0.00946322 -0.19072179] [ 0.02099587 -0.01037115 0.99972577 -0.07337973] [ 0. 0. 0. 1. ]] SLAMing on 74.449928851 meters Centerline goodness [0,1] 0.6900838930073667 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.07 [[ 0.99885921 -0.04262416 -0.0215282 0.64852468] [ 0.04282779 0.99904113 0.00908811 -0.18918995] [ 0.02112019 -0.00999975 0.99972693 -0.07328261] [ 0. 0. 0. 1. ]] SLAMing on 74.479928851 meters Centerline goodness [0,1] 0.6878643719975748 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.07 [[ 0.99884632 -0.04303567 -0.0213062 0.64779437] [ 0.04321993 0.9990314 0.00826455 -0.18690474] [ 0.02092989 -0.00917587 0.99973884 -0.07287367] [ 0. 0. 0. 1. ]] SLAMing on 74.509928851 meters Centerline goodness [0,1] 0.6837289638914175 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.07 [[ 0.99883551 -0.04337858 -0.02111694 0.6474012 ] [ 0.04355218 0.99902046 0.0078313 -0.18580038] [ 0.02075655 -0.00874187 0.99974634 -0.07289024] [ 0. 0. 0. 1. ]] SLAMing on 74.53992885099998 meters Centerline goodness [0,1] 0.6765330656644646 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99881455 -0.04396619 -0.02089206 0.64690867] [ 0.04412513 0.999 0.0072087 -0.18369075] [ 0.02055423 -0.00812202 0.99975575 -0.07302953] [ 0. 0. 0. 1. ]] SLAMing on 74.56992885099999 meters Centerline goodness [0,1] 0.6735376696303228 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99879503 -0.04445547 -0.02078945 0.64649394] [ 0.04460513 0.99898161 0.00679108 -0.18258075] [ 0.02046637 -0.00771021 0.99976081 -0.07293625] [ 0. 0. 0. 1. ]] SLAMing on 74.59992885099999 meters Centerline goodness [0,1] 0.6709557961843153 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99877399 -0.04496395 -0.02070641 0.64617396] [ 0.0451053 0.99896167 0.00641075 -0.18172078] [ 0.02039666 -0.00733686 0.99976505 -0.07294302] [ 0. 0. 0. 1. ]] SLAMing on 74.62992885099999 meters Centerline goodness [0,1] 0.6696973968611972 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99873388 -0.04600364 -0.02035427 0.6453681 ] [ 0.04613207 0.99891801 0.00588526 -0.18141161] [ 0.0200615 -0.0068168 0.99977551 -0.07320044] [ 0. 0. 0. 1. ]] SLAMing on 74.65992885099999 meters Centerline goodness [0,1] 0.662490909517442 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99871363 -0.04651981 -0.02017409 0.64505075] [ 0.04664119 0.99889608 0.00558827 -0.18098244] [ 0.01989186 -0.00652203 0.99978086 -0.07343259] [ 0. 0. 0. 1. ]] SLAMing on 74.68992885099999 meters Centerline goodness [0,1] 0.6623413258110014 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99869366 -0.04699317 -0.0200653 0.64473788] [ 0.0471074 0.99887599 0.00525835 -0.18050327] [ 0.01979564 -0.0061967 0.99978484 -0.07343315] [ 0. 0. 0. 1. ]] SLAMing on 74.71992885099999 meters Centerline goodness [0,1] 0.6582087440456539 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99867168 -0.04752237 -0.01991245 0.64430267] [ 0.04762703 0.99885358 0.00481492 -0.17959915] [ 0.01966081 -0.00575689 0.99979013 -0.07341246] [ 0. 0. 0. 1. ]] SLAMing on 74.74992885099999 meters Centerline goodness [0,1] 0.6500532985905484 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99864573 -0.0481158 -0.01978851 0.64408044] [ 0.04820811 0.99882842 0.00421437 -0.17712272] [ 0.01956254 -0.00516263 0.99979531 -0.07370228] [ 0. 0. 0. 1. ]] SLAMing on 74.779928851 meters Centerline goodness [0,1] 0.6557322651750374 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99863422 -0.0484085 -0.01965479 0.64390409] [ 0.04849379 0.99881592 0.00388598 -0.17570072] [ 0.0194434 -0.0048338 0.99979927 -0.07388337] [ 0. 0. 0. 1. ]] SLAMing on 74.809928851 meters Centerline goodness [0,1] 0.6472579069046882 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.9986077 -0.04904054 -0.01943441 0.64307342] [ 0.04910637 0.99878927 0.00292449 -0.17296822] [ 0.01926746 -0.00387477 0.99980686 -0.07341506] [ 0. 0. 0. 1. ]] SLAMing on 74.839928851 meters Centerline goodness [0,1] 0.6486158097870109 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99860118 -0.04918895 -0.01939422 0.64313257] [ 0.04925007 0.99878287 0.00268637 -0.17218741] [ 0.01923848 -0.00363778 0.99980831 -0.07355188] [ 0. 0. 0. 1. ]] SLAMing on 74.869928851 meters Centerline goodness [0,1] 0.5764314007922218 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.07 [[ 0.99844194 -0.05264269 -0.01850498 0.69604507] [ 0.05256022 0.99860566 -0.00491565 -0.16938452] [ 0.01873795 0.00393536 0.99981668 -0.07031351] [ 0. 0. 0. 1. ]] SLAMing on 74.899928851 meters Centerline goodness [0,1] 0.6635321210958116 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.07 [[ 0.99856768 -0.05047722 -0.01773788 0.64133184] [ 0.05043554 0.99872342 -0.00278965 -0.16476539] [ 0.01785605 0.00189104 0.99983878 -0.07148534] [ 0. 0. 0. 1. ]] SLAMing on 74.92992885099999 meters Centerline goodness [0,1] 0.6632736548272211 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.07 [[ 9.98700171e-01 -4.78535142e-02 -1.75502209e-02 6.39943162e-01] [ 4.78678510e-02 9.98853598e-01 3.97498275e-04 -1.64670736e-01] [ 1.75110796e-02 -1.23707296e-03 9.99845904e-01 -7.12497453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95992885099999 meters Centerline goodness [0,1] 0.6644455710871298 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.07 [[ 9.98711847e-01 -4.74963607e-02 -1.78533472e-02 6.40896837e-01] [ 4.75094179e-02 9.98870743e-01 3.07696768e-04 -1.63098254e-01] [ 1.78185717e-02 -1.15550254e-03 9.99840569e-01 -7.15378688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.98992885099999 meters Centerline goodness [0,1] 0.6638350395701735 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.07 [[ 0.99882444 -0.04524563 -0.01739455 0.6410924 ] [ 0.0452924 0.99897112 0.00230388 -0.16134028] [ 0.01727241 -0.00308901 0.99984605 -0.07289585] [ 0. 0. 0. 1. ]] SLAMing on 75.01992885099999 meters Centerline goodness [0,1] 0.6623417491709229 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.07 [[ 0.99882626 -0.04519311 -0.01742683 0.64134909] [ 0.04523781 0.99897387 0.00217911 -0.16037443] [ 0.01731047 -0.0029649 0.99984577 -0.07310329] [ 0. 0. 0. 1. ]] SLAMing on 75.04992885099999 meters Centerline goodness [0,1] 0.6623417491709229 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.07 [[ 0.99882626 -0.04519311 -0.01742683 0.64134909] [ 0.04523781 0.99897387 0.00217911 -0.16037443] [ 0.01731047 -0.0029649 0.99984577 -0.07310329] [ 0. 0. 0. 1. ]] SLAMing on 75.07992885099999 meters Centerline goodness [0,1] 0.6647768571013228 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.07 [[ 0.99883161 -0.04502672 -0.01755012 0.6419248 ] [ 0.0450736 0.99898106 0.00228468 -0.1600305 ] [ 0.01742936 -0.00307306 0.99984337 -0.07346398] [ 0. 0. 0. 1. ]] SLAMing on 75.10992885099999 meters Centerline goodness [0,1] 0.6651468483981278 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.07 [[ 0.99883445 -0.04491815 -0.01766624 0.64236823] [ 0.04496553 0.99898591 0.00229377 -0.15944159] [ 0.01754529 -0.00308547 0.99984131 -0.07370409] [ 0. 0. 0. 1. ]] SLAMing on 75.139928851 meters Centerline goodness [0,1] 0.6681027138858464 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.07 [[ 0.99883332 -0.04500792 -0.01750101 0.64236445] [ 0.04505453 0.99898193 0.00227787 -0.15833286] [ 0.01738067 -0.00306371 0.99984425 -0.07428966] [ 0. 0. 0. 1. ]] SLAMing on 75.169928851 meters Centerline goodness [0,1] 0.6665041799702649 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.07 [[ 0.99882943 -0.0451441 -0.01737182 0.64229583] [ 0.0451912 0.99897564 0.00232837 -0.15806866] [ 0.01724891 -0.0031107 0.99984639 -0.07468164] [ 0. 0. 0. 1. ]] SLAMing on 75.199928851 meters Centerline goodness [0,1] 0.6571846078908914 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99880695 -0.04571433 -0.01717218 0.64190098] [ 0.04576024 0.99894983 0.00229047 -0.15881733] [ 0.01704944 -0.00307354 0.99984992 -0.07505927] [ 0. 0. 0. 1. ]] SLAMing on 75.229928851 meters Centerline goodness [0,1] 0.6533076866889046 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99879112 -0.04613742 -0.01695969 0.64151256] [ 0.04618203 0.99893051 0.00224769 -0.15933915] [ 0.01683785 -0.0030282 0.99985365 -0.07531444] [ 0. 0. 0. 1. ]] SLAMing on 75.259928851 meters Centerline goodness [0,1] 0.6623085179041858 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99877592 -0.04653262 -0.016774 0.64104288] [ 0.04657732 0.99891208 0.00228365 -0.16003875] [ 0.01664949 -0.00306214 0.9998567 -0.07542283] [ 0. 0. 0. 1. ]] SLAMing on 75.28992885099998 meters Centerline goodness [0,1] 0.6544001554567758 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99873096 -0.04752652 -0.0166644 0.64020868] [ 0.04756637 0.99886607 0.00200255 -0.16078939] [ 0.01655033 -0.00279267 0.99985913 -0.07509121] [ 0. 0. 0. 1. ]] SLAMing on 75.31992885099999 meters Centerline goodness [0,1] 0.6533514536717954 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.07 [[ 0.99871615 -0.04795275 -0.01632713 0.63931689] [ 0.04799106 0.99884584 0.00196242 -0.16141578] [ 0.01621419 -0.00274346 0.99986478 -0.0749983 ] [ 0. 0. 0. 1. ]] SLAMing on 75.34992885099999 meters Centerline goodness [0,1] 0.6530775767876654 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.07 [[ 0.99870234 -0.04832082 -0.01608544 0.63854554] [ 0.04835776 0.99882824 0.00191542 -0.16213347] [ 0.01597404 -0.00269079 0.99986879 -0.07476685] [ 0. 0. 0. 1. ]] SLAMing on 75.37992885099999 meters Centerline goodness [0,1] 0.6509330938918145 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.07 [[ 0.99866755 -0.04916458 -0.01568336 0.63702591] [ 0.04919644 0.99878776 0.001652 -0.16307004] [ 0.01558313 -0.00242137 0.99987564 -0.07417523] [ 0. 0. 0. 1. ]] SLAMing on 75.40992885099999 meters Centerline goodness [0,1] 0.6367166642396 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.07 [[ 0.99865669 -0.04942538 -0.01555489 0.63652909] [ 0.04945823 0.99877469 0.00173422 -0.16381633] [ 0.01545012 -0.00250121 0.99987751 -0.07401764] [ 0. 0. 0. 1. ]] SLAMing on 75.43992885099999 meters Centerline goodness [0,1] 0.6413341419041844 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.9986384 -0.04989656 -0.01522114 0.63562903] [ 0.04993067 0.99875094 0.00186907 -0.16540194] [ 0.01510887 -0.00262652 0.9998824 -0.07393921] [ 0. 0. 0. 1. ]] SLAMing on 75.46992885099999 meters Centerline goodness [0,1] 0.6326317831336987 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99863432 -0.05000644 -0.01512776 0.63540727] [ 0.05004365 0.99874484 0.00209078 -0.16653866] [ 0.01500422 -0.00284498 0.99988338 -0.07398289] [ 0. 0. 0. 1. ]] SLAMing on 75.49992885099999 meters Centerline goodness [0,1] 0.6344156315827704 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.07 [[ 0.99862015 -0.05034135 -0.01495149 0.63467857] [ 0.05038117 0.99872742 0.00229853 -0.16853368] [ 0.01481675 -0.00304864 0.99988558 -0.07367062] [ 0. 0. 0. 1. ]] SLAMing on 75.529928851 meters Centerline goodness [0,1] 0.6327741060837146 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.07 [[ 0.99862162 -0.0503195 -0.0149269 0.63478979] [ 0.05036267 0.99872779 0.00253046 -0.16961582] [ 0.01478058 -0.00327873 0.99988539 -0.07387991] [ 0. 0. 0. 1. ]] SLAMing on 75.559928851 meters Centerline goodness [0,1] 0.6449352406727238 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99862576 -0.05021748 -0.01499289 0.63512572] [ 0.0502654 0.99873187 0.00283602 -0.17069958] [ 0.01483146 -0.00358575 0.99988358 -0.07415175] [ 0. 0. 0. 1. ]] SLAMing on 75.589928851 meters Centerline goodness [0,1] 0.6463849042071821 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99863843 -0.04992215 -0.01513507 0.63582873] [ 0.0499767 0.99874511 0.00324721 -0.17160974] [ 0.01495397 -0.00399919 0.99988019 -0.07460013] [ 0. 0. 0. 1. ]] SLAMing on 75.619928851 meters Centerline goodness [0,1] 0.6325917017438365 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99864512 -0.04972578 -0.01533852 0.63629573] [ 0.04978383 0.99875414 0.00342581 -0.17194558] [ 0.01514906 -0.00418478 0.99987649 -0.07460477] [ 0. 0. 0. 1. ]] SLAMing on 75.649928851 meters Centerline goodness [0,1] 0.6525440030778109 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99865966 -0.04940954 -0.01541368 0.63654714] [ 0.04947447 0.99876793 0.00385967 -0.17325663] [ 0.01520399 -0.00461708 0.99987375 -0.07465664] [ 0. 0. 0. 1. ]] SLAMing on 75.67992885099999 meters Centerline goodness [0,1] 0.6501484958804369 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99869121 -0.04870068 -0.01562411 0.6372091 ] [ 0.04877516 0.99879999 0.00442221 -0.17505807] [ 0.01539 -0.00517849 0.99986816 -0.07466329] [ 0. 0. 0. 1. ]] SLAMing on 75.70992885099999 meters Centerline goodness [0,1] 0.6506047179978446 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99871172 -0.04821813 -0.01580839 0.6378251 ] [ 0.04829845 0.99882171 0.00473896 -0.17550209] [ 0.01556126 -0.00549637 0.99986381 -0.07478061] [ 0. 0. 0. 1. ]] SLAMing on 75.73992885099999 meters Centerline goodness [0,1] 0.6377997989372397 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99873046 -0.04775105 -0.01604047 0.63857222] [ 0.04783694 0.99884257 0.00501451 -0.17570483] [ 0.01578245 -0.00577547 0.99985877 -0.07495022] [ 0. 0. 0. 1. ]] SLAMing on 75.76992885099999 meters Centerline goodness [0,1] 0.6512565708936415 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99890102 -0.04404949 -0.01601209 0.63755502] [ 0.04419673 0.99898266 0.00896072 -0.17665271] [ 0.01560108 -0.00965855 0.99983165 -0.07435188] [ 0. 0. 0. 1. ]] SLAMing on 75.79992885099999 meters Centerline goodness [0,1] 0.6468321405490797 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99891873 -0.04351342 -0.01636902 0.63857013] [ 0.04366655 0.99900457 0.00911642 -0.17624758] [ 0.01595604 -0.00982134 0.99982446 -0.07444833] [ 0. 0. 0. 1. ]] SLAMing on 75.82992885099999 meters Centerline goodness [0,1] 0.6501559126888943 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99893556 -0.04302088 -0.01664209 0.63946202] [ 0.04317985 0.9990239 0.00931389 -0.17628246] [ 0.01622515 -0.01002258 0.99981813 -0.07463109] [ 0. 0. 0. 1. ]] SLAMing on 75.85992885099999 meters Centerline goodness [0,1] 0.6559925273040812 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99895393 -0.04247577 -0.0169366 0.64046467] [ 0.04264324 0.99904373 0.00965251 -0.17693322] [ 0.01651041 -0.01036464 0.99980997 -0.07494154] [ 0. 0. 0. 1. ]] SLAMing on 75.889928851 meters Centerline goodness [0,1] 0.6602453929151151 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99899063 -0.04148085 -0.01723546 0.64197899] [ 0.04166434 0.99907726 0.01042686 -0.1785541 ] [ 0.01678704 -0.01113443 0.99979709 -0.07578055] [ 0. 0. 0. 1. ]] SLAMing on 75.919928851 meters Centerline goodness [0,1] 0.6626937683617169 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99901315 -0.04078887 -0.01757848 0.64313012] [ 0.04098166 0.99910207 0.01075021 -0.17855448] [ 0.01712421 -0.01145999 0.99978769 -0.07608257] [ 0. 0. 0. 1. ]] SLAMing on 75.949928851 meters Centerline goodness [0,1] 0.6610961451355282 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99901373 -0.0407476 -0.01764066 0.64321847] [ 0.04093912 0.99910504 0.01063529 -0.17814612] [ 0.01719151 -0.01134699 0.99978783 -0.07590688] [ 0. 0. 0. 1. ]] SLAMing on 75.979928851 meters Centerline goodness [0,1] 0.6603463471570472 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99901623 -0.04061465 -0.01780488 0.64351427] [ 0.04080846 0.99911012 0.01066038 -0.17809389] [ 0.01735606 -0.01137648 0.99978465 -0.07575077] [ 0. 0. 0. 1. ]] SLAMing on 76.009928851 meters Centerline goodness [0,1] 0.6609362350588124 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.999023 -0.04040997 -0.01789104 0.64397255] [ 0.04060959 0.99911522 0.01093807 -0.17932417] [ 0.0174332 -0.01165393 0.99978011 -0.07599871] [ 0. 0. 0. 1. ]] SLAMing on 76.03992885099998 meters Centerline goodness [0,1] 0.6634042047749139 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99901687 -0.04055706 -0.01790041 0.643934 ] [ 0.04075724 0.99910893 0.01096345 -0.18032674] [ 0.01743982 -0.01168224 0.99977966 -0.07593959] [ 0. 0. 0. 1. ]] SLAMing on 76.06992885099999 meters Centerline goodness [0,1] 0.6599079870992222 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99898339 -0.04151999 -0.01755805 0.64229017] [ 0.04170761 0.99907513 0.01045773 -0.18173762] [ 0.01710761 -0.0111794 0.99979115 -0.07482641] [ 0. 0. 0. 1. ]] SLAMing on 76.09992885099999 meters Centerline goodness [0,1] 0.6546256133115267 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99896952 -0.04191607 -0.01740528 0.64171485] [ 0.04210095 0.99905928 0.01039512 -0.18252927] [ 0.01695319 -0.01111719 0.99979448 -0.07455063] [ 0. 0. 0. 1. ]] SLAMing on 76.12992885099999 meters Centerline goodness [0,1] 0.6578142413392455 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99895643 -0.04228696 -0.01725864 0.64106743] [ 0.04246908 0.99904442 0.01032607 -0.18336326] [ 0.01680549 -0.01104825 0.99979774 -0.07416214] [ 0. 0. 0. 1. ]] SLAMing on 76.15992885099999 meters Centerline goodness [0,1] 0.6545295384105804 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99894123 -0.04270527 -0.01710764 0.6405014 ] [ 0.0428831 0.99902837 0.01016622 -0.18399499] [ 0.01665686 -0.01088908 0.99980197 -0.07386209] [ 0. 0. 0. 1. ]] SLAMing on 76.18992885099999 meters Centerline goodness [0,1] 0.6549882352941176 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.07 [[ 0.99890903 -0.04357106 -0.01680187 0.63927742] [ 0.04373798 0.99899596 0.00969833 -0.18501884] [ 0.01636243 -0.01042263 0.9998118 -0.07318581] [ 0. 0. 0. 1. ]] SLAMing on 76.21992885099999 meters Centerline goodness [0,1] 0.6502479261156675 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.07 [[ 0.99889978 -0.04382777 -0.01668412 0.63898851] [ 0.04399338 0.99898481 0.00969185 -0.18563535] [ 0.01624241 -0.01041518 0.99981384 -0.07320672] [ 0. 0. 0. 1. ]] SLAMing on 76.24992885099999 meters Centerline goodness [0,1] 0.65302478562199 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.07 [[ 0.99890147 -0.04378689 -0.01669028 0.63911914] [ 0.04395242 0.99898669 0.00968371 -0.1856819 ] [ 0.01624935 -0.01040665 0.99981381 -0.07327634] [ 0. 0. 0. 1. ]] SLAMing on 76.279928851 meters Centerline goodness [0,1] 0.6526821910059395 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.07 [[ 0.99890694 -0.04362645 -0.01678291 0.63947775] [ 0.04379365 0.99899325 0.00972669 -0.18542745] [ 0.01634168 -0.01045104 0.99981184 -0.07341402] [ 0. 0. 0. 1. ]] SLAMing on 76.309928851 meters Centerline goodness [0,1] 0.6493087449068513 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99893259 -0.04289166 -0.01714624 0.64082204] [ 0.04306419 0.99902402 0.00982287 -0.18404643] [ 0.01670819 -0.01055077 0.99980474 -0.07379406] [ 0. 0. 0. 1. ]] SLAMing on 76.339928851 meters Centerline goodness [0,1] 0.6569985604040309 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99894018 -0.04262872 -0.01735842 0.64140397] [ 0.04280135 0.99903653 0.00969804 -0.18289223] [ 0.01692828 -0.01043073 0.9998023 -0.07383121] [ 0. 0. 0. 1. ]] SLAMing on 76.369928851 meters Centerline goodness [0,1] 0.6553692304063775 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.9989478 -0.0423671 -0.01755907 0.64196486] [ 0.04253868 0.9990495 0.00951582 -0.18167371] [ 0.01713922 -0.01025275 0.99980054 -0.07380557] [ 0. 0. 0. 1. ]] SLAMing on 76.39992885099998 meters Centerline goodness [0,1] 0.662811324771163 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99895791 -0.04202539 -0.01780361 0.64270326] [ 0.04219703 0.99906531 0.00937669 -0.18045449] [ 0.0173929 -0.01011818 0.99979753 -0.07388169] [ 0. 0. 0. 1. ]] SLAMing on 76.42992885099999 meters Centerline goodness [0,1] 0.6564200023755791 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99911221 -0.03818168 -0.0178031 0.64244493] [ 0.03841657 0.99917668 0.01304368 -0.18030542] [ 0.01729041 -0.01371604 0.99975643 -0.07399332] [ 0. 0. 0. 1. ]] SLAMing on 76.45992885099999 meters Centerline goodness [0,1] 0.6548565461923634 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99912009 -0.03786339 -0.01803931 0.64308985] [ 0.03809532 0.99919351 0.01269149 -0.17857297] [ 0.01754422 -0.01336754 0.99975672 -0.0738741 ] [ 0. 0. 0. 1. ]] SLAMing on 76.48992885099999 meters Centerline goodness [0,1] 0.6728153486374266 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99916702 -0.03664767 -0.01795054 0.6436702 ] [ 0.03688079 0.99923727 0.01283288 -0.17528976] [ 0.01746656 -0.01348422 0.99975652 -0.07420808] [ 0. 0. 0. 1. ]] SLAMing on 76.51992885099999 meters Centerline goodness [0,1] 0.6684106165938031 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99916977 -0.03653175 -0.01803362 0.64396193] [ 0.03676002 0.99924603 0.01249283 -0.17367109] [ 0.01756364 -0.01314537 0.99975933 -0.07419977] [ 0. 0. 0. 1. ]] SLAMing on 76.54992885099999 meters Centerline goodness [0,1] 0.6699533325355989 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99917423 -0.03640455 -0.01804331 0.64426488] [ 0.03662598 0.99925582 0.01209725 -0.17166356] [ 0.01758948 -0.01274811 0.99976402 -0.07436034] [ 0. 0. 0. 1. ]] SLAMing on 76.57992885099999 meters Centerline goodness [0,1] 0.6641351221849545 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99917075 -0.03650556 -0.0180321 0.64441964] [ 0.03672164 0.99925585 0.0118011 -0.17081974] [ 0.01758787 -0.01245348 0.99976776 -0.07448864] [ 0. 0. 0. 1. ]] SLAMing on 76.60992885099999 meters Centerline goodness [0,1] 0.6732151874383823 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99916537 -0.03665671 -0.0180233 0.64447232] [ 0.03686764 0.99925383 0.01151324 -0.17025215] [ 0.01758782 -0.01216811 0.99977128 -0.07450457] [ 0. 0. 0. 1. ]] SLAMing on 76.639928851 meters Centerline goodness [0,1] 0.6678588574171868 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99915313 -0.03695159 -0.01809978 0.64456002] [ 0.03715878 0.99924607 0.01124774 -0.1700466 ] [ 0.01767051 -0.01191078 0.99977292 -0.07444184] [ 0. 0. 0. 1. ]] SLAMing on 76.669928851 meters Centerline goodness [0,1] 0.666562394725444 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99912625 -0.03784875 -0.01772618 0.64339087] [ 0.03804144 0.99921928 0.01066213 -0.16967588] [ 0.01730879 -0.01132715 0.99978603 -0.07411977] [ 0. 0. 0. 1. ]] SLAMing on 76.699928851 meters Centerline goodness [0,1] 0.6657036930039963 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99911246 -0.03827171 -0.0175946 0.64306544] [ 0.03845947 0.99920542 0.01045975 -0.16969912] [ 0.01718031 -0.01112715 0.99979049 -0.07416242] [ 0. 0. 0. 1. ]] SLAMing on 76.729928851 meters Centerline goodness [0,1] 0.6620262021376697 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.9990832 -0.03916878 -0.01727879 0.642224 ] [ 0.03934718 0.99917447 0.0101083 -0.16990726] [ 0.0168686 -0.01077891 0.99979961 -0.07427132] [ 0. 0. 0. 1. ]] SLAMing on 76.759928851 meters Centerline goodness [0,1] 0.6501711420720243 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99906582 -0.03969701 -0.01707729 0.64148808] [ 0.03986734 0.99915739 0.00975232 -0.17002064] [ 0.01667576 -0.01042404 0.99980661 -0.07391772] [ 0. 0. 0. 1. ]] SLAMing on 76.78992885099998 meters Centerline goodness [0,1] 0.6569406326736964 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.9990485 -0.04018634 -0.01694566 0.64092856] [ 0.04035127 0.99914034 0.00950573 -0.17039806] [ 0.01654909 -0.01018046 0.99981123 -0.07366754] [ 0. 0. 0. 1. ]] SLAMing on 76.81992885099999 meters Centerline goodness [0,1] 0.6534074501876985 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99902045 -0.04097094 -0.01671888 0.63982566] [ 0.04112534 0.99911348 0.00899779 -0.17098327] [ 0.01633541 -0.00967654 0.99981974 -0.07290617] [ 0. 0. 0. 1. ]] SLAMing on 76.84992885099999 meters Centerline goodness [0,1] 0.6529972259076107 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99901468 -0.04113605 -0.01665845 0.63956866] [ 0.04128854 0.99910748 0.0089158 -0.17112471] [ 0.01627682 -0.00959482 0.99982149 -0.07270948] [ 0. 0. 0. 1. ]] SLAMing on 76.87992885099999 meters Centerline goodness [0,1] 0.6558704453441295 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99901049 -0.04121089 -0.01672412 0.63951262] [ 0.04135898 0.99910727 0.00860786 -0.17018118] [ 0.01635445 -0.00929103 0.99982309 -0.0723137 ] [ 0. 0. 0. 1. ]] SLAMing on 76.90992885099999 meters Centerline goodness [0,1] 0.6577166662653213 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99901357 -0.04107048 -0.01688494 0.63997595] [ 0.04121907 0.99911357 0.0085482 -0.16956601] [ 0.01651889 -0.00923575 0.9998209 -0.07236244] [ 0. 0. 0. 1. ]] SLAMing on 76.93992885099999 meters Centerline goodness [0,1] 0.6577166662653213 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99901357 -0.04107048 -0.01688494 0.63997595] [ 0.04121907 0.99911357 0.0085482 -0.16956601] [ 0.01651889 -0.00923575 0.9998209 -0.07236244] [ 0. 0. 0. 1. ]] SLAMing on 76.96992885099999 meters Centerline goodness [0,1] 0.6538006614043981 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99902626 -0.04065199 -0.01714502 0.64081186] [ 0.04080262 0.99913082 0.00852932 -0.16890197] [ 0.01678339 -0.00922057 0.99981663 -0.07244006] [ 0. 0. 0. 1. ]] SLAMing on 76.99992885099999 meters Centerline goodness [0,1] 0.6620331197872598 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.9990499 -0.04002446 -0.01724349 0.64156181] [ 0.04017766 0.99915527 0.0086315 -0.16798702] [ 0.01688346 -0.0093161 0.99981406 -0.07279229] [ 0. 0. 0. 1. ]] SLAMing on 77.029928851 meters Centerline goodness [0,1] 0.6620331197872598 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.9990499 -0.04002446 -0.01724349 0.64156181] [ 0.04017766 0.99915527 0.0086315 -0.16798702] [ 0.01688346 -0.0093161 0.99981406 -0.07279229] [ 0. 0. 0. 1. ]] SLAMing on 77.059928851 meters Centerline goodness [0,1] 0.66519802459572 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99908746 -0.03897057 -0.01747996 0.64267423] [ 0.03912554 0.99919718 0.00861294 -0.1653682 ] [ 0.01713028 -0.009289 0.99981012 -0.07287924] [ 0. 0. 0. 1. ]] SLAMing on 77.089928851 meters Centerline goodness [0,1] 0.6650708401176213 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.07 [[ 0.99909583 -0.03861094 -0.01779674 0.64336824] [ 0.03876679 0.99921216 0.00849682 -0.16410493] [ 0.01745464 -0.00917906 0.99980552 -0.07271014] [ 0. 0. 0. 1. ]] SLAMing on 77.119928851 meters Centerline goodness [0,1] 0.6675925925925925 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.07 [[ 0.99911297 -0.03806837 -0.0180019 0.64393362] [ 0.03822118 0.99923548 0.00822199 -0.16269558] [ 0.01767513 -0.00890275 0.99980415 -0.07232551] [ 0. 0. 0. 1. ]] SLAMing on 77.14992885099998 meters Centerline goodness [0,1] 0.6661722150621308 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.07 [[ 0.99911157 -0.0380718 -0.01807234 0.64403528] [ 0.03822433 0.99923578 0.00817092 -0.16273732] [ 0.01774744 -0.00885447 0.99980329 -0.07222464] [ 0. 0. 0. 1. ]] SLAMing on 77.17992885099999 meters Centerline goodness [0,1] 0.6640953887334226 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.07 [[ 0.99911005 -0.0380771 -0.01814483 0.64415866] [ 0.03822828 0.99923653 0.00805897 -0.16269987] [ 0.01782412 -0.00874545 0.99980289 -0.07210146] [ 0. 0. 0. 1. ]] SLAMing on 77.20992885099999 meters Centerline goodness [0,1] 0.6557724131217755 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.07 [[ 0.99910623 -0.03822237 -0.01804982 0.64403605] [ 0.03837107 0.99923181 0.00796519 -0.16233647] [ 0.0177315 -0.00865067 0.99980536 -0.07224811] [ 0. 0. 0. 1. ]] SLAMing on 77.23992885099999 meters Centerline goodness [0,1] 0.6643373669986121 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.07 [[ 0.99909445 -0.03856044 -0.01798245 0.6438088 ] [ 0.03870736 0.9992194 0.00789506 -0.16237825] [ 0.01766397 -0.00858396 0.99980713 -0.07228983] [ 0. 0. 0. 1. ]] SLAMing on 77.26992885099999 meters Centerline goodness [0,1] 0.6632071334600205 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.07 [[ 0.99907871 -0.03902457 -0.01785547 0.64326821] [ 0.03916846 0.99920233 0.00778089 -0.1630362 ] [ 0.01753758 -0.00847309 0.9998103 -0.07207458] [ 0. 0. 0. 1. ]] SLAMing on 77.29992885099999 meters Centerline goodness [0,1] 0.6580995562883398 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.07 [[ 0.99892511 -0.04266263 -0.01812509 0.64428017] [ 0.04274386 0.99907758 0.00411802 -0.16375234] [ 0.01793268 -0.00488833 0.99982725 -0.0719208 ] [ 0. 0. 0. 1. ]] SLAMing on 77.32992885099999 meters Centerline goodness [0,1] 0.6546595847416707 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99890604 -0.04318261 -0.01794378 0.6435858 ] [ 0.0432618 0.99905557 0.00404864 -0.16507727] [ 0.017752 -0.00482049 0.9998308 -0.07171023] [ 0. 0. 0. 1. ]] SLAMing on 77.35992885099999 meters Centerline goodness [0,1] 0.6543367654505559 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99889102 -0.04358234 -0.01781324 0.64307119] [ 0.04366299 0.99903764 0.00416387 -0.16657539] [ 0.01761463 -0.00493703 0.99983266 -0.07155884] [ 0. 0. 0. 1. ]] SLAMing on 77.389928851 meters Centerline goodness [0,1] 0.6478798671608028 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99882665 -0.04516174 -0.01748559 0.6412675 ] [ 0.0452317 0.99896994 0.00362591 -0.1690014 ] [ 0.01730382 -0.00441256 0.99984054 -0.07059795] [ 0. 0. 0. 1. ]] SLAMing on 77.419928851 meters Centerline goodness [0,1] 0.6521226982066446 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99880705 -0.0456538 -0.01732664 0.64064152] [ 0.04572371 0.99894742 0.00365994 -0.17030409] [ 0.01714131 -0.00444781 0.99984318 -0.07040529] [ 0. 0. 0. 1. ]] SLAMing on 77.449928851 meters Centerline goodness [0,1] 0.6433708942699592 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99879386 -0.04598362 -0.01721406 0.64031835] [ 0.04605775 0.99893103 0.00393458 -0.17196577] [ 0.01701473 -0.00472268 0.99984409 -0.07054233] [ 0. 0. 0. 1. ]] SLAMing on 77.479928851 meters Centerline goodness [0,1] 0.6444566462948815 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.07 [[ 0.99873493 -0.04725867 -0.01718041 0.6394458 ] [ 0.04732593 0.99887327 0.00352936 -0.17498299] [ 0.01699426 -0.00433798 0.99984618 -0.06984775] [ 0. 0. 0. 1. ]] SLAMing on 77.509928851 meters Centerline goodness [0,1] 0.6405589394482265 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99872787 -0.04748211 -0.01697348 0.63896731] [ 0.04755254 0.99886162 0.00376999 -0.17658285] [ 0.01677515 -0.00457233 0.99984883 -0.06986728] [ 0. 0. 0. 1. ]] SLAMing on 77.53992885099998 meters Centerline goodness [0,1] 0.6442767714754957 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99872838 -0.04750815 -0.01686991 0.63897713] [ 0.04758552 0.99885828 0.0042142 -0.17820356] [ 0.01665044 -0.0050116 0.99984881 -0.07027469] [ 0. 0. 0. 1. ]] SLAMing on 77.56992885099999 meters Centerline goodness [0,1] 0.6420468030569136 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99870179 -0.04817317 -0.01655512 0.63763728] [ 0.04824825 0.99882669 0.00416577 -0.18005062] [ 0.01633502 -0.00495912 0.99985428 -0.06951467] [ 0. 0. 0. 1. ]] SLAMing on 77.59992885099999 meters Centerline goodness [0,1] 0.6419390029881895 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.9987029 -0.04817034 -0.01649674 0.6375377 ] [ 0.04824828 0.99882586 0.00435936 -0.18097077] [ 0.01626738 -0.00514965 0.99985442 -0.06953997] [ 0. 0. 0. 1. ]] SLAMing on 77.62992885099999 meters Centerline goodness [0,1] 0.6441554149749787 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99871126 -0.04798771 -0.0165226 0.63758347] [ 0.04807284 0.99883233 0.0047946 -0.18283338] [ 0.01627322 -0.00558271 0.999852 -0.06944138] [ 0. 0. 0. 1. ]] SLAMing on 77.65992885099999 meters Centerline goodness [0,1] 0.6377205205110644 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99871686 -0.04783429 -0.01662872 0.63778508] [ 0.04792216 0.99883893 0.00492622 -0.18350737] [ 0.01637377 -0.00571679 0.9998496 -0.06929765] [ 0. 0. 0. 1. ]] SLAMing on 77.68992885099999 meters Centerline goodness [0,1] 0.6419322121848243 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.9987246 -0.04764612 -0.01670415 0.63793422] [ 0.04773539 0.99884757 0.00498662 -0.18380044] [ 0.01644731 -0.00577764 0.99984804 -0.06911193] [ 0. 0. 0. 1. ]] SLAMing on 77.71992885099999 meters Centerline goodness [0,1] 0.6445325404691113 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99874292 -0.04717791 -0.01693615 0.63863212] [ 0.04727352 0.99886797 0.00529012 -0.18426455] [ 0.0166674 -0.0060841 0.99984258 -0.06920162] [ 0. 0. 0. 1. ]] SLAMing on 77.74992885099999 meters Centerline goodness [0,1] 0.6487535277516463 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99878562 -0.04612393 -0.01731692 0.64008403] [ 0.04623027 0.99891402 0.0057914 -0.18440932] [ 0.017031 -0.00658494 0.99983328 -0.06961234] [ 0. 0. 0. 1. ]] SLAMing on 77.779928851 meters Centerline goodness [0,1] 0.6466545856769669 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99880885 -0.04551192 -0.0175941 0.64102562] [ 0.04562513 0.99894009 0.00608692 -0.18441583] [ 0.01729842 -0.0068824 0.99982668 -0.06986365] [ 0. 0. 0. 1. ]] SLAMing on 77.809928851 meters Centerline goodness [0,1] 0.6485182308217405 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99883506 -0.04478621 -0.01796443 0.64219421] [ 0.04490581 0.9989713 0.00631004 -0.1842658 ] [ 0.01766335 -0.0071094 0.99981871 -0.07004136] [ 0. 0. 0. 1. ]] SLAMing on 77.839928851 meters Centerline goodness [0,1] 0.6484754229699797 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.9988668 -0.04386761 -0.01845948 0.6436608 ] [ 0.04399574 0.99900996 0.00659343 -0.18410102] [ 0.01815197 -0.0073981 0.99980787 -0.07018619] [ 0. 0. 0. 1. ]] SLAMing on 77.869928851 meters Centerline goodness [0,1] 0.652212763956168 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.07 [[ 0.99906436 -0.03895421 -0.01878749 0.64426383] [ 0.03916181 0.99917439 0.01081118 -0.18434106] [ 0.01835084 -0.01153682 0.99976505 -0.07012474] [ 0. 0. 0. 1. ]] SLAMing on 77.89992885099998 meters Centerline goodness [0,1] 0.6564644297201065 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99910531 -0.03775669 -0.01905302 0.64542328] [ 0.03797218 0.99921739 0.01107802 -0.18317653] [ 0.01861984 -0.0117916 0.9997571 -0.07025564] [ 0. 0. 0. 1. ]] SLAMing on 77.92992885099999 meters Centerline goodness [0,1] 0.6738175116949393 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99926273 -0.03319575 -0.01928811 0.64527149] [ 0.03348669 0.99932717 0.01496185 -0.18314431] [ 0.01877847 -0.01559671 0.99970201 -0.0694099 ] [ 0. 0. 0. 1. ]] SLAMing on 77.95992885099999 meters Centerline goodness [0,1] 0.6709555345316935 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99929049 -0.03207982 -0.01973302 0.64683167] [ 0.03238549 0.99935725 0.0153708 -0.18275189] [ 0.01922725 -0.01599896 0.99968712 -0.06975286] [ 0. 0. 0. 1. ]] SLAMing on 77.98992885099999 meters Centerline goodness [0,1] 0.6930580547400322 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99931466 -0.03108971 -0.02009075 0.64816535] [ 0.03140587 0.9993847 0.01561719 -0.18225042] [ 0.01959285 -0.01623746 0.99967618 -0.06997644] [ 0. 0. 0. 1. ]] SLAMing on 78.01992885099999 meters Centerline goodness [0,1] 0.6840784833495065 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99933566 -0.03017695 -0.02043495 0.64938062] [ 0.03050297 0.99940924 0.01583448 -0.18168917] [ 0.01994504 -0.01644729 0.99966579 -0.07014135] [ 0. 0. 0. 1. ]] SLAMing on 78.04992885099999 meters Centerline goodness [0,1] 0.7130896757820838 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99946233 -0.02552928 -0.02057426 0.64960814] [ 0.02594091 0.99946349 0.01999496 -0.18184151] [ 0.02005277 -0.02051792 0.99958837 -0.07007428] [ 0. 0. 0. 1. ]] SLAMing on 78.07992885099999 meters Centerline goodness [0,1] 0.7179615229126537 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99947633 -0.02470169 -0.02090184 0.6506421 ] [ 0.02512206 0.99948242 0.02009395 -0.18079223] [ 0.02039467 -0.02060852 0.99957958 -0.07008232] [ 0. 0. 0. 1. ]] SLAMing on 78.10992885099999 meters Centerline goodness [0,1] 0.7209562321598477 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99948827 -0.02397419 -0.02117618 0.65152933] [ 0.02439973 0.99950079 0.02007071 -0.17976458] [ 0.02068443 -0.02057713 0.99957428 -0.06995 ] [ 0. 0. 0. 1. ]] SLAMing on 78.139928851 meters Centerline goodness [0,1] 0.7437580560462118 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99957898 -0.0198924 -0.02112256 0.65107562] [ 0.02039755 0.99950444 0.02397518 -0.18043282] [ 0.02063516 -0.02439593 0.99948938 -0.06967235] [ 0. 0. 0. 1. ]] SLAMing on 78.169928851 meters Centerline goodness [0,1] 0.7370077238485744 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99958057 -0.01947131 -0.02143701 0.65192702] [ 0.01998321 0.9995139 0.02392965 -0.18022467] [ 0.02096065 -0.02434799 0.99948378 -0.06959192] [ 0. 0. 0. 1. ]] SLAMing on 78.199928851 meters Centerline goodness [0,1] 0.7569596720373725 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99957927 -0.01923799 -0.02170662 0.65270381] [ 0.01975411 0.99952112 0.0238182 -0.18016808] [ 0.02123801 -0.02423697 0.99948062 -0.06963411] [ 0. 0. 0. 1. ]] SLAMing on 78.229928851 meters Centerline goodness [0,1] 0.7619921800495899 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99958292 -0.01880704 -0.02191544 0.65350449] [ 0.01933109 0.99952622 0.02395099 -0.18041535] [ 0.02145461 -0.02436465 0.99947289 -0.06983922] [ 0. 0. 0. 1. ]] SLAMing on 78.259928851 meters Centerline goodness [0,1] 0.7568683613796396 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99957926 -0.01894331 -0.02196485 0.65341084] [ 0.0194624 0.99953049 0.02366467 -0.18018464] [ 0.02150625 -0.02408221 0.99947863 -0.06945035] [ 0. 0. 0. 1. ]] SLAMing on 78.28992885099998 meters Centerline goodness [0,1] 0.760788708216108 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99957285 -0.01906221 -0.02215295 0.65334564] [ 0.01957838 0.99953628 0.02332196 -0.17995049] [ 0.02169811 -0.02374572 0.99948253 -0.06871204] [ 0. 0. 0. 1. ]] SLAMing on 78.31992885099999 meters Centerline goodness [0,1] 0.767838430027627 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99956961 -0.01921028 -0.02217127 0.65294843] [ 0.01971928 0.99954161 0.02297198 -0.18008667] [ 0.0217198 -0.0233993 0.99949023 -0.06792505] [ 0. 0. 0. 1. ]] SLAMing on 78.34992885099999 meters Centerline goodness [0,1] 0.7456777809442386 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99956478 -0.01927505 -0.02233191 0.6531591 ] [ 0.01978501 0.99954324 0.02284416 -0.18047032] [ 0.02188138 -0.02327605 0.99948958 -0.06770095] [ 0. 0. 0. 1. ]] SLAMing on 78.37992885099999 meters Centerline goodness [0,1] 0.7653895517421685 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99956364 -0.01923376 -0.0224185 0.65339371] [ 0.01974684 0.99954286 0.0228941 -0.18103752] [ 0.02196791 -0.0233268 0.9994865 -0.06768013] [ 0. 0. 0. 1. ]] SLAMing on 78.40992885099999 meters Centerline goodness [0,1] 0.7639259801952119 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99950916 -0.02175149 -0.02254561 0.65455235] [ 0.02218736 0.99956817 0.01926623 -0.17977298] [ 0.0221168 -0.01975701 0.99956016 -0.06747695] [ 0. 0. 0. 1. ]] SLAMing on 78.43992885099999 meters Centerline goodness [0,1] 0.7655457003272779 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99950606 -0.02179525 -0.02264095 0.65448431] [ 0.02222953 0.99957024 0.0191098 -0.17975764] [ 0.02221472 -0.01960366 0.99956101 -0.06702241] [ 0. 0. 0. 1. ]] SLAMing on 78.46992885099999 meters Centerline goodness [0,1] 0.7637034933257597 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99950125 -0.02199533 -0.02265951 0.65421468] [ 0.02242153 0.99957314 0.01872985 -0.17930303] [ 0.02223787 -0.01922857 0.99956778 -0.06650063] [ 0. 0. 0. 1. ]] SLAMing on 78.49992885099999 meters Centerline goodness [0,1] 0.7684332615333633 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.07 [[ 0.99950654 -0.02164814 -0.02276029 0.65429725] [ 0.02207571 0.99958129 0.0187058 -0.17923497] [ 0.02234582 -0.01919902 0.99956594 -0.06602935] [ 0. 0. 0. 1. ]] SLAMing on 78.529928851 meters Centerline goodness [0,1] 0.7692307692307692 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.07 [[ 0.9995083 -0.02127637 -0.02303211 0.65504828] [ 0.02170975 0.9995888 0.01873268 -0.17948364] [ 0.02262408 -0.01922349 0.99955921 -0.06598209] [ 0. 0. 0. 1. ]] SLAMing on 78.559928851 meters Centerline goodness [0,1] 0.7728843241196517 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.07 [[ 0.99952694 -0.02012858 -0.02325383 0.65640343] [ 0.02057903 0.999602 0.01929648 -0.17981285] [ 0.02285617 -0.01976589 0.99954335 -0.06660924] [ 0. 0. 0. 1. ]] SLAMing on 78.589928851 meters Centerline goodness [0,1] 0.7784627739984883 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.07 [[ 0.99953118 -0.01959511 -0.02352556 0.65736325] [ 0.02005422 0.99960986 0.01944083 -0.17954172] [ 0.02313544 -0.01990351 0.99953419 -0.06686194] [ 0. 0. 0. 1. ]] SLAMing on 78.619928851 meters Centerline goodness [0,1] 0.7809931021449494 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.07 [[ 0.99953592 -0.01902337 -0.02379214 0.65826235] [ 0.01948795 0.9996209 0.01944953 -0.17888689] [ 0.02341312 -0.01990416 0.99952771 -0.06691759] [ 0. 0. 0. 1. ]] SLAMing on 78.64992885099998 meters Centerline goodness [0,1] 0.7815361260021823 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.07 [[ 0.99960628 -0.01463542 -0.02393926 0.65830361] [ 0.01520054 0.99960598 0.02359738 -0.17923995] [ 0.02358447 -0.02395198 0.99943488 -0.06669181] [ 0. 0. 0. 1. ]] SLAMing on 78.67992885099999 meters Centerline goodness [0,1] 0.779449393479909 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.07 [[ 0.9996096 -0.01397563 -0.02419363 0.65912876] [ 0.01454619 0.99961636 0.02356993 -0.17832773] [ 0.02385494 -0.02391265 0.9994294 -0.06664058] [ 0. 0. 0. 1. ]] SLAMing on 78.70992885099999 meters Centerline goodness [0,1] 0.778234525365332 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.07 [[ 0.99966272 -0.00933439 -0.0242345 0.65942584] [ 0.01000638 0.99956461 0.02775734 -0.17935758] [ 0.02396485 -0.02799048 0.99932088 -0.06670388] [ 0. 0. 0. 1. ]] SLAMing on 78.73992885099999 meters Centerline goodness [0,1] 0.7800133181126332 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.07 [[ 0.99966366 -0.00875678 -0.02441078 0.66009873] [ 0.00943068 0.99957374 0.02762954 -0.17869573] [ 0.02415843 -0.02785046 0.99932013 -0.06657338] [ 0. 0. 0. 1. ]] SLAMing on 78.76992885099999 meters Centerline goodness [0,1] 0.7796155671570955 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.07 [[ 0.9996605 -0.0081996 -0.02473174 0.66101943] [ 0.00888341 0.99957771 0.02766725 -0.1783915 ] [ 0.02449444 -0.02787756 0.99931119 -0.06653659] [ 0. 0. 0. 1. ]] SLAMing on 78.79992885099999 meters Centerline goodness [0,1] 0.7809349873105477 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.07 [[ 0.99966454 -0.0070702 -0.02491621 0.66194477] [ 0.00776542 0.99958008 0.02791707 -0.17781727] [ 0.02470837 -0.02810119 0.99929966 -0.06649485] [ 0. 0. 0. 1. ]] SLAMing on 78.82992885099999 meters Centerline goodness [0,1] 0.7789689942616951 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.07 [[ 0.99966018 -0.00678221 -0.02516979 0.66262934] [ 0.00748423 0.99958262 0.02790293 -0.17769237] [ 0.02497004 -0.02808183 0.9992937 -0.06645292] [ 0. 0. 0. 1. ]] SLAMing on 78.85992885099999 meters Centerline goodness [0,1] 0.7789689942616951 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.07 [[ 0.99966018 -0.00678221 -0.02516979 0.66262934] [ 0.00748423 0.99958262 0.02790293 -0.17769237] [ 0.02497004 -0.02808183 0.9992937 -0.06645292] [ 0. 0. 0. 1. ]] SLAMing on 78.889928851 meters Centerline goodness [0,1] 0.7791308048803556 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.07 [[ 0.9996584 -0.00627834 -0.02537054 0.66335882] [ 0.00699549 0.99957561 0.02827817 -0.17904924] [ 0.02518223 -0.02844599 0.99927808 -0.0665888 ] [ 0. 0. 0. 1. ]] SLAMing on 78.919928851 meters Centerline goodness [0,1] 0.7783685857468885 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.07 [[ 0.99962512 -0.0092348 -0.02577458 0.66497553] [ 0.00987283 0.99964522 0.02473777 -0.1793347 ] [ 0.02553699 -0.02498296 0.99936165 -0.06679257] [ 0. 0. 0. 1. ]] SLAMing on 78.949928851 meters Centerline goodness [0,1] 0.7783685857468885 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.07 [[ 0.99962512 -0.0092348 -0.02577458 0.66497553] [ 0.00987283 0.99964522 0.02473777 -0.1793347 ] [ 0.02553699 -0.02498296 0.99936165 -0.06679257] [ 0. 0. 0. 1. ]] SLAMing on 78.979928851 meters Centerline goodness [0,1] 0.778946626904924 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.18, Z:-0.07 [[ 0.99958251 -0.01247756 -0.0260598 0.66616039] [ 0.01303412 0.99968821 0.02129761 -0.17988185] [ 0.02578593 -0.02162838 0.99943349 -0.06695976] [ 0. 0. 0. 1. ]] SLAMing on 79.009928851 meters Centerline goodness [0,1] 0.7769183750235095 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.18, Z:-0.07 [[ 0.9995778 -0.01288974 -0.02603998 0.66567603] [ 0.01343955 0.99968808 0.0210505 -0.18062276] [ 0.02576052 -0.02139158 0.99943924 -0.06641712] [ 0. 0. 0. 1. ]] SLAMing on 79.03992885099998 meters Centerline goodness [0,1] 0.779291298038665 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.18, Z:-0.07 [[ 0.99952648 -0.01615447 -0.02618888 0.66651802] [ 0.01660992 0.99971292 0.01726789 -0.17951193] [ 0.0259024 -0.01769471 0.99950786 -0.06642528] [ 0. 0. 0. 1. ]] SLAMing on 79.06992885099999 meters Centerline goodness [0,1] 0.7782860343539955 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.18, Z:-0.07 [[ 0.99945592 -0.01975494 -0.02641233 0.66722898] [ 0.02011918 0.99970513 0.01359648 -0.17994776] [ 0.02613595 -0.01412048 0.99955866 -0.06618175] [ 0. 0. 0. 1. ]] SLAMing on 79.09992885099999 meters Centerline goodness [0,1] 0.778235376239006 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.18, Z:-0.07 [[ 0.99938185 -0.02298541 -0.02660067 0.66843164] [ 0.02326057 0.9996786 0.01008137 -0.17969302] [ 0.0263604 -0.01069389 0.9995953 -0.06663053] [ 0. 0. 0. 1. ]] SLAMing on 79.12992885099999 meters Centerline goodness [0,1] 0.7793569593296452 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.18, Z:-0.07 [[ 0.99927886 -0.02695881 -0.02673924 0.6690982 ] [ 0.02714192 0.9996104 0.00650894 -0.18127894] [ 0.02655335 -0.00723 0.99962125 -0.06679577] [ 0. 0. 0. 1. ]] SLAMing on 79.15992885099999 meters Centerline goodness [0,1] 0.7803218963290905 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.18, Z:-0.07 [[ 0.99926404 -0.02759055 -0.02664849 0.6686962 ] [ 0.02777442 0.99959273 0.00655445 -0.18303768] [ 0.02645679 -0.00728977 0.99962338 -0.06680832] [ 0. 0. 0. 1. ]] SLAMing on 79.18992885099999 meters Centerline goodness [0,1] 0.7813801514070733 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.18, Z:-0.07 [[ 0.99925008 -0.02833255 -0.02639197 0.66772255] [ 0.02851061 0.99957303 0.00639512 -0.18433193] [ 0.02619951 -0.00714278 0.99963122 -0.0664305 ] [ 0. 0. 0. 1. ]] SLAMing on 79.21992885099999 meters Centerline goodness [0,1] 0.7806745292778812 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.19, Z:-0.07 [[ 0.9992328 -0.02907815 -0.02623496 0.66693349] [ 0.02924992 0.99955298 0.00618761 -0.18533924] [ 0.02604331 -0.00695023 0.99963665 -0.0660289 ] [ 0. 0. 0. 1. ]] SLAMing on 79.24992885099999 meters Centerline goodness [0,1] 0.7792743265530511 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.19, Z:-0.07 [[ 0.99910874 -0.0330969 -0.0261979 0.66716203] [ 0.03317028 0.9994469 0.00237134 -0.18539829] [ 0.02610493 -0.00323822 0.99965396 -0.06598655] [ 0. 0. 0. 1. ]] SLAMing on 79.279928851 meters Centerline goodness [0,1] 0.7783229770939857 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.19, Z:-0.07 [[ 0.99909087 -0.03374307 -0.02605462 0.66626527] [ 0.03380855 0.99942617 0.00207639 -0.18609537] [ 0.02596961 -0.00295537 0.99965836 -0.06533207] [ 0. 0. 0. 1. ]] SLAMing on 79.309928851 meters Centerline goodness [0,1] 0.7754793830945952 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.19, Z:-0.07 [[ 0.99906495 -0.03460568 -0.02591653 0.66573112] [ 0.03466809 0.99939695 0.00196223 -0.18723113] [ 0.02583299 -0.00285887 0.99966218 -0.06539165] [ 0. 0. 0. 1. ]] SLAMing on 79.339928851 meters Centerline goodness [0,1] 0.7774571768800953 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.19, Z:-0.07 [[ 0.99905519 -0.03503805 -0.02571132 0.66517846] [ 0.03509755 0.99938215 0.0018664 -0.18749805] [ 0.02563004 -0.00276704 0.99966767 -0.06536357] [ 0. 0. 0. 1. ]] SLAMing on 79.369928851 meters Centerline goodness [0,1] 0.7755922600689923 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.19, Z:-0.07 [[ 0.99904033 -0.0354597 -0.02571036 0.66506158] [ 0.03551873 0.99936731 0.00184285 -0.1879183 ] [ 0.02562875 -0.00275428 0.99966774 -0.06543414] [ 0. 0. 0. 1. ]] SLAMing on 79.39992885099998 meters Centerline goodness [0,1] 0.7722059764232843 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.07 [[ 0.99899752 -0.03664508 -0.02571171 0.66472493] [ 0.0367016 0.99932477 0.00172988 -0.18906889] [ 0.02563096 -0.00267181 0.9996679 -0.06574746] [ 0. 0. 0. 1. ]] SLAMing on 79.42992885099999 meters Centerline goodness [0,1] 0.7681800560965042 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.07 [[ 0.99898061 -0.03713641 -0.0256637 0.66461001] [ 0.03719227 0.99930668 0.00170229 -0.18964852] [ 0.02558269 -0.00265505 0.99966918 -0.06595994] [ 0. 0. 0. 1. ]] SLAMing on 79.45992885099999 meters Centerline goodness [0,1] 0.7640970572107476 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.07 [[ 0.99896758 -0.03762482 -0.02545886 0.66409624] [ 0.0376812 0.9992883 0.00173831 -0.19041336] [ 0.02537534 -0.00269584 0.99967436 -0.06603471] [ 0. 0. 0. 1. ]] SLAMing on 79.48992885099999 meters Centerline goodness [0,1] 0.7549435995798511 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.07 [[ 0.99891767 -0.03924808 -0.02496155 0.66211411] [ 0.0392891 0.99922722 0.00115474 -0.19102996] [ 0.02489693 -0.0021342 0.99968775 -0.06540799] [ 0. 0. 0. 1. ]] SLAMing on 79.51992885099999 meters Centerline goodness [0,1] 0.7584935715098419 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.07 [[ 0.99890759 -0.03950972 -0.02495216 0.66227332] [ 0.03955328 0.99921667 0.0012547 -0.19157251] [ 0.02488304 -0.00224027 0.99968786 -0.06579853] [ 0. 0. 0. 1. ]] SLAMing on 79.54992885099999 meters Centerline goodness [0,1] 0.7295132611730246 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.07 [[ 9.98882896e-01 -4.03121068e-02 -2.46555145e-02 6.61568478e-01] [ 4.03434284e-02 9.99185573e-01 7.74070536e-04 -1.90628752e-01] [ 2.46042299e-02 -1.76789380e-03 9.99695707e-01 -6.59088913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.57992885099999 meters Centerline goodness [0,1] 0.7149271761675746 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.07 [[ 9.98878990e-01 -4.03175276e-02 -2.48044500e-02 6.62247738e-01] [ 4.03515559e-02 9.99185163e-01 8.72666802e-04 -1.90053922e-01] [ 2.47490546e-02 -1.87258668e-03 9.99691941e-01 -6.65150379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.60992885099999 meters Centerline goodness [0,1] 0.7510579408468101 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.07 [[ 9.98869378e-01 -4.05353381e-02 -2.48364903e-02 6.62280688e-01] [ 4.05625717e-02 9.99176824e-01 5.93494899e-04 -1.89257193e-01] [ 2.47919880e-02 -1.60025580e-03 9.99691351e-01 -6.65004082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.639928851 meters Centerline goodness [0,1] 0.7396470022663278 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.07 [[ 9.98860957e-01 -4.06328318e-02 -2.50152285e-02 6.62804894e-01] [ 4.06538996e-02 9.99173233e-01 3.34003773e-04 -1.87966114e-01] [ 2.49809752e-02 -1.35058992e-03 9.99687014e-01 -6.67370321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.669928851 meters Centerline goodness [0,1] 0.7540485829959515 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.07 [[ 9.98853469e-01 -4.08359989e-02 -2.49833640e-02 6.62755012e-01] [ 4.08504550e-02 9.99165269e-01 6.83181268e-05 -1.86798031e-01] [ 2.49597198e-02 -1.08882158e-03 9.99687865e-01 -6.68062808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.699928851 meters Centerline goodness [0,1] 0.7462968508834573 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.07 [[ 9.98838104e-01 -4.11820856e-02 -2.50295362e-02 6.62936639e-01] [ 4.11812937e-02 9.99151541e-01 -5.47309711e-04 -1.84125376e-01] [ 2.50308390e-02 -4.84074887e-04 9.99686562e-01 -6.69264869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.729928851 meters Centerline goodness [0,1] 0.7102719452409583 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.07 [[ 9.98827751e-01 -4.14102961e-02 -2.50661346e-02 6.63006190e-01] [ 4.13999702e-02 9.99142220e-01 -9.30979933e-04 -1.82589148e-01] [ 2.50831856e-02 -1.07848633e-04 9.99685362e-01 -6.69448190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.759928851 meters Centerline goodness [0,1] 0.7353777839450496 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.07 [[ 9.98820880e-01 -4.15001428e-02 -2.51910107e-02 6.63495846e-01] [ 4.14845607e-02 9.99138493e-01 -1.14106830e-03 -1.81280338e-01] [ 2.52166630e-02 9.46848313e-05 9.99682005e-01 -6.72906790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78992885099998 meters Centerline goodness [0,1] 0.7039113912318102 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.07 [[ 9.98801192e-01 -4.19802458e-02 -2.51761545e-02 6.63736143e-01] [ 4.19475518e-02 9.99118146e-01 -1.82556278e-03 -1.78556337e-01] [ 2.52305904e-02 7.67296234e-04 9.99681364e-01 -6.77298985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81992885099999 meters Centerline goodness [0,1] 0.7375075535722586 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.07 [[ 0.99878987 -0.04226331 -0.02515161 0.66395785] [ 0.04222257 0.99910592 -0.00214888 -0.177061 ] [ 0.02521994 0.00108431 0.99968134 -0.06818923] [ 0. 0. 0. 1. ]] SLAMing on 79.84992885099999 meters Centerline goodness [0,1] 0.7245353594389246 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.07 [[ 0.99877013 -0.0427919 -0.02504153 0.66428707] [ 0.04273465 0.99908249 -0.00281708 -0.17403694] [ 0.0251391 0.00174347 0.99968244 -0.06907145] [ 0. 0. 0. 1. ]] SLAMing on 79.87992885099999 meters Centerline goodness [0,1] 0.716905807481859 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.07 [[ 0.99876146 -0.04303801 -0.02496563 0.66432202] [ 0.0429704 0.9990711 -0.00323876 -0.17206244] [ 0.02508183 0.00216197 0.99968306 -0.06934787] [ 0. 0. 0. 1. ]] SLAMing on 79.90992885099999 meters Centerline goodness [0,1] 0.6984652210644888 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.07 [[ 0.99875056 -0.04319237 -0.02513422 0.6648308 ] [ 0.04311462 0.99906355 -0.00362734 -0.17010103] [ 0.02526735 0.00253915 0.9996775 -0.06959405] [ 0. 0. 0. 1. ]] SLAMing on 79.93992885099999 meters Centerline goodness [0,1] 0.6753961476420913 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.07 [[ 9.98874870e-01 -4.04667504e-02 -2.47272450e-02 6.63337969e-01] [ 4.04604627e-02 9.99180855e-01 -7.54747584e-04 -1.67516568e-01] [ 2.47375320e-02 -2.46577378e-04 9.99693950e-01 -6.96063089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.96992885099999 meters Centerline goodness [0,1] 0.7249024645541917 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.07 [[ 9.98869126e-01 -4.05252743e-02 -2.48630695e-02 6.63656433e-01] [ 4.05058753e-02 9.99178476e-01 -1.28357580e-03 -1.64918521e-01] [ 2.48946611e-02 2.75023850e-04 9.99690042e-01 -6.95293032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.99992885099999 meters Centerline goodness [0,1] 0.6877908371312065 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.07 [[ 0.9988624 -0.04060825 -0.02499733 0.66381528] [ 0.04056576 0.99917444 -0.00220448 -0.16029402] [ 0.02506622 0.00118793 0.99968509 -0.06915358] [ 0. 0. 0. 1. ]] SLAMing on 80.029928851 meters Centerline goodness [0,1] 0.7268084696360176 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.07 [[ 0.9988551 -0.0407469 -0.02506356 0.66396839] [ 0.0406947 0.99916827 -0.00258946 -0.15837105] [ 0.02514822 0.00156654 0.99968251 -0.06919816] [ 0. 0. 0. 1. ]] SLAMing on 80.059928851 meters Centerline goodness [0,1] 0.7030044367283951 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.07 [[ 0.99885157 -0.04076192 -0.0251793 0.66451695] [ 0.04070236 0.99916718 -0.00287363 -0.1566591 ] [ 0.02527546 0.00184547 0.99967882 -0.06954583] [ 0. 0. 0. 1. ]] SLAMing on 80.089928851 meters Centerline goodness [0,1] 0.6917678484701311 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.15, Z:-0.07 [[ 0.9988392 -0.04105918 -0.02518736 0.66499969] [ 0.04098139 0.99915343 -0.00359708 -0.15301057] [ 0.02531373 0.00256069 0.99967628 -0.07017191] [ 0. 0. 0. 1. ]] SLAMing on 80.119928851 meters Centerline goodness [0,1] 0.7023643949930458 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.07 [[ 0.99883191 -0.04126728 -0.02513637 0.66553347] [ 0.04117478 0.99914319 -0.00418634 -0.14913414] [ 0.02528759 0.00314646 0.99967527 -0.07099182] [ 0. 0. 0. 1. ]] SLAMing on 80.14992885099998 meters Centerline goodness [0,1] 0.7050639411203756 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.07 [[ 0.99882443 -0.04140278 -0.02521034 0.66588795] [ 0.04130251 0.99913662 -0.00448511 -0.14751761] [ 0.02537427 0.00343859 0.99967211 -0.07129404] [ 0. 0. 0. 1. ]] SLAMing on 80.17992885099999 meters Centerline goodness [0,1] 0.6992440736844681 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.07 [[ 0.99882181 -0.04136914 -0.02536892 0.66663295] [ 0.0412655 0.99913765 -0.00459545 -0.14622635] [ 0.02553715 0.00354318 0.99966759 -0.07183746] [ 0. 0. 0. 1. ]] SLAMing on 80.20992885099999 meters Centerline goodness [0,1] 0.6926016658500735 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.07 [[ 0.99881972 -0.04137283 -0.02544511 0.66719091] [ 0.04126576 0.99913706 -0.00471867 -0.1449967 ] [ 0.02561838 0.00366309 0.99966508 -0.07238266] [ 0. 0. 0. 1. ]] SLAMing on 80.23992885099999 meters Centerline goodness [0,1] 0.6942650032052863 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.07 [[ 0.99880733 -0.04166078 -0.02546162 0.6676429 ] [ 0.04154134 0.99912324 -0.005202 -0.14225418] [ 0.02565601 0.00413808 0.99966227 -0.07297838] [ 0. 0. 0. 1. ]] SLAMing on 80.26992885099999 meters Centerline goodness [0,1] 0.679829321231255 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.07 [[ 0.99880232 -0.04174077 -0.02552718 0.66807935] [ 0.04161571 0.99911904 -0.00541109 -0.14098895] [ 0.02573056 0.00434228 0.99965948 -0.07339436] [ 0. 0. 0. 1. ]] SLAMing on 80.29992885099999 meters Centerline goodness [0,1] 0.6816609851291933 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.07 [[ 0.99879833 -0.04179581 -0.02559297 0.66847182] [ 0.04166674 0.99911611 -0.00555633 -0.13986812] [ 0.02580258 0.00448328 0.999657 -0.07373155] [ 0. 0. 0. 1. ]] SLAMing on 80.32992885099999 meters Centerline goodness [0,1] 0.6798611971743711 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.07 [[ 0.99878306 -0.04223336 -0.02547058 0.6683501 ] [ 0.04209043 0.99909505 -0.00612229 -0.13741895] [ 0.02570609 0.00504277 0.99965682 -0.07399919] [ 0. 0. 0. 1. ]] SLAMing on 80.35992885099999 meters Centerline goodness [0,1] 0.6783131631917696 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.07 [[ 0.99877763 -0.04239118 -0.02542098 0.668496 ] [ 0.04224674 0.99908802 -0.00619265 -0.13662954] [ 0.02566031 0.00511112 0.99965765 -0.07444545] [ 0. 0. 0. 1. ]] SLAMing on 80.389928851 meters Centerline goodness [0,1] 0.6809529749282774 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.08 [[ 0.99875733 -0.04299859 -0.02519772 0.66829968] [ 0.04284876 0.99906071 -0.0064568 -0.13506227] [ 0.02545169 0.00536908 0.99966164 -0.07521314] [ 0. 0. 0. 1. ]] SLAMing on 80.419928851 meters Centerline goodness [0,1] 0.6903481249066188 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.08 [[ 0.99874844 -0.04318871 -0.02522458 0.66864304] [ 0.04303825 0.99905242 -0.00647793 -0.13436476] [ 0.02548045 0.0053842 0.99966082 -0.07574736] [ 0. 0. 0. 1. ]] SLAMing on 80.449928851 meters Centerline goodness [0,1] 0.6863954068896655 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.08 [[ 0.99873125 -0.04366243 -0.02508934 0.66824714] [ 0.04350367 0.99902986 -0.00683949 -0.13335885] [ 0.02536363 0.00573933 0.99966182 -0.07574636] [ 0. 0. 0. 1. ]] SLAMing on 80.479928851 meters Centerline goodness [0,1] 0.6754030239311104 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.08 [[ 0.9986959 -0.04468553 -0.02469197 0.66706663] [ 0.0445156 0.99898136 -0.00738982 -0.1320941 ] [ 0.02499704 0.006281 0.99966779 -0.0757716 ] [ 0. 0. 0. 1. ]] SLAMing on 80.50992885099998 meters Centerline goodness [0,1] 0.6812645374284071 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.08 [[ 0.99868878 -0.04493544 -0.02452617 0.6668642 ] [ 0.04476743 0.99897034 -0.00735732 -0.13172443] [ 0.02483152 0.0062497 0.99967211 -0.07619574] [ 0. 0. 0. 1. ]] SLAMing on 80.53992885099998 meters Centerline goodness [0,1] 0.676734816446035 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.08 [[ 0.99866286 -0.04563799 -0.02428304 0.66619906] [ 0.04545947 0.99893531 -0.00785406 -0.13020069] [ 0.02461563 0.00673966 0.99967427 -0.07626485] [ 0. 0. 0. 1. ]] SLAMing on 80.56992885099999 meters Centerline goodness [0,1] 0.6736863267408841 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.08 [[ 0.99865389 -0.04584127 -0.02426917 0.66622989] [ 0.04565769 0.99892458 -0.00806535 -0.12924534] [ 0.0246128 0.00694642 0.99967293 -0.07641648] [ 0. 0. 0. 1. ]] SLAMing on 80.59992885099999 meters Centerline goodness [0,1] 0.6752884397858382 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.08 [[ 0.99864875 -0.04593671 -0.02430003 0.66668732] [ 0.04574269 0.99891725 -0.00848102 -0.12666667] [ 0.02466331 0.00735801 0.99966874 -0.07688352] [ 0. 0. 0. 1. ]] SLAMing on 80.62992885099999 meters Centerline goodness [0,1] 0.674933077428153 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.08 [[ 0.99879245 -0.04293199 -0.02388482 0.66526121] [ 0.04283462 0.99907171 -0.00457372 -0.12733605] [ 0.024059 0.0035451 0.99970425 -0.07744325] [ 0. 0. 0. 1. ]] SLAMing on 80.65992885099999 meters Centerline goodness [0,1] 0.6748793497586996 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.08 [[ 9.98918370e-01 -4.01747444e-02 -2.34111093e-02 6.63591364e-01] [ 4.01589981e-02 9.99192649e-01 -1.14254963e-03 -1.26812053e-01] [ 2.34381099e-02 2.01147124e-04 9.99725270e-01 -7.77812164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.68992885099999 meters Centerline goodness [0,1] 0.6729415948987628 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.08 [[ 9.98927688e-01 -3.99199775e-02 -2.34493144e-02 6.64243487e-01] [ 3.99065224e-02 9.99202875e-01 -1.04165434e-03 -1.25876456e-01] [ 2.34722052e-02 1.04756772e-04 9.99724484e-01 -7.84334025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.71992885099999 meters Centerline goodness [0,1] 0.6783892685912476 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.12, Z:-0.08 [[ 9.98925623e-01 -3.99465096e-02 -2.34920499e-02 6.64834587e-01] [ 3.99265986e-02 9.99201749e-01 -1.31618161e-03 -1.23498523e-01] [ 2.35258742e-02 3.76809885e-04 9.99723157e-01 -7.90438411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.74992885099999 meters Centerline goodness [0,1] 0.6783892685912476 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.12, Z:-0.08 [[ 9.98925623e-01 -3.99465096e-02 -2.34920499e-02 6.64834587e-01] [ 3.99265986e-02 9.99201749e-01 -1.31618161e-03 -1.23498523e-01] [ 2.35258742e-02 3.76809885e-04 9.99723157e-01 -7.90438411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.779928851 meters Centerline goodness [0,1] 0.6794773643648242 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.08 [[ 9.98922410e-01 -4.00170117e-02 -2.35086515e-02 6.65002625e-01] [ 3.99941311e-02 9.99198873e-01 -1.44283632e-03 -1.22408095e-01] [ 2.35475561e-02 5.01073443e-04 9.99722592e-01 -7.92974290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.809928851 meters Centerline goodness [0,1] 0.6743882461349442 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.08 [[ 9.98917033e-01 -4.00887186e-02 -2.36147304e-02 6.65290645e-01] [ 4.00607623e-02 9.99195873e-01 -1.65593455e-03 -1.21446774e-01] [ 2.36621255e-02 7.08117122e-04 9.99719762e-01 -7.93399082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.839928851 meters Centerline goodness [0,1] 0.683555646585934 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.08 [[ 9.98915565e-01 -4.01172504e-02 -2.36283624e-02 6.65628282e-01] [ 4.00878442e-02 9.99194684e-01 -1.71707770e-03 -1.20431274e-01] [ 2.36782185e-02 7.68005533e-04 9.99719337e-01 -7.98120725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.869928851 meters Centerline goodness [0,1] 0.6751757401611165 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.08 [[ 0.99891713 -0.04009595 -0.02359821 0.66617142] [ 0.04005879 0.99919523 -0.00204548 -0.11824144] [ 0.02366123 0.00109795 0.99971943 -0.08047713] [ 0. 0. 0. 1. ]] SLAMing on 80.89992885099998 meters Centerline goodness [0,1] 0.6819944029371743 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.08 [[ 0.99891603 -0.04004878 -0.02372473 0.66670105] [ 0.04000651 0.99919688 -0.00225414 -0.11672187] [ 0.02379595 0.00130256 0.99971599 -0.08077804] [ 0. 0. 0. 1. ]] SLAMing on 80.92992885099999 meters Centerline goodness [0,1] 0.6716779076352777 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.08 [[ 0.99891468 -0.04004203 -0.0237928 0.66710765] [ 0.03999461 0.99919685 -0.00246561 -0.11540515] [ 0.02387242 0.00151136 0.99971387 -0.08107259] [ 0. 0. 0. 1. ]] SLAMing on 80.95992885099999 meters Centerline goodness [0,1] 0.6816231584388731 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.08 [[ 9.99023772e-01 -3.77147694e-02 -2.30021524e-02 6.66788608e-01] [ 3.77238000e-02 9.99288203e-01 -4.13503960e-05 -1.14395172e-01] [ 2.29873390e-02 -8.26418567e-04 9.99735415e-01 -8.27277767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98992885099999 meters Centerline goodness [0,1] 0.6840867992766727 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.08 [[ 9.99031378e-01 -3.73149683e-02 -2.33216228e-02 6.68006563e-01] [ 3.73267103e-02 9.99303113e-01 6.82103454e-05 -1.13443117e-01] [ 2.33028250e-02 -9.38663734e-04 9.99728012e-01 -8.32852568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.01992885099999 meters Centerline goodness [0,1] 0.6851308165969499 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.08 [[ 0.99914864 -0.03433915 -0.02286507 0.66630683] [ 0.03442718 0.99940119 0.00346739 -0.11293189] [ 0.02273231 -0.00425162 0.99973255 -0.08327823] [ 0. 0. 0. 1. ]] SLAMing on 81.04992885099999 meters Centerline goodness [0,1] 0.6801521975462028 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.08 [[ 0.99914783 -0.03418254 -0.02313367 0.66697512] [ 0.03427006 0.99940684 0.00339718 -0.11211607] [ 0.02300382 -0.00418708 0.99972661 -0.08327306] [ 0. 0. 0. 1. ]] SLAMing on 81.07992885099999 meters Centerline goodness [0,1] 0.6717718030058766 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.08 [[ 0.99914294 -0.03435762 -0.02308566 0.66662079] [ 0.03443369 0.99940276 0.00290538 -0.11033488] [ 0.02297205 -0.00369782 0.99972927 -0.08283871] [ 0. 0. 0. 1. ]] SLAMing on 81.10992885099999 meters Centerline goodness [0,1] 0.6883773014922263 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.08 [[ 0.99914044 -0.0343718 -0.02317239 0.66678952] [ 0.03444477 0.9994028 0.00275704 -0.10974406] [ 0.02306379 -0.00355284 0.99972768 -0.08276704] [ 0. 0. 0. 1. ]] SLAMing on 81.139928851 meters Centerline goodness [0,1] 0.6945397815912637 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.08 [[ 0.99914494 -0.03414194 -0.02331772 0.667448 ] [ 0.03421474 0.99941078 0.00273008 -0.10891375] [ 0.02321077 -0.00352555 0.99972438 -0.08304322] [ 0. 0. 0. 1. ]] SLAMing on 81.169928851 meters Centerline goodness [0,1] 0.6871409633230225 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.08 [[ 0.99914161 -0.03417425 -0.02341301 0.6676598 ] [ 0.03424229 0.99941041 0.00251085 -0.10824322] [ 0.0233134 -0.00331041 0.99972272 -0.0829288 ] [ 0. 0. 0. 1. ]] SLAMing on 81.199928851 meters Centerline goodness [0,1] 0.6959443619598343 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.08 [[ 0.9991413 -0.03412868 -0.02349225 0.66794688] [ 0.03419661 0.99941201 0.00249586 -0.10786814] [ 0.02339326 -0.00329707 0.9997209 -0.08305661] [ 0. 0. 0. 1. ]] SLAMing on 81.229928851 meters Centerline goodness [0,1] 0.6825879175107787 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.08 [[ 0.99914199 -0.03388789 -0.02380963 0.66903479] [ 0.03396382 0.99941916 0.00279207 -0.10805006] [ 0.02370118 -0.00359834 0.99971261 -0.08361623] [ 0. 0. 0. 1. ]] SLAMing on 81.25992885099998 meters Centerline goodness [0,1] 0.690361948471889 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.08 [[ 0.99914055 -0.03385024 -0.02392338 0.66947961] [ 0.03392895 0.99942006 0.00289193 -0.10825802] [ 0.02381161 -0.00370114 0.99970961 -0.08387941] [ 0. 0. 0. 1. ]] SLAMing on 81.28992885099998 meters Centerline goodness [0,1] 0.6874317224158559 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.08 [[ 0.99913418 -0.03409927 -0.02383543 0.66961896] [ 0.03418492 0.99941042 0.00319506 -0.10915041] [ 0.02371243 -0.00400711 0.99971079 -0.08465141] [ 0. 0. 0. 1. ]] SLAMing on 81.31992885099999 meters Centerline goodness [0,1] 0.686711576976097 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.08 [[ 0.99912577 -0.03446179 -0.0236661 0.6691745 ] [ 0.0345465 0.99939803 0.00317943 -0.10956365] [ 0.02354229 -0.00399423 0.99971486 -0.08476775] [ 0. 0. 0. 1. ]] SLAMing on 81.34992885099999 meters Centerline goodness [0,1] 0.679542500649857 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.08 [[ 0.99911913 -0.03473247 -0.02355027 0.6687548 ] [ 0.03481537 0.99938889 0.00311924 -0.10983894] [ 0.02342754 -0.0039364 0.99971779 -0.08464388] [ 0. 0. 0. 1. ]] SLAMing on 81.37992885099999 meters Centerline goodness [0,1] 0.6857974630900395 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.08 [[ 0.99910422 -0.03535714 -0.02325158 0.66777926] [ 0.0354333 0.99936792 0.00287157 -0.10957464] [ 0.02313535 -0.00369287 0.99972552 -0.08450541] [ 0. 0. 0. 1. ]] SLAMing on 81.40992885099999 meters Centerline goodness [0,1] 0.676272989027522 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.08 [[ 0.9991036 -0.03528853 -0.02338175 0.66828439] [ 0.03536641 0.99937013 0.00292554 -0.10938992] [ 0.02326378 -0.00374984 0.99972233 -0.08474325] [ 0. 0. 0. 1. ]] SLAMing on 81.43992885099999 meters Centerline goodness [0,1] 0.6853415793986956 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.08 [[ 0.99910275 -0.03538835 -0.02326697 0.66806121] [ 0.03545703 0.99936796 0.00254588 -0.10810048] [ 0.02316216 -0.00336857 0.99972605 -0.08459769] [ 0. 0. 0. 1. ]] SLAMing on 81.46992885099999 meters Centerline goodness [0,1] 0.684009360374415 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.08 [[ 0.99910189 -0.03530623 -0.02342826 0.66833533] [ 0.03536808 0.99937186 0.00223113 -0.10717201] [ 0.02333477 -0.00305774 0.99972303 -0.08421651] [ 0. 0. 0. 1. ]] SLAMing on 81.49992885099999 meters Centerline goodness [0,1] 0.6826398852223816 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.08 [[ 0.99909773 -0.03534542 -0.02354647 0.66826818] [ 0.03539541 0.99937192 0.00170984 -0.10553147] [ 0.02347125 -0.00254173 0.99972128 -0.08353911] [ 0. 0. 0. 1. ]] SLAMing on 81.529928851 meters Centerline goodness [0,1] 0.6836371254975906 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.08 [[ 0.99911322 -0.03475881 -0.02376144 0.66907261] [ 0.03479874 0.99939353 0.00126879 -0.10216029] [ 0.02370293 -0.00209453 0.99971685 -0.08327583] [ 0. 0. 0. 1. ]] SLAMing on 81.559928851 meters Centerline goodness [0,1] 0.6850699640334987 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.08 [[ 9.99122628e-01 -3.43553392e-02 -2.39517339e-02 6.69904121e-01] [ 3.43882517e-02 9.99408085e-01 9.63464312e-04 -9.98643752e-02] [ 2.39044564e-02 -1.78627725e-03 9.99712652e-01 -8.34057021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.589928851 meters Centerline goodness [0,1] 0.6823613011895989 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.08 [[ 9.99126101e-01 -3.41818722e-02 -2.40548157e-02 6.70609429e-01] [ 3.42152188e-02 9.99414011e-01 9.75945186e-04 -9.91625189e-02] [ 2.40073602e-02 -1.79813309e-03 9.99710165e-01 -8.39789186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.619928851 meters Centerline goodness [0,1] 0.6815989881156288 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.08 [[ 9.99127943e-01 -3.40174537e-02 -2.42108808e-02 6.71327199e-01] [ 3.40507389e-02 9.99419641e-01 9.63751290e-04 -9.85020762e-02] [ 2.41640455e-02 -1.78730922e-03 9.99706409e-01 -8.43855834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64992885099998 meters Centerline goodness [0,1] 0.6791324056504322 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.08 [[ 9.99129523e-01 -3.39124798e-02 -2.42928041e-02 6.71911213e-01] [ 3.39382062e-02 9.99423723e-01 6.47394237e-04 -9.62844013e-02] [ 2.42568500e-02 -1.47128489e-03 9.99704677e-01 -8.47142258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67992885099999 meters Centerline goodness [0,1] 0.679700081843863 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.08 [[ 9.99128736e-01 -3.38206173e-02 -2.44527079e-02 6.72504030e-01] [ 3.38430306e-02 9.99427034e-01 5.03221983e-04 -9.52156580e-02] [ 2.44216781e-02 -1.33033729e-03 9.99700861e-01 -8.48935414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70992885099999 meters Centerline goodness [0,1] 0.6764160440841414 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.09 [[ 9.99126642e-01 -3.39368589e-02 -2.43771140e-02 6.72492945e-01] [ 3.39510884e-02 9.99423481e-01 1.69964492e-04 -9.35127169e-02] [ 2.43572920e-02 -9.97445603e-04 9.99702820e-01 -8.50422885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73992885099999 meters Centerline goodness [0,1] 0.6746187248464308 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.09 [[ 9.99132146e-01 -3.37652773e-02 -2.43897616e-02 6.72967861e-01] [ 3.37855136e-02 9.99429019e-01 4.17990514e-04 -9.32165563e-02] [ 2.43617219e-02 -1.24164838e-03 9.99702438e-01 -8.57035855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.76992885099999 meters Centerline goodness [0,1] 0.6751716851558374 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.09 [[ 9.99134959e-01 -3.36720555e-02 -2.44034085e-02 6.73285110e-01] [ 3.36974197e-02 9.99431883e-01 6.28777250e-04 -9.32381815e-02] [ 2.43683723e-02 -1.45056523e-03 9.99701995e-01 -8.61544882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.79992885099999 meters Centerline goodness [0,1] 0.672471285661356 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.09 [[ 9.99120458e-01 -3.42950277e-02 -2.41280237e-02 6.72506083e-01] [ 3.43150755e-02 9.99410977e-01 4.17220313e-04 -9.28265292e-02] [ 2.40995032e-02 -1.24480831e-03 9.99708790e-01 -8.63102935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.82992885099999 meters Centerline goodness [0,1] 0.6695118417239654 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.09 [[ 9.99116823e-01 -3.43172277e-02 -2.42466989e-02 6.73000077e-01] [ 3.43468048e-02 9.99409651e-01 8.04313062e-04 -9.35896943e-02] [ 2.42047831e-02 -1.63639934e-03 9.99705682e-01 -8.69177222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.85992885099999 meters Centerline goodness [0,1] 0.6590385989047329 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.09 [[ 9.99088892e-01 -3.55398527e-02 -2.36284603e-02 6.71224886e-01] [ 3.55674397e-02 9.99366998e-01 7.48166042e-04 -9.45580242e-02] [ 2.35869137e-02 -1.58788822e-03 9.99720529e-01 -8.73307291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.889928851 meters Centerline goodness [0,1] 0.681039029535865 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.09 [[ 0.9990833 -0.0357809 -0.02350078 0.67135215] [ 0.03582046 0.99935744 0.00126436 -0.09603907] [ 0.02344044 -0.00210501 0.99972302 -0.08837777] [ 0. 0. 0. 1. ]] SLAMing on 81.919928851 meters Centerline goodness [0,1] 0.667959679121807 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.09 [[ 0.99905741 -0.03676824 -0.0230737 0.6703288 ] [ 0.03680752 0.99932155 0.00128004 -0.09677892] [ 0.02301099 -0.00212812 0.99973295 -0.08909102] [ 0. 0. 0. 1. ]] SLAMing on 81.949928851 meters Centerline goodness [0,1] 0.6656992084432718 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.09 [[ 0.99905057 -0.03698991 -0.02301516 0.67020625] [ 0.03702905 0.99931337 0.00127648 -0.09667611] [ 0.02295214 -0.0021275 0.9997343 -0.08926698] [ 0. 0. 0. 1. ]] SLAMing on 81.979928851 meters Centerline goodness [0,1] 0.6393386515019877 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.09 [[ 0.9990388 -0.0373231 -0.02298814 0.67012258] [ 0.03736297 0.99930091 0.00130705 -0.09652009] [ 0.02292328 -0.0021647 0.99973488 -0.08961245] [ 0. 0. 0. 1. ]] SLAMing on 82.00992885099998 meters Centerline goodness [0,1] 0.636743929069431 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.09 [[ 0.99903419 -0.0374755 -0.02294068 0.66991295] [ 0.03751547 0.99929518 0.00131423 -0.09681085] [ 0.02287526 -0.00217359 0.99973596 -0.08956208] [ 0. 0. 0. 1. ]] SLAMing on 82.03992885099998 meters Centerline goodness [0,1] 0.6634728967056044 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.09 [[ 0.99903548 -0.03740406 -0.02300114 0.67015442] [ 0.03744806 0.99929747 0.00148526 -0.09730681] [ 0.02292942 -0.00234517 0.99973434 -0.0897316 ] [ 0. 0. 0. 1. ]] SLAMing on 82.06992885099999 meters Centerline goodness [0,1] 0.6609567413956425 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.09 [[ 0.99902855 -0.03769774 -0.02282174 0.6693127 ] [ 0.03773634 0.99928693 0.00126291 -0.0970116 ] [ 0.02275786 -0.00212289 0.99973875 -0.08919079] [ 0. 0. 0. 1. ]] SLAMing on 82.09992885099999 meters Centerline goodness [0,1] 0.6628038663119913 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.09 [[ 9.99021899e-01 -3.78593475e-02 -2.28454455e-02 6.68980352e-01] [ 3.78916966e-02 9.99281367e-01 9.84625195e-04 -9.65077863e-02] [ 2.27917508e-02 -1.84931482e-03 9.99738524e-01 -8.85961021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.12992885099999 meters Centerline goodness [0,1] 0.6678806111946798 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.09 [[ 0.99903061 -0.03745452 -0.02313025 0.6696256 ] [ 0.03749112 0.9992963 0.00115081 -0.09675956] [ 0.02307087 -0.00201687 0.9997318 -0.08838193] [ 0. 0. 0. 1. ]] SLAMing on 82.15992885099999 meters Centerline goodness [0,1] 0.6639285808615726 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.09 [[ 0.99903986 -0.0370666 -0.02335438 0.67044812] [ 0.03711018 0.99931015 0.00143524 -0.09717934] [ 0.02328507 -0.00230054 0.99972622 -0.08869461] [ 0. 0. 0. 1. ]] SLAMing on 82.18992885099999 meters Centerline goodness [0,1] 0.6632281553398058 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.09 [[ 0.99905221 -0.03649933 -0.02371647 0.67157655] [ 0.03655203 0.99933014 0.00179212 -0.09781849] [ 0.02363517 -0.00265731 0.99971712 -0.08892116] [ 0. 0. 0. 1. ]] SLAMing on 82.21992885099999 meters Centerline goodness [0,1] 0.670940170940171 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.09 [[ 0.99908631 -0.03518115 -0.02426585 0.67365072] [ 0.03524699 0.99937601 0.00229083 -0.09814881] [ 0.02417012 -0.00314404 0.99970292 -0.08924088] [ 0. 0. 0. 1. ]] SLAMing on 82.24992885099999 meters Centerline goodness [0,1] 0.6855443974630021 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.09 [[ 0.99921744 -0.03126677 -0.02422579 0.67324699] [ 0.03143688 0.99948346 0.00667291 -0.09972677] [ 0.02400463 -0.00742928 0.99968424 -0.08964124] [ 0. 0. 0. 1. ]] SLAMing on 82.279928851 meters Centerline goodness [0,1] 0.6907736601600676 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.09 [[ 0.99934479 -0.02635777 -0.02480423 0.67454818] [ 0.02663173 0.99958719 0.01078005 -0.09950185] [ 0.02450985 -0.01143357 0.9996342 -0.08943719] [ 0. 0. 0. 1. ]] SLAMing on 82.309928851 meters Centerline goodness [0,1] 0.6974262564211196 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.09 [[ 0.99944742 -0.02198566 -0.02492947 0.67474756] [ 0.02236719 0.99963532 0.01513029 -0.10092182] [ 0.02458773 -0.01567954 0.99957471 -0.08961706] [ 0. 0. 0. 1. ]] SLAMing on 82.339928851 meters Centerline goodness [0,1] 0.7040778449464418 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.09 [[ 0.99953351 -0.01757102 -0.02498046 0.67487935] [ 0.01806161 0.9996457 0.01955114 -0.10243544] [ 0.02462808 -0.01999321 0.99949674 -0.08987709] [ 0. 0. 0. 1. ]] SLAMing on 82.369928851 meters Centerline goodness [0,1] 0.7147786389213292 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:-0.09 [[ 0.99960865 -0.01121314 -0.02562845 0.67775974] [ 0.01184578 0.99962551 0.02466809 -0.10382686] [ 0.02534224 -0.02496202 0.99936713 -0.09074692] [ 0. 0. 0. 1. ]] SLAMing on 82.39992885099998 meters Centerline goodness [0,1] 0.7157975704206674 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:-0.09 [[ 0.99961219 -0.00921838 -0.02627709 0.68055765] [ 0.00988454 0.99963014 0.02533534 -0.10313272] [ 0.02603382 -0.02558525 0.9993336 -0.09122608] [ 0. 0. 0. 1. ]] SLAMing on 82.42992885099999 meters Centerline goodness [0,1] 0.7408170363038069 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:-0.09 [[ 0.99964293 -0.00481998 -0.02628261 0.68058547] [ 0.00559627 0.99954784 0.02954327 -0.10388283] [ 0.02612833 -0.02967981 0.9992179 -0.09121489] [ 0. 0. 0. 1. ]] SLAMing on 82.45992885099999 meters Centerline goodness [0,1] 0.8000481747136281 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:-0.09 [[ 9.99638861e-01 1.69712920e-03 -2.68191647e-02 6.83261878e-01] [-7.68952737e-04 9.99401596e-01 3.45811885e-02 -1.04325490e-01] [ 2.68618048e-02 -3.45480772e-02 9.99041978e-01 -9.17069427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48992885099999 meters Centerline goodness [0,1] 0.8092184691331527 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.09 [[ 0.99961844 0.00338265 -0.02741407 0.68567718] [-0.00242183 0.99938417 0.03500592 -0.10392446] [ 0.0275156 -0.03492617 0.99901104 -0.09191274] [ 0. 0. 0. 1. ]] SLAMing on 82.51992885099999 meters Centerline goodness [0,1] 0.8219615632381361 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:-0.09 [[ 0.9994379 0.01183668 -0.03136511 0.68251425] [-0.01099487 0.99957828 0.02687713 -0.10370974] [ 0.03167002 -0.02651716 0.99914656 -0.08955078] [ 0. 0. 0. 1. ]] SLAMing on 82.54992885099999 meters Centerline goodness [0,1] 0.8224926788640821 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:-0.09 [[ 0.99940213 0.01308418 -0.03200303 0.68464848] [-0.01221168 0.99955247 0.02730827 -0.10410521] [ 0.03234601 -0.02690113 0.99911464 -0.08969579] [ 0. 0. 0. 1. ]] SLAMing on 82.57992885099999 meters Centerline goodness [0,1] 0.8169690501600854 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.09 [[ 0.99933832 0.01556708 -0.03287243 0.68817938] [-0.01464137 0.99949461 0.02821617 -0.10478617] [ 0.03329506 -0.0277162 0.99906119 -0.09005137] [ 0. 0. 0. 1. ]] SLAMing on 82.60992885099999 meters Centerline goodness [0,1] 0.8150642824686607 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.09 [[ 0.99930843 0.01635908 -0.03339221 0.68947237] [-0.0154111 0.99947636 0.02845191 -0.10511475] [ 0.03384017 -0.02791762 0.99903726 -0.08975744] [ 0. 0. 0. 1. ]] SLAMing on 82.639928851 meters Centerline goodness [0,1] 0.8152353536968922 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.09 [[ 0.99927521 0.01721476 -0.03395163 0.69123531] [-0.01623852 0.99945263 0.02882292 -0.10591744] [ 0.03442923 -0.0282507 0.99900777 -0.08990717] [ 0. 0. 0. 1. ]] SLAMing on 82.669928851 meters Centerline goodness [0,1] 0.8152353536968922 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.09 [[ 0.99927521 0.01721476 -0.03395163 0.69123531] [-0.01623852 0.99945263 0.02882292 -0.10591744] [ 0.03442923 -0.0282507 0.99900777 -0.08990717] [ 0. 0. 0. 1. ]] SLAMing on 82.699928851 meters Centerline goodness [0,1] 0.8133269567989798 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.09 [[ 0.99922858 0.01873687 -0.03451345 0.69328311] [-0.01770376 0.99939311 0.02999989 -0.10931912] [ 0.03505461 -0.02936573 0.99895387 -0.09026846] [ 0. 0. 0. 1. ]] SLAMing on 82.729928851 meters Centerline goodness [0,1] 0.8111202614031825 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.09 [[ 0.99920701 0.01921668 -0.03487232 0.69411173] [-0.01815829 0.99937233 0.03041742 -0.11118952] [ 0.03543496 -0.02976008 0.99892878 -0.09012002] [ 0. 0. 0. 1. ]] SLAMing on 82.75992885099998 meters Centerline goodness [0,1] 0.8096891315294305 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.11, Z:-0.09 [[ 0.99918841 0.01955886 -0.03521322 0.69471651] [-0.0184803 0.99935783 0.0306986 -0.11267585] [ 0.03579103 -0.03002294 0.99890822 -0.08979886] [ 0. 0. 0. 1. ]] SLAMing on 82.78992885099998 meters Centerline goodness [0,1] 0.8077198187935465 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.11, Z:-0.09 [[ 0.99920726 0.01724128 -0.03588289 0.69688903] [-0.01627766 0.99950356 0.02697543 -0.11195583] [ 0.03633016 -0.02636996 0.99899186 -0.08924414] [ 0. 0. 0. 1. ]] SLAMing on 82.81992885099999 meters Centerline goodness [0,1] 0.8083251895089935 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.09 [[ 0.99918973 0.01765861 -0.03616715 0.69692741] [-0.01666299 0.99947885 0.02764734 -0.11501586] [ 0.03663651 -0.02702228 0.99896324 -0.08843079] [ 0. 0. 0. 1. ]] SLAMing on 82.84992885099999 meters Centerline goodness [0,1] 0.8074843856610507 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.09 [[ 0.99922068 0.01425798 -0.03680674 0.69765792] [-0.01337651 0.99962042 0.02408481 -0.11773084] [ 0.03713617 -0.0235737 0.99903212 -0.08714204] [ 0. 0. 0. 1. ]] SLAMing on 82.87992885099999 meters Centerline goodness [0,1] 0.8051679991639233 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.09 [[ 0.9992455 0.01063096 -0.03735523 0.69844728] [-0.00988748 0.99975045 0.02003176 -0.11854712] [ 0.03755887 -0.0196473 0.99910125 -0.08608693] [ 0. 0. 0. 1. ]] SLAMing on 82.90992885099999 meters Centerline goodness [0,1] 0.8056423068915262 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.08 [[ 0.99925642 0.00688021 -0.03793777 0.6991789 ] [-0.0062767 0.99985222 0.01600415 -0.11969765] [ 0.03804228 -0.01575412 0.99915194 -0.08497682] [ 0. 0. 0. 1. ]] SLAMing on 82.93992885099999 meters Centerline goodness [0,1] 0.8052267605998602 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.08 [[ 0.9992784 0.00194922 -0.03793251 0.69754488] [-0.00148739 0.99992448 0.01219948 -0.12430812] [ 0.03795342 -0.01213426 0.99920583 -0.08333969] [ 0. 0. 0. 1. ]] SLAMing on 82.96992885099999 meters Centerline goodness [0,1] 0.8017225864507006 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.08 [[ 0.99926525 -0.00207029 -0.03827109 0.69782606] [ 0.00238554 0.99996359 0.00819361 -0.12550524] [ 0.03825273 -0.00827889 0.9992338 -0.0824131 ] [ 0. 0. 0. 1. ]] SLAMing on 82.99992885099999 meters Centerline goodness [0,1] 0.800066245413779 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.08 [[ 0.99923738 -0.00728862 -0.03836055 0.69619865] [ 0.00745597 0.99996329 0.00422128 -0.13116131] [ 0.03832837 -0.00450407 0.99925505 -0.08047865] [ 0. 0. 0. 1. ]] SLAMing on 83.029928851 meters Centerline goodness [0,1] 0.7971102507654546 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.08 [[ 0.99918642 -0.01067338 -0.03889183 0.69759386] [ 0.01072451 0.99994188 0.00110619 -0.13366494] [ 0.03887776 -0.00152238 0.99924281 -0.08047721] [ 0. 0. 0. 1. ]] SLAMing on 83.059928851 meters Centerline goodness [0,1] 0.7929946671340227 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.08 [[ 0.99913077 -0.01501258 -0.03888873 0.6965667 ] [ 0.01494486 0.99988626 -0.00203151 -0.139458 ] [ 0.0389148 0.00144855 0.99924148 -0.07930035] [ 0. 0. 0. 1. ]] SLAMing on 83.089928851 meters Centerline goodness [0,1] 0.7917661691542288 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.08 [[ 9.99126343e-01 -1.55285981e-02 -3.87996587e-02 6.95751699e-01] [ 1.54833076e-02 9.99879049e-01 -1.46752552e-03 -1.43119863e-01] [ 3.88177545e-02 8.65496353e-04 9.99245932e-01 -7.90816758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.119928851 meters Centerline goodness [0,1] 0.785327291533271 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.08 [[ 0.999054 -0.01930335 -0.0389677 0.69576375] [ 0.01915294 0.99980762 -0.00422957 -0.147482 ] [ 0.03904184 0.00347922 0.99923152 -0.07860011] [ 0. 0. 0. 1. ]] SLAMing on 83.14992885099998 meters Centerline goodness [0,1] 0.7784940438256778 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.08 [[ 0.9990545 -0.01938936 -0.03891209 0.69568868] [ 0.01927689 0.99980886 -0.00326341 -0.15093353] [ 0.03896792 0.00251022 0.99923731 -0.07915323] [ 0. 0. 0. 1. ]] SLAMing on 83.17992885099999 meters Centerline goodness [0,1] 0.7804669564792653 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.08 [[ 0.99905156 -0.01960283 -0.03888072 0.69533884] [ 0.01951552 0.99980611 -0.00262391 -0.15406049] [ 0.03892462 0.00186264 0.99924041 -0.07919005] [ 0. 0. 0. 1. ]] SLAMing on 83.20992885099999 meters Centerline goodness [0,1] 0.7639877924720244 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.08 [[ 0.99897052 -0.02301308 -0.03909357 0.69622733] [ 0.02281838 0.99972494 -0.00541924 -0.15798549] [ 0.03920753 0.00452161 0.99922086 -0.07943063] [ 0. 0. 0. 1. ]] SLAMing on 83.23992885099999 meters Centerline goodness [0,1] 0.7783043961890023 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.08 [[ 0.99897352 -0.02294625 -0.03905615 0.69631312] [ 0.02278011 0.99972948 -0.00469367 -0.16040498] [ 0.03915328 0.00379914 0.99922599 -0.07992973] [ 0. 0. 0. 1. ]] SLAMing on 83.26992885099999 meters Centerline goodness [0,1] 0.7706390995604078 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.08 [[ 0.99897522 -0.02316551 -0.03888266 0.6960597 ] [ 0.02302979 0.99972704 -0.00393491 -0.1628203 ] [ 0.0389632 0.00303542 0.99923604 -0.08060086] [ 0. 0. 0. 1. ]] SLAMing on 83.29992885099999 meters Centerline goodness [0,1] 0.7468607649851775 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.08 [[ 0.99897337 -0.02320824 -0.03890491 0.69612886] [ 0.02307835 0.9997265 -0.0037845 -0.16332765] [ 0.0389821 0.00288275 0.99923575 -0.08068921] [ 0. 0. 0. 1. ]] SLAMing on 83.32992885099999 meters Centerline goodness [0,1] 0.7675708257986739 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.08 [[ 0.99897826 -0.02311407 -0.03883516 0.69639062] [ 0.02300513 0.99973007 -0.00324977 -0.1643776 ] [ 0.03889979 0.00235304 0.99924035 -0.08142348] [ 0. 0. 0. 1. ]] SLAMing on 83.35992885099999 meters Centerline goodness [0,1] 0.7688081353318232 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.08 [[ 0.99897852 -0.02285521 -0.03898136 0.69711074] [ 0.02276406 0.999737 -0.00278053 -0.16518363] [ 0.03903466 0.00189032 0.99923607 -0.08204356] [ 0. 0. 0. 1. ]] SLAMing on 83.389928851 meters Centerline goodness [0,1] 0.7644550448106389 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.08 [[ 0.99897859 -0.02280981 -0.03900633 0.69743219] [ 0.02272878 0.99973849 -0.00251961 -0.16591818] [ 0.0390536 0.00163047 0.99923579 -0.0824969 ] [ 0. 0. 0. 1. ]] SLAMing on 83.419928851 meters Centerline goodness [0,1] 0.7605216217519163 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.08 [[ 0.99897899 -0.02304467 -0.03885775 0.69733795] [ 0.02297706 0.9997336 -0.00218561 -0.16694129] [ 0.03889777 0.00129054 0.99924236 -0.08309056] [ 0. 0. 0. 1. ]] SLAMing on 83.449928851 meters Centerline goodness [0,1] 0.7216263768046083 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.08 [[ 0.99897613 -0.02317742 -0.03885215 0.69737441] [ 0.0231143 0.99973068 -0.00207314 -0.16703518] [ 0.03888973 0.00117298 0.99924282 -0.08330111] [ 0. 0. 0. 1. ]] SLAMing on 83.479928851 meters Centerline goodness [0,1] 0.7312115732368897 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.09 [[ 0.99911656 -0.02642363 -0.03267856 0.70643178] [ 0.02664017 0.99962581 0.00620856 -0.16853928] [ 0.03250228 -0.00707364 0.99944663 -0.08672324] [ 0. 0. 0. 1. ]] SLAMing on 83.50992885099998 meters Centerline goodness [0,1] 0.719865693994879 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.09 [[ 0.99910768 -0.02715989 -0.03234485 0.70535161] [ 0.02736018 0.99960901 0.00576594 -0.16821405] [ 0.0321756 -0.00664575 0.99946014 -0.08646344] [ 0. 0. 0. 1. ]] SLAMing on 83.53992885099998 meters Centerline goodness [0,1] 0.7252396937715846 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.09 [[ 0.99910466 -0.02733945 -0.03228665 0.70532677] [ 0.02753647 0.9996047 0.00567338 -0.1679925 ] [ 0.03211878 -0.00655736 0.99946255 -0.08665988] [ 0. 0. 0. 1. ]] SLAMing on 83.56992885099999 meters Centerline goodness [0,1] 0.7333333333333334 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.09 [[ 0.99909797 -0.02772481 -0.03216504 0.70509371] [ 0.02790088 0.999598 0.00503808 -0.16597024] [ 0.03201243 -0.00593097 0.99946987 -0.08669724] [ 0. 0. 0. 1. ]] SLAMing on 83.59992885099999 meters Centerline goodness [0,1] 0.7333333333333334 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.09 [[ 0.99909797 -0.02772481 -0.03216504 0.70509371] [ 0.02790088 0.999598 0.00503808 -0.16597024] [ 0.03201243 -0.00593097 0.99946987 -0.08669724] [ 0. 0. 0. 1. ]] SLAMing on 83.62992885099999 meters Centerline goodness [0,1] 0.7172119211727017 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.09 [[ 0.99909727 -0.0277004 -0.03220777 0.70570245] [ 0.02785696 0.99960214 0.00442224 -0.16277879] [ 0.03207246 -0.00531546 0.99947141 -0.08712806] [ 0. 0. 0. 1. ]] SLAMing on 83.65992885099999 meters Centerline goodness [0,1] 0.7413552943476455 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.09 [[ 0.99909809 -0.02762576 -0.03224635 0.70608312] [ 0.02775974 0.99960772 0.00371445 -0.15873275] [ 0.03213109 -0.00460625 0.99947305 -0.08726723] [ 0. 0. 0. 1. ]] SLAMing on 83.68992885099999 meters Centerline goodness [0,1] 0.7027987452210568 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.09 [[ 0.9990939 -0.02771939 -0.03229573 0.70622238] [ 0.02783494 0.99960762 0.00313384 -0.1564805 ] [ 0.03219619 -0.00402995 0.99947344 -0.08715138] [ 0. 0. 0. 1. ]] SLAMing on 83.71992885099999 meters Centerline goodness [0,1] 0.7126829028773446 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.09 [[ 0.9990902 -0.02772924 -0.03240162 0.70669618] [ 0.02783253 0.99960884 0.00274114 -0.15458117] [ 0.03231294 -0.00364046 0.99947117 -0.08736255] [ 0. 0. 0. 1. ]] SLAMing on 83.74992885099999 meters Centerline goodness [0,1] 0.7371247013620355 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.09 [[ 0.99908861 -0.02765945 -0.03251018 0.70754189] [ 0.02774779 0.99961238 0.00226939 -0.15151398] [ 0.03243481 -0.00316941 0.99946883 -0.08801021] [ 0. 0. 0. 1. ]] SLAMing on 83.779928851 meters Centerline goodness [0,1] 0.7025684127258794 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.09 [[ 0.9990834 -0.02780496 -0.03254615 0.70775142] [ 0.02787856 0.99960968 0.00180987 -0.14955869] [ 0.03248312 -0.00271555 0.9994686 -0.08811657] [ 0. 0. 0. 1. ]] SLAMing on 83.809928851 meters Centerline goodness [0,1] 0.7240533306899286 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.09 [[ 0.9990776 -0.02794001 -0.03260824 0.70807289] [ 0.02800111 0.99960689 0.00141874 -0.14734084] [ 0.03255578 -0.0023305 0.9994672 -0.08837111] [ 0. 0. 0. 1. ]] SLAMing on 83.839928851 meters Centerline goodness [0,1] 0.7229360544896584 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.09 [[ 9.99063561e-01 -2.83320497e-02 -3.27001020e-02 7.08272912e-01] [ 2.83615013e-02 9.99597636e-01 4.37081657e-04 -1.42916023e-01] [ 3.26745613e-02 -1.36409634e-03 9.99465113e-01 -8.82852267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86992885099998 meters Centerline goodness [0,1] 0.720988520727856 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.09 [[ 9.99058266e-01 -2.86609205e-02 -3.25750424e-02 7.08052267e-01] [ 2.86757266e-02 9.99588767e-01 -1.26638409e-05 -1.41031294e-01] [ 3.25620094e-02 -9.21461094e-04 9.99469292e-01 -8.84376948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89992885099998 meters Centerline goodness [0,1] 0.7109439847070956 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.09 [[ 9.99046795e-01 -2.93326757e-02 -3.23279252e-02 7.07732604e-01] [ 2.93209502e-02 9.99569698e-01 -8.36811169e-04 -1.38117628e-01] [ 3.23385603e-02 -1.11871968e-04 9.99476966e-01 -8.88535925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92992885099999 meters Centerline goodness [0,1] 0.7196763460375075 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.09 [[ 9.99041077e-01 -2.97206210e-02 -3.21498294e-02 7.07574523e-01] [ 2.96972091e-02 9.99558214e-01 -1.20557626e-03 -1.36882529e-01] [ 3.21714565e-02 2.49659998e-04 9.99482334e-01 -8.92748173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95992885099999 meters Centerline goodness [0,1] 0.6985658014341986 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.09 [[ 9.99020720e-01 -3.05372251e-02 -3.20168550e-02 7.07293055e-01] [ 3.04901974e-02 9.99533152e-01 -1.95615613e-03 -1.34142283e-01] [ 3.20616436e-02 9.78040273e-04 9.99485415e-01 -8.96270685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98992885099999 meters Centerline goodness [0,1] 0.7122490470139771 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.09 [[ 0.99900585 -0.03118009 -0.03186071 0.70671381] [ 0.03111073 0.99951238 -0.00267048 -0.13203423] [ 0.03192844 0.00167662 0.99948875 -0.08944357] [ 0. 0. 0. 1. ]] SLAMing on 84.01992885099999 meters Centerline goodness [0,1] 0.6991136958122762 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.09 [[ 0.99899745 -0.03150134 -0.03180803 0.70652173] [ 0.0314231 0.9995018 -0.00295678 -0.1305917 ] [ 0.03188533 0.00195431 0.99948962 -0.08950657] [ 0. 0. 0. 1. ]] SLAMing on 84.04992885099999 meters Centerline goodness [0,1] 0.6993582233993786 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.09 [[ 0.99898222 -0.03222372 -0.03156184 0.70578005] [ 0.03212527 0.99947729 -0.00362155 -0.12847223] [ 0.03166204 0.00260393 0.99949524 -0.08949217] [ 0. 0. 0. 1. ]] SLAMing on 84.07992885099999 meters Centerline goodness [0,1] 0.6971158754466564 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.09 [[ 0.99897345 -0.03262154 -0.03143071 0.7052311 ] [ 0.03250987 0.99946318 -0.00405748 -0.12747747] [ 0.0315462 0.0030315 0.9994977 -0.08918211] [ 0. 0. 0. 1. ]] SLAMing on 84.10992885099999 meters Centerline goodness [0,1] 0.6958146678612569 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.09 [[ 0.9990563 -0.03553857 -0.0249705 0.71462146] [ 0.03566064 0.999354 0.00446019 -0.12793856] [ 0.02479586 -0.00534644 0.99967824 -0.09349433] [ 0. 0. 0. 1. ]] SLAMing on 84.139928851 meters Centerline goodness [0,1] 0.698038311821348 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.09 [[ 0.99904389 -0.03596018 -0.02486296 0.71423124] [ 0.0360722 0.99934089 0.00407128 -0.12665603] [ 0.02470017 -0.00496425 0.99968258 -0.09345658] [ 0. 0. 0. 1. ]] SLAMing on 84.169928851 meters Centerline goodness [0,1] 0.6950150397202869 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.09 [[ 0.99902764 -0.0365909 -0.02459437 0.71375659] [ 0.03668824 0.99932057 0.00351804 -0.12432298] [ 0.02444894 -0.00441694 0.99969132 -0.09384319] [ 0. 0. 0. 1. ]] SLAMing on 84.199928851 meters Centerline goodness [0,1] 0.6929707199094324 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.09 [[ 0.99901681 -0.03700904 -0.02440796 0.71329857] [ 0.03709837 0.99930644 0.00321701 -0.12341757] [ 0.02427197 -0.00411935 0.99969691 -0.09396962] [ 0. 0. 0. 1. ]] SLAMing on 84.229928851 meters Centerline goodness [0,1] 0.6881958192991027 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.09 [[ 0.99901299 -0.03718886 -0.0242906 0.7133922 ] [ 0.03727696 0.9992999 0.0031842 -0.12301925] [ 0.02415518 -0.00408653 0.99969987 -0.09458128] [ 0. 0. 0. 1. ]] SLAMing on 84.25992885099998 meters Centerline goodness [0,1] 0.6895610760715665 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.10 [[ 0.99900682 -0.03742609 -0.02417977 0.71373028] [ 0.03751116 0.99929148 0.003074 -0.12235665] [ 0.02404759 -0.00397796 0.9997029 -0.09553966] [ 0. 0. 0. 1. ]] SLAMing on 84.28992885099998 meters Centerline goodness [0,1] 0.6906320890905342 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.10 [[ 0.99900231 -0.03755416 -0.02416758 0.71376996] [ 0.03763189 0.99928783 0.00276929 -0.12119428] [ 0.02404637 -0.003676 0.99970409 -0.09559336] [ 0. 0. 0. 1. ]] SLAMing on 84.31992885099999 meters Centerline goodness [0,1] 0.6916546242774566 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.10 [[ 0.99899958 -0.03745013 -0.02444009 0.71447041] [ 0.03751364 0.99929381 0.0021453 -0.11786222] [ 0.02434249 -0.00305999 0.99969899 -0.0954186 ] [ 0. 0. 0. 1. ]] SLAMing on 84.34992885099999 meters Centerline goodness [0,1] 0.6930265065230896 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.10 [[ 0.99899541 -0.0374429 -0.02462109 0.71480033] [ 0.03749636 0.9992953 0.00171272 -0.11611579] [ 0.02453961 -0.0026342 0.99969539 -0.09517869] [ 0. 0. 0. 1. ]] SLAMing on 84.37992885099999 meters Centerline goodness [0,1] 0.6900860727989215 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.11, Z:-0.10 [[ 0.99900447 -0.03705315 -0.02484197 0.71583139] [ 0.03710604 0.99930994 0.00167104 -0.1149688 ] [ 0.02476291 -0.00259117 0.99968999 -0.09570709] [ 0. 0. 0. 1. ]] SLAMing on 84.40992885099999 meters Centerline goodness [0,1] 0.6888070157231072 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.11, Z:-0.10 [[ 0.99900583 -0.03696685 -0.02491581 0.71621218] [ 0.03702107 0.99931301 0.00171799 -0.11488368] [ 0.02483519 -0.00263869 0.99968808 -0.09596678] [ 0. 0. 0. 1. ]] SLAMing on 84.43992885099999 meters Centerline goodness [0,1] 0.6904552736292697 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.11, Z:-0.10 [[ 0.99900772 -0.03685519 -0.02500549 0.71657927] [ 0.03691228 0.99931684 0.00182525 -0.11491689] [ 0.02492114 -0.00274645 0.99968565 -0.09616199] [ 0. 0. 0. 1. ]] SLAMing on 84.46992885099999 meters Centerline goodness [0,1] 0.6936522778037504 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.11, Z:-0.10 [[ 0.99898893 -0.03758866 -0.0246619 0.71522034] [ 0.03762958 0.99929104 0.00119729 -0.11360462] [ 0.02459941 -0.0021241 0.99969513 -0.09551939] [ 0. 0. 0. 1. ]] SLAMing on 84.49992885099999 meters Centerline goodness [0,1] 0.6827143154390345 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.11, Z:-0.10 [[ 9.98962946e-01 -3.84938321e-02 -2.43157835e-02 7.13888030e-01] [ 3.85245886e-02 9.99257334e-01 7.97526261e-04 -1.13318477e-01] [ 2.42670252e-02 -1.73345474e-03 9.99704010e-01 -9.51828538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.529928851 meters Centerline goodness [0,1] 0.6796468014169619 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.11, Z:-0.10 [[ 9.98956504e-01 -3.87709395e-02 -2.41395313e-02 7.13497553e-01] [ 3.88030751e-02 9.99246503e-01 8.64078521e-04 -1.13719857e-01] [ 2.40878411e-02 -1.79986490e-03 9.99708226e-01 -9.54052094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.559928851 meters Centerline goodness [0,1] 0.6796468014169619 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.11, Z:-0.10 [[ 9.98956504e-01 -3.87709395e-02 -2.41395313e-02 7.13497553e-01] [ 3.88030751e-02 9.99246503e-01 8.64078521e-04 -1.13719857e-01] [ 2.40878411e-02 -1.79986490e-03 9.99708226e-01 -9.54052094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.589928851 meters Centerline goodness [0,1] 0.6917670944064135 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.11, Z:-0.10 [[ 0.99895358 -0.03898523 -0.02391428 0.71322848] [ 0.03902174 0.9992378 0.00106183 -0.11427107] [ 0.02385466 -0.00199389 0.99971345 -0.09595971] [ 0. 0. 0. 1. ]] SLAMing on 84.61992885099998 meters Centerline goodness [0,1] 0.685836687005063 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.11, Z:-0.10 [[ 0.99893411 -0.03965691 -0.02362149 0.71251824] [ 0.03969177 0.99921146 0.00100822 -0.11457313] [ 0.02356288 -0.00194473 0.99972047 -0.09635299] [ 0. 0. 0. 1. ]] SLAMing on 84.64992885099998 meters Centerline goodness [0,1] 0.6907693106851592 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.11, Z:-0.10 [[ 0.99892743 -0.03996421 -0.023385 0.71191788] [ 0.0399986 0.99919923 0.00100427 -0.11448189] [ 0.02332614 -0.00193856 0.99972603 -0.09646373] [ 0. 0. 0. 1. ]] SLAMing on 84.67992885099999 meters Centerline goodness [0,1] 0.686144656538112 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.11, Z:-0.10 [[ 9.98910507e-01 -4.04864872e-02 -2.32087120e-02 7.11044199e-01] [ 4.05117954e-02 9.99178867e-01 6.21131144e-04 -1.13809406e-01] [ 2.31645072e-02 -1.56068102e-03 9.99730449e-01 -9.59900642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70992885099999 meters Centerline goodness [0,1] 0.6874414001458485 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.11, Z:-0.10 [[ 9.98905521e-01 -4.05455465e-02 -2.33199428e-02 7.11213101e-01] [ 4.05680164e-02 9.99176659e-01 4.91075568e-04 -1.13556124e-01] [ 2.32808316e-02 -1.43658192e-03 9.99727933e-01 -9.58669698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73992885099999 meters Centerline goodness [0,1] 0.6854438116043796 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.11, Z:-0.10 [[ 9.98908381e-01 -4.05837957e-02 -2.31300875e-02 7.11219690e-01] [ 4.06109396e-02 9.99174787e-01 7.04820292e-04 -1.13575498e-01] [ 2.30823960e-02 -1.64338548e-03 9.99732215e-01 -9.66010893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.76992885099999 meters Centerline goodness [0,1] 0.6830569948186529 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.11, Z:-0.10 [[ 9.98912995e-01 -4.03697209e-02 -2.33047927e-02 7.11920156e-01] [ 4.04021752e-02 9.99183072e-01 9.23249270e-04 -1.13707180e-01] [ 2.32484830e-02 -1.86381001e-03 9.99727980e-01 -9.70039425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.79992885099999 meters Centerline goodness [0,1] 0.6821435077948104 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.11, Z:-0.10 [[ 9.98907065e-01 -4.05753093e-02 -2.32017160e-02 7.11453822e-01] [ 4.06037441e-02 9.99175042e-01 7.55570844e-04 -1.13455070e-01] [ 2.31519180e-02 -1.69682159e-03 9.99730518e-01 -9.67066519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.82992885099999 meters Centerline goodness [0,1] 0.6782045614126335 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.11, Z:-0.10 [[ 9.98896249e-01 -4.09181001e-02 -2.30649890e-02 7.10579856e-01] [ 4.09391997e-02 9.99161541e-01 4.43140692e-04 -1.13216543e-01] [ 2.30275175e-02 -1.38691377e-03 9.99733870e-01 -9.59669314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.85992885099999 meters Centerline goodness [0,1] 0.6776745517474692 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.11, Z:-0.10 [[ 9.98892523e-01 -4.10852003e-02 -2.29288875e-02 7.09946627e-01] [ 4.11075163e-02 9.99154602e-01 5.02580164e-04 -1.13687683e-01] [ 2.28888549e-02 -1.44457318e-03 9.99736972e-01 -9.56405986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.889928851 meters Centerline goodness [0,1] 0.6754600270298368 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.11, Z:-0.10 [[ 9.98892630e-01 -4.11469308e-02 -2.28132560e-02 7.09639815e-01] [ 4.11722998e-02 9.99151854e-01 6.43246634e-04 -1.14415580e-01] [ 2.27674394e-02 -1.58180854e-03 9.99739537e-01 -9.56403323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.919928851 meters Centerline goodness [0,1] 0.6831837285321434 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.10 [[ 9.98894867e-01 -4.11329413e-02 -2.27404220e-02 7.09670823e-01] [ 4.11649518e-02 9.99151921e-01 9.41129625e-04 -1.15298561e-01] [ 2.26824249e-02 -1.87619793e-03 9.99740960e-01 -9.59869496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.949928851 meters Centerline goodness [0,1] 0.672141765330708 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.10 [[ 0.99889848 -0.04115505 -0.0225408 0.70948189] [ 0.04119496 0.99915027 0.00130895 -0.11627301] [ 0.02246778 -0.00223608 0.99974507 -0.09652437] [ 0. 0. 0. 1. ]] SLAMing on 84.979928851 meters Centerline goodness [0,1] 0.6725500868258041 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.10 [[ 0.99889446 -0.04133012 -0.02239814 0.70924641] [ 0.04138128 0.99914176 0.00182526 -0.11841876] [ 0.02230348 -0.0027501 0.99974746 -0.0969938 ] [ 0. 0. 0. 1. ]] SLAMing on 85.00992885099998 meters Centerline goodness [0,1] 0.6684498922273872 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.10 [[ 0.99890105 -0.0411983 -0.02234719 0.70946682] [ 0.04125977 0.99914581 0.00229645 -0.11986184] [ 0.02223349 -0.00321597 0.99974763 -0.09752144] [ 0. 0. 0. 1. ]] SLAMing on 85.03992885099998 meters Centerline goodness [0,1] 0.6773909894998189 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.10 [[ 0.99890806 -0.04095585 -0.0224791 0.71011538] [ 0.04103825 0.9991524 0.00321658 -0.12240846] [ 0.02232831 -0.00413557 0.99974214 -0.09831578] [ 0. 0. 0. 1. ]] SLAMing on 85.06992885099999 meters Centerline goodness [0,1] 0.6698293691830404 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.10 [[ 0.9989038 -0.04106855 -0.0224625 0.71000198] [ 0.0411544 0.99914711 0.00337311 -0.12321895] [ 0.02230481 -0.00429384 0.999742 -0.09833046] [ 0. 0. 0. 1. ]] SLAMing on 85.09992885099999 meters Centerline goodness [0,1] 0.6685721642847946 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.10 [[ 0.99890507 -0.04102015 -0.02249479 0.71000639] [ 0.04111677 0.99914693 0.00384925 -0.12514675] [ 0.02231771 -0.00476995 0.99973955 -0.09835495] [ 0. 0. 0. 1. ]] SLAMing on 85.12992885099999 meters Centerline goodness [0,1] 0.6691466083150985 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.10 [[ 0.99891038 -0.04088349 -0.02250756 0.71009755] [ 0.04098583 0.9991513 0.00410399 -0.12611317] [ 0.02232067 -0.00502201 0.99973825 -0.0983951 ] [ 0. 0. 0. 1. ]] SLAMing on 85.15992885099999 meters Centerline goodness [0,1] 0.6715915514671874 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.10 [[ 0.99891586 -0.04072385 -0.02255374 0.70988494] [ 0.04082978 0.99915705 0.00425637 -0.12745857] [ 0.0223614 -0.00517262 0.99973657 -0.09782788] [ 0. 0. 0. 1. ]] SLAMing on 85.18992885099999 meters Centerline goodness [0,1] 0.6647610746513536 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.10 [[ 0.99891763 -0.04069712 -0.02252365 0.70964003] [ 0.04080269 0.9991582 0.00424697 -0.12778697] [ 0.02233185 -0.0051614 0.99973729 -0.09749295] [ 0. 0. 0. 1. ]] SLAMing on 85.21992885099999 meters Centerline goodness [0,1] 0.6715328467153285 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.10 [[ 0.99892491 -0.04041028 -0.02271655 0.71008426] [ 0.04052024 0.99916903 0.00440082 -0.12833204] [ 0.02251983 -0.00531657 0.99973226 -0.09736044] [ 0. 0. 0. 1. ]] SLAMing on 85.24992885099999 meters Centerline goodness [0,1] 0.6706732617442784 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.10 [[ 0.99894294 -0.03978816 -0.02301964 0.71093707] [ 0.03990411 0.99919293 0.00459957 -0.12849375] [ 0.02281805 -0.00551329 0.99972443 -0.09726216] [ 0. 0. 0. 1. ]] SLAMing on 85.279928851 meters Centerline goodness [0,1] 0.6739074616135161 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.10 [[ 0.9989509 -0.03950979 -0.02315327 0.71130318] [ 0.03962715 0.9992038 0.00463228 -0.1284347 ] [ 0.02295182 -0.00554492 0.9997212 -0.09712615] [ 0. 0. 0. 1. ]] SLAMing on 85.309928851 meters Centerline goodness [0,1] 0.6717232543241511 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.10 [[ 0.99896434 -0.03903389 -0.02337943 0.71181415] [ 0.03915539 0.99922179 0.00476196 -0.12905028] [ 0.02317536 -0.00567246 0.99971532 -0.09679565] [ 0. 0. 0. 1. ]] SLAMing on 85.339928851 meters Centerline goodness [0,1] 0.6675779952474641 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.10 [[ 0.99897051 -0.03882832 -0.02345799 0.71209822] [ 0.03895551 0.99922849 0.00498969 -0.12987068] [ 0.02324615 -0.00589838 0.99971237 -0.09685109] [ 0. 0. 0. 1. ]] SLAMing on 85.36992885099998 meters Centerline goodness [0,1] 0.6650304238891446 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.10 [[ 0.99898088 -0.03848269 -0.02358578 0.71269746] [ 0.03862363 0.99923842 0.00554931 -0.13135163] [ 0.02335426 -0.00645462 0.99970642 -0.09727273] [ 0. 0. 0. 1. ]] SLAMing on 85.39992885099998 meters Centerline goodness [0,1] 0.6639302467876811 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.10 [[ 0.99898529 -0.03838749 -0.02355401 0.71288186] [ 0.03853721 0.99923954 0.00593563 -0.13246113] [ 0.02330824 -0.00683731 0.99970494 -0.09768434] [ 0. 0. 0. 1. ]] SLAMing on 85.42992885099999 meters Centerline goodness [0,1] 0.6741355110373868 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.10 [[ 0.99898383 -0.03850399 -0.02342554 0.71257167] [ 0.03865843 0.9992334 0.00617574 -0.13359451] [ 0.02316979 -0.00707506 0.99970651 -0.09774355] [ 0. 0. 0. 1. ]] SLAMing on 85.45992885099999 meters Centerline goodness [0,1] 0.6687054026503567 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.10 [[ 0.99897707 -0.0388215 -0.02318833 0.71179121] [ 0.03898226 0.99921862 0.00652134 -0.13570458] [ 0.02291704 -0.00741861 0.99970984 -0.09767163] [ 0. 0. 0. 1. ]] SLAMing on 85.48992885099999 meters Centerline goodness [0,1] 0.6658207932600807 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.10 [[ 0.99897309 -0.03902125 -0.02302389 0.7114379 ] [ 0.03918531 0.99920938 0.00671773 -0.13690473] [ 0.02274355 -0.00761303 0.99971234 -0.09782213] [ 0. 0. 0. 1. ]] SLAMing on 85.51992885099999 meters Centerline goodness [0,1] 0.665576762223405 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.10 [[ 0.9989706 -0.03917685 -0.02286745 0.71101203] [ 0.03934706 0.9992008 0.00704113 -0.13857563] [ 0.02257333 -0.00793364 0.99971371 -0.09788501] [ 0. 0. 0. 1. ]] SLAMing on 85.54992885099999 meters Centerline goodness [0,1] 0.6589139447871373 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.10 [[ 0.99880564 -0.04312328 -0.0229714 0.71130835] [ 0.04320811 0.99906094 0.00320933 -0.13937834] [ 0.02281144 -0.00419805 0.99973097 -0.09733407] [ 0. 0. 0. 1. ]] SLAMing on 85.57992885099999 meters Centerline goodness [0,1] 0.6559935355167799 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.10 [[ 0.99879746 -0.04339193 -0.02282026 0.71084726] [ 0.04347999 0.99904859 0.00337647 -0.14069109] [ 0.02265204 -0.00436464 0.99973388 -0.09732706] [ 0. 0. 0. 1. ]] SLAMing on 85.60992885099999 meters Centerline goodness [0,1] 0.648796801528829 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.10 [[ 0.99878384 -0.04386233 -0.02251543 0.70998804] [ 0.04395231 0.99902744 0.00351732 -0.14277586] [ 0.02233926 -0.00450264 0.99974031 -0.09728675] [ 0. 0. 0. 1. ]] SLAMing on 85.639928851 meters Centerline goodness [0,1] 0.650175879396985 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.10 [[ 0.99878522 -0.04387407 -0.02243091 0.70983232] [ 0.04396658 0.99902634 0.00364754 -0.14367165] [ 0.02224904 -0.00462932 0.99974174 -0.09729809] [ 0. 0. 0. 1. ]] SLAMing on 85.669928851 meters Centerline goodness [0,1] 0.6478965214115283 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.10 [[ 0.99878647 -0.04386547 -0.022392 0.70975714] [ 0.04395556 0.99902719 0.00354679 -0.14367997] [ 0.02221463 -0.00452673 0.99974298 -0.09716793] [ 0. 0. 0. 1. ]] SLAMing on 85.699928851 meters Centerline goodness [0,1] 0.6514845994858094 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.10 [[ 0.9988039 -0.04333654 -0.02264314 0.71062082] [ 0.04342998 0.9990498 0.00365089 -0.14319151] [ 0.02246341 -0.00462992 0.99973695 -0.09729134] [ 0. 0. 0. 1. ]] SLAMing on 85.729928851 meters Centerline goodness [0,1] 0.6570581287225754 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.10 [[ 0.99881183 -0.04309644 -0.0227512 0.71118322] [ 0.04319459 0.9990593 0.00384001 -0.14314238] [ 0.0225643 -0.00481817 0.99973378 -0.09766419] [ 0. 0. 0. 1. ]] SLAMing on 85.75992885099998 meters Centerline goodness [0,1] 0.6507809170447993 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.10 [[ 0.99883086 -0.04254127 -0.02295986 0.71220612] [ 0.04264896 0.9990812 0.00422115 -0.14312644] [ 0.02275919 -0.00519543 0.99972748 -0.09824647] [ 0. 0. 0. 1. ]] SLAMing on 85.78992885099998 meters Centerline goodness [0,1] 0.6556414842431417 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.10 [[ 0.99883211 -0.04249315 -0.02299445 0.71232254] [ 0.04260014 0.99908344 0.00418314 -0.14287031] [ 0.02279562 -0.00515782 0.99972684 -0.09825749] [ 0. 0. 0. 1. ]] SLAMing on 85.81992885099999 meters Centerline goodness [0,1] 0.6527228284151904 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.10 [[ 0.99883382 -0.0424145 -0.02306528 0.71244964] [ 0.0425211 0.99908695 0.00415111 -0.14257521] [ 0.02286815 -0.00512703 0.99972534 -0.09813312] [ 0. 0. 0. 1. ]] SLAMing on 85.84992885099999 meters Centerline goodness [0,1] 0.6536110482227757 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.10 [[ 0.99883573 -0.04235855 -0.02308542 0.71258571] [ 0.04246644 0.99908905 0.00420341 -0.14255407] [ 0.02288634 -0.00517888 0.99972466 -0.09823451] [ 0. 0. 0. 1. ]] SLAMing on 85.87992885099999 meters Centerline goodness [0,1] 0.6487840491415336 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.10 [[ 0.99883199 -0.04257513 -0.02284741 0.71197973] [ 0.04267679 0.999081 0.0039803 -0.14227586] [ 0.02265695 -0.0049507 0.99973104 -0.09807299] [ 0. 0. 0. 1. ]] SLAMing on 85.90992885099999 meters Centerline goodness [0,1] 0.646792224796052 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.10 [[ 0.99882887 -0.04268537 -0.02277836 0.71182555] [ 0.04278624 0.9990764 0.0039593 -0.14249604] [ 0.02258832 -0.00492927 0.9997327 -0.09809959] [ 0. 0. 0. 1. ]] SLAMing on 85.93992885099999 meters Centerline goodness [0,1] 0.6463043532932626 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.10 [[ 0.99882145 -0.04296304 -0.02258073 0.71137251] [ 0.04306272 0.99906458 0.00394663 -0.14320245] [ 0.02239005 -0.00491437 0.99973723 -0.0981813 ] [ 0. 0. 0. 1. ]] SLAMing on 85.96992885099999 meters Centerline goodness [0,1] 0.6459491410317679 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.10 [[ 0.99882154 -0.04299615 -0.02251342 0.7114426 ] [ 0.04309992 0.99906217 0.00414434 -0.14380784] [ 0.02231412 -0.00510978 0.99973795 -0.09857831] [ 0. 0. 0. 1. ]] SLAMing on 85.99992885099999 meters Centerline goodness [0,1] 0.6403533053171947 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.10 [[ 0.99880859 -0.04342161 -0.02227042 0.71084995] [ 0.04352321 0.99904401 0.00409781 -0.14414236] [ 0.0220712 -0.00506221 0.99974359 -0.09872742] [ 0. 0. 0. 1. ]] SLAMing on 86.029928851 meters Centerline goodness [0,1] 0.6376119102705965 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.10 [[ 0.99880684 -0.0435153 -0.02216579 0.71083371] [ 0.04361911 0.99903931 0.00422154 -0.14461447] [ 0.02196079 -0.00518335 0.9997454 -0.09905394] [ 0. 0. 0. 1. ]] SLAMing on 86.059928851 meters Centerline goodness [0,1] 0.6364116094986807 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.10 [[ 0.99880113 -0.04374008 -0.02197968 0.71032953] [ 0.0438427 0.99902958 0.00420861 -0.14506204] [ 0.02177426 -0.00516722 0.99974956 -0.0990037 ] [ 0. 0. 0. 1. ]] SLAMing on 86.089928851 meters Centerline goodness [0,1] 0.6337519741295029 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.10 [[ 0.99878194 -0.04432858 -0.02167074 0.70927261] [ 0.04443064 0.99900343 0.00425061 -0.14673466] [ 0.02146072 -0.00520828 0.99975613 -0.09877733] [ 0. 0. 0. 1. ]] SLAMing on 86.11992885099998 meters Centerline goodness [0,1] 0.6283320830207552 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.10 [[ 0.99876987 -0.04470833 -0.0214457 0.70848235] [ 0.0448092 0.99898654 0.00424593 -0.1477283 ] [ 0.02123414 -0.00520167 0.999761 -0.0985012 ] [ 0. 0. 0. 1. ]] SLAMing on 86.14992885099998 meters Centerline goodness [0,1] 0.6424071203560178 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.10 [[ 0.99874256 -0.04554085 -0.02096001 0.70697119] [ 0.04564184 0.99894833 0.00436498 -0.14940755] [ 0.02073918 -0.00531615 0.99977079 -0.09838304] [ 0. 0. 0. 1. ]] SLAMing on 86.17992885099999 meters Centerline goodness [0,1] 0.6161198785284014 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.10 [[ 0.99873103 -0.04591922 -0.02068219 0.70630695] [ 0.04602193 0.99893021 0.0045178 -0.15060211] [ 0.02045261 -0.00546391 0.99977589 -0.09850619] [ 0. 0. 0. 1. ]] SLAMing on 86.20992885099999 meters Centerline goodness [0,1] 0.642798538077124 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.10 [[ 0.99856014 -0.04941263 -0.02088162 0.7076219 ] [ 0.04944913 0.99877588 0.00123475 -0.15225821] [ 0.02079504 -0.00226555 0.99978119 -0.0989747 ] [ 0. 0. 0. 1. ]] SLAMing on 86.23992885099999 meters Centerline goodness [0,1] 0.6368143172297549 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.10 [[ 0.99855025 -0.04974728 -0.02055744 0.70683703] [ 0.04978838 0.99875868 0.00149203 -0.15391184] [ 0.0204577 -0.00251339 0.99978756 -0.09909402] [ 0. 0. 0. 1. ]] SLAMing on 86.26992885099999 meters Centerline goodness [0,1] 0.6272650757500743 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.10 [[ 0.99854145 -0.05004886 -0.02025078 0.70601948] [ 0.05009262 0.9987432 0.00165945 -0.15535406] [ 0.02014227 -0.00267144 0.99979355 -0.09898916] [ 0. 0. 0. 1. ]] SLAMing on 86.29992885099999 meters Centerline goodness [0,1] 0.6217594874322326 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.10 [[ 0.99851985 -0.05066934 -0.01976676 0.70461593] [ 0.05071673 0.99871127 0.00190288 -0.15786726] [ 0.01964487 -0.00290257 0.99980281 -0.09883686] [ 0. 0. 0. 1. ]] SLAMing on 86.32992885099999 meters Centerline goodness [0,1] 0.634696790706832 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.10 [[ 0.99851834 -0.05069304 -0.01978212 0.70450142] [ 0.05074418 0.99870949 0.00209156 -0.15882242] [ 0.01965057 -0.00309229 0.99980213 -0.09867786] [ 0. 0. 0. 1. ]] SLAMing on 86.35992885099999 meters Centerline goodness [0,1] 0.6317228132387707 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.10 [[ 0.99853521 -0.05029773 -0.01993911 0.70494549] [ 0.05035676 0.99872824 0.00246917 -0.15990865] [ 0.01978955 -0.00346962 0.99979815 -0.09867764] [ 0. 0. 0. 1. ]] SLAMing on 86.389928851 meters Centerline goodness [0,1] 0.6327751785274562 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.10 [[ 0.99855507 -0.04977459 -0.02025495 0.70602607] [ 0.04984185 0.99875312 0.00282901 -0.16026174] [ 0.02008888 -0.00383447 0.99979085 -0.09904588] [ 0. 0. 0. 1. ]] SLAMing on 86.419928851 meters Centerline goodness [0,1] 0.634089902023534 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.10 [[ 0.99861455 -0.04836887 -0.02072257 0.70803509] [ 0.04845183 0.99881932 0.00352012 -0.16050949] [ 0.02052784 -0.00451929 0.99977907 -0.09977402] [ 0. 0. 0. 1. ]] SLAMing on 86.449928851 meters Centerline goodness [0,1] 0.634675455641095 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.10 [[ 0.99863461 -0.0478266 -0.02101257 0.70873432] [ 0.04791523 0.99884442 0.00373452 -0.16063132] [ 0.02080968 -0.00473625 0.99977224 -0.09957551] [ 0. 0. 0. 1. ]] SLAMing on 86.479928851 meters Centerline goodness [0,1] 0.634675455641095 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.10 [[ 0.99863461 -0.0478266 -0.02101257 0.70873432] [ 0.04791523 0.99884442 0.00373452 -0.16063132] [ 0.02080968 -0.00473625 0.99977224 -0.09957551] [ 0. 0. 0. 1. ]] SLAMing on 86.50992885099998 meters Centerline goodness [0,1] 0.6354449100320434 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.10 [[ 0.99883097 -0.04351993 -0.0210408 0.70845495] [ 0.04369983 0.99901132 0.00816698 -0.16241052] [ 0.02066457 -0.00907691 0.99974526 -0.09971155] [ 0. 0. 0. 1. ]] SLAMing on 86.53992885099998 meters Centerline goodness [0,1] 0.6382266833960686 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.10 [[ 0.99885422 -0.04281248 -0.02138534 0.7094973 ] [ 0.0430022 0.99903889 0.00849166 -0.1626571 ] [ 0.02100124 -0.00940154 0.99973524 -0.09982851] [ 0. 0. 0. 1. ]] SLAMing on 86.56992885099999 meters Centerline goodness [0,1] 0.6365422396856582 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99903727 -0.0381935 -0.02158233 0.70992209] [ 0.03848316 0.99917247 0.01316901 -0.16507037] [ 0.0210615 -0.01398689 0.99968034 -0.10021801] [ 0. 0. 0. 1. ]] SLAMing on 86.59992885099999 meters Centerline goodness [0,1] 0.6451367033831629 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99905645 -0.03749562 -0.02191564 0.7110371 ] [ 0.03779642 0.99919459 0.01347602 -0.16514559] [ 0.02139269 -0.01429163 0.999669 -0.1004286 ] [ 0. 0. 0. 1. ]] SLAMing on 86.62992885099999 meters Centerline goodness [0,1] 0.6478647642985633 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.9990768 -0.03673954 -0.02226561 0.71217071] [ 0.03705096 0.99921893 0.01373895 -0.16506941] [ 0.02174346 -0.01455123 0.99965768 -0.10058311] [ 0. 0. 0. 1. ]] SLAMing on 86.65992885099999 meters Centerline goodness [0,1] 0.6463918540016724 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.10 [[ 0.99909389 -0.03605655 -0.02261269 0.71320451] [ 0.03637595 0.99924183 0.01387636 -0.16471298] [ 0.02209521 -0.01468635 0.99964799 -0.10061 ] [ 0. 0. 0. 1. ]] SLAMing on 86.68992885099999 meters Centerline goodness [0,1] 0.6514156396821883 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99924616 -0.03141465 -0.02280869 0.71353571] [ 0.03183665 0.99932406 0.0183807 -0.16664997] [ 0.02221585 -0.019093 0.99957086 -0.1007419 ] [ 0. 0. 0. 1. ]] SLAMing on 86.71992885099999 meters Centerline goodness [0,1] 0.6483731869854958 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99925915 -0.03082904 -0.02303754 0.71441823] [ 0.03125888 0.99933942 0.01853671 -0.16677469] [ 0.02245086 -0.0192431 0.99956274 -0.10089114] [ 0. 0. 0. 1. ]] SLAMing on 86.74992885099999 meters Centerline goodness [0,1] 0.6553615593701789 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 0.9992854 -0.02960868 -0.02349513 0.71588151] [ 0.03006494 0.99936141 0.0193098 -0.1680495 ] [ 0.02290839 -0.02000238 0.99953745 -0.10105514] [ 0. 0. 0. 1. ]] SLAMing on 86.779928851 meters Centerline goodness [0,1] 0.6517310611625288 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 0.99928926 -0.02950189 -0.02346523 0.71575559] [ 0.02995893 0.99936343 0.01937007 -0.16864472] [ 0.02287884 -0.02005929 0.99953698 -0.1008382 ] [ 0. 0. 0. 1. ]] SLAMing on 86.809928851 meters Centerline goodness [0,1] 0.6534183960304074 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 0.99929127 -0.02941595 -0.02348734 0.7154399 ] [ 0.02988409 0.99935654 0.01983573 -0.17112549] [ 0.02288874 -0.02052357 0.99952733 -0.10036813] [ 0. 0. 0. 1. ]] SLAMing on 86.839928851 meters Centerline goodness [0,1] 0.6491527489942703 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99928601 -0.02963684 -0.02343357 0.71497341] [ 0.03010459 0.99934931 0.0198663 -0.17245875] [ 0.02282955 -0.02055757 0.99952799 -0.09991944] [ 0. 0. 0. 1. ]] SLAMing on 86.86992885099998 meters Centerline goodness [0,1] 0.6450913520097442 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99927869 -0.02992421 -0.02338028 0.71450678] [ 0.03039122 0.99934034 0.01988125 -0.17371562] [ 0.02276993 -0.02057747 0.99952894 -0.09953283] [ 0. 0. 0. 1. ]] SLAMing on 86.89992885099998 meters Centerline goodness [0,1] 0.644520365389741 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99915472 -0.03375903 -0.0234559 0.7149061 ] [ 0.03414236 0.99928666 0.01613896 -0.17471177] [ 0.02289433 -0.01692616 0.9995946 -0.09922104] [ 0. 0. 0. 1. ]] SLAMing on 86.92992885099999 meters Centerline goodness [0,1] 0.6376007334845342 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 0.99902424 -0.03726234 -0.02370845 0.7159706 ] [ 0.03756234 0.99921813 0.01233695 -0.17462787] [ 0.02323021 -0.01321546 0.99964279 -0.09917083] [ 0. 0. 0. 1. ]] SLAMing on 86.95992885099999 meters Centerline goodness [0,1] 0.6415293976193339 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.10 [[ 0.99886222 -0.0413696 -0.02372377 0.71616331] [ 0.04158275 0.99909837 0.00856251 -0.1763251 ] [ 0.02334815 -0.00953927 0.99968188 -0.09880244] [ 0. 0. 0. 1. ]] SLAMing on 86.98992885099999 meters Centerline goodness [0,1] 0.6398425121236856 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.10 [[ 0.99884876 -0.04186489 -0.0234198 0.71537982] [ 0.04207695 0.99907705 0.00863623 -0.17785396] [ 0.02303663 -0.00961173 0.99968842 -0.09883552] [ 0. 0. 0. 1. ]] SLAMing on 87.01992885099999 meters Centerline goodness [0,1] 0.6325373277182236 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.10 [[ 0.99868585 -0.04552945 -0.02352962 0.71628172] [ 0.04565987 0.99894435 0.00503548 -0.1785893 ] [ 0.02327551 -0.00610322 0.99971046 -0.09902357] [ 0. 0. 0. 1. ]] SLAMing on 87.04992885099999 meters Centerline goodness [0,1] 0.6383191834398549 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.10 [[ 0.99867877 -0.04575299 -0.02339614 0.71602173] [ 0.04588671 0.99893306 0.00521049 -0.17952977] [ 0.02313279 -0.00627718 0.99971269 -0.09921589] [ 0. 0. 0. 1. ]] SLAMing on 87.07992885099999 meters Centerline goodness [0,1] 0.6373193166885677 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.10 [[ 0.99867391 -0.04589217 -0.02333081 0.71600748] [ 0.04602754 0.99892612 0.00529815 -0.1800268 ] [ 0.02306261 -0.00636498 0.99971376 -0.09946826] [ 0. 0. 0. 1. ]] SLAMing on 87.10992885099999 meters Centerline goodness [0,1] 0.6324560148762695 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.99864474 -0.04667748 -0.02301943 0.71450325] [ 0.04680547 0.99889124 0.00505268 -0.18116478] [ 0.02275806 -0.00612327 0.99972225 -0.09858942] [ 0. 0. 0. 1. ]] SLAMing on 87.139928851 meters Centerline goodness [0,1] 0.6380902513328256 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.99864569 -0.04664849 -0.02303698 0.71419197] [ 0.04677871 0.99889202 0.00514617 -0.18203033] [ 0.02277139 -0.00621684 0.99972137 -0.09805827] [ 0. 0. 0. 1. ]] SLAMing on 87.169928851 meters Centerline goodness [0,1] 0.6272865853658536 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.99863888 -0.04681405 -0.02299617 0.71371884] [ 0.04694118 0.99888504 0.00501967 -0.18226886] [ 0.02273554 -0.00609231 0.99972295 -0.09755197] [ 0. 0. 0. 1. ]] SLAMing on 87.199928851 meters Centerline goodness [0,1] 0.6290971412249173 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.99863838 -0.04687297 -0.02289772 0.71328057] [ 0.04699952 0.9988823 0.00502003 -0.18255953] [ 0.02263682 -0.00608937 0.99972521 -0.09722398] [ 0. 0. 0. 1. ]] SLAMing on 87.229928851 meters Centerline goodness [0,1] 0.635721397752596 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.99863584 -0.04701567 -0.02271552 0.71257893] [ 0.04713976 0.998876 0.00495814 -0.18265956] [ 0.02245688 -0.00602218 0.99972967 -0.0967526 ] [ 0. 0. 0. 1. ]] SLAMing on 87.25992885099998 meters Centerline goodness [0,1] 0.6363722651986142 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.99863699 -0.04697857 -0.02274136 0.71257739] [ 0.04710449 0.99887729 0.0050331 -0.18307653] [ 0.02247938 -0.00609746 0.99972871 -0.0966531 ] [ 0. 0. 0. 1. ]] SLAMing on 87.28992885099998 meters Centerline goodness [0,1] 0.6350557004029391 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.9986439 -0.04686451 -0.02267342 0.71264334] [ 0.04699495 0.99888131 0.00525437 -0.18392615] [ 0.02240181 -0.00631278 0.99972912 -0.09688742] [ 0. 0. 0. 1. ]] SLAMing on 87.31992885099999 meters Centerline goodness [0,1] 0.6341544056868904 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99866021 -0.04649225 -0.02272114 0.71309484] [ 0.04663699 0.99889459 0.00588208 -0.18623048] [ 0.02242256 -0.00693385 0.99972454 -0.09733985] [ 0. 0. 0. 1. ]] SLAMing on 87.34992885099999 meters Centerline goodness [0,1] 0.6279108214066411 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99866658 -0.04636331 -0.02270476 0.71329789] [ 0.04651373 0.99889877 0.00614211 -0.18697341] [ 0.02239499 -0.00719 0.99972335 -0.09767627] [ 0. 0. 0. 1. ]] SLAMing on 87.37992885099999 meters Centerline goodness [0,1] 0.637148111472627 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99868354 -0.04589521 -0.02290889 0.71420265] [ 0.04605667 0.99891722 0.00657067 -0.18724711] [ 0.02258253 -0.00761713 0.99971596 -0.09824673] [ 0. 0. 0. 1. ]] SLAMing on 87.40992885099999 meters Centerline goodness [0,1] 0.6409186296008111 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.10 [[ 0.99870427 -0.04531687 -0.02315517 0.71516968] [ 0.04548821 0.99894086 0.00692682 -0.18681097] [ 0.02281675 -0.00797114 0.99970789 -0.09870032] [ 0. 0. 0. 1. ]] SLAMing on 87.43992885099999 meters Centerline goodness [0,1] 0.6409186296008111 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.10 [[ 0.99870427 -0.04531687 -0.02315517 0.71516968] [ 0.04548821 0.99894086 0.00692682 -0.18681097] [ 0.02281675 -0.00797114 0.99970789 -0.09870032] [ 0. 0. 0. 1. ]] SLAMing on 87.46992885099999 meters Centerline goodness [0,1] 0.6400481540930979 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.10 [[ 0.99870702 -0.045229 -0.02320849 0.71537687] [ 0.04540234 0.99894428 0.00699664 -0.18707357] [ 0.02286753 -0.00804131 0.99970616 -0.09876921] [ 0. 0. 0. 1. ]] SLAMing on 87.49992885099999 meters Centerline goodness [0,1] 0.6406928438988899 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.10 [[ 0.99871936 -0.04487198 -0.02336962 0.71623673] [ 0.04505503 0.99895735 0.00736589 -0.18818114] [ 0.02301473 -0.00840938 0.99969976 -0.09934262] [ 0. 0. 0. 1. ]] SLAMing on 87.529928851 meters Centerline goodness [0,1] 0.6377819548872181 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.10 [[ 0.99871646 -0.04494855 -0.02334648 0.71630328] [ 0.04513029 0.99895431 0.00731682 -0.18809896] [ 0.02299319 -0.00836106 0.99970066 -0.09951553] [ 0. 0. 0. 1. ]] SLAMing on 87.559928851 meters Centerline goodness [0,1] 0.6451650860141671 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.10 [[ 0.99871001 -0.04514145 -0.02325024 0.71609384] [ 0.04531857 0.99894702 0.00714764 -0.18774543] [ 0.0229031 -0.00819208 0.99970413 -0.09948678] [ 0. 0. 0. 1. ]] SLAMing on 87.589928851 meters Centerline goodness [0,1] 0.6448593735302417 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.10 [[ 0.99869955 -0.04544188 -0.02311361 0.71565014] [ 0.04561295 0.99893516 0.00692851 -0.18756755] [ 0.02277416 -0.00797378 0.99970884 -0.09933059] [ 0. 0. 0. 1. ]] SLAMing on 87.61992885099998 meters Centerline goodness [0,1] 0.6428218926985172 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.10 [[ 0.9986887 -0.0456693 -0.02313427 0.71566334] [ 0.04583848 0.99892548 0.00683581 -0.18760075] [ 0.02279722 -0.00788729 0.999709 -0.09936864] [ 0. 0. 0. 1. ]] SLAMing on 87.64992885099998 meters Centerline goodness [0,1] 0.6389994582754316 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99864561 -0.04683258 -0.02266377 0.71408121] [ 0.046988 0.99887512 0.00637408 -0.18857419] [ 0.02233976 -0.00743038 0.99972282 -0.09895932] [ 0. 0. 0. 1. ]] SLAMing on 87.67992885099999 meters Centerline goodness [0,1] 0.6366454521969893 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99844498 -0.05100283 -0.02250185 0.71414601] [ 0.05107159 0.99869189 0.00249135 -0.18918224] [ 0.02234535 -0.00363668 0.9997437 -0.09889363] [ 0. 0. 0. 1. ]] SLAMing on 87.70992885099999 meters Centerline goodness [0,1] 0.6308918317121763 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99841697 -0.05166044 -0.02224295 0.71328631] [ 0.05172923 0.99865795 0.00252828 -0.19068493] [ 0.02208248 -0.00367489 0.9997494 -0.09873822] [ 0. 0. 0. 1. ]] SLAMing on 87.73992885099999 meters Centerline goodness [0,1] 0.6316356903461692 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99839766 -0.05217114 -0.02191553 0.71244354] [ 0.05223934 0.99863134 0.00255082 -0.19177784] [ 0.02175246 -0.00369158 0.99975657 -0.09868365] [ 0. 0. 0. 1. ]] SLAMing on 87.76992885099999 meters Centerline goodness [0,1] 0.6314104810635266 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99836417 -0.05296951 -0.02152256 0.71124287] [ 0.05303408 0.99858972 0.00244032 -0.19298472] [ 0.02136294 -0.00357776 0.99976538 -0.09844671] [ 0. 0. 0. 1. ]] SLAMing on 87.79992885099999 meters Centerline goodness [0,1] 0.6292292245546034 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99835754 -0.05312949 -0.0214353 0.71106375] [ 0.05319707 0.99858066 0.0025942 -0.1937004 ] [ 0.02126705 -0.00373023 0.99976687 -0.09857652] [ 0. 0. 0. 1. ]] SLAMing on 87.82992885099999 meters Centerline goodness [0,1] 0.6265836074753273 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99834143 -0.05353551 -0.02117393 0.71015021] [ 0.05360167 0.99855909 0.0025692 -0.19491736] [ 0.02100587 -0.0036999 0.99977251 -0.09817916] [ 0. 0. 0. 1. ]] SLAMing on 87.85992885099999 meters Centerline goodness [0,1] 0.6267092175452491 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.10 [[ 0.99833826 -0.05361747 -0.02111589 0.71000871] [ 0.05368338 0.99855471 0.00256635 -0.1951363 ] [ 0.02094777 -0.00369566 0.99977374 -0.09813488] [ 0. 0. 0. 1. ]] SLAMing on 87.889928851 meters Centerline goodness [0,1] 0.6337522441651706 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99836579 -0.05303673 -0.02128058 0.71062772] [ 0.05310743 0.99858496 0.00277054 -0.19470717] [ 0.02110352 -0.00389617 0.9997697 -0.0982824 ] [ 0. 0. 0. 1. ]] SLAMing on 87.919928851 meters Centerline goodness [0,1] 0.6330628235623339 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99836877 -0.05292963 -0.0214068 0.71082759] [ 0.05299828 0.99859108 0.00265188 -0.19415086] [ 0.02123628 -0.00378208 0.99976733 -0.09813666] [ 0. 0. 0. 1. ]] SLAMing on 87.949928851 meters Centerline goodness [0,1] 0.6302665920954511 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99837362 -0.05279693 -0.02150824 0.71093203] [ 0.0528662 0.99859805 0.00266444 -0.19407637] [ 0.02133741 -0.00379716 0.99976512 -0.09793058] [ 0. 0. 0. 1. ]] SLAMing on 87.97992885099998 meters Centerline goodness [0,1] 0.629667638483965 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99839911 -0.05222405 -0.02172242 0.71177486] [ 0.05229918 0.99862724 0.00290435 -0.19367542] [ 0.02154093 -0.00403577 0.99975982 -0.09829434] [ 0. 0. 0. 1. ]] SLAMing on 88.00992885099998 meters Centerline goodness [0,1] 0.6305458958620207 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99841104 -0.05191859 -0.02190575 0.71245085] [ 0.05199765 0.99864254 0.00305469 -0.19376 ] [ 0.02171741 -0.00418889 0.99975537 -0.09859861] [ 0. 0. 0. 1. ]] SLAMing on 88.03992885099998 meters Centerline goodness [0,1] 0.6313599925210929 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99845369 -0.05100914 -0.02209751 0.71366124] [ 0.05109694 0.99868782 0.00342682 -0.19312502] [ 0.02189372 -0.00455064 0.99974995 -0.09935847] [ 0. 0. 0. 1. ]] SLAMing on 88.06992885099999 meters Centerline goodness [0,1] 0.6309899301418191 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99846907 -0.05059062 -0.02236307 0.71448483] [ 0.05068081 0.99870882 0.00348476 -0.19218921] [ 0.02215789 -0.00461281 0.99974384 -0.09958234] [ 0. 0. 0. 1. ]] SLAMing on 88.09992885099999 meters Centerline goodness [0,1] 0.6296946296946297 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.10 [[ 0.99848003 -0.05026852 -0.02259861 0.71522576] [ 0.0503603 0.99872495 0.00351005 -0.19138188] [ 0.02239336 -0.00464278 0.99973846 -0.09981762] [ 0. 0. 0. 1. ]] SLAMing on 88.12992885099999 meters Centerline goodness [0,1] 0.6336710104578527 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.10 [[ 0.998522 -0.04930667 -0.02286208 0.71648538] [ 0.04940612 0.99877152 0.00380552 -0.19025877] [ 0.02264636 -0.00492942 0.99973139 -0.10037069] [ 0. 0. 0. 1. ]] SLAMing on 88.15992885099999 meters Centerline goodness [0,1] 0.6348625574631767 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.10 [[ 0.99853296 -0.0489642 -0.02311784 0.71732013] [ 0.04906435 0.99878845 0.00378455 -0.18949738] [ 0.02290452 -0.00491326 0.99972558 -0.10060845] [ 0. 0. 0. 1. ]] SLAMing on 88.18992885099999 meters Centerline goodness [0,1] 0.6354482078726851 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.10 [[ 0.9985424 -0.04872929 -0.02320641 0.71762032] [ 0.04882306 0.99880134 0.00349105 -0.18768334] [ 0.02300848 -0.00461897 0.9997246 -0.10058537] [ 0. 0. 0. 1. ]] SLAMing on 88.21992885099999 meters Centerline goodness [0,1] 0.6453242481203008 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.10 [[ 0.99854103 -0.04870445 -0.02331729 0.71778993] [ 0.048792 0.99880383 0.00320007 -0.18653568] [ 0.02313354 -0.00433309 0.99972299 -0.10040906] [ 0. 0. 0. 1. ]] SLAMing on 88.24992885099999 meters Centerline goodness [0,1] 0.6411313112283346 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.10 [[ 0.99853485 -0.04882676 -0.02332607 0.71767869] [ 0.04890289 0.99879988 0.00270419 -0.18448241] [ 0.02316604 -0.00384094 0.99972425 -0.1001975 ] [ 0. 0. 0. 1. ]] SLAMing on 88.279928851 meters Centerline goodness [0,1] 0.6420242647405938 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.10 [[ 0.99852792 -0.04899649 -0.02326664 0.7174974 ] [ 0.04906752 0.99879236 0.00249129 -0.18383066] [ 0.02311648 -0.00362926 0.99972619 -0.10011727] [ 0. 0. 0. 1. ]] SLAMing on 88.309928851 meters Centerline goodness [0,1] 0.6340444612262237 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.10 [[ 0.998515 -0.04933282 -0.02310986 0.71717086] [ 0.04939848 0.99877655 0.00227892 -0.18347418] [ 0.02296916 -0.00341713 0.99973033 -0.10024778] [ 0. 0. 0. 1. ]] SLAMing on 88.339928851 meters Centerline goodness [0,1] 0.641063829787234 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.10 [[ 0.99849935 -0.04978191 -0.02282121 0.71680839] [ 0.04984544 0.99875447 0.00222287 -0.18361662] [ 0.02268213 -0.00335707 0.99973709 -0.10079354] [ 0. 0. 0. 1. ]] SLAMing on 88.36992885099998 meters Centerline goodness [0,1] 0.641063829787234 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.10 [[ 0.99849935 -0.04978191 -0.02282121 0.71680839] [ 0.04984544 0.99875447 0.00222287 -0.18361662] [ 0.02268213 -0.00335707 0.99973709 -0.10079354] [ 0. 0. 0. 1. ]] SLAMing on 88.39992885099998 meters Centerline goodness [0,1] 0.6442837221394975 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.10 [[ 0.99849301 -0.04996152 -0.02270587 0.71677871] [ 0.05002095 0.99874605 0.00205648 -0.1830487 ] [ 0.02257465 -0.00318915 0.99974007 -0.10108396] [ 0. 0. 0. 1. ]] SLAMing on 88.42992885099999 meters Centerline goodness [0,1] 0.6464202574944178 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.10 [[ 0.99847447 -0.05039024 -0.02257321 0.71640039] [ 0.05043422 0.99872643 0.00138283 -0.18043151] [ 0.02247478 -0.00251918 0.99974424 -0.10102446] [ 0. 0. 0. 1. ]] SLAMing on 88.45992885099999 meters Centerline goodness [0,1] 0.6423409717600076 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.10 [[ 0.99846799 -0.0505188 -0.02257242 0.71637157] [ 0.05055654 0.99872059 0.00110386 -0.17888825] [ 0.02248777 -0.00224335 0.9997446 -0.10101018] [ 0. 0. 0. 1. ]] SLAMing on 88.48992885099999 meters Centerline goodness [0,1] 0.6393994366735094 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.10 [[ 9.98448566e-01 -5.09784167e-02 -2.23978232e-02 7.15748172e-01] [ 5.10013189e-02 9.98698484e-01 4.52107030e-04 -1.76917251e-01] [ 2.23456244e-02 -1.59372414e-03 9.99749035e-01 -1.00682086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.51992885099999 meters Centerline goodness [0,1] 0.6367684175436925 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.10 [[ 9.98439357e-01 -5.12066310e-02 -2.22874872e-02 7.15510787e-01] [ 5.12255548e-02 9.98687071e-01 2.78617280e-04 -1.76699526e-01] [ 2.22439583e-02 -1.41987136e-03 9.99751564e-01 -1.00749135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.54992885099999 meters Centerline goodness [0,1] 0.6391926990254247 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.10 [[ 9.98436408e-01 -5.13042295e-02 -2.21949502e-02 7.15502493e-01] [ 5.13228724e-02 9.98682076e-01 2.70779926e-04 -1.76481429e-01] [ 2.21518068e-02 -1.40946513e-03 9.99753625e-01 -1.01069689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.57992885099999 meters Centerline goodness [0,1] 0.6391459244913087 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 9.98419175e-01 -5.17373223e-02 -2.19636020e-02 7.14945600e-01] [ 5.17454726e-02 9.98660286e-01 -1.97466414e-04 -1.74673314e-01] [ 2.19443935e-02 -9.39362712e-04 9.99758751e-01 -1.01106138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.60992885099999 meters Centerline goodness [0,1] 0.6379063439782329 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 9.98413981e-01 -5.18168434e-02 -2.20122157e-02 7.15070480e-01] [ 5.18220534e-02 9.98656279e-01 -3.34058953e-04 -1.73619789e-01] [ 2.19999473e-02 -8.07189091e-04 9.99757646e-01 -1.01177251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.639928851 meters Centerline goodness [0,1] 0.6396772799308457 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 9.98403064e-01 -5.20223790e-02 -2.20225713e-02 7.15160146e-01] [ 5.20177453e-02 9.98645853e-01 -7.83591055e-04 -1.71821954e-01] [ 2.20335138e-02 -3.63224797e-04 9.99757167e-01 -1.01278390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.669928851 meters Centerline goodness [0,1] 0.6413612565445026 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 9.98399464e-01 -5.21207962e-02 -2.19529676e-02 7.15260815e-01] [ 5.21141400e-02 9.98640751e-01 -8.75582387e-04 -1.71501601e-01] [ 2.19687641e-02 -2.69879041e-04 9.99758621e-01 -1.01648041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.699928851 meters Centerline goodness [0,1] 0.6384146926249161 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 9.98409869e-01 -5.19243883e-02 -2.19451849e-02 7.15906228e-01] [ 5.19210818e-02 9.98650931e-01 -7.20805935e-04 -1.71156342e-01] [ 2.19530067e-02 -4.19757980e-04 9.99758916e-01 -1.02513839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72992885099998 meters Centerline goodness [0,1] 0.6379653378718508 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 9.98412978e-01 -5.18232183e-02 -2.20426543e-02 7.16351351e-01] [ 5.18204801e-02 9.98656174e-01 -6.95790940e-04 -1.70648742e-01] [ 2.20490909e-02 -4.47574222e-04 9.99756789e-01 -1.02825747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75992885099998 meters Centerline goodness [0,1] 0.6371245099689747 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 9.98412852e-01 -5.17729506e-02 -2.21661766e-02 7.16501709e-01] [ 5.17662809e-02 9.98658844e-01 -8.74972604e-04 -1.69669063e-01] [ 2.21817482e-02 -2.73876634e-04 9.99753917e-01 -1.02635963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78992885099998 meters Centerline goodness [0,1] 0.6373319868234388 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 9.98431527e-01 -5.13068017e-02 -2.24075622e-02 7.17289362e-01] [ 5.13008538e-02 9.98682891e-01 -8.40574112e-04 -1.68248894e-01] [ 2.24211762e-02 -3.10271382e-04 9.99748566e-01 -1.02757672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81992885099999 meters Centerline goodness [0,1] 0.643467790487658 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 9.98440170e-01 -5.10525244e-02 -2.26023466e-02 7.17793430e-01] [ 5.10483102e-02 9.98695893e-01 -7.63764954e-04 -1.67901751e-01] [ 2.26118629e-02 -3.91237991e-04 9.99744243e-01 -1.02795949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84992885099999 meters Centerline goodness [0,1] 0.6379629852470459 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 9.98454147e-01 -5.07032855e-02 -2.27704632e-02 7.18303622e-01] [ 5.07046388e-02 9.98713558e-01 -5.18294021e-04 -1.68135308e-01] [ 2.27674495e-02 -6.37075297e-04 9.99740585e-01 -1.02929224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87992885099999 meters Centerline goodness [0,1] 0.637118114024537 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 9.98461842e-01 -5.05029523e-02 -2.28779829e-02 7.18595161e-01] [ 5.05074378e-02 9.98723612e-01 -3.82095747e-04 -1.68149232e-01] [ 2.28680787e-02 -7.74000274e-04 9.99738192e-01 -1.02986911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.90992885099999 meters Centerline goodness [0,1] 0.6413408894438575 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 9.98468456e-01 -5.03025610e-02 -2.30303168e-02 7.19015048e-01] [ 5.03101813e-02 9.98733610e-01 -2.48773663e-04 -1.68226990e-01] [ 2.30136654e-02 -9.10266758e-04 9.99734736e-01 -1.03049712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.93992885099999 meters Centerline goodness [0,1] 0.64719581292615 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 9.98481691e-01 -4.99420046e-02 -2.32402504e-02 7.19407542e-01] [ 4.99529151e-02 9.98751568e-01 -1.11194606e-04 -1.68438475e-01] [ 2.32167898e-02 -1.04989248e-03 9.99729903e-01 -1.02772497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.96992885099999 meters Centerline goodness [0,1] 0.6413998367817195 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 9.98490038e-01 -4.97221668e-02 -2.33527258e-02 7.19708895e-01] [ 4.97356035e-02 9.98762419e-01 -5.43665391e-06 -1.68461016e-01] [ 2.33240952e-02 -1.15603347e-03 9.99727288e-01 -1.02770230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99992885099999 meters Centerline goodness [0,1] 0.6457544229754999 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 9.98522338e-01 -4.88738382e-02 -2.37589866e-02 7.21094372e-01] [ 4.88960816e-02 9.98803808e-01 3.55820525e-04 -1.68738391e-01] [ 2.37131760e-02 -1.51701609e-03 9.99717652e-01 -1.03088070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.029928851 meters Centerline goodness [0,1] 0.6478003971006865 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 9.98539101e-01 -4.84008784e-02 -2.40212023e-02 7.21967058e-01] [ 4.84321170e-02 9.98826217e-01 7.20043784e-04 -1.69174228e-01] [ 2.39581558e-02 -1.88238955e-03 9.99711190e-01 -1.03403860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.059928851 meters Centerline goodness [0,1] 0.6462589910865773 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 9.98557544e-01 -4.79971988e-02 -2.40645146e-02 7.22298458e-01] [ 4.80341756e-02 9.98845231e-01 9.60555699e-04 -1.69425222e-01] [ 2.39906217e-02 -2.11508926e-03 9.99709946e-01 -1.03520258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.089928851 meters Centerline goodness [0,1] 0.6506075768406004 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 0.99872591 -0.04440184 -0.02397979 0.7210739 ] [ 0.04453021 0.99899629 0.00484541 -0.17103755] [ 0.02374058 -0.00590706 0.9997007 -0.10287239] [ 0. 0. 0. 1. ]] SLAMing on 89.11992885099998 meters Centerline goodness [0,1] 0.6498268243162546 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 0.99873949 -0.04392868 -0.02428373 0.7218949 ] [ 0.04406194 0.99901639 0.00497957 -0.17084865] [ 0.0240411 -0.00604328 0.9996927 -0.10287988] [ 0. 0. 0. 1. ]] SLAMing on 89.14992885099998 meters Centerline goodness [0,1] 0.6518762375056657 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 0.99891046 -0.03982189 -0.02433316 0.72146713] [ 0.04005306 0.99915623 0.0090874 -0.1722542 ] [ 0.02395075 -0.01005212 0.9996626 -0.10261003] [ 0. 0. 0. 1. ]] SLAMing on 89.17992885099999 meters Centerline goodness [0,1] 0.6553400371729495 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 0.99892355 -0.03936216 -0.02454293 0.72194467] [ 0.03959749 0.99917357 0.0091772 -0.17196561] [ 0.02416141 -0.01013916 0.99965665 -0.10237423] [ 0. 0. 0. 1. ]] SLAMing on 89.20992885099999 meters Centerline goodness [0,1] 0.6848012991975545 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 0.99894064 -0.03877207 -0.02478563 0.72223533] [ 0.03901201 0.99919573 0.00927133 -0.17201493] [ 0.02440623 -0.01022845 0.9996498 -0.10172843] [ 0. 0. 0. 1. ]] SLAMing on 89.23992885099999 meters Centerline goodness [0,1] 0.6742224439850786 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 0.99894479 -0.03862254 -0.02485165 0.72254041] [ 0.03886488 0.99920079 0.00934329 -0.17259145] [ 0.02447093 -0.01029929 0.99964749 -0.10178692] [ 0. 0. 0. 1. ]] SLAMing on 89.26992885099999 meters Centerline goodness [0,1] 0.6612034762894389 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.10 [[ 0.99894548 -0.03861531 -0.02483503 0.72282122] [ 0.03886507 0.99919784 0.00965361 -0.17428874] [ 0.02444233 -0.01060865 0.99964495 -0.10221233] [ 0. 0. 0. 1. ]] SLAMing on 89.29992885099999 meters Centerline goodness [0,1] 0.6828934321733793 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.10 [[ 0.99893637 -0.03893226 -0.0247064 0.72247681] [ 0.03918225 0.99918484 0.00971609 -0.17554004] [ 0.02430799 -0.01067381 0.99964753 -0.10223124] [ 0. 0. 0. 1. ]] SLAMing on 89.32992885099999 meters Centerline goodness [0,1] 0.6644458046897072 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.10 [[ 0.99892819 -0.03922514 -0.02457355 0.72225307] [ 0.0394786 0.99917122 0.00991532 -0.17692664] [ 0.02416425 -0.01087483 0.99964885 -0.10245084] [ 0. 0. 0. 1. ]] SLAMing on 89.35992885099999 meters Centerline goodness [0,1] 0.6656408569817703 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.10 [[ 0.99888818 -0.04032731 -0.02441542 0.72113459] [ 0.0405714 0.99913066 0.00958563 -0.17886557] [ 0.02400763 -0.01056554 0.99965594 -0.10178977] [ 0. 0. 0. 1. ]] SLAMing on 89.389928851 meters Centerline goodness [0,1] 0.6720748100526008 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.10 [[ 0.99887709 -0.04071601 -0.02422327 0.72044962] [ 0.04095644 0.99911564 0.00951336 -0.18007874] [ 0.0238145 -0.01049478 0.99966131 -0.10145244] [ 0. 0. 0. 1. ]] SLAMing on 89.419928851 meters Centerline goodness [0,1] 0.6724012656744405 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.10 [[ 0.99886089 -0.04126642 -0.02395828 0.71923198] [ 0.04149941 0.99909515 0.00931023 -0.18121486] [ 0.0235524 -0.01029387 0.99966961 -0.10066072] [ 0. 0. 0. 1. ]] SLAMing on 89.449928851 meters Centerline goodness [0,1] 0.6665114221176909 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.10 [[ 0.99882245 -0.04229223 -0.02377159 0.71790774] [ 0.04251653 0.99905513 0.00901034 -0.18323209] [ 0.02336807 -0.01001041 0.99967681 -0.09974626] [ 0. 0. 0. 1. ]] SLAMing on 89.47992885099998 meters Centerline goodness [0,1] 0.6614526438117374 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.10 [[ 0.99880766 -0.04275327 -0.02356735 0.71727047] [ 0.04297596 0.99903535 0.00902462 -0.18442673] [ 0.02315879 -0.01002669 0.99968152 -0.09962648] [ 0. 0. 0. 1. ]] SLAMing on 89.50992885099998 meters Centerline goodness [0,1] 0.6603926847382102 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.10 [[ 0.99879181 -0.04323989 -0.02335028 0.71657459] [ 0.04346147 0.99901396 0.0090664 -0.18591313] [ 0.02293523 -0.01007028 0.99968623 -0.09947726] [ 0. 0. 0. 1. ]] SLAMing on 89.53992885099998 meters Centerline goodness [0,1] 0.6522993812909779 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.10 [[ 0.9986287 -0.04678552 -0.02349106 0.71789359] [ 0.04693433 0.998881 0.00582348 -0.18725372] [ 0.02319232 -0.00691803 0.99970709 -0.10022718] [ 0. 0. 0. 1. ]] SLAMing on 89.56992885099999 meters Centerline goodness [0,1] 0.6498930567374255 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.10 [[ 0.99861779 -0.04707257 -0.0233811 0.7176887 ] [ 0.04722626 0.99886581 0.00606482 -0.18861731] [ 0.0230691 -0.00716063 0.99970823 -0.10046623] [ 0. 0. 0. 1. ]] SLAMing on 89.59992885099999 meters Centerline goodness [0,1] 0.6491022099447514 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.10 [[ 0.99860482 -0.04744482 -0.02318178 0.7171004 ] [ 0.04759864 0.99884774 0.00612881 -0.18966762] [ 0.02286429 -0.00722368 0.99971248 -0.10041512] [ 0. 0. 0. 1. ]] SLAMing on 89.62992885099999 meters Centerline goodness [0,1] 0.6467129140441954 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.10 [[ 0.9985965 -0.04769556 -0.0230252 0.71671055] [ 0.04785098 0.99883495 0.00624645 -0.19087026] [ 0.02270044 -0.00733946 0.99971537 -0.10036819] [ 0. 0. 0. 1. ]] SLAMing on 89.65992885099999 meters Centerline goodness [0,1] 0.6431550483523534 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.10 [[ 0.99857209 -0.04840451 -0.02260064 0.71511685] [ 0.0485517 0.99880259 0.00600969 -0.19215589] [ 0.02228269 -0.0070984 0.99972651 -0.09952715] [ 0. 0. 0. 1. ]] SLAMing on 89.68992885099999 meters Centerline goodness [0,1] 0.6417531665828342 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99856596 -0.04855954 -0.0225387 0.71471183] [ 0.0487034 0.99879599 0.00587801 -0.19209553] [ 0.02222613 -0.00696729 0.99972869 -0.09916358] [ 0. 0. 0. 1. ]] SLAMing on 89.71992885099999 meters Centerline goodness [0,1] 0.6412100116787652 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99856737 -0.04853819 -0.02252218 0.71437134] [ 0.04867981 0.99879769 0.00578286 -0.19190264] [ 0.02221441 -0.00687095 0.99972962 -0.0986881 ] [ 0. 0. 0. 1. ]] SLAMing on 89.74992885099999 meters Centerline goodness [0,1] 0.6411848254375516 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.9985712 -0.04842942 -0.02258631 0.71471947] [ 0.04857138 0.998803 0.00577911 -0.19145302] [ 0.02227939 -0.0068679 0.99972819 -0.09892988] [ 0. 0. 0. 1. ]] SLAMing on 89.779928851 meters Centerline goodness [0,1] 0.6397183615430485 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99856948 -0.04842412 -0.02267366 0.7149079 ] [ 0.04856121 0.99880487 0.00553496 -0.19050814] [ 0.02237854 -0.0066281 0.9997276 -0.09884249] [ 0. 0. 0. 1. ]] SLAMing on 89.809928851 meters Centerline goodness [0,1] 0.6535875725660265 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.10 [[ 0.99857754 -0.04820763 -0.02277992 0.71531517] [ 0.04834479 0.99881552 0.00550892 -0.18963063] [ 0.02248737 -0.00660238 0.99972533 -0.09902112] [ 0. 0. 0. 1. ]] SLAMing on 89.839928851 meters Centerline goodness [0,1] 0.6521968688306322 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.10 [[ 0.99857642 -0.04826294 -0.02271185 0.71534883] [ 0.0484004 0.99881264 0.00554178 -0.18972091] [ 0.02241742 -0.00663315 0.99972669 -0.09926374] [ 0. 0. 0. 1. ]] SLAMing on 89.86992885099998 meters Centerline goodness [0,1] 0.6566448801742919 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.10 [[ 0.99857182 -0.04837651 -0.02267232 0.71546524] [ 0.04851491 0.99880679 0.00559439 -0.18995454] [ 0.02237463 -0.00668635 0.9997273 -0.09961409] [ 0. 0. 0. 1. ]] SLAMing on 89.89992885099998 meters Centerline goodness [0,1] 0.6532128606155116 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.10 [[ 0.99855209 -0.04887032 -0.02248156 0.71515941] [ 0.04900463 0.99878362 0.0054622 -0.18992568] [ 0.02218727 -0.00655599 0.99973234 -0.09995701] [ 0. 0. 0. 1. ]] SLAMing on 89.92992885099999 meters Centerline goodness [0,1] 0.6525915228205305 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.10 [[ 0.99853873 -0.04917945 -0.02240061 0.71513847] [ 0.0493117 0.9987689 0.00538955 -0.18969111] [ 0.02210798 -0.00648628 0.99973455 -0.10025416] [ 0. 0. 0. 1. ]] SLAMing on 89.95992885099999 meters Centerline goodness [0,1] 0.6450034458993797 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99848213 -0.05050406 -0.02197217 0.71367728] [ 0.05062007 0.99870666 0.00475582 -0.18939253] [ 0.02170357 -0.00586083 0.99974727 -0.09994787] [ 0. 0. 0. 1. ]] SLAMing on 89.98992885099999 meters Centerline goodness [0,1] 0.6437280429840877 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99846217 -0.05100516 -0.02172015 0.71315076] [ 0.05111577 0.99868229 0.00456769 -0.18960308] [ 0.02145856 -0.00567091 0.99975366 -0.10010021] [ 0. 0. 0. 1. ]] SLAMing on 90.01992885099999 meters Centerline goodness [0,1] 0.640619962231127 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99844019 -0.05151074 -0.02153689 0.71261123] [ 0.05161771 0.99865705 0.0044403 -0.19020468] [ 0.02127924 -0.00554506 0.99975819 -0.10008673] [ 0. 0. 0. 1. ]] SLAMing on 90.04992885099999 meters Centerline goodness [0,1] 0.6333739902883575 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99838796 -0.05275029 -0.02094963 0.71069352] [ 0.05283963 0.99859603 0.00373342 -0.19007541] [ 0.02072328 -0.00483437 0.99977356 -0.09947123] [ 0. 0. 0. 1. ]] SLAMing on 90.07992885099999 meters Centerline goodness [0,1] 0.6352865392136564 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.9983754 -0.05303604 -0.02082643 0.71030206] [ 0.05312023 0.99858196 0.00350955 -0.18968321] [ 0.02061076 -0.00461015 0.99977695 -0.09929658] [ 0. 0. 0. 1. ]] SLAMing on 90.10992885099999 meters Centerline goodness [0,1] 0.6331578218096161 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99835741 -0.05346278 -0.02059631 0.70959264] [ 0.05354174 0.99856016 0.00330107 -0.18918759] [ 0.02039017 -0.00439841 0.99978242 -0.09915473] [ 0. 0. 0. 1. ]] SLAMing on 90.139928851 meters Centerline goodness [0,1] 0.6374472598160146 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99834371 -0.05374976 -0.02051343 0.70908146] [ 0.05382594 0.99854527 0.00317907 -0.18911425] [ 0.02031272 -0.00427796 0.99978452 -0.09883697] [ 0. 0. 0. 1. ]] SLAMing on 90.169928851 meters Centerline goodness [0,1] 0.6329803188666621 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99833733 -0.05388223 -0.02047631 0.70885069] [ 0.05395718 0.99853836 0.00312533 -0.18913818] [ 0.02027798 -0.00422498 0.99978545 -0.09863687] [ 0. 0. 0. 1. ]] SLAMing on 90.199928851 meters Centerline goodness [0,1] 0.6336060850524374 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99832461 -0.05415992 -0.02036361 0.70828273] [ 0.05423108 0.99852403 0.00295842 -0.18947739] [ 0.02017332 -0.0040578 0.99978826 -0.09818501] [ 0. 0. 0. 1. ]] SLAMing on 90.22992885099998 meters Centerline goodness [0,1] 0.6306557565979025 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99832149 -0.05425307 -0.02026842 0.70795275] [ 0.05432485 0.99851878 0.00300775 -0.18991106] [ 0.02007521 -0.00410378 0.99979005 -0.09799491] [ 0. 0. 0. 1. ]] SLAMing on 90.25992885099998 meters Centerline goodness [0,1] 0.6350064409274936 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99831851 -0.05431596 -0.02024679 0.70776626] [ 0.05438811 0.99851528 0.00302948 -0.19008938] [ 0.02005218 -0.00412557 0.99979042 -0.09783323] [ 0. 0. 0. 1. ]] SLAMing on 90.28992885099998 meters Centerline goodness [0,1] 0.6350064409274936 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99831851 -0.05431596 -0.02024679 0.70776626] [ 0.05438811 0.99851528 0.00302948 -0.19008938] [ 0.02005218 -0.00412557 0.99979042 -0.09783323] [ 0. 0. 0. 1. ]] SLAMing on 90.31992885099999 meters Centerline goodness [0,1] 0.6347820091471122 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99830589 -0.054577 -0.02016695 0.70706237] [ 0.05464705 0.99850141 0.00293834 -0.19055747] [ 0.01997636 -0.00403543 0.99979231 -0.0971604 ] [ 0. 0. 0. 1. ]] SLAMing on 90.34992885099999 meters Centerline goodness [0,1] 0.6313319530710835 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.9983059 -0.05455803 -0.02021738 0.7071878 ] [ 0.05462996 0.99850209 0.00302233 -0.1909623 ] [ 0.0200222 -0.00412169 0.99979104 -0.09719923] [ 0. 0. 0. 1. ]] SLAMing on 90.37992885099999 meters Centerline goodness [0,1] 0.6321117169346862 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99831262 -0.05441632 -0.02026773 0.70757989] [ 0.05449214 0.99850905 0.00320734 -0.19134547] [ 0.02006298 -0.00430636 0.99978944 -0.09754975] [ 0. 0. 0. 1. ]] SLAMing on 90.40992885099999 meters Centerline goodness [0,1] 0.639839498201273 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.9983393 -0.05384756 -0.02047145 0.70871631] [ 0.05393103 0.99853836 0.00354686 -0.19087729] [ 0.02025054 -0.00464501 0.99978415 -0.09837542] [ 0. 0. 0. 1. ]] SLAMing on 90.43992885099999 meters Centerline goodness [0,1] 0.6377469854517788 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99835177 -0.05356846 -0.02059505 0.70935416] [ 0.05365368 0.99855309 0.00360728 -0.19011482] [ 0.02037202 -0.00470633 0.99978139 -0.09876693] [ 0. 0. 0. 1. ]] SLAMing on 90.46992885099999 meters Centerline goodness [0,1] 0.6409128784371818 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99854492 -0.04983853 -0.02059542 0.70879425] [ 0.05000102 0.99872137 0.00745082 -0.19038811] [ 0.02019774 -0.00846977 0.99976013 -0.09879753] [ 0. 0. 0. 1. ]] SLAMing on 90.49992885099999 meters Centerline goodness [0,1] 0.6369590372598936 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99856449 -0.04929622 -0.02094846 0.70985546] [ 0.04946331 0.99874752 0.00753442 -0.18973123] [ 0.0205508 -0.00855979 0.99975217 -0.09899932] [ 0. 0. 0. 1. ]] SLAMing on 90.529928851 meters Centerline goodness [0,1] 0.6454142595299412 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99859827 -0.04852751 -0.02113225 0.71055355] [ 0.04869518 0.99878558 0.00749328 -0.18849142] [ 0.02074295 -0.00851182 0.99974861 -0.09891577] [ 0. 0. 0. 1. ]] SLAMing on 90.559928851 meters Centerline goodness [0,1] 0.6393632015527161 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99860805 -0.04827622 -0.02124533 0.7108346 ] [ 0.04844333 0.99879835 0.00742258 -0.18780582] [ 0.02086147 -0.00844144 0.99974674 -0.09879112] [ 0. 0. 0. 1. ]] SLAMing on 90.589928851 meters Centerline goodness [0,1] 0.6435326842837275 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99861612 -0.0480164 -0.02145382 0.71112094] [ 0.04818173 0.99881222 0.00725691 -0.18680933] [ 0.02107989 -0.00828055 0.9997435 -0.09840896] [ 0. 0. 0. 1. ]] SLAMing on 90.61992885099998 meters Centerline goodness [0,1] 0.6486410955075805 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99877544 -0.044678 -0.02124865 0.70972464] [ 0.04491299 0.99893345 0.01071334 -0.18688585] [ 0.02074733 -0.01165457 0.99971682 -0.09785061] [ 0. 0. 0. 1. ]] SLAMing on 90.64992885099998 meters Centerline goodness [0,1] 0.6509341885108757 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99878486 -0.04436981 -0.02145051 0.7103897 ] [ 0.04460889 0.99894616 0.01079848 -0.18661298] [ 0.02094878 -0.01174224 0.99971159 -0.09808421] [ 0. 0. 0. 1. ]] SLAMing on 90.67992885099999 meters Centerline goodness [0,1] 0.6519587341419211 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99880804 -0.04374922 -0.02164475 0.71154928] [ 0.04399636 0.99897028 0.01107665 -0.18646574] [ 0.02113787 -0.01201573 0.99970436 -0.09886832] [ 0. 0. 0. 1. ]] SLAMing on 90.70992885099999 meters Centerline goodness [0,1] 0.6488889920824723 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99881124 -0.04365896 -0.02167957 0.71171816] [ 0.0439065 0.99897424 0.0110762 -0.18622089] [ 0.02117375 -0.01201491 0.99970361 -0.09895625] [ 0. 0. 0. 1. ]] SLAMing on 90.73992885099999 meters Centerline goodness [0,1] 0.6411429898942966 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99880856 -0.04367854 -0.02176318 0.71178603] [ 0.04392238 0.99897597 0.010855 -0.18534904] [ 0.02126677 -0.01179795 0.99970422 -0.09876548] [ 0. 0. 0. 1. ]] SLAMing on 90.76992885099999 meters Centerline goodness [0,1] 0.6498953244940684 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.99882165 -0.0432542 -0.02200875 0.71274653] [ 0.0435055 0.99899185 0.01107042 -0.18468424] [ 0.02150772 -0.01201487 0.99969648 -0.09930063] [ 0. 0. 0. 1. ]] SLAMing on 90.79992885099999 meters Centerline goodness [0,1] 0.6423848768449969 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.99882792 -0.04312094 -0.02198587 0.71293682] [ 0.04337583 0.99899547 0.01125115 -0.18492344] [ 0.02147862 -0.01219162 0.99969497 -0.09959342] [ 0. 0. 0. 1. ]] SLAMing on 90.82992885099999 meters Centerline goodness [0,1] 0.652860465116279 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99882107 -0.0432961 -0.02195249 0.71274516] [ 0.04354859 0.99898901 0.01115709 -0.18546081] [ 0.02144724 -0.01209993 0.99969676 -0.09940763] [ 0. 0. 0. 1. ]] SLAMing on 90.85992885099999 meters Centerline goodness [0,1] 0.6597356581738503 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.9988199 -0.0433496 -0.02190028 0.7127311 ] [ 0.04360259 0.99898607 0.0112096 -0.18552786] [ 0.02139214 -0.01215128 0.99969732 -0.09960074] [ 0. 0. 0. 1. ]] SLAMing on 90.889928851 meters Centerline goodness [0,1] 0.6558744060374546 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.10 [[ 0.99881043 -0.04353357 -0.02196716 0.71263549] [ 0.04378215 0.99898093 0.0109644 -0.18532466] [ 0.02146745 -0.01191313 0.99969857 -0.09923973] [ 0. 0. 0. 1. ]] SLAMing on 90.919928851 meters Centerline goodness [0,1] 0.6509199171958227 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.99880102 -0.04376654 -0.02193193 0.71234941] [ 0.04400869 0.99897403 0.01068238 -0.18483704] [ 0.0214419 -0.01163477 0.99970239 -0.09896671] [ 0. 0. 0. 1. ]] SLAMing on 90.949928851 meters Centerline goodness [0,1] 0.658043295698423 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.99879569 -0.0438821 -0.02194373 0.7122734 ] [ 0.04411892 0.99897187 0.01042688 -0.18406886] [ 0.02146361 -0.01138245 0.99970483 -0.09879114] [ 0. 0. 0. 1. ]] SLAMing on 90.97992885099998 meters Centerline goodness [0,1] 0.6588652979235279 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.99880318 -0.0436924 -0.0219814 0.71228262] [ 0.04392131 0.99898453 0.0100408 -0.18219907] [ 0.02152037 -0.01099423 0.99970796 -0.09845303] [ 0. 0. 0. 1. ]] SLAMing on 91.00992885099998 meters Centerline goodness [0,1] 0.6450489611816121 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.99880357 -0.04365776 -0.02203223 0.71239438] [ 0.04388066 0.99898933 0.00973678 -0.18127374] [ 0.02158488 -0.01069192 0.99970985 -0.09826131] [ 0. 0. 0. 1. ]] SLAMing on 91.03992885099998 meters Centerline goodness [0,1] 0.6625847467567505 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.99880093 -0.04368526 -0.02209741 0.71233596] [ 0.04389843 0.99899313 0.00925536 -0.17974317] [ 0.02167084 -0.01021431 0.99971298 -0.0978625 ] [ 0. 0. 0. 1. ]] SLAMing on 91.06992885099999 meters Centerline goodness [0,1] 0.6580634555318099 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.99879546 -0.04380135 -0.0221151 0.71229106] [ 0.04400968 0.99899036 0.00902286 -0.17893487] [ 0.02169756 -0.00998527 0.99971471 -0.097762 ] [ 0. 0. 0. 1. ]] SLAMing on 91.09992885099999 meters Centerline goodness [0,1] 0.6630064991436146 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.99878695 -0.04399809 -0.02210879 0.71212979] [ 0.04419912 0.99898497 0.00868762 -0.17802659] [ 0.02170411 -0.00965428 0.99971782 -0.09754465] [ 0. 0. 0. 1. ]] SLAMing on 91.12992885099999 meters Centerline goodness [0,1] 0.6584147971024685 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.99877811 -0.0441919 -0.02212141 0.71211949] [ 0.04438741 0.99897886 0.0084261 -0.17729824] [ 0.02172645 -0.00939772 0.99971978 -0.09752505] [ 0. 0. 0. 1. ]] SLAMing on 91.15992885099999 meters Centerline goodness [0,1] 0.6559079163730326 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.99877306 -0.04431259 -0.02210805 0.71210576] [ 0.04450407 0.99897517 0.00824546 -0.17680524] [ 0.02172002 -0.00921924 0.99972158 -0.09754911] [ 0. 0. 0. 1. ]] SLAMing on 91.18992885099999 meters Centerline goodness [0,1] 0.6535984581394256 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.99876909 -0.04441735 -0.02207704 0.71214671] [ 0.04460678 0.99897127 0.00816304 -0.17645918] [ 0.02169175 -0.00913778 0.99972295 -0.09774053] [ 0. 0. 0. 1. ]] SLAMing on 91.21992885099999 meters Centerline goodness [0,1] 0.6567820524880068 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.9987676 -0.04440514 -0.02216895 0.7124063 ] [ 0.04459508 0.99897192 0.00814797 -0.17619633] [ 0.02178435 -0.00912656 0.99972104 -0.09784786] [ 0. 0. 0. 1. ]] SLAMing on 91.24992885099999 meters Centerline goodness [0,1] 0.6464527662777568 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.99875052 -0.04487128 -0.02199921 0.71185383] [ 0.04505435 0.99895332 0.00789741 -0.17589995] [ 0.02162182 -0.0088787 0.9997268 -0.09771239] [ 0. 0. 0. 1. ]] SLAMing on 91.279928851 meters Centerline goodness [0,1] 0.6491355992002823 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.99874243 -0.04503566 -0.02203065 0.71190542] [ 0.04521436 0.99894777 0.00768149 -0.17552097] [ 0.02166153 -0.00866793 0.99972779 -0.097686 ] [ 0. 0. 0. 1. ]] SLAMing on 91.309928851 meters Centerline goodness [0,1] 0.6406367746797288 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99873536 -0.04521018 -0.02199381 0.71204103] [ 0.04538554 0.99894109 0.0075403 -0.17487758] [ 0.02162962 -0.00852896 0.99972967 -0.09808917] [ 0. 0. 0. 1. ]] SLAMing on 91.33992885099998 meters Centerline goodness [0,1] 0.6432689366308211 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.9987359 -0.04519059 -0.02200926 0.71233103] [ 0.0453647 0.99894251 0.00747641 -0.17450238] [ 0.02164813 -0.00846541 0.99972981 -0.09838156] [ 0. 0. 0. 1. ]] SLAMing on 91.36992885099998 meters Centerline goodness [0,1] 0.6422074555822612 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99873337 -0.04522126 -0.02206124 0.71249431] [ 0.04539098 0.99894296 0.00725368 -0.17372542] [ 0.0217099 -0.00824587 0.99973031 -0.09840929] [ 0. 0. 0. 1. ]] SLAMing on 91.39992885099998 meters Centerline goodness [0,1] 0.6404931403517042 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99873182 -0.04525824 -0.02205538 0.7124315 ] [ 0.04542016 0.99894417 0.00689617 -0.17207826] [ 0.02171999 -0.00788919 0.99973297 -0.0982935 ] [ 0. 0. 0. 1. ]] SLAMing on 91.42992885099999 meters Centerline goodness [0,1] 0.6397378879636639 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99872486 -0.04547972 -0.02191448 0.71195435] [ 0.045634 0.99893648 0.00659199 -0.17123 ] [ 0.02159137 -0.00758363 0.99973812 -0.09802723] [ 0. 0. 0. 1. ]] SLAMing on 91.45992885099999 meters Centerline goodness [0,1] 0.6352633456188325 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99871595 -0.04570977 -0.02184185 0.71150651] [ 0.04585449 0.99892907 0.00617143 -0.16987742] [ 0.02153637 -0.00716505 0.99974239 -0.09762156] [ 0. 0. 0. 1. ]] SLAMing on 91.48992885099999 meters Centerline goodness [0,1] 0.6445508868443517 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99870762 -0.04591849 -0.02178507 0.7113148 ] [ 0.04605757 0.99892121 0.00592572 -0.16929818] [ 0.02148947 -0.00692143 0.99974512 -0.09755438] [ 0. 0. 0. 1. ]] SLAMing on 91.51992885099999 meters Centerline goodness [0,1] 0.6495795524728016 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99869828 -0.04619136 -0.02163584 0.71083892] [ 0.04632545 0.99890992 0.00573772 -0.16900342] [ 0.02134723 -0.00673254 0.99974945 -0.09739929] [ 0. 0. 0. 1. ]] SLAMing on 91.54992885099999 meters Centerline goodness [0,1] 0.6515496701314728 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99867481 -0.0468102 -0.02138736 0.70990809] [ 0.04693288 0.99888414 0.00527017 -0.16846163] [ 0.02111679 -0.00626696 0.99975737 -0.09697443] [ 0. 0. 0. 1. ]] SLAMing on 91.57992885099999 meters Centerline goodness [0,1] 0.6464971186359956 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99866123 -0.0471795 -0.02120931 0.70931379] [ 0.04729605 0.99886826 0.00502729 -0.16823036] [ 0.02094812 -0.00602368 0.99976242 -0.09675347] [ 0. 0. 0. 1. ]] SLAMing on 91.60992885099999 meters Centerline goodness [0,1] 0.6451390046930462 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99864716 -0.0475084 -0.02113772 0.70911377] [ 0.04761776 0.99885457 0.00470052 -0.16761155] [ 0.02089019 -0.00570069 0.99976552 -0.09673091] [ 0. 0. 0. 1. ]] SLAMing on 91.639928851 meters Centerline goodness [0,1] 0.636015416825276 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99864933 -0.04739014 -0.02129992 0.70965052] [ 0.04750165 0.99885982 0.00475986 -0.16723703] [ 0.02105006 -0.00576521 0.9997618 -0.09696755] [ 0. 0. 0. 1. ]] SLAMing on 91.669928851 meters Centerline goodness [0,1] 0.646364156885199 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99864261 -0.04754617 -0.02126719 0.70960703] [ 0.04765461 0.99885318 0.00462116 -0.16661428] [ 0.02102308 -0.00562836 0.99976315 -0.09710355] [ 0. 0. 0. 1. ]] SLAMing on 91.699928851 meters Centerline goodness [0,1] 0.6503868356128291 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99862917 -0.0479353 -0.02102344 0.70900282] [ 0.0480368 0.9988361 0.0043494 -0.16631007] [ 0.02079049 -0.00535333 0.99976952 -0.09709207] [ 0. 0. 0. 1. ]] SLAMing on 91.72992885099998 meters Centerline goodness [0,1] 0.6432552687606152 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99861063 -0.04845878 -0.02070156 0.70798482] [ 0.04855568 0.99881163 0.00420379 -0.16699604] [ 0.02047325 -0.00520312 0.99977686 -0.0967905 ] [ 0. 0. 0. 1. ]] SLAMing on 91.75992885099998 meters Centerline goodness [0,1] 0.6385811953595846 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99860501 -0.04855082 -0.02075709 0.70804954] [ 0.04865098 0.99880638 0.00434778 -0.16776153] [ 0.02052123 -0.00535157 0.99977509 -0.09677508] [ 0. 0. 0. 1. ]] SLAMing on 91.78992885099998 meters Centerline goodness [0,1] 0.6427392147010265 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99859592 -0.04879235 -0.02062763 0.70750816] [ 0.04888954 0.99879522 0.00423379 -0.16803007] [ 0.0203962 -0.00523632 0.99977826 -0.09646746] [ 0. 0. 0. 1. ]] SLAMing on 91.81992885099999 meters Centerline goodness [0,1] 0.6441050644105064 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99859511 -0.0488171 -0.02060837 0.70741741] [ 0.0489169 0.99879331 0.00436629 -0.16861091] [ 0.02037035 -0.00536825 0.99977809 -0.09641598] [ 0. 0. 0. 1. ]] SLAMing on 91.84992885099999 meters Centerline goodness [0,1] 0.6399961785569276 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.9985948 -0.04882417 -0.02060655 0.70706842] [ 0.04892645 0.9987923 0.00448874 -0.16927523] [ 0.0203625 -0.00549064 0.99977759 -0.09598118] [ 0. 0. 0. 1. ]] SLAMing on 91.87992885099999 meters Centerline goodness [0,1] 0.6402366299317781 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99859329 -0.04888477 -0.02053585 0.70673907] [ 0.04898685 0.9987893 0.00449724 -0.16963444] [ 0.02029114 -0.0054969 0.999779 -0.09571281] [ 0. 0. 0. 1. ]] SLAMing on 91.90992885099999 meters Centerline goodness [0,1] 0.6375915533149434 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99859921 -0.04877748 -0.02050289 0.70642236] [ 0.04888641 0.99879259 0.00484571 -0.17125708] [ 0.02024177 -0.00584124 0.99977805 -0.09535298] [ 0. 0. 0. 1. ]] SLAMing on 91.93992885099999 meters Centerline goodness [0,1] 0.647843137254902 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99860252 -0.04868423 -0.02056357 0.70644955] [ 0.04879619 0.99879635 0.00497779 -0.17184943] [ 0.02029648 -0.00597426 0.99977616 -0.09520712] [ 0. 0. 0. 1. ]] SLAMing on 91.96992885099999 meters Centerline goodness [0,1] 0.6422447574037571 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.10 [[ 0.99860509 -0.04860537 -0.02062481 0.70644258] [ 0.04872113 0.99879915 0.00514787 -0.17260672] [ 0.02034983 -0.00614555 0.99977403 -0.09500455] [ 0. 0. 0. 1. ]] SLAMing on 91.99992885099999 meters Centerline goodness [0,1] 0.6436172728562645 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.09 [[ 0.99861027 -0.04849699 -0.02062944 0.70631829] [ 0.04861904 0.99880249 0.00545652 -0.17410712] [ 0.02034012 -0.00645192 0.9997723 -0.09478242] [ 0. 0. 0. 1. ]] SLAMing on 92.029928851 meters Centerline goodness [0,1] 0.6390407878228346 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.09 [[ 0.99861862 -0.04832164 -0.02063657 0.70640467] [ 0.0484481 0.99880959 0.00567263 -0.1748719 ] [ 0.02033789 -0.0066646 0.99977095 -0.09479293] [ 0. 0. 0. 1. ]] SLAMing on 92.059928851 meters Centerline goodness [0,1] 0.6412193912489079 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.99863594 -0.04790215 -0.02077621 0.70703622] [ 0.04804111 0.99882586 0.00624156 -0.17642903] [ 0.02045283 -0.00723116 0.99976467 -0.09521883] [ 0. 0. 0. 1. ]] SLAMing on 92.08992885099998 meters Centerline goodness [0,1] 0.6495569381598794 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.99864691 -0.04764901 -0.02083071 0.70742102] [ 0.04779679 0.99883491 0.00665468 -0.17738161] [ 0.02048935 -0.00764132 0.99976087 -0.09556607] [ 0. 0. 0. 1. ]] SLAMing on 92.11992885099998 meters Centerline goodness [0,1] 0.6495342491531803 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.9986565 -0.04744913 -0.02082707 0.70741342] [ 0.04760447 0.99884155 0.00702698 -0.17878822] [ 0.02046952 -0.008009 0.9997584 -0.09548721] [ 0. 0. 0. 1. ]] SLAMing on 92.14992885099998 meters Centerline goodness [0,1] 0.6417531826936628 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.998657 -0.04745839 -0.02078208 0.70717033] [ 0.04761716 0.99883962 0.00721214 -0.1797729 ] [ 0.02041569 -0.00819204 0.99975802 -0.09530568] [ 0. 0. 0. 1. ]] SLAMing on 92.17992885099999 meters Centerline goodness [0,1] 0.6417531826936628 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.10 [[ 0.998657 -0.04745839 -0.02078208 0.70717033] [ 0.04761716 0.99883962 0.00721214 -0.1797729 ] [ 0.02041569 -0.00819204 0.99975802 -0.09530568] [ 0. 0. 0. 1. ]] SLAMing on 92.20992885099999 meters Centerline goodness [0,1] 0.6448307325176053 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.09 [[ 0.99864911 -0.04768356 -0.0206456 0.7064992 ] [ 0.04784718 0.99882647 0.00750486 -0.18230829] [ 0.02026351 -0.00848255 0.99975869 -0.0948654 ] [ 0. 0. 0. 1. ]] SLAMing on 92.23992885099999 meters Centerline goodness [0,1] 0.6459843771925722 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.09 [[ 0.99864432 -0.04780465 -0.02059692 0.70619089] [ 0.04797169 0.99881907 0.00769322 -0.18383715] [ 0.02020482 -0.00867086 0.99975826 -0.09462327] [ 0. 0. 0. 1. ]] SLAMing on 92.26992885099999 meters Centerline goodness [0,1] 0.6426674122745701 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.09 [[ 0.99863023 -0.04813621 -0.02050801 0.70546673] [ 0.04830806 0.9988007 0.00796791 -0.18620509] [ 0.02009987 -0.0089477 0.99975794 -0.09405499] [ 0. 0. 0. 1. ]] SLAMing on 92.29992885099999 meters Centerline goodness [0,1] 0.6440027894002789 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.09 [[ 0.99862627 -0.04827322 -0.02037807 0.70501653] [ 0.04844705 0.99879271 0.00812422 -0.18732649] [ 0.01996128 -0.00910032 0.99975934 -0.09387964] [ 0. 0. 0. 1. ]] SLAMing on 92.32992885099999 meters Centerline goodness [0,1] 0.6418574474001297 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99861114 -0.04865478 -0.02021154 0.70424614] [ 0.04883287 0.99877153 0.00841328 -0.1907864 ] [ 0.01977736 -0.00938858 0.99976033 -0.09339549] [ 0. 0. 0. 1. ]] SLAMing on 92.35992885099999 meters Centerline goodness [0,1] 0.6431871736820218 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99860803 -0.048769 -0.02008969 0.70382381] [ 0.04895094 0.99876359 0.00866612 -0.19270757] [ 0.01964221 -0.00963747 0.99976062 -0.09315651] [ 0. 0. 0. 1. ]] SLAMing on 92.389928851 meters Centerline goodness [0,1] 0.6414360060793074 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99860936 -0.04875247 -0.02006333 0.70367107] [ 0.04893911 0.99876194 0.00891887 -0.1943408 ] [ 0.01960367 -0.00988835 0.99975893 -0.09297541] [ 0. 0. 0. 1. ]] SLAMing on 92.419928851 meters Centerline goodness [0,1] 0.6364533149805001 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.09 [[ 0.9986095 -0.04876066 -0.02003657 0.70321555] [ 0.04895914 0.99875525 0.00953732 -0.19748519] [ 0.01954658 -0.01050503 0.99975376 -0.0925489 ] [ 0. 0. 0. 1. ]] SLAMing on 92.449928851 meters Centerline goodness [0,1] 0.6368625657443403 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.09 [[ 0.99861128 -0.04878243 -0.0198944 0.70276732] [ 0.04898376 0.99875187 0.00976136 -0.19877351] [ 0.01939339 -0.0107223 0.99975443 -0.09231248] [ 0. 0. 0. 1. ]] SLAMing on 92.47992885099998 meters Centerline goodness [0,1] 0.637848705704951 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.09 [[ 0.99861624 -0.04867778 -0.01990157 0.70262015] [ 0.04888429 0.99875414 0.01002514 -0.20018527] [ 0.01938878 -0.01098415 0.99975168 -0.09200621] [ 0. 0. 0. 1. ]] SLAMing on 92.50992885099998 meters Centerline goodness [0,1] 0.6462752051649276 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.09 [[ 0.99862325 -0.04854047 -0.01988523 0.70211559] [ 0.04875963 0.99875335 0.01068871 -0.20349548] [ 0.01934161 -0.01164359 0.99974513 -0.09139229] [ 0. 0. 0. 1. ]] SLAMing on 92.53992885099998 meters Centerline goodness [0,1] 0.6350384851168176 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.09 [[ 0.99862655 -0.04851505 -0.01978122 0.70178785] [ 0.04874021 0.99875022 0.01106341 -0.2054414 ] [ 0.01921976 -0.01201236 0.99974312 -0.09124831] [ 0. 0. 0. 1. ]] SLAMing on 92.56992885099999 meters Centerline goodness [0,1] 0.6456900633582107 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.09 [[ 0.99864662 -0.04800449 -0.02001233 0.7023871 ] [ 0.04825258 0.99876182 0.01210395 -0.20964075] [ 0.01940651 -0.01305321 0.99972646 -0.09133421] [ 0. 0. 0. 1. ]] SLAMing on 92.59992885099999 meters Centerline goodness [0,1] 0.6449802816901409 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.09 [[ 0.99865761 -0.04775671 -0.02005703 0.70258507] [ 0.04801251 0.99876887 0.01247132 -0.21084264] [ 0.01943675 -0.01341756 0.99972105 -0.09141435] [ 0. 0. 0. 1. ]] SLAMing on 92.62992885099999 meters Centerline goodness [0,1] 0.6461341537355999 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.09 [[ 0.99868144 -0.04717559 -0.02024454 0.70313831] [ 0.04744391 0.99878951 0.0129845 -0.21215436] [ 0.01960748 -0.01392786 0.99971074 -0.09135056] [ 0. 0. 0. 1. ]] SLAMing on 92.65992885099999 meters Centerline goodness [0,1] 0.6546378996152895 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.09 [[ 0.99869139 -0.04695006 -0.02027814 0.7031617 ] [ 0.0472258 0.99879516 0.01333965 -0.21318679] [ 0.01962741 -0.01427984 0.99970538 -0.09124367] [ 0. 0. 0. 1. ]] SLAMing on 92.68992885099999 meters Centerline goodness [0,1] 0.6444109508919533 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.09 [[ 0.99869721 -0.0468165 -0.02030012 0.70307406] [ 0.0470976 0.99879774 0.01359732 -0.21414498] [ 0.01963913 -0.0145357 0.99970146 -0.09108376] [ 0. 0. 0. 1. ]] SLAMing on 92.71992885099999 meters Centerline goodness [0,1] 0.6431457042822515 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.09 [[ 0.99870118 -0.04668654 -0.02040381 0.70317972] [ 0.04697245 0.99880134 0.01376521 -0.21517283] [ 0.0197367 -0.01470574 0.99969706 -0.0908626 ] [ 0. 0. 0. 1. ]] SLAMing on 92.74992885099999 meters Centerline goodness [0,1] 0.6581844270564761 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.09 [[ 0.9987226 -0.04617755 -0.02051349 0.70348931] [ 0.04647509 0.99881748 0.01427254 -0.21670475] [ 0.01983016 -0.01520767 0.9996877 -0.09084047] [ 0. 0. 0. 1. ]] SLAMing on 92.779928851 meters Centerline goodness [0,1] 0.6661279098480257 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.09 [[ 0.99872344 -0.04614359 -0.02054884 0.70333376] [ 0.04644253 0.99881837 0.01431606 -0.21706761] [ 0.01986396 -0.01525213 0.99968635 -0.0905233 ] [ 0. 0. 0. 1. ]] SLAMing on 92.809928851 meters Centerline goodness [0,1] 0.6725324486090251 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.09 [[ 0.99872759 -0.04605956 -0.02053574 0.70323217] [ 0.04636002 0.99882095 0.01440334 -0.21750695] [ 0.01984812 -0.01533705 0.99968536 -0.090336 ] [ 0. 0. 0. 1. ]] SLAMing on 92.83992885099998 meters Centerline goodness [0,1] 0.6573507745881513 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.09 [[ 0.99872499 -0.04611101 -0.02054668 0.70302584] [ 0.04641062 0.99881935 0.01435142 -0.2180306 ] [ 0.01986067 -0.01528671 0.99968589 -0.08991662] [ 0. 0. 0. 1. ]] SLAMing on 92.86992885099998 meters Centerline goodness [0,1] 0.6614102678971419 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.09 [[ 0.9987292 -0.04603044 -0.02052278 0.70274464] [ 0.04633622 0.99881801 0.01468152 -0.21944927] [ 0.01982272 -0.01561381 0.99968158 -0.08959836] [ 0. 0. 0. 1. ]] SLAMing on 92.89992885099998 meters Centerline goodness [0,1] 0.6660429058343915 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.09 [[ 0.99872409 -0.04615747 -0.02048607 0.70253866] [ 0.04646803 0.99880787 0.01495174 -0.2215417 ] [ 0.01977151 -0.01588461 0.99967833 -0.0894038 ] [ 0. 0. 0. 1. ]] SLAMing on 92.92992885099999 meters Centerline goodness [0,1] 0.660210835989213 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.09 [[ 0.99871877 -0.04630606 -0.02041018 0.70231333] [ 0.04661813 0.99879882 0.01508855 -0.22284019] [ 0.01968697 -0.0160207 0.99967783 -0.08930162] [ 0. 0. 0. 1. ]] SLAMing on 92.95992885099999 meters Centerline goodness [0,1] 0.6623339046050435 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.09 [[ 0.99871224 -0.0465 -0.02028805 0.70201386] [ 0.0468126 0.99878781 0.01521507 -0.2241517 ] [ 0.01955595 -0.01614521 0.9996784 -0.08924655] [ 0. 0. 0. 1. ]] SLAMing on 92.98992885099999 meters Centerline goodness [0,1] 0.6779231179925254 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.09 [[ 0.99868942 -0.04707663 -0.02008052 0.70115175] [ 0.04738568 0.99876097 0.01520252 -0.22583906] [ 0.01933996 -0.01613413 0.99968278 -0.08879266] [ 0. 0. 0. 1. ]] SLAMing on 93.01992885099999 meters Centerline goodness [0,1] 0.6670595561090602 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.09 [[ 0.9986775 -0.04735605 -0.02001634 0.70079842] [ 0.04766342 0.99874828 0.01516788 -0.22652906] [ 0.01927299 -0.01610187 0.99968459 -0.08854447] [ 0. 0. 0. 1. ]] SLAMing on 93.04992885099999 meters Centerline goodness [0,1] 0.6639613999199537 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.09 [[ 0.99865216 -0.04791516 -0.01994994 0.70030766] [ 0.04822043 0.99872238 0.01511285 -0.22819518] [ 0.01920032 -0.01605448 0.99968675 -0.08819817] [ 0. 0. 0. 1. ]] SLAMing on 93.07992885099999 meters Centerline goodness [0,1] 0.6553246234722623 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.09 [[ 0.9986452 -0.04807949 -0.01990304 0.70027866] [ 0.04838533 0.99871337 0.01518095 -0.22905785] [ 0.01914754 -0.0161234 0.99968665 -0.08828843] [ 0. 0. 0. 1. ]] SLAMing on 93.10992885099999 meters Centerline goodness [0,1] 0.6525235471832238 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.09 [[ 0.99863488 -0.04832685 -0.01982132 0.70006549] [ 0.04862868 0.9987037 0.01503885 -0.22923134] [ 0.01906885 -0.0159822 0.99969043 -0.08823203] [ 0. 0. 0. 1. ]] SLAMing on 93.139928851 meters Centerline goodness [0,1] 0.6502625255851207 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.09 [[ 0.99862151 -0.04866343 -0.01967094 0.69955558] [ 0.04895917 0.99869049 0.0148427 -0.22913337] [ 0.01892288 -0.01578531 0.99969633 -0.08800661] [ 0. 0. 0. 1. ]] SLAMing on 93.169928851 meters Centerline goodness [0,1] 0.6490525753936482 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.09 [[ 0.99860213 -0.04910746 -0.01955093 0.69910506] [ 0.04939427 0.99867457 0.01446767 -0.22896762] [ 0.01881454 -0.01541315 0.99970418 -0.08774544] [ 0. 0. 0. 1. ]] SLAMing on 93.199928851 meters Centerline goodness [0,1] 0.644180660104227 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.09 [[ 0.99857976 -0.04961804 -0.01940383 0.69844943] [ 0.04989455 0.99865586 0.01403583 -0.22867004] [ 0.01868132 -0.01498404 0.9997132 -0.08728795] [ 0. 0. 0. 1. ]] SLAMing on 93.22992885099998 meters Centerline goodness [0,1] 0.6512878889335297 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.09 [[ 0.99855456 -0.05021869 -0.01915382 0.69769197] [ 0.05047828 0.99863634 0.01331907 -0.22710308] [ 0.01845884 -0.01426667 0.99972783 -0.08696463] [ 0. 0. 0. 1. ]] SLAMing on 93.25992885099998 meters Centerline goodness [0,1] 0.6438949271319214 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.09 [[ 0.99854667 -0.05038578 -0.01912632 0.69773099] [ 0.05063777 0.99863341 0.01292745 -0.22595595] [ 0.01844882 -0.01387718 0.9997335 -0.08705035] [ 0. 0. 0. 1. ]] SLAMing on 93.28992885099998 meters Centerline goodness [0,1] 0.6464013207799741 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.09 [[ 0.998534 -0.05065486 -0.01907695 0.69756159] [ 0.05089213 0.99863007 0.01216439 -0.22346796] [ 0.01843463 -0.01311742 0.99974402 -0.08689904] [ 0. 0. 0. 1. ]] SLAMing on 93.31992885099999 meters Centerline goodness [0,1] 0.6474730089187921 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.09 [[ 0.99852369 -0.05085525 -0.01908345 0.69735292] [ 0.0510829 0.99862661 0.01163723 -0.2216829 ] [ 0.01846543 -0.01259489 0.99975017 -0.08658207] [ 0. 0. 0. 1. ]] SLAMing on 93.34992885099999 meters Centerline goodness [0,1] 0.6493320823839521 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.09 [[ 0.99851819 -0.05098274 -0.01903099 0.69716719] [ 0.05119934 0.99862707 0.01107269 -0.21951021] [ 0.01844035 -0.01203066 0.99975758 -0.08640512] [ 0. 0. 0. 1. ]] SLAMing on 93.37992885099999 meters Centerline goodness [0,1] 0.6508656501919925 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.09 [[ 0.99853219 -0.05068065 -0.01910324 0.69761463] [ 0.05088672 0.99864966 0.01045975 -0.21609187] [ 0.01854733 -0.01141649 0.9997628 -0.08659264] [ 0. 0. 0. 1. ]] SLAMing on 93.40992885099999 meters Centerline goodness [0,1] 0.6574140885722017 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.09 [[ 0.99854169 -0.05046301 -0.01918278 0.69818021] [ 0.05065927 0.99866706 0.00988678 -0.21334831] [ 0.01865829 -0.01084414 0.99976711 -0.08692995] [ 0. 0. 0. 1. ]] SLAMing on 93.43992885099999 meters Centerline goodness [0,1] 0.6469670945579461 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.09 [[ 0.99854015 -0.05049848 -0.01916934 0.6983047 ] [ 0.05068781 0.99866915 0.00952232 -0.21162657] [ 0.01866296 -0.01048008 0.9997709 -0.08710135] [ 0. 0. 0. 1. ]] SLAMing on 93.46992885099999 meters Centerline goodness [0,1] 0.648345700173662 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.09 [[ 0.99854226 -0.05048587 -0.01909271 0.69841592] [ 0.05066865 0.99867302 0.00921381 -0.20989458] [ 0.0186022 -0.01016778 0.99977526 -0.08738783] [ 0. 0. 0. 1. ]] SLAMing on 93.49992885099999 meters Centerline goodness [0,1] 0.6499943291368946 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.09 [[ 0.99852852 -0.0507722 -0.01905185 0.69805397] [ 0.05093764 0.99866734 0.00830115 -0.20650304] [ 0.01860499 -0.00925939 0.99978404 -0.0869555 ] [ 0. 0. 0. 1. ]] SLAMing on 93.529928851 meters Centerline goodness [0,1] 0.651292643620764 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.09 [[ 0.99851753 -0.05099195 -0.01904116 0.69790806] [ 0.05114909 0.99866011 0.00785877 -0.20513254] [ 0.01861492 -0.00882106 0.99978781 -0.08679922] [ 0. 0. 0. 1. ]] SLAMing on 93.559928851 meters Centerline goodness [0,1] 0.6558626179915843 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.09 [[ 0.99850118 -0.05134699 -0.01894438 0.69759626] [ 0.05149278 0.99864676 0.00728939 -0.20342561] [ 0.01854446 -0.00825396 0.99979397 -0.08671834] [ 0. 0. 0. 1. ]] SLAMing on 93.58992885099998 meters Centerline goodness [0,1] 0.6538206739006283 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.09 [[ 0.9984928 -0.05155217 -0.0188283 0.69746911] [ 0.05169045 0.99863909 0.00693266 -0.20220166] [ 0.01844528 -0.00789545 0.9997987 -0.08687086] [ 0. 0. 0. 1. ]] SLAMing on 93.61992885099998 meters Centerline goodness [0,1] 0.655939519904986 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.09 [[ 0.99848112 -0.05180559 -0.01875198 0.69719807] [ 0.05193739 0.99862846 0.00661077 -0.20106448] [ 0.01838379 -0.00757466 0.99980231 -0.08680809] [ 0. 0. 0. 1. ]] SLAMing on 93.64992885099998 meters Centerline goodness [0,1] 0.6466733870967742 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.09 [[ 0.99846857 -0.05209233 -0.01862539 0.69709427] [ 0.05221513 0.99861681 0.00616798 -0.19898381] [ 0.01827832 -0.00713106 0.99980751 -0.08707421] [ 0. 0. 0. 1. ]] SLAMing on 93.67992885099999 meters Centerline goodness [0,1] 0.6535578812668525 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.09 [[ 0.99846723 -0.05210038 -0.01867446 0.69751371] [ 0.05222255 0.99861675 0.00611461 -0.19828207] [ 0.01833006 -0.00708046 0.99980692 -0.08752649] [ 0. 0. 0. 1. ]] SLAMing on 93.70992885099999 meters Centerline goodness [0,1] 0.6543903501731374 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.09 [[ 0.9984646 -0.05212036 -0.01875955 0.69814342] [ 0.05223589 0.99861838 0.00572211 -0.19616647] [ 0.01843539 -0.00669325 0.99980765 -0.0880956 ] [ 0. 0. 0. 1. ]] SLAMing on 93.73992885099999 meters Centerline goodness [0,1] 0.6569035731541771 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.09 [[ 0.99846093 -0.05218835 -0.01876577 0.69826858] [ 0.05229908 0.99861655 0.00545881 -0.19502903] [ 0.01845492 -0.00643184 0.99980901 -0.08823344] [ 0. 0. 0. 1. ]] SLAMing on 93.76992885099999 meters Centerline goodness [0,1] 0.6542563013572154 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99845001 -0.05237232 -0.01883371 0.69827767] [ 0.05247642 0.99860927 0.00507551 -0.19382053] [ 0.0185417 -0.00605597 0.99980975 -0.08808471] [ 0. 0. 0. 1. ]] SLAMing on 93.79992885099999 meters Centerline goodness [0,1] 0.6525270758122743 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99843727 -0.05265571 -0.01871898 0.69791958] [ 0.05275043 0.99859712 0.00460223 -0.19209008] [ 0.01845039 -0.00558247 0.99981419 -0.08798669] [ 0. 0. 0. 1. ]] SLAMing on 93.82992885099999 meters Centerline goodness [0,1] 0.6562311860325105 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99843372 -0.05271743 -0.01873466 0.69807912] [ 0.05281063 0.99859434 0.00451508 -0.19155921] [ 0.01847031 -0.0054974 0.9998143 -0.0881855 ] [ 0. 0. 0. 1. ]] SLAMing on 93.85992885099999 meters Centerline goodness [0,1] 0.6549909592470675 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99841874 -0.05303455 -0.01863775 0.6976328 ] [ 0.05311891 0.99857994 0.00406038 -0.19007409] [ 0.01839594 -0.00504398 0.99981806 -0.0879338 ] [ 0. 0. 0. 1. ]] SLAMing on 93.889928851 meters Centerline goodness [0,1] 0.6541776033077048 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99841955 -0.05299402 -0.01870908 0.69779122] [ 0.0530751 0.99858305 0.00386368 -0.18919841] [ 0.01847782 -0.00485056 0.9998175 -0.08787955] [ 0. 0. 0. 1. ]] SLAMing on 93.919928851 meters Centerline goodness [0,1] 0.6551194658353303 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99842131 -0.05291621 -0.01883516 0.69804151] [ 0.0529937 0.99858822 0.00363901 -0.18819718] [ 0.018616 -0.00463141 0.99981598 -0.0878156 ] [ 0. 0. 0. 1. ]] SLAMing on 93.949928851 meters Centerline goodness [0,1] 0.6571155682903533 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.9984267 -0.05279591 -0.01888689 0.69816284] [ 0.05286766 0.99859601 0.0033198 -0.18653339] [ 0.0186851 -0.00431308 0.99981612 -0.08771082] [ 0. 0. 0. 1. ]] SLAMing on 93.97992885099998 meters Centerline goodness [0,1] 0.6575026232948584 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99842757 -0.0527691 -0.01891561 0.69820926] [ 0.05283799 0.9985981 0.00316053 -0.18566029] [ 0.01872231 -0.00415502 0.99981609 -0.08765821] [ 0. 0. 0. 1. ]] SLAMing on 94.00992885099998 meters Centerline goodness [0,1] 0.656701103052634 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.09 [[ 0.99843642 -0.05254935 -0.01906009 0.6985342 ] [ 0.05261655 0.99861016 0.00304126 -0.18477743] [ 0.01887378 -0.00403938 0.99981371 -0.08753453] [ 0. 0. 0. 1. ]] SLAMing on 94.03992885099998 meters Centerline goodness [0,1] 0.6585246360582306 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.09 [[ 0.99844163 -0.05241915 -0.01914527 0.69882914] [ 0.05248878 0.99861654 0.00315259 -0.18480557] [ 0.01895353 -0.00415259 0.99981174 -0.08768821] [ 0. 0. 0. 1. ]] SLAMing on 94.06992885099999 meters Centerline goodness [0,1] 0.6552464525765497 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99844997 -0.0522608 -0.01914336 0.69897908] [ 0.0523353 0.99862374 0.003411 -0.18524444] [ 0.01893876 -0.00440759 0.99981093 -0.08790994] [ 0. 0. 0. 1. ]] SLAMing on 94.09992885099999 meters Centerline goodness [0,1] 0.6552464525765497 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99844997 -0.0522608 -0.01914336 0.69897908] [ 0.0523353 0.99862374 0.003411 -0.18524444] [ 0.01893876 -0.00440759 0.99981093 -0.08790994] [ 0. 0. 0. 1. ]] SLAMing on 94.12992885099999 meters Centerline goodness [0,1] 0.6506555311902207 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99845083 -0.05223469 -0.01916978 0.69891577] [ 0.05230982 0.99862499 0.00343827 -0.18551192] [ 0.01896382 -0.00443571 0.99981033 -0.08771565] [ 0. 0. 0. 1. ]] SLAMing on 94.15992885099999 meters Centerline goodness [0,1] 0.6546077951158071 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99845507 -0.05213367 -0.0192236 0.6990049 ] [ 0.05221225 0.99862949 0.00360814 -0.18597762] [ 0.01900915 -0.00460628 0.9998087 -0.08767321] [ 0. 0. 0. 1. ]] SLAMing on 94.18992885099999 meters Centerline goodness [0,1] 0.658664928170621 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99846329 -0.05201066 -0.01913001 0.69886296] [ 0.05209341 0.99863478 0.00385272 -0.1869432 ] [ 0.01890351 -0.00484335 0.99980958 -0.08770354] [ 0. 0. 0. 1. ]] SLAMing on 94.21992885099999 meters Centerline goodness [0,1] 0.6518759437797654 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99846865 -0.05190737 -0.01913036 0.69897138] [ 0.05199515 0.99863884 0.00411972 -0.18780063] [ 0.01889048 -0.00510809 0.99980851 -0.08786821] [ 0. 0. 0. 1. ]] SLAMing on 94.24992885099999 meters Centerline goodness [0,1] 0.653885456825677 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99847333 -0.05181437 -0.01913843 0.6991358 ] [ 0.05190694 0.99864235 0.00437235 -0.18861929] [ 0.0188859 -0.00535909 0.99980728 -0.08809603] [ 0. 0. 0. 1. ]] SLAMing on 94.279928851 meters Centerline goodness [0,1] 0.6609301894658822 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99847336 -0.05187069 -0.01898353 0.69894798] [ 0.05196811 0.99863781 0.00467442 -0.1901954 ] [ 0.0187152 -0.00565382 0.99980887 -0.08833108] [ 0. 0. 0. 1. ]] SLAMing on 94.309928851 meters Centerline goodness [0,1] 0.6614222345439423 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99847364 -0.05186772 -0.01897699 0.69904793] [ 0.05196863 0.99863688 0.00486315 -0.1908296 ] [ 0.01869889 -0.00584194 0.99980809 -0.08852895] [ 0. 0. 0. 1. ]] SLAMing on 94.33992885099998 meters Centerline goodness [0,1] 0.6626948389331486 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99846947 -0.05200241 -0.01882733 0.69884585] [ 0.05210794 0.99862814 0.00515834 -0.19220874] [ 0.01853325 -0.0061315 0.99980944 -0.08883527] [ 0. 0. 0. 1. ]] SLAMing on 94.36992885099998 meters Centerline goodness [0,1] 0.6625245863704732 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99846322 -0.05216453 -0.01871013 0.69840878] [ 0.05226866 0.99861993 0.0051202 -0.19247928] [ 0.01841722 -0.00609029 0.99981184 -0.08861276] [ 0. 0. 0. 1. ]] SLAMing on 94.39992885099998 meters Centerline goodness [0,1] 0.6595729916032477 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99844748 -0.0525543 -0.01845714 0.69751007] [ 0.05265586 0.9985999 0.00505995 -0.19287252] [ 0.01816538 -0.00602397 0.99981685 -0.08821175] [ 0. 0. 0. 1. ]] SLAMing on 94.42992885099999 meters Centerline goodness [0,1] 0.6606626742814863 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99843573 -0.05283982 -0.01827702 0.69701677] [ 0.05293796 0.99858564 0.00492782 -0.19297337] [ 0.01799078 -0.00588766 0.99982082 -0.08808254] [ 0. 0. 0. 1. ]] SLAMing on 94.45992885099999 meters Centerline goodness [0,1] 0.6542390902366864 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99842334 -0.0531545 -0.01803953 0.69647446] [ 0.05324881 0.9985698 0.0047883 -0.19294392] [ 0.01775921 -0.00574134 0.99982581 -0.08813768] [ 0. 0. 0. 1. ]] SLAMing on 94.48992885099999 meters Centerline goodness [0,1] 0.6568593435570051 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99842168 -0.05319007 -0.01802665 0.69653014] [ 0.05328376 0.99856808 0.0047574 -0.19262611] [ 0.01774779 -0.00571042 0.99982619 -0.08829126] [ 0. 0. 0. 1. ]] SLAMing on 94.51992885099999 meters Centerline goodness [0,1] 0.6576808170638505 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99841981 -0.05322939 -0.01801413 0.69666212] [ 0.05332002 0.99856694 0.00458802 -0.19150522] [ 0.0177441 -0.00554129 0.99982721 -0.08856949] [ 0. 0. 0. 1. ]] SLAMing on 94.54992885099999 meters Centerline goodness [0,1] 0.6539932769212936 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99841254 -0.05337336 -0.01799116 0.69639822] [ 0.05345868 0.99856083 0.00429456 -0.19078207] [ 0.01773605 -0.00524952 0.99982892 -0.08826109] [ 0. 0. 0. 1. ]] SLAMing on 94.57992885099999 meters Centerline goodness [0,1] 0.65070983579981 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99841186 -0.05338129 -0.01800533 0.69641215] [ 0.05346396 0.99856119 0.00414098 -0.19016118] [ 0.01775837 -0.00509703 0.99982932 -0.08819682] [ 0. 0. 0. 1. ]] SLAMing on 94.60992885099999 meters Centerline goodness [0,1] 0.6502980677785253 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99841101 -0.0533729 -0.01807747 0.69634581] [ 0.05345165 0.99856282 0.00390116 -0.18936708] [ 0.01784327 -0.00486123 0.99982898 -0.0878396 ] [ 0. 0. 0. 1. ]] SLAMing on 94.639928851 meters Centerline goodness [0,1] 0.6522214977645305 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.9984129 -0.05332509 -0.01811407 0.69608556] [ 0.05339445 0.99856782 0.00336712 -0.1875922 ] [ 0.01790858 -0.00432897 0.99983026 -0.08714225] [ 0. 0. 0. 1. ]] SLAMing on 94.669928851 meters Centerline goodness [0,1] 0.6539521629449687 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.19, Z:-0.09 [[ 0.99857571 -0.05026963 -0.01787484 0.69424199] [ 0.05039615 0.99870684 0.00669936 -0.18760813] [ 0.01751495 -0.00759065 0.99981779 -0.08621741] [ 0. 0. 0. 1. ]] SLAMing on 94.699928851 meters Centerline goodness [0,1] 0.6524216524216524 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.19, Z:-0.09 [[ 0.99858705 -0.0499886 -0.01802902 0.69476055] [ 0.05011852 0.99871994 0.00682749 -0.18717063] [ 0.01766464 -0.00772143 0.99981415 -0.08647309] [ 0. 0. 0. 1. ]] SLAMing on 94.72992885099998 meters Centerline goodness [0,1] 0.6592632465830368 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99859485 -0.04978154 -0.01816951 0.69513234] [ 0.04991315 0.99872998 0.00686318 -0.18690837] [ 0.01780478 -0.00776043 0.99981137 -0.08650544] [ 0. 0. 0. 1. ]] SLAMing on 94.75992885099998 meters Centerline goodness [0,1] 0.6549938175116068 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99860239 -0.04963942 -0.01814348 0.69529831] [ 0.04977544 0.99873503 0.00712364 -0.18787999] [ 0.01776691 -0.00801678 0.99981002 -0.08674476] [ 0. 0. 0. 1. ]] SLAMing on 94.78992885099998 meters Centerline goodness [0,1] 0.6598394041661817 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99860418 -0.04962537 -0.01808342 0.69523747] [ 0.04976547 0.99873366 0.00738123 -0.18891031] [ 0.01769422 -0.00827085 0.99980924 -0.0868673 ] [ 0. 0. 0. 1. ]] SLAMing on 94.81992885099999 meters Centerline goodness [0,1] 0.6530341472498312 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.09 [[ 0.99859685 -0.04981249 -0.01797351 0.6950163 ] [ 0.04995289 0.9987238 0.00744858 -0.18958114] [ 0.01757954 -0.00833596 0.99981072 -0.0869737 ] [ 0. 0. 0. 1. ]] SLAMing on 94.84992885099999 meters Centerline goodness [0,1] 0.6577028470577306 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.19, Z:-0.09 [[ 0.99858061 -0.05018196 -0.01784772 0.69468809] [ 0.05032393 0.99870406 0.00759607 -0.19070549] [ 0.01744341 -0.00848346 0.99981186 -0.08708586] [ 0. 0. 0. 1. ]] SLAMing on 94.87992885099999 meters Centerline goodness [0,1] 0.6615023692279105 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.19, Z:-0.09 [[ 0.99857405 -0.05036725 -0.01769205 0.69444849] [ 0.05051024 0.99869363 0.00773011 -0.19158657] [ 0.0172796 -0.00861272 0.9998136 -0.08729061] [ 0. 0. 0. 1. ]] SLAMing on 94.90992885099999 meters Centerline goodness [0,1] 0.6539770753733936 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.19, Z:-0.09 [[ 0.99854666 -0.05095019 -0.01756849 0.69393519] [ 0.05109544 0.99866237 0.00792016 -0.19394264] [ 0.01714146 -0.00880632 0.99981429 -0.08726382] [ 0. 0. 0. 1. ]] SLAMing on 94.93992885099999 meters Centerline goodness [0,1] 0.655343961866858 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.20, Z:-0.09 [[ 0.99853337 -0.05126433 -0.01740914 0.69364888] [ 0.05140993 0.99864542 0.00802119 -0.19505869] [ 0.01697436 -0.00890443 0.99981627 -0.08745177] [ 0. 0. 0. 1. ]] SLAMing on 94.96992885099999 meters Centerline goodness [0,1] 0.6579566420664207 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.20, Z:-0.09 [[ 0.99850439 -0.05186947 -0.01727861 0.69302404] [ 0.05201281 0.99861476 0.00795176 -0.19651734] [ 0.01684222 -0.00883858 0.99981909 -0.08715509] [ 0. 0. 0. 1. ]] SLAMing on 94.99992885099999 meters Centerline goodness [0,1] 0.6537573322248396 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.20, Z:-0.09 [[ 0.99848623 -0.05224449 -0.01719763 0.69247583] [ 0.05238244 0.99859763 0.00767098 -0.19648359] [ 0.01677275 -0.00856023 0.99982268 -0.08669989] [ 0. 0. 0. 1. ]] SLAMing on 95.029928851 meters Centerline goodness [0,1] 0.6536732670984993 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.20, Z:-0.09 [[ 0.99847628 -0.05244712 -0.01715852 0.69210623] [ 0.05258235 0.99858822 0.00752697 -0.19645888] [ 0.01673953 -0.00841773 0.99982445 -0.08631835] [ 0. 0. 0. 1. ]] SLAMing on 95.059928851 meters Centerline goodness [0,1] 0.6545793189082296 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.20, Z:-0.09 [[ 0.99846204 -0.0527591 -0.0170301 0.69138112] [ 0.05288928 0.9985738 0.00728605 -0.1965045 ] [ 0.0166214 -0.00817556 0.99982843 -0.08573264] [ 0. 0. 0. 1. ]] SLAMing on 95.08992885099998 meters Centerline goodness [0,1] 0.655519473041756 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.20, Z:-0.09 [[ 0.99845689 -0.0528367 -0.01709144 0.69139192] [ 0.05296455 0.99857104 0.00711607 -0.19638218] [ 0.01669103 -0.00801033 0.99982861 -0.08552333] [ 0. 0. 0. 1. ]] SLAMing on 95.11992885099998 meters Centerline goodness [0,1] 0.6543073488457731 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.20, Z:-0.09 [[ 0.99845705 -0.05280305 -0.01718585 0.69149299] [ 0.0529278 0.9985746 0.00688628 -0.19546404] [ 0.01679774 -0.00778526 0.9998286 -0.08531621] [ 0. 0. 0. 1. ]] SLAMing on 95.14992885099998 meters Centerline goodness [0,1] 0.6593183131138071 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.19, Z:-0.09 [[ 0.99845207 -0.05288072 -0.01723665 0.69138884] [ 0.05300182 0.9985723 0.00664619 -0.19488928] [ 0.01686058 -0.00754947 0.99982935 -0.08500177] [ 0. 0. 0. 1. ]] SLAMing on 95.17992885099999 meters Centerline goodness [0,1] 0.6621809422337518 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.19, Z:-0.08 [[ 0.99844144 -0.05312609 -0.01709704 0.69082027] [ 0.05324134 0.99856144 0.00635741 -0.19443874] [ 0.0167347 -0.00725777 0.99983362 -0.08461987] [ 0. 0. 0. 1. ]] SLAMing on 95.20992885099999 meters Centerline goodness [0,1] 0.6617127007974113 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.19, Z:-0.08 [[ 0.99842764 -0.05341476 -0.01700349 0.6903147 ] [ 0.05352486 0.99854796 0.00608725 -0.19467124] [ 0.01665365 -0.00698779 0.9998369 -0.08415569] [ 0. 0. 0. 1. ]] SLAMing on 95.23992885099999 meters Centerline goodness [0,1] 0.6618801366700526 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.19, Z:-0.08 [[ 0.99841808 -0.0536161 -0.01693097 0.69016853] [ 0.05372347 0.99853811 0.00595166 -0.19485643] [ 0.01658712 -0.00685183 0.99983895 -0.08414114] [ 0. 0. 0. 1. ]] SLAMing on 95.26992885099999 meters Centerline goodness [0,1] 0.6580601913919837 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.20, Z:-0.08 [[ 0.99841575 -0.05366404 -0.01691637 0.69013924] [ 0.05377208 0.99853522 0.00599748 -0.19524049] [ 0.01656975 -0.00689761 0.99983892 -0.08419382] [ 0. 0. 0. 1. ]] SLAMing on 95.29992885099999 meters Centerline goodness [0,1] 0.6617538176770014 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.20, Z:-0.08 [[ 0.99841176 -0.05375879 -0.01685095 0.69009691] [ 0.05386577 0.9985304 0.00596023 -0.19519527] [ 0.01650578 -0.00685845 0.99984025 -0.08433276] [ 0. 0. 0. 1. ]] SLAMing on 95.32992885099999 meters Centerline goodness [0,1] 0.6615270639440662 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.19, Z:-0.08 [[ 0.99841603 -0.05363553 -0.01698978 0.69046561] [ 0.0537448 0.99853643 0.00604126 -0.19498112] [ 0.01664089 -0.00694481 0.99983741 -0.08445882] [ 0. 0. 0. 1. ]] SLAMing on 95.35992885099999 meters Centerline goodness [0,1] 0.6640870449085197 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.19, Z:-0.08 [[ 0.99842498 -0.05342567 -0.0171248 0.69094543] [ 0.05353767 0.9985469 0.00614942 -0.19463392] [ 0.01677137 -0.00705655 0.99983445 -0.0847123 ] [ 0. 0. 0. 1. ]] SLAMing on 95.389928851 meters Centerline goodness [0,1] 0.6644292195167114 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.19, Z:-0.08 [[ 0.99842632 -0.05336937 -0.01722163 0.69106852] [ 0.05348007 0.99855069 0.00603264 -0.19418138] [ 0.01687471 -0.00694416 0.9998335 -0.08456745] [ 0. 0. 0. 1. ]] SLAMing on 95.419928851 meters Centerline goodness [0,1] 0.6643526553280111 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.19, Z:-0.08 [[ 0.99844279 -0.05302083 -0.0173432 0.69149636] [ 0.05312969 0.99857033 0.00587703 -0.19275556] [ 0.0170068 -0.00678931 0.99983232 -0.08461456] [ 0. 0. 0. 1. ]] SLAMing on 95.44992885099998 meters Centerline goodness [0,1] 0.6700985507246378 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.19, Z:-0.08 [[ 0.99845202 -0.05278345 -0.01753492 0.69199114] [ 0.05289054 0.99858405 0.00570032 -0.1915392 ] [ 0.0172092 -0.00661893 0.99983 -0.0846168 ] [ 0. 0. 0. 1. ]] SLAMing on 95.47992885099998 meters Centerline goodness [0,1] 0.6726755439472027 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.19, Z:-0.08 [[ 0.99863023 -0.04930632 -0.01750879 0.69123121] [ 0.04946986 0.99873477 0.00903315 -0.1903161 ] [ 0.01704125 -0.00988693 0.9998059 -0.08438839] [ 0. 0. 0. 1. ]] SLAMing on 95.50992885099998 meters Centerline goodness [0,1] 0.6736586391348018 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.19, Z:-0.08 [[ 0.99863614 -0.0491478 -0.01761675 0.69168211] [ 0.04930493 0.99874676 0.00859895 -0.18831362] [ 0.01717205 -0.00945581 0.99980784 -0.08448551] [ 0. 0. 0. 1. ]] SLAMing on 95.53992885099998 meters Centerline goodness [0,1] 0.678084921807226 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.08 [[ 0.99866878 -0.04842302 -0.01777286 0.69261121] [ 0.04857496 0.99878572 0.00821952 -0.18451343] [ 0.01735327 -0.00907189 0.99980826 -0.0848496 ] [ 0. 0. 0. 1. ]] SLAMing on 95.56992885099999 meters Centerline goodness [0,1] 0.6809035776409196 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.08 [[ 0.99866833 -0.04838957 -0.01788912 0.69292569] [ 0.04853489 0.99879118 0.00778047 -0.18255065] [ 0.017491 -0.00863836 0.9998097 -0.084841 ] [ 0. 0. 0. 1. ]] SLAMing on 95.59992885099999 meters Centerline goodness [0,1] 0.6810237056256634 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.08 [[ 0.99865841 -0.04857776 -0.0179325 0.69299296] [ 0.0487125 0.99878722 0.00715441 -0.18053472] [ 0.01756321 -0.00801835 0.9998136 -0.0847505 ] [ 0. 0. 0. 1. ]] SLAMing on 95.62992885099999 meters Centerline goodness [0,1] 0.680242470164804 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.08 [[ 0.99865662 -0.04860529 -0.01795797 0.69336355] [ 0.04872595 0.99879204 0.00634334 -0.17705028] [ 0.01762796 -0.00720984 0.99981862 -0.08497875] [ 0. 0. 0. 1. ]] SLAMing on 95.65992885099999 meters Centerline goodness [0,1] 0.6781650155607821 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.09 [[ 0.99865292 -0.04869435 -0.01792203 0.69344985] [ 0.04880762 0.99879055 0.00593728 -0.17527604] [ 0.01761124 -0.00680401 0.99982176 -0.08513563] [ 0. 0. 0. 1. ]] SLAMing on 95.68992885099999 meters Centerline goodness [0,1] 0.6798912135887587 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.09 [[ 0.99863851 -0.0489742 -0.01796237 0.69374526] [ 0.04907291 0.9987822 0.00509635 -0.17164658] [ 0.01769091 -0.00597088 0.99982567 -0.08540358] [ 0. 0. 0. 1. ]] SLAMing on 95.71992885099999 meters Centerline goodness [0,1] 0.6854218109462278 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.09 [[ 0.99863085 -0.04915821 -0.01788551 0.69363199] [ 0.04924942 0.99877547 0.00469524 -0.16992133] [ 0.0176328 -0.00556966 0.99982902 -0.08545175] [ 0. 0. 0. 1. ]] SLAMing on 95.74992885099999 meters Centerline goodness [0,1] 0.6792176976727464 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.09 [[ 0.99861965 -0.04937902 -0.01790284 0.69362189] [ 0.0494621 0.99876705 0.00422748 -0.16829349] [ 0.01767201 -0.00510715 0.99983079 -0.085388 ] [ 0. 0. 0. 1. ]] SLAMing on 95.779928851 meters Centerline goodness [0,1] 0.6824273923819149 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.09 [[ 0.99860371 -0.04970296 -0.01789528 0.69359971] [ 0.04977035 0.9987551 0.00334001 -0.16518576] [ 0.017707 -0.004226 0.99983429 -0.08531202] [ 0. 0. 0. 1. ]] SLAMing on 95.809928851 meters Centerline goodness [0,1] 0.684579495733314 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99859554 -0.04984007 -0.01796969 0.69388868] [ 0.0498929 0.99875144 0.00250355 -0.1616241 ] [ 0.01782248 -0.00339659 0.9998354 -0.08533799] [ 0. 0. 0. 1. ]] SLAMing on 95.83992885099998 meters Centerline goodness [0,1] 0.676479139409798 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99858564 -0.05003016 -0.01799184 0.693894 ] [ 0.05007478 0.99874339 0.00203789 -0.15987724] [ 0.01786728 -0.00293594 0.99983606 -0.0852729 ] [ 0. 0. 0. 1. ]] SLAMing on 95.86992885099998 meters Centerline goodness [0,1] 0.6828426247842261 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99858085 -0.0501256 -0.01799182 0.69402692] [ 0.05016576 0.99873931 0.00178701 -0.15850451] [ 0.01787956 -0.00268705 0.99983654 -0.08549447] [ 0. 0. 0. 1. ]] SLAMing on 95.89992885099998 meters Centerline goodness [0,1] 0.6857198405754836 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99857572 -0.05019068 -0.01809473 0.69431952] [ 0.05022696 0.99873662 0.00155618 -0.15728743] [ 0.01799376 -0.00246281 0.99983507 -0.0856509 ] [ 0. 0. 0. 1. ]] SLAMing on 95.92992885099999 meters Centerline goodness [0,1] 0.671599358507071 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99856564 -0.05044833 -0.01793373 0.6944164 ] [ 0.05047803 0.99872444 0.00120678 -0.15553773] [ 0.01784997 -0.0021103 0.99983845 -0.08630772] [ 0. 0. 0. 1. ]] SLAMing on 95.95992885099999 meters Centerline goodness [0,1] 0.6743914028803275 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 9.98556424e-01 -5.06664935e-02 -1.78318396e-02 6.94171781e-01] [ 5.06916240e-02 9.98713892e-01 9.59847834e-04 -1.54681372e-01] [ 1.77602738e-02 -1.86238713e-03 9.99840539e-01 -8.63372658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98992885099999 meters Centerline goodness [0,1] 0.6743914028803275 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 9.98556424e-01 -5.06664935e-02 -1.78318396e-02 6.94171781e-01] [ 5.06916240e-02 9.98713892e-01 9.59847834e-04 -1.54681372e-01] [ 1.77602738e-02 -1.86238713e-03 9.99840539e-01 -8.63372658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01992885099999 meters Centerline goodness [0,1] 0.6799824085611669 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 9.98527089e-01 -5.13273720e-02 -1.75827727e-02 6.93177447e-01] [ 5.13371382e-02 9.98681374e-01 1.04234390e-04 -1.51861258e-01] [ 1.75542376e-02 -1.00673010e-03 9.99845406e-01 -8.58354094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.04992885099999 meters Centerline goodness [0,1] 0.6802573007875556 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 9.98518924e-01 -5.15143824e-02 -1.74993440e-02 6.92965263e-01] [ 5.15189455e-02 9.98671999e-01 -1.90246885e-04 -1.50302175e-01] [ 1.74859053e-02 -7.11582635e-04 9.99846857e-01 -8.58572853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.07992885099999 meters Centerline goodness [0,1] 0.6798428676651117 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 9.98492700e-01 -5.20941587e-02 -1.72779038e-02 6.92097875e-01] [ 5.20867796e-02 9.98642177e-01 -8.77127056e-04 -1.48087289e-01] [ 1.73001366e-02 -2.41454031e-05 9.99850341e-01 -8.54679505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.10992885099999 meters Centerline goodness [0,1] 0.6792671214322654 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 9.98474088e-01 -5.24645383e-02 -1.72327723e-02 6.91727380e-01] [ 5.24487989e-02 9.98622683e-01 -1.36434195e-03 -1.46898917e-01] [ 1.72806169e-02 4.58421870e-04 9.99850574e-01 -8.51612920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.139928851 meters Centerline goodness [0,1] 0.6739782619387202 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 9.98474585e-01 -5.24860380e-02 -1.71382440e-02 6.91885310e-01] [ 5.24713571e-02 9.98621576e-01 -1.30547410e-03 -1.46272040e-01] [ 1.71831394e-02 4.04215784e-04 9.99852277e-01 -8.57493625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.169928851 meters Centerline goodness [0,1] 0.6703641484263057 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.09 [[ 0.99844807 -0.05306478 -0.01689932 0.69134162] [ 0.05303751 0.9985904 -0.00205849 -0.14383019] [ 0.01698474 0.001159 0.99985508 -0.08579925] [ 0. 0. 0. 1. ]] SLAMing on 96.19992885099998 meters Centerline goodness [0,1] 0.6736220861319637 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.09 [[ 0.99844394 -0.05313045 -0.0169367 0.69167237] [ 0.05310169 0.99858681 -0.00214371 -0.14285379] [ 0.01702666 0.00124101 0.99985427 -0.08623855] [ 0. 0. 0. 1. ]] SLAMing on 96.22992885099998 meters Centerline goodness [0,1] 0.6663519121337873 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.09 [[ 0.99842162 -0.05361656 -0.01671896 0.69133052] [ 0.05358011 0.99856011 -0.0026208 -0.14086061] [ 0.01683541 0.00172086 0.99985679 -0.08660984] [ 0. 0. 0. 1. ]] SLAMing on 96.25992885099998 meters Centerline goodness [0,1] 0.6619343610144207 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.09 [[ 0.99841842 -0.05368816 -0.0166807 0.69163613] [ 0.05365222 0.99855631 -0.00259534 -0.14039754] [ 0.01679595 0.00169628 0.9998575 -0.08724276] [ 0. 0. 0. 1. ]] SLAMing on 96.28992885099998 meters Centerline goodness [0,1] 0.6648598920908029 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.09 [[ 0.99840805 -0.05392506 -0.01653672 0.6913862 ] [ 0.0538861 0.99854318 -0.00279303 -0.13990564] [ 0.01666324 0.00189748 0.99985936 -0.08738534] [ 0. 0. 0. 1. ]] SLAMing on 96.31992885099999 meters Centerline goodness [0,1] 0.6617460356973937 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.09 [[ 0.99838402 -0.05446846 -0.01620325 0.69046564] [ 0.05442466 0.99851297 -0.00313235 -0.13922312] [ 0.01634977 0.00224543 0.99986381 -0.08733821] [ 0. 0. 0. 1. ]] SLAMing on 96.34992885099999 meters Centerline goodness [0,1] 0.655562195000498 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.09 [[ 0.99836848 -0.05481242 -0.01599915 0.68984875] [ 0.0547642 0.9984934 -0.00343744 -0.13842758] [ 0.01616346 0.00255565 0.9998661 -0.08719544] [ 0. 0. 0. 1. ]] SLAMing on 96.37992885099999 meters Centerline goodness [0,1] 0.6544297479411031 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.09 [[ 0.99834463 -0.05529899 -0.01581217 0.68923973] [ 0.05524356 0.99846521 -0.0039212 -0.13687363] [ 0.01600474 0.00304119 0.99986729 -0.08707174] [ 0. 0. 0. 1. ]] SLAMing on 96.40992885099999 meters Centerline goodness [0,1] 0.6479598210939257 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.09 [[ 0.99833473 -0.0555402 -0.01558991 0.68867335] [ 0.05548549 0.9984518 -0.00392021 -0.1369361 ] [ 0.0157835 0.00304867 0.99987078 -0.0871081 ] [ 0. 0. 0. 1. ]] SLAMing on 96.43992885099999 meters Centerline goodness [0,1] 0.6386074369852758 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.09 [[ 0.99829759 -0.05632664 -0.01514068 0.68727452] [ 0.05627518 0.99840805 -0.00380408 -0.13851006] [ 0.01533085 0.00294556 0.99987814 -0.08703812] [ 0. 0. 0. 1. ]] SLAMing on 96.46992885099999 meters Centerline goodness [0,1] 0.6633039406167489 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.09 [[ 0.99828966 -0.05650151 -0.01501133 0.68706393] [ 0.05645557 0.99839909 -0.00346701 -0.1396834 ] [ 0.01518319 0.00261361 0.99988131 -0.08739585] [ 0. 0. 0. 1. ]] SLAMing on 96.49992885099999 meters Centerline goodness [0,1] 0.6603290585545283 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.09 [[ 0.99827659 -0.05677235 -0.01485797 0.6865976 ] [ 0.05672877 0.99838404 -0.00333883 -0.14052919] [ 0.01502351 0.0024902 0.99988404 -0.08740991] [ 0. 0. 0. 1. ]] SLAMing on 96.529928851 meters Centerline goodness [0,1] 0.6233888792311322 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.09 [[ 0.99824963 -0.05735558 -0.01442282 0.68521999] [ 0.05731586 0.99835112 -0.00315269 -0.14220929] [ 0.01457986 0.00232052 0.99989102 -0.08714896] [ 0. 0. 0. 1. ]] SLAMing on 96.559928851 meters Centerline goodness [0,1] 0.6588872060977728 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.09 [[ 0.99824208 -0.05752992 -0.0142498 0.68485961] [ 0.05749326 0.99834148 -0.00296909 -0.14292318] [ 0.01439698 0.00214461 0.99989406 -0.08731407] [ 0. 0. 0. 1. ]] SLAMing on 96.58992885099998 meters Centerline goodness [0,1] 0.6471432459852028 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.09 [[ 0.99822376 -0.05790261 -0.01402194 0.68412674] [ 0.05787235 0.99832072 -0.00255491 -0.1452403 ] [ 0.01414633 0.00173889 0.99989842 -0.08730662] [ 0. 0. 0. 1. ]] SLAMing on 96.61992885099998 meters Centerline goodness [0,1] 0.6495442227149544 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.09 [[ 0.99823957 -0.05762996 -0.0140194 0.68458604] [ 0.05760855 0.99833739 -0.00192634 -0.14673256] [ 0.0141071 0.00111531 0.99989987 -0.08803009] [ 0. 0. 0. 1. ]] SLAMing on 96.64992885099998 meters Centerline goodness [0,1] 0.639907295544762 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 9.98254353e-01 -5.73633223e-02 -1.40604391e-02 6.85059520e-01] [ 5.73491575e-02 9.98353189e-01 -1.40889018e-03 -1.48041398e-01] [ 1.41181029e-02 6.00076417e-04 9.99900155e-01 -8.85970967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67992885099999 meters Centerline goodness [0,1] 0.6460795902285263 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 9.98285812e-01 -5.67183046e-02 -1.44385369e-02 6.86110203e-01] [ 5.67103083e-02 9.98390211e-01 -9.62970073e-04 -1.48880390e-01] [ 1.44699119e-02 1.42505484e-04 9.99895295e-01 -8.87103870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70992885099999 meters Centerline goodness [0,1] 0.6467285577088823 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 9.98297588e-01 -5.64775685e-02 -1.45674503e-02 6.86264788e-01] [ 5.64700700e-02 9.98403863e-01 -9.25890973e-04 -1.48953719e-01] [ 1.45964907e-02 1.01689789e-04 9.99893460e-01 -8.83996902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73992885099999 meters Centerline goodness [0,1] 0.6537232735315802 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 9.98323631e-01 -5.59590998e-02 -1.47820029e-02 6.86692570e-01] [ 5.59566209e-02 9.98433031e-01 -5.81562742e-04 -1.50022227e-01] [ 1.47913837e-02 -2.46563103e-04 9.99890571e-01 -8.81280895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.76992885099999 meters Centerline goodness [0,1] 0.6461527140719665 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 9.98340103e-01 -5.56192551e-02 -1.49511925e-02 6.87189902e-01] [ 5.56216869e-02 9.98451884e-01 -2.53448159e-04 -1.50571348e-01] [ 1.49421429e-02 -5.78583086e-04 9.99888193e-01 -8.82735613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.79992885099999 meters Centerline goodness [0,1] 0.6521377148734022 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 9.98370204e-01 -5.49944378e-02 -1.52494890e-02 6.88099162e-01] [ 5.50031054e-02 9.98486172e-01 1.49244055e-04 -1.51230503e-01] [ 1.52181964e-02 -9.87770071e-04 9.99883709e-01 -8.84214584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.82992885099999 meters Centerline goodness [0,1] 0.6497904771240228 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 9.98384110e-01 -5.47102947e-02 -1.53607497e-02 6.88493581e-01] [ 5.47233567e-02 9.98501461e-01 4.31003850e-04 -1.51729907e-01] [ 1.53141507e-02 -1.27089918e-03 9.99881924e-01 -8.85820660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.85992885099999 meters Centerline goodness [0,1] 0.6522144065096444 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 9.98398649e-01 -5.44217522e-02 -1.54405768e-02 6.88880034e-01] [ 5.44389115e-02 9.98516863e-01 6.92874414e-04 -1.52325638e-01] [ 1.53799689e-02 -1.53233307e-03 9.99880547e-01 -8.87669149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.889928851 meters Centerline goodness [0,1] 0.6525386421443944 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 0.99841691 -0.05402742 -0.01564315 0.6894573 ] [ 0.0540521 0.99853744 0.00115875 -0.15386012] [ 0.01555767 -0.00200246 0.99987697 -0.08886538] [ 0. 0. 0. 1. ]] SLAMing on 96.919928851 meters Centerline goodness [0,1] 0.6527163960444391 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99842782 -0.05380021 -0.01572971 0.68977216] [ 0.05383095 0.99854888 0.00153718 -0.15509642] [ 0.01562418 -0.00238151 0.9998751 -0.08902996] [ 0. 0. 0. 1. ]] SLAMing on 96.94992885099998 meters Centerline goodness [0,1] 0.6448067456255788 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99843991 -0.05358391 -0.01570073 0.6899726 ] [ 0.05362319 0.99855905 0.00209093 -0.15723707] [ 0.01556606 -0.00292959 0.99987455 -0.08935896] [ 0. 0. 0. 1. ]] SLAMing on 96.97992885099998 meters Centerline goodness [0,1] 0.6529932402859505 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99844271 -0.05352061 -0.01573859 0.69005019] [ 0.05356304 0.99856185 0.00228621 -0.15818734] [ 0.01559359 -0.00312565 0.99987353 -0.08934317] [ 0. 0. 0. 1. ]] SLAMing on 97.00992885099998 meters Centerline goodness [0,1] 0.6417646345897468 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99843558 -0.05370908 -0.01554765 0.68930925] [ 0.05375563 0.99855076 0.00259157 -0.16037499] [ 0.01538593 -0.00342329 0.99987577 -0.08897844] [ 0. 0. 0. 1. ]] SLAMing on 97.03992885099998 meters Centerline goodness [0,1] 0.6490752396630193 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99843094 -0.05381124 -0.01549199 0.68899797] [ 0.05386 0.99854472 0.00274721 -0.16147245] [ 0.01532162 -0.0035773 0.99987622 -0.08879754] [ 0. 0. 0. 1. ]] SLAMing on 97.06992885099999 meters Centerline goodness [0,1] 0.6481848503891332 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99843425 -0.05377267 -0.01541256 0.68882578] [ 0.05382601 0.99854562 0.0030666 -0.16279993] [ 0.01522524 -0.0038914 0.99987652 -0.08882833] [ 0. 0. 0. 1. ]] SLAMing on 97.09992885099999 meters Centerline goodness [0,1] 0.6493099121706398 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.09 [[ 0.99845243 -0.05340693 -0.01550641 0.68914742] [ 0.0534734 0.99856165 0.00390337 -0.16576242] [ 0.01527563 -0.00472651 0.99987215 -0.08900641] [ 0. 0. 0. 1. ]] SLAMing on 97.12992885099999 meters Centerline goodness [0,1] 0.6498787136441146 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.09 [[ 0.9984605 -0.05324986 -0.01552679 0.68923648] [ 0.05332182 0.9985683 0.00425767 -0.16700548] [ 0.01527784 -0.00507903 0.99987039 -0.08905456] [ 0. 0. 0. 1. ]] SLAMing on 97.15992885099999 meters Centerline goodness [0,1] 0.6497073498368835 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.09 [[ 0.99846434 -0.05319389 -0.01547172 0.68901955] [ 0.05326879 0.99857021 0.00447004 -0.16789633] [ 0.01521182 -0.00528734 0.99987031 -0.08890511] [ 0. 0. 0. 1. ]] SLAMing on 97.18992885099999 meters Centerline goodness [0,1] 0.6333621061717738 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.09 [[ 0.99846718 -0.05313475 -0.0154915 0.68869143] [ 0.05321126 0.99857283 0.00456875 -0.1688058 ] [ 0.01522663 -0.00538607 0.99986956 -0.08831752] [ 0. 0. 0. 1. ]] SLAMing on 97.21992885099999 meters Centerline goodness [0,1] 0.6426134058749136 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.09 [[ 0.99846913 -0.0531287 -0.0153866 0.68779281] [ 0.0532083 0.99857184 0.00481111 -0.17074562] [ 0.01510902 -0.00562244 0.99987004 -0.08734256] [ 0. 0. 0. 1. ]] SLAMing on 97.24992885099999 meters Centerline goodness [0,1] 0.6404561111770994 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.09 [[ 0.99848981 -0.05270549 -0.01549938 0.68815587] [ 0.05279628 0.99859012 0.00550773 -0.17297961] [ 0.01518724 -0.00631772 0.99986471 -0.08746018] [ 0. 0. 0. 1. ]] SLAMing on 97.279928851 meters Centerline goodness [0,1] 0.6420812436119893 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.09 [[ 0.99850475 -0.05236925 -0.01567542 0.68869754] [ 0.05246665 0.99860544 0.00586801 -0.1738065 ] [ 0.01534625 -0.00668168 0.99985991 -0.08765523] [ 0. 0. 0. 1. ]] SLAMing on 97.309928851 meters Centerline goodness [0,1] 0.645496618013528 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.09 [[ 0.99851499 -0.05212126 -0.01584892 0.68914275] [ 0.0522222 0.99861733 0.00602268 -0.17427956] [ 0.0155131 -0.0068414 0.99985626 -0.08765416] [ 0. 0. 0. 1. ]] SLAMing on 97.33992885099998 meters Centerline goodness [0,1] 0.6385607764232454 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.09 [[ 0.99855093 -0.05132519 -0.01617886 0.69038208] [ 0.05143685 0.99865469 0.0065627 -0.17461805] [ 0.01582026 -0.00738538 0.99984758 -0.08821815] [ 0. 0. 0. 1. ]] SLAMing on 97.36992885099998 meters Centerline goodness [0,1] 0.6381364345482909 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.09 [[ 0.99859276 -0.0503863 -0.01654463 0.69169161] [ 0.05050843 0.99869876 0.00704893 -0.17513021] [ 0.01616793 -0.00787465 0.99983828 -0.08854501] [ 0. 0. 0. 1. ]] SLAMing on 97.39992885099998 meters Centerline goodness [0,1] 0.6381364345482909 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.09 [[ 0.99859276 -0.0503863 -0.01654463 0.69169161] [ 0.05050843 0.99869876 0.00704893 -0.17513021] [ 0.01616793 -0.00787465 0.99983828 -0.08854501] [ 0. 0. 0. 1. ]] SLAMing on 97.42992885099999 meters Centerline goodness [0,1] 0.6369006829083863 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.09 [[ 0.99863342 -0.04944132 -0.01693668 0.69313987] [ 0.04957164 0.99874343 0.00736262 -0.17473236] [ 0.01655138 -0.00819213 0.99982946 -0.08897229] [ 0. 0. 0. 1. ]] SLAMing on 97.45992885099999 meters Centerline goodness [0,1] 0.6453532300717794 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.09 [[ 0.99865174 -0.04894691 -0.01728875 0.69401123] [ 0.04908074 0.99876738 0.00740305 -0.17420946] [ 0.01690508 -0.00824161 0.99982313 -0.08890757] [ 0. 0. 0. 1. ]] SLAMing on 97.48992885099999 meters Centerline goodness [0,1] 0.646515691784542 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.09 [[ 0.99869233 -0.04802892 -0.0175174 0.69486632] [ 0.04816614 0.9988112 0.00749701 -0.17324788] [ 0.0171365 -0.00833095 0.99981845 -0.08887344] [ 0. 0. 0. 1. ]] SLAMing on 97.51992885099999 meters Centerline goodness [0,1] 0.646901923757819 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99870669 -0.0476537 -0.01772227 0.6954452 ] [ 0.04779204 0.9988294 0.00746616 -0.17255247] [ 0.01734574 -0.00830349 0.99981507 -0.08888105] [ 0. 0. 0. 1. ]] SLAMing on 97.54992885099999 meters Centerline goodness [0,1] 0.6545777146912704 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99872263 -0.04724715 -0.01791104 0.69608232] [ 0.04738557 0.99884938 0.00738409 -0.17158835] [ 0.01754156 -0.00822338 0.99981232 -0.08895469] [ 0. 0. 0. 1. ]] SLAMing on 97.57992885099999 meters Centerline goodness [0,1] 0.6428301530323068 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99874623 -0.04663177 -0.01820593 0.69691155] [ 0.04677047 0.99887922 0.00726822 -0.17033999] [ 0.0178466 -0.00811061 0.99980784 -0.0887927 ] [ 0. 0. 0. 1. ]] SLAMing on 97.60992885099999 meters Centerline goodness [0,1] 0.6464744423681907 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99874502 -0.04666412 -0.01818888 0.69671604] [ 0.04680116 0.9988784 0.00718257 -0.17027443] [ 0.01783331 -0.00802482 0.99980877 -0.0885198 ] [ 0. 0. 0. 1. ]] SLAMing on 97.639928851 meters Centerline goodness [0,1] 0.6542221592519127 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99874759 -0.04663809 -0.01811441 0.69648524] [ 0.04677727 0.9988784 0.00733697 -0.1709598 ] [ 0.01775191 -0.00817512 0.999809 -0.08844597] [ 0. 0. 0. 1. ]] SLAMing on 97.669928851 meters Centerline goodness [0,1] 0.6555239728440885 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99875146 -0.04659073 -0.0180228 0.69646968] [ 0.04673397 0.99887838 0.00760982 -0.1720216 ] [ 0.01764803 -0.0084426 0.99980862 -0.0886973 ] [ 0. 0. 0. 1. ]] SLAMing on 97.69992885099998 meters Centerline goodness [0,1] 0.6504465227480487 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99874268 -0.04686277 -0.01780289 0.69591265] [ 0.04700948 0.9988631 0.00791304 -0.17425339] [ 0.01741182 -0.00873999 0.9998102 -0.08870386] [ 0. 0. 0. 1. ]] SLAMing on 97.72992885099998 meters Centerline goodness [0,1] 0.6482307602475768 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.09 [[ 0.99874078 -0.04690204 -0.0178059 0.69596913] [ 0.0470531 0.99885905 0.00816147 -0.17524822] [ 0.0174028 -0.00898901 0.99980815 -0.08885876] [ 0. 0. 0. 1. ]] SLAMing on 97.75992885099998 meters Centerline goodness [0,1] 0.658036047814718 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.09 [[ 0.99872697 -0.04729402 -0.01754197 0.69524384] [ 0.04744732 0.99883818 0.0084284 -0.17685186] [ 0.01712298 -0.00924999 0.9998106 -0.08882933] [ 0. 0. 0. 1. ]] SLAMing on 97.78992885099998 meters Centerline goodness [0,1] 0.6572574065872591 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.09 [[ 0.9987287 -0.04728901 -0.01745673 0.69522265] [ 0.04744747 0.99883517 0.00877746 -0.1780299 ] [ 0.01702132 -0.00959458 0.99980909 -0.0891244 ] [ 0. 0. 0. 1. ]] SLAMing on 97.81992885099999 meters Centerline goodness [0,1] 0.6527435766389444 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.09 [[ 0.99872181 -0.04747619 -0.01734213 0.6949084 ] [ 0.04763886 0.99882326 0.00908997 -0.17978812] [ 0.01689017 -0.00990451 0.99980829 -0.08916392] [ 0. 0. 0. 1. ]] SLAMing on 97.84992885099999 meters Centerline goodness [0,1] 0.6513410849122157 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.09 [[ 0.99871834 -0.04756765 -0.01729128 0.69479528] [ 0.04773081 0.99881834 0.00914872 -0.18048639] [ 0.01683566 -0.00996232 0.99980864 -0.08914315] [ 0. 0. 0. 1. ]] SLAMing on 97.87992885099999 meters Centerline goodness [0,1] 0.6518891804649218 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.09 [[ 0.99871985 -0.04754525 -0.01726584 0.69467613] [ 0.04771051 0.99881801 0.00928878 -0.18117654] [ 0.0168038 -0.01010066 0.99980779 -0.08902415] [ 0. 0. 0. 1. ]] SLAMing on 97.90992885099999 meters Centerline goodness [0,1] 0.6518891804649218 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.09 [[ 0.99871985 -0.04754525 -0.01726584 0.69467613] [ 0.04771051 0.99881801 0.00928878 -0.18117654] [ 0.0168038 -0.01010066 0.99980779 -0.08902415] [ 0. 0. 0. 1. ]] SLAMing on 97.93992885099999 meters Centerline goodness [0,1] 0.6559478821320103 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.09 [[ 0.998707 -0.04788184 -0.01707785 0.69389874] [ 0.04804412 0.99880264 0.00922195 -0.18161337] [ 0.01661584 -0.01003051 0.99981163 -0.08859759] [ 0. 0. 0. 1. ]] SLAMing on 97.96992885099999 meters Centerline goodness [0,1] 0.6493645050561276 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.09 [[ 0.99869955 -0.04803822 -0.0170742 0.69355195] [ 0.04819814 0.99879651 0.00908116 -0.18147549] [ 0.01661741 -0.0098923 0.99981298 -0.08817765] [ 0. 0. 0. 1. ]] SLAMing on 97.99992885099999 meters Centerline goodness [0,1] 0.6569187206981386 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.09 [[ 0.99869309 -0.04822685 -0.01691968 0.69326014] [ 0.04838564 0.99878724 0.00910415 -0.18184921] [ 0.0164601 -0.00991092 0.9998154 -0.08831601] [ 0. 0. 0. 1. ]] SLAMing on 98.029928851 meters Centerline goodness [0,1] 0.6530701855746343 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.09 [[ 0.99869228 -0.04821933 -0.01698886 0.69354569] [ 0.04837987 0.99878693 0.00916842 -0.1822064 ] [ 0.01652616 -0.00997835 0.99981364 -0.08849486] [ 0. 0. 0. 1. ]] SLAMing on 98.059928851 meters Centerline goodness [0,1] 0.6471132708550271 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.09 [[ 0.99868479 -0.04839733 -0.01692329 0.6933764 ] [ 0.04855384 0.99878035 0.00896278 -0.18198684] [ 0.01646888 -0.00977268 0.99981662 -0.08844297] [ 0. 0. 0. 1. ]] SLAMing on 98.08992885099998 meters Centerline goodness [0,1] 0.6487381338272749 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.09 [[ 0.99867263 -0.04870017 -0.01677098 0.69295466] [ 0.04885015 0.99876864 0.00865218 -0.1814153 ] [ 0.01632897 -0.00945996 0.99982192 -0.08833557] [ 0. 0. 0. 1. ]] SLAMing on 98.11992885099998 meters Centerline goodness [0,1] 0.6463145676146256 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.09 [[ 0.99865341 -0.04914242 -0.0166249 0.6923644 ] [ 0.04928215 0.99875204 0.0081019 -0.17995609] [ 0.01620601 -0.0089103 0.99982897 -0.0879894 ] [ 0. 0. 0. 1. ]] SLAMing on 98.14992885099998 meters Centerline goodness [0,1] 0.6538613493225499 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.09 [[ 0.99864258 -0.04938258 -0.01656361 0.69199116] [ 0.04951758 0.99874247 0.00784194 -0.17948989] [ 0.01615553 -0.00865149 0.99983206 -0.08767611] [ 0. 0. 0. 1. ]] SLAMing on 98.17992885099999 meters Centerline goodness [0,1] 0.6504204804162989 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.09 [[ 0.9986363 -0.04954159 -0.0164671 0.69177476] [ 0.04967349 0.99873583 0.00769914 -0.17932225] [ 0.01606486 -0.00850662 0.99983477 -0.08764445] [ 0. 0. 0. 1. ]] SLAMing on 98.20992885099999 meters Centerline goodness [0,1] 0.6480990274093723 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.09 [[ 0.99862592 -0.04977104 -0.01640463 0.69170919] [ 0.04989729 0.9987271 0.00737835 -0.17834613] [ 0.01601652 -0.00818676 0.99983821 -0.08776471] [ 0. 0. 0. 1. ]] SLAMing on 98.23992885099999 meters Centerline goodness [0,1] 0.6498156187275359 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.09 [[ 0.99862117 -0.04983108 -0.01651142 0.69191511] [ 0.04995417 0.99872607 0.00712822 -0.17727874] [ 0.01613518 -0.0079432 0.99983827 -0.08774219] [ 0. 0. 0. 1. ]] SLAMing on 98.26992885099999 meters Centerline goodness [0,1] 0.6503481747204052 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.09 [[ 0.99861489 -0.04995524 -0.0165158 0.69181782] [ 0.05006867 0.99872445 0.0065271 -0.17500079] [ 0.01616867 -0.00734498 0.9998423 -0.0874475 ] [ 0. 0. 0. 1. ]] SLAMing on 98.29992885099999 meters Centerline goodness [0,1] 0.6483955022418366 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.09 [[ 0.99861322 -0.04996356 -0.01659152 0.6918499 ] [ 0.05007331 0.99872589 0.0062662 -0.17394245] [ 0.0162573 -0.00708831 0.99984272 -0.08720317] [ 0. 0. 0. 1. ]] SLAMing on 98.32992885099999 meters Centerline goodness [0,1] 0.6505615596524688 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.09 [[ 0.99861136 -0.04998507 -0.01663843 0.69174595] [ 0.05008541 0.99872885 0.00566889 -0.17180924] [ 0.01633392 -0.00649436 0.9998455 -0.08674423] [ 0. 0. 0. 1. ]] SLAMing on 98.35992885099999 meters Centerline goodness [0,1] 0.6586044975105595 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.09 [[ 0.99862789 -0.0495836 -0.01684644 0.69281368] [ 0.04968307 0.99874968 0.00553792 -0.17007362] [ 0.01655078 -0.0063673 0.99984275 -0.08737215] [ 0. 0. 0. 1. ]] SLAMing on 98.389928851 meters Centerline goodness [0,1] 0.6526956027831685 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.09 [[ 0.99862934 -0.04948758 -0.01704161 0.69334377] [ 0.04958301 0.99875635 0.00522311 -0.16872813] [ 0.01676193 -0.00606092 0.99984114 -0.08740773] [ 0. 0. 0. 1. ]] SLAMing on 98.419928851 meters Centerline goodness [0,1] 0.6526188614881672 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.09 [[ 0.99863215 -0.04939328 -0.01715024 0.6937688 ] [ 0.04948664 0.99876196 0.00506234 -0.16747349] [ 0.01687896 -0.00590412 0.99984011 -0.08764164] [ 0. 0. 0. 1. ]] SLAMing on 98.44992885099998 meters Centerline goodness [0,1] 0.6526188614881672 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.09 [[ 0.99863215 -0.04939328 -0.01715024 0.6937688 ] [ 0.04948664 0.99876196 0.00506234 -0.16747349] [ 0.01687896 -0.00590412 0.99984011 -0.08764164] [ 0. 0. 0. 1. ]] SLAMing on 98.47992885099998 meters Centerline goodness [0,1] 0.6530105524518932 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99862278 -0.0495833 -0.01714764 0.69388658] [ 0.0496648 0.99875643 0.00436014 -0.16478844] [ 0.01691013 -0.00520577 0.99984346 -0.08769512] [ 0. 0. 0. 1. ]] SLAMing on 98.50992885099998 meters Centerline goodness [0,1] 0.6564573883981857 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99861981 -0.04964466 -0.01714326 0.69407273] [ 0.04972415 0.99875398 0.00424173 -0.1638916 ] [ 0.01691132 -0.00508831 0.99984405 -0.08798735] [ 0. 0. 0. 1. ]] SLAMing on 98.53992885099998 meters Centerline goodness [0,1] 0.6545214995807881 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99859382 -0.05020936 -0.01701155 0.69363884] [ 0.05027929 0.99872831 0.00370793 -0.16240015] [ 0.01680374 -0.00455804 0.99984842 -0.087973 ] [ 0. 0. 0. 1. ]] SLAMing on 98.56992885099999 meters Centerline goodness [0,1] 0.6528087463137453 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99858195 -0.05049811 -0.01685305 0.69336377] [ 0.05056494 0.99871442 0.00356258 -0.16221175] [ 0.01665148 -0.0044097 0.99985163 -0.08814034] [ 0. 0. 0. 1. ]] SLAMing on 98.59992885099999 meters Centerline goodness [0,1] 0.6530778443113772 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99856494 -0.05090473 -0.01663642 0.69289535] [ 0.05096748 0.99869463 0.00336911 -0.16190645] [ 0.0164432 -0.00421219 0.99985593 -0.08828532] [ 0. 0. 0. 1. ]] SLAMing on 98.62992885099999 meters Centerline goodness [0,1] 0.6567157004134219 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.9985233 -0.05183622 -0.01625488 0.69186379] [ 0.05188915 0.99864878 0.00285121 -0.1606408 ] [ 0.01608512 -0.00369045 0.99986382 -0.08837257] [ 0. 0. 0. 1. ]] SLAMing on 98.65992885099999 meters Centerline goodness [0,1] 0.6515483265561464 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99850408 -0.05226286 -0.01606875 0.69151311] [ 0.05231241 0.99862718 0.0026782 -0.16002324] [ 0.01590672 -0.00351479 0.9998673 -0.08864383] [ 0. 0. 0. 1. ]] SLAMing on 98.68992885099999 meters Centerline goodness [0,1] 0.6517969278330595 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99843516 -0.05374741 -0.01544144 0.689489 ] [ 0.05378252 0.99855093 0.00186711 -0.15923307] [ 0.01531871 -0.00269467 0.99987903 -0.08821335] [ 0. 0. 0. 1. ]] SLAMing on 98.71992885099999 meters Centerline goodness [0,1] 0.6533912623702631 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99840889 -0.05428904 -0.01524447 0.68876019] [ 0.05432049 0.99852218 0.00165609 -0.15905646] [ 0.01513203 -0.00248155 0.99988242 -0.08805918] [ 0. 0. 0. 1. ]] SLAMing on 98.74992885099999 meters Centerline goodness [0,1] 0.6484512899871848 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99838978 -0.0546949 -0.01504392 0.68821636] [ 0.05472312 0.99850048 0.0014704 -0.15859322] [ 0.01494093 -0.00229128 0.99988575 -0.08810207] [ 0. 0. 0. 1. ]] SLAMing on 98.779928851 meters Centerline goodness [0,1] 0.6466238097539756 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99836945 -0.05512234 -0.01483144 0.68760557] [ 0.05514581 0.99847762 0.00117807 -0.15827613] [ 0.01474393 -0.00199404 0.99988931 -0.08797429] [ 0. 0. 0. 1. ]] SLAMing on 98.80992885099998 meters Centerline goodness [0,1] 0.6414934546422435 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 9.98342887e-01 -5.56617440e-02 -1.46030754e-02 6.87107795e-01] [ 5.56795415e-02 9.98448359e-01 8.14717389e-04 -1.57393065e-01] [ 1.45350681e-02 -1.62645986e-03 9.99893037e-01 -8.81467238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83992885099998 meters Centerline goodness [0,1] 0.6444158242612752 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 9.98329011e-01 -5.59400513e-02 -1.44877791e-02 6.86700583e-01] [ 5.59525561e-02 9.98433323e-01 4.58920110e-04 -1.56458265e-01] [ 1.44394094e-02 -1.26878153e-03 9.99894941e-01 -8.79436044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86992885099998 meters Centerline goodness [0,1] 0.6405303491059482 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 9.98329526e-01 -5.59037122e-02 -1.45921789e-02 6.86924320e-01] [ 5.59084429e-02 9.98435896e-01 -8.38622931e-05 -1.54334253e-01] [ 1.45740434e-02 -7.32103797e-04 9.99893525e-01 -8.77063628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89992885099998 meters Centerline goodness [0,1] 0.6435062245718323 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 9.98341905e-01 -5.56247334e-02 -1.48098011e-02 6.87553175e-01] [ 5.56276763e-02 9.98451559e-01 -2.13472035e-04 -1.53157375e-01] [ 1.47987433e-02 -6.10716744e-04 9.99890306e-01 -8.77982672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92992885099999 meters Centerline goodness [0,1] 0.6424876787195628 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 0.99852819 -0.05224571 -0.01455492 0.6859437 ] [ 0.0522995 0.99862586 0.00334007 -0.15257446] [ 0.01436042 -0.00409637 0.99988849 -0.08727341] [ 0. 0. 0. 1. ]] SLAMing on 98.95992885099999 meters Centerline goodness [0,1] 0.6418940413556833 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.09 [[ 0.99851073 -0.05262168 -0.01439722 0.68499471] [ 0.05266781 0.99860804 0.00284357 -0.15164089] [ 0.01422755 -0.00359761 0.99989231 -0.08640545] [ 0. 0. 0. 1. ]] SLAMing on 98.98992885099999 meters Centerline goodness [0,1] 0.6525713727023856 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.09 [[ 0.99850176 -0.05281147 -0.01432442 0.68448338] [ 0.05285434 0.99859877 0.0026303 -0.15124233] [ 0.01416544 -0.00338347 0.99989394 -0.08594281] [ 0. 0. 0. 1. ]] SLAMing on 99.01992885099999 meters Centerline goodness [0,1] 0.6486670890394268 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 0.9985166 -0.05249706 -0.01444506 0.68520789] [ 0.052546 0.99861391 0.00302969 -0.15161255] [ 0.01426599 -0.00378422 0.99989107 -0.08661356] [ 0. 0. 0. 1. ]] SLAMing on 99.04992885099999 meters Centerline goodness [0,1] 0.64636556621038 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 0.99851816 -0.05246234 -0.01446351 0.68535555] [ 0.05251151 0.99861569 0.00304067 -0.15153906] [ 0.01428396 -0.00379567 0.99989077 -0.0867193 ] [ 0. 0. 0. 1. ]] SLAMing on 99.07992885099999 meters Centerline goodness [0,1] 0.6525165288248067 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 0.99851371 -0.05257361 -0.01436603 0.68521725] [ 0.05262201 0.99860996 0.00301161 -0.15156158] [ 0.01418773 -0.0037631 0.99989227 -0.08682877] [ 0. 0. 0. 1. ]] SLAMing on 99.10992885099999 meters Centerline goodness [0,1] 0.6521580102414045 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 0.99851442 -0.05256268 -0.01435687 0.68538828] [ 0.05261235 0.99861019 0.00310363 -0.15172735] [ 0.01417378 -0.00385437 0.99989212 -0.08713085] [ 0. 0. 0. 1. ]] SLAMing on 99.139928851 meters Centerline goodness [0,1] 0.6495230194939858 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 0.99851761 -0.0524609 -0.0145065 0.68585129] [ 0.0525116 0.99861539 0.00313606 -0.15172236] [ 0.01432189 -0.00389317 0.99988986 -0.08729558] [ 0. 0. 0. 1. ]] SLAMing on 99.169928851 meters Centerline goodness [0,1] 0.6532466897933258 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 0.99852257 -0.0523563 -0.01454273 0.68618718] [ 0.05240832 0.99862055 0.00321912 -0.1516022 ] [ 0.01435413 -0.00397652 0.99988907 -0.08759785] [ 0. 0. 0. 1. ]] SLAMing on 99.19992885099998 meters Centerline goodness [0,1] 0.6545645433015113 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 0.99853629 -0.05205099 -0.01469616 0.68685294] [ 0.05210665 0.99863563 0.0034304 -0.15176438] [ 0.01449756 -0.00419114 0.99988612 -0.08801507] [ 0. 0. 0. 1. ]] SLAMing on 99.22992885099998 meters Centerline goodness [0,1] 0.655431809300508 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 0.99854303 -0.05188246 -0.0148336 0.68726708] [ 0.0519392 0.99864424 0.00346536 -0.15166995] [ 0.0146337 -0.00423076 0.99988397 -0.08808439] [ 0. 0. 0. 1. ]] SLAMing on 99.25992885099998 meters Centerline goodness [0,1] 0.6541257990533353 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 0.99854675 -0.05181854 -0.01480632 0.68729603] [ 0.05187558 0.99864744 0.00349465 -0.15164803] [ 0.01460521 -0.00425766 0.99988427 -0.08814953] [ 0. 0. 0. 1. ]] SLAMing on 99.28992885099998 meters Centerline goodness [0,1] 0.6572049734958595 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 0.99854673 -0.05182759 -0.01477607 0.68688618] [ 0.05188405 0.99864711 0.00346396 -0.15193166] [ 0.01457655 -0.00422557 0.99988483 -0.08762712] [ 0. 0. 0. 1. ]] SLAMing on 99.31992885099999 meters Centerline goodness [0,1] 0.6560093576371966 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 0.99854882 -0.05180032 -0.01473017 0.68670301] [ 0.05185826 0.99864804 0.00357898 -0.15248449] [ 0.01452486 -0.00433767 0.9998851 -0.08750133] [ 0. 0. 0. 1. ]] SLAMing on 99.34992885099999 meters Centerline goodness [0,1] 0.6512024145652808 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 0.99855502 -0.05166994 -0.01476765 0.68660574] [ 0.05173173 0.99865366 0.00383295 -0.15362928] [ 0.01454972 -0.00459137 0.99988361 -0.08721069] [ 0. 0. 0. 1. ]] SLAMing on 99.37992885099999 meters Centerline goodness [0,1] 0.6505737067288992 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.09 [[ 0.99856195 -0.0515292 -0.01479121 0.68665438] [ 0.05159456 0.99865981 0.00407155 -0.15443521] [ 0.01456159 -0.00482884 0.99988231 -0.08719792] [ 0. 0. 0. 1. ]] SLAMing on 99.40992885099999 meters Centerline goodness [0,1] 0.6480239171649409 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99856794 -0.05140611 -0.01481497 0.68676837] [ 0.05147471 0.9986651 0.00428716 -0.15501771] [ 0.0145748 -0.00504362 0.99988106 -0.0872572 ] [ 0. 0. 0. 1. ]] SLAMing on 99.43992885099999 meters Centerline goodness [0,1] 0.6515221458247284 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99858147 -0.05112672 -0.01486938 0.68672347] [ 0.05119842 0.99867845 0.00448119 -0.15598417] [ 0.01462062 -0.00523612 0.9998794 -0.08685599] [ 0. 0. 0. 1. ]] SLAMing on 99.46992885099999 meters Centerline goodness [0,1] 0.652486562394073 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99858787 -0.05101798 -0.01481311 0.68644906] [ 0.05109158 0.99868323 0.00463263 -0.15680006] [ 0.01455726 -0.00538291 0.99987955 -0.08655499] [ 0. 0. 0. 1. ]] SLAMing on 99.49992885099999 meters Centerline goodness [0,1] 0.6451987516028355 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99859646 -0.05085059 -0.01480982 0.68636731] [ 0.05092737 0.99869056 0.00485428 -0.15767898] [ 0.01454359 -0.00560169 0.99987855 -0.08639969] [ 0. 0. 0. 1. ]] SLAMing on 99.529928851 meters Centerline goodness [0,1] 0.6456571124752284 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99860046 -0.05075598 -0.01486474 0.68638035] [ 0.05083481 0.99869469 0.00497421 -0.15839437] [ 0.01459286 -0.0057229 0.99987714 -0.08616685] [ 0. 0. 0. 1. ]] SLAMing on 99.55992885099998 meters Centerline goodness [0,1] 0.6534476943092564 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99863013 -0.05014246 -0.0149532 0.6869893 ] [ 0.05023214 0.9987214 0.00568353 -0.16028079] [ 0.01464909 -0.00642687 0.99987204 -0.08655452] [ 0. 0. 0. 1. ]] SLAMing on 99.58992885099998 meters Centerline goodness [0,1] 0.6479066410009624 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99865005 -0.04967783 -0.01517223 0.68781413] [ 0.04977549 0.99874163 0.00612815 -0.16126083] [ 0.01484871 -0.00687508 0.99986612 -0.08692564] [ 0. 0. 0. 1. ]] SLAMing on 99.61992885099998 meters Centerline goodness [0,1] 0.6532306437294562 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99867722 -0.04904013 -0.01545581 0.68906352] [ 0.04914811 0.99876913 0.00668554 -0.16205588] [ 0.01510892 -0.00743632 0.9998582 -0.08764864] [ 0. 0. 0. 1. ]] SLAMing on 99.64992885099998 meters Centerline goodness [0,1] 0.6554760990593205 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99873101 -0.04776706 -0.01595856 0.69100797] [ 0.04789136 0.9988244 0.00749958 -0.1628059 ] [ 0.01558157 -0.00825434 0.99984453 -0.08843616] [ 0. 0. 0. 1. ]] SLAMing on 99.67992885099999 meters Centerline goodness [0,1] 0.6550591957053156 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99875277 -0.04721183 -0.01624657 0.69193434] [ 0.04734203 0.99884887 0.00772486 -0.16273707] [ 0.01586317 -0.00848437 0.99983817 -0.08864512] [ 0. 0. 0. 1. ]] SLAMing on 99.70992885099999 meters Centerline goodness [0,1] 0.6578442194173826 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99877464 -0.04664276 -0.01654319 0.69278863] [ 0.0467796 0.99887333 0.0079834 -0.16260366] [ 0.01615218 -0.0087475 0.99983128 -0.08876758] [ 0. 0. 0. 1. ]] SLAMing on 99.73992885099999 meters Centerline goodness [0,1] 0.6637187230371009 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99895134 -0.04268992 -0.01654657 0.6919594 ] [ 0.04289121 0.99900759 0.01200732 -0.16399084] [ 0.01601756 -0.01270443 0.999791 -0.08817664] [ 0. 0. 0. 1. ]] SLAMing on 99.76992885099999 meters Centerline goodness [0,1] 0.6679292323920027 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99896535 -0.042217 -0.01691011 0.69272896] [ 0.04242348 0.99902713 0.01204358 -0.16364146] [ 0.01638521 -0.0127485 0.99978448 -0.08795283] [ 0. 0. 0. 1. ]] SLAMing on 99.79992885099999 meters Centerline goodness [0,1] 0.6679292323920027 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99896535 -0.042217 -0.01691011 0.69272896] [ 0.04242348 0.99902713 0.01204358 -0.16364146] [ 0.01638521 -0.0127485 0.99978448 -0.08795283] [ 0. 0. 0. 1. ]] SLAMing on 99.82992885099999 meters Centerline goodness [0,1] 0.6759420983371216 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99897856 -0.04181149 -0.01713605 0.6933011 ] [ 0.04202083 0.99904414 0.01204409 -0.16325583] [ 0.01661609 -0.01275186 0.99978062 -0.0878784 ] [ 0. 0. 0. 1. ]] SLAMing on 99.85992885099999 meters Centerline goodness [0,1] 0.6831742386181487 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.9990145 -0.04077472 -0.01753434 0.69452669] [ 0.04099306 0.99908399 0.0122781 -0.16275218] [ 0.01701764 -0.01298479 0.99977087 -0.08786219] [ 0. 0. 0. 1. ]] SLAMing on 99.889928851 meters Centerline goodness [0,1] 0.6916192806929149 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.09 [[ 0.99902325 -0.04050132 -0.01766914 0.69482528] [ 0.04072006 0.99909609 0.01220121 -0.16228149] [ 0.017159 -0.01290878 0.99976944 -0.08768778] [ 0. 0. 0. 1. ]] SLAMing on 99.919928851 meters Centerline goodness [0,1] 0.7003350885591192 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.09 [[ 0.99904637 -0.03983106 -0.01788413 0.69526765] [ 0.04005494 0.99912128 0.0123397 -0.1621462 ] [ 0.01737691 -0.01304428 0.99976392 -0.08734622] [ 0. 0. 0. 1. ]] SLAMing on 99.94992885099998 meters Centerline goodness [0,1] 0.6992081907997034 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.09 [[ 0.9990499 -0.03964131 -0.01810688 0.69567643] [ 0.03986919 0.99912793 0.01240234 -0.16232431] [ 0.01759944 -0.01311246 0.99975913 -0.08720084] [ 0. 0. 0. 1. ]] SLAMing on 99.97992885099998 meters Centerline goodness [0,1] 0.7067902709418454 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.09 [[ 0.9990603 -0.03931439 -0.01824526 0.69630665] [ 0.03954838 0.99913763 0.01264584 -0.16261812] [ 0.01773237 -0.01335553 0.99975357 -0.08754291] [ 0. 0. 0. 1. ]] SLAMing on 100.00992885099998 meters Centerline goodness [0,1] 0.6999165175909362 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.09 [[ 0.99906743 -0.03905949 -0.0184018 0.69678455] [ 0.03929903 0.99914499 0.01284035 -0.16313109] [ 0.01788453 -0.01355155 0.99974822 -0.08765071] [ 0. 0. 0. 1. ]] SLAMing on 100.03992885099998 meters Centerline goodness [0,1] 0.6899873920593762 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.16, Z:-0.09 [[ 0.99909144 -0.03825632 -0.01878173 0.69813081] [ 0.03851521 0.99916517 0.01362164 -0.16495229] [ 0.01824493 -0.01433264 0.99973081 -0.08820159] [ 0. 0. 0. 1. ]] SLAMing on 100.06992885099999 meters Centerline goodness [0,1] 0.7077821843311406 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99909793 -0.0380489 -0.01885781 0.69838882] [ 0.03831391 0.99916912 0.01389667 -0.16582003] [ 0.01831339 -0.01460665 0.9997256 -0.08830595] [ 0. 0. 0. 1. ]] SLAMing on 100.09992885099999 meters Centerline goodness [0,1] 0.7232774585687829 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99910509 -0.03781928 -0.01893982 0.69868864] [ 0.03808987 0.99917433 0.01413601 -0.16652606] [ 0.01838957 -0.01484478 0.99972069 -0.08837957] [ 0. 0. 0. 1. ]] SLAMing on 100.12992885099999 meters Centerline goodness [0,1] 0.7098818168873701 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99911092 -0.03759731 -0.01907403 0.69893396] [ 0.03787264 0.99918047 0.01428493 -0.16680187] [ 0.01852132 -0.01499461 0.99971602 -0.08824647] [ 0. 0. 0. 1. ]] SLAMing on 100.15992885099999 meters Centerline goodness [0,1] 0.7135138977749342 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99912875 -0.03693391 -0.01943275 0.69944788] [ 0.03721915 0.99920153 0.01452711 -0.16721523] [ 0.01888069 -0.01523773 0.99970562 -0.08759756] [ 0. 0. 0. 1. ]] SLAMing on 100.18992885099999 meters Centerline goodness [0,1] 0.7154117452126778 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99914256 -0.03637763 -0.01976922 0.70033268] [ 0.03667156 0.99921904 0.01471439 -0.16724962] [ 0.0192185 -0.01542674 0.99969629 -0.08759782] [ 0. 0. 0. 1. ]] SLAMing on 100.21992885099999 meters Centerline goodness [0,1] 0.7191122888373633 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99915593 -0.03580938 -0.02012769 0.70125114] [ 0.03611308 0.99923613 0.0149331 -0.16736033] [ 0.01957757 -0.01564737 0.99968589 -0.08761981] [ 0. 0. 0. 1. ]] SLAMing on 100.24992885099999 meters Centerline goodness [0,1] 0.7315066550036644 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99930152 -0.03133717 -0.02035826 0.70158873] [ 0.03173002 0.99931072 0.01926909 -0.16883902] [ 0.01974039 -0.0199016 0.99960704 -0.0876958 ] [ 0. 0. 0. 1. ]] SLAMing on 100.279928851 meters Centerline goodness [0,1] 0.7423535264990879 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.9993218 -0.03048811 -0.02064988 0.70255568] [ 0.03088881 0.99933509 0.01937152 -0.16793763] [ 0.02004555 -0.01999623 0.99959908 -0.08769883] [ 0. 0. 0. 1. ]] SLAMing on 100.30992885099998 meters Centerline goodness [0,1] 0.7670513916595422 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99933964 -0.0297301 -0.02089051 0.70339735] [ 0.03013501 0.99935867 0.01934268 -0.16666934] [ 0.02030205 -0.01995944 0.99959464 -0.08768551] [ 0. 0. 0. 1. ]] SLAMing on 100.33992885099998 meters Centerline goodness [0,1] 0.7780121838481049 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99935574 -0.02899497 -0.02115159 0.70412438] [ 0.02940266 0.99938275 0.01922527 -0.16548512] [ 0.0205811 -0.0198348 0.99959142 -0.08741935] [ 0. 0. 0. 1. ]] SLAMing on 100.36992885099998 meters Centerline goodness [0,1] 0.7930533733276198 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99947269 -0.02457576 -0.02122217 0.70392287] [ 0.02507066 0.99941231 0.02337721 -0.16653353] [ 0.02063518 -0.02389694 0.99950144 -0.08709715] [ 0. 0. 0. 1. ]] SLAMing on 100.39992885099998 meters Centerline goodness [0,1] 0.7951152029766732 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99947908 -0.02420679 -0.02134484 0.70417348] [ 0.02470278 0.99942357 0.02328756 -0.16605406] [ 0.02076882 -0.0238027 0.99950092 -0.08679932] [ 0. 0. 0. 1. ]] SLAMing on 100.42992885099999 meters Centerline goodness [0,1] 0.79574123089396 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99947782 -0.02419369 -0.02141871 0.7039948 ] [ 0.02468396 0.99943231 0.02292942 -0.16555061] [ 0.0208518 -0.02344614 0.99950762 -0.08615781] [ 0. 0. 0. 1. ]] SLAMing on 100.45992885099999 meters Centerline goodness [0,1] 0.7958172550140536 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.09 [[ 0.99947776 -0.02415018 -0.02147029 0.70383773] [ 0.02463841 0.999437 0.02277369 -0.16547557] [ 0.02090821 -0.02329079 0.99951007 -0.08569242] [ 0. 0. 0. 1. ]] SLAMing on 100.48992885099999 meters Centerline goodness [0,1] 0.7980515623143638 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.08 [[ 0.9994715 -0.02441257 -0.02146485 0.70309224] [ 0.02489752 0.99943399 0.02262316 -0.16626735] [ 0.02090042 -0.02314562 0.99951361 -0.08471702] [ 0. 0. 0. 1. ]] SLAMing on 100.51992885099999 meters Centerline goodness [0,1] 0.7953833744543557 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.08 [[ 0.99946084 -0.02493677 -0.02135862 0.70225315] [ 0.02541242 0.9994284 0.02229517 -0.16698058] [ 0.02079044 -0.02282592 0.99952325 -0.0839449 ] [ 0. 0. 0. 1. ]] SLAMing on 100.54992885099999 meters Centerline goodness [0,1] 0.7970987144710461 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.08 [[ 0.9993608 -0.02844703 -0.021651 0.70322443] [ 0.02884498 0.99941645 0.01829531 -0.16642969] [ 0.02111792 -0.01890814 0.99959818 -0.08366461] [ 0. 0. 0. 1. ]] SLAMing on 100.57992885099999 meters Centerline goodness [0,1] 0.7944392082940622 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.08 [[ 0.99923473 -0.03258741 -0.02163376 0.70304321] [ 0.03290531 0.99935321 0.0145051 -0.16814469] [ 0.02114709 -0.01520587 0.99966073 -0.08304516] [ 0. 0. 0. 1. ]] SLAMing on 100.60992885099999 meters Centerline goodness [0,1] 0.7952152660274487 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.08 [[ 0.99921512 -0.03333025 -0.02140671 0.70191475] [ 0.0336427 0.9993301 0.01440541 -0.16985272] [ 0.02091224 -0.01511428 0.99966706 -0.08243408] [ 0. 0. 0. 1. ]] SLAMing on 100.639928851 meters Centerline goodness [0,1] 0.787738726479283 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.08 [[ 0.99919711 -0.03399419 -0.02120227 0.70077817] [ 0.03430056 0.99930986 0.01425751 -0.17152781] [ 0.02070296 -0.01497331 0.99967354 -0.08164379] [ 0. 0. 0. 1. ]] SLAMing on 100.669928851 meters Centerline goodness [0,1] 0.7841475341126065 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.08 [[ 0.99905417 -0.0379099 -0.02129787 0.70078525] [ 0.03813898 0.99921775 0.01045486 -0.17286052] [ 0.02088487 -0.01125725 0.99971851 -0.08074522] [ 0. 0. 0. 1. ]] SLAMing on 100.69992885099998 meters Centerline goodness [0,1] 0.7787503773015394 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.17, Z:-0.08 [[ 0.9990442 -0.03824872 -0.02115921 0.70008264] [ 0.03847752 0.99920415 0.01051387 -0.17429251] [ 0.02074022 -0.01131798 0.99972083 -0.08027597] [ 0. 0. 0. 1. ]] SLAMing on 100.72992885099998 meters Centerline goodness [0,1] 0.7806824244392383 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.08 [[ 0.99903682 -0.03844642 -0.02114976 0.69977981] [ 0.03867847 0.99919469 0.01067419 -0.17576092] [ 0.02072235 -0.01148195 0.99971934 -0.07997234] [ 0. 0. 0. 1. ]] SLAMing on 100.75992885099998 meters Centerline goodness [0,1] 0.7895211449975722 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.08 [[ 0.99903366 -0.03856508 -0.02108249 0.69916162] [ 0.03880771 0.99918367 0.01122301 -0.17929474] [ 0.02063246 -0.01203033 0.99971475 -0.07945127] [ 0. 0. 0. 1. ]] SLAMing on 100.78992885099998 meters Centerline goodness [0,1] 0.7877329156781906 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.08 [[ 0.99903612 -0.03839933 -0.02126779 0.69924295] [ 0.03864883 0.99918728 0.01144734 -0.1806163 ] [ 0.02081093 -0.01225828 0.99970828 -0.07895032] [ 0. 0. 0. 1. ]] SLAMing on 100.81992885099999 meters Centerline goodness [0,1] 0.7907040830386258 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.08 [[ 0.99904195 -0.03822335 -0.02131121 0.69907036] [ 0.03847758 0.99919156 0.01164955 -0.18163472] [ 0.0208487 -0.01245839 0.99970502 -0.07849016] [ 0. 0. 0. 1. ]] SLAMing on 100.84992885099999 meters Centerline goodness [0,1] 0.7927125877655913 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.08 [[ 0.99905035 -0.03792261 -0.02145401 0.699124 ] [ 0.03818424 0.99919963 0.01191945 -0.18265352] [ 0.02098482 -0.01272734 0.99969878 -0.07805378] [ 0. 0. 0. 1. ]] SLAMing on 100.87992885099999 meters Centerline goodness [0,1] 0.7954030874785591 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.18, Z:-0.08 [[ 0.9990616 -0.03755796 -0.02157112 0.69925553] [ 0.03782787 0.99920926 0.01224341 -0.18364997] [ 0.02109423 -0.01304791 0.99969235 -0.07774001] [ 0. 0. 0. 1. ]] SLAMing on 100.90992885099999 meters Centerline goodness [0,1] 0.7991608901860635 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.08 [[ 0.99908962 -0.03661224 -0.02189713 0.6999315 ] [ 0.0369086 0.99923031 0.01328658 -0.18628684] [ 0.02139383 -0.01408268 0.99967194 -0.07753513] [ 0. 0. 0. 1. ]] SLAMing on 100.93992885099999 meters Centerline goodness [0,1] 0.8003596712877598 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.08 [[ 0.99909595 -0.03642144 -0.02192629 0.69992939] [ 0.03672548 0.99923247 0.01362717 -0.18745952] [ 0.02141314 -0.0144201 0.99966671 -0.07742704] [ 0. 0. 0. 1. ]] SLAMing on 100.96992885099999 meters Centerline goodness [0,1] 0.8005982053838485 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.08 [[ 0.99910172 -0.03623518 -0.02197194 0.69994177] [ 0.03654721 0.99923428 0.01397001 -0.18908744] [ 0.02144891 -0.01476047 0.99966098 -0.07722447] [ 0. 0. 0. 1. ]] SLAMing on 100.99992885099999 meters Centerline goodness [0,1] 0.8033229067500793 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.08 [[ 0.9991027 -0.03620581 -0.02197554 0.69956305] [ 0.03652337 0.99923155 0.01422508 -0.190741 ] [ 0.02144363 -0.01501494 0.9996573 -0.07669209] [ 0. 0. 0. 1. ]] SLAMing on 101.029928851 meters Centerline goodness [0,1] 0.7989594360233339 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.08 [[ 0.99899 -0.03902503 -0.02227177 0.70066328] [ 0.0392868 0.99916249 0.01143955 -0.193704 ] [ 0.02180669 -0.01230298 0.9996865 -0.0764985 ] [ 0. 0. 0. 1. ]] SLAMing on 101.05992885099998 meters Centerline goodness [0,1] 0.8005343031609196 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.08 [[ 0.99897752 -0.03935714 -0.02224691 0.70022891] [ 0.03962567 0.99914538 0.01176107 -0.1964337 ] [ 0.02176502 -0.0126306 0.99968333 -0.0761146 ] [ 0. 0. 0. 1. ]] SLAMing on 101.08992885099998 meters Centerline goodness [0,1] 0.8004745277106277 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.08 [[ 0.99895825 -0.0398741 -0.02219147 0.69955835] [ 0.04014792 0.99912129 0.01203321 -0.19933524] [ 0.02169216 -0.01291162 0.99968132 -0.07558459] [ 0. 0. 0. 1. ]] SLAMing on 101.11992885099998 meters Centerline goodness [0,1] 0.7997232945796978 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.08 [[ 0.998935 -0.0405359 -0.02203898 0.69863799] [ 0.04081288 0.99909151 0.01226656 -0.20207524] [ 0.02152173 -0.01315297 0.99968186 -0.0750445 ] [ 0. 0. 0. 1. ]] SLAMing on 101.14992885099998 meters Centerline goodness [0,1] 0.7963785825372139 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.07 [[ 0.99875465 -0.04481063 -0.02193513 0.69797258] [ 0.04501831 0.99894501 0.00906727 -0.20591774] [ 0.02150568 -0.01004346 0.99971828 -0.0740836 ] [ 0. 0. 0. 1. ]] SLAMing on 101.17992885099999 meters Centerline goodness [0,1] 0.7896357674583481 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.07 [[ 0.99869517 -0.04625936 -0.02163379 0.69676416] [ 0.04644654 0.99888686 0.00823137 -0.20926332] [ 0.02122893 -0.00922544 0.99973208 -0.07314998] [ 0. 0. 0. 1. ]] SLAMing on 101.20992885099999 meters Centerline goodness [0,1] 0.7925370824767337 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.07 [[ 0.99861631 -0.04809717 -0.02126345 0.69546709] [ 0.04825316 0.99881141 0.00688469 -0.21277173] [ 0.02090704 -0.00790119 0.9997502 -0.07207168] [ 0. 0. 0. 1. ]] SLAMing on 101.23992885099999 meters Centerline goodness [0,1] 0.7867770419426049 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.22, Z:-0.07 [[ 0.99855228 -0.04954647 -0.02094021 0.69405506] [ 0.04968285 0.99874676 0.00604309 -0.2163884 ] [ 0.02061455 -0.00707471 0.99976247 -0.07087739] [ 0. 0. 0. 1. ]] SLAMing on 101.26992885099999 meters Centerline goodness [0,1] 0.7839814328253635 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.22, Z:-0.07 [[ 0.99835777 -0.05341328 -0.02070733 0.69353428] [ 0.05349555 0.99856217 0.00343901 -0.22146566] [ 0.02049386 -0.00454111 0.99977967 -0.07031092] [ 0. 0. 0. 1. ]] SLAMing on 101.29992885099999 meters Centerline goodness [0,1] 0.7693366243638191 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.22, Z:-0.07 [[ 0.99832937 -0.05405052 -0.02042098 0.69224934] [ 0.05413875 0.99852622 0.00379267 -0.22451826] [ 0.02018589 -0.0048919 0.99978428 -0.06957233] [ 0. 0. 0. 1. ]] SLAMing on 101.32992885099999 meters Centerline goodness [0,1] 0.7803435406071982 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.23, Z:-0.07 [[ 0.99829804 -0.05477564 -0.02001638 0.69077815] [ 0.05486607 0.99848573 0.00399636 -0.22719299] [ 0.01976717 -0.00508778 0.99979167 -0.0688704 ] [ 0. 0. 0. 1. ]] SLAMing on 101.35992885099999 meters Centerline goodness [0,1] 0.7562340745257747 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.23, Z:-0.07 [[ 0.99828195 -0.05514432 -0.01980551 0.68989857] [ 0.05524256 0.99846306 0.00444729 -0.22995624] [ 0.01952982 -0.00553376 0.99979396 -0.06836899] [ 0. 0. 0. 1. ]] SLAMing on 101.389928851 meters Centerline goodness [0,1] 0.7697278542773501 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.23, Z:-0.07 [[ 0.99808038 -0.05870948 -0.01971693 0.69028352] [ 0.05875098 0.99827149 0.00153156 -0.23330371] [ 0.01959293 -0.00268701 0.99980443 -0.06835686] [ 0. 0. 0. 1. ]] SLAMing on 101.419928851 meters Centerline goodness [0,1] 0.7556970799757387 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.24, Z:-0.07 [[ 0.99808151 -0.05874795 -0.019544 0.68997488] [ 0.05880273 0.99826711 0.00223962 -0.23603277] [ 0.01937856 -0.00338456 0.99980649 -0.06849833] [ 0. 0. 0. 1. ]] SLAMing on 101.44992885099998 meters Centerline goodness [0,1] 0.7507789510126364 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.24, Z:-0.07 [[ 0.99808269 -0.05878627 -0.01936773 0.68972624] [ 0.05885159 0.99826276 0.00281969 -0.23842323] [ 0.01916833 -0.00395411 0.99980845 -0.06865346] [ 0. 0. 0. 1. ]] SLAMing on 101.47992885099998 meters Centerline goodness [0,1] 0.7384981091301999 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.24, Z:-0.07 [[ 0.99804364 -0.05950118 -0.01919656 0.68905323] [ 0.05957434 0.99821854 0.00326128 -0.24198436] [ 0.01896831 -0.00439852 0.99981041 -0.06844801] [ 0. 0. 0. 1. ]] SLAMing on 101.50992885099998 meters Centerline goodness [0,1] 0.7302679685147748 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.24, Z:-0.07 [[ 0.99804021 -0.05956194 -0.01918635 0.68912478] [ 0.05964499 0.99821248 0.00378522 -0.24391757] [ 0.01892659 -0.00492217 0.99980876 -0.06863906] [ 0. 0. 0. 1. ]] SLAMing on 101.53992885099998 meters Centerline goodness [0,1] 0.7508892194270194 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.25, Z:-0.07 [[ 0.99802746 -0.05982382 -0.0190343 0.68865157] [ 0.05991038 0.99819571 0.00400951 -0.24530778] [ 0.01876009 -0.00514196 0.99981079 -0.06845809] [ 0. 0. 0. 1. ]] SLAMing on 101.56992885099999 meters Centerline goodness [0,1] 0.7178212494888846 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.25, Z:-0.07 [[ 0.9980256 -0.05990074 -0.01888943 0.68847455] [ 0.05999315 0.99818925 0.00436325 -0.24661458] [ 0.01859386 -0.00548787 0.99981206 -0.06864485] [ 0. 0. 0. 1. ]] SLAMing on 101.59992885099999 meters Centerline goodness [0,1] 0.7219076326838196 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.25, Z:-0.07 [[ 0.99799438 -0.06049558 -0.01864124 0.6873919 ] [ 0.06058492 0.99815393 0.00426495 -0.24791058] [ 0.01834881 -0.00538577 0.99981714 -0.06792039] [ 0. 0. 0. 1. ]] SLAMing on 101.62992885099999 meters Centerline goodness [0,1] 0.7243955476134089 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.25, Z:-0.07 [[ 0.99798763 -0.06066306 -0.01845747 0.68693275] [ 0.06075382 0.9981431 0.00439642 -0.24886388] [ 0.0181565 -0.00550893 0.99981998 -0.06779775] [ 0. 0. 0. 1. ]] SLAMing on 101.65992885099999 meters Centerline goodness [0,1] 0.6976197662886465 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.25, Z:-0.07 [[ 0.99797351 -0.06091305 -0.01839755 0.6866404 ] [ 0.0610027 0.99812812 0.00435067 -0.24951797] [ 0.01809809 -0.00546416 0.99982129 -0.06751742] [ 0. 0. 0. 1. ]] SLAMing on 101.68992885099999 meters Centerline goodness [0,1] 0.7292088812244018 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.25, Z:-0.07 [[ 0.99794321 -0.06147722 -0.01816314 0.68604582] [ 0.06156242 0.99809453 0.00416877 -0.24978985] [ 0.01787224 -0.00527837 0.99982635 -0.06740489] [ 0. 0. 0. 1. ]] SLAMing on 101.71992885099999 meters Centerline goodness [0,1] 0.7292088812244018 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.25, Z:-0.07 [[ 0.99794321 -0.06147722 -0.01816314 0.68604582] [ 0.06156242 0.99809453 0.00416877 -0.24978985] [ 0.01787224 -0.00527837 0.99982635 -0.06740489] [ 0. 0. 0. 1. ]] SLAMing on 101.74992885099999 meters Centerline goodness [0,1] 0.7159755677907778 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.25, Z:-0.07 [[ 0.99793516 -0.06160505 -0.01817249 0.68615084] [ 0.06168933 0.99808692 0.00411357 -0.24958746] [ 0.01788431 -0.00522612 0.9998264 -0.06751063] [ 0. 0. 0. 1. ]] SLAMing on 101.779928851 meters Centerline goodness [0,1] 0.7222222222222222 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.25, Z:-0.07 [[ 0.99792111 -0.06185644 -0.01808953 0.68602322] [ 0.0619359 0.99807264 0.00386537 -0.24897032] [ 0.01781557 -0.00497773 0.9998289 -0.06757811] [ 0. 0. 0. 1. ]] SLAMing on 101.80992885099998 meters Centerline goodness [0,1] 0.7316626048698428 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.25, Z:-0.07 [[ 0.99790743 -0.06209712 -0.01801954 0.68584838] [ 0.06217183 0.99805891 0.00361514 -0.24848887] [ 0.01776007 -0.00472789 0.9998311 -0.06751564] [ 0. 0. 0. 1. ]] SLAMing on 101.83992885099998 meters Centerline goodness [0,1] 0.7198531793155565 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.25, Z:-0.07 [[ 0.99788481 -0.06250881 -0.01784791 0.68564092] [ 0.06257056 0.99803626 0.00292241 -0.24673154] [ 0.01763018 -0.00403298 0.99983644 -0.06762456] [ 0. 0. 0. 1. ]] SLAMing on 101.86992885099998 meters Centerline goodness [0,1] 0.7002826504412367 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.25, Z:-0.07 [[ 0.99787498 -0.06266823 -0.01783867 0.68572477] [ 0.06272327 0.99802772 0.00254221 -0.24545553] [ 0.01764417 -0.00365571 0.99983765 -0.0677313 ] [ 0. 0. 0. 1. ]] SLAMing on 101.89992885099998 meters Centerline goodness [0,1] 0.7280316629539114 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.24, Z:-0.07 [[ 0.99786609 -0.0628227 -0.0177923 0.68574033] [ 0.06286888 0.99801969 0.00204777 -0.24383312] [ 0.01762842 -0.00316198 0.99983961 -0.06778306] [ 0. 0. 0. 1. ]] SLAMing on 101.92992885099999 meters Centerline goodness [0,1] 0.7087174825780203 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.24, Z:-0.07 [[ 0.99786061 -0.06289356 -0.01784943 0.68598754] [ 0.06293122 0.99801665 0.0015554 -0.24182726] [ 0.0177162 -0.00267536 0.99983948 -0.06789804] [ 0. 0. 0. 1. ]] SLAMing on 101.95992885099999 meters Centerline goodness [0,1] 0.7030629300801008 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.07 [[ 0.99802478 -0.06031361 -0.01757303 0.68493891] [ 0.06039156 0.99816699 0.00393892 -0.23827466] [ 0.01730325 -0.0049924 0.99983782 -0.0680022 ] [ 0. 0. 0. 1. ]] SLAMing on 101.98992885099999 meters Centerline goodness [0,1] 0.7247510977783574 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.24, Z:-0.07 [[ 0.99801063 -0.06051163 -0.01769549 0.68542193] [ 0.06057569 0.99815877 0.00310655 -0.23521702] [ 0.01747493 -0.00417228 0.9998386 -0.06822085] [ 0. 0. 0. 1. ]] SLAMing on 102.01992885099999 meters Centerline goodness [0,1] 0.7137941547976828 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.23, Z:-0.07 [[ 0.99800642 -0.06055505 -0.01778429 0.68601777] [ 0.06060835 0.99815856 0.00247266 -0.23231915] [ 0.01760181 -0.0035456 0.99983879 -0.06871196] [ 0. 0. 0. 1. ]] SLAMing on 102.04992885099999 meters Centerline goodness [0,1] 0.7080058670286127 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.23, Z:-0.07 [[ 0.99813052 -0.05855767 -0.01750636 0.68607243] [ 0.05863376 0.99827208 0.00386483 -0.22716608] [ 0.01724979 -0.00488406 0.99983928 -0.06985566] [ 0. 0. 0. 1. ]] SLAMing on 102.07992885099999 meters Centerline goodness [0,1] 0.7071826842867805 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.22, Z:-0.07 [[ 0.99812458 -0.05862373 -0.01762336 0.68680392] [ 0.05868668 0.99827171 0.00307566 -0.22375713] [ 0.0174126 -0.00410415 0.99983997 -0.07042013] [ 0. 0. 0. 1. ]] SLAMing on 102.10992885099999 meters Centerline goodness [0,1] 0.7061412194424275 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.22, Z:-0.07 [[ 0.99827964 -0.05597357 -0.01745627 0.68563384] [ 0.05607961 0.99841034 0.00564494 -0.22122857] [ 0.01711255 -0.00661417 0.99983169 -0.07016828] [ 0. 0. 0. 1. ]] SLAMing on 102.139928851 meters Centerline goodness [0,1] 0.716082679341218 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.22, Z:-0.07 [[ 0.99843538 -0.05318598 -0.01726398 0.68460917] [ 0.05333503 0.99854226 0.00829071 -0.21862629] [ 0.01679787 -0.00919852 0.99981659 -0.07009702] [ 0. 0. 0. 1. ]] SLAMing on 102.169928851 meters Centerline goodness [0,1] 0.728921568627451 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.07 [[ 0.99855941 -0.05095138 -0.01682414 0.68337589] [ 0.05111204 0.99864998 0.00926133 -0.21031969] [ 0.01632955 -0.0101079 0.99981557 -0.07006278] [ 0. 0. 0. 1. ]] SLAMing on 102.19992885099998 meters Centerline goodness [0,1] 0.7226965890294604 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.07 [[ 0.99855138 -0.05104608 -0.01701299 0.68396201] [ 0.05118824 0.99865676 0.00802769 -0.20554368] [ 0.01658035 -0.00888693 0.99982304 -0.07007622] [ 0. 0. 0. 1. ]] SLAMing on 102.22992885099998 meters Centerline goodness [0,1] 0.7057624232647757 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.07 [[ 0.99854449 -0.05112773 -0.01717154 0.68455239] [ 0.051252 0.99866208 0.00687591 -0.20095981] [ 0.01679702 -0.00774598 0.99982892 -0.07020251] [ 0. 0. 0. 1. ]] SLAMing on 102.25992885099998 meters Centerline goodness [0,1] 0.7238015670512792 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.19, Z:-0.07 [[ 0.99865594 -0.04907946 -0.01665889 0.68325771] [ 0.04921443 0.99875785 0.0077907 -0.19292137] [ 0.01625583 -0.00860009 0.99983088 -0.07023535] [ 0. 0. 0. 1. ]] SLAMing on 102.28992885099998 meters Centerline goodness [0,1] 0.7243427791054968 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.19, Z:-0.07 [[ 0.99878997 -0.04639093 -0.01632415 0.68174554] [ 0.0465636 0.99886159 0.01036114 -0.18984908] [ 0.0158249 -0.01110871 0.99981307 -0.06995913] [ 0. 0. 0. 1. ]] SLAMing on 102.31992885099999 meters Centerline goodness [0,1] 0.7171476924484288 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.19, Z:-0.07 [[ 0.99878609 -0.04644663 -0.01640271 0.68234146] [ 0.04660466 0.99886931 0.00938677 -0.18507822] [ 0.01594818 -0.01013982 0.9998214 -0.07036967] [ 0. 0. 0. 1. ]] SLAMing on 102.34992885099999 meters Centerline goodness [0,1] 0.7159841479524438 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.18, Z:-0.07 [[ 0.99889287 -0.04429445 -0.01584425 0.6812486 ] [ 0.04446604 0.99895417 0.0106463 -0.17758526] [ 0.0153561 -0.01133905 0.99981779 -0.07081261] [ 0. 0. 0. 1. ]] SLAMing on 102.37992885099999 meters Centerline goodness [0,1] 0.7219487155556592 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.07 [[ 0.99888105 -0.04454411 -0.01588909 0.68156093] [ 0.04469819 0.99895558 0.00947769 -0.17294139] [ 0.01545032 -0.01017729 0.99982884 -0.07092753] [ 0. 0. 0. 1. ]] SLAMing on 102.40992885099999 meters Centerline goodness [0,1] 0.728138670680653 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.07 [[ 0.99887125 -0.0447359 -0.01596626 0.68190498] [ 0.04487447 0.99895707 0.00842907 -0.16824372] [ 0.01557253 -0.00913604 0.999837 -0.07104527] [ 0. 0. 0. 1. ]] SLAMing on 102.43992885099999 meters Centerline goodness [0,1] 0.7243582160179818 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.9988616 -0.04491235 -0.01607462 0.6824365 ] [ 0.04503499 0.99895836 0.00735082 -0.1633909 ] [ 0.01572773 -0.00806637 0.99984377 -0.07128267] [ 0. 0. 0. 1. ]] SLAMing on 102.46992885099999 meters Centerline goodness [0,1] 0.7225996974862549 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99896804 -0.04271662 -0.01543163 0.68144777] [ 0.04285621 0.99904222 0.00883065 -0.15572611] [ 0.01503963 -0.00948288 0.99984193 -0.0722276 ] [ 0. 0. 0. 1. ]] SLAMing on 102.49992885099999 meters Centerline goodness [0,1] 0.7066947225850142 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.07 [[ 0.99896316 -0.0427409 -0.01567891 0.6823562 ] [ 0.04286742 0.99905013 0.00782442 -0.15076403] [ 0.01532959 -0.00848842 0.99984646 -0.07256311] [ 0. 0. 0. 1. ]] SLAMing on 102.529928851 meters Centerline goodness [0,1] 0.7227638313429199 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.07 [[ 0.99908524 -0.03993807 -0.01528513 0.68105181] [ 0.04010164 0.99913992 0.01054851 -0.14757781] [ 0.0148507 -0.01115181 0.99982753 -0.07271054] [ 0. 0. 0. 1. ]] SLAMing on 102.55992885099998 meters Centerline goodness [0,1] 0.7202488213077929 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.07 [[ 0.99918505 -0.03750427 -0.01492194 0.68088545] [ 0.03767825 0.99922312 0.01155425 -0.13869511] [ 0.01447701 -0.01210707 0.9998219 -0.07345092] [ 0. 0. 0. 1. ]] SLAMing on 102.58992885099998 meters Centerline goodness [0,1] 0.7288165005701819 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.13, Z:-0.07 [[ 0.99919587 -0.03715944 -0.01505933 0.68189675] [ 0.03732233 0.99924617 0.01068365 -0.13370535] [ 0.01465098 -0.01123711 0.99982952 -0.07393221] [ 0. 0. 0. 1. ]] SLAMing on 102.61992885099998 meters Centerline goodness [0,1] 0.7220569485762856 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.13, Z:-0.07 [[ 0.9993118 -0.03403386 -0.01475177 0.68091497] [ 0.03423423 0.99932197 0.01355037 -0.13054128] [ 0.0142806 -0.01404606 0.99979937 -0.07410497] [ 0. 0. 0. 1. ]] SLAMing on 102.64992885099998 meters Centerline goodness [0,1] 0.7365543772620282 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.07 [[ 0.99941576 -0.03087257 -0.01466353 0.68050189] [ 0.03109087 0.9994055 0.01489991 -0.12188261] [ 0.01419481 -0.0153471 0.99978146 -0.07357519] [ 0. 0. 0. 1. ]] SLAMing on 102.67992885099999 meters Centerline goodness [0,1] 0.7342536230038459 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.07 [[ 0.99942983 -0.03034682 -0.01480183 0.681292 ] [ 0.03055332 0.99943606 0.01393033 -0.1169735 ] [ 0.01437074 -0.01437464 0.9997934 -0.07341523] [ 0. 0. 0. 1. ]] SLAMing on 102.70992885099999 meters Centerline goodness [0,1] 0.7347827200327777 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.07 [[ 0.99943632 -0.03009211 -0.01488287 0.68176783] [ 0.03028317 0.99945961 0.01278382 -0.11207917] [ 0.01449014 -0.01322732 0.99980752 -0.07310409] [ 0. 0. 0. 1. ]] SLAMing on 102.73992885099999 meters Centerline goodness [0,1] 0.7447760422054412 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.07 [[ 0.9995401 -0.02657602 -0.01460508 0.68097953] [ 0.0267908 0.99953279 0.01471266 -0.10518566] [ 0.01420725 -0.01509718 0.99978509 -0.07253036] [ 0. 0. 0. 1. ]] SLAMing on 102.76992885099999 meters Centerline goodness [0,1] 0.7458448933025643 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:-0.07 [[ 0.99953776 -0.02665656 -0.0146185 0.68111064] [ 0.02685348 0.99954897 0.01344401 -0.10080178] [ 0.01425354 -0.01383035 0.99980276 -0.07208689] [ 0. 0. 0. 1. ]] SLAMing on 102.79992885099999 meters Centerline goodness [0,1] 0.7636453638329469 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:-0.07 [[ 0.99953784 -0.02661539 -0.01468764 0.68130909] [ 0.02679769 0.99956449 0.01235752 -0.09691478] [ 0.01435234 -0.0127454 0.99981577 -0.0715601 ] [ 0. 0. 0. 1. ]] SLAMing on 102.82992885099999 meters Centerline goodness [0,1] 0.7901749416424056 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.09, Z:-0.07 [[ 0.99961713 -0.02368621 -0.01430222 0.6798114 ] [ 0.02390017 0.99960213 0.01497886 -0.09297984] [ 0.01394174 -0.01531495 0.99978552 -0.07122975] [ 0. 0. 0. 1. ]] SLAMing on 102.85992885099999 meters Centerline goodness [0,1] 0.7699345374240871 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.09, Z:-0.07 [[ 0.99961108 -0.023861 -0.01443421 0.67998972] [ 0.02406674 0.99960877 0.01425135 -0.09078364] [ 0.01408851 -0.0145932 0.99979426 -0.070906 ] [ 0. 0. 0. 1. ]] SLAMing on 102.889928851 meters Centerline goodness [0,1] 0.7738676233940961 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.09, Z:-0.07 [[ 0.99960382 -0.02418915 -0.01439059 0.67971794] [ 0.02438484 0.99961037 0.01358239 -0.08893915] [ 0.01405643 -0.01392792 0.9998042 -0.07056885] [ 0. 0. 0. 1. ]] SLAMing on 102.91992885099998 meters Centerline goodness [0,1] 0.7884737008538 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.09, Z:-0.07 [[ 0.99959415 -0.02464921 -0.01428152 0.67918415] [ 0.02483285 0.99960932 0.012827 -0.08714898] [ 0.01395976 -0.01317644 0.99981574 -0.07008196] [ 0. 0. 0. 1. ]] SLAMing on 102.94992885099998 meters Centerline goodness [0,1] 0.7747750125359584 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.08, Z:-0.07 [[ 0.99957666 -0.02551233 -0.01398623 0.67764425] [ 0.0256761 0.99960233 0.01165812 -0.08441681] [ 0.01368325 -0.0120123 0.99983422 -0.06882728] [ 0. 0. 0. 1. ]] SLAMing on 102.97992885099998 meters Centerline goodness [0,1] 0.7576213476918204 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.08, Z:-0.07 [[ 0.99956655 -0.02597007 -0.01386624 0.67701989] [ 0.02612577 0.99959627 0.01116875 -0.08362836] [ 0.01357059 -0.01152618 0.99984148 -0.06833345] [ 0. 0. 0. 1. ]] SLAMing on 103.00992885099998 meters Centerline goodness [0,1] 0.7610935023771791 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.08, Z:-0.07 [[ 0.99955883 -0.026395 -0.01361821 0.67622603] [ 0.02654494 0.99958766 0.01094922 -0.08347156] [ 0.01332358 -0.01130589 0.99984732 -0.06815625] [ 0. 0. 0. 1. ]] SLAMing on 103.03992885099998 meters Centerline goodness [0,1] 0.7572640985643656 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.07 [[ 0.99954065 -0.027221 -0.01332321 0.67491443] [ 0.02736341 0.99956907 0.01062583 -0.08378572] [ 0.01302822 -0.01098552 0.99985478 -0.06767052] [ 0. 0. 0. 1. ]] SLAMing on 103.06992885099999 meters Centerline goodness [0,1] 0.7480024260963583 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.07 [[ 0.99953177 -0.0276217 -0.01316366 0.67430873] [ 0.02776023 0.99955989 0.01045972 -0.08419708] [ 0.01286895 -0.01082025 0.99985865 -0.06741807] [ 0. 0. 0. 1. ]] SLAMing on 103.09992885099999 meters Centerline goodness [0,1] 0.742186880828468 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.07 [[ 0.99952149 -0.02812377 -0.01287799 0.67338167] [ 0.02825799 0.99954696 0.01036175 -0.08465714] [ 0.01258074 -0.0107207 0.99986339 -0.06725681] [ 0. 0. 0. 1. ]] SLAMing on 103.12992885099999 meters Centerline goodness [0,1] 0.734614673812604 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.07 [[ 0.99951079 -0.02859484 -0.01266918 0.67250071] [ 0.02872545 0.99953479 0.01024963 -0.08531107] [ 0.0123702 -0.01060855 0.99986721 -0.06689832] [ 0. 0. 0. 1. ]] SLAMing on 103.15992885099999 meters Centerline goodness [0,1] 0.7282508615473654 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.07 [[ 0.9994798 -0.02981601 -0.0122935 0.67053497] [ 0.02993928 0.99950201 0.00996833 -0.08690986] [ 0.01199017 -0.0103312 0.99987474 -0.06603052] [ 0. 0. 0. 1. ]] SLAMing on 103.18992885099999 meters Centerline goodness [0,1] 0.7322216386554622 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.07 [[ 0.99946789 -0.03028714 -0.01210877 0.66966916] [ 0.03040738 0.99948883 0.00987258 -0.08776005] [ 0.01180356 -0.01023552 0.99987795 -0.06559809] [ 0. 0. 0. 1. ]] SLAMing on 103.21992885099999 meters Centerline goodness [0,1] 0.7145256528014696 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.07 [[ 0.99946041 -0.03060029 -0.01193777 0.66897941] [ 0.03071946 0.99947872 0.00993031 -0.08863808] [ 0.01162768 -0.01029167 0.99987943 -0.06535149] [ 0. 0. 0. 1. ]] SLAMing on 103.24992885099999 meters Centerline goodness [0,1] 0.7177663912998014 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.06 [[ 0.9994481 -0.03108782 -0.01170687 0.66798821] [ 0.03120536 0.99946302 0.00999482 -0.09024228] [ 0.01138986 -0.01035462 0.99988152 -0.06490652] [ 0. 0. 0. 1. ]] SLAMing on 103.279928851 meters Centerline goodness [0,1] 0.7212149752766659 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.06 [[ 0.99944411 -0.03124839 -0.01161916 0.66753121] [ 0.03136568 0.99945742 0.01005266 -0.09109633] [ 0.01129873 -0.01041152 0.99988196 -0.06463228] [ 0. 0. 0. 1. ]] SLAMing on 103.30992885099998 meters Centerline goodness [0,1] 0.70343386865126 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.06 [[ 0.99944126 -0.03136435 -0.01155153 0.66720385] [ 0.03148185 0.99945295 0.01013387 -0.09194808] [ 0.01122737 -0.01049187 0.99988193 -0.06442667] [ 0. 0. 0. 1. ]] SLAMing on 103.33992885099998 meters Centerline goodness [0,1] 0.7164647706758065 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.06 [[ 0.99944068 -0.03139153 -0.01152839 0.66704161] [ 0.03150999 0.99945096 0.0102416 -0.0926678 ] [ 0.01120056 -0.01059913 0.9998811 -0.06428092] [ 0. 0. 0. 1. ]] SLAMing on 103.36992885099998 meters Centerline goodness [0,1] 0.7218763837157816 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.06 [[ 0.99943657 -0.03152247 -0.0115272 0.66685073] [ 0.03164514 0.99944275 0.01061917 -0.0947709 ] [ 0.01118604 -0.01097797 0.99987717 -0.0641907 ] [ 0. 0. 0. 1. ]] SLAMing on 103.39992885099998 meters Centerline goodness [0,1] 0.7190730373649264 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.06 [[ 0.99943605 -0.03156967 -0.01144294 0.66659904] [ 0.03169504 0.99943765 0.01094573 -0.09620249] [ 0.01109096 -0.01130225 0.99987462 -0.06421976] [ 0. 0. 0. 1. ]] SLAMing on 103.42992885099999 meters Centerline goodness [0,1] 0.7171336486978219 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.06 [[ 0.99943308 -0.03168539 -0.01138245 0.66626943] [ 0.0318131 0.99943085 0.01122039 -0.09770845] [ 0.01102045 -0.01157614 0.99987226 -0.06406412] [ 0. 0. 0. 1. ]] SLAMing on 103.45992885099999 meters Centerline goodness [0,1] 0.7053696498054475 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.06 [[ 0.99943025 -0.03183219 -0.01122031 0.66588875] [ 0.0319616 0.99942236 0.01154999 -0.09935703] [ 0.01084617 -0.01190202 0.99987034 -0.06419542] [ 0. 0. 0. 1. ]] SLAMing on 103.48992885099999 meters Centerline goodness [0,1] 0.7064175131167455 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.06 [[ 0.99942334 -0.03206112 -0.01118363 0.6654635 ] [ 0.03219599 0.99940838 0.0120956 -0.10274157] [ 0.01078922 -0.0124487 0.9998643 -0.0639733 ] [ 0. 0. 0. 1. ]] SLAMing on 103.51992885099999 meters Centerline goodness [0,1] 0.7044961240310077 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.06 [[ 0.99942221 -0.03209857 -0.01117682 0.66523629] [ 0.03223688 0.99940305 0.01242256 -0.1042531 ] [ 0.0107714 -0.01277569 0.99986037 -0.06384135] [ 0. 0. 0. 1. ]] SLAMing on 103.54992885099999 meters Centerline goodness [0,1] 0.707781840655096 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.06 [[ 0.99942615 -0.03196544 -0.01120664 0.66529987] [ 0.03211244 0.99939719 0.01319244 -0.10746927] [ 0.01077819 -0.01354474 0.99985017 -0.06393901] [ 0. 0. 0. 1. ]] SLAMing on 103.57992885099999 meters Centerline goodness [0,1] 0.7038274683186387 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.06 [[ 0.99943196 -0.03176627 -0.01125416 0.66555308] [ 0.0319196 0.99939631 0.01371725 -0.10909448] [ 0.01081162 -0.01406868 0.99984258 -0.06420808] [ 0. 0. 0. 1. ]] SLAMing on 103.60992885099999 meters Centerline goodness [0,1] 0.7038274683186387 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.06 [[ 0.99943196 -0.03176627 -0.01125416 0.66555308] [ 0.0319196 0.99939631 0.01371725 -0.10909448] [ 0.01081162 -0.01406868 0.99984258 -0.06420808] [ 0. 0. 0. 1. ]] SLAMing on 103.639928851 meters Centerline goodness [0,1] 0.7109350968932636 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.06 [[ 0.99943513 -0.03162496 -0.01136995 0.66568723] [ 0.03178301 0.99939675 0.0139994 -0.11044491] [ 0.01092036 -0.01435286 0.99983736 -0.06400884] [ 0. 0. 0. 1. ]] SLAMing on 103.66992885099998 meters Centerline goodness [0,1] 0.6968936464442111 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.06 [[ 0.99944018 -0.03147528 -0.01134167 0.66577703] [ 0.03163674 0.99939643 0.01434919 -0.11179264] [ 0.01088318 -0.01469997 0.99983272 -0.0641463 ] [ 0. 0. 0. 1. ]] SLAMing on 103.69992885099998 meters Centerline goodness [0,1] 0.6938259626187315 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.06 [[ 0.99944434 -0.03129697 -0.01146801 0.66595524] [ 0.03146433 0.99939655 0.01471517 -0.11335708] [ 0.01100055 -0.01506783 0.99982596 -0.06399677] [ 0. 0. 0. 1. ]] SLAMing on 103.72992885099998 meters Centerline goodness [0,1] 0.7019512071026992 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.06 [[ 0.99944879 -0.03113858 -0.01151109 0.66593894] [ 0.03131337 0.99939206 0.01532941 -0.11640595] [ 0.01102675 -0.01568141 0.99981624 -0.06385569] [ 0. 0. 0. 1. ]] SLAMing on 103.75992885099998 meters Centerline goodness [0,1] 0.7046744191964172 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.06 [[ 0.999448 -0.03118557 -0.01145271 0.66570275] [ 0.03136217 0.99938667 0.01557877 -0.11761226] [ 0.01095985 -0.01592935 0.99981305 -0.06380329] [ 0. 0. 0. 1. ]] SLAMing on 103.78992885099998 meters Centerline goodness [0,1] 0.7021319796954315 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.06 [[ 0.99945093 -0.03106114 -0.01153451 0.66580047] [ 0.03124212 0.99938606 0.01585656 -0.11875841] [ 0.0110349 -0.01620821 0.99980774 -0.06366192] [ 0. 0. 0. 1. ]] SLAMing on 103.81992885099999 meters Centerline goodness [0,1] 0.7050941726709645 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.06 [[ 0.99945782 -0.03076943 -0.01171826 0.66623502] [ 0.03095892 0.99938696 0.01634771 -0.12068264] [ 0.01120807 -0.01670163 0.9997977 -0.06359893] [ 0. 0. 0. 1. ]] SLAMing on 103.84992885099999 meters Centerline goodness [0,1] 0.7050001264574217 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.06 [[ 0.99946168 -0.03062757 -0.01176038 0.66642707] [ 0.0308207 0.99938694 0.01660796 -0.12157001] [ 0.01124451 -0.01696148 0.99979291 -0.06369818] [ 0. 0. 0. 1. ]] SLAMing on 103.87992885099999 meters Centerline goodness [0,1] 0.7006379062555155 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.06 [[ 0.99946157 -0.03059206 -0.01186115 0.66657559] [ 0.0307878 0.99938664 0.01668668 -0.12246536] [ 0.0113434 -0.01704287 0.99979041 -0.06352941] [ 0. 0. 0. 1. ]] SLAMing on 103.90992885099999 meters Centerline goodness [0,1] 0.7002243904898773 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.06 [[ 0.99946574 -0.03042951 -0.01192778 0.66662097] [ 0.03063038 0.99938558 0.0170366 -0.12416905] [ 0.01140203 -0.01739285 0.99978372 -0.0633428 ] [ 0. 0. 0. 1. ]] SLAMing on 103.93992885099999 meters Centerline goodness [0,1] 0.710143832338346 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.06 [[ 0.99946566 -0.03041772 -0.01196515 0.66668839] [ 0.03062008 0.99938464 0.01710979 -0.12488574] [ 0.01143735 -0.01746702 0.99978202 -0.06325589] [ 0. 0. 0. 1. ]] SLAMing on 103.96992885099999 meters Centerline goodness [0,1] 0.7095583619975394 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.06 [[ 0.99946443 -0.03042458 -0.01205008 0.66675385] [ 0.0306281 0.99938488 0.01708152 -0.12530353] [ 0.01152297 -0.01744144 0.99978148 -0.0630171 ] [ 0. 0. 0. 1. ]] SLAMing on 103.99992885099999 meters Centerline goodness [0,1] 0.6946056631742921 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.06 [[ 0.99946643 -0.0303143 -0.01216131 0.66690284] [ 0.03052118 0.99938608 0.01720256 -0.12584123] [ 0.01163236 -0.01756455 0.99977806 -0.06285123] [ 0. 0. 0. 1. ]] SLAMing on 104.029928851 meters Centerline goodness [0,1] 0.7017962567516643 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.06 [[ 0.99946872 -0.03023836 -0.01216236 0.66659484] [ 0.03044891 0.99938284 0.01751569 -0.12765836] [ 0.01162521 -0.01787671 0.99977261 -0.06240012] [ 0. 0. 0. 1. ]] SLAMing on 104.05992885099998 meters Centerline goodness [0,1] 0.6920340681362726 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.06 [[ 0.99946235 -0.03047674 -0.01209026 0.66612559] [ 0.03068543 0.99937644 0.01746796 -0.12839915] [ 0.01155035 -0.01782956 0.99977432 -0.06201597] [ 0. 0. 0. 1. ]] SLAMing on 104.08992885099998 meters Centerline goodness [0,1] 0.7094395280235988 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.06 [[ 0.9994588 -0.03058621 -0.01210769 0.66592072] [ 0.03079689 0.99937045 0.01761434 -0.1295066 ] [ 0.01156131 -0.01797768 0.99977154 -0.06176261] [ 0. 0. 0. 1. ]] SLAMing on 104.11992885099998 meters Centerline goodness [0,1] 0.7013748534071911 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.06 [[ 0.99945424 -0.03073601 -0.01210478 0.66570364] [ 0.0309496 0.99936116 0.01787162 -0.13087896] [ 0.01154775 -0.01823651 0.99976701 -0.06166221] [ 0. 0. 0. 1. ]] SLAMing on 104.14992885099998 meters Centerline goodness [0,1] 0.6879688043316279 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.06 [[ 0.99944503 -0.03104188 -0.0120846 0.665148 ] [ 0.03125883 0.99934565 0.01819788 -0.13346266] [ 0.01151179 -0.01856553 0.99976137 -0.06116438] [ 0. 0. 0. 1. ]] SLAMing on 104.17992885099999 meters Centerline goodness [0,1] 0.699655232284148 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.06 [[ 0.99944064 -0.03118013 -0.0120918 0.6648913 ] [ 0.03139906 0.9993383 0.01835935 -0.13469192] [ 0.01151135 -0.01872875 0.99975833 -0.06089834] [ 0. 0. 0. 1. ]] SLAMing on 104.20992885099999 meters Centerline goodness [0,1] 0.6930773993808049 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.06 [[ 0.99943824 -0.0312703 -0.01205674 0.66455048] [ 0.03149068 0.999332 0.01854447 -0.13584288] [ 0.0114688 -0.01891372 0.99975534 -0.06061519] [ 0. 0. 0. 1. ]] SLAMing on 104.23992885099999 meters Centerline goodness [0,1] 0.6823904816088258 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.06 [[ 0.99943137 -0.03153022 -0.01194889 0.66368974] [ 0.03174898 0.99932311 0.01858302 -0.13729536] [ 0.01135488 -0.01895182 0.99975592 -0.05977053] [ 0. 0. 0. 1. ]] SLAMing on 104.26992885099999 meters Centerline goodness [0,1] 0.6934192974655402 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.06 [[ 0.99942775 -0.03163492 -0.01197479 0.66360897] [ 0.03185423 0.99931965 0.01858876 -0.13793258] [ 0.01137859 -0.01895957 0.9997555 -0.05955385] [ 0. 0. 0. 1. ]] SLAMing on 104.29992885099999 meters Centerline goodness [0,1] 0.6836601307189543 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.06 [[ 0.99942496 -0.03172451 -0.01197072 0.66347209] [ 0.03194481 0.99931498 0.01868442 -0.13880342] [ 0.01136977 -0.01905608 0.99975377 -0.05940716] [ 0. 0. 0. 1. ]] SLAMing on 104.32992885099999 meters Centerline goodness [0,1] 0.6898598556685795 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.06 [[ 0.99942101 -0.03187029 -0.01191359 0.66325915] [ 0.03209165 0.99930668 0.0188754 -0.13997311] [ 0.01130377 -0.0192468 0.99975086 -0.05940838] [ 0. 0. 0. 1. ]] SLAMing on 104.35992885099999 meters Centerline goodness [0,1] 0.684876224223633 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.06 [[ 0.99941277 -0.03212372 -0.01192366 0.66310321] [ 0.03234815 0.99929353 0.01913232 -0.14185139] [ 0.01130064 -0.01950679 0.99974586 -0.05935881] [ 0. 0. 0. 1. ]] SLAMing on 104.389928851 meters Centerline goodness [0,1] 0.6857816761258937 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.06 [[ 0.99940438 -0.03242072 -0.0118231 0.66260884] [ 0.03264176 0.99928636 0.01900751 -0.14214424] [ 0.01119842 -0.01938211 0.99974943 -0.05905636] [ 0. 0. 0. 1. ]] SLAMing on 104.41992885099998 meters Centerline goodness [0,1] 0.686017968481516 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.06 [[ 0.99939609 -0.0326835 -0.01179987 0.66214367] [ 0.03290195 0.99928138 0.01881989 -0.14238794] [ 0.01117629 -0.01919676 0.99975326 -0.05852352] [ 0. 0. 0. 1. ]] SLAMing on 104.44992885099998 meters Centerline goodness [0,1] 0.6867698059374769 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.06 [[ 0.99938745 -0.03299814 -0.01165508 0.66140793] [ 0.03321089 0.99927606 0.01855785 -0.14244178] [ 0.01103427 -0.01893355 0.99975985 -0.05793597] [ 0. 0. 0. 1. ]] SLAMing on 104.47992885099998 meters Centerline goodness [0,1] 0.685855021320394 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.06 [[ 0.99927757 -0.03614051 -0.01175576 0.66199726] [ 0.03630732 0.99923836 0.01429991 -0.14082022] [ 0.01123 -0.0147164 0.99982864 -0.05702596] [ 0. 0. 0. 1. ]] SLAMing on 104.50992885099998 meters Centerline goodness [0,1] 0.6748594298622536 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.06 [[ 0.99927141 -0.03634343 -0.01165318 0.66159789] [ 0.03650777 0.99923228 0.01421409 -0.14092568] [ 0.01112764 -0.01462917 0.99983107 -0.05684042] [ 0. 0. 0. 1. ]] SLAMing on 104.53992885099998 meters Centerline goodness [0,1] 0.67839208349744 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.06 [[ 0.99926648 -0.03651946 -0.01152539 0.66133296] [ 0.03668112 0.99922696 0.01414162 -0.14096698] [ 0.01100003 -0.01455401 0.99983358 -0.05687889] [ 0. 0. 0. 1. ]] SLAMing on 104.56992885099999 meters Centerline goodness [0,1] 0.6753751537515376 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.06 [[ 0.99925163 -0.03698411 -0.01132911 0.66081506] [ 0.03714111 0.99921229 0.01397608 -0.14109426] [ 0.01080329 -0.01438639 0.99983815 -0.05690151] [ 0. 0. 0. 1. ]] SLAMing on 104.59992885099999 meters Centerline goodness [0,1] 0.6805285563129013 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.06 [[ 0.99923927 -0.03734036 -0.01125082 0.66042262] [ 0.0374943 0.9992016 0.01379671 -0.14113151] [ 0.01072667 -0.01420805 0.99984152 -0.05672026] [ 0. 0. 0. 1. ]] SLAMing on 104.62992885099999 meters Centerline goodness [0,1] 0.679930966469428 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.06 [[ 0.99922378 -0.03782725 -0.01099751 0.65959452] [ 0.03797506 0.99918672 0.01355679 -0.14114602] [ 0.01047575 -0.0139639 0.99984762 -0.05645988] [ 0. 0. 0. 1. ]] SLAMing on 104.65992885099999 meters Centerline goodness [0,1] 0.6780353363846646 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.06 [[ 0.99920832 -0.03828325 -0.01082281 0.65895861] [ 0.03842764 0.99917067 0.01346423 -0.141709 ] [ 0.01029838 -0.01386947 0.99985078 -0.05628344] [ 0. 0. 0. 1. ]] SLAMing on 104.68992885099999 meters Centerline goodness [0,1] 0.6748584092588032 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.06 [[ 0.99916602 -0.03947361 -0.01044526 0.65739558] [ 0.03960842 0.99913031 0.01303056 -0.14243599] [ 0.00992181 -0.01343341 0.99986054 -0.05575234] [ 0. 0. 0. 1. ]] SLAMing on 104.71992885099999 meters Centerline goodness [0,1] 0.6768912631397552 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.06 [[ 0.99915057 -0.03991578 -0.01024057 0.65669578] [ 0.04004644 0.9991147 0.01288777 -0.14270537] [ 0.00971708 -0.01328692 0.99986451 -0.05552632] [ 0. 0. 0. 1. ]] SLAMing on 104.74992885099999 meters Centerline goodness [0,1] 0.6773551036466914 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.06 [[ 0.99913446 -0.04036492 -0.01005026 0.65604421] [ 0.04049131 0.99909909 0.01270705 -0.14277578] [ 0.00952829 -0.013103 0.99986875 -0.05532545] [ 0. 0. 0. 1. ]] SLAMing on 104.779928851 meters Centerline goodness [0,1] 0.6717538461538461 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.06 [[ 0.99912577 -0.04061543 -0.00990319 0.65563774] [ 0.04073983 0.99908906 0.01270087 -0.14304878] [ 0.00937832 -0.01309322 0.9998703 -0.05529922] [ 0. 0. 0. 1. ]] SLAMing on 104.80992885099998 meters Centerline goodness [0,1] 0.6745951790058236 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.06 [[ 0.99911869 -0.04079576 -0.00987672 0.65558796] [ 0.04091847 0.99908357 0.01255804 -0.14312287] [ 0.00935535 -0.01295111 0.99987236 -0.05524292] [ 0. 0. 0. 1. ]] SLAMing on 104.83992885099998 meters Centerline goodness [0,1] 0.6734137414330983 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.06 [[ 0.99911283 -0.04094824 -0.00983887 0.65536181] [ 0.04106871 0.99907972 0.01237204 -0.14268455] [ 0.0093232 -0.01276513 0.99987506 -0.05506224] [ 0. 0. 0. 1. ]] SLAMing on 104.86992885099998 meters Centerline goodness [0,1] 0.6725095879634182 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.05 [[ 0.99910571 -0.04113178 -0.00979558 0.65492425] [ 0.04124855 0.99907646 0.01203237 -0.14204408] [ 0.00929162 -0.01242566 0.99987963 -0.05454342] [ 0. 0. 0. 1. ]] SLAMing on 104.89992885099998 meters Centerline goodness [0,1] 0.6731680821647245 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.05 [[ 0.9991034 -0.04118217 -0.0098199 0.65462171] [ 0.04129311 0.99908231 0.01137634 -0.14002574] [ 0.00934239 -0.01177164 0.99988707 -0.05381026] [ 0. 0. 0. 1. ]] SLAMing on 104.92992885099999 meters Centerline goodness [0,1] 0.6723724836359145 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.05 [[ 0.99910727 -0.04104457 -0.00999981 0.65499328] [ 0.0411554 0.99909064 0.01114117 -0.13906765] [ 0.00953343 -0.01154277 0.99988793 -0.05366235] [ 0. 0. 0. 1. ]] SLAMing on 104.95992885099999 meters Centerline goodness [0,1] 0.6740118577075098 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.05 [[ 0.99911051 -0.04093238 -0.01013515 0.65539449] [ 0.04104273 0.9990976 0.01093038 -0.13824873] [ 0.00967859 -0.01133663 0.9998889 -0.05365003] [ 0. 0. 0. 1. ]] SLAMing on 104.98992885099999 meters Centerline goodness [0,1] 0.6725344277696739 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.05 [[ 0.999112 -0.04087117 -0.0102351 0.6557415 ] [ 0.04098072 0.99910229 0.0107327 -0.13743474] [ 0.00978725 -0.01114261 0.99989002 -0.05372316] [ 0. 0. 0. 1. ]] SLAMing on 105.01992885099999 meters Centerline goodness [0,1] 0.6737985109698483 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.05 [[ 0.99911103 -0.04085875 -0.0103788 0.65612086] [ 0.04096725 0.99910568 0.01046555 -0.13635524] [ 0.00994191 -0.01088143 0.99989137 -0.05369662] [ 0. 0. 0. 1. ]] SLAMing on 105.04992885099999 meters Centerline goodness [0,1] 0.6800505300703458 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.05 [[ 0.99911004 -0.0408784 -0.01039663 0.65620689] [ 0.04098651 0.99910549 0.01040783 -0.13611893] [ 0.00996187 -0.01082469 0.99989179 -0.0537481 ] [ 0. 0. 0. 1. ]] SLAMing on 105.07992885099999 meters Centerline goodness [0,1] 0.6778573375288026 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.05 [[ 0.99910816 -0.04091731 -0.01042361 0.65630742] [ 0.04102497 0.99910469 0.01033337 -0.1359051 ] [ 0.00999146 -0.01075178 0.99989228 -0.05378346] [ 0. 0. 0. 1. ]] SLAMing on 105.10992885099999 meters Centerline goodness [0,1] 0.679206006988328 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.05 [[ 0.99910415 -0.04101763 -0.0104139 0.65630221] [ 0.04112379 0.99910206 0.01019304 -0.13556562] [ 0.00998645 -0.01061217 0.99989382 -0.05381163] [ 0. 0. 0. 1. ]] SLAMing on 105.139928851 meters Centerline goodness [0,1] 0.6782278857596191 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.05 [[ 0.99909095 -0.04137132 -0.01028028 0.65595411] [ 0.04147416 0.99908952 0.01000088 -0.13526566] [ 0.00985717 -0.01041816 0.99989714 -0.05383002] [ 0. 0. 0. 1. ]] SLAMing on 105.16992885099998 meters Centerline goodness [0,1] 0.6740319188420141 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.05 [[ 0.99906867 -0.04197764 -0.0099838 0.65506008] [ 0.042077 0.99906474 0.00995882 -0.13595859] [ 0.00955642 -0.01036963 0.99990057 -0.05376094] [ 0. 0. 0. 1. ]] SLAMing on 105.19992885099998 meters Centerline goodness [0,1] 0.6714522636698927 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.05 [[ 0.99905304 -0.0424095 -0.00971874 0.65436882] [ 0.04250677 0.99904583 0.01003041 -0.13700394] [ 0.00928409 -0.01043402 0.99990246 -0.0537564 ] [ 0. 0. 0. 1. ]] SLAMing on 105.22992885099998 meters Centerline goodness [0,1] 0.6643082536239029 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.05 [[ 0.99903182 -0.04296078 -0.00947621 0.65367833] [ 0.04305542 0.99902243 0.0100209 -0.13851645] [ 0.00903644 -0.0104192 0.99990489 -0.05373085] [ 0. 0. 0. 1. ]] SLAMing on 105.25992885099998 meters Centerline goodness [0,1] 0.6660986812861165 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.05 [[ 0.99902212 -0.0432188 -0.0093241 0.65315044] [ 0.04331074 0.99901264 0.00989574 -0.13862147] [ 0.00888721 -0.01028989 0.99990756 -0.05351014] [ 0. 0. 0. 1. ]] SLAMing on 105.28992885099998 meters Centerline goodness [0,1] 0.6658363954721448 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.05 [[ 0.99901153 -0.04348688 -0.0092113 0.6525891 ] [ 0.04357504 0.99900406 0.00959713 -0.1383045 ] [ 0.00878478 -0.00998903 0.99991152 -0.05302524] [ 0. 0. 0. 1. ]] SLAMing on 105.31992885099999 meters Centerline goodness [0,1] 0.6635273760968978 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.05 [[ 0.998992 -0.04398025 -0.00898467 0.65139166] [ 0.04406132 0.99898798 0.00903383 -0.13724903] [ 0.00857827 -0.0094206 0.99991883 -0.0520436 ] [ 0. 0. 0. 1. ]] SLAMing on 105.34992885099999 meters Centerline goodness [0,1] 0.6667573382131111 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.05 [[ 0.99898765 -0.04409861 -0.00888696 0.65112674] [ 0.04417732 0.99898438 0.00886427 -0.13700232] [ 0.00848704 -0.0092479 0.99992122 -0.05187888] [ 0. 0. 0. 1. ]] SLAMing on 105.37992885099999 meters Centerline goodness [0,1] 0.6629443881710602 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.05 [[ 0.99898445 -0.0441788 -0.00884911 0.65109754] [ 0.0442568 0.99898124 0.0088218 -0.136991 ] [ 0.00845036 -0.00920448 0.99992193 -0.05192474] [ 0. 0. 0. 1. ]] SLAMing on 105.40992885099999 meters Centerline goodness [0,1] 0.6625275187374775 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.05 [[ 0.99898287 -0.04419806 -0.00893052 0.65144463] [ 0.04427517 0.9989821 0.00862974 -0.13644539] [ 0.00854001 -0.00901637 0.99992288 -0.05201729] [ 0. 0. 0. 1. ]] SLAMing on 105.43992885099999 meters Centerline goodness [0,1] 0.6604654610139342 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.05 [[ 0.99898438 -0.04415108 -0.00899338 0.65182425] [ 0.04422842 0.99898451 0.00859001 -0.13607561] [ 0.00860499 -0.00897905 0.99992266 -0.0522995 ] [ 0. 0. 0. 1. ]] SLAMing on 105.46992885099999 meters Centerline goodness [0,1] 0.6625129802699896 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.05 [[ 0.99898257 -0.04417552 -0.00907497 0.65203168] [ 0.04425186 0.99898517 0.00839119 -0.13554649] [ 0.00869507 -0.00878424 0.99992361 -0.05227123] [ 0. 0. 0. 1. ]] SLAMing on 105.49992885099999 meters Centerline goodness [0,1] 0.6590296162505876 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.99898426 -0.04411921 -0.00916233 0.65244349] [ 0.04419511 0.99898883 0.00825296 -0.13485909] [ 0.00878896 -0.00864951 0.99992397 -0.05248435] [ 0. 0. 0. 1. ]] SLAMing on 105.529928851 meters Centerline goodness [0,1] 0.6590296162505876 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.99898426 -0.04411921 -0.00916233 0.65244349] [ 0.04419511 0.99898883 0.00825296 -0.13485909] [ 0.00878896 -0.00864951 0.99992397 -0.05248435] [ 0. 0. 0. 1. ]] SLAMing on 105.55992885099998 meters Centerline goodness [0,1] 0.6671960691862917 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.99899352 -0.04388122 -0.00929429 0.65309978] [ 0.04395485 0.99900251 0.00787152 -0.13295768] [ 0.00893961 -0.00827213 0.99992582 -0.05266485] [ 0. 0. 0. 1. ]] SLAMing on 105.58992885099998 meters Centerline goodness [0,1] 0.6582108816521048 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.99899368 -0.04385995 -0.00937763 0.65328943] [ 0.04393097 0.99900636 0.00750705 -0.13166023] [ 0.00903905 -0.00791146 0.99992785 -0.05250405] [ 0. 0. 0. 1. ]] SLAMing on 105.61992885099998 meters Centerline goodness [0,1] 0.6593335490132644 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.99899211 -0.04387643 -0.00946696 0.6534654 ] [ 0.04394379 0.99900928 0.00702823 -0.13013939] [ 0.00914921 -0.00743716 0.99993049 -0.05227522] [ 0. 0. 0. 1. ]] SLAMing on 105.64992885099998 meters Centerline goodness [0,1] 0.6625264995635366 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.99900137 -0.04365074 -0.00953325 0.65377596] [ 0.04371362 0.99902302 0.00649007 -0.12758476] [ 0.00924064 -0.00690032 0.9999335 -0.05207389] [ 0. 0. 0. 1. ]] SLAMing on 105.67992885099999 meters Centerline goodness [0,1] 0.6632573957838406 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.99899699 -0.04375749 -0.00950197 0.65357731] [ 0.04381662 0.99902093 0.00610673 -0.12643978] [ 0.00922545 -0.00651695 0.99993621 -0.05180549] [ 0. 0. 0. 1. ]] SLAMing on 105.70992885099999 meters Centerline goodness [0,1] 0.6616385240775484 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.99899358 -0.04382416 -0.00955336 0.65362767] [ 0.04388136 0.99901955 0.00586241 -0.12562501] [ 0.00928707 -0.00627573 0.99993718 -0.05165994] [ 0. 0. 0. 1. ]] SLAMing on 105.73992885099999 meters Centerline goodness [0,1] 0.6639106033273201 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.05 [[ 0.99899177 -0.04386763 -0.00954321 0.6536785 ] [ 0.04392307 0.99901877 0.0056799 -0.12493954] [ 0.00928469 -0.00609334 0.99993833 -0.0517039 ] [ 0. 0. 0. 1. ]] SLAMing on 105.76992885099999 meters Centerline goodness [0,1] 0.6630369329586512 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.05 [[ 0.99898491 -0.04403604 -0.0094856 0.65369042] [ 0.04408853 0.99901304 0.00539831 -0.12386522] [ 0.00923852 -0.00581104 0.99994044 -0.05184218] [ 0. 0. 0. 1. ]] SLAMing on 105.79992885099999 meters Centerline goodness [0,1] 0.6626161185036405 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.05 [[ 0.99898392 -0.04409059 -0.00933582 0.65362495] [ 0.04414238 0.99901057 0.00541669 -0.12371334] [ 0.00908775 -0.00582329 0.99994175 -0.05218059] [ 0. 0. 0. 1. ]] SLAMing on 105.82992885099999 meters Centerline goodness [0,1] 0.6619951778179627 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.05 [[ 0.99898012 -0.0441905 -0.00926875 0.65364723] [ 0.04424119 0.99900662 0.0053375 -0.12342212] [ 0.00902368 -0.00574212 0.9999428 -0.05238292] [ 0. 0. 0. 1. ]] SLAMing on 105.85992885099999 meters Centerline goodness [0,1] 0.6619927126523433 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.05 [[ 0.99897809 -0.0442265 -0.00931652 0.65392664] [ 0.04427742 0.99900504 0.00533238 -0.12322027] [ 0.00907142 -0.00573944 0.99994238 -0.05264002] [ 0. 0. 0. 1. ]] SLAMing on 105.889928851 meters Centerline goodness [0,1] 0.6645143460127632 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.05 [[ 0.99897677 -0.04427992 -0.00920304 0.65425243] [ 0.04433359 0.99900046 0.00571107 -0.12389506] [ 0.00894095 -0.00611323 0.99994134 -0.05355162] [ 0. 0. 0. 1. ]] SLAMing on 105.91992885099998 meters Centerline goodness [0,1] 0.6588903692903291 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.99897491 -0.0443481 -0.0090758 0.65422472] [ 0.04440381 0.99899546 0.00603109 -0.1250335 ] [ 0.00879922 -0.00642791 0.99994063 -0.05398635] [ 0. 0. 0. 1. ]] SLAMing on 105.94992885099998 meters Centerline goodness [0,1] 0.657081200441634 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.99896891 -0.04452435 -0.00887104 0.65397299] [ 0.04458084 0.99898607 0.00627472 -0.12617499] [ 0.00858267 -0.00666373 0.99994096 -0.05435148] [ 0. 0. 0. 1. ]] SLAMing on 105.97992885099998 meters Centerline goodness [0,1] 0.6576838308956121 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.99896348 -0.04468048 -0.0086959 0.65361357] [ 0.04473722 0.99897801 0.00644381 -0.12718699] [ 0.0083991 -0.00682616 0.99994143 -0.05441762] [ 0. 0. 0. 1. ]] SLAMing on 106.00992885099998 meters Centerline goodness [0,1] 0.6571299842306826 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.99892894 -0.04553633 -0.00821111 0.65201517] [ 0.04558773 0.99894119 0.00618595 -0.12773025] [ 0.00792073 -0.00655365 0.99994715 -0.05392694] [ 0. 0. 0. 1. ]] SLAMing on 106.03992885099998 meters Centerline goodness [0,1] 0.6529580988117574 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.99891698 -0.04583417 -0.00800629 0.65136806] [ 0.04588429 0.99892757 0.00619211 -0.12828844] [ 0.00771389 -0.00655277 0.99994878 -0.05374383] [ 0. 0. 0. 1. ]] SLAMing on 106.06992885099999 meters Centerline goodness [0,1] 0.6538298244299593 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.99891126 -0.04597768 -0.00789662 0.65114467] [ 0.04602856 0.99891971 0.006387 -0.12932247] [ 0.00759443 -0.00674351 0.99994842 -0.05383299] [ 0. 0. 0. 1. ]] SLAMing on 106.09992885099999 meters Centerline goodness [0,1] 0.652436588775714 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.99890827 -0.04605066 -0.00784843 0.65107387] [ 0.04610244 0.99891525 0.00654947 -0.13020365] [ 0.00753831 -0.00690416 0.99994775 -0.05390356] [ 0. 0. 0. 1. ]] SLAMing on 106.12992885099999 meters Centerline goodness [0,1] 0.6574658713718835 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.9989067 -0.04611101 -0.00769243 0.650848 ] [ 0.04616238 0.99891188 0.00664016 -0.13074618] [ 0.00737787 -0.006988 0.99994837 -0.05401281] [ 0. 0. 0. 1. ]] SLAMing on 106.15992885099999 meters Centerline goodness [0,1] 0.6468550637958532 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.99890794 -0.04607883 -0.00772392 0.65080978] [ 0.04612994 0.99891381 0.00657442 -0.13097355] [ 0.00741259 -0.00692355 0.99994856 -0.05373152] [ 0. 0. 0. 1. ]] SLAMing on 106.18992885099999 meters Centerline goodness [0,1] 0.6509030952559394 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.99890793 -0.04607094 -0.00777312 0.6508624 ] [ 0.04612148 0.99891499 0.00645329 -0.13077499] [ 0.00746737 -0.00680475 0.99994897 -0.053573 ] [ 0. 0. 0. 1. ]] SLAMing on 106.21992885099999 meters Centerline goodness [0,1] 0.6560962820544833 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.99891277 -0.04595156 -0.00785749 0.65111505] [ 0.04600244 0.99892068 0.00642239 -0.1304398 ] [ 0.00755389 -0.00677687 0.99994851 -0.05354897] [ 0. 0. 0. 1. ]] SLAMing on 106.24992885099999 meters Centerline goodness [0,1] 0.6536714421205012 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.99892653 -0.04563228 -0.00796699 0.65160007] [ 0.04568307 0.99893603 0.00631377 -0.12954399] [ 0.0076704 -0.00667095 0.99994833 -0.05358432] [ 0. 0. 0. 1. ]] SLAMing on 106.27992885099998 meters Centerline goodness [0,1] 0.6546694307765317 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.9989339 -0.04544925 -0.0080885 0.65198727] [ 0.0455008 0.99894439 0.00630671 -0.12932385] [ 0.00779333 -0.00666802 0.9999474 -0.05359927] [ 0. 0. 0. 1. ]] SLAMing on 106.30992885099998 meters Centerline goodness [0,1] 0.6529945644043285 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.9989405 -0.04531323 -0.00803665 0.6520695 ] [ 0.04536568 0.9989495 0.00646899 -0.12971615] [ 0.00773508 -0.00682672 0.99994678 -0.05377643] [ 0. 0. 0. 1. ]] SLAMing on 106.33992885099998 meters Centerline goodness [0,1] 0.6497558058407256 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.99894327 -0.04525699 -0.00800865 0.65198672] [ 0.04530959 0.99895176 0.0065128 -0.1300638 ] [ 0.0077055 -0.00686879 0.99994672 -0.05366717] [ 0. 0. 0. 1. ]] SLAMing on 106.36992885099998 meters Centerline goodness [0,1] 0.6475605510518725 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.9989368 -0.04544952 -0.00772102 0.65140627] [ 0.04549974 0.99894347 0.00645864 -0.13033363] [ 0.00741932 -0.00680308 0.99994933 -0.05364133] [ 0. 0. 0. 1. ]] SLAMing on 106.39992885099998 meters Centerline goodness [0,1] 0.6483300099700897 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.99893495 -0.04549972 -0.00766393 0.65130474] [ 0.04554987 0.99894091 0.00650067 -0.13052964] [ 0.00736003 -0.00684284 0.9999495 -0.05367567] [ 0. 0. 0. 1. ]] SLAMing on 106.42992885099999 meters Centerline goodness [0,1] 0.6541131811597822 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.99893611 -0.04548044 -0.00762754 0.65132951] [ 0.04553113 0.99894106 0.00660924 -0.13092491] [ 0.00731887 -0.0069495 0.99994907 -0.05379649] [ 0. 0. 0. 1. ]] SLAMing on 106.45992885099999 meters Centerline goodness [0,1] 0.651613869542425 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.99893787 -0.04545214 -0.00756471 0.65135449] [ 0.04550355 0.99894125 0.00676839 -0.13154989] [ 0.00724906 -0.00710542 0.99994848 -0.05396624] [ 0. 0. 0. 1. ]] SLAMing on 106.48992885099999 meters Centerline goodness [0,1] 0.6489829371879889 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.9989266 -0.04574952 -0.00725527 0.65086155] [ 0.04580122 0.99892514 0.00712809 -0.13358323] [ 0.00692136 -0.00745274 0.99994827 -0.05432623] [ 0. 0. 0. 1. ]] SLAMing on 106.51992885099999 meters Centerline goodness [0,1] 0.6458006913875003 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.05 [[ 0.99892144 -0.04588837 -0.00708651 0.65054323] [ 0.04594034 0.99891712 0.00735353 -0.13482942] [ 0.00674139 -0.00767116 0.99994785 -0.05442992] [ 0. 0. 0. 1. ]] SLAMing on 106.54992885099999 meters Centerline goodness [0,1] 0.6452767764554836 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.05 [[ 0.99892053 -0.04591961 -0.00701198 0.65052876] [ 0.0459738 0.9989124 0.00777352 -0.13647905] [ 0.0066474 -0.00808749 0.9999452 -0.05472406] [ 0. 0. 0. 1. ]] SLAMing on 106.57992885099999 meters Centerline goodness [0,1] 0.6456862067262581 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.05 [[ 0.99888091 -0.04681824 -0.00670735 0.64918455] [ 0.04686868 0.99887237 0.00757129 -0.13956017] [ 0.00634531 -0.00787718 0.99994884 -0.05389121] [ 0. 0. 0. 1. ]] SLAMing on 106.60992885099999 meters Centerline goodness [0,1] 0.6401528222824747 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.05 [[ 0.99886447 -0.04721826 -0.00634104 0.64817113] [ 0.0472669 0.99885219 0.00775493 -0.14125681] [ 0.00596759 -0.00804585 0.99994982 -0.05371208] [ 0. 0. 0. 1. ]] SLAMing on 106.639928851 meters Centerline goodness [0,1] 0.6409469315586552 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.05 [[ 0.99885431 -0.04746698 -0.00607894 0.64755781] [ 0.04751561 0.99883748 0.00812135 -0.14302995] [ 0.00568638 -0.00840089 0.99994854 -0.05383402] [ 0. 0. 0. 1. ]] SLAMing on 106.66992885099998 meters Centerline goodness [0,1] 0.6379428964568283 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.05 [[ 0.99884916 -0.04759836 -0.00589466 0.64710592] [ 0.04764739 0.99882825 0.00847718 -0.14474843] [ 0.00548426 -0.00874829 0.99994669 -0.05382709] [ 0. 0. 0. 1. ]] SLAMing on 106.69992885099998 meters Centerline goodness [0,1] 0.6389744341790096 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.05 [[ 0.99884504 -0.04770434 -0.00573345 0.64674074] [ 0.04775438 0.99881916 0.008933 -0.14729626] [ 0.00530053 -0.00919648 0.99994366 -0.05381861] [ 0. 0. 0. 1. ]] SLAMing on 106.72992885099998 meters Centerline goodness [0,1] 0.6386131351166316 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.05 [[ 0.99885003 -0.04760535 -0.00568842 0.64667888] [ 0.04765693 0.99882042 0.00930477 -0.1485624 ] [ 0.00523875 -0.00956516 0.99994053 -0.05389555] [ 0. 0. 0. 1. ]] SLAMing on 106.75992885099998 meters Centerline goodness [0,1] 0.6394484909015614 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.05 [[ 0.99885763 -0.04745815 -0.00558223 0.64681857] [ 0.04751039 0.99882433 0.0096295 -0.14966338] [ 0.00511867 -0.00988371 0.99993805 -0.05426869] [ 0. 0. 0. 1. ]] SLAMing on 106.78992885099998 meters Centerline goodness [0,1] 0.6364278924663043 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.05 [[ 0.99887036 -0.04718347 -0.00563305 0.64717333] [ 0.04723857 0.99883271 0.0100863 -0.15115873] [ 0.00515057 -0.01034101 0.99993327 -0.05453324] [ 0. 0. 0. 1. ]] SLAMing on 106.81992885099999 meters Centerline goodness [0,1] 0.6354539478489518 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.05 [[ 0.99888741 -0.04680129 -0.00579464 0.64782005] [ 0.04686085 0.99884508 0.0106099 -0.15261121] [ 0.00529139 -0.01086964 0.99992692 -0.05486588] [ 0. 0. 0. 1. ]] SLAMing on 106.84992885099999 meters Centerline goodness [0,1] 0.6352878413114118 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.06 [[ 0.99892005 -0.04606293 -0.00607718 0.64892909] [ 0.04613007 0.99887022 0.01141456 -0.15442729] [ 0.00554453 -0.01168258 0.99991638 -0.05539301] [ 0. 0. 0. 1. ]] SLAMing on 106.87992885099999 meters Centerline goodness [0,1] 0.6355151515151516 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.06 [[ 0.99893611 -0.04568254 -0.00630559 0.64953095] [ 0.04575355 0.99888521 0.01161716 -0.15487295] [ 0.00576786 -0.0118933 0.99991264 -0.05536982] [ 0. 0. 0. 1. ]] SLAMing on 106.90992885099999 meters Centerline goodness [0,1] 0.634274378885744 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.06 [[ 0.99895944 -0.04512155 -0.0066401 0.65047157] [ 0.04519815 0.99890744 0.01187622 -0.15531034] [ 0.00609698 -0.01216398 0.99990743 -0.05542039] [ 0. 0. 0. 1. ]] SLAMing on 106.93992885099999 meters Centerline goodness [0,1] 0.6356320446006545 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.06 [[ 0.99898658 -0.04447263 -0.00692873 0.65141348] [ 0.04455467 0.99893277 0.01217382 -0.15570936] [ 0.00637993 -0.01247019 0.99990189 -0.05557107] [ 0. 0. 0. 1. ]] SLAMing on 106.96992885099999 meters Centerline goodness [0,1] 0.6343823912728677 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.06 [[ 0.99901758 -0.04370014 -0.00735977 0.65269668] [ 0.04378958 0.99896301 0.01246487 -0.15590579] [ 0.00680742 -0.01277491 0.99989522 -0.05572599] [ 0. 0. 0. 1. ]] SLAMing on 106.99992885099999 meters Centerline goodness [0,1] 0.6445615646834126 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.06 [[ 0.99919745 -0.03936641 -0.00739835 0.65272491] [ 0.03948552 0.99908043 0.01670877 -0.15712746] [ 0.00673379 -0.01698748 0.99983303 -0.05592977] [ 0. 0. 0. 1. ]] SLAMing on 107.02992885099998 meters Centerline goodness [0,1] 0.6449199932218161 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.06 [[ 0.99922397 -0.0386114 -0.00778594 0.65384061] [ 0.03873761 0.9991087 0.0167689 -0.15634542] [ 0.00713152 -0.0170575 0.99982908 -0.05589205] [ 0. 0. 0. 1. ]] SLAMing on 107.05992885099998 meters Centerline goodness [0,1] 0.6579189686924494 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.06 [[ 0.99938936 -0.03401562 -0.0079901 0.6542871 ] [ 0.0341775 0.9991934 0.02108194 -0.1574467 ] [ 0.00726654 -0.02134215 0.99974582 -0.05603751] [ 0. 0. 0. 1. ]] SLAMing on 107.08992885099998 meters Centerline goodness [0,1] 0.6571601354620222 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.06 [[ 0.99941295 -0.03323607 -0.00831392 0.65533332] [ 0.03340602 0.99921669 0.02121416 -0.15714847] [ 0.00760233 -0.02147944 0.99974039 -0.05609171] [ 0. 0. 0. 1. ]] SLAMing on 107.11992885099998 meters Centerline goodness [0,1] 0.6649149997578341 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.06 [[ 0.99943747 -0.03241315 -0.00860976 0.65632587] [ 0.03259202 0.99923708 0.02151804 -0.15719484] [ 0.00790572 -0.02178655 0.99973139 -0.05620258] [ 0. 0. 0. 1. ]] SLAMing on 107.14992885099998 meters Centerline goodness [0,1] 0.6899344761720545 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.06 [[ 0.99945726 -0.03170944 -0.00892781 0.65725444] [ 0.03189595 0.99925806 0.02158663 -0.15689787] [ 0.00823669 -0.02185968 0.99972712 -0.05609521] [ 0. 0. 0. 1. ]] SLAMing on 107.17992885099999 meters Centerline goodness [0,1] 0.6734080945576089 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.06 [[ 0.99958986 -0.02715593 -0.00909225 0.65764706] [ 0.02738506 0.99928407 0.0261036 -0.15884019] [ 0.00837687 -0.02634188 0.99961789 -0.05631527] [ 0. 0. 0. 1. ]] SLAMing on 107.20992885099999 meters Centerline goodness [0,1] 0.708992536412164 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.06 [[ 0.99960715 -0.02636872 -0.00949929 0.65895112] [ 0.02660988 0.99930187 0.02622383 -0.15846743] [ 0.00880117 -0.0264663 0.99961096 -0.0564272 ] [ 0. 0. 0. 1. ]] SLAMing on 107.23992885099999 meters Centerline goodness [0,1] 0.7404053890035198 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.06 [[ 0.9996283 -0.02539651 -0.00991368 0.66040141] [ 0.02565224 0.99931745 0.02658193 -0.15842136] [ 0.00923183 -0.02682636 0.99959748 -0.05676543] [ 0. 0. 0. 1. ]] SLAMing on 107.26992885099999 meters Centerline goodness [0,1] 0.7002551330336533 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.06 [[ 0.99964912 -0.02435296 -0.01041939 0.66215418] [ 0.02462678 0.9993317 0.02701262 -0.15841944] [ 0.00975459 -0.02725974 0.99958079 -0.05726656] [ 0. 0. 0. 1. ]] SLAMing on 107.29992885099999 meters Centerline goodness [0,1] 0.75 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.06 [[ 0.9997575 -0.0192115 -0.01076404 0.66379625] [ 0.01954547 0.99930212 0.03183156 -0.16023172] [ 0.01014499 -0.03203423 0.99943528 -0.05835672] [ 0. 0. 0. 1. ]] SLAMing on 107.32992885099999 meters Centerline goodness [0,1] 0.7630004601932812 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.06 [[ 0.99977461 -0.01807477 -0.01113706 0.66523645] [ 0.01842395 0.9993151 0.0320918 -0.159793 ] [ 0.01054938 -0.03228976 0.99942287 -0.05854378] [ 0. 0. 0. 1. ]] SLAMing on 107.35992885099999 meters Centerline goodness [0,1] 0.7642915920422092 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.06 [[ 0.99979148 -0.01687186 -0.01150398 0.66669988] [ 0.01723659 0.99932701 0.03237952 -0.15923952] [ 0.01094994 -0.03257105 0.99940944 -0.0587569 ] [ 0. 0. 0. 1. ]] SLAMing on 107.389928851 meters Centerline goodness [0,1] 0.7662067296054225 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.06 [[ 0.99980526 -0.01579771 -0.01182675 0.66791939] [ 0.01617581 0.99933797 0.03258786 -0.15865558] [ 0.01130411 -0.03277282 0.9993989 -0.05882661] [ 0. 0. 0. 1. ]] SLAMing on 107.41992885099998 meters Centerline goodness [0,1] 0.7662067296054225 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.06 [[ 0.99980526 -0.01579771 -0.01182675 0.66791939] [ 0.01617581 0.99933797 0.03258786 -0.15865558] [ 0.01130411 -0.03277282 0.9993989 -0.05882661] [ 0. 0. 0. 1. ]] SLAMing on 107.44992885099998 meters Centerline goodness [0,1] 0.7672737855601096 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.06 [[ 0.99981542 -0.01488517 -0.01214734 0.66906189] [ 0.01527545 0.99934863 0.03269516 -0.15789195] [ 0.01165275 -0.03287468 0.99939155 -0.05888319] [ 0. 0. 0. 1. ]] SLAMing on 107.47992885099998 meters Centerline goodness [0,1] 0.7662217908274691 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.06 [[ 0.99987259 -0.01003524 -0.0124138 0.67011546] [ 0.0104908 0.99925299 0.03719428 -0.15915707] [ 0.01203127 -0.03731977 0.99923095 -0.0593599 ] [ 0. 0. 0. 1. ]] SLAMing on 107.50992885099998 meters Centerline goodness [0,1] 0.7673634688136579 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.06 [[ 0.99987451 -0.00938002 -0.01276668 0.67132553] [ 0.00985076 0.99925469 0.03732315 -0.15899161] [ 0.01240707 -0.03744422 0.99922169 -0.05960747] [ 0. 0. 0. 1. ]] SLAMing on 107.53992885099998 meters Centerline goodness [0,1] 0.7680273593829586 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.06 [[ 0.99987619 -0.00888048 -0.01298992 0.67215416] [ 0.00936097 0.9992562 0.0374088 -0.15902666] [ 0.01264805 -0.03752577 0.99921561 -0.05974866] [ 0. 0. 0. 1. ]] SLAMing on 107.56992885099999 meters Centerline goodness [0,1] 0.768542477811903 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.06 [[ 0.99987942 -0.00812467 -0.01323422 0.67322646] [ 0.00861806 0.99925338 0.03766186 -0.15951287] [ 0.01291835 -0.03777137 0.9992029 -0.05998866] [ 0. 0. 0. 1. ]] SLAMing on 107.59992885099999 meters Centerline goodness [0,1] 0.767997682391 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.06 [[ 0.99987822 -0.00800178 -0.01339868 0.67352081] [ 0.00850106 0.99925557 0.03763033 -0.15964422] [ 0.01308759 -0.03773965 0.9992019 -0.0598341 ] [ 0. 0. 0. 1. ]] SLAMing on 107.62992885099999 meters Centerline goodness [0,1] 0.7690778628914962 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.06 [[ 0.99987753 -0.00787116 -0.0135265 0.67383443] [ 0.00837381 0.999261 0.03751457 -0.159721 ] [ 0.01322122 -0.03762324 0.99920453 -0.05962883] [ 0. 0. 0. 1. ]] SLAMing on 107.65992885099999 meters Centerline goodness [0,1] 0.7675151515151515 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.06 [[ 0.99987605 -0.00777726 -0.01368956 0.67406158] [ 0.00828598 0.99926209 0.037505 -0.16019142] [ 0.01338778 -0.03761378 0.99920267 -0.05937473] [ 0. 0. 0. 1. ]] SLAMing on 107.68992885099999 meters Centerline goodness [0,1] 0.7690225273131587 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.06 [[ 0.99987551 -0.00778123 -0.01372635 0.67392923] [ 0.00829499 0.99925173 0.03777801 -0.16203853] [ 0.01342212 -0.03788717 0.99919188 -0.05902034] [ 0. 0. 0. 1. ]] SLAMing on 107.71992885099999 meters Centerline goodness [0,1] 0.7707483157462632 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.06 [[ 0.99984058 -0.01106295 -0.01401529 0.67487726] [ 0.01152932 0.99936739 0.03364358 -0.16083044] [ 0.01363423 -0.0337998 0.99933562 -0.05864608] [ 0. 0. 0. 1. ]] SLAMing on 107.74992885099999 meters Centerline goodness [0,1] 0.7680342868149861 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.06 [[ 0.99979024 -0.01461433 -0.01434911 0.67567848] [ 0.01503217 0.999453 0.02945741 -0.15992665] [ 0.01391076 -0.02966693 0.99946304 -0.05809683] [ 0. 0. 0. 1. ]] SLAMing on 107.77992885099998 meters Centerline goodness [0,1] 0.7669592401106168 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.06 [[ 0.99972957 -0.01808285 -0.01462198 0.67648527] [ 0.01845238 0.99950336 0.02554494 -0.15956066] [ 0.0141528 -0.02580784 0.99956673 -0.0577548 ] [ 0. 0. 0. 1. ]] SLAMing on 107.80992885099998 meters Centerline goodness [0,1] 0.7667595082597003 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.06 [[ 0.99965384 -0.02172806 -0.01483571 0.67718838] [ 0.02204596 0.99952334 0.02161166 -0.15951885] [ 0.01435906 -0.02193125 0.99965636 -0.057476 ] [ 0. 0. 0. 1. ]] SLAMing on 107.83992885099998 meters Centerline goodness [0,1] 0.7618593790950895 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.06 [[ 0.9995455 -0.02632301 -0.01469335 0.67644303] [ 0.02658075 0.99949119 0.01763016 -0.16166917] [ 0.0142218 -0.01801271 0.99973661 -0.05661146] [ 0. 0. 0. 1. ]] SLAMing on 107.86992885099998 meters Centerline goodness [0,1] 0.7602778699796102 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.06 [[ 0.99943795 -0.03007749 -0.01480305 0.67684736] [ 0.03028119 0.99944706 0.01373398 -0.16191991] [ 0.01438178 -0.01417451 0.9997961 -0.05626053] [ 0. 0. 0. 1. ]] SLAMing on 107.89992885099998 meters Centerline goodness [0,1] 0.7544509161223383 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.06 [[ 0.99930282 -0.03434544 -0.01463775 0.67640731] [ 0.0344969 0.99935251 0.01022365 -0.16445792] [ 0.01427714 -0.01072148 0.99984059 -0.05586973] [ 0. 0. 0. 1. ]] SLAMing on 107.92992885099999 meters Centerline goodness [0,1] 0.756007610814874 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.06 [[ 0.99928823 -0.03479305 -0.01457635 0.67611973] [ 0.03494734 0.99933434 0.01046715 -0.16621677] [ 0.01420247 -0.0109691 0.99983897 -0.05592345] [ 0. 0. 0. 1. ]] SLAMing on 107.95992885099999 meters Centerline goodness [0,1] 0.756561848790653 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.06 [[ 0.9992765 -0.03517762 -0.01445733 0.67575191] [ 0.03533403 0.99931817 0.01070999 -0.16789182] [ 0.01407073 -0.01121308 0.99983813 -0.05599285] [ 0. 0. 0. 1. ]] SLAMing on 107.98992885099999 meters Centerline goodness [0,1] 0.7560941440179322 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.06 [[ 0.99926876 -0.03542847 -0.01437919 0.67554837] [ 0.0355874 0.99930656 0.01095114 -0.16945242] [ 0.01398124 -0.01145485 0.99983664 -0.05607092] [ 0. 0. 0. 1. ]] SLAMing on 108.01992885099999 meters Centerline goodness [0,1] 0.7493790189660375 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.06 [[ 0.99924757 -0.03598941 -0.01445883 0.67533319] [ 0.03615144 0.99928461 0.01110575 -0.17253664] [ 0.01404879 -0.0116201 0.99983379 -0.05579437] [ 0. 0. 0. 1. ]] SLAMing on 108.04992885099999 meters Centerline goodness [0,1] 0.7545949704484877 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.06 [[ 0.99924614 -0.03606132 -0.01437789 0.6752354 ] [ 0.03622593 0.99927909 0.01135731 -0.17372584] [ 0.01395797 -0.0118696 0.99983213 -0.05593833] [ 0. 0. 0. 1. ]] SLAMing on 108.07992885099999 meters Centerline goodness [0,1] 0.7539768660679242 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.06 [[ 0.99924312 -0.03613291 -0.01440816 0.67532064] [ 0.03629981 0.99927482 0.01149574 -0.17463201] [ 0.01398234 -0.01201006 0.99983011 -0.05594343] [ 0. 0. 0. 1. ]] SLAMing on 108.10992885099999 meters Centerline goodness [0,1] 0.7533515162721893 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.06 [[ 0.99923938 -0.03621561 -0.01446026 0.67537542] [ 0.03638352 0.99927147 0.01152231 -0.1749241 ] [ 0.01403244 -0.01203967 0.99982905 -0.0558985 ] [ 0. 0. 0. 1. ]] SLAMing on 108.139928851 meters Centerline goodness [0,1] 0.7544726332556153 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.18, Z:-0.06 [[ 0.99923985 -0.03619847 -0.01447016 0.6754442 ] [ 0.03636832 0.99927052 0.01165243 -0.175563 ] [ 0.0140378 -0.01216983 0.9998274 -0.05588391] [ 0. 0. 0. 1. ]] SLAMing on 108.16992885099998 meters Centerline goodness [0,1] 0.7533946055791613 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.18, Z:-0.06 [[ 0.99924024 -0.03619218 -0.01445945 0.67558385] [ 0.03636208 0.9992706 0.01166519 -0.17563235] [ 0.01402672 -0.0121821 0.99982741 -0.05604278] [ 0. 0. 0. 1. ]] SLAMing on 108.19992885099998 meters Centerline goodness [0,1] 0.7535001729904278 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.18, Z:-0.06 [[ 0.99923665 -0.03630961 -0.01441249 0.67566308] [ 0.03647768 0.99926743 0.01157502 -0.17555416] [ 0.01398165 -0.01209192 0.99982913 -0.0562778 ] [ 0. 0. 0. 1. ]] SLAMing on 108.22992885099998 meters Centerline goodness [0,1] 0.7519365547768351 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.18, Z:-0.06 [[ 0.99923114 -0.03648567 -0.01435004 0.67589418] [ 0.03665019 0.99926343 0.01137387 -0.17503376] [ 0.01392448 -0.01189106 0.99983234 -0.05669743] [ 0. 0. 0. 1. ]] SLAMing on 108.25992885099998 meters Centerline goodness [0,1] 0.7530613656804188 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.06 [[ 0.99922785 -0.03656448 -0.0143783 0.67612114] [ 0.03672748 0.9992621 0.01124086 -0.17456314] [ 0.01395668 -0.01176026 0.99983344 -0.05688677] [ 0. 0. 0. 1. ]] SLAMing on 108.28992885099998 meters Centerline goodness [0,1] 0.7511383335259447 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.06 [[ 0.999225 -0.03660069 -0.01448379 0.67634432] [ 0.03676209 0.99926308 0.0110386 -0.17397661] [ 0.0140691 -0.0115625 0.99983417 -0.05682164] [ 0. 0. 0. 1. ]] SLAMing on 108.31992885099999 meters Centerline goodness [0,1] 0.7525887830982 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.06 [[ 0.99921859 -0.0367733 -0.0144892 0.67642161] [ 0.03693054 0.99926014 0.01073855 -0.17313835] [ 0.01408359 -0.01126526 0.99983736 -0.0568317 ] [ 0. 0. 0. 1. ]] SLAMing on 108.34992885099999 meters Centerline goodness [0,1] 0.7500695474777448 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.06 [[ 0.99920317 -0.0372127 -0.01443044 0.67624677] [ 0.03736033 0.99925083 0.01009901 -0.17151453] [ 0.01404382 -0.01063008 0.99984487 -0.05672849] [ 0. 0. 0. 1. ]] SLAMing on 108.37992885099999 meters Centerline goodness [0,1] 0.7467140402210766 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.06 [[ 0.99919645 -0.03740443 -0.0143998 0.67628337] [ 0.03754859 0.99924602 0.00987427 -0.17082966] [ 0.0140196 -0.01040702 0.99984756 -0.0568524 ] [ 0. 0. 0. 1. ]] SLAMing on 108.40992885099999 meters Centerline goodness [0,1] 0.744037934080238 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.06 [[ 0.99918503 -0.03775085 -0.01428843 0.67601679] [ 0.03788906 0.99923652 0.00952889 -0.17004121] [ 0.0139178 -0.0100625 0.99985251 -0.05679694] [ 0. 0. 0. 1. ]] SLAMing on 108.43992885099999 meters Centerline goodness [0,1] 0.7391780438935744 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.06 [[ 0.99917249 -0.03815828 -0.01408087 0.67552806] [ 0.03828961 0.99922454 0.00917776 -0.1694199 ] [ 0.01371974 -0.00970931 0.99985874 -0.05672791] [ 0. 0. 0. 1. ]] SLAMing on 108.46992885099999 meters Centerline goodness [0,1] 0.7271474935207454 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.17, Z:-0.06 [[ 0.99914019 -0.03909642 -0.0137965 0.67447222] [ 0.03921439 0.99919563 0.00838583 -0.16799829] [ 0.01345754 -0.00891964 0.99986966 -0.05628975] [ 0. 0. 0. 1. ]] SLAMing on 108.49992885099999 meters Centerline goodness [0,1] 0.7189822689251846 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.17, Z:-0.06 [[ 0.99912607 -0.03951981 -0.01361204 0.67403323] [ 0.03963147 0.99918207 0.0080335 -0.16751284] [ 0.01328342 -0.00856594 0.99987508 -0.05620215] [ 0. 0. 0. 1. ]] SLAMing on 108.52992885099998 meters Centerline goodness [0,1] 0.7096201467084053 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.17, Z:-0.06 [[ 0.9991111 -0.03996863 -0.01339878 0.67351895] [ 0.04007487 0.99916657 0.00775656 -0.16715667] [ 0.0130776 -0.00828662 0.99988015 -0.05615524] [ 0. 0. 0. 1. ]] SLAMing on 108.55992885099998 meters Centerline goodness [0,1] 0.7017335106507081 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.17, Z:-0.06 [[ 0.99909508 -0.04041545 -0.01325227 0.67324851] [ 0.04051654 0.99915109 0.00745034 -0.1665575 ] [ 0.01293991 -0.00798054 0.99988443 -0.0562686 ] [ 0. 0. 0. 1. ]] SLAMing on 108.58992885099998 meters Centerline goodness [0,1] 0.6821531335532318 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.17, Z:-0.06 [[ 0.99905621 -0.04146816 -0.01292593 0.67240433] [ 0.04155873 0.9991128 0.00681809 -0.16511059] [ 0.01263172 -0.00734884 0.99989321 -0.05646053] [ 0. 0. 0. 1. ]] SLAMing on 108.61992885099998 meters Centerline goodness [0,1] 0.6796957284961966 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.06 [[ 0.99903902 -0.04194851 -0.01270303 0.67199409] [ 0.04203329 0.99909518 0.00648237 -0.16430852] [ 0.01241961 -0.00701009 0.9998983 -0.05662421] [ 0. 0. 0. 1. ]] SLAMing on 108.64992885099998 meters Centerline goodness [0,1] 0.6720991945142427 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.06 [[ 0.99901778 -0.04249808 -0.01254519 0.67160741] [ 0.04257556 0.99907539 0.00597426 -0.1630921 ] [ 0.0122797 -0.00650251 0.99990346 -0.05663583] [ 0. 0. 0. 1. ]] SLAMing on 108.67992885099999 meters Centerline goodness [0,1] 0.6669568695734017 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.06 [[ 0.99899959 -0.04299191 -0.01230953 0.67114142] [ 0.04306216 0.99905726 0.00549998 -0.16188964] [ 0.01206147 -0.00602455 0.99990911 -0.05670043] [ 0. 0. 0. 1. ]] SLAMing on 108.70992885099999 meters Centerline goodness [0,1] 0.6968291706880723 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.06 [[ 0.99898257 -0.04346554 -0.01202351 0.67072421] [ 0.04352883 0.99903939 0.00505311 -0.1602926 ] [ 0.01179233 -0.00557134 0.99991495 -0.0569998 ] [ 0. 0. 0. 1. ]] SLAMing on 108.73992885099999 meters Centerline goodness [0,1] 0.6877858073687952 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.06 [[ 0.99894729 -0.04434997 -0.01172102 0.67034513] [ 0.04439967 0.99900578 0.00401439 -0.15646294] [ 0.01153133 -0.00453058 0.99992325 -0.05750987] [ 0. 0. 0. 1. ]] SLAMing on 108.76992885099999 meters Centerline goodness [0,1] 0.6836156847815742 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.06 [[ 0.99893389 -0.04466207 -0.01167832 0.67039623] [ 0.04470603 0.99899395 0.00353039 -0.15469472] [ 0.01150889 -0.00404872 0.99992557 -0.05773914] [ 0. 0. 0. 1. ]] SLAMing on 108.79992885099999 meters Centerline goodness [0,1] 0.6844748421656782 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.06 [[ 0.9989239 -0.04490806 -0.0115893 0.67052258] [ 0.04494713 0.99898445 0.00313296 -0.15300639] [ 0.01143683 -0.0036505 0.99992793 -0.05818823] [ 0. 0. 0. 1. ]] SLAMing on 108.82992885099999 meters Centerline goodness [0,1] 0.6769533972648833 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.06 [[ 0.99890996 -0.04526021 -0.0114198 0.67091654] [ 0.04528963 0.99897118 0.0023307 -0.14861048] [ 0.01130257 -0.00284536 0.99993208 -0.05917034] [ 0. 0. 0. 1. ]] SLAMing on 108.85992885099999 meters Centerline goodness [0,1] 0.6574621641845084 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.06 [[ 0.99889755 -0.04551646 -0.01148607 0.67115751] [ 0.04553671 0.99896153 0.00150788 -0.14535725] [ 0.01140551 -0.00202926 0.9999329 -0.05919955] [ 0. 0. 0. 1. ]] SLAMing on 108.889928851 meters Centerline goodness [0,1] 0.6780802014722975 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.06 [[ 0.99901973 -0.04284257 -0.01113973 0.66968318] [ 0.04289609 0.9990689 0.00461092 -0.14384617] [ 0.01093182 -0.00508425 0.99992732 -0.05922373] [ 0. 0. 0. 1. ]] SLAMing on 108.91992885099998 meters Centerline goodness [0,1] 0.6614796415351647 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.06 [[ 0.99902294 -0.0427467 -0.01121954 0.67033683] [ 0.04279507 0.99907543 0.00410668 -0.14045625] [ 0.01103362 -0.00458281 0.99992863 -0.05974277] [ 0. 0. 0. 1. ]] SLAMing on 108.94992885099998 meters Centerline goodness [0,1] 0.6723497429084557 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.06 [[ 0.99914858 -0.03983386 -0.01074117 0.66929129] [ 0.03990577 0.99918188 0.00656583 -0.13601011] [ 0.01047084 -0.00698888 0.99992076 -0.06020451] [ 0. 0. 0. 1. ]] SLAMing on 108.97992885099998 meters Centerline goodness [0,1] 0.6652136436399458 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.06 [[ 0.9991502 -0.03976465 -0.01084637 0.67005694] [ 0.03983044 0.99918893 0.00591786 -0.13283464] [ 0.01060225 -0.00634485 0.99992366 -0.06065066] [ 0. 0. 0. 1. ]] SLAMing on 109.00992885099998 meters Centerline goodness [0,1] 0.6804880468207519 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.06 [[ 0.99914643 -0.03983508 -0.01093539 0.6706966 ] [ 0.03989398 0.99919028 0.00522119 -0.12977808] [ 0.01071855 -0.00565299 0.99992658 -0.0610961 ] [ 0. 0. 0. 1. ]] SLAMing on 109.03992885099998 meters Centerline goodness [0,1] 0.6768874386629138 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.06 [[ 0.99914999 -0.03972803 -0.01099902 0.67166903] [ 0.0397835 0.99919645 0.00487151 -0.12721905] [ 0.01079664 -0.00530494 0.99992764 -0.06212899] [ 0. 0. 0. 1. ]] SLAMing on 109.06992885099999 meters Centerline goodness [0,1] 0.6776583454718972 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.06 [[ 0.99915693 -0.03956558 -0.01095403 0.67287464] [ 0.03961529 0.9992055 0.0043584 -0.12170099] [ 0.01077288 -0.00478867 0.9999305 -0.06382539] [ 0. 0. 0. 1. ]] SLAMing on 109.09992885099999 meters Centerline goodness [0,1] 0.6773884547517015 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.06 [[ 0.99914712 -0.0398172 -0.01093714 0.67296217] [ 0.0398599 0.99919838 0.0037142 -0.11874541] [ 0.01078049 -0.00414698 0.99993329 -0.06397396] [ 0. 0. 0. 1. ]] SLAMing on 109.12992885099999 meters Centerline goodness [0,1] 0.6745911185376474 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.06 [[ 0.99912994 -0.04027343 -0.01083563 0.67263216] [ 0.04030758 0.99918296 0.00295172 -0.11586583] [ 0.0107079 -0.00338591 0.99993694 -0.06384429] [ 0. 0. 0. 1. ]] SLAMing on 109.15992885099999 meters Centerline goodness [0,1] 0.6711617729377639 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.06 [[ 0.9990935 -0.04131028 -0.01027803 0.67119063] [ 0.04132902 0.99914428 0.00161838 -0.11124019] [ 0.01020237 -0.00204169 0.99994587 -0.06365205] [ 0. 0. 0. 1. ]] SLAMing on 109.18992885099999 meters Centerline goodness [0,1] 0.6730553287055941 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.06 [[ 9.99073178e-01 -4.18877980e-02 -9.90944790e-03 6.70263735e-01] [ 4.18996676e-02 9.99121330e-01 9.93155131e-04 -1.09294117e-01] [ 9.85913969e-03 -1.40743723e-03 9.99950407e-01 -6.35762517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.21992885099999 meters Centerline goodness [0,1] 0.6717224502281476 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.06 [[ 9.99058360e-01 -4.22720988e-02 -9.77050607e-03 6.70074139e-01] [ 4.22796814e-02 9.99105651e-01 5.70738672e-04 -1.07654913e-01] [ 9.73764151e-03 -9.83295126e-04 9.99952105e-01 -6.38343760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24992885099999 meters Centerline goodness [0,1] 0.6728742453698966 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.11, Z:-0.06 [[ 9.99038439e-01 -4.27952001e-02 -9.52725177e-03 6.69499142e-01] [ 4.27967166e-02 9.99083800e-01 -4.47311838e-05 -1.05793489e-01] [ 9.52043718e-03 -3.63046922e-04 9.99954614e-01 -6.38398957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27992885099998 meters Centerline goodness [0,1] 0.6738159987685362 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.06 [[ 9.99009637e-01 -4.35476289e-02 -9.12953901e-03 6.69008709e-01] [ 4.35420992e-02 9.99051270e-01 -8.03680353e-04 -1.02343540e-01] [ 9.15587592e-03 4.05365125e-04 9.99958002e-01 -6.45979983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30992885099998 meters Centerline goodness [0,1] 0.6780310827501029 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.07 [[ 9.98996914e-01 -4.38552443e-02 -9.04899789e-03 6.69062340e-01] [ 4.38461890e-02 9.99037577e-01 -1.19675338e-03 -1.00450217e-01] [ 9.09277284e-03 7.98788858e-04 9.99958341e-01 -6.50221406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33992885099998 meters Centerline goodness [0,1] 0.6780310827501029 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.07 [[ 9.98996914e-01 -4.38552443e-02 -9.04899789e-03 6.69062340e-01] [ 4.38461890e-02 9.99037577e-01 -1.19675338e-03 -1.00450217e-01] [ 9.09277284e-03 7.98788858e-04 9.99958341e-01 -6.50221406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36992885099998 meters Centerline goodness [0,1] 0.675106136626785 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.07 [[ 0.99898719 -0.04408902 -0.00898662 0.66928895] [ 0.04407678 0.99902694 -0.00155559 -0.09868585] [ 0.00904646 0.00115792 0.99995841 -0.06558035] [ 0. 0. 0. 1. ]] SLAMing on 109.39992885099998 meters Centerline goodness [0,1] 0.6779722172108966 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.07 [[ 0.99898243 -0.0442028 -0.00895664 0.66974048] [ 0.04418896 0.99902168 -0.00173719 -0.09725014] [ 0.00902466 0.00133964 0.99995838 -0.0663487 ] [ 0. 0. 0. 1. ]] SLAMing on 109.42992885099999 meters Centerline goodness [0,1] 0.6826454422897439 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.07 [[ 0.99897582 -0.04436402 -0.0088967 0.67056274] [ 0.0443479 0.99901414 -0.00200178 -0.0948004 ] [ 0.00897674 0.00160518 0.99995842 -0.06779353] [ 0. 0. 0. 1. ]] SLAMing on 109.45992885099999 meters Centerline goodness [0,1] 0.6851423972584958 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.07 [[ 0.99897587 -0.04435661 -0.00892764 0.67115016] [ 0.04433969 0.99901434 -0.0020844 -0.09386483] [ 0.0090113 0.00168641 0.99995798 -0.06846542] [ 0. 0. 0. 1. ]] SLAMing on 109.48992885099999 meters Centerline goodness [0,1] 0.6867645527439341 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.07 [[ 0.998972 -0.04444355 -0.00892865 0.67150092] [ 0.04442494 0.99901014 -0.00227242 -0.09257978] [ 0.00902081 0.00187343 0.99995756 -0.06897772] [ 0. 0. 0. 1. ]] SLAMing on 109.51992885099999 meters Centerline goodness [0,1] 0.6865986909015047 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.07 [[ 0.99896501 -0.04459601 -0.00894971 0.67166281] [ 0.04457341 0.99900244 -0.00270896 -0.09068242] [ 0.00906159 0.00230724 0.99995628 -0.06909178] [ 0. 0. 0. 1. ]] SLAMing on 109.54992885099999 meters Centerline goodness [0,1] 0.691521079610838 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.07 [[ 9.99090007e-01 -4.18210042e-02 -8.37620153e-03 6.69711461e-01] [ 4.18271778e-02 9.99124702e-01 5.63139287e-04 -8.88704212e-02] [ 8.34531880e-03 -9.12979705e-04 9.99964760e-01 -6.93168956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.57992885099999 meters Centerline goodness [0,1] 0.6926787071745 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.07 [[ 9.99092681e-01 -4.17288153e-02 -8.51590479e-03 6.70164828e-01] [ 4.17316287e-02 9.99128844e-01 1.52856771e-04 -8.68531149e-02] [ 8.50210758e-03 -5.08100657e-04 9.99963727e-01 -6.93172095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60992885099999 meters Centerline goodness [0,1] 0.692979923894502 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.07 [[ 9.99095933e-01 -4.16197854e-02 -8.66663503e-03 6.70716961e-01] [ 4.16198994e-02 9.99133503e-01 -1.67271437e-04 -8.52135747e-02] [ 8.66608721e-03 -1.93584266e-04 9.99962430e-01 -6.94383680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.639928851 meters Centerline goodness [0,1] 0.6923887002079878 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.07 [[ 9.99095557e-01 -4.16326202e-02 -8.64832703e-03 6.70980265e-01] [ 4.16274697e-02 9.99132901e-01 -7.74777737e-04 -8.24998015e-02] [ 8.67308410e-03 4.14069023e-04 9.99962302e-01 -6.96151884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66992885099998 meters Centerline goodness [0,1] 0.6929972579624553 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.07 [[ 9.99085484e-01 -4.19159790e-02 -8.44076193e-03 6.70595110e-01] [ 4.19086813e-02 9.99120904e-01 -1.03968818e-03 -8.12070293e-02] [ 8.47692124e-03 6.84996172e-04 9.99963836e-01 -6.98575033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69992885099998 meters Centerline goodness [0,1] 0.6980709429188847 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.07 [[ 9.99082975e-01 -4.19876636e-02 -8.38123810e-03 6.70593634e-01] [ 4.19807895e-02 9.99117923e-01 -9.94506956e-04 -8.08689393e-02] [ 8.41560223e-03 6.41743976e-04 9.99964382e-01 -7.01722664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72992885099998 meters Centerline goodness [0,1] 0.6968689826171823 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.07 [[ 9.99075148e-01 -4.22021504e-02 -8.23571702e-03 6.70300209e-01] [ 4.21952810e-02 9.99108876e-01 -1.00615143e-03 -8.05620092e-02] [ 8.27083973e-03 6.57712499e-04 9.99965580e-01 -7.03613310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75992885099998 meters Centerline goodness [0,1] 0.6973788302304731 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.07 [[ 9.99066945e-01 -4.24259255e-02 -8.07959608e-03 6.70062223e-01] [ 4.24194335e-02 9.99099417e-01 -9.73260269e-04 -8.04378140e-02] [ 8.11361120e-03 6.29620274e-04 9.99966886e-01 -7.07063853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78992885099998 meters Centerline goodness [0,1] 0.6961285225177771 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.07 [[ 9.99065356e-01 -4.24810963e-02 -7.98560869e-03 6.70200997e-01] [ 4.24770926e-02 9.99097216e-01 -6.70390268e-04 -8.10215570e-02] [ 8.00687832e-03 3.30558253e-04 9.99967890e-01 -7.13787890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81992885099999 meters Centerline goodness [0,1] 0.6929889104956115 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.07 [[ 9.99066000e-01 -4.24843920e-02 -7.88699417e-03 6.70337128e-01] [ 4.24837954e-02 9.99097126e-01 -2.43237977e-04 -8.19511923e-02] [ 7.89020703e-03 -9.20586540e-05 9.99968868e-01 -7.21145356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84992885099999 meters Centerline goodness [0,1] 0.6917856861043163 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.07 [[ 9.99060712e-01 -4.26284548e-02 -7.77873782e-03 6.70186168e-01] [ 4.26287479e-02 9.99090974e-01 -1.28187390e-04 -8.22995867e-02] [ 7.77713117e-03 -2.03530869e-04 9.99969737e-01 -7.23886528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87992885099999 meters Centerline goodness [0,1] 0.692042976856595 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.07 [[ 9.99062945e-01 -4.25766518e-02 -7.77563680e-03 6.70431538e-01] [ 4.25784871e-02 9.99093123e-01 7.05698989e-05 -8.24661961e-02] [ 7.76558062e-03 -4.01578622e-04 9.99969767e-01 -7.28348173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.90992885099999 meters Centerline goodness [0,1] 0.6956498855233033 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.07 [[ 9.99061914e-01 -4.25929258e-02 -7.81891006e-03 6.70685904e-01] [ 4.25954888e-02 9.99092387e-01 1.61490194e-04 -8.23563299e-02] [ 7.80493518e-03 -4.94388999e-04 9.99969419e-01 -7.31881922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.93992885099999 meters Centerline goodness [0,1] 0.6916880936138952 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.07 [[ 9.99067096e-01 -4.24668389e-02 -7.84251058e-03 6.70973539e-01] [ 4.24717225e-02 9.99097565e-01 4.57143257e-04 -8.27223951e-02] [ 7.81601979e-03 -7.89801719e-04 9.99969143e-01 -7.35938188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.96992885099999 meters Centerline goodness [0,1] 0.695742444152431 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.07 [[ 9.99065881e-01 -4.25055505e-02 -7.78742044e-03 6.70948525e-01] [ 4.25118846e-02 9.99095750e-01 6.49573029e-04 -8.33116378e-02] [ 7.75276821e-03 -9.80024170e-04 9.99969467e-01 -7.38358222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99992885099999 meters Centerline goodness [0,1] 0.6938641612429142 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.07 [[ 0.99906942 -0.04243255 -0.00773126 0.67108675] [ 0.04244221 0.99909833 0.00108956 -0.08461973] [ 0.00767806 -0.00141668 0.99996952 -0.07432117] [ 0. 0. 0. 1. ]] SLAMing on 110.02992885099998 meters Centerline goodness [0,1] 0.6928989271005482 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.07 [[ 0.99906933 -0.04244162 -0.00769269 0.67110547] [ 0.04245375 0.99909742 0.00142118 -0.08578038] [ 0.00762543 -0.00174644 0.9999694 -0.07462002] [ 0. 0. 0. 1. ]] SLAMing on 110.05992885099998 meters Centerline goodness [0,1] 0.6856507521255722 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.07 [[ 0.99906519 -0.04254828 -0.0076407 0.67098317] [ 0.04256329 0.99909213 0.00181285 -0.08745082] [ 0.00755663 -0.00213636 0.99996917 -0.07482038] [ 0. 0. 0. 1. ]] SLAMing on 110.08992885099998 meters Centerline goodness [0,1] 0.6903516115529511 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.07 [[ 0.99906574 -0.04252878 -0.00767781 0.67102731] [ 0.04254489 0.99909266 0.00194743 -0.08780247] [ 0.00758802 -0.00227227 0.99996863 -0.0748245 ] [ 0. 0. 0. 1. ]] SLAMing on 110.11992885099998 meters Centerline goodness [0,1] 0.6935564108606289 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.07 [[ 0.99906933 -0.04242864 -0.00776391 0.67110149] [ 0.04244594 0.99909661 0.00207644 -0.08828594] [ 0.0076688 -0.00240406 0.9999677 -0.07461901] [ 0. 0. 0. 1. ]] SLAMing on 110.14992885099998 meters Centerline goodness [0,1] 0.6939780496110224 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.07 [[ 0.99907456 -0.04228625 -0.00786709 0.67134157] [ 0.04230492 0.99910227 0.00222242 -0.08894801] [ 0.00776605 -0.00255318 0.99996658 -0.07457951] [ 0. 0. 0. 1. ]] SLAMing on 110.17992885099999 meters Centerline goodness [0,1] 0.6903043614684656 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.07 [[ 0.99909815 -0.0416756 -0.00812548 0.67217955] [ 0.04169821 0.99912678 0.0026334 -0.09050485] [ 0.00800863 -0.00296985 0.99996352 -0.07459792] [ 0. 0. 0. 1. ]] SLAMing on 110.20992885099999 meters Centerline goodness [0,1] 0.6919140492415341 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.07 [[ 0.99911577 -0.04119981 -0.00838164 0.67308031] [ 0.04122627 0.99914531 0.00300867 -0.09120104] [ 0.00825052 -0.00335156 0.99996035 -0.0748936 ] [ 0. 0. 0. 1. ]] SLAMing on 110.23992885099999 meters Centerline goodness [0,1] 0.6960564115957169 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.08 [[ 0.99913186 -0.04074006 -0.00870455 0.673997 ] [ 0.04076991 0.99916318 0.00327877 -0.09155545] [ 0.00856369 -0.00363081 0.99995674 -0.07502349] [ 0. 0. 0. 1. ]] SLAMing on 110.26992885099999 meters Centerline goodness [0,1] 0.7053973405926082 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.08 [[ 0.99928776 -0.0367089 -0.00874223 0.67372451] [ 0.03677745 0.99929293 0.00781436 -0.09381339] [ 0.00844919 -0.00813031 0.99993125 -0.0752481 ] [ 0. 0. 0. 1. ]] SLAMing on 110.29992885099999 meters Centerline goodness [0,1] 0.6973766886584982 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.08 [[ 0.99930492 -0.03614312 -0.00912951 0.67479052] [ 0.03621737 0.99931109 0.00810293 -0.09421331] [ 0.00883035 -0.00842795 0.99992549 -0.0753025 ] [ 0. 0. 0. 1. ]] SLAMing on 110.32992885099999 meters Centerline goodness [0,1] 0.7059592605182647 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.09, Z:-0.08 [[ 0.99931782 -0.03571583 -0.00939557 0.67537334] [ 0.03579459 0.99932427 0.00835218 -0.09497576] [ 0.00909092 -0.00868279 0.99992098 -0.07509157] [ 0. 0. 0. 1. ]] SLAMing on 110.35992885099999 meters Centerline goodness [0,1] 0.7071389446777433 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:-0.07 [[ 0.99932101 -0.0356225 -0.00941009 0.67518249] [ 0.03570284 0.9993262 0.00851162 -0.09617131] [ 0.00910055 -0.00884181 0.9999195 -0.07463684] [ 0. 0. 0. 1. ]] SLAMing on 110.38992885099998 meters Centerline goodness [0,1] 0.707995938240425 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.07 [[ 0.99932036 -0.03561892 -0.00949306 0.67498728] [ 0.0357051 0.99932122 0.0090684 -0.09924622] [ 0.00916361 -0.00940118 0.99991382 -0.07423222] [ 0. 0. 0. 1. ]] SLAMing on 110.41992885099998 meters Centerline goodness [0,1] 0.7067346460994199 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:-0.07 [[ 0.99933119 -0.03528178 -0.00961107 0.67571039] [ 0.03537569 0.99932621 0.00978246 -0.10139539] [ 0.00925945 -0.01011592 0.99990596 -0.07487793] [ 0. 0. 0. 1. ]] SLAMing on 110.44992885099998 meters Centerline goodness [0,1] 0.7040652511651994 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:-0.08 [[ 0.99933589 -0.03511151 -0.00974489 0.67624604] [ 0.03521159 0.99932685 0.01029497 -0.1034045 ] [ 0.00937686 -0.01063126 0.99989952 -0.07523693] [ 0. 0. 0. 1. ]] SLAMing on 110.47992885099998 meters Centerline goodness [0,1] 0.7042286365756335 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.08 [[ 0.99933709 -0.03507769 -0.00974361 0.67634483] [ 0.03518123 0.99932402 0.0106665 -0.1050445 ] [ 0.00936287 -0.01100222 0.99989564 -0.07541566] [ 0. 0. 0. 1. ]] SLAMing on 110.50992885099998 meters Centerline goodness [0,1] 0.7032223054859299 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.08 [[ 0.99933731 -0.03507919 -0.0097157 0.67627489] [ 0.0351846 0.99932139 0.01089931 -0.10671834] [ 0.00932677 -0.01123393 0.9998934 -0.07533485] [ 0. 0. 0. 1. ]] SLAMing on 110.53992885099998 meters Centerline goodness [0,1] 0.7010455660255583 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.08 [[ 0.99933595 -0.035137 -0.00964629 0.67586728] [ 0.03524436 0.99931602 0.01119477 -0.10865175] [ 0.00924634 -0.01152732 0.99989081 -0.07501828] [ 0. 0. 0. 1. ]] SLAMing on 110.56992885099999 meters Centerline goodness [0,1] 0.6939493553854846 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.07 [[ 0.99933611 -0.03512194 -0.00968417 0.67545432] [ 0.03523413 0.99931096 0.01166898 -0.11238902] [ 0.00926766 -0.01200245 0.99988502 -0.07431491] [ 0. 0. 0. 1. ]] SLAMing on 110.59992885099999 meters Centerline goodness [0,1] 0.6968314191960623 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.07 [[ 0.99934195 -0.03493222 -0.00976807 0.67559477] [ 0.03504864 0.9993134 0.01201324 -0.11380092] [ 0.00934171 -0.01234769 0.99988013 -0.07419583] [ 0. 0. 0. 1. ]] SLAMing on 110.62992885099999 meters Centerline goodness [0,1] 0.6955564656496365 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.07 [[ 0.99934672 -0.03475696 -0.00990339 0.67575564] [ 0.03487688 0.99931709 0.01220501 -0.11470979] [ 0.00947242 -0.01254243 0.99987647 -0.07391238] [ 0. 0. 0. 1. ]] SLAMing on 110.65992885099999 meters Centerline goodness [0,1] 0.6973404663782732 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.07 [[ 0.99935339 -0.03451404 -0.0100793 0.6759664 ] [ 0.03463906 0.99932166 0.01250419 -0.11588734] [ 0.00964089 -0.01284524 0.99987102 -0.07356361] [ 0. 0. 0. 1. ]] SLAMing on 110.68992885099999 meters Centerline goodness [0,1] 0.6877527661198016 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.07 [[ 0.99935947 -0.03430968 -0.01017284 0.67575599] [ 0.03444103 0.99932177 0.01303153 -0.11924106] [ 0.00971883 -0.01337354 0.99986334 -0.07281777] [ 0. 0. 0. 1. ]] SLAMing on 110.71992885099999 meters Centerline goodness [0,1] 0.6926591532135242 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.07 [[ 0.99936401 -0.03417689 -0.0101743 0.67569225] [ 0.03431369 0.99931871 0.01358958 -0.12185198] [ 0.00970292 -0.01393005 0.99985589 -0.07275652] [ 0. 0. 0. 1. ]] SLAMing on 110.74992885099999 meters Centerline goodness [0,1] 0.6893157202145966 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.07 [[ 0.99936525 -0.03416316 -0.01009873 0.67542131] [ 0.03430321 0.99931289 0.01403729 -0.12451471] [ 0.00961223 -0.01437479 0.99985047 -0.07258797] [ 0. 0. 0. 1. ]] SLAMing on 110.77992885099998 meters Centerline goodness [0,1] 0.6807525908039038 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.13, Z:-0.07 [[ 0.99926815 -0.03669787 -0.01079002 0.6779972 ] [ 0.03682056 0.99925686 0.01140046 -0.12812159] [ 0.01036363 -0.01178941 0.99987679 -0.0730702 ] [ 0. 0. 0. 1. ]] SLAMing on 110.80992885099998 meters Centerline goodness [0,1] 0.6875999600159937 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.13, Z:-0.07 [[ 0.99927918 -0.03637542 -0.01086083 0.67865172] [ 0.03650814 0.99925787 0.01228281 -0.13085734] [ 0.01040598 -0.01267047 0.99986558 -0.0738291 ] [ 0. 0. 0. 1. ]] SLAMing on 110.83992885099998 meters Centerline goodness [0,1] 0.6855664950772152 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.13, Z:-0.07 [[ 0.99928465 -0.0362046 -0.01092811 0.67895485] [ 0.03634447 0.99925626 0.01288429 -0.13314485] [ 0.01045351 -0.01327225 0.99985728 -0.07407016] [ 0. 0. 0. 1. ]] SLAMing on 110.86992885099998 meters Centerline goodness [0,1] 0.682565667088325 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.13, Z:-0.07 [[ 0.99919497 -0.03839494 -0.01162952 0.68203689] [ 0.0385122 0.99920776 0.01003315 -0.13397176] [ 0.01123508 -0.01047295 0.99988204 -0.07496426] [ 0. 0. 0. 1. ]] SLAMing on 110.89992885099998 meters Centerline goodness [0,1] 0.6793045456793787 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.07 [[ 0.99918515 -0.03865019 -0.01162753 0.68168874] [ 0.03877494 0.99919066 0.01070191 -0.13879064] [ 0.01120449 -0.01114405 0.99987513 -0.07468835] [ 0. 0. 0. 1. ]] SLAMing on 110.92992885099999 meters Centerline goodness [0,1] 0.6833131831528041 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.07 [[ 0.99918107 -0.03878994 -0.01151243 0.68117285] [ 0.03891739 0.99918122 0.01106031 -0.14126064] [ 0.01107397 -0.01149929 0.99987256 -0.07437539] [ 0. 0. 0. 1. ]] SLAMing on 110.95992885099999 meters Centerline goodness [0,1] 0.6759806687437137 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.07 [[ 0.99917812 -0.03888132 -0.01145985 0.68078521] [ 0.03901233 0.99917325 0.01143905 -0.14376487] [ 0.01100561 -0.01187672 0.9998689 -0.07404274] [ 0. 0. 0. 1. ]] SLAMing on 110.98992885099999 meters Centerline goodness [0,1] 0.6798483736854977 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.07 [[ 0.99917426 -0.03903478 -0.01127332 0.68012451] [ 0.03916768 0.99916276 0.01181866 -0.14625419] [ 0.01080254 -0.01225045 0.99986661 -0.07374466] [ 0. 0. 0. 1. ]] SLAMing on 111.01992885099999 meters Centerline goodness [0,1] 0.6765177660039858 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.07 [[ 0.99915965 -0.03944788 -0.01112884 0.6793063 ] [ 0.03958336 0.99914145 0.01222768 -0.15067144] [ 0.01063693 -0.01265792 0.99986331 -0.07314563] [ 0. 0. 0. 1. ]] SLAMing on 111.04992885099999 meters Centerline goodness [0,1] 0.6691062427297403 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.07 [[ 0.9991568 -0.03954655 -0.01103454 0.67889599] [ 0.03968364 0.99913417 0.01249445 -0.1523207 ] [ 0.01053087 -0.0129218 0.99986105 -0.07287601] [ 0. 0. 0. 1. ]] SLAMing on 111.07992885099999 meters Centerline goodness [0,1] 0.6726824672030152 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.07 [[ 0.99915656 -0.03956468 -0.01099068 0.67865528] [ 0.03970392 0.9991301 0.0127532 -0.15381111] [ 0.01047654 -0.01317882 0.99985827 -0.07264471] [ 0. 0. 0. 1. ]] SLAMing on 111.10992885099999 meters Centerline goodness [0,1] 0.6737694643976282 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99915941 -0.03949364 -0.01098762 0.67857143] [ 0.03963578 0.99912919 0.01303366 -0.15527837] [ 0.0104633 -0.0134582 0.99985469 -0.07246318] [ 0. 0. 0. 1. ]] SLAMing on 111.13992885099998 meters Centerline goodness [0,1] 0.6702020444401785 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99916617 -0.03933396 -0.01094519 0.67858031] [ 0.03948121 0.99912804 0.01357922 -0.15842172] [ 0.01040153 -0.01400003 0.99984789 -0.07247017] [ 0. 0. 0. 1. ]] SLAMing on 111.16992885099998 meters Centerline goodness [0,1] 0.6703033209447309 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99917571 -0.03908807 -0.01095574 0.67902342] [ 0.03924023 0.99913123 0.01403561 -0.15990036] [ 0.0103976 -0.01445395 0.99984147 -0.07295427] [ 0. 0. 0. 1. ]] SLAMing on 111.19992885099998 meters Centerline goodness [0,1] 0.6739510280284353 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99918012 -0.03899616 -0.01088098 0.67906705] [ 0.03914897 0.99913244 0.01420335 -0.16077448] [ 0.01031767 -0.01461768 0.99983992 -0.07310699] [ 0. 0. 0. 1. ]] SLAMing on 111.22992885099998 meters Centerline goodness [0,1] 0.6739510280284353 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99918012 -0.03899616 -0.01088098 0.67906705] [ 0.03914897 0.99913244 0.01420335 -0.16077448] [ 0.01031767 -0.01461768 0.99983992 -0.07310699] [ 0. 0. 0. 1. ]] SLAMing on 111.25992885099998 meters Centerline goodness [0,1] 0.6732908236647809 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99918586 -0.0388427 -0.01090262 0.67933325] [ 0.03899803 0.99913531 0.01441487 -0.16134789] [ 0.01033328 -0.01482831 0.99983666 -0.07332306] [ 0. 0. 0. 1. ]] SLAMing on 111.28992885099998 meters Centerline goodness [0,1] 0.6695577171881739 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99920028 -0.03845865 -0.01094208 0.6798417 ] [ 0.0386175 0.99914599 0.01469592 -0.16195036] [ 0.01036755 -0.01510672 0.99983214 -0.07362338] [ 0. 0. 0. 1. ]] SLAMing on 111.31992885099999 meters Centerline goodness [0,1] 0.668335689130591 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99920893 -0.03820456 -0.01104233 0.68027512] [ 0.03836675 0.99915308 0.0148698 -0.16223897] [ 0.01046489 -0.0152817 0.99982846 -0.07383147] [ 0. 0. 0. 1. ]] SLAMing on 111.34992885099999 meters Centerline goodness [0,1] 0.6730971505067891 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99921689 -0.03796024 -0.01116329 0.68081474] [ 0.03812576 0.99916024 0.01500812 -0.16262158] [ 0.01058421 -0.01542198 0.99982505 -0.0740858 ] [ 0. 0. 0. 1. ]] SLAMing on 111.37992885099999 meters Centerline goodness [0,1] 0.6714572672055096 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99922382 -0.037766 -0.01120177 0.68103414] [ 0.03793312 0.99916616 0.01510205 -0.16308762] [ 0.01062208 -0.01551525 0.99982321 -0.07410388] [ 0. 0. 0. 1. ]] SLAMing on 111.40992885099999 meters Centerline goodness [0,1] 0.6662682571175866 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99923779 -0.03736561 -0.01129845 0.68159394] [ 0.03753637 0.99917814 0.01529928 -0.16323626] [ 0.01071749 -0.01571172 0.99981912 -0.07438324] [ 0. 0. 0. 1. ]] SLAMing on 111.43992885099999 meters Centerline goodness [0,1] 0.6789159503342884 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99923806 -0.0373462 -0.01133852 0.68172913] [ 0.03751554 0.99918181 0.0151094 -0.16278134] [ 0.01076496 -0.01552326 0.99982156 -0.07429136] [ 0. 0. 0. 1. ]] SLAMing on 111.46992885099999 meters Centerline goodness [0,1] 0.6718428482557305 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99923858 -0.03732095 -0.01137574 0.68185264] [ 0.03749003 0.99918395 0.01503083 -0.16229993] [ 0.01080549 -0.01544586 0.99982232 -0.07430653] [ 0. 0. 0. 1. ]] SLAMing on 111.49992885099999 meters Centerline goodness [0,1] 0.6654616839434058 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99923503 -0.03744374 -0.01128331 0.68173045] [ 0.03760994 0.99918147 0.01489569 -0.16207818] [ 0.01071633 -0.01530866 0.99982539 -0.07436371] [ 0. 0. 0. 1. ]] SLAMing on 111.52992885099998 meters Centerline goodness [0,1] 0.6686487004891148 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99923278 -0.03753788 -0.01116992 0.68161748] [ 0.03770176 0.99917882 0.0148414 -0.16236606] [ 0.01060363 -0.01525113 0.99982747 -0.07444349] [ 0. 0. 0. 1. ]] SLAMing on 111.55992885099998 meters Centerline goodness [0,1] 0.6683072512244654 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99921424 -0.03812932 -0.01081935 0.68082918] [ 0.03828534 0.99916018 0.01460006 -0.16304523] [ 0.01025358 -0.01500281 0.99983488 -0.07445574] [ 0. 0. 0. 1. ]] SLAMing on 111.58992885099998 meters Centerline goodness [0,1] 0.6722729341862527 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99920182 -0.03853184 -0.01053624 0.68014317] [ 0.03868093 0.9991488 0.0143336 -0.16318799] [ 0.00997497 -0.01472971 0.99984176 -0.07435864] [ 0. 0. 0. 1. ]] SLAMing on 111.61992885099998 meters Centerline goodness [0,1] 0.6704147686406138 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99918902 -0.03894356 -0.01023284 0.67943896] [ 0.03908656 0.9991354 0.01416696 -0.16344036] [ 0.00967228 -0.01455544 0.99984728 -0.07434623] [ 0. 0. 0. 1. ]] SLAMing on 111.64992885099998 meters Centerline goodness [0,1] 0.6632638389647736 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99916412 -0.03965731 -0.00991793 0.67853089] [ 0.03979209 0.99911291 0.01378376 -0.16347744] [ 0.00936251 -0.01416689 0.99985581 -0.07412297] [ 0. 0. 0. 1. ]] SLAMing on 111.67992885099999 meters Centerline goodness [0,1] 0.6707882163693548 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99915372 -0.03994503 -0.00981013 0.67820864] [ 0.04007592 0.99910504 0.01352959 -0.16296391] [ 0.00926091 -0.01391129 0.99986035 -0.07403099] [ 0. 0. 0. 1. ]] SLAMing on 111.70992885099999 meters Centerline goodness [0,1] 0.6668588034680693 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99914456 -0.04021526 -0.00963715 0.67785485] [ 0.04034217 0.99909663 0.01335823 -0.16269392] [ 0.00909124 -0.01373558 0.99986433 -0.07407249] [ 0. 0. 0. 1. ]] SLAMing on 111.73992885099999 meters Centerline goodness [0,1] 0.6654477216956166 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99913887 -0.0403619 -0.00961391 0.67781639] [ 0.04048737 0.9990924 0.01323468 -0.1627209 ] [ 0.00907101 -0.01361252 0.9998662 -0.07406536] [ 0. 0. 0. 1. ]] SLAMing on 111.76992885099999 meters Centerline goodness [0,1] 0.6677417025680521 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99913947 -0.04035948 -0.00956156 0.67808249] [ 0.040485 0.99909137 0.01331892 -0.16272318] [ 0.00901533 -0.01369456 0.99986558 -0.07459615] [ 0. 0. 0. 1. ]] SLAMing on 111.79992885099999 meters Centerline goodness [0,1] 0.6769746197787365 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99913571 -0.04046978 -0.00948846 0.6781017 ] [ 0.04059216 0.99909018 0.01308028 -0.16175189] [ 0.00895047 -0.01345413 0.99986943 -0.07474781] [ 0. 0. 0. 1. ]] SLAMing on 111.82992885099999 meters Centerline goodness [0,1] 0.6783203313107965 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99912683 -0.04067616 -0.00954088 0.67796388] [ 0.04079552 0.99908721 0.01266753 -0.1606132 ] [ 0.0090169 -0.01304569 0.99987424 -0.07437986] [ 0. 0. 0. 1. ]] SLAMing on 111.85992885099999 meters Centerline goodness [0,1] 0.6789887966003476 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99912287 -0.04077548 -0.00953196 0.67791299] [ 0.04089224 0.99908669 0.01239373 -0.15959799] [ 0.00901789 -0.01277264 0.99987776 -0.07429577] [ 0. 0. 0. 1. ]] SLAMing on 111.88992885099998 meters Centerline goodness [0,1] 0.6823068931358574 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99911829 -0.0408896 -0.00952249 0.67750501] [ 0.04100038 0.9990901 0.01174484 -0.15772318] [ 0.00903358 -0.01212491 0.99988568 -0.0735483 ] [ 0. 0. 0. 1. ]] SLAMing on 111.91992885099998 meters Centerline goodness [0,1] 0.6845517441579176 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99911539 -0.04096161 -0.00951808 0.67736374] [ 0.04106933 0.99909113 0.01141137 -0.15671907] [ 0.009042 -0.01179218 0.99988959 -0.07326444] [ 0. 0. 0. 1. ]] SLAMing on 111.94992885099998 meters Centerline goodness [0,1] 0.6785127163717242 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.07 [[ 0.99911584 -0.04092159 -0.00964216 0.67764224] [ 0.04102785 0.99909642 0.0110929 -0.15556463] [ 0.00917951 -0.01147869 0.99989198 -0.07314923] [ 0. 0. 0. 1. ]] SLAMing on 111.97992885099998 meters Centerline goodness [0,1] 0.6844043811185423 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.07 [[ 0.99911895 -0.04083245 -0.00969762 0.67793108] [ 0.04093739 0.99910245 0.01088204 -0.15461662] [ 0.00924458 -0.01126945 0.99989376 -0.07326862] [ 0. 0. 0. 1. ]] SLAMing on 112.00992885099998 meters Centerline goodness [0,1] 0.6948794522543521 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.07 [[ 0.99914459 -0.0401565 -0.00987686 0.67903587] [ 0.04026251 0.999131 0.01077858 -0.15264327] [ 0.00943544 -0.01116702 0.99989313 -0.07380816] [ 0. 0. 0. 1. ]] SLAMing on 112.03992885099998 meters Centerline goodness [0,1] 0.6964848484848485 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.07 [[ 0.99914882 -0.04002439 -0.00998418 0.67954549] [ 0.0401294 0.99913881 0.01054884 -0.15137797] [ 0.00955337 -0.01094052 0.99989451 -0.07402656] [ 0. 0. 0. 1. ]] SLAMing on 112.06992885099999 meters Centerline goodness [0,1] 0.7035787122462853 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.07 [[ 0.99915026 -0.03996349 -0.01008369 0.67987244] [ 0.04006815 0.99914283 0.01039925 -0.15047788] [ 0.00965945 -0.01079445 0.99989508 -0.07417552] [ 0. 0. 0. 1. ]] SLAMing on 112.09992885099999 meters Centerline goodness [0,1] 0.698118253427988 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.07 [[ 0.99914676 -0.04006338 -0.01003351 0.67990041] [ 0.04016512 0.99914148 0.01015194 -0.14954071] [ 0.00961817 -0.01054627 0.99989813 -0.07432381] [ 0. 0. 0. 1. ]] SLAMing on 112.12992885099999 meters Centerline goodness [0,1] 0.6858457717499817 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.07 [[ 0.99913614 -0.04038676 -0.00979171 0.67943612] [ 0.04048291 0.99913189 0.00982858 -0.14832437] [ 0.00938627 -0.01021649 0.99990376 -0.07442148] [ 0. 0. 0. 1. ]] SLAMing on 112.15992885099999 meters Centerline goodness [0,1] 0.6862258551063105 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.07 [[ 0.99912853 -0.04060329 -0.00967201 0.67934136] [ 0.04069749 0.99912395 0.00974972 -0.14822322] [ 0.00926766 -0.01013485 0.99990569 -0.07467811] [ 0. 0. 0. 1. ]] SLAMing on 112.18992885099999 meters Centerline goodness [0,1] 0.6958678891942506 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.07 [[ 0.99911343 -0.04103344 -0.00941312 0.67873631] [ 0.04112332 0.99910832 0.00956189 -0.14824319] [ 0.00901237 -0.00994051 0.99990998 -0.07468457] [ 0. 0. 0. 1. ]] SLAMing on 112.21992885099999 meters Centerline goodness [0,1] 0.6910983332120242 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.07 [[ 0.99909584 -0.04152524 -0.0091195 0.67821998] [ 0.0416111 0.99908932 0.00943654 -0.14832334] [ 0.00871934 -0.00980748 0.99991389 -0.07499362] [ 0. 0. 0. 1. ]] SLAMing on 112.24992885099999 meters Centerline goodness [0,1] 0.6842399630377161 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.07 [[ 0.99902057 -0.04337879 -0.00872868 0.67658888] [ 0.04345273 0.9990196 0.00846794 -0.1481871 ] [ 0.00835279 -0.00883893 0.99992605 -0.07460155] [ 0. 0. 0. 1. ]] SLAMing on 112.27992885099998 meters Centerline goodness [0,1] 0.6803286658887593 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.07 [[ 0.99899652 -0.0439931 -0.00839967 0.67585867] [ 0.04406343 0.9989936 0.0083791 -0.14870861] [ 0.00802259 -0.00874081 0.99992962 -0.07479371] [ 0. 0. 0. 1. ]] SLAMing on 112.30992885099998 meters Centerline goodness [0,1] 0.6692330111235245 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.08 [[ 0.99897101 -0.04463606 -0.00803423 0.67517474] [ 0.04470234 0.99896612 0.00826938 -0.14930793] [ 0.00765681 -0.00862002 0.99993353 -0.0751355 ] [ 0. 0. 0. 1. ]] SLAMing on 112.33992885099998 meters Centerline goodness [0,1] 0.674726022404199 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.08 [[ 0.99894554 -0.04525984 -0.00770455 0.67447612] [ 0.04532256 0.99893899 0.008171 -0.14983015] [ 0.00732656 -0.00851157 0.99993694 -0.07538443] [ 0. 0. 0. 1. ]] SLAMing on 112.36992885099998 meters Centerline goodness [0,1] 0.663510223953262 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.08 [[ 0.99889027 -0.04656558 -0.0070617 0.67283943] [ 0.04661925 0.99888355 0.007636 -0.14964268] [ 0.00669824 -0.00795674 0.99994591 -0.075392 ] [ 0. 0. 0. 1. ]] SLAMing on 112.39992885099998 meters Centerline goodness [0,1] 0.6667641895845524 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.08 [[ 0.99887262 -0.04697024 -0.00687675 0.67221115] [ 0.04702059 0.99886686 0.00735271 -0.14905317] [ 0.0065236 -0.00766777 0.99994932 -0.07520563] [ 0. 0. 0. 1. ]] SLAMing on 112.42992885099999 meters Centerline goodness [0,1] 0.6689286498889351 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.08 [[ 0.99885986 -0.04726927 -0.00667753 0.67170119] [ 0.0473164 0.99885483 0.0070849 -0.14826195] [ 0.00633499 -0.00739278 0.99995261 -0.07514846] [ 0. 0. 0. 1. ]] SLAMing on 112.45992885099999 meters Centerline goodness [0,1] 0.6716829268292683 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.07 [[ 0.99884816 -0.04753072 -0.00657151 0.67120543] [ 0.04757521 0.9988446 0.00678685 -0.14757246] [ 0.00624133 -0.00709168 0.99995538 -0.07481359] [ 0. 0. 0. 1. ]] SLAMing on 112.48992885099999 meters Centerline goodness [0,1] 0.6727175001832352 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.07 [[ 0.99883969 -0.04772248 -0.00646796 0.67069451] [ 0.04776251 0.99883959 0.00618256 -0.14573837] [ 0.00616541 -0.00648432 0.99995997 -0.07424716] [ 0. 0. 0. 1. ]] SLAMing on 112.51992885099999 meters Centerline goodness [0,1] 0.6169947036103338 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.14, Z:-0.07 [[ 0.99886887 -0.04709444 -0.00656404 0.70862014] [ 0.04708039 0.9988885 -0.00227944 -0.14464742] [ 0.0066641 0.00196782 0.99997586 -0.07106117] [ 0. 0. 0. 1. ]] SLAMing on 112.54992885099999 meters Centerline goodness [0,1] 0.6724319299361499 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.07 [[ 0.99903544 -0.04376779 -0.00354493 0.63651669] [ 0.04375637 0.99903699 -0.0032372 -0.14137621] [ 0.0036832 0.00307896 0.99998848 -0.07431501] [ 0. 0. 0. 1. ]] SLAMing on 112.57992885099999 meters Centerline goodness [0,1] 0.6731580496419112 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.07 [[ 9.99168855e-01 -4.06401593e-02 -3.15861721e-03 6.35207475e-01] [ 4.06421000e-02 9.99173616e-01 5.52651090e-04 -1.42331699e-01] [ 3.13354715e-03 -6.80564593e-04 9.99994859e-01 -7.45146825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60992885099999 meters Centerline goodness [0,1] 0.6758673143922665 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.07 [[ 9.99178057e-01 -4.04052948e-02 -3.25937223e-03 6.35722109e-01] [ 4.04077968e-02 9.99183022e-01 7.05440737e-04 -1.41874780e-01] [ 3.22820586e-03 -8.36564956e-04 9.99994439e-01 -7.49159598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63992885099998 meters Centerline goodness [0,1] 0.6769147920593347 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.08 [[ 0.99919646 -0.03992604 -0.00351317 0.63683551] [ 0.03993026 0.99920182 0.00113989 -0.14210911] [ 0.00346486 -0.00127926 0.99999318 -0.07564782] [ 0. 0. 0. 1. ]] SLAMing on 112.66992885099998 meters Centerline goodness [0,1] 0.6787022244070295 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.08 [[ 0.99919957 -0.03984569 -0.00354207 0.63703666] [ 0.03985017 0.99920494 0.00120219 -0.14198684] [ 0.00349136 -0.00134238 0.999993 -0.07584 ] [ 0. 0. 0. 1. ]] SLAMing on 112.69992885099998 meters Centerline goodness [0,1] 0.6759443339960238 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.08 [[ 0.99921678 -0.03941012 -0.00355791 0.63777693] [ 0.03941695 0.9992211 0.00187048 -0.14286734] [ 0.00348142 -0.00200925 0.99999192 -0.07684806] [ 0. 0. 0. 1. ]] SLAMing on 112.72992885099998 meters Centerline goodness [0,1] 0.6802124050446199 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.08 [[ 0.99921895 -0.03936094 -0.00349248 0.63782759] [ 0.03936845 0.99922254 0.00210586 -0.14340841] [ 0.00340688 -0.00224171 0.99999168 -0.07715793] [ 0. 0. 0. 1. ]] SLAMing on 112.75992885099998 meters Centerline goodness [0,1] 0.6790196078431372 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.08 [[ 0.99922316 -0.03924757 -0.00356334 0.63813788] [ 0.03925611 0.9992264 0.00235863 -0.14402028] [ 0.00346802 -0.00249668 0.99999087 -0.07742831] [ 0. 0. 0. 1. ]] SLAMing on 112.78992885099998 meters Centerline goodness [0,1] 0.6845545572502265 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.08 [[ 0.9992198 -0.03934596 -0.00341862 0.63796429] [ 0.03935473 0.99922208 0.00253885 -0.14465185] [ 0.00331607 -0.00267141 0.99999093 -0.07771021] [ 0. 0. 0. 1. ]] SLAMing on 112.81992885099999 meters Centerline goodness [0,1] 0.6655149599353084 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99921541 -0.03946925 -0.0032768 0.63766559] [ 0.0394787 0.99921629 0.00287007 -0.14610269] [ 0.00316095 -0.00299718 0.99999051 -0.07784047] [ 0. 0. 0. 1. ]] SLAMing on 112.84992885099999 meters Centerline goodness [0,1] 0.6709315980037185 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99921686 -0.03943917 -0.00319768 0.63776853] [ 0.03944937 0.99921647 0.00319132 -0.14682182] [ 0.00306931 -0.00331497 0.9999898 -0.07829662] [ 0. 0. 0. 1. ]] SLAMing on 112.87992885099999 meters Centerline goodness [0,1] 0.66283702852673 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99922569 -0.03921101 -0.00324392 0.63830226] [ 0.03922287 0.99922373 0.00367521 -0.14770994] [ 0.0030973 -0.0037996 0.99998798 -0.07893813] [ 0. 0. 0. 1. ]] SLAMing on 112.90992885099999 meters Centerline goodness [0,1] 0.6748224344844478 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99922004 -0.0393642 -0.00312572 0.63809148] [ 0.03937595 0.99921727 0.00379198 -0.14840473] [ 0.00297401 -0.00391211 0.99998793 -0.07907635] [ 0. 0. 0. 1. ]] SLAMing on 112.93992885099999 meters Centerline goodness [0,1] 0.6732888595655255 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99921453 -0.03951228 -0.00301603 0.63811645] [ 0.03952501 0.9992094 0.00428427 -0.15010132] [ 0.00284437 -0.00440011 0.99998627 -0.07969741] [ 0. 0. 0. 1. ]] SLAMing on 112.96992885099999 meters Centerline goodness [0,1] 0.6715164534713407 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99920469 -0.03977544 -0.00281035 0.63755393] [ 0.03978737 0.9991988 0.00432716 -0.15082601] [ 0.00263598 -0.00443554 0.99998669 -0.07960515] [ 0. 0. 0. 1. ]] SLAMing on 112.99992885099999 meters Centerline goodness [0,1] 0.6749260083653352 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99919002 -0.04015999 -0.00254467 0.63668074] [ 0.04017084 0.99918329 0.0043656 -0.15155849] [ 0.00236727 -0.00446429 0.99998723 -0.07937466] [ 0. 0. 0. 1. ]] SLAMing on 113.02992885099998 meters Centerline goodness [0,1] 0.6665609137055837 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99918019 -0.04041351 -0.00238835 0.63615791] [ 0.04042389 0.99917262 0.00447053 -0.1523552 ] [ 0.0022057 -0.00456341 0.99998716 -0.07926536] [ 0. 0. 0. 1. ]] SLAMing on 113.05992885099998 meters Centerline goodness [0,1] 0.6677757808325642 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99917317 -0.04059778 -0.00219059 0.63590796] [ 0.0406078 0.9991639 0.00474357 -0.15358804] [ 0.00199618 -0.00482861 0.99998635 -0.07961286] [ 0. 0. 0. 1. ]] SLAMing on 113.08992885099998 meters Centerline goodness [0,1] 0.6730146360470497 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99917515 -0.0405445 -0.0022735 0.63612276] [ 0.04055502 0.99916583 0.00478962 -0.15395573] [ 0.00207741 -0.00487787 0.99998595 -0.07964252] [ 0. 0. 0. 1. ]] SLAMing on 113.11992885099998 meters Centerline goodness [0,1] 0.6651481192749951 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.9991745 -0.04056495 -0.00219262 0.63602126] [ 0.04057499 0.99916521 0.00474907 -0.1537376 ] [ 0.00199814 -0.00483411 0.99998632 -0.07969475] [ 0. 0. 0. 1. ]] SLAMing on 113.14992885099998 meters Centerline goodness [0,1] 0.6651481192749951 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.9991745 -0.04056495 -0.00219262 0.63602126] [ 0.04057499 0.99916521 0.00474907 -0.1537376 ] [ 0.00199814 -0.00483411 0.99998632 -0.07969475] [ 0. 0. 0. 1. ]] SLAMing on 113.17992885099999 meters Centerline goodness [0,1] 0.6695779102298991 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99917349 -0.04058513 -0.00227783 0.6360462 ] [ 0.04059543 0.99916475 0.00467071 -0.15338932] [ 0.00208637 -0.00475932 0.9999865 -0.07952002] [ 0. 0. 0. 1. ]] SLAMing on 113.20992885099999 meters Centerline goodness [0,1] 0.6581835842642059 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99917828 -0.04046075 -0.00238626 0.63633782] [ 0.04047172 0.9991694 0.00474787 -0.1532506 ] [ 0.00219217 -0.00484054 0.99998588 -0.07958609] [ 0. 0. 0. 1. ]] SLAMing on 113.23992885099999 meters Centerline goodness [0,1] 0.6660429172033342 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99918424 -0.04030371 -0.00254408 0.63666955] [ 0.04031582 0.99917498 0.00489933 -0.15342149] [ 0.00234452 -0.0049979 0.99998476 -0.07958252] [ 0. 0. 0. 1. ]] SLAMing on 113.26992885099999 meters Centerline goodness [0,1] 0.6647816906535932 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99919155 -0.04011655 -0.00262869 0.6369726 ] [ 0.04012965 0.99918128 0.00513539 -0.15397308] [ 0.00242052 -0.00523673 0.99998336 -0.0797141 ] [ 0. 0. 0. 1. ]] SLAMing on 113.29992885099999 meters Centerline goodness [0,1] 0.6686045103311291 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.08 [[ 0.99919739 -0.03997174 -0.00261535 0.63704591] [ 0.0399854 0.9991857 0.00539491 -0.15464242] [ 0.00239758 -0.00549516 0.99998203 -0.07983735] [ 0. 0. 0. 1. ]] SLAMing on 113.32992885099999 meters Centerline goodness [0,1] 0.6662798007640602 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99919676 -0.03999091 -0.00256069 0.63685114] [ 0.04000455 0.99918425 0.00551942 -0.15510059] [ 0.00233787 -0.00561742 0.99998149 -0.07980509] [ 0. 0. 0. 1. ]] SLAMing on 113.35992885099999 meters Centerline goodness [0,1] 0.6655490158240062 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99919667 -0.03999359 -0.00255608 0.63666871] [ 0.04000777 0.99918278 0.00575796 -0.15633997] [ 0.00232371 -0.0058556 0.99998016 -0.07959796] [ 0. 0. 0. 1. ]] SLAMing on 113.38992885099998 meters Centerline goodness [0,1] 0.6558317860673724 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99920024 -0.03990412 -0.0025577 0.63672286] [ 0.03991883 0.99918502 0.00598225 -0.15718489] [ 0.0023169 -0.00607957 0.99997884 -0.07965666] [ 0. 0. 0. 1. ]] SLAMing on 113.41992885099998 meters Centerline goodness [0,1] 0.6661867050635949 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99920659 -0.03973967 -0.00263659 0.63686278] [ 0.03975574 0.99918924 0.0063516 -0.1588126 ] [ 0.00238204 -0.00645138 0.99997635 -0.07958125] [ 0. 0. 0. 1. ]] SLAMing on 113.44992885099998 meters Centerline goodness [0,1] 0.6672501858468622 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99921373 -0.03955593 -0.00269283 0.63713376] [ 0.03957305 0.99919467 0.00663188 -0.15963902] [ 0.00242834 -0.00673323 0.99997438 -0.07972941] [ 0. 0. 0. 1. ]] SLAMing on 113.47992885099998 meters Centerline goodness [0,1] 0.6646164891707551 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99922216 -0.03933873 -0.00274627 0.63744355] [ 0.03935706 0.99920086 0.00697637 -0.16064145] [ 0.00246963 -0.00707903 0.99997189 -0.07995692] [ 0. 0. 0. 1. ]] SLAMing on 113.50992885099998 meters Centerline goodness [0,1] 0.6631619102114774 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99923264 -0.03906507 -0.00283856 0.63786032] [ 0.03908509 0.99920864 0.00737944 -0.1617103 ] [ 0.00254803 -0.00748472 0.99996874 -0.08021 ] [ 0. 0. 0. 1. ]] SLAMing on 113.53992885099998 meters Centerline goodness [0,1] 0.6633897253573218 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99923828 -0.0389175 -0.00287902 0.63794582] [ 0.03893843 0.99921264 0.0076095 -0.16255863] [ 0.00258061 -0.00771581 0.9999669 -0.08015268] [ 0. 0. 0. 1. ]] SLAMing on 113.56992885099999 meters Centerline goodness [0,1] 0.6706703380174706 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.08 [[ 0.99924933 -0.03862706 -0.00295563 0.63807949] [ 0.03865014 0.99921918 0.00819744 -0.16467243] [ 0.00263668 -0.00830552 0.99996203 -0.08005162] [ 0. 0. 0. 1. ]] SLAMing on 113.59992885099999 meters Centerline goodness [0,1] 0.6647697633613127 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.08 [[ 0.99925289 -0.038535 -0.00295181 0.63806786] [ 0.03855896 0.9992198 0.00854342 -0.16619038] [ 0.00262029 -0.00865085 0.99995915 -0.08001971] [ 0. 0. 0. 1. ]] SLAMing on 113.62992885099999 meters Centerline goodness [0,1] 0.6591897513472629 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.08 [[ 0.99926064 -0.0383384 -0.00288938 0.63822074] [ 0.03836335 0.99922207 0.00913877 -0.16815099] [ 0.00253676 -0.00924286 0.99995407 -0.08044142] [ 0. 0. 0. 1. ]] SLAMing on 113.65992885099999 meters Centerline goodness [0,1] 0.6713176470588236 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.08 [[ 0.9992608 -0.03834262 -0.00277544 0.63787714] [ 0.03836819 0.99921525 0.0098366 -0.17184194] [ 0.0023961 -0.00993582 0.99994777 -0.08036029] [ 0. 0. 0. 1. ]] SLAMing on 113.68992885099999 meters Centerline goodness [0,1] 0.6685632332541791 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.08 [[ 0.99926403 -0.03825875 -0.00276824 0.63788474] [ 0.03828528 0.99921413 0.01026421 -0.17333514] [ 0.00237336 -0.01036264 0.99994349 -0.0804518 ] [ 0. 0. 0. 1. ]] SLAMing on 113.71992885099999 meters Centerline goodness [0,1] 0.6754951365287707 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.08 [[ 0.99926963 -0.03811108 -0.00278291 0.63793289] [ 0.03813869 0.99921564 0.01065553 -0.17477276] [ 0.00237463 -0.01075388 0.99993936 -0.08045692] [ 0. 0. 0. 1. ]] SLAMing on 113.74992885099998 meters Centerline goodness [0,1] 0.6731336297683126 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.9992756 -0.03795639 -0.00275387 0.63797967] [ 0.0379846 0.99921735 0.01103915 -0.17615162] [ 0.0023327 -0.01113575 0.99993527 -0.08058008] [ 0. 0. 0. 1. ]] SLAMing on 113.77992885099998 meters Centerline goodness [0,1] 0.6667675122178264 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99927846 -0.03787756 -0.00280155 0.63800487] [ 0.03790779 0.99921315 0.01166521 -0.17942569] [ 0.0023575 -0.011763 0.99992803 -0.08048313] [ 0. 0. 0. 1. ]] SLAMing on 113.80992885099998 meters Centerline goodness [0,1] 0.6654116990866625 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99928663 -0.0376543 -0.00289571 0.63835065] [ 0.03768692 0.99921529 0.01218603 -0.18107466] [ 0.00243458 -0.01228646 0.99992155 -0.08070263] [ 0. 0. 0. 1. ]] SLAMing on 113.83992885099998 meters Centerline goodness [0,1] 0.6681202449434032 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99928861 -0.0376012 -0.00290234 0.63844088] [ 0.0376346 0.99921379 0.01246717 -0.18227033] [ 0.00243127 -0.01256753 0.99991807 -0.08081826] [ 0. 0. 0. 1. ]] SLAMing on 113.86992885099998 meters Centerline goodness [0,1] 0.6696277397657429 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99928848 -0.03760815 -0.00285551 0.63824616] [ 0.03764152 0.99921055 0.01270405 -0.18350361] [ 0.00237548 -0.0128025 0.99991522 -0.08069181] [ 0. 0. 0. 1. ]] SLAMing on 113.89992885099998 meters Centerline goodness [0,1] 0.6685114857354576 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99928903 -0.03759861 -0.00279074 0.6378701 ] [ 0.03763218 0.99920516 0.01314809 -0.18628614] [ 0.00229417 -0.01324376 0.99990967 -0.08034358] [ 0. 0. 0. 1. ]] SLAMing on 113.92992885099999 meters Centerline goodness [0,1] 0.6651212142181625 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99928743 -0.03764978 -0.00266874 0.63745723] [ 0.03768208 0.9992011 0.01331222 -0.18767464] [ 0.00216541 -0.0134033 0.99990783 -0.08003672] [ 0. 0. 0. 1. ]] SLAMing on 113.95992885099999 meters Centerline goodness [0,1] 0.6684557265272275 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99928445 -0.0377381 -0.0025339 0.63711331] [ 0.03776886 0.99919601 0.01344764 -0.18867419] [ 0.00202437 -0.01353372 0.99990637 -0.07995793] [ 0. 0. 0. 1. ]] SLAMing on 113.98992885099999 meters Centerline goodness [0,1] 0.66734933382424 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99928436 -0.03774248 -0.00250584 0.63674493] [ 0.0377734 0.99919214 0.01372005 -0.19027606] [ 0.00198599 -0.01380488 0.99990274 -0.07953038] [ 0. 0. 0. 1. ]] SLAMing on 114.01992885099999 meters Centerline goodness [0,1] 0.6599761708367702 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.9992832 -0.03777344 -0.00250195 0.63659704] [ 0.0378045 0.99918958 0.01382049 -0.19109721] [ 0.00197788 -0.01390517 0.99990136 -0.07932003] [ 0. 0. 0. 1. ]] SLAMing on 114.04992885099999 meters Centerline goodness [0,1] 0.6642970165340427 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99928715 -0.03767035 -0.0024771 0.63662939] [ 0.03770153 0.99919022 0.01405339 -0.19192341] [ 0.00194569 -0.01413676 0.99989818 -0.07938207] [ 0. 0. 0. 1. ]] SLAMing on 114.07992885099999 meters Centerline goodness [0,1] 0.6647815734041579 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99928595 -0.03770255 -0.00247095 0.63655827] [ 0.03773373 0.99918837 0.01409821 -0.19257872] [ 0.00193741 -0.01418138 0.99989756 -0.07926845] [ 0. 0. 0. 1. ]] SLAMing on 114.10992885099999 meters Centerline goodness [0,1] 0.6702865486402628 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99929296 -0.0375106 -0.0025548 0.63672508] [ 0.03754392 0.99918883 0.01456522 -0.19451773] [ 0.00200638 -0.01465084 0.99989066 -0.07920564] [ 0. 0. 0. 1. ]] SLAMing on 114.13992885099998 meters Centerline goodness [0,1] 0.6649380911043086 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99929543 -0.03743953 -0.00263136 0.63692771] [ 0.03747408 0.99919083 0.01460739 -0.19490447] [ 0.00208234 -0.0146957 0.99988984 -0.07918552] [ 0. 0. 0. 1. ]] SLAMing on 114.16992885099998 meters Centerline goodness [0,1] 0.6681074899942825 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.08 [[ 0.99930121 -0.0372785 -0.00272252 0.63721835] [ 0.03731456 0.99919571 0.01468203 -0.19518054] [ 0.00217301 -0.01477336 0.99988851 -0.07922999] [ 0. 0. 0. 1. ]] SLAMing on 114.19992885099998 meters Centerline goodness [0,1] 0.6680473237373853 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.08 [[ 0.9993067 -0.03712578 -0.00279076 0.63744249] [ 0.03716301 0.99920043 0.01474463 -0.19522076] [ 0.00224112 -0.01483812 0.9998874 -0.07928106] [ 0. 0. 0. 1. ]] SLAMing on 114.22992885099998 meters Centerline goodness [0,1] 0.6679357118431551 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.08 [[ 0.9993061 -0.03713632 -0.00286713 0.63767185] [ 0.03717455 0.99920082 0.01468949 -0.19526501] [ 0.00231933 -0.01478589 0.99988799 -0.07930391] [ 0. 0. 0. 1. ]] SLAMing on 114.25992885099998 meters Centerline goodness [0,1] 0.6708580556823368 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.08 [[ 0.99931387 -0.03692523 -0.00288245 0.63793852] [ 0.03696412 0.99920603 0.01486494 -0.19578623] [ 0.00233127 -0.01496128 0.99988536 -0.07954307] [ 0. 0. 0. 1. ]] SLAMing on 114.28992885099998 meters Centerline goodness [0,1] 0.666507947305172 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.08 [[ 0.99932 -0.03674963 -0.00299881 0.63848811] [ 0.03679089 0.99920865 0.01511614 -0.1965101 ] [ 0.00244092 -0.01521619 0.99988125 -0.07995087] [ 0. 0. 0. 1. ]] SLAMing on 114.31992885099999 meters Centerline goodness [0,1] 0.6681789166514682 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.08 [[ 0.99932575 -0.03658779 -0.00306382 0.6388366 ] [ 0.0366305 0.9992119 0.01529026 -0.19693396] [ 0.00250197 -0.01539218 0.9998784 -0.08020646] [ 0. 0. 0. 1. ]] SLAMing on 114.34992885099999 meters Centerline goodness [0,1] 0.6647648173083507 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.08 [[ 0.99933068 -0.03645155 -0.00307966 0.63907466] [ 0.0364948 0.99921515 0.01540186 -0.19693936] [ 0.00251582 -0.01550394 0.99987664 -0.08042476] [ 0. 0. 0. 1. ]] SLAMing on 114.37992885099999 meters Centerline goodness [0,1] 0.6712419343806288 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.08 [[ 0.99932864 -0.03650781 -0.0030739 0.63897022] [ 0.03655052 0.99921584 0.0152241 -0.19645744] [ 0.00251569 -0.01532623 0.99987938 -0.08022792] [ 0. 0. 0. 1. ]] SLAMing on 114.40992885099999 meters Centerline goodness [0,1] 0.6724991445192199 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.08 [[ 0.99932778 -0.03653118 -0.00307714 0.63892192] [ 0.03657336 0.99921847 0.0149946 -0.19575609] [ 0.00252697 -0.01509706 0.99988284 -0.08007207] [ 0. 0. 0. 1. ]] SLAMing on 114.43992885099999 meters Centerline goodness [0,1] 0.6659738717339667 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.08 [[ 0.99933106 -0.03643485 -0.00315338 0.63908489] [ 0.03647787 0.9992238 0.0148714 -0.19519014] [ 0.00260909 -0.01497648 0.99988444 -0.08000428] [ 0. 0. 0. 1. ]] SLAMing on 114.46992885099999 meters Centerline goodness [0,1] 0.6800940832591171 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99934291 -0.03610533 -0.0031861 0.63957634] [ 0.03614861 0.99923722 0.01477351 -0.1942041 ] [ 0.00265027 -0.01487897 0.99988579 -0.08035455] [ 0. 0. 0. 1. ]] SLAMing on 114.49992885099998 meters Centerline goodness [0,1] 0.6823932404658598 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99934623 -0.03600221 -0.00330996 0.6399741 ] [ 0.03604696 0.99924298 0.01463166 -0.19349698] [ 0.00278069 -0.01474141 0.99988747 -0.08046944] [ 0. 0. 0. 1. ]] SLAMing on 114.52992885099998 meters Centerline goodness [0,1] 0.681439686945443 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99935022 -0.03587825 -0.00344731 0.64044485] [ 0.03592429 0.99925103 0.01438144 -0.19247535] [ 0.00292875 -0.01449593 0.99989064 -0.08057712] [ 0. 0. 0. 1. ]] SLAMing on 114.55992885099998 meters Centerline goodness [0,1] 0.6792603949747134 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.9993567 -0.03568077 -0.00361386 0.6408828 ] [ 0.03572871 0.99926053 0.01420771 -0.19156587] [ 0.00310425 -0.01432769 0.99989253 -0.08057129] [ 0. 0. 0. 1. ]] SLAMing on 114.58992885099998 meters Centerline goodness [0,1] 0.675778301347302 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99936982 -0.03530473 -0.00367976 0.64114125] [ 0.03535236 0.99927961 0.01380084 -0.18942556] [ 0.00318988 -0.01392223 0.99989799 -0.08034474] [ 0. 0. 0. 1. ]] SLAMing on 114.61992885099998 meters Centerline goodness [0,1] 0.6889280644718165 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99937376 -0.03517535 -0.00384531 0.64156103] [ 0.03522444 0.99928761 0.01354632 -0.1883445 ] [ 0.00336607 -0.01367329 0.99990085 -0.08033128] [ 0. 0. 0. 1. ]] SLAMing on 114.64992885099998 meters Centerline goodness [0,1] 0.6886467889908257 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99937863 -0.03502586 -0.00394178 0.64192027] [ 0.03507547 0.999296 0.01331195 -0.18724071] [ 0.00347274 -0.01344194 0.99990362 -0.0804196 ] [ 0. 0. 0. 1. ]] SLAMing on 114.67992885099999 meters Centerline goodness [0,1] 0.6894074991968424 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99940206 -0.03433477 -0.00407999 0.6428629 ] [ 0.03438582 0.99932169 0.01318265 -0.18525183] [ 0.0036246 -0.01331506 0.99990478 -0.08089251] [ 0. 0. 0. 1. ]] SLAMing on 114.70992885099999 meters Centerline goodness [0,1] 0.6859312090187507 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99940867 -0.03412182 -0.00424462 0.64336319] [ 0.0341743 0.99933165 0.01297596 -0.1840826 ] [ 0.00379902 -0.01311335 0.9999068 -0.08097957] [ 0. 0. 0. 1. ]] SLAMing on 114.73992885099999 meters Centerline goodness [0,1] 0.6870418457154674 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99940892 -0.03411311 -0.00425444 0.64350622] [ 0.03416512 0.99933397 0.01281997 -0.18329055] [ 0.00381428 -0.01295775 0.99990877 -0.08112618] [ 0. 0. 0. 1. ]] SLAMing on 114.76992885099999 meters Centerline goodness [0,1] 0.6943243491859075 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99940449 -0.03425508 -0.00415297 0.643391 ] [ 0.03430518 0.99933118 0.01266315 -0.18282182] [ 0.00371642 -0.01279807 0.99991119 -0.0812452 ] [ 0. 0. 0. 1. ]] SLAMing on 114.79992885099999 meters Centerline goodness [0,1] 0.6949900075804563 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99940574 -0.03421464 -0.0041863 0.64369996] [ 0.03426542 0.99933174 0.01272577 -0.18283257] [ 0.00374809 -0.01286165 0.99991026 -0.08155978] [ 0. 0. 0. 1. ]] SLAMing on 114.82992885099999 meters Centerline goodness [0,1] 0.7042033415301174 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99939193 -0.03464514 -0.00393475 0.64307255] [ 0.03469182 0.99932002 0.01248933 -0.18249874] [ 0.00349938 -0.01261824 0.99991426 -0.08155981] [ 0. 0. 0. 1. ]] SLAMing on 114.85992885099999 meters Centerline goodness [0,1] 0.690164122575462 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99938226 -0.03493573 -0.00382023 0.64276001] [ 0.0349803 0.99931233 0.01229819 -0.18240776] [ 0.00338795 -0.01242423 0.99991708 -0.08149436] [ 0. 0. 0. 1. ]] SLAMing on 114.88992885099998 meters Centerline goodness [0,1] 0.6908639819898463 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99937012 -0.03530892 -0.00355532 0.64211156] [ 0.03534952 0.9993019 0.01208859 -0.18243692] [ 0.003126 -0.01220665 0.99992061 -0.08140604] [ 0. 0. 0. 1. ]] SLAMing on 114.91992885099998 meters Centerline goodness [0,1] 0.6910903369547741 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99935819 -0.03565993 -0.00340114 0.6416074 ] [ 0.03569794 0.99929227 0.01185777 -0.18244158] [ 0.00297588 -0.01197157 0.99992391 -0.08120621] [ 0. 0. 0. 1. ]] SLAMing on 114.94992885099998 meters Centerline goodness [0,1] 0.684593657427607 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99934686 -0.03599253 -0.00322322 0.64100631] [ 0.0360279 0.99928246 0.01168549 -0.18256624] [ 0.00280032 -0.01179398 0.99992653 -0.08095545] [ 0. 0. 0. 1. ]] SLAMing on 114.97992885099998 meters Centerline goodness [0,1] 0.700091680036672 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99932248 -0.03668229 -0.00299691 0.64020269] [ 0.03671419 0.99926085 0.01139364 -0.18280957] [ 0.00257676 -0.01149595 0.9999306 -0.08071057] [ 0. 0. 0. 1. ]] SLAMing on 115.00992885099998 meters Centerline goodness [0,1] 0.6818921458529095 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99930833 -0.03708395 -0.00276527 0.63949604] [ 0.03711296 0.99924713 0.01130503 -0.18330406] [ 0.00234395 -0.01139984 0.99993227 -0.08052762] [ 0. 0. 0. 1. ]] SLAMing on 115.03992885099998 meters Centerline goodness [0,1] 0.6818921458529095 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99930833 -0.03708395 -0.00276527 0.63949604] [ 0.03711296 0.99924713 0.01130503 -0.18330406] [ 0.00234395 -0.01139984 0.99993227 -0.08052762] [ 0. 0. 0. 1. ]] SLAMing on 115.06992885099999 meters Centerline goodness [0,1] 0.6830435878054926 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99929418 -0.03747725 -0.00256982 0.63898228] [ 0.03750374 0.99923392 0.01118222 -0.18368616] [ 0.00214877 -0.01127071 0.99993417 -0.08048088] [ 0. 0. 0. 1. ]] SLAMing on 115.09992885099999 meters Centerline goodness [0,1] 0.6870309595391642 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99928652 -0.03769003 -0.00243173 0.63870945] [ 0.03771507 0.99922535 0.01123717 -0.18429969] [ 0.00200632 -0.01132087 0.9999339 -0.0805716 ] [ 0. 0. 0. 1. ]] SLAMing on 115.12992885099999 meters Centerline goodness [0,1] 0.6711119244229933 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99925989 -0.03840844 -0.00211153 0.63786869] [ 0.03842948 0.99920034 0.01103847 -0.18494836] [ 0.00168587 -0.01111145 0.99993684 -0.08055111] [ 0. 0. 0. 1. ]] SLAMing on 115.15992885099999 meters Centerline goodness [0,1] 0.6726844224784917 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99925155 -0.03863317 -0.00195553 0.63754734] [ 0.03865259 0.99919079 0.01112406 -0.18546985] [ 0.00152419 -0.01119132 0.99993621 -0.08070383] [ 0. 0. 0. 1. ]] SLAMing on 115.18992885099999 meters Centerline goodness [0,1] 0.6749038109197508 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99922813 -0.03924409 -0.00174489 0.6366799 ] [ 0.03926079 0.99916981 0.01087564 -0.18581927] [ 0.00131663 -0.01093575 0.99993934 -0.08028508] [ 0. 0. 0. 1. ]] SLAMing on 115.21992885099999 meters Centerline goodness [0,1] 0.6736596736596736 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 0.99921768 -0.0395138 -0.0016416 0.63629517] [ 0.03952928 0.99915994 0.01081009 -0.18614393] [ 0.00121308 -0.01086653 0.99994022 -0.08014175] [ 0. 0. 0. 1. ]] SLAMing on 115.24992885099998 meters Centerline goodness [0,1] 0.6730857195133108 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 9.99205112e-01 -3.98397319e-02 -1.39256534e-03 6.35598032e-01] [ 3.98524099e-02 9.99147936e-01 1.07325322e-02 -1.86569639e-01] [ 9.63797574e-04 -1.07794982e-02 9.99941435e-01 -7.99513721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27992885099998 meters Centerline goodness [0,1] 0.6678312895343792 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.08 [[ 9.99194098e-01 -4.01188367e-02 -1.27831836e-03 6.35067811e-01] [ 4.01301895e-02 9.99137799e-01 1.06407493e-02 -1.86904507e-01] [ 8.50321707e-04 -1.06834731e-02 9.99942569e-01 -7.96354141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30992885099998 meters Centerline goodness [0,1] 0.6633740161971028 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.08 [[ 9.99177576e-01 -4.05341224e-02 -1.07515427e-03 6.34368633e-01] [ 4.05432423e-02 9.99121780e-01 1.05789493e-02 -1.87570091e-01] [ 6.45401616e-04 -1.06138392e-02 9.99943463e-01 -7.93814433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33992885099998 meters Centerline goodness [0,1] 0.6627228377330963 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.08 [[ 9.99171048e-01 -4.06987058e-02 -9.12476985e-04 6.34064679e-01] [ 4.07060963e-02 9.99115028e-01 1.05912739e-02 -1.87803605e-01] [ 4.80618328e-04 -1.06196376e-02 9.99943495e-01 -7.94512236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36992885099998 meters Centerline goodness [0,1] 0.6609678155672221 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.08 [[ 9.99168231e-01 -4.07693923e-02 -8.38925317e-04 6.34121664e-01] [ 4.07761385e-02 9.99108374e-01 1.09436141e-02 -1.88956759e-01] [ 3.92012812e-04 -1.09687197e-02 9.99939765e-01 -7.98668439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39992885099998 meters Centerline goodness [0,1] 0.66957986253357 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.08 [[ 9.99169742e-01 -4.07328083e-02 -8.15617461e-04 6.34353990e-01] [ 4.07394256e-02 9.99106045e-01 1.12876012e-02 -1.90079793e-01] [ 3.55112639e-04 -1.13114574e-02 9.99935960e-01 -8.02933095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42992885099999 meters Centerline goodness [0,1] 0.6680250854671829 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.08 [[ 9.99159725e-01 -4.09803677e-02 -6.73398927e-04 6.34031380e-01] [ 4.09854127e-02 9.99093103e-01 1.15398391e-02 -1.91918009e-01] [ 1.99881371e-04 -1.15577420e-02 9.99933187e-01 -8.03276000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45992885099999 meters Centerline goodness [0,1] 0.6536533357530114 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.08 [[ 9.99142971e-01 -4.13899274e-02 -4.43670358e-04 6.33079917e-01] [ 4.13922882e-02 9.99075427e-01 1.16176576e-02 -1.93467178e-01] [-3.75938543e-05 -1.16260655e-02 9.99932414e-01 -7.97599880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48992885099999 meters Centerline goodness [0,1] 0.6591494554164595 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.08 [[ 9.99133615e-01 -4.16164374e-02 -3.01372683e-04 6.32613431e-01] [ 4.16171154e-02 9.99065231e-01 1.16910386e-02 -1.94217463e-01] [-1.85448407e-04 -1.16934519e-02 9.99931612e-01 -7.95636543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51992885099999 meters Centerline goodness [0,1] 0.6591494554164595 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.08 [[ 9.99133615e-01 -4.16164374e-02 -3.01372683e-04 6.32613431e-01] [ 4.16171154e-02 9.99065231e-01 1.16910386e-02 -1.94217463e-01] [-1.85448407e-04 -1.16934519e-02 9.99931612e-01 -7.95636543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.54992885099999 meters Centerline goodness [0,1] 0.6558199444105484 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.08 [[ 9.99128219e-01 -4.17464103e-02 -1.96937933e-04 6.32332318e-01] [ 4.17458001e-02 9.99057531e-01 1.18885921e-02 -1.95206312e-01] [-2.99553719e-04 -1.18864492e-02 9.99929309e-01 -7.95160232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.57992885099999 meters Centerline goodness [0,1] 0.6622637675269254 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.08 [[ 9.99127032e-01 -4.17752745e-02 -1.41551150e-05 6.32109069e-01] [ 4.17723252e-02 9.99052352e-01 1.22258145e-02 -1.96533183e-01] [-4.96595056e-04 -1.22157330e-02 9.99925262e-01 -7.97389211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60992885099999 meters Centerline goodness [0,1] 0.6591937335404146 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.08 [[ 9.99125972e-01 -4.18005841e-02 4.95225704e-05 6.32145854e-01] [ 4.17966642e-02 9.99047160e-01 1.25622818e-02 -1.97930328e-01] [-5.74586100e-04 -1.25492321e-02 9.99921090e-01 -8.00356186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63992885099998 meters Centerline goodness [0,1] 0.6608670207976952 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.08 [[ 9.99119302e-01 -4.19588693e-02 2.71980357e-04 6.31678534e-01] [ 4.19519107e-02 9.99036932e-01 1.28547813e-02 -1.99616473e-01] [-8.11090509e-04 -1.28320500e-02 9.99917337e-01 -8.00661101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66992885099998 meters Centerline goodness [0,1] 0.6598809122570497 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.08 [[ 9.99110241e-01 -4.21724274e-02 4.60866178e-04 6.31190314e-01] [ 4.21630948e-02 9.99028896e-01 1.27882488e-02 -1.99854270e-01] [-9.99730120e-04 -1.27574388e-02 9.99918121e-01 -7.99112193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69992885099998 meters Centerline goodness [0,1] 0.6536217574723993 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.08 [[ 9.99105406e-01 -4.22857424e-02 5.50555010e-04 6.30932805e-01] [ 4.22751775e-02 9.99023229e-01 1.28606653e-02 -2.00319462e-01] [-1.09384002e-03 -1.28258854e-02 9.99917147e-01 -7.98202083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72992885099998 meters Centerline goodness [0,1] 0.6685877664963191 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.08 [[ 9.99101796e-01 -4.23692411e-02 6.69311244e-04 6.30771680e-01] [ 4.23569873e-02 9.99018070e-01 1.29915642e-02 -2.00801829e-01] [-1.21909674e-03 -1.29515451e-02 9.99915382e-01 -7.99552654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75992885099998 meters Centerline goodness [0,1] 0.65930790264019 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.08 [[ 9.99095282e-01 -4.25202778e-02 8.01861568e-04 6.30647972e-01] [ 4.25060925e-02 9.99009785e-01 1.31408295e-02 -2.01646199e-01] [-1.35981927e-03 -1.30948567e-02 9.99913334e-01 -8.01810006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78992885099998 meters Centerline goodness [0,1] 0.6599236641221374 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.08 [[ 9.99091742e-01 -4.26013938e-02 9.01429588e-04 6.30480749e-01] [ 4.25857840e-02 9.99005363e-01 1.32187488e-02 -2.02189705e-01] [-1.46367012e-03 -1.31683547e-02 9.99912222e-01 -8.02260355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81992885099999 meters Centerline goodness [0,1] 0.6573638197713517 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.08 [[ 9.99093475e-01 -4.25610547e-02 8.85959321e-04 6.30700943e-01] [ 4.25453650e-02 9.99004449e-01 1.34165115e-02 -2.02736801e-01] [-1.45609819e-03 -1.33666557e-02 9.99909602e-01 -8.05133614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.84992885099999 meters Centerline goodness [0,1] 0.6594928186714542 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.08 [[ 9.99095682e-01 -4.25099416e-02 8.50774986e-04 6.30886381e-01] [ 4.24946738e-02 9.99006106e-01 1.34537462e-02 -2.02781991e-01] [-1.42184737e-03 -1.34054263e-02 9.99909132e-01 -8.06371909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.87992885099999 meters Centerline goodness [0,1] 0.6592316668162643 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.08 [[ 9.99089886e-01 -4.26447693e-02 9.07176864e-04 6.30654474e-01] [ 4.26289731e-02 9.99002557e-01 1.32914410e-02 -2.02444837e-01] [-1.47308244e-03 -1.32406722e-02 9.99911253e-01 -8.04543738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.90992885099999 meters Centerline goodness [0,1] 0.650876404494382 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.08 [[ 9.99083199e-01 -4.28000783e-02 9.56837212e-04 6.30389481e-01] [ 4.27838837e-02 9.98998304e-01 1.31121648e-02 -2.02015349e-01] [-1.51708043e-03 -1.30592063e-02 9.99913574e-01 -8.02541681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.93992885099999 meters Centerline goodness [0,1] 0.6536044528234133 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.08 [[ 9.99082323e-01 -4.28202357e-02 9.69397281e-04 6.30383946e-01] [ 4.28040269e-02 9.98998737e-01 1.30129864e-02 -2.01702236e-01] [-1.52564580e-03 -1.29595505e-02 9.99914858e-01 -8.02285549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96992885099999 meters Centerline goodness [0,1] 0.65543600089666 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.08 [[ 9.99095261e-01 -4.25176430e-02 9.53237208e-04 6.30893331e-01] [ 4.25013541e-02 9.99008923e-01 1.32214550e-02 -2.01963822e-01] [-1.51443758e-03 -1.31689791e-02 9.99912138e-01 -8.07500716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99992885099998 meters Centerline goodness [0,1] 0.6449795771803043 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.08 [[ 9.99103263e-01 -4.23325815e-02 7.88954139e-04 6.31405953e-01] [ 4.23184043e-02 9.99016016e-01 1.32722157e-02 -2.01901338e-01] [-1.35002497e-03 -1.32269267e-02 9.99911609e-01 -8.09152236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02992885099998 meters Centerline goodness [0,1] 0.656158654494761 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.08 [[ 9.99108851e-01 -4.22030542e-02 6.37750865e-04 6.31802615e-01] [ 4.21909274e-02 9.99021838e-01 1.32398472e-02 -2.01511636e-01] [-1.19588903e-03 -1.32011412e-02 9.99912146e-01 -8.09881982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05992885099998 meters Centerline goodness [0,1] 0.6569571280759368 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.08 [[ 9.99116535e-01 -4.20210726e-02 6.16103567e-04 6.32083371e-01] [ 4.20091507e-02 9.99028402e-01 1.33222881e-02 -2.01154464e-01] [-1.17532180e-03 -1.32846364e-02 9.99911065e-01 -8.12802300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08992885099998 meters Centerline goodness [0,1] 0.6589178717844754 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.08 [[ 9.99117492e-01 -4.19993117e-02 5.42912957e-04 6.32186678e-01] [ 4.19883891e-02 9.99029576e-01 1.32996692e-02 -2.00823669e-01] [-1.10096305e-03 -1.32651361e-02 9.99911408e-01 -8.12114971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11992885099998 meters Centerline goodness [0,1] 0.6495402556627046 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.08 [[ 9.99062510e-01 -4.32811369e-02 9.18597705e-04 6.30010025e-01] [ 4.32658592e-02 9.98981567e-01 1.28021297e-02 -2.02491409e-01] [-1.47175290e-03 -1.27503839e-02 9.99917627e-01 -7.95627849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14992885099998 meters Centerline goodness [0,1] 0.655952087212041 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.08 [[ 0.99903091 -0.04399744 0.00121074 0.6288486 ] [ 0.04397847 0.9989511 0.01275091 -0.20447144] [-0.00177048 -0.01268531 0.99991797 -0.07893318] [ 0. 0. 0. 1. ]] SLAMing on 116.17992885099999 meters Centerline goodness [0,1] 0.646223355476526 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.21, Z:-0.08 [[ 9.98886791e-01 -4.71625222e-02 9.35638061e-04 6.30650552e-01] [ 4.71513472e-02 9.98841276e-01 9.63617003e-03 -2.05625233e-01] [-1.38902000e-03 -9.58132636e-03 9.99953133e-01 -7.99554202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20992885099999 meters Centerline goodness [0,1] 0.6504012338779981 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.21, Z:-0.08 [[ 0.99886028 -0.04771711 0.00110629 0.63021678] [ 0.04770386 0.99881243 0.00990352 -0.20810157] [-0.00157755 -0.00983945 0.99995035 -0.08005121] [ 0. 0. 0. 1. ]] SLAMing on 116.23992885099999 meters Centerline goodness [0,1] 0.6407249704616893 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.21, Z:-0.08 [[ 0.99865897 -0.05175153 0.00142906 0.63018203] [ 0.05174034 0.9986361 0.00699086 -0.21167684] [-0.0017889 -0.00690755 0.99997454 -0.08052985] [ 0. 0. 0. 1. ]] SLAMing on 116.26992885099999 meters Centerline goodness [0,1] 0.6292329956584659 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.21, Z:-0.08 [[ 0.99861488 -0.05258144 0.00187394 0.62884139] [ 0.05256683 0.99859188 0.00714077 -0.21410947] [-0.00224677 -0.00703238 0.99997275 -0.08016366] [ 0. 0. 0. 1. ]] SLAMing on 116.29992885099999 meters Centerline goodness [0,1] 0.6426696329254727 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.22, Z:-0.08 [[ 0.99857973 -0.05323391 0.00216418 0.62782958] [ 0.0532169 0.99855647 0.00727606 -0.21632493] [-0.00254839 -0.00715056 0.99997119 -0.07977016] [ 0. 0. 0. 1. ]] SLAMing on 116.32992885099999 meters Centerline goodness [0,1] 0.6330893768019517 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.22, Z:-0.08 [[ 0.99856698 -0.05346441 0.00235632 0.62735346] [ 0.0534446 0.99854041 0.00779291 -0.21875943] [-0.00276953 -0.00765581 0.99996686 -0.07978841] [ 0. 0. 0. 1. ]] SLAMing on 116.35992885099999 meters Centerline goodness [0,1] 0.6286876907426246 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.22, Z:-0.08 [[ 0.99853623 -0.05403367 0.00240133 0.62682617] [ 0.05401288 0.99850809 0.00801327 -0.22263228] [-0.00283074 -0.00787184 0.99996501 -0.07926092] [ 0. 0. 0. 1. ]] SLAMing on 116.38992885099998 meters Centerline goodness [0,1] 0.6240913811007269 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.22, Z:-0.08 [[ 0.99854231 -0.05392053 0.00241679 0.62682164] [ 0.0538983 0.99851047 0.00847396 -0.22436339] [-0.00287011 -0.00833135 0.99996117 -0.07930044] [ 0. 0. 0. 1. ]] SLAMing on 116.41992885099998 meters Centerline goodness [0,1] 0.6326872246696036 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.08 [[ 0.99854799 -0.05381429 0.00243737 0.62673969] [ 0.05379084 0.99851311 0.00883874 -0.22566668] [-0.0029094 -0.0086948 0.99995797 -0.07923365] [ 0. 0. 0. 1. ]] SLAMing on 116.44992885099998 meters Centerline goodness [0,1] 0.6325858831326632 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.08 [[ 0.99855496 -0.05368667 0.00239505 0.626525 ] [ 0.05366291 0.9985179 0.00907218 -0.2266258 ] [-0.00287855 -0.00893054 0.99995598 -0.07878232] [ 0. 0. 0. 1. ]] SLAMing on 116.47992885099998 meters Centerline goodness [0,1] 0.6407446527594403 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.08 [[ 0.99858753 -0.05308696 0.00217436 0.62663201] [ 0.05306393 0.99854547 0.00954826 -0.22773398] [-0.00267808 -0.0094194 0.99995205 -0.07809714] [ 0. 0. 0. 1. ]] SLAMing on 116.50992885099998 meters Centerline goodness [0,1] 0.6416393514750203 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.08 [[ 0.99860852 -0.05269976 0.00193883 0.62699585] [ 0.05267824 0.99856301 0.00984497 -0.22834972] [-0.00245487 -0.00972914 0.99994966 -0.07787016] [ 0. 0. 0. 1. ]] SLAMing on 116.53992885099998 meters Centerline goodness [0,1] 0.6332850813703558 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.08 [[ 0.99863551 -0.05219279 0.00173941 0.62744904] [ 0.05217232 0.99858548 0.01025158 -0.22911934] [-0.002272 -0.01014684 0.99994594 -0.07780012] [ 0. 0. 0. 1. ]] SLAMing on 116.56992885099999 meters Centerline goodness [0,1] 0.6407660378187249 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.08 [[ 0.99866217 -0.05168711 0.00152268 0.62801011] [ 0.051668 0.99860733 0.01066839 -0.22995377] [-0.00207198 -0.01057545 0.99994193 -0.0778686 ] [ 0. 0. 0. 1. ]] SLAMing on 116.59992885099999 meters Centerline goodness [0,1] 0.6540473116397137 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.08 [[ 0.99872388 -0.05048926 0.00120458 0.62888175] [ 0.05047216 0.9986595 0.01147847 -0.2311971 ] [-0.0017825 -0.01140302 0.99993339 -0.07780661] [ 0. 0. 0. 1. ]] SLAMing on 116.62992885099999 meters Centerline goodness [0,1] 0.6563600183682841 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.08 [[ 0.99874596 -0.05005365 0.00106762 0.62911794] [ 0.05003762 0.99867769 0.01179478 -0.23186414] [-0.00165658 -0.01172656 0.99992987 -0.07760885] [ 0. 0. 0. 1. ]] SLAMing on 116.65992885099999 meters Centerline goodness [0,1] 0.6541166735622672 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.08 [[ 9.98763193e-01 -4.97126938e-02 8.55372630e-04 6.29454369e-01] [ 4.96988088e-02 9.98691562e-01 1.20495627e-02 -2.32578883e-01] [-1.45326965e-03 -1.19921487e-02 9.99927036e-01 -7.73489704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.68992885099999 meters Centerline goodness [0,1] 0.6564972245290441 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.08 [[ 9.98784874e-01 -4.92783165e-02 6.50571283e-04 6.29904864e-01] [ 4.92665933e-02 9.98709792e-01 1.23107363e-02 -2.33004561e-01] [-1.25638427e-03 -1.22637257e-02 9.99924008e-01 -7.72777607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71992885099999 meters Centerline goodness [0,1] 0.657679881243451 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.08 [[ 9.98853721e-01 -4.78661026e-02 2.82013571e-04 6.31260186e-01] [ 4.78581235e-02 9.98765582e-01 1.33008091e-02 -2.34370289e-01] [-9.18323343e-04 -1.32720661e-02 9.99911501e-01 -7.77128097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74992885099998 meters Centerline goodness [0,1] 0.6669865852328498 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.08 [[ 9.98883701e-01 -4.72371780e-02 -4.63723158e-06 6.32142539e-01] [ 4.72327414e-02 9.98788530e-01 1.38036567e-02 -2.35009742e-01] [-6.47414174e-04 -1.37884667e-02 9.99904725e-01 -7.80582406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77992885099998 meters Centerline goodness [0,1] 0.6705028444386321 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.08 [[ 9.98916406e-01 -4.65391884e-02 -3.43269609e-04 6.33108354e-01] [ 4.65393503e-02 9.98814736e-01 1.42552427e-02 -2.35493919e-01] [-3.20564682e-04 -1.42557714e-02 9.99898330e-01 -7.83006452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80992885099998 meters Centerline goodness [0,1] 0.6678788406680749 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.08 [[ 9.99097926e-01 -4.24635636e-02 -4.24553869e-04 6.32400265e-01] [ 4.24641387e-02 9.98926252e-01 1.85240311e-02 -2.37722804e-01] [-3.62498369e-04 -1.85253494e-02 9.99828325e-01 -7.75523589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83992885099998 meters Centerline goodness [0,1] 0.6678788406680749 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.08 [[ 9.99097926e-01 -4.24635636e-02 -4.24553869e-04 6.32400265e-01] [ 4.24641387e-02 9.98926252e-01 1.85240311e-02 -2.37722804e-01] [-3.62498369e-04 -1.85253494e-02 9.99828325e-01 -7.75523589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86992885099998 meters Centerline goodness [0,1] 0.6697123961188705 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.08 [[ 9.99266732e-01 -3.82838760e-02 -5.85413201e-04 6.31831447e-01] [ 3.82872530e-02 9.99005427e-01 2.28526233e-02 -2.39927058e-01] [-2.90056031e-04 -2.28582800e-02 9.99738673e-01 -7.67111043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89992885099998 meters Centerline goodness [0,1] 0.6710674889255623 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.08 [[ 9.99289499e-01 -3.76808093e-02 -8.08676458e-04 6.32324883e-01] [ 3.76894373e-02 9.99023705e-01 2.30465597e-02 -2.39965842e-01] [-6.05260690e-05 -2.30606636e-02 9.99734066e-01 -7.65372586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92992885099999 meters Centerline goodness [0,1] 0.6744888425352541 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.08 [[ 9.99439502e-01 -3.34634984e-02 -9.36081951e-04 6.31866752e-01] [ 3.34765820e-02 9.99065924e-01 2.73239580e-02 -2.41833880e-01] [ 2.08523544e-05 -2.73399798e-02 9.99626193e-01 -7.58698147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95992885099999 meters Centerline goodness [0,1] 0.6744888425352541 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.08 [[ 9.99439502e-01 -3.34634984e-02 -9.36081951e-04 6.31866752e-01] [ 3.34765820e-02 9.99065924e-01 2.73239580e-02 -2.41833880e-01] [ 2.08523544e-05 -2.73399798e-02 9.99626193e-01 -7.58698147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.98992885099999 meters Centerline goodness [0,1] 0.7128541436703244 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.08 [[ 9.99448838e-01 -3.31773581e-02 -1.13262315e-03 6.32156202e-01] [ 3.31959250e-02 9.99075011e-01 2.73340873e-02 -2.41936908e-01] [ 2.24702680e-04 -2.73566203e-02 9.99625712e-01 -7.55173700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.01992885099999 meters Centerline goodness [0,1] 0.701928684045701 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.08 [[ 9.99455377e-01 -3.29751423e-02 -1.26091285e-03 6.32339827e-01] [ 3.29973184e-02 9.99079770e-01 2.74005393e-02 -2.42300223e-01] [ 3.56215844e-04 -2.74272230e-02 9.99623739e-01 -7.53159525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.04992885099999 meters Centerline goodness [0,1] 0.7097060863533899 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.08 [[ 9.99465869e-01 -3.26531460e-02 -1.32216529e-03 6.32558280e-01] [ 3.26772212e-02 9.99083905e-01 2.76324077e-02 -2.42694074e-01] [ 4.18669023e-04 -2.76608530e-02 9.99617278e-01 -7.53541571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.07992885099999 meters Centerline goodness [0,1] 0.7207929782082325 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.08 [[ 9.99497044e-01 -3.16704355e-02 -1.62572882e-03 6.33755313e-01] [ 3.17038015e-02 9.99095649e-01 2.83328849e-02 -2.43666674e-01] [ 7.26943794e-04 -2.83701764e-02 9.99597221e-01 -7.58502424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10992885099999 meters Centerline goodness [0,1] 0.7302795131758144 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.08 [[ 9.99504061e-01 -3.14371667e-02 -1.82663527e-03 6.34213446e-01] [ 3.14763985e-02 9.99100658e-01 2.84096983e-02 -2.43883734e-01] [ 9.31872084e-04 -2.84531047e-02 9.99594694e-01 -7.58299974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13992885099998 meters Centerline goodness [0,1] 0.6798125310468457 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.08 [[ 0.99950703 -0.03133176 -0.00200674 0.63453982] [ 0.03137604 0.99910677 0.0283055 -0.24380295] [ 0.00111809 -0.0283545 0.9995973 -0.07567985] [ 0. 0. 0. 1. ]] SLAMing on 117.16992885099998 meters Centerline goodness [0,1] 0.7342853444928599 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.08 [[ 0.99951281 -0.03113443 -0.00219074 0.63493611] [ 0.03118383 0.99911653 0.02817333 -0.2434714 ] [ 0.00131164 -0.02822792 0.99960065 -0.07556068] [ 0. 0. 0. 1. ]] SLAMing on 117.19992885099998 meters Centerline goodness [0,1] 0.722474742034855 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.07 [[ 0.99951937 -0.03091285 -0.0023273 0.63481667] [ 0.03096593 0.99912867 0.02798235 -0.24331208] [ 0.00146025 -0.02804097 0.99960571 -0.07476109] [ 0. 0. 0. 1. ]] SLAMing on 117.22992885099998 meters Centerline goodness [0,1] 0.7358697995257599 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.07 [[ 0.99951561 -0.03103023 -0.00238072 0.63454075] [ 0.03108445 0.9991307 0.02777781 -0.24344193] [ 0.0015167 -0.02783836 0.99961129 -0.07413214] [ 0. 0. 0. 1. ]] SLAMing on 117.25992885099998 meters Centerline goodness [0,1] 0.7339911007931902 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.07 [[ 0.99942408 -0.03384279 -0.002485 0.63554907] [ 0.03389272 0.99913785 0.02397595 -0.24226036] [ 0.00167144 -0.02404636 0.99970945 -0.07419779] [ 0. 0. 0. 1. ]] SLAMing on 117.28992885099998 meters Centerline goodness [0,1] 0.7236026182068728 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.07 [[ 0.99942145 -0.03391988 -0.00249146 0.63536209] [ 0.03396988 0.9991359 0.02394798 -0.24285895] [ 0.001677 -0.02401876 0.9997101 -0.07386457] [ 0. 0. 0. 1. ]] SLAMing on 117.31992885099999 meters Centerline goodness [0,1] 0.7282213472751136 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.07 [[ 0.99941943 -0.03397444 -0.00255919 0.63537382] [ 0.03402602 0.99913454 0.02392507 -0.24345536] [ 0.00174414 -0.02399826 0.99971048 -0.07365214] [ 0. 0. 0. 1. ]] SLAMing on 117.34992885099999 meters Centerline goodness [0,1] 0.7292396278710009 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.07 [[ 0.99941927 -0.03397369 -0.00263006 0.63560322] [ 0.03402724 0.99913087 0.02407599 -0.24450638] [ 0.00180982 -0.0241515 0.99970667 -0.07372017] [ 0. 0. 0. 1. ]] SLAMing on 117.37992885099999 meters Centerline goodness [0,1] 0.728447627034815 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.07 [[ 0.99941494 -0.03409455 -0.00270989 0.63570423] [ 0.03414962 0.99913149 0.02387604 -0.244323 ] [ 0.0018935 -0.02395462 0.99971125 -0.07357152] [ 0. 0. 0. 1. ]] SLAMing on 117.40992885099999 meters Centerline goodness [0,1] 0.7260044282981147 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.07 [[ 0.99941434 -0.03410212 -0.00283102 0.63596007] [ 0.0341597 0.9991358 0.02368072 -0.24396836] [ 0.00202102 -0.02376356 0.99971556 -0.07348908] [ 0. 0. 0. 1. ]] SLAMing on 117.43992885099999 meters Centerline goodness [0,1] 0.7307758509402298 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.07 [[ 0.99940798 -0.03428313 -0.00289078 0.63585552] [ 0.03434144 0.99913678 0.02337427 -0.24361231] [ 0.00208694 -0.02345971 0.9997226 -0.07313788] [ 0. 0. 0. 1. ]] SLAMing on 117.46992885099999 meters Centerline goodness [0,1] 0.7451043614711635 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.07 [[ 0.99940243 -0.03444625 -0.00287067 0.63562067] [ 0.03450391 0.99913262 0.02331297 -0.24427419] [ 0.00206514 -0.02339809 0.99972409 -0.07282934] [ 0. 0. 0. 1. ]] SLAMing on 117.49992885099998 meters Centerline goodness [0,1] 0.7154954877892306 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.07 [[ 0.99929136 -0.03752427 -0.00295071 0.63662072] [ 0.03757463 0.99910503 0.01942397 -0.24308261] [ 0.0022192 -0.01952107 0.99980698 -0.0730344 ] [ 0. 0. 0. 1. ]] SLAMing on 117.52992885099998 meters Centerline goodness [0,1] 0.7162469432408083 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.07 [[ 0.99928389 -0.03772859 -0.00287404 0.63640005] [ 0.03777726 0.99909872 0.01935514 -0.24369128] [ 0.00214121 -0.01944986 0.99980854 -0.07292953] [ 0. 0. 0. 1. ]] SLAMing on 117.55992885099998 meters Centerline goodness [0,1] 0.7224390034732644 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.07 [[ 0.99926156 -0.03832723 -0.00271324 0.63571535] [ 0.03837192 0.99908325 0.01898057 -0.24411299] [ 0.00198328 -0.01907066 0.99981617 -0.07241574] [ 0. 0. 0. 1. ]] SLAMing on 117.58992885099998 meters Centerline goodness [0,1] 0.7381825197761913 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.07 [[ 0.99925085 -0.03861192 -0.00261799 0.63547471] [ 0.03865424 0.9990775 0.01870843 -0.24392638] [ 0.0018932 -0.01879561 0.99982155 -0.07230303] [ 0. 0. 0. 1. ]] SLAMing on 117.61992885099998 meters Centerline goodness [0,1] 0.7216209845059255 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.07 [[ 0.99924061 -0.03887919 -0.00257327 0.63532119] [ 0.03892006 0.99907279 0.01840635 -0.24360939] [ 0.00185526 -0.01849252 0.99982728 -0.07218109] [ 0. 0. 0. 1. ]] SLAMing on 117.64992885099998 meters Centerline goodness [0,1] 0.7219731903485255 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.07 [[ 0.99923079 -0.03913071 -0.00257397 0.6352744 ] [ 0.03917096 0.99906883 0.01808621 -0.24327642] [ 0.00186384 -0.01817312 0.99983312 -0.07207072] [ 0. 0. 0. 1. ]] SLAMing on 117.67992885099999 meters Centerline goodness [0,1] 0.7294281430713214 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.07 [[ 0.99922049 -0.03939948 -0.00246895 0.63520985] [ 0.03943736 0.99906255 0.01785289 -0.24298613] [ 0.00176325 -0.01793634 0.99983758 -0.07226725] [ 0. 0. 0. 1. ]] SLAMing on 117.70992885099999 meters Centerline goodness [0,1] 0.7421337689133425 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.07 [[ 0.99921287 -0.03959123 -0.0024864 0.63522876] [ 0.03962899 0.999059 0.01762535 -0.24263389] [ 0.00178625 -0.01771001 0.99984157 -0.0722523 ] [ 0. 0. 0. 1. ]] SLAMing on 117.73992885099999 meters Centerline goodness [0,1] 0.7147277493661094 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.24, Z:-0.07 [[ 0.99919861 -0.0399544 -0.00240458 0.63510512] [ 0.03998987 0.99905266 0.01716377 -0.24177635] [ 0.00171653 -0.01724617 0.9998498 -0.07226522] [ 0. 0. 0. 1. ]] SLAMing on 117.76992885099999 meters Centerline goodness [0,1] 0.7205299439896596 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.07 [[ 0.99918578 -0.04028265 -0.00225423 0.63472716] [ 0.04031484 0.99904646 0.01675939 -0.24104986] [ 0.00157697 -0.01683663 0.99985701 -0.07213713] [ 0. 0. 0. 1. ]] SLAMing on 117.79992885099999 meters Centerline goodness [0,1] 0.7201775555938632 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.07 [[ 0.99917402 -0.04057818 -0.00216665 0.63443295] [ 0.04060819 0.99904208 0.0163061 -0.24015882] [ 0.0015029 -0.01638061 0.9998647 -0.07190341] [ 0. 0. 0. 1. ]] SLAMing on 117.82992885099999 meters Centerline goodness [0,1] 0.7313033727249202 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.07 [[ 0.99915225 -0.04112138 -0.00195359 0.63375853] [ 0.04114672 0.99903354 0.01545738 -0.23819053] [ 0.00131608 -0.01552466 0.99987862 -0.07151222] [ 0. 0. 0. 1. ]] SLAMing on 117.85992885099998 meters Centerline goodness [0,1] 0.7157799391835062 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.07 [[ 0.99914344 -0.04133678 -0.00191178 0.6337169 ] [ 0.04136094 0.99903078 0.01505923 -0.23737865] [ 0.00128743 -0.01512541 0.99988478 -0.07150653] [ 0. 0. 0. 1. ]] SLAMing on 117.88992885099998 meters Centerline goodness [0,1] 0.7143535711201312 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.07 [[ 0.99913717 -0.0414883 -0.00190475 0.63388563] [ 0.04151193 0.99902922 0.0147437 -0.23639398] [ 0.00129121 -0.01481005 0.99988949 -0.07176257] [ 0. 0. 0. 1. ]] SLAMing on 117.91992885099998 meters Centerline goodness [0,1] 0.7289521502119927 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.24, Z:-0.07 [[ 0.99913399 -0.04156493 -0.00190573 0.634049 ] [ 0.04158824 0.99902973 0.01449177 -0.23554045] [ 0.00130153 -0.01455847 0.99989317 -0.07196337] [ 0. 0. 0. 1. ]] SLAMing on 117.94992885099998 meters Centerline goodness [0,1] 0.7102912873299743 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.07 [[ 0.99913051 -0.04164855 -0.0019026 0.63432236] [ 0.04167144 0.99903026 0.01421384 -0.23464046] [ 0.00130877 -0.01428077 0.99989717 -0.07232986] [ 0. 0. 0. 1. ]] SLAMing on 117.97992885099998 meters Centerline goodness [0,1] 0.7083008404817607 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.07 [[ 0.99912719 -0.04172914 -0.00188131 0.63473195] [ 0.04175099 0.99903479 0.01365081 -0.23240307] [ 0.00130986 -0.01371744 0.99990505 -0.07284488] [ 0. 0. 0. 1. ]] SLAMing on 118.00992885099998 meters Centerline goodness [0,1] 0.7122102478478651 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.07 [[ 0.99912348 -0.04181766 -0.00188404 0.63478977] [ 0.0418391 0.99903554 0.01332221 -0.23128372] [ 0.00132512 -0.01338936 0.99990948 -0.07286663] [ 0. 0. 0. 1. ]] SLAMing on 118.03992885099998 meters Centerline goodness [0,1] 0.7370601761464706 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.07 [[ 0.99911826 -0.04194027 -0.00192835 0.63484655] [ 0.04196171 0.99903589 0.01290348 -0.23000672] [ 0.00138531 -0.01297302 0.99991489 -0.07276419] [ 0. 0. 0. 1. ]] SLAMing on 118.06992885099999 meters Centerline goodness [0,1] 0.7186134955992611 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.07 [[ 0.99910488 -0.04226413 -0.00178184 0.63430158] [ 0.04228271 0.99903179 0.01215153 -0.22782216] [ 0.00126654 -0.01221599 0.99992458 -0.07236324] [ 0. 0. 0. 1. ]] SLAMing on 118.09992885099999 meters Centerline goodness [0,1] 0.7186134955992611 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.07 [[ 0.99910488 -0.04226413 -0.00178184 0.63430158] [ 0.04228271 0.99903179 0.01215153 -0.22782216] [ 0.00126654 -0.01221599 0.99992458 -0.07236324] [ 0. 0. 0. 1. ]] SLAMing on 118.12992885099999 meters Centerline goodness [0,1] 0.7343202351148361 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.23, Z:-0.07 [[ 0.99908488 -0.04274299 -0.00155987 0.63357929] [ 0.04275796 0.99902112 0.01133863 -0.22577541] [ 0.0010737 -0.01139495 0.9999345 -0.07193661] [ 0. 0. 0. 1. ]] SLAMing on 118.15992885099999 meters Centerline goodness [0,1] 0.726489950734621 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.22, Z:-0.07 [[ 0.99907419 -0.04299243 -0.00155163 0.63331565] [ 0.04300672 0.99901632 0.01080827 -0.22426537] [ 0.00108543 -0.010865 0.99994039 -0.07158217] [ 0. 0. 0. 1. ]] SLAMing on 118.18992885099999 meters Centerline goodness [0,1] 0.713179478230521 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.22, Z:-0.07 [[ 0.99906602 -0.04318271 -0.00152823 0.63315832] [ 0.04319628 0.99901262 0.01038583 -0.22279958] [ 0.00107824 -0.01044214 0.9999449 -0.07139409] [ 0. 0. 0. 1. ]] SLAMing on 118.21992885099999 meters Centerline goodness [0,1] 0.7308238481200708 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.22, Z:-0.07 [[ 9.99054722e-01 -4.34472409e-02 -1.41402979e-03 6.32870726e-01] [ 4.34591806e-02 9.99005748e-01 9.94056786e-03 -2.21412884e-01] [ 9.80733637e-04 -9.99262383e-03 9.99949592e-01 -7.13414451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24992885099998 meters Centerline goodness [0,1] 0.7113701986175518 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.22, Z:-0.07 [[ 9.99034332e-01 -4.39157700e-02 -1.34497071e-03 6.32838180e-01] [ 4.39265318e-02 9.98990218e-01 9.43417394e-03 -2.20088454e-01] [ 9.29303570e-04 -9.48414355e-03 9.99954593e-01 -7.15981083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27992885099998 meters Centerline goodness [0,1] 0.7001618972608734 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.22, Z:-0.07 [[ 9.99027422e-01 -4.40768749e-02 -1.19959736e-03 6.32998337e-01] [ 4.40861913e-02 9.98983904e-01 9.35772888e-03 -2.19827907e-01] [ 7.85919011e-04 -9.40151344e-03 9.99955496e-01 -7.22112767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30992885099998 meters Centerline goodness [0,1] 0.7200745123822048 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.22, Z:-0.07 [[ 9.99013799e-01 -4.43893956e-02 -1.00518910e-03 6.32829285e-01] [ 4.43967211e-02 9.98972489e-01 9.10476996e-03 -2.19008891e-01] [ 6.00001024e-04 -9.14041793e-03 9.99958045e-01 -7.25989891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33992885099998 meters Centerline goodness [0,1] 0.6861067228365807 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.22, Z:-0.07 [[ 9.98984539e-01 -4.50491676e-02 -6.80139268e-04 6.32437200e-01] [ 4.50533168e-02 9.98948682e-01 8.46933871e-03 -2.17113915e-01] [ 2.97887566e-04 -8.49138096e-03 9.99963903e-01 -7.30854941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36992885099998 meters Centerline goodness [0,1] 0.7054197148443507 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.22, Z:-0.07 [[ 9.98974009e-01 -4.52840173e-02 -5.35160192e-04 6.32301123e-01] [ 4.52868883e-02 9.98940205e-01 8.21977961e-03 -2.16254680e-01] [ 1.62368390e-04 -8.23558193e-03 9.99966074e-01 -7.33545803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39992885099998 meters Centerline goodness [0,1] 0.7011747107219851 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.21, Z:-0.07 [[ 9.98961444e-01 -4.55615483e-02 -4.22328893e-04 6.32166553e-01] [ 4.55634577e-02 9.98930930e-01 7.80820053e-03 -2.14858832e-01] [ 6.61236877e-05 -7.81933404e-03 9.99969426e-01 -7.35132106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42992885099999 meters Centerline goodness [0,1] 0.6904997689311414 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.21, Z:-0.07 [[ 9.98955861e-01 -4.56831303e-02 -4.89161104e-04 6.32547472e-01] [ 4.56855091e-02 9.98928055e-01 7.45486549e-03 -2.13351010e-01] [ 1.48075159e-04 -7.46942915e-03 9.99972092e-01 -7.38568250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45992885099999 meters Centerline goodness [0,1] 0.7008275405494869 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.21, Z:-0.07 [[ 9.98948543e-01 -4.58433860e-02 -4.37529094e-04 6.32866333e-01] [ 4.58452808e-02 9.98926542e-01 6.63135760e-03 -2.09966717e-01] [ 1.33055538e-04 -6.64444366e-03 9.99977917e-01 -7.43217729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.48992885099999 meters Centerline goodness [0,1] 0.6858696613316828 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.21, Z:-0.07 [[ 9.98945988e-01 -4.58987497e-02 -4.65684970e-04 6.33170783e-01] [ 4.59007497e-02 9.98927004e-01 6.16135844e-03 -2.08113873e-01] [ 1.82386643e-04 -6.17623959e-03 9.99980910e-01 -7.46040787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51992885099999 meters Centerline goodness [0,1] 0.6989440525311682 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.21, Z:-0.07 [[ 9.98942298e-01 -4.59789790e-02 -4.68434104e-04 6.33310375e-01] [ 4.59808928e-02 9.98926376e-01 5.64379633e-03 -2.06110173e-01] [ 2.08435189e-04 -5.65936589e-03 9.99983964e-01 -7.46957386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.54992885099999 meters Centerline goodness [0,1] 0.6982405345211582 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.07 [[ 9.99061328e-01 -4.33178230e-02 -1.72715427e-04 6.31898363e-01] [ 4.33177796e-02 9.99027577e-01 8.21403722e-03 -2.02835675e-01] [-1.83266735e-04 -8.21380858e-03 9.99966249e-01 -7.43840767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.57992885099999 meters Centerline goodness [0,1] 0.6985443277826078 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.07 [[ 9.99050201e-01 -4.35738222e-02 -1.33181214e-04 6.31834790e-01] [ 4.35736078e-02 9.99022566e-01 7.43322784e-03 -2.00407929e-01] [-1.90843110e-04 -7.43197095e-03 9.99972364e-01 -7.43250683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60992885099998 meters Centerline goodness [0,1] 0.6876437102355173 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.07 [[ 9.99050914e-01 -4.35569119e-02 -2.60065670e-04 6.32425818e-01] [ 4.35576559e-02 9.99025096e-01 7.18242747e-03 -1.98836098e-01] [-5.30322293e-05 -7.18693857e-03 9.99974172e-01 -7.48103560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63992885099998 meters Centerline goodness [0,1] 0.69377243639769 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.08 [[ 9.99043922e-01 -4.37172196e-02 -2.17065248e-04 6.32620952e-01] [ 4.37176844e-02 9.99020774e-01 6.80128567e-03 -1.97315285e-01] [-8.04806075e-05 -6.80427270e-03 9.99976847e-01 -7.52217956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66992885099998 meters Centerline goodness [0,1] 0.699051548240992 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.08 [[ 9.99020207e-01 -4.42562124e-02 -1.18397146e-04 6.32420025e-01] [ 4.42561811e-02 9.99004518e-01 5.60035115e-03 -1.93331242e-01] [-1.29571046e-04 -5.60010377e-03 9.99984311e-01 -7.51862190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69992885099998 meters Centerline goodness [0,1] 0.6880896756222481 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.08 [[ 9.99010594e-01 -4.44726674e-02 -1.25710509e-04 6.32523634e-01] [ 4.44727386e-02 9.98998026e-01 5.01189125e-03 -1.91046741e-01] [-9.73076223e-05 -5.01252314e-03 9.99987432e-01 -7.53169307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72992885099998 meters Centerline goodness [0,1] 0.6872286337765179 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.08 [[ 9.99005289e-01 -4.45914361e-02 -1.92463559e-04 6.32860563e-01] [ 4.45918505e-02 9.98995054e-01 4.52198230e-03 -1.88856893e-01] [-9.37154170e-06 -4.52606654e-03 9.99989757e-01 -7.55567421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75992885099998 meters Centerline goodness [0,1] 0.6791070019167889 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.08 [[ 9.99002248e-01 -4.46591443e-02 -2.64599212e-04 6.33301386e-01] [ 4.46598542e-02 9.98993845e-01 4.09819912e-03 -1.86877874e-01] [ 8.13109181e-05 -4.10592710e-03 9.99991567e-01 -7.59493248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78992885099998 meters Centerline goodness [0,1] 0.6791339476192637 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.08 [[ 9.98990197e-01 -4.49271615e-02 -3.69786954e-04 6.34197898e-01] [ 4.49281513e-02 9.98984585e-01 3.35561284e-03 -1.83307691e-01] [ 2.18653307e-04 -3.36883817e-03 9.99994302e-01 -7.69658041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81992885099999 meters Centerline goodness [0,1] 0.6731040765201548 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.08 [[ 9.98981794e-01 -4.51132676e-02 -4.10378306e-04 6.34570555e-01] [ 4.51142664e-02 9.98977668e-01 2.88486696e-03 -1.81200943e-01] [ 2.79812987e-04 -2.90044349e-03 9.99995755e-01 -7.73938568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.84992885099999 meters Centerline goodness [0,1] 0.6731040765201548 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.08 [[ 9.98981794e-01 -4.51132676e-02 -4.10378306e-04 6.34570555e-01] [ 4.51142664e-02 9.98977668e-01 2.88486696e-03 -1.81200943e-01] [ 2.79812987e-04 -2.90044349e-03 9.99995755e-01 -7.73938568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.87992885099999 meters Centerline goodness [0,1] 0.675935853274631 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 9.98980009e-01 -4.51517633e-02 -5.09897746e-04 6.35195771e-01] [ 4.51529353e-02 9.98976740e-01 2.58555577e-03 -1.79148584e-01] [ 3.92633585e-04 -2.60594191e-03 9.99996527e-01 -7.80215152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.90992885099999 meters Centerline goodness [0,1] 0.6717376838530552 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.08 [[ 9.98953228e-01 -4.57402733e-02 -5.25093194e-04 6.35446246e-01] [ 4.57409509e-02 9.98952408e-01 1.36052231e-03 -1.74469904e-01] [ 4.62312449e-04 -1.38311642e-03 9.99998937e-01 -7.83165915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.93992885099999 meters Centerline goodness [0,1] 0.6776514540045662 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.08 [[ 9.99055554e-01 -4.34507383e-02 -1.83752688e-04 6.33643496e-01] [ 4.34511261e-02 9.99045820e-01 4.41013498e-03 -1.73891431e-01] [-8.04626647e-06 -4.41395411e-03 9.99990258e-01 -7.79592313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96992885099999 meters Centerline goodness [0,1] 0.6745710117407313 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.08 [[ 9.99037031e-01 -4.38744604e-02 -2.07357728e-04 6.33566415e-01] [ 4.38749193e-02 9.99030798e-01 3.52930551e-03 -1.71239564e-01] [ 5.23103813e-05 -3.53500470e-03 9.99993750e-01 -7.77544668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99992885099998 meters Centerline goodness [0,1] 0.670490432844139 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.08 [[ 9.99022183e-01 -4.42114405e-02 -1.62460790e-04 6.33358123e-01] [ 4.42117208e-02 9.99018363e-01 2.76317346e-03 -1.68808001e-01] [ 4.01374336e-05 -2.76765426e-03 9.99996169e-01 -7.75378058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02992885099998 meters Centerline goodness [0,1] 0.6775724976613657 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.08 [[ 9.99088795e-01 -4.26797379e-02 1.43741945e-04 6.33086983e-01] [ 4.26786628e-02 9.99078755e-01 4.49152334e-03 -1.65136765e-01] [-3.35306562e-04 -4.48129592e-03 9.99989903e-01 -7.87529357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05992885099998 meters Centerline goodness [0,1] 0.6688348283473442 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.08 [[ 9.99079772e-01 -4.28906541e-02 2.50750679e-05 6.33397307e-01] [ 4.28902449e-02 9.99072476e-01 3.82286658e-03 -1.62680325e-01] [-1.89017058e-04 -3.81827320e-03 9.99992693e-01 -7.88065646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08992885099998 meters Centerline goodness [0,1] 0.671340742492315 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.08 [[ 9.99179617e-01 -4.04951917e-02 4.82784064e-04 6.31919402e-01] [ 4.04911045e-02 9.99157870e-01 6.63488928e-03 -1.60118681e-01] [-7.51058611e-04 -6.60989766e-03 9.99977872e-01 -7.91228097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11992885099998 meters Centerline goodness [0,1] 0.6754203173099692 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.08 [[ 9.99168807e-01 -4.07612170e-02 4.67916249e-04 6.31976068e-01] [ 4.07575791e-02 9.99150170e-01 6.14470308e-03 -1.58291721e-01] [-7.17984175e-04 -6.12052451e-03 9.99981012e-01 -7.92140326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14992885099998 meters Centerline goodness [0,1] 0.6753944117088007 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.08 [[ 9.99159396e-01 -4.09905900e-02 5.22749833e-04 6.31981114e-01] [ 4.09869270e-02 9.99143231e-01 5.73367723e-03 -1.56921570e-01] [-7.57328770e-04 -5.70743157e-03 9.99983426e-01 -7.93562031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17992885099999 meters Centerline goodness [0,1] 0.6660559190957763 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.08 [[ 9.99148235e-01 -4.12587837e-02 7.19332863e-04 6.31821291e-01] [ 4.12541864e-02 9.99133365e-01 5.53274905e-03 -1.55703405e-01] [-9.46983961e-04 -5.49836096e-03 9.99984436e-01 -7.98420591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.20992885099999 meters Centerline goodness [0,1] 0.6629031103048242 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.08 [[ 0.99910938 -0.04218078 0.00110493 0.63082798] [ 0.0421749 0.99909825 0.00489511 -0.15391035] [-0.00131041 -0.00484415 0.99998741 -0.07991773] [ 0. 0. 0. 1. ]] SLAMing on 119.23992885099999 meters Centerline goodness [0,1] 0.6693600439865172 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.08 [[ 0.9990908 -0.04261033 0.00139329 0.63029093] [ 0.04260319 0.99908052 0.00480471 -0.15359285] [-0.00159674 -0.00474098 0.99998749 -0.08023623] [ 0. 0. 0. 1. ]] SLAMing on 119.26992885099999 meters Centerline goodness [0,1] 0.6635741953995504 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.08 [[ 0.99907641 -0.04294031 0.00156565 0.63015054] [ 0.04293245 0.9990667 0.00474641 -0.15321332] [-0.001768 -0.00467481 0.99998751 -0.08072207] [ 0. 0. 0. 1. ]] SLAMing on 119.29992885099999 meters Centerline goodness [0,1] 0.6623062363736554 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.08 [[ 0.99905867 -0.04334432 0.00174236 0.62979342] [ 0.04333609 0.99905035 0.00451567 -0.15268878] [-0.00193644 -0.00443591 0.99998829 -0.08088752] [ 0. 0. 0. 1. ]] SLAMing on 119.32992885099999 meters Centerline goodness [0,1] 0.6607947464289139 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.08 [[ 0.99904616 -0.04362409 0.00192371 0.62965463] [ 0.04361525 0.99903862 0.00442023 -0.15218984] [-0.00211469 -0.00433211 0.99998838 -0.08133341] [ 0. 0. 0. 1. ]] SLAMing on 119.35992885099998 meters Centerline goodness [0,1] 0.6584440227703985 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.08 [[ 0.99903357 -0.04390748 0.00201349 0.62983018] [ 0.0438985 0.99902673 0.00430392 -0.15153221] [-0.0022005 -0.00421137 0.99998871 -0.08204534] [ 0. 0. 0. 1. ]] SLAMing on 119.38992885099998 meters Centerline goodness [0,1] 0.6563897840411717 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.08 [[ 0.99902542 -0.04409053 0.00205706 0.62975613] [ 0.04408177 0.99901942 0.00412322 -0.15083723] [-0.00223684 -0.00402853 0.99998938 -0.08213736] [ 0. 0. 0. 1. ]] SLAMing on 119.41992885099998 meters Centerline goodness [0,1] 0.6574756815179537 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.08 [[ 0.99901884 -0.0442364 0.00211856 0.62964827] [ 0.04422784 0.99901374 0.00393029 -0.15003737] [-0.00229033 -0.00383273 0.99999003 -0.0822033 ] [ 0. 0. 0. 1. ]] SLAMing on 119.44992885099998 meters Centerline goodness [0,1] 0.66844648465813 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.08 [[ 0.99900997 -0.0444305 0.00223686 0.62923637] [ 0.04442217 0.99900619 0.00364656 -0.14913601] [-0.00239665 -0.00354358 0.99999085 -0.08199388] [ 0. 0. 0. 1. ]] SLAMing on 119.47992885099998 meters Centerline goodness [0,1] 0.6609604751672018 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.08 [[ 0.99900889 -0.04445692 0.0021976 0.62925196] [ 0.04444901 0.99900544 0.00352497 -0.14845278] [-0.00235212 -0.0034238 0.99999137 -0.08193078] [ 0. 0. 0. 1. ]] SLAMing on 119.50992885099998 meters Centerline goodness [0,1] 0.6629967646916799 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.08 [[ 0.99901547 -0.04430649 0.00224158 0.62952527] [ 0.0442978 0.99901119 0.00378642 -0.14856198] [-0.00240713 -0.00368339 0.99999032 -0.08247446] [ 0. 0. 0. 1. ]] SLAMing on 119.53992885099998 meters Centerline goodness [0,1] 0.6615637224127107 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.08 [[ 0.9990151 -0.04431444 0.00224843 0.62944413] [ 0.04430575 0.99901087 0.00377995 -0.14862103] [-0.00241371 -0.0036766 0.99999033 -0.08238763] [ 0. 0. 0. 1. ]] SLAMing on 119.56992885099999 meters Centerline goodness [0,1] 0.6599064338767242 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.08 [[ 0.99901678 -0.04427779 0.00222516 0.62940978] [ 0.0442691 0.99901237 0.0038121 -0.1486133 ] [-0.00239176 -0.00370985 0.99999026 -0.08226642] [ 0. 0. 0. 1. ]] SLAMing on 119.59992885099999 meters Centerline goodness [0,1] 0.6544425716349627 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.08 [[ 0.99901052 -0.04440739 0.00244401 0.62876388] [ 0.04439797 0.99900676 0.00378441 -0.14851398] [-0.00260964 -0.00367215 0.99998985 -0.08202748] [ 0. 0. 0. 1. ]] SLAMing on 119.62992885099999 meters Centerline goodness [0,1] 0.6543189007751564 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.08 [[ 0.9990081 -0.04446225 0.0024351 0.62862801] [ 0.04445271 0.99900411 0.00383871 -0.14864724] [-0.00260335 -0.00372666 0.99998967 -0.08191773] [ 0. 0. 0. 1. ]] SLAMing on 119.65992885099999 meters Centerline goodness [0,1] 0.6601429912616451 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.08 [[ 0.99902123 -0.04417013 0.00236196 0.62909679] [ 0.04415988 0.99901553 0.00422904 -0.14944943] [-0.00254643 -0.00412059 0.99998827 -0.08227438] [ 0. 0. 0. 1. ]] SLAMing on 119.68992885099999 meters Centerline goodness [0,1] 0.6582987003627454 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.08 [[ 0.99902382 -0.0441088 0.00241171 0.62918388] [ 0.04409759 0.99901701 0.00451939 -0.15025972] [-0.00260868 -0.00440863 0.99998688 -0.0826262 ] [ 0. 0. 0. 1. ]] SLAMing on 119.71992885099999 meters Centerline goodness [0,1] 0.6441970083209081 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.08 [[ 0.99902496 -0.0440745 0.00256262 0.62906745] [ 0.04406079 0.99901541 0.00518184 -0.15252893] [-0.00278848 -0.00506388 0.99998329 -0.08308833] [ 0. 0. 0. 1. ]] SLAMing on 119.74992885099998 meters Centerline goodness [0,1] 0.6569395529361028 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.08 [[ 0.99902675 -0.04403035 0.00262149 0.62912464] [ 0.04401536 0.99901557 0.00552542 -0.15370785] [-0.0028622 -0.00540465 0.9999813 -0.08338983] [ 0. 0. 0. 1. ]] SLAMing on 119.77992885099998 meters Centerline goodness [0,1] 0.6572076913889884 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.08 [[ 0.99903007 -0.04395314 0.00265458 0.62914155] [ 0.0439369 0.99901692 0.00589465 -0.15489597] [-0.00291106 -0.00577229 0.9999791 -0.08357822] [ 0. 0. 0. 1. ]] SLAMing on 119.80992885099998 meters Centerline goodness [0,1] 0.653386168866821 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.08 [[ 0.99903335 -0.04387205 0.00275706 0.62897953] [ 0.04385419 0.99901849 0.00623463 -0.15607535] [-0.00302788 -0.00610769 0.99997676 -0.08365424] [ 0. 0. 0. 1. ]] SLAMing on 119.83992885099998 meters Centerline goodness [0,1] 0.6571380968248679 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.08 [[ 0.99904729 -0.04355635 0.00271312 0.62903881] [ 0.04353692 0.99902832 0.00685167 -0.15804713] [-0.00300891 -0.00672702 0.99997285 -0.08361839] [ 0. 0. 0. 1. ]] SLAMing on 119.86992885099998 meters Centerline goodness [0,1] 0.6562062002613137 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.08 [[ 0.99905709 -0.04332989 0.00272885 0.62917995] [ 0.04330956 0.99903638 0.00711329 -0.15869006] [-0.00303444 -0.00698839 0.99997098 -0.08377153] [ 0. 0. 0. 1. ]] SLAMing on 119.89992885099998 meters Centerline goodness [0,1] 0.6579999048479948 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.08 [[ 0.99907542 -0.04291471 0.00257356 0.62975826] [ 0.04289409 0.99905077 0.00759277 -0.15953391] [-0.00289696 -0.00747536 0.99996786 -0.08409886] [ 0. 0. 0. 1. ]] SLAMing on 119.92992885099999 meters Centerline goodness [0,1] 0.6595598186091788 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.08 [[ 0.99908598 -0.04267809 0.00240487 0.63008089] [ 0.04265807 0.999059 0.00783565 -0.1601558 ] [-0.00273702 -0.0077259 0.99996641 -0.08402622] [ 0. 0. 0. 1. ]] SLAMing on 119.95992885099999 meters Centerline goodness [0,1] 0.6570528012133852 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.08 [[ 0.99910741 -0.04217897 0.00230529 0.63028873] [ 0.04215812 0.99907522 0.00844952 -0.16186876] [-0.00265955 -0.00834479 0.99996164 -0.08393848] [ 0. 0. 0. 1. ]] SLAMing on 119.98992885099999 meters Centerline goodness [0,1] 0.6664615821481814 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.08 [[ 0.99912054 -0.04186737 0.00229402 0.63053299] [ 0.04184559 0.99908498 0.00884045 -0.16292068] [-0.00266204 -0.00873668 0.99995829 -0.08413586] [ 0. 0. 0. 1. ]] SLAMing on 120.01992885099999 meters Centerline goodness [0,1] 0.6652832146394378 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.08 [[ 0.99913243 -0.0415845 0.00226157 0.6307594 ] [ 0.04156203 0.99909345 0.00921242 -0.16401088] [-0.00264261 -0.00911043 0.99995501 -0.08427468] [ 0. 0. 0. 1. ]] SLAMing on 120.04992885099999 meters Centerline goodness [0,1] 0.66961888161304 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.08 [[ 0.99916455 -0.04081871 0.00201057 0.63157858] [ 0.04079671 0.99911761 0.00998101 -0.16567168] [-0.00241621 -0.00989065 0.99994817 -0.08456537] [ 0. 0. 0. 1. ]] SLAMing on 120.07992885099999 meters Centerline goodness [0,1] 0.6603104525280041 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.08 [[ 0.9991834 -0.04036319 0.00183086 0.63215017] [ 0.04034218 0.99913241 0.01034095 -0.16625373] [-0.00224666 -0.01025865 0.99994485 -0.08474956] [ 0. 0. 0. 1. ]] SLAMing on 120.10992885099998 meters Centerline goodness [0,1] 0.6690446577335555 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.08 [[ 0.9992004 -0.03994586 0.00169974 0.63264714] [ 0.0399257 0.9991466 0.01058375 -0.16655917] [-0.00212106 -0.01050742 0.99994255 -0.08488708] [ 0. 0. 0. 1. ]] SLAMing on 120.13992885099998 meters Centerline goodness [0,1] 0.6728813957310916 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99925171 -0.03865716 0.00127882 0.63432583] [ 0.03864002 0.99918758 0.01145119 -0.16746519] [-0.00172046 -0.01139321 0.99993362 -0.08565707] [ 0. 0. 0. 1. ]] SLAMing on 120.16992885099998 meters Centerline goodness [0,1] 0.6719852357146194 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99926718 -0.03826098 0.00110009 0.63492331] [ 0.03824573 0.99920141 0.01156738 -0.16756432] [-0.00154179 -0.01151683 0.99993249 -0.08577395] [ 0. 0. 0. 1. ]] SLAMing on 120.19992885099998 meters Centerline goodness [0,1] 0.6807528242628791 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 9.99287730e-01 -3.77265138e-02 8.62114060e-04 6.35727653e-01] [ 3.77137104e-02 9.99218686e-01 1.18191925e-02 -1.67511445e-01] [-1.30733741e-03 -1.17782605e-02 9.99929779e-01 -8.60345475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22992885099998 meters Centerline goodness [0,1] 0.6764167761306061 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 9.99303851e-01 -3.73003704e-02 7.03575145e-04 6.36245357e-01] [ 3.72893929e-02 9.99233871e-01 1.18816202e-02 -1.66971926e-01] [-1.14622495e-03 -1.18471129e-02 9.99929164e-01 -8.61496998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25992885099998 meters Centerline goodness [0,1] 0.6795722627394882 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 9.99342392e-01 -3.62579062e-02 3.84359837e-04 6.37256902e-01] [ 3.62505365e-02 9.99268442e-01 1.21852093e-02 -1.66459284e-01] [-8.25888832e-04 -1.21632630e-02 9.99925684e-01 -8.61361011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28992885099998 meters Centerline goodness [0,1] 0.6886710800252638 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 9.99352924e-01 -3.59677901e-02 2.26930790e-04 6.37587281e-01] [ 3.59623326e-02 9.99278402e-01 1.22223341e-02 -1.66273732e-01] [-6.66377386e-04 -1.22062644e-02 9.99925279e-01 -8.60113552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31992885099999 meters Centerline goodness [0,1] 0.692495138124136 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 9.99360777e-01 -3.57494207e-02 1.24117095e-04 6.37929919e-01] [ 3.57451907e-02 9.99285234e-01 1.23004986e-02 -1.66242589e-01] [-5.63764081e-04 -1.22881993e-02 9.99924338e-01 -8.60876770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.34992885099999 meters Centerline goodness [0,1] 0.6909175920514319 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 9.99364958e-01 -3.56323720e-02 1.23554170e-04 6.38071740e-01] [ 3.56280870e-02 9.99287865e-01 1.24258868e-02 -1.66476451e-01] [-5.66230002e-04 -1.24135938e-02 9.99922788e-01 -8.62766116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.37992885099999 meters Centerline goodness [0,1] 0.6926353233015843 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 9.99367444e-01 -3.55619314e-02 2.48468699e-04 6.37998978e-01] [ 3.55559096e-02 9.99286966e-01 1.27018168e-02 -1.67398566e-01] [-6.99992671e-04 -1.26849477e-02 9.99919298e-01 -8.65885675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.40992885099999 meters Centerline goodness [0,1] 0.690340244301961 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 9.99358381e-01 -3.58139117e-02 4.36793755e-04 6.37323393e-01] [ 3.58056455e-02 9.99280379e-01 1.25171884e-02 -1.67486290e-01] [-8.84768909e-04 -1.24935174e-02 9.99921562e-01 -8.62017977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.43992885099999 meters Centerline goodness [0,1] 0.6912640403521473 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 9.99347668e-01 -3.61077133e-02 6.86038221e-04 6.36688965e-01] [ 3.60965311e-02 9.99272322e-01 1.23233994e-02 -1.67474164e-01] [-1.13050878e-03 -1.22905968e-02 9.99923829e-01 -8.60507436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46992885099999 meters Centerline goodness [0,1] 0.6836272863008586 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 9.99332260e-01 -3.65266065e-02 9.16859598e-04 6.36065003e-01] [ 3.65127208e-02 9.99258675e-01 1.22033105e-02 -1.67806444e-01] [-1.36192543e-03 -1.21616848e-02 9.99925116e-01 -8.59466900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49992885099998 meters Centerline goodness [0,1] 0.6823680823680824 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99932473 -0.03672872 0.00103729 0.63579251] [ 0.03671337 0.99925146 0.01219229 -0.16818475] [-0.00148432 -0.01214598 0.99992513 -0.08600039] [ 0. 0. 0. 1. ]] SLAMing on 120.52992885099998 meters Centerline goodness [0,1] 0.6824952140822711 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99931652 -0.03694563 0.001231 0.63552624] [ 0.0369278 0.99924275 0.01225805 -0.16862755] [-0.00168295 -0.01220422 0.99992411 -0.08630293] [ 0. 0. 0. 1. ]] SLAMing on 120.55992885099998 meters Centerline goodness [0,1] 0.6792875650692126 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99930569 -0.03723124 0.00140676 0.63512306] [ 0.03721133 0.99923276 0.01221477 -0.16908995] [-0.00186046 -0.01215394 0.99992441 -0.08631444] [ 0. 0. 0. 1. ]] SLAMing on 120.58992885099998 meters Centerline goodness [0,1] 0.6780923994038748 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99929697 -0.03745523 0.00163466 0.63480487] [ 0.03743243 0.99922386 0.0122676 -0.16947675] [-0.00209288 -0.01219779 0.99992341 -0.08660761] [ 0. 0. 0. 1. ]] SLAMing on 120.61992885099998 meters Centerline goodness [0,1] 0.6760343299594198 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99927419 -0.03804511 0.0019121 0.63410308] [ 0.03801916 0.99920315 0.01214913 -0.16987505] [-0.00237279 -0.01206761 0.99992437 -0.086693 ] [ 0. 0. 0. 1. ]] SLAMing on 120.64992885099998 meters Centerline goodness [0,1] 0.6760658329071552 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99926208 -0.03835519 0.00204097 0.63373718] [ 0.03832792 0.99919258 0.01204831 -0.17003746] [-0.00250143 -0.0119612 0.99992533 -0.08664064] [ 0. 0. 0. 1. ]] SLAMing on 120.67992885099999 meters Centerline goodness [0,1] 0.6807440690987824 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.999254 -0.03855713 0.00218817 0.63338879] [ 0.03852801 0.99918458 0.01207372 -0.1702933 ] [-0.00265191 -0.0119804 0.99992472 -0.08670877] [ 0. 0. 0. 1. ]] SLAMing on 120.70992885099999 meters Centerline goodness [0,1] 0.6747554727526781 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99923859 -0.0389385 0.00245756 0.63276651] [ 0.03890642 0.99917111 0.01197399 -0.17062063] [-0.00292178 -0.01186926 0.99992529 -0.08671207] [ 0. 0. 0. 1. ]] SLAMing on 120.73992885099999 meters Centerline goodness [0,1] 0.67666635635822 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99923193 -0.03909928 0.00260586 0.6325553 ] [ 0.03906578 0.99916623 0.01186176 -0.17045156] [-0.00306748 -0.01175085 0.99992625 -0.08685805] [ 0. 0. 0. 1. ]] SLAMing on 120.76992885099999 meters Centerline goodness [0,1] 0.67666635635822 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99923193 -0.03909928 0.00260586 0.6325553 ] [ 0.03906578 0.99916623 0.01186176 -0.17045156] [-0.00306748 -0.01175085 0.99992625 -0.08685805] [ 0. 0. 0. 1. ]] SLAMing on 120.79992885099999 meters Centerline goodness [0,1] 0.6749068901303539 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99923321 -0.03906735 0.00259509 0.63272361] [ 0.03903415 0.99916814 0.01180492 -0.17005328] [-0.00305412 -0.01169457 0.99992695 -0.08702949] [ 0. 0. 0. 1. ]] SLAMing on 120.82992885099999 meters Centerline goodness [0,1] 0.6783449883449884 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99923717 -0.03897667 0.00243014 0.6331386 ] [ 0.03894565 0.9991726 0.01171965 -0.16948608] [-0.00288492 -0.01161607 0.99992837 -0.08711277] [ 0. 0. 0. 1. ]] SLAMing on 120.85992885099998 meters Centerline goodness [0,1] 0.6737830514808931 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99925444 -0.03854353 0.00222889 0.63394681] [ 0.03851551 0.99919206 0.01147985 -0.16789927] [-0.00266956 -0.01138545 0.99993162 -0.087375 ] [ 0. 0. 0. 1. ]] SLAMing on 120.88992885099998 meters Centerline goodness [0,1] 0.6785313639338132 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99926743 -0.03821557 0.00204464 0.63464845] [ 0.03818996 0.99920591 0.01136151 -0.16677871] [-0.00247721 -0.0112751 0.99993337 -0.08763892] [ 0. 0. 0. 1. ]] SLAMing on 120.91992885099998 meters Centerline goodness [0,1] 0.6812838741465475 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99941128 -0.03424715 0.00205539 0.63458161] [ 0.03421223 0.99930011 0.01512682 -0.16602412] [-0.002572 -0.0150476 0.99988347 -0.08799467] [ 0. 0. 0. 1. ]] SLAMing on 120.94992885099998 meters Centerline goodness [0,1] 0.6802793059669912 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.09 [[ 0.99942788 -0.03377729 0.00173518 0.63539934] [ 0.033748 0.999321 0.01478549 -0.16426866] [-0.00223341 -0.01471848 0.99988918 -0.08786315] [ 0. 0. 0. 1. ]] SLAMing on 120.97992885099998 meters Centerline goodness [0,1] 0.6846405613506322 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.09 [[ 0.99944666 -0.03322733 0.00152104 0.63608108] [ 0.03320191 0.99934403 0.01446188 -0.16248687] [-0.00200057 -0.01440338 0.99989426 -0.08775365] [ 0. 0. 0. 1. ]] SLAMing on 121.00992885099998 meters Centerline goodness [0,1] 0.6929588756838332 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.09 [[ 0.99946796 -0.03259167 0.00125884 0.63698556] [ 0.03257052 0.99936841 0.01421097 -0.16070402] [-0.00172121 -0.01416241 0.99989823 -0.08780838] [ 0. 0. 0. 1. ]] SLAMing on 121.03992885099998 meters Centerline goodness [0,1] 0.7020607836649808 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.09 [[ 9.99490026e-01 -3.19191128e-02 9.26803297e-04 6.38081050e-01] [ 3.19029942e-02 9.99392553e-01 1.40258097e-02 -1.58978479e-01] [-1.37393171e-03 -1.39890891e-02 9.99901204e-01 -8.79848423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06992885099999 meters Centerline goodness [0,1] 0.7078646363700949 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.09 [[ 9.99510831e-01 -3.12674578e-02 6.66592968e-04 6.39106745e-01] [ 3.12551502e-02 9.99414368e-01 1.39297020e-02 -1.57476768e-01] [-1.10174896e-03 -1.39020535e-02 9.99902755e-01 -8.82937353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09992885099999 meters Centerline goodness [0,1] 0.7004400047568082 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.09 [[ 9.99625168e-01 -2.73682328e-02 7.09714647e-04 6.39150517e-01] [ 2.73513843e-02 9.99469007e-01 1.77089250e-02 -1.56337571e-01] [-1.19399977e-03 -1.76828754e-02 9.99842933e-01 -8.89251793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.12992885099999 meters Centerline goodness [0,1] 0.7002889414236932 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.09 [[ 9.99633059e-01 -2.70823850e-02 5.39640760e-04 6.40002297e-01] [ 2.70686454e-02 9.99477683e-01 1.76535886e-02 -1.55460788e-01] [-1.01746018e-03 -1.76325034e-02 9.99844018e-01 -8.94565651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.15992885099999 meters Centerline goodness [0,1] 0.7164029498102671 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 9.99634703e-01 -2.70244215e-02 3.77093230e-04 6.40490569e-01] [ 2.70137006e-02 9.99482125e-01 1.74854999e-02 -1.54925355e-01] [-8.49433462e-04 -1.74689258e-02 9.99847046e-01 -8.95794382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.18992885099999 meters Centerline goodness [0,1] 0.7222487353249976 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 9.99631258e-01 -2.71515832e-02 3.73554279e-04 6.40615774e-01] [ 2.71410411e-02 9.99481483e-01 1.73242440e-02 -1.54818365e-01] [-8.43741237e-04 -1.73077172e-02 9.99849854e-01 -8.97224521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21992885099998 meters Centerline goodness [0,1] 0.7252784017588301 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 9.99628245e-01 -2.72612018e-02 4.46469683e-04 6.40474917e-01] [ 2.72493941e-02 9.99478774e-01 1.73104192e-02 -1.54965836e-01] [-9.18139803e-04 -1.72918179e-02 9.99850064e-01 -8.97383303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24992885099998 meters Centerline goodness [0,1] 0.7078892783062728 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 9.99617483e-01 -2.76510395e-02 5.54575500e-04 6.40023630e-01] [ 2.76375918e-02 9.99472914e-01 1.70310843e-02 -1.54892908e-01] [-1.02521037e-03 -1.70092425e-02 9.99854807e-01 -8.94894138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27992885099998 meters Centerline goodness [0,1] 0.7067764256740634 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.09 [[ 9.99606978e-01 -2.80239565e-02 7.40371827e-04 6.39512269e-01] [ 2.80073961e-02 9.99464030e-01 1.69481374e-02 -1.55225130e-01] [-1.21492888e-03 -1.69207406e-02 9.99856096e-01 -8.94779560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30992885099998 meters Centerline goodness [0,1] 0.7052305492672466 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.09 [[ 9.99487387e-01 -3.20057381e-02 7.72564276e-04 6.39755115e-01] [ 3.19930849e-02 9.99404418e-01 1.29325742e-02 -1.55290278e-01] [-1.18602073e-03 -1.29012280e-02 9.99916072e-01 -8.94306699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33992885099998 meters Centerline goodness [0,1] 0.6873096688237533 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.09 [[ 0.99946213 -0.03277564 0.00109775 0.63865664] [ 0.03275892 0.99938115 0.01281272 -0.15644082] [-0.00151702 -0.01276986 0.99991731 -0.08916475] [ 0. 0. 0. 1. ]] SLAMing on 121.36992885099998 meters Centerline goodness [0,1] 0.6849507067347667 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.09 [[ 0.99944312 -0.03334476 0.0012588 0.63807749] [ 0.03332558 0.99935973 0.01302034 -0.15813925] [-0.00169216 -0.01297114 0.99991444 -0.08921645] [ 0. 0. 0. 1. ]] SLAMing on 121.39992885099998 meters Centerline goodness [0,1] 0.6852971153618241 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.09 [[ 0.99941773 -0.03408779 0.00149237 0.63712882] [ 0.03406557 0.99933511 0.01299493 -0.15966612] [-0.00193434 -0.01293653 0.99991445 -0.08891173] [ 0. 0. 0. 1. ]] SLAMing on 121.42992885099999 meters Centerline goodness [0,1] 0.6794351029661818 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.09 [[ 0.99926758 -0.03823146 0.00162777 0.63712688] [ 0.03821475 0.99922637 0.00928984 -0.16099412] [-0.00198168 -0.00922083 0.99995552 -0.08892297] [ 0. 0. 0. 1. ]] SLAMing on 121.45992885099999 meters Centerline goodness [0,1] 0.6778204252713872 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.09 [[ 0.99924804 -0.03872415 0.00195036 0.6363461 ] [ 0.03870401 0.99920577 0.00947783 -0.16252521] [-0.00231583 -0.00939522 0.99995318 -0.08899458] [ 0. 0. 0. 1. ]] SLAMing on 121.48992885099999 meters Centerline goodness [0,1] 0.6760368230707811 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.09 [[ 0.99923872 -0.0389568 0.00208462 0.63611727] [ 0.03893447 0.99919321 0.00985031 -0.16409024] [-0.00246668 -0.00976165 0.99994931 -0.08932184] [ 0. 0. 0. 1. ]] SLAMing on 121.51992885099999 meters Centerline goodness [0,1] 0.6722924799551182 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99921615 -0.0395227 0.00224332 0.63551624] [ 0.03949803 0.99916817 0.01014289 -0.16689766] [-0.00264232 -0.01004633 0.99994604 -0.08930357] [ 0. 0. 0. 1. ]] SLAMing on 121.54992885099999 meters Centerline goodness [0,1] 0.6729750542552446 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99921035 -0.03966313 0.00234639 0.63515584] [ 0.03963684 0.99916052 0.01035289 -0.16811146] [-0.00275505 -0.01025171 0.99994365 -0.08919453] [ 0. 0. 0. 1. ]] SLAMing on 121.57992885099999 meters Centerline goodness [0,1] 0.676554890126535 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99921146 -0.03963341 0.0023762 0.63508738] [ 0.0396062 0.99915942 0.01057347 -0.16885798] [-0.00279327 -0.01047102 0.99994128 -0.08921719] [ 0. 0. 0. 1. ]] SLAMing on 121.60992885099998 meters Centerline goodness [0,1] 0.6749371566893213 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99923718 -0.03899226 0.00215852 0.63581416] [ 0.03896611 0.99917934 0.01105875 -0.16969192] [-0.00258795 -0.0109662 0.99993652 -0.0894031 ] [ 0. 0. 0. 1. ]] SLAMing on 121.63992885099998 meters Centerline goodness [0,1] 0.6798014633919001 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.9992572 -0.03848754 0.00194016 0.63657087] [ 0.03846309 0.99919537 0.01136654 -0.16988106] [-0.00237607 -0.01128347 0.99993352 -0.08968246] [ 0. 0. 0. 1. ]] SLAMing on 121.66992885099998 meters Centerline goodness [0,1] 0.6799758437274986 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.9992816 -0.03786156 0.00166735 0.63768574] [ 0.03783962 0.9992158 0.01165958 -0.16994563] [-0.0021075 -0.01158811 0.99993063 -0.09018707] [ 0. 0. 0. 1. ]] SLAMing on 121.69992885099998 meters Centerline goodness [0,1] 0.6761106337521191 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99931133 -0.03708282 0.00131685 0.63888395] [ 0.03706432 0.99924031 0.01204312 -0.17016921] [-0.00176245 -0.01198602 0.99992661 -0.09058946] [ 0. 0. 0. 1. ]] SLAMing on 121.72992885099998 meters Centerline goodness [0,1] 0.6923005328431486 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.9994644 -0.03270135 0.00124248 0.63899779] [ 0.03267625 0.99932804 0.01660539 -0.17198616] [-0.00178466 -0.0165559 0.99986135 -0.09093217] [ 0. 0. 0. 1. ]] SLAMing on 121.75992885099998 meters Centerline goodness [0,1] 0.6906892213057458 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 0.99948177 -0.03217211 0.00106632 0.63966679] [ 0.03214963 0.99934125 0.01683632 -0.17196355] [-0.00160728 -0.01679331 0.99985769 -0.09113575] [ 0. 0. 0. 1. ]] SLAMing on 121.78992885099998 meters Centerline goodness [0,1] 0.6974503720637291 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 9.99491372e-01 -3.18782217e-02 8.80914135e-04 6.40049560e-01] [ 3.18587731e-02 9.99349154e-01 1.69199888e-02 -1.72080314e-01] [-1.41971995e-03 -1.68833180e-02 9.99856459e-01 -9.09968708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81992885099999 meters Centerline goodness [0,1] 0.7089087273910819 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 9.99511139e-01 -3.12567368e-02 7.06071482e-04 6.40827555e-01] [ 3.12395119e-02 9.99357373e-01 1.75764971e-02 -1.73763316e-01] [-1.25500169e-03 -1.75458473e-02 9.99845272e-01 -9.13796353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84992885099999 meters Centerline goodness [0,1] 0.6970970738504412 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.17, Z:-0.09 [[ 9.99511837e-01 -3.12339744e-02 7.24942160e-04 6.40707028e-01] [ 3.12161743e-02 9.99354673e-01 1.77704048e-02 -1.74769058e-01] [-1.27951470e-03 -1.77391000e-02 9.99841831e-01 -9.12662409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87992885099999 meters Centerline goodness [0,1] 0.6930642542333565 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.09 [[ 9.99509338e-01 -3.13130334e-02 7.60165217e-04 6.40368369e-01] [ 3.12943691e-02 9.99349153e-01 1.79425112e-02 -1.75917683e-01] [-1.32150492e-03 -1.79099186e-02 9.99838731e-01 -9.09288770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.90992885099999 meters Centerline goodness [0,1] 0.6825305236919241 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.09 [[ 9.99500420e-01 -3.15914243e-02 9.44173973e-04 6.39412710e-01] [ 3.15687086e-02 9.99331995e-01 1.84114325e-02 -1.78957085e-01] [-1.52518664e-03 -1.83724281e-02 9.99830049e-01 -9.03028455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93992885099999 meters Centerline goodness [0,1] 0.6805137513498609 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.09 [[ 0.9994943 -0.0317817 0.00103149 0.6388934 ] [ 0.03175702 0.99932228 0.01861393 -0.18034399] [-0.00162238 -0.01857176 0.99982621 -0.08993079] [ 0. 0. 0. 1. ]] SLAMing on 121.96992885099998 meters Centerline goodness [0,1] 0.6782536726670805 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.09 [[ 0.9994893 -0.03193437 0.00115862 0.63840933] [ 0.03190695 0.99931381 0.01881078 -0.1816035 ] [-0.00175854 -0.01876421 0.99982239 -0.08968184] [ 0. 0. 0. 1. ]] SLAMing on 121.99992885099998 meters Centerline goodness [0,1] 0.6882753560044945 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.09 [[ 0.99948165 -0.03216907 0.00125809 0.63794717] [ 0.03213941 0.99930285 0.01899669 -0.18300429] [-0.00186832 -0.01894641 0.99981875 -0.08944595] [ 0. 0. 0. 1. ]] SLAMing on 122.02992885099998 meters Centerline goodness [0,1] 0.6671387778412337 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.09 [[ 0.9993701 -0.03547141 0.00108558 0.63882925] [ 0.03545015 0.99924925 0.01562766 -0.18436566] [-0.0016391 -0.01557933 0.99987729 -0.08949362] [ 0. 0. 0. 1. ]] SLAMing on 122.05992885099998 meters Centerline goodness [0,1] 0.6876940639269407 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.09 [[ 0.99936218 -0.03568699 0.00129045 0.63816956] [ 0.035662 0.99923736 0.01590338 -0.18599582] [-0.00185701 -0.01584721 0.9998727 -0.08928473] [ 0. 0. 0. 1. ]] SLAMing on 122.08992885099998 meters Centerline goodness [0,1] 0.6885406464250734 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.09 [[ 0.9993568 -0.03583478 0.00135932 0.63773511] [ 0.03580823 0.99922839 0.01613662 -0.18756886] [-0.00193652 -0.01607757 0.99986887 -0.08896172] [ 0. 0. 0. 1. ]] SLAMing on 122.11992885099998 meters Centerline goodness [0,1] 0.6878037701567113 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.09 [[ 0.99934886 -0.03604829 0.00153896 0.63715185] [ 0.03601858 0.999219 0.01624942 -0.18878292] [-0.00212352 -0.01618341 0.99986679 -0.08870496] [ 0. 0. 0. 1. ]] SLAMing on 122.14992885099998 meters Centerline goodness [0,1] 0.6958818994058688 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.09 [[ 0.99934652 -0.03611408 0.0015186 0.63686393] [ 0.03608436 0.99921406 0.01640654 -0.18988447] [-0.00210992 -0.01634102 0.99986425 -0.08819492] [ 0. 0. 0. 1. ]] SLAMing on 122.17992885099999 meters Centerline goodness [0,1] 0.6822700817537424 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.09 [[ 0.99934993 -0.03602352 0.00141942 0.63716163] [ 0.03599543 0.99921722 0.01640993 -0.18996713] [-0.00200945 -0.01634817 0.99986434 -0.08821013] [ 0. 0. 0. 1. ]] SLAMing on 122.20992885099999 meters Centerline goodness [0,1] 0.6864679731446198 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.09 [[ 0.99935433 -0.03590565 0.00130743 0.63729678] [ 0.03587951 0.99922222 0.01635885 -0.18967233] [-0.00189379 -0.01630138 0.99986533 -0.08801091] [ 0. 0. 0. 1. ]] SLAMing on 122.23992885099999 meters Centerline goodness [0,1] 0.6884947703501592 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.09 [[ 0.99937697 -0.03527614 0.00112893 0.63779424] [ 0.03525319 0.99924644 0.01624092 -0.18870153] [-0.00170099 -0.01619101 0.99986747 -0.08774245] [ 0. 0. 0. 1. ]] SLAMing on 122.26992885099999 meters Centerline goodness [0,1] 0.7069642816594381 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.09 [[ 0.9993847 -0.03506016 0.00100009 0.63802723] [ 0.0350397 0.99925792 0.01599449 -0.18780046] [-0.00156012 -0.01594961 0.99987158 -0.08751043] [ 0. 0. 0. 1. ]] SLAMing on 122.29992885099999 meters Centerline goodness [0,1] 0.7034037131416091 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.09 [[ 9.99394775e-01 -3.47783311e-02 7.43133747e-04 6.38464559e-01] [ 3.47623477e-02 9.99271714e-01 1.57359953e-02 -1.86784187e-01] [-1.28986419e-03 -1.57006384e-02 9.99875905e-01 -8.71839049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.32992885099999 meters Centerline goodness [0,1] 0.7106762052310216 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.09 [[ 9.99432432e-01 -3.36816450e-02 6.00172107e-04 6.39170812e-01] [ 3.36683756e-02 9.99313800e-01 1.54392018e-02 -1.84219216e-01] [-1.11977798e-03 -1.54102322e-02 9.99880628e-01 -8.69383339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35992885099998 meters Centerline goodness [0,1] 0.7327287641268684 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.09 [[ 9.99440034e-01 -3.34579710e-02 4.26674153e-04 6.39459760e-01] [ 3.34478555e-02 9.99328577e-01 1.49544819e-02 -1.82415323e-01] [-9.26734297e-04 -1.49318366e-02 9.99888084e-01 -8.65594066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38992885099998 meters Centerline goodness [0,1] 0.7286623037847237 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.09 [[ 9.99447466e-01 -3.32371348e-02 2.36299824e-04 6.39857729e-01] [ 3.32302007e-02 9.99342205e-01 1.45228036e-02 -1.80638998e-01] [-7.18840769e-04 -1.45069270e-02 9.99894511e-01 -8.63438905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41992885099998 meters Centerline goodness [0,1] 0.7214490427605182 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.09 [[ 9.99454777e-01 -3.30171523e-02 1.30061458e-04 6.40157996e-01] [ 3.30120316e-02 9.99355351e-01 1.41098553e-02 -1.79039456e-01] [-5.95844857e-04 -1.40978687e-02 9.99900443e-01 -8.61615578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44992885099998 meters Centerline goodness [0,1] 0.7396429309988282 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.09 [[ 9.99467971e-01 -3.26154280e-02 9.63773854e-05 6.40407445e-01] [ 3.26110664e-02 9.99374694e-01 1.36652634e-02 -1.77186348e-01] [-5.42015534e-04 -1.36548501e-02 9.99906621e-01 -8.59492422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47992885099998 meters Centerline goodness [0,1] 0.7163083136373023 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.09 [[ 9.99468789e-01 -3.25904452e-02 5.10184302e-05 6.40419562e-01] [ 3.25867965e-02 9.99377996e-01 1.34804167e-02 -1.76539081e-01] [-4.90319479e-04 -1.34715933e-02 9.99909134e-01 -8.58083367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50992885099998 meters Centerline goodness [0,1] 0.7490296947844659 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.09 [[ 9.99464475e-01 -3.27220784e-02 1.69139208e-04 6.40016089e-01] [ 3.27170102e-02 9.99377785e-01 1.31772719e-02 -1.75842470e-01] [-6.00221692e-04 -1.31646814e-02 9.99913162e-01 -8.55157033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53992885099998 meters Centerline goodness [0,1] 0.7507114660791334 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.09 [[ 9.99457945e-01 -3.29198913e-02 3.09848942e-04 6.39486749e-01] [ 3.29131464e-02 9.99374743e-01 1.29169694e-02 -1.75313963e-01] [-7.34880437e-04 -1.28997696e-02 9.99916524e-01 -8.52013356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56992885099999 meters Centerline goodness [0,1] 0.7451578850743529 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 9.99442206e-01 -3.33901269e-02 6.13086633e-04 6.38483317e-01] [ 3.33796830e-02 9.99362350e-01 1.26763790e-02 -1.75245198e-01] [-1.03596160e-03 -1.26488435e-02 9.99919464e-01 -8.47603186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59992885099999 meters Centerline goodness [0,1] 0.7091221636488654 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 9.99426441e-01 -3.38516107e-02 9.26304205e-04 6.37610119e-01] [ 3.38374490e-02 9.99349554e-01 1.24698166e-02 -1.75318270e-01] [-1.34782507e-03 -1.24313207e-02 9.99921820e-01 -8.45622916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.62992885099999 meters Centerline goodness [0,1] 0.73036078809147 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99941071 -0.0343038 0.00121489 0.63699016] [ 0.03428596 0.99933383 0.01250457 -0.175948 ] [-0.00164304 -0.01245555 0.99992108 -0.0847465 ] [ 0. 0. 0. 1. ]] SLAMing on 122.65992885099999 meters Centerline goodness [0,1] 0.73036078809147 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99941071 -0.0343038 0.00121489 0.63699016] [ 0.03428596 0.99933383 0.01250457 -0.175948 ] [-0.00164304 -0.01245555 0.99992108 -0.0847465 ] [ 0. 0. 0. 1. ]] SLAMing on 122.68992885099999 meters Centerline goodness [0,1] 0.6820984117525726 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.08 [[ 0.99939421 -0.03477542 0.00137545 0.63648084] [ 0.03475553 0.99931754 0.01251039 -0.17680818] [-0.00180957 -0.012455 0.9999208 -0.0847254 ] [ 0. 0. 0. 1. ]] SLAMing on 122.71992885099998 meters Centerline goodness [0,1] 0.6717702254262501 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.09 [[ 0.99924789 -0.03875088 0.00142118 0.63735387] [ 0.03873708 0.99921148 0.00870911 -0.17662806] [-0.00175755 -0.00864751 0.99996107 -0.0856663 ] [ 0. 0. 0. 1. ]] SLAMing on 122.74992885099998 meters Centerline goodness [0,1] 0.6998743000799909 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.09 [[ 0.99923208 -0.03914487 0.00170987 0.63704761] [ 0.03912801 0.99919387 0.00897857 -0.17753382] [-0.00205996 -0.00890477 0.99995823 -0.08635567] [ 0. 0. 0. 1. ]] SLAMing on 122.77992885099998 meters Centerline goodness [0,1] 0.6959780621572211 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.09 [[ 0.99921284 -0.03961964 0.00199464 0.63651438] [ 0.03960003 0.99917452 0.00906176 -0.17822212] [-0.00235201 -0.00897564 0.99995695 -0.08664383] [ 0. 0. 0. 1. ]] SLAMing on 122.80992885099998 meters Centerline goodness [0,1] 0.681304377611838 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.18, Z:-0.09 [[ 0.99919235 -0.04011382 0.00235252 0.63589701] [ 0.04009096 0.99915487 0.00906973 -0.17870117] [-0.00271435 -0.00896809 0.9999561 -0.08699885] [ 0. 0. 0. 1. ]] SLAMing on 122.83992885099998 meters Centerline goodness [0,1] 0.683603562457182 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.09 [[ 0.99914217 -0.04132494 0.00267954 0.63499643] [ 0.04129979 0.99910766 0.00884406 -0.17932078] [-0.00304263 -0.0087258 0.9999573 -0.08730018] [ 0. 0. 0. 1. ]] SLAMing on 122.86992885099998 meters Centerline goodness [0,1] 0.6761363636363636 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.09 [[ 0.99912105 -0.04180537 0.00307356 0.63424988] [ 0.04177704 0.9990885 0.00876597 -0.17961243] [-0.00343723 -0.00862986 0.99995685 -0.08754035] [ 0. 0. 0. 1. ]] SLAMing on 122.89992885099998 meters Centerline goodness [0,1] 0.6780048461573629 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.09 [[ 0.99908813 -0.04255765 0.00342833 0.63360603] [ 0.04252733 0.99905935 0.00847646 -0.17924052] [-0.00378584 -0.00832293 0.9999582 -0.08793678] [ 0. 0. 0. 1. ]] SLAMing on 122.92992885099999 meters Centerline goodness [0,1] 0.6693806605068156 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.09 [[ 0.99908222 -0.04269519 0.00344201 0.63380967] [ 0.04266543 0.99905493 0.00830099 -0.1784871 ] [-0.00379317 -0.00814652 0.99995962 -0.08830819] [ 0. 0. 0. 1. ]] SLAMing on 122.95992885099999 meters Centerline goodness [0,1] 0.6806393175720609 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.09 [[ 0.99906802 -0.04301341 0.00359649 0.63339772] [ 0.0429841 0.9990448 0.00786416 -0.17730852] [-0.00393132 -0.00770224 0.99996261 -0.08820892] [ 0. 0. 0. 1. ]] SLAMing on 122.98992885099999 meters Centerline goodness [0,1] 0.686459718464854 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.09 [[ 0.99906046 -0.04318518 0.00363866 0.63327082] [ 0.04315712 0.9990404 0.00746574 -0.17588989] [-0.00395758 -0.00730169 0.99996551 -0.08815217] [ 0. 0. 0. 1. ]] SLAMing on 123.01992885099999 meters Centerline goodness [0,1] 0.6653189680917048 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99905619 -0.04328422 0.00363414 0.63311628] [ 0.04325765 0.99903874 0.00709772 -0.1747756 ] [-0.00393787 -0.00693381 0.99996821 -0.08786657] [ 0. 0. 0. 1. ]] SLAMing on 123.04992885099999 meters Centerline goodness [0,1] 0.6660529767795089 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99905037 -0.04342399 0.00356608 0.63310104] [ 0.04340132 0.99903845 0.00620428 -0.17177496] [-0.00383206 -0.00604361 0.99997439 -0.08742152] [ 0. 0. 0. 1. ]] SLAMing on 123.07992885099999 meters Centerline goodness [0,1] 0.6757474316056793 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99904867 -0.04346693 0.00351894 0.63319704] [ 0.04344595 0.99903874 0.00583451 -0.17025174] [-0.00376917 -0.00567608 0.99997679 -0.08737652] [ 0. 0. 0. 1. ]] SLAMing on 123.10992885099998 meters Centerline goodness [0,1] 0.6698467095818089 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.9990521 -0.04339746 0.00340164 0.63366098] [ 0.04337831 0.99904351 0.0055131 -0.16878218] [-0.00363764 -0.00536031 0.99997902 -0.08758715] [ 0. 0. 0. 1. ]] SLAMing on 123.13992885099998 meters Centerline goodness [0,1] 0.6762459667123193 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99905892 -0.04325527 0.00320393 0.63435327] [ 0.04323825 0.99905124 0.00520285 -0.16715623] [-0.00342594 -0.00505942 0.99998133 -0.08786914] [ 0. 0. 0. 1. ]] SLAMing on 123.16992885099998 meters Centerline goodness [0,1] 0.6721953037644428 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99919333 -0.04000524 0.00350349 0.63349767] [ 0.03997432 0.99916464 0.00849004 -0.1652221 ] [-0.00384021 -0.00834314 0.99995782 -0.08828999] [ 0. 0. 0. 1. ]] SLAMing on 123.19992885099998 meters Centerline goodness [0,1] 0.6716931650549091 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99920117 -0.03982077 0.00336441 0.63401688] [ 0.03979281 0.99917587 0.00800702 -0.16295835] [-0.00368048 -0.00786675 0.99996228 -0.08838327] [ 0. 0. 0. 1. ]] SLAMing on 123.22992885099998 meters Centerline goodness [0,1] 0.666392884800413 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99921331 -0.03952832 0.00320606 0.63465028] [ 0.03950278 0.99919001 0.00767158 -0.16096806] [-0.00350671 -0.00753889 0.99996543 -0.08857867] [ 0. 0. 0. 1. ]] SLAMing on 123.25992885099998 meters Centerline goodness [0,1] 0.6733286085518545 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99934671 -0.03597227 0.00348623 0.63407734] [ 0.03593227 0.99929447 0.01092898 -0.15850605] [-0.00387691 -0.01079657 0.9999342 -0.0890626 ] [ 0. 0. 0. 1. ]] SLAMing on 123.28992885099998 meters Centerline goodness [0,1] 0.6762168823166974 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.09 [[ 0.99936412 -0.03550968 0.00322893 0.63518041] [ 0.03547404 0.99931549 0.01049454 -0.15595787] [-0.00359938 -0.01037332 0.99993972 -0.08945409] [ 0. 0. 0. 1. ]] SLAMing on 123.31992885099999 meters Centerline goodness [0,1] 0.6949245085936758 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99938009 -0.03508331 0.00293165 0.63620217] [ 0.03505228 0.99933507 0.01003727 -0.15337633] [-0.00328184 -0.00992828 0.99994533 -0.08963988] [ 0. 0. 0. 1. ]] SLAMing on 123.34992885099999 meters Centerline goodness [0,1] 0.6964114832535886 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99949965 -0.03147118 0.00316395 0.63550435] [ 0.03142474 0.99941101 0.01378846 -0.15288834] [-0.00359603 -0.01368214 0.99989993 -0.08989255] [ 0. 0. 0. 1. ]] SLAMing on 123.37992885099999 meters Centerline goodness [0,1] 0.6855583341348466 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.9996154 -0.02755545 0.00312078 0.63578652] [ 0.02749871 0.99947794 0.01696064 -0.14974474] [-0.00358651 -0.0168683 0.99985129 -0.09034439] [ 0. 0. 0. 1. ]] SLAMing on 123.40992885099999 meters Centerline goodness [0,1] 0.6913886547031194 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.09 [[ 0.99962043 -0.02738344 0.00302453 0.63639943] [ 0.02733068 0.9994937 0.01629023 -0.14701729] [-0.00346908 -0.01620138 0.99986273 -0.09055512] [ 0. 0. 0. 1. ]] SLAMing on 123.43992885099999 meters Centerline goodness [0,1] 0.6888357025432743 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.09 [[ 0.99962586 -0.02720051 0.00287537 0.63706992] [ 0.02715196 0.99950712 0.01575712 -0.1446707 ] [-0.00330255 -0.01567315 0.99987171 -0.09080682] [ 0. 0. 0. 1. ]] SLAMing on 123.46992885099998 meters Centerline goodness [0,1] 0.6877129782883848 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.09 [[ 0.99963596 -0.02683842 0.00276571 0.63818597] [ 0.02679377 0.99952718 0.01508312 -0.14077082] [-0.00316921 -0.01500352 0.99988242 -0.09160938] [ 0. 0. 0. 1. ]] SLAMing on 123.49992885099998 meters Centerline goodness [0,1] 0.6867434667186244 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.09 [[ 0.99962899 -0.02708868 0.00284301 0.6381493 ] [ 0.02704429 0.99952709 0.01463569 -0.13946649] [-0.00323813 -0.01455338 0.99988885 -0.09175207] [ 0. 0. 0. 1. ]] SLAMing on 123.52992885099998 meters Centerline goodness [0,1] 0.7123987448004087 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.09 [[ 0.99962254 -0.02732828 0.00281659 0.6382296 ] [ 0.02728575 0.99952724 0.01417004 -0.13835138] [-0.00320251 -0.01408784 0.99989563 -0.09170892] [ 0. 0. 0. 1. ]] SLAMing on 123.55992885099998 meters Centerline goodness [0,1] 0.7014011365863217 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.09 [[ 0.99959298 -0.02833602 0.00330716 0.63685291] [ 0.02828959 0.99951086 0.013332 -0.13687423] [-0.00368332 -0.01323302 0.99990566 -0.09146678] [ 0. 0. 0. 1. ]] SLAMing on 123.58992885099998 meters Centerline goodness [0,1] 0.6929830997627608 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.09 [[ 0.99957631 -0.02888919 0.00355087 0.63623017] [ 0.02884086 0.99949969 0.01298384 -0.13636532] [-0.00392418 -0.01287592 0.9999094 -0.09148222] [ 0. 0. 0. 1. ]] SLAMing on 123.61992885099998 meters Centerline goodness [0,1] 0.6965593241092201 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.09 [[ 0.99955453 -0.02958249 0.00395073 0.6352464 ] [ 0.02953102 0.99948562 0.01250667 -0.13571216] [-0.00431868 -0.01238443 0.99991398 -0.09141773] [ 0. 0. 0. 1. ]] SLAMing on 123.64992885099998 meters Centerline goodness [0,1] 0.6869496971034754 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.09 [[ 0.9995381 -0.03010189 0.00417895 0.63479201] [ 0.03004885 0.99947371 0.01222141 -0.13525243] [-0.00454464 -0.01209019 0.99991658 -0.09160604] [ 0. 0. 0. 1. ]] SLAMing on 123.67992885099999 meters Centerline goodness [0,1] 0.6882090065314541 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.09 [[ 0.99949761 -0.03135915 0.00459652 0.63364957] [ 0.03130457 0.99944374 0.01149918 -0.13412541] [-0.00495457 -0.01134951 0.99992332 -0.09172537] [ 0. 0. 0. 1. ]] SLAMing on 123.70992885099999 meters Centerline goodness [0,1] 0.6918262150220913 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.09 [[ 0.99947623 -0.03197623 0.00497759 0.63271852] [ 0.0319195 0.99942895 0.01108708 -0.13338524] [-0.00532927 -0.01092239 0.99992615 -0.09171422] [ 0. 0. 0. 1. ]] SLAMing on 123.73992885099999 meters Centerline goodness [0,1] 0.6839401165220385 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.09 [[ 0.99942764 -0.03335951 0.00561516 0.63055381] [ 0.03330266 0.99939599 0.0099296 -0.13117814] [-0.00594302 -0.00973691 0.99993493 -0.09091678] [ 0. 0. 0. 1. ]] SLAMing on 123.76992885099999 meters Centerline goodness [0,1] 0.6836568782026016 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.09 [[ 0.99940295 -0.03402081 0.00602731 0.62926292] [ 0.03396377 0.99937956 0.00932527 -0.13005504] [-0.00634083 -0.00911499 0.99993835 -0.09041784] [ 0. 0. 0. 1. ]] SLAMing on 123.79992885099999 meters Centerline goodness [0,1] 0.6823651247657561 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.09 [[ 0.99938141 -0.03461294 0.00622385 0.6282712 ] [ 0.03455837 0.99936506 0.008671 -0.12867493] [-0.00652002 -0.00845055 0.99994304 -0.08971998] [ 0. 0. 0. 1. ]] SLAMing on 123.82992885099999 meters Centerline goodness [0,1] 0.6814128689638137 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.09 [[ 0.99936287 -0.03509848 0.00647685 0.62741186] [ 0.03504593 0.99935323 0.00805601 -0.1272648 ] [-0.00675542 -0.00782389 0.99994657 -0.08925227] [ 0. 0. 0. 1. ]] SLAMing on 123.85992885099998 meters Centerline goodness [0,1] 0.6685141655325992 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.09 [[ 0.99934882 -0.03548133 0.00655775 0.62700127] [ 0.03543206 0.99934407 0.00748278 -0.12578939] [-0.00681894 -0.00724555 0.9999505 -0.08892886] [ 0. 0. 0. 1. ]] SLAMing on 123.88992885099998 meters Centerline goodness [0,1] 0.6701325127797906 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.09 [[ 0.99933687 -0.03578581 0.0067231 0.62708626] [ 0.03573882 0.99933675 0.00698513 -0.12341294] [-0.00696861 -0.00674022 0.999953 -0.08958039] [ 0. 0. 0. 1. ]] SLAMing on 123.91992885099998 meters Centerline goodness [0,1] 0.6718893779999502 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.09 [[ 0.99933037 -0.03595013 0.00681131 0.62713505] [ 0.03590381 0.99933208 0.00680505 -0.12251379] [-0.0070514 -0.00655594 0.99995365 -0.09000414] [ 0. 0. 0. 1. ]] SLAMing on 123.94992885099998 meters Centerline goodness [0,1] 0.6775227306603071 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.09 [[ 0.99932501 -0.03608793 0.00686942 0.62727406] [ 0.03604263 0.99932841 0.0066068 -0.12169541] [-0.00710324 -0.00635475 0.99995458 -0.090407 ] [ 0. 0. 0. 1. ]] SLAMing on 123.97992885099998 meters Centerline goodness [0,1] 0.6681664512280003 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.09 [[ 0.99931592 -0.03632964 0.00691748 0.62745759] [ 0.03628744 0.99932259 0.00613064 -0.11992992] [-0.00713552 -0.00587542 0.99995728 -0.09079975] [ 0. 0. 0. 1. ]] SLAMing on 124.00992885099998 meters Centerline goodness [0,1] 0.6705943769110299 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.09 [[ 0.99931276 -0.03641941 0.00690133 0.62770871] [ 0.03637958 0.99932114 0.00581173 -0.11841304] [-0.0071083 -0.00555667 0.9999593 -0.09108374] [ 0. 0. 0. 1. ]] SLAMing on 124.03992885099998 meters Centerline goodness [0,1] 0.6643900493544045 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.09 [[ 0.99930905 -0.03652555 0.00687867 0.62780156] [ 0.03648844 0.99931924 0.00544532 -0.11687896] [-0.00707288 -0.00519057 0.99996152 -0.09108377] [ 0. 0. 0. 1. ]] SLAMing on 124.06992885099999 meters Centerline goodness [0,1] 0.6735624735176092 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.09 [[ 0.99930689 -0.03659106 0.00684361 0.6279825 ] [ 0.03655597 0.99931817 0.00518319 -0.11557595] [-0.0070286 -0.00492942 0.99996315 -0.09121599] [ 0. 0. 0. 1. ]] SLAMing on 124.09992885099999 meters Centerline goodness [0,1] 0.6633385881940795 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.09 [[ 0.99929884 -0.03679983 0.00689918 0.62790722] [ 0.03676824 0.99931299 0.00465158 -0.11333852] [-0.00706562 -0.00439465 0.99996538 -0.09124152] [ 0. 0. 0. 1. ]] SLAMing on 124.12992885099999 meters Centerline goodness [0,1] 0.6744238476953908 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.09 [[ 0.99929818 -0.0368176 0.00690052 0.62806003] [ 0.03678684 0.99931285 0.00453321 -0.11249213] [-0.00706268 -0.00427618 0.99996592 -0.0914434 ] [ 0. 0. 0. 1. ]] SLAMing on 124.15992885099999 meters Centerline goodness [0,1] 0.6708835391668129 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.09 [[ 0.99929013 -0.0370168 0.00699912 0.62779327] [ 0.03698735 0.99930652 0.0042911 -0.11158894] [-0.00715311 -0.00402917 0.9999663 -0.0914353 ] [ 0. 0. 0. 1. ]] SLAMing on 124.18992885099999 meters Centerline goodness [0,1] 0.6736934452938965 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.09 [[ 0.99928343 -0.03717747 0.00710364 0.62765103] [ 0.03714861 0.99930113 0.00415199 -0.11092401] [-0.00725304 -0.00388513 0.99996615 -0.09156639] [ 0. 0. 0. 1. ]] SLAMing on 124.21992885099998 meters Centerline goodness [0,1] 0.6712921065862243 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.09 [[ 0.99926078 -0.03770787 0.00748385 0.62692151] [ 0.03767963 0.99928234 0.00387996 -0.10989631] [-0.00762479 -0.00359511 0.99996447 -0.09194491] [ 0. 0. 0. 1. ]] SLAMing on 124.24992885099998 meters Centerline goodness [0,1] 0.6595937248592116 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.09 [[ 0.99924919 -0.03796639 0.00772052 0.62652277] [ 0.03793678 0.99927235 0.0039456 -0.11012243] [-0.0078647 -0.00364975 0.99996241 -0.0922824 ] [ 0. 0. 0. 1. ]] SLAMing on 124.27992885099998 meters Centerline goodness [0,1] 0.6667922159447583 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.09 [[ 0.99923888 -0.03819384 0.00793071 0.62618808] [ 0.03816234 0.9992632 0.00408606 -0.11051127] [-0.00808093 -0.0037803 0.9999602 -0.09262704] [ 0. 0. 0. 1. ]] SLAMing on 124.30992885099998 meters Centerline goodness [0,1] 0.6626062109933077 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.11, Z:-0.09 [[ 0.99919829 -0.03913015 0.00846239 0.62475534] [ 0.03909733 0.99922736 0.00400956 -0.11083249] [-0.00861275 -0.00367549 0.99995615 -0.0928254 ] [ 0. 0. 0. 1. ]] SLAMing on 124.33992885099998 meters Centerline goodness [0,1] 0.6622948343570638 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.11, Z:-0.09 [[ 0.99917619 -0.03962823 0.00874881 0.62392128] [ 0.03959471 0.99920793 0.00397114 -0.1110838 ] [-0.00889925 -0.00362147 0.99995384 -0.09279664] [ 0. 0. 0. 1. ]] SLAMing on 124.36992885099998 meters Centerline goodness [0,1] 0.6632393976721386 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.11, Z:-0.09 [[ 0.99916077 -0.03997129 0.00894673 0.62347025] [ 0.03993642 0.99919404 0.00404329 -0.11141682] [-0.00910114 -0.0036826 0.9999518 -0.09298256] [ 0. 0. 0. 1. ]] SLAMing on 124.39992885099998 meters Centerline goodness [0,1] 0.6661726658461229 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.11, Z:-0.09 [[ 0.99915318 -0.04012836 0.00909089 0.62337564] [ 0.04009122 0.99918706 0.00423211 -0.11175467] [-0.00925333 -0.00386406 0.99994972 -0.09344747] [ 0. 0. 0. 1. ]] SLAMing on 124.42992885099999 meters Centerline goodness [0,1] 0.656860076704194 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.09 [[ 9.99043707e-01 -4.28981467e-02 8.45111196e-03 6.26107691e-01] [ 4.28952562e-02 9.99079438e-01 5.23075982e-04 -1.10465687e-01] [-8.46577118e-03 -1.60063156e-04 9.99964152e-01 -9.40247521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45992885099999 meters Centerline goodness [0,1] 0.6578287890938253 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.09 [[ 9.99034241e-01 -4.30903478e-02 8.59114862e-03 6.25717664e-01] [ 4.30872742e-02 9.99071165e-01 5.42622173e-04 -1.10887966e-01] [-8.60655064e-03 -1.71928955e-04 9.99962948e-01 -9.39987605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48992885099999 meters Centerline goodness [0,1] 0.6600737008347748 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.09 [[ 9.99041980e-01 -4.29081343e-02 8.60320149e-03 6.26037860e-01] [ 4.29028054e-02 9.99078928e-01 8.03094869e-04 -1.11173444e-01] [-8.62973662e-03 -4.33224008e-04 9.99962669e-01 -9.44237552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51992885099999 meters Centerline goodness [0,1] 0.6558292035841218 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.09 [[ 9.99054623e-01 -4.26470273e-02 8.43160754e-03 6.26645787e-01] [ 4.26395623e-02 9.99089955e-01 1.06323437e-03 -1.11381731e-01] [-8.46927818e-03 -7.02709153e-04 9.99963888e-01 -9.47324285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.54992885099999 meters Centerline goodness [0,1] 0.6493249505297698 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.09 [[ 9.99066502e-01 -4.24057804e-02 8.23857341e-03 6.27093744e-01] [ 4.23979411e-02 9.99100171e-01 1.12395075e-03 -1.11264708e-01] [-8.27882211e-03 -7.73602995e-04 9.99965431e-01 -9.46500509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57992885099999 meters Centerline goodness [0,1] 0.6493249505297698 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.09 [[ 9.99066502e-01 -4.24057804e-02 8.23857341e-03 6.27093744e-01] [ 4.23979411e-02 9.99100171e-01 1.12395075e-03 -1.11264708e-01] [-8.27882211e-03 -7.73602995e-04 9.99965431e-01 -9.46500509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60992885099998 meters Centerline goodness [0,1] 0.661124902831064 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.09 [[ 9.99079593e-01 -4.21185721e-02 8.12358912e-03 6.27481111e-01] [ 4.21108368e-02 9.99112316e-01 1.12098674e-03 -1.10627851e-01] [-8.16359231e-03 -7.77863844e-04 9.99966375e-01 -9.46245529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63992885099998 meters Centerline goodness [0,1] 0.6598704363983328 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.09 [[ 0.99921513 -0.03870194 0.008443 0.62602801] [ 0.03866022 0.99923965 0.00505 -0.11135156] [-0.00863202 -0.00471963 0.99995161 -0.09431999] [ 0. 0. 0. 1. ]] SLAMing on 124.66992885099998 meters Centerline goodness [0,1] 0.6612273500850936 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.09 [[ 0.99923596 -0.0382262 0.00813925 0.62688037] [ 0.03818317 0.99925628 0.00537817 -0.1116989 ] [-0.00833878 -0.00506328 0.99995241 -0.09447633] [ 0. 0. 0. 1. ]] SLAMing on 124.69992885099998 meters Centerline goodness [0,1] 0.6621961020695197 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.09 [[ 0.99924187 -0.03809413 0.00803243 0.62694518] [ 0.03805183 0.99926142 0.00535537 -0.11181918] [-0.0082305 -0.00504566 0.9999534 -0.09411503] [ 0. 0. 0. 1. ]] SLAMing on 124.72992885099998 meters Centerline goodness [0,1] 0.6610033377669586 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.09 [[ 0.99924919 -0.03792188 0.00793651 0.62717757] [ 0.03787935 0.9992675 0.00544185 -0.11194633] [-0.00813706 -0.00513714 0.9999537 -0.09406096] [ 0. 0. 0. 1. ]] SLAMing on 124.75992885099998 meters Centerline goodness [0,1] 0.6609663749655224 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.09 [[ 0.99925294 -0.0378042 0.00802548 0.62696888] [ 0.03775863 0.99927031 0.00575664 -0.11277001] [-0.00823725 -0.00544931 0.99995123 -0.09408557] [ 0. 0. 0. 1. ]] SLAMing on 124.78992885099998 meters Centerline goodness [0,1] 0.6603334916627084 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.09 [[ 0.99925948 -0.03760667 0.00813874 0.62708075] [ 0.03755419 0.9992734 0.00650811 -0.11486983] [-0.00837757 -0.00619765 0.9999457 -0.0947229 ] [ 0. 0. 0. 1. ]] SLAMing on 124.81992885099999 meters Centerline goodness [0,1] 0.6534015728373486 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.10 [[ 0.99926625 -0.03742507 0.00814459 0.62733918] [ 0.037368 0.9992767 0.0070498 -0.11619977] [-0.00840254 -0.00674028 0.99994198 -0.09518678] [ 0. 0. 0. 1. ]] SLAMing on 124.84992885099999 meters Centerline goodness [0,1] 0.6567583702303368 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.10 [[ 0.99927237 -0.03725043 0.00819321 0.62765565] [ 0.03718804 0.99927908 0.00764061 -0.11759264] [-0.00847192 -0.00733036 0.99993724 -0.09586093] [ 0. 0. 0. 1. ]] SLAMing on 124.87992885099999 meters Centerline goodness [0,1] 0.6558885710732496 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.10 [[ 0.99927364 -0.03718015 0.00835695 0.62763818] [ 0.03711235 0.99927805 0.00812689 -0.11889641] [-0.00865308 -0.00781084 0.99993206 -0.09641217] [ 0. 0. 0. 1. ]] SLAMing on 124.90992885099999 meters Centerline goodness [0,1] 0.6520273619510261 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.10 [[ 0.9992841 -0.03690152 0.00834062 0.62803058] [ 0.03682464 0.99927948 0.00919096 -0.12207474] [-0.00867377 -0.00887724 0.99992298 -0.09715386] [ 0. 0. 0. 1. ]] SLAMing on 124.93992885099999 meters Centerline goodness [0,1] 0.6556593256868234 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.10 [[ 0.99928666 -0.03681418 0.00841898 0.62796134] [ 0.03673279 0.99927876 0.00962615 -0.12352343] [-0.00876729 -0.00931003 0.99991823 -0.09729628] [ 0. 0. 0. 1. ]] SLAMing on 124.96992885099998 meters Centerline goodness [0,1] 0.6523126391293594 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.10 [[ 0.99928155 -0.03690859 0.00861078 0.62736239] [ 0.03682005 0.99926961 0.01022369 -0.12594764] [-0.00898183 -0.00989929 0.99991066 -0.09721118] [ 0. 0. 0. 1. ]] SLAMing on 124.99992885099998 meters Centerline goodness [0,1] 0.6506592267048541 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.10 [[ 0.99928377 -0.03685144 0.00859814 0.62740444] [ 0.03675988 0.99926818 0.01057438 -0.12715106] [-0.00898153 -0.01025074 0.99990712 -0.09731689] [ 0. 0. 0. 1. ]] SLAMing on 125.02992885099998 meters Centerline goodness [0,1] 0.6499149680822222 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.10 [[ 0.99927974 -0.03691375 0.00879672 0.62711197] [ 0.03681679 0.99926214 0.01094033 -0.12840863] [-0.00919407 -0.01060859 0.99990146 -0.09759241] [ 0. 0. 0. 1. ]] SLAMing on 125.05992885099998 meters Centerline goodness [0,1] 0.6469661538461539 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.10 [[ 0.99927888 -0.03691455 0.00888964 0.6270361 ] [ 0.03681369 0.99925877 0.01125461 -0.12971834] [-0.00929851 -0.01091923 0.99989715 -0.09778769] [ 0. 0. 0. 1. ]] SLAMing on 125.08992885099998 meters Centerline goodness [0,1] 0.6446443012228293 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.10 [[ 0.99928126 -0.03682028 0.0090124 0.62712001] [ 0.03671128 0.99925417 0.01197467 -0.13263082] [-0.00944659 -0.01163521 0.99988769 -0.09836721] [ 0. 0. 0. 1. ]] SLAMing on 125.11992885099998 meters Centerline goodness [0,1] 0.6406192587511942 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.10 [[ 0.99927173 -0.03701762 0.00925728 0.62648124] [ 0.03690461 0.9992456 0.01209478 -0.13357092] [-0.00969801 -0.01174433 0.999884 -0.0982534 ] [ 0. 0. 0. 1. ]] SLAMing on 125.14992885099998 meters Centerline goodness [0,1] 0.6399002371812114 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.10 [[ 0.99925038 -0.03751319 0.00956209 0.62532611] [ 0.03739731 0.99922815 0.01202259 -0.13443379] [-0.01000572 -0.01165598 0.999882 -0.09767229] [ 0. 0. 0. 1. ]] SLAMing on 125.17992885099999 meters Centerline goodness [0,1] 0.6337649645736623 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.10 [[ 0.99923926 -0.03775443 0.00977294 0.62460186] [ 0.03763442 0.99921727 0.0121861 -0.13558002] [-0.01022537 -0.01180903 0.99987799 -0.09740887] [ 0. 0. 0. 1. ]] SLAMing on 125.20992885099999 meters Centerline goodness [0,1] 0.6306145851123527 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.10 [[ 0.99923371 -0.03786286 0.00991932 0.62418324] [ 0.03773514 0.99920629 0.01276105 -0.13806186] [-0.01039461 -0.01237697 0.99986937 -0.09746709] [ 0. 0. 0. 1. ]] SLAMing on 125.23992885099999 meters Centerline goodness [0,1] 0.6283486751026157 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.10 [[ 0.99922927 -0.03795751 0.01000494 0.62396744] [ 0.0378252 0.99919854 0.01309707 -0.13938719] [-0.01049405 -0.01270854 0.99986417 -0.09759541] [ 0. 0. 0. 1. ]] SLAMing on 125.26992885099999 meters Centerline goodness [0,1] 0.6405412614884691 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.10 [[ 0.99922021 -0.03815701 0.01014966 0.62333538] [ 0.03801977 0.99918731 0.01338703 -0.14123813] [-0.01065222 -0.0129907 0.99985888 -0.09725216] [ 0. 0. 0. 1. ]] SLAMing on 125.29992885099999 meters Centerline goodness [0,1] 0.6444541548321316 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.10 [[ 0.99922075 -0.03813097 0.01019446 0.62313033] [ 0.03799031 0.99918484 0.01365237 -0.14232026] [-0.01070673 -0.01325444 0.99985483 -0.09710617] [ 0. 0. 0. 1. ]] SLAMing on 125.32992885099998 meters Centerline goodness [0,1] 0.6451181886645774 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.10 [[ 0.99922052 -0.03813332 0.0102079 0.6230067 ] [ 0.03799031 0.99918204 0.01385575 -0.14322657] [-0.01072791 -0.01345715 0.9998519 -0.09699818] [ 0. 0. 0. 1. ]] SLAMing on 125.35992885099998 meters Centerline goodness [0,1] 0.6474865480634059 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.10 [[ 0.99922093 -0.0381199 0.01021829 0.62287956] [ 0.0379759 0.9991815 0.01393411 -0.14392037] [-0.01074109 -0.01353521 0.9998507 -0.09676915] [ 0. 0. 0. 1. ]] SLAMing on 125.38992885099998 meters Centerline goodness [0,1] 0.6462120110513305 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.10 [[ 0.99924179 -0.03760068 0.01010134 0.62366276] [ 0.0374505 0.99919086 0.0146661 -0.14573095] [-0.01064462 -0.01427668 0.99984142 -0.09747484] [ 0. 0. 0. 1. ]] SLAMing on 125.41992885099998 meters Centerline goodness [0,1] 0.6459179725285356 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.10 [[ 0.99925594 -0.03725308 0.0099886 0.62434841] [ 0.03710023 0.99919784 0.01507453 -0.14681199] [-0.01054216 -0.01469273 0.99983648 -0.09795936] [ 0. 0. 0. 1. ]] SLAMing on 125.44992885099998 meters Centerline goodness [0,1] 0.652715123151521 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.10 [[ 0.99928934 -0.03644775 0.00961117 0.62568622] [ 0.03629399 0.9992176 0.01571427 -0.14791987] [-0.0101764 -0.01535428 0.99983033 -0.09850705] [ 0. 0. 0. 1. ]] SLAMing on 125.47992885099998 meters Centerline goodness [0,1] 0.6470998460946518 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.10 [[ 0.99930212 -0.03615614 0.00938081 0.62615853] [ 0.03600563 0.99922753 0.01574621 -0.14796341] [-0.00994288 -0.01539746 0.99983201 -0.0983309 ] [ 0. 0. 0. 1. ]] SLAMing on 125.50992885099998 meters Centerline goodness [0,1] 0.651950051728701 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.10 [[ 0.99931754 -0.03579894 0.00910402 0.62677823] [ 0.03565201 0.99923905 0.01581967 -0.14795823] [-0.00966342 -0.0154843 0.99983341 -0.09821954] [ 0. 0. 0. 1. ]] SLAMing on 125.53992885099998 meters Centerline goodness [0,1] 0.6560396230044239 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.10 [[ 0.99935443 -0.03483854 0.00877537 0.62774862] [ 0.03469577 0.999271 0.01592695 -0.14734377] [-0.00932384 -0.0156122 0.99983465 -0.09796995] [ 0. 0. 0. 1. ]] SLAMing on 125.56992885099999 meters Centerline goodness [0,1] 0.6559157915020715 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.10 [[ 0.9993685 -0.03449527 0.00852461 0.62837742] [ 0.03435706 0.99928378 0.01585953 -0.14670078] [-0.00906558 -0.01555663 0.99983789 -0.09792037] [ 0. 0. 0. 1. ]] SLAMing on 125.59992885099999 meters Centerline goodness [0,1] 0.6585030734000241 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.10 [[ 0.99938328 -0.03409491 0.00840224 0.62880247] [ 0.03395829 0.99929679 0.01589864 -0.14630694] [-0.00893839 -0.01560351 0.9998383 -0.09793441] [ 0. 0. 0. 1. ]] SLAMing on 125.62992885099999 meters Centerline goodness [0,1] 0.6630555154316529 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.10 [[ 0.99939399 -0.03382579 0.00821385 0.62916617] [ 0.03369249 0.99930643 0.01585799 -0.14604857] [-0.00874457 -0.01557164 0.99984052 -0.0977223 ] [ 0. 0. 0. 1. ]] SLAMing on 125.65992885099999 meters Centerline goodness [0,1] 0.662711782826338 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.10 [[ 0.99940336 -0.03357687 0.0080948 0.62949703] [ 0.03344577 0.99931532 0.01582027 -0.14582992] [-0.00862045 -0.0155401 0.99984208 -0.09765083] [ 0. 0. 0. 1. ]] SLAMing on 125.68992885099999 meters Centerline goodness [0,1] 0.6578359553260478 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.10 [[ 0.99941929 -0.03314688 0.00789717 0.63021032] [ 0.03301528 0.99932274 0.01624946 -0.14692025] [-0.00843044 -0.0159793 0.99983678 -0.097989 ] [ 0. 0. 0. 1. ]] SLAMing on 125.71992885099998 meters Centerline goodness [0,1] 0.6638522427440634 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.10 [[ 0.99942258 -0.03305449 0.00786863 0.63056904] [ 0.03292127 0.99932178 0.01649733 -0.14764659] [-0.00840861 -0.01622876 0.99983295 -0.09840969] [ 0. 0. 0. 1. ]] SLAMing on 125.74992885099998 meters Centerline goodness [0,1] 0.668568414996644 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.10 [[ 0.99942451 -0.032999 0.00785564 0.63080745] [ 0.03286343 0.99931861 0.01680227 -0.14863994] [-0.00840475 -0.01653443 0.99982797 -0.09877339] [ 0. 0. 0. 1. ]] SLAMing on 125.77992885099998 meters Centerline goodness [0,1] 0.6699045386032491 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.10 [[ 0.99941787 -0.03316641 0.00799387 0.63062624] [ 0.03302733 0.99931081 0.0169441 -0.14944127] [-0.00855034 -0.01667022 0.99982448 -0.09900308] [ 0. 0. 0. 1. ]] SLAMing on 125.80992885099998 meters Centerline goodness [0,1] 0.6631810151363224 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.10 [[ 0.99941166 -0.03333922 0.00805214 0.63045712] [ 0.03319789 0.99930267 0.01709039 -0.15042042] [-0.0086163 -0.01681302 0.99982152 -0.09904917] [ 0. 0. 0. 1. ]] SLAMing on 125.83992885099998 meters Centerline goodness [0,1] 0.6614302350452741 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.10 [[ 0.99929078 -0.03683871 0.00780054 0.63159656] [ 0.03673178 0.99923486 0.01343412 -0.15137448] [-0.00828947 -0.01313807 0.99987933 -0.09923221] [ 0. 0. 0. 1. ]] SLAMing on 125.86992885099998 meters Centerline goodness [0,1] 0.662374855033017 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.10 [[ 0.99928186 -0.03706446 0.00787396 0.63137721] [ 0.03695464 0.99922354 0.01366282 -0.15282865] [-0.00837425 -0.01336202 0.99987566 -0.09928814] [ 0. 0. 0. 1. ]] SLAMing on 125.89992885099998 meters Centerline goodness [0,1] 0.6555529244612834 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.10 [[ 0.99927391 -0.03725835 0.00796671 0.63101048] [ 0.03714609 0.99921452 0.01380262 -0.15385657] [-0.00847472 -0.01349667 0.999873 -0.09916905] [ 0. 0. 0. 1. ]] SLAMing on 125.92992885099999 meters Centerline goodness [0,1] 0.6603140866690282 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.10 [[ 0.99927032 -0.03735004 0.0079878 0.6308396 ] [ 0.03723627 0.99920916 0.01394653 -0.15458912] [-0.00850238 -0.01363892 0.99987084 -0.09906574] [ 0. 0. 0. 1. ]] SLAMing on 125.95992885099999 meters Centerline goodness [0,1] 0.659059262231243 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99925843 -0.03764023 0.00811245 0.62998995] [ 0.03752558 0.99919969 0.01384943 -0.15500453] [-0.00862726 -0.01353474 0.99987118 -0.09832231] [ 0. 0. 0. 1. ]] SLAMing on 125.98992885099999 meters Centerline goodness [0,1] 0.6567452374785128 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99925608 -0.03770915 0.00808168 0.62986931] [ 0.03759532 0.99919773 0.01380201 -0.1551968 ] [-0.00859566 -0.01348791 0.99987209 -0.09805621] [ 0. 0. 0. 1. ]] SLAMing on 126.01992885099999 meters Centerline goodness [0,1] 0.6595464383174932 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99925617 -0.03770191 0.00810342 0.62978157] [ 0.03758703 0.99919681 0.01389049 -0.15566915] [-0.00862061 -0.01357558 0.99987069 -0.09798329] [ 0. 0. 0. 1. ]] SLAMing on 126.04992885099999 meters Centerline goodness [0,1] 0.6597586507021712 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99926374 -0.0375239 0.00799636 0.63000338] [ 0.03740712 0.99919801 0.01428426 -0.15707705] [-0.00852595 -0.01397462 0.999866 -0.09803861] [ 0. 0. 0. 1. ]] SLAMing on 126.07992885099998 meters Centerline goodness [0,1] 0.6561482418534916 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99925945 -0.03760433 0.00815275 0.62976315] [ 0.03748493 0.99919438 0.01433438 -0.15741046] [-0.00868521 -0.01401816 0.99986402 -0.09819419] [ 0. 0. 0. 1. ]] SLAMing on 126.10992885099998 meters Centerline goodness [0,1] 0.6577236152694611 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99926219 -0.03754885 0.00807262 0.62986967] [ 0.03743035 0.99919604 0.01436104 -0.15781261] [-0.00860537 -0.01404828 0.99986429 -0.0980427 ] [ 0. 0. 0. 1. ]] SLAMing on 126.13992885099998 meters Centerline goodness [0,1] 0.6515335418514542 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99926126 -0.0375697 0.00809025 0.62965865] [ 0.03745135 0.99919592 0.01431471 -0.15790539] [-0.00862155 -0.01400114 0.99986481 -0.0977734 ] [ 0. 0. 0. 1. ]] SLAMing on 126.16992885099998 meters Centerline goodness [0,1] 0.6605466110580396 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99924783 -0.03789492 0.00823083 0.62861054] [ 0.03777814 0.99918937 0.01390767 -0.15780964] [-0.00875118 -0.01358627 0.99986941 -0.09659058] [ 0. 0. 0. 1. ]] SLAMing on 126.19992885099998 meters Centerline goodness [0,1] 0.659760621544061 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99924028 -0.03806914 0.00834284 0.62806784] [ 0.03795162 0.99918402 0.01381927 -0.1579839 ] [-0.00886212 -0.01349215 0.9998697 -0.09616318] [ 0. 0. 0. 1. ]] SLAMing on 126.22992885099998 meters Centerline goodness [0,1] 0.6487040835353347 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99923583 -0.0381715 0.00840772 0.62793706] [ 0.03805257 0.99917936 0.01387868 -0.15848741] [-0.00893059 -0.01354814 0.99986834 -0.09620238] [ 0. 0. 0. 1. ]] SLAMing on 126.25992885099998 meters Centerline goodness [0,1] 0.6512826465467209 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99924155 -0.03803258 0.00835762 0.62834286] [ 0.0379103 0.99917836 0.01433245 -0.15985516] [-0.00889585 -0.01400474 0.99986236 -0.09670039] [ 0. 0. 0. 1. ]] SLAMing on 126.28992885099998 meters Centerline goodness [0,1] 0.6516580539012351 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99924018 -0.03805071 0.00843855 0.62863332] [ 0.03792267 0.99917038 0.01484677 -0.16161541] [-0.00899648 -0.01451548 0.99985417 -0.09751657] [ 0. 0. 0. 1. ]] SLAMing on 126.31992885099999 meters Centerline goodness [0,1] 0.6539157045486159 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99924148 -0.03801015 0.00846765 0.62870922] [ 0.03787992 0.99916905 0.01504385 -0.16225004] [-0.00903244 -0.01471169 0.99985098 -0.09771835] [ 0. 0. 0. 1. ]] SLAMing on 126.34992885099999 meters Centerline goodness [0,1] 0.65028425571412 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99923789 -0.0380889 0.0085364 0.62862447] [ 0.03795686 0.99916484 0.01512963 -0.16268266] [-0.00910554 -0.01479409 0.9998491 -0.09783602] [ 0. 0. 0. 1. ]] SLAMing on 126.37992885099999 meters Centerline goodness [0,1] 0.6520904190092779 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.9992362 -0.03812318 0.00858182 0.62849486] [ 0.03798877 0.9991608 0.01531509 -0.16359222] [-0.00915848 -0.01497738 0.99984589 -0.09776856] [ 0. 0. 0. 1. ]] SLAMing on 126.40992885099999 meters Centerline goodness [0,1] 0.6514470942347765 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99923641 -0.03811995 0.00857134 0.62848311] [ 0.03798493 0.99915964 0.01539967 -0.16414976] [-0.00915118 -0.01506233 0.99984468 -0.0977063 ] [ 0. 0. 0. 1. ]] SLAMing on 126.43992885099999 meters Centerline goodness [0,1] 0.6495473174797972 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99923886 -0.03806453 0.00853159 0.62857898] [ 0.03792845 0.99915897 0.01558146 -0.16483354] [-0.00911751 -0.01524601 0.9998422 -0.09773456] [ 0. 0. 0. 1. ]] SLAMing on 126.46992885099998 meters Centerline goodness [0,1] 0.6495473174797972 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99923886 -0.03806453 0.00853159 0.62857898] [ 0.03792845 0.99915897 0.01558146 -0.16483354] [-0.00911751 -0.01524601 0.9998422 -0.09773456] [ 0. 0. 0. 1. ]] SLAMing on 126.49992885099998 meters Centerline goodness [0,1] 0.6516476904563547 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.10 [[ 0.99922136 -0.03848301 0.00870253 0.62764974] [ 0.03834525 0.99914466 0.01547853 -0.16564116] [-0.00929074 -0.01513278 0.99984233 -0.09701185] [ 0. 0. 0. 1. ]] SLAMing on 126.52992885099998 meters Centerline goodness [0,1] 0.6527326746355282 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.10 [[ 0.99920635 -0.03884494 0.00881759 0.62690545] [ 0.03870725 0.9991337 0.01528367 -0.16615531] [-0.00940365 -0.01493024 0.99984432 -0.09636405] [ 0. 0. 0. 1. ]] SLAMing on 126.55992885099998 meters Centerline goodness [0,1] 0.6493700914346254 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.10 [[ 0.99919753 -0.03904753 0.00892102 0.62648975] [ 0.03890745 0.99912459 0.01537085 -0.16697866] [-0.0095134 -0.01501142 0.99984206 -0.09618491] [ 0. 0. 0. 1. ]] SLAMing on 126.58992885099998 meters Centerline goodness [0,1] 0.6490279535258254 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.10 [[ 0.99918761 -0.03925464 0.00912099 0.62601246] [ 0.03911053 0.99911506 0.0154747 -0.16790405] [-0.00972038 -0.0151054 0.99983866 -0.09615292] [ 0. 0. 0. 1. ]] SLAMing on 126.61992885099998 meters Centerline goodness [0,1] 0.6404012118986412 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.10 [[ 0.9990499 -0.04266366 0.00889402 0.62716271] [ 0.04255775 0.99902461 0.01177537 -0.16819904] [-0.00938773 -0.01138567 0.99989111 -0.09636841] [ 0. 0. 0. 1. ]] SLAMing on 126.64992885099998 meters Centerline goodness [0,1] 0.6430517711171662 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.10 [[ 0.9990457 -0.04273416 0.00902645 0.6269998 ] [ 0.04262383 0.99901815 0.01208095 -0.16936195] [-0.00953386 -0.01168468 0.99988628 -0.09661104] [ 0. 0. 0. 1. ]] SLAMing on 126.67992885099999 meters Centerline goodness [0,1] 0.6418861609701305 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.10 [[ 0.99903654 -0.04292824 0.00911899 0.62663823] [ 0.04281623 0.99900918 0.01214199 -0.17002675] [-0.00963119 -0.01173985 0.9998847 -0.09645723] [ 0. 0. 0. 1. ]] SLAMing on 126.70992885099999 meters Centerline goodness [0,1] 0.6481324763843461 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.10 [[ 0.99902435 -0.0431565 0.00937313 0.62590232] [ 0.04303883 0.99899629 0.0124127 -0.17135508] [-0.00989941 -0.01199718 0.99987903 -0.0962758 ] [ 0. 0. 0. 1. ]] SLAMing on 126.73992885099999 meters Centerline goodness [0,1] 0.6463400708005025 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.10 [[ 0.99901698 -0.04329325 0.00952704 0.62550348] [ 0.04317278 0.99898933 0.01250729 -0.17197397] [-0.01005889 -0.01208368 0.99987639 -0.09619276] [ 0. 0. 0. 1. ]] SLAMing on 126.76992885099999 meters Centerline goodness [0,1] 0.6498255058050684 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.10 [[ 0.9990183 -0.0432535 0.00956928 0.62532639] [ 0.04313005 0.99898809 0.01275161 -0.17304797] [-0.01011115 -0.01232636 0.9998729 -0.0960571 ] [ 0. 0. 0. 1. ]] SLAMing on 126.79992885099999 meters Centerline goodness [0,1] 0.6470521309759483 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.10 [[ 0.99901867 -0.04324356 0.00957551 0.6252456 ] [ 0.04311796 0.99898597 0.01295626 -0.17399608] [-0.01012608 -0.01253067 0.99987021 -0.09597967] [ 0. 0. 0. 1. ]] SLAMing on 126.82992885099998 meters Centerline goodness [0,1] 0.6524168635289842 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.10 [[ 0.99902074 -0.04317577 0.0096655 0.62490291] [ 0.04304518 0.99898414 0.01333445 -0.17546353] [-0.01023141 -0.01290534 0.99986438 -0.0957916 ] [ 0. 0. 0. 1. ]] SLAMing on 126.85992885099998 meters Centerline goodness [0,1] 0.6517624094963572 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.10 [[ 0.99902549 -0.04306525 0.00966713 0.62499418] [ 0.04293278 0.99898653 0.01351644 -0.17597366] [-0.01023942 -0.01308823 0.99986192 -0.09588549] [ 0. 0. 0. 1. ]] SLAMing on 126.88992885099998 meters Centerline goodness [0,1] 0.646561110607023 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99903251 -0.0429123 0.0096214 0.62516811] [ 0.04277825 0.99899024 0.01373045 -0.17662546] [-0.01020089 -0.01330558 0.99985944 -0.09596853] [ 0. 0. 0. 1. ]] SLAMing on 126.91992885099998 meters Centerline goodness [0,1] 0.6473768748727462 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99905807 -0.04234848 0.00946434 0.62599604] [ 0.0422107 0.99900622 0.01431205 -0.17772419] [-0.01006103 -0.01389907 0.99985278 -0.09657445] [ 0. 0. 0. 1. ]] SLAMing on 126.94992885099998 meters Centerline goodness [0,1] 0.6558390112501981 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.9990713 -0.04206571 0.00932834 0.62657085] [ 0.04192752 0.99901477 0.01454533 -0.17811725] [-0.00993101 -0.01414071 0.9998507 -0.09692612] [ 0. 0. 0. 1. ]] SLAMing on 126.97992885099998 meters Centerline goodness [0,1] 0.6527187188998462 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99910075 -0.04142014 0.0090584 0.6275927 ] [ 0.04128115 0.99903456 0.01502738 -0.17883862] [-0.00967209 -0.01463993 0.99984605 -0.09746099] [ 0. 0. 0. 1. ]] SLAMing on 127.00992885099998 meters Centerline goodness [0,1] 0.6527187188998462 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99910075 -0.04142014 0.0090584 0.6275927 ] [ 0.04128115 0.99903456 0.01502738 -0.17883862] [-0.00967209 -0.01463993 0.99984605 -0.09746099] [ 0. 0. 0. 1. ]] SLAMing on 127.03992885099998 meters Centerline goodness [0,1] 0.6610624661491245 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99912545 -0.04086136 0.00887039 0.62827008] [ 0.04072311 0.99905418 0.01524367 -0.17882089] [-0.00948488 -0.01486911 0.99984446 -0.09764812] [ 0. 0. 0. 1. ]] SLAMing on 127.06992885099999 meters Centerline goodness [0,1] 0.6548098231649405 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99913062 -0.04075348 0.00878446 0.62838887] [ 0.04061661 0.99905867 0.01523357 -0.17871896] [-0.00939701 -0.01486353 0.99984537 -0.09752029] [ 0. 0. 0. 1. ]] SLAMing on 127.09992885099999 meters Centerline goodness [0,1] 0.6589117520836627 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99913682 -0.04062037 0.0086951 0.62853275] [ 0.04048426 0.9990631 0.01529549 -0.17903247] [-0.00930826 -0.01493027 0.99984521 -0.09738046] [ 0. 0. 0. 1. ]] SLAMing on 127.12992885099999 meters Centerline goodness [0,1] 0.6724243040032514 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99915161 -0.04028406 0.00855846 0.62889728] [ 0.04014899 0.99907492 0.01540672 -0.17897277] [-0.00917119 -0.01505004 0.99984468 -0.09737407] [ 0. 0. 0. 1. ]] SLAMing on 127.15992885099999 meters Centerline goodness [0,1] 0.6586362610069993 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99915077 -0.04030228 0.00857132 0.62881083] [ 0.04016758 0.99907511 0.01534544 -0.17880687] [-0.00918185 -0.01498812 0.99984551 -0.0972552 ] [ 0. 0. 0. 1. ]] SLAMing on 127.18992885099999 meters Centerline goodness [0,1] 0.658833355907716 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.9991455 -0.0404248 0.00860869 0.62867562] [ 0.04028953 0.99907021 0.01534531 -0.17913127] [-0.00922102 -0.01498535 0.99984519 -0.0971627 ] [ 0. 0. 0. 1. ]] SLAMing on 127.21992885099998 meters Centerline goodness [0,1] 0.6631854374844923 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99914362 -0.04047416 0.00859484 0.62876719] [ 0.04033769 0.99906591 0.01549792 -0.17986578] [-0.00921407 -0.01513795 0.99984296 -0.09731 ] [ 0. 0. 0. 1. ]] SLAMing on 127.24992885099998 meters Centerline goodness [0,1] 0.6646448703494927 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.9991364 -0.04064015 0.00865017 0.62867184] [ 0.04050153 0.99905708 0.01563887 -0.18076033] [-0.00927758 -0.01527502 0.99984029 -0.09743784] [ 0. 0. 0. 1. ]] SLAMing on 127.27992885099998 meters Centerline goodness [0,1] 0.6593916984194981 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99912319 -0.04092531 0.0088299 0.62833895] [ 0.04078361 0.99904509 0.01567157 -0.18146144] [-0.00946283 -0.01529772 0.9998382 -0.09757595] [ 0. 0. 0. 1. ]] SLAMing on 127.30992885099998 meters Centerline goodness [0,1] 0.6554585842184787 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99908312 -0.04181701 0.00917866 0.62709895] [ 0.04167388 0.99901461 0.01526751 -0.1820931 ] [-0.00980806 -0.014871 0.99984132 -0.09703571] [ 0. 0. 0. 1. ]] SLAMing on 127.33992885099998 meters Centerline goodness [0,1] 0.6501274848259211 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99906311 -0.04228297 0.00922236 0.62660528] [ 0.04214256 0.99900016 0.01492246 -0.18202616] [-0.00984411 -0.01451983 0.99984612 -0.09655503] [ 0. 0. 0. 1. ]] SLAMing on 127.36992885099998 meters Centerline goodness [0,1] 0.6559489158148875 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99904807 -0.0426116 0.00933865 0.62625699] [ 0.04247155 0.99898932 0.01471409 -0.18193992] [-0.0099562 -0.01430345 0.99984813 -0.09645861] [ 0. 0. 0. 1. ]] SLAMing on 127.39992885099998 meters Centerline goodness [0,1] 0.6492002703311557 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99902382 -0.04314461 0.00948416 0.62577595] [ 0.04300658 0.99897237 0.0143055 -0.18153997] [-0.01009162 -0.01388366 0.99985269 -0.09624454] [ 0. 0. 0. 1. ]] SLAMing on 127.42992885099999 meters Centerline goodness [0,1] 0.6496902804369862 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99901729 -0.04328797 0.0095191 0.62564171] [ 0.04315067 0.99896787 0.01418535 -0.1815691 ] [-0.01012333 -0.01376065 0.99985407 -0.09610041] [ 0. 0. 0. 1. ]] SLAMing on 127.45992885099999 meters Centerline goodness [0,1] 0.6505768884081485 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99900469 -0.04354598 0.0096627 0.62523552] [ 0.04340861 0.99895934 0.01399764 -0.18140438] [-0.01026219 -0.01356426 0.99985534 -0.09598866] [ 0. 0. 0. 1. ]] SLAMing on 127.48992885099999 meters Centerline goodness [0,1] 0.6400099145992474 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.10 [[ 0.99899184 -0.04381034 0.00979588 0.62490739] [ 0.04367334 0.99895072 0.01378757 -0.18109036] [-0.01038964 -0.01334585 0.99985696 -0.09593663] [ 0. 0. 0. 1. ]] SLAMing on 127.51992885099999 meters Centerline goodness [0,1] 0.6507073396358385 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.10 [[ 0.99898311 -0.04399061 0.00987742 0.62470934] [ 0.04385531 0.99894641 0.01352003 -0.18038667] [-0.01046176 -0.0130731 0.99985981 -0.09587973] [ 0. 0. 0. 1. ]] SLAMing on 127.54992885099999 meters Centerline goodness [0,1] 0.6468930375180375 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.10 [[ 0.99897086 -0.04425941 0.00991575 0.62439717] [ 0.04413005 0.99894243 0.0129055 -0.17856961] [-0.01047646 -0.01245463 0.99986755 -0.09551544] [ 0. 0. 0. 1. ]] SLAMing on 127.57992885099998 meters Centerline goodness [0,1] 0.6517234373941898 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.10 [[ 0.99896837 -0.04433557 0.00982612 0.62444758] [ 0.04421133 0.99894376 0.01251891 -0.17738626] [-0.01037077 -0.01207157 0.99987335 -0.09527297] [ 0. 0. 0. 1. ]] SLAMing on 127.60992885099998 meters Centerline goodness [0,1] 0.6455787690570299 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.10 [[ 0.99896822 -0.04435309 0.00976197 0.62452917] [ 0.04423338 0.99894728 0.01215454 -0.17617139] [-0.01029078 -0.01171019 0.99987848 -0.09513387] [ 0. 0. 0. 1. ]] SLAMing on 127.63992885099998 meters Centerline goodness [0,1] 0.6581692557803468 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.09 [[ 0.99896701 -0.04440108 0.00966715 0.62464168] [ 0.04428668 0.99894984 0.01174347 -0.17485029] [-0.01017842 -0.01130321 0.99988431 -0.0949431 ] [ 0. 0. 0. 1. ]] SLAMing on 127.66992885099998 meters Centerline goodness [0,1] 0.6495971473064164 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99899204 -0.04387785 0.00946776 0.6252975 ] [ 0.0437716 0.99897933 0.01115145 -0.17214696] [-0.0099474 -0.01072579 0.999893 -0.09481175] [ 0. 0. 0. 1. ]] SLAMing on 127.69992885099998 meters Centerline goodness [0,1] 0.6485722043716342 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.9989999 -0.04373636 0.00929143 0.62575045] [ 0.04363563 0.99898934 0.01078057 -0.17059083] [-0.00975354 -0.01036435 0.99989872 -0.09481802] [ 0. 0. 0. 1. ]] SLAMing on 127.72992885099998 meters Centerline goodness [0,1] 0.669799569697656 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99901783 -0.04336778 0.00908953 0.62643706] [ 0.04327398 0.99901041 0.01027446 -0.16820086] [-0.00952612 -0.00987103 0.9999059 -0.09484854] [ 0. 0. 0. 1. ]] SLAMing on 127.75992885099998 meters Centerline goodness [0,1] 0.6573261692625088 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99901884 -0.04336651 0.00898329 0.62664435] [ 0.04327642 0.99901317 0.00999176 -0.16714991] [-0.00940773 -0.00959319 0.99990973 -0.094794 ] [ 0. 0. 0. 1. ]] SLAMing on 127.78992885099998 meters Centerline goodness [0,1] 0.6653718595247831 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99901685 -0.04341894 0.00895113 0.62672301] [ 0.04333087 0.99901263 0.00980797 -0.16634789] [-0.00936814 -0.00941047 0.99991184 -0.09483912] [ 0. 0. 0. 1. ]] SLAMing on 127.81992885099999 meters Centerline goodness [0,1] 0.6606199405909163 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.10 [[ 0.99901645 -0.04342441 0.00896999 0.62691057] [ 0.0433357 0.99901193 0.00985775 -0.16625359] [-0.0093892 -0.00945933 0.99991118 -0.09521134] [ 0. 0. 0. 1. ]] SLAMing on 127.84992885099999 meters Centerline goodness [0,1] 0.6627720400461028 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.10 [[ 0.99901828 -0.04338396 0.00896159 0.6272199 ] [ 0.04329363 0.99901195 0.01003926 -0.16662405] [-0.00938828 -0.00964142 0.99990945 -0.09566695] [ 0. 0. 0. 1. ]] SLAMing on 127.87992885099999 meters Centerline goodness [0,1] 0.6609430424075371 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.10 [[ 0.99901898 -0.04336404 0.0089795 0.62738822] [ 0.04327266 0.99901192 0.01013203 -0.1666734 ] [-0.00940999 -0.00973352 0.99990835 -0.09598122] [ 0. 0. 0. 1. ]] SLAMing on 127.90992885099999 meters Centerline goodness [0,1] 0.6586021505376345 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.10 [[ 0.99901751 -0.04340645 0.00893804 0.6274749 ] [ 0.04331586 0.99901046 0.01009159 -0.16656666] [-0.00936724 -0.00969451 0.99990913 -0.09600728] [ 0. 0. 0. 1. ]] SLAMing on 127.93992885099999 meters Centerline goodness [0,1] 0.6563319764812302 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.10 [[ 0.99901328 -0.04350077 0.00895213 0.62736974] [ 0.0434112 0.99900756 0.00996808 -0.1660978 ] [-0.00937686 -0.00956962 0.99991024 -0.09594698] [ 0. 0. 0. 1. ]] SLAMing on 127.96992885099998 meters Centerline goodness [0,1] 0.6515401477999503 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.10 [[ 0.9990183 -0.04340753 0.00884407 0.62768545] [ 0.04331945 0.99901204 0.00991824 -0.16567372] [-0.00926586 -0.00952538 0.9999117 -0.09599375] [ 0. 0. 0. 1. ]] SLAMing on 127.99992885099998 meters Centerline goodness [0,1] 0.6580639319025627 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.10 [[ 0.99900739 -0.04363636 0.00894979 0.62739665] [ 0.04354881 0.99900369 0.00975363 -0.16529637] [-0.00936648 -0.0093542 0.99991238 -0.09595245] [ 0. 0. 0. 1. ]] SLAMing on 128.029928851 meters Centerline goodness [0,1] 0.6486658051644789 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.10 [[ 0.99899581 -0.04388593 0.00902185 0.62712708] [ 0.04379859 0.99899367 0.00966086 -0.16539697] [-0.00943674 -0.00925601 0.99991263 -0.09587726] [ 0. 0. 0. 1. ]] SLAMing on 128.059928851 meters Centerline goodness [0,1] 0.6596989208306883 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.10 [[ 0.99899164 -0.04396732 0.00908704 0.62708961] [ 0.04387815 0.99898892 0.00978982 -0.16586342] [-0.00950829 -0.00938123 0.99991079 -0.09611785] [ 0. 0. 0. 1. ]] SLAMing on 128.089928851 meters Centerline goodness [0,1] 0.6391198930457048 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.10 [[ 0.99897053 -0.044386 0.00936863 0.62658168] [ 0.04429571 0.99897201 0.00963424 -0.16583745] [-0.00978662 -0.00920934 0.9999097 -0.09633356] [ 0. 0. 0. 1. ]] SLAMing on 128.119928851 meters Centerline goodness [0,1] 0.639009428603885 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99895791 -0.04466401 0.00939258 0.62636583] [ 0.04457699 0.99896287 0.00927793 -0.16496988] [-0.00979723 -0.00884957 0.99991285 -0.09616079] [ 0. 0. 0. 1. ]] SLAMing on 128.14992885099997 meters Centerline goodness [0,1] 0.6622627803504948 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99895594 -0.04470197 0.0094215 0.62633629] [ 0.04461564 0.99896202 0.00918305 -0.16446263] [-0.00982222 -0.00875312 0.99991345 -0.09620031] [ 0. 0. 0. 1. ]] SLAMing on 128.17992885099997 meters Centerline goodness [0,1] 0.6357027647152367 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99894716 -0.04489537 0.00943292 0.62610609] [ 0.04481238 0.99895638 0.00883225 -0.16358739] [-0.0098196 -0.00840024 0.9999165 -0.09587843] [ 0. 0. 0. 1. ]] SLAMing on 128.20992885099997 meters Centerline goodness [0,1] 0.6518589175807954 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99893593 -0.04514502 0.00943017 0.62581429] [ 0.04506609 0.99894851 0.00842116 -0.16232411] [-0.00980043 -0.00798722 0.99992007 -0.09548341] [ 0. 0. 0. 1. ]] SLAMing on 128.23992885099997 meters Centerline goodness [0,1] 0.6627231074334952 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.9989308 -0.04526293 0.00940912 0.62576321] [ 0.04518741 0.99894578 0.00808913 -0.16127994] [-0.00976534 -0.00765531 0.99992301 -0.0953193 ] [ 0. 0. 0. 1. ]] SLAMing on 128.26992885099997 meters Centerline goodness [0,1] 0.6556529659569623 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.998955 -0.04479456 0.00907447 0.62674558] [ 0.04472299 0.99896786 0.00794182 -0.15958525] [-0.00942085 -0.00752768 0.99992729 -0.0955346 ] [ 0. 0. 0. 1. ]] SLAMing on 128.29992885099998 meters Centerline goodness [0,1] 0.6545653811904926 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99895244 -0.04487233 0.00897153 0.62665848] [ 0.04480626 0.99896802 0.00743545 -0.15805693] [-0.00929592 -0.00702568 0.99993211 -0.09499655] [ 0. 0. 0. 1. ]] SLAMing on 128.32992885099998 meters Centerline goodness [0,1] 0.6551133248035095 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99896015 -0.04473243 0.00881115 0.62689103] [ 0.04467051 0.99897653 0.00710235 -0.15667346] [-0.00911984 -0.00670137 0.99993596 -0.09472626] [ 0. 0. 0. 1. ]] SLAMing on 128.35992885099998 meters Centerline goodness [0,1] 0.6633981674971869 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99911165 -0.04118707 0.00891823 0.62595112] [ 0.04109275 0.99910003 0.01051296 -0.15561343] [-0.00934321 -0.01013715 0.99990497 -0.0942774 ] [ 0. 0. 0. 1. ]] SLAMing on 128.38992885099998 meters Centerline goodness [0,1] 0.6633981674971869 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99911165 -0.04118707 0.00891823 0.62595112] [ 0.04109275 0.99910003 0.01051296 -0.15561343] [-0.00934321 -0.01013715 0.99990497 -0.0942774 ] [ 0. 0. 0. 1. ]] SLAMing on 128.41992885099998 meters Centerline goodness [0,1] 0.6668503593488094 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.09 [[ 0.99911774 -0.04106381 0.00880409 0.62616321] [ 0.0409735 0.99910812 0.01020456 -0.15436283] [-0.00921528 -0.00983482 0.99990917 -0.09407402] [ 0. 0. 0. 1. ]] SLAMing on 128.44992885099998 meters Centerline goodness [0,1] 0.680051515569661 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.09 [[ 0.99912481 -0.04091094 0.00871202 0.62646207] [ 0.04082383 0.99911678 0.00995322 -0.1531007 ] [-0.00911152 -0.00958885 0.99991251 -0.09408033] [ 0. 0. 0. 1. ]] SLAMing on 128.47992885099998 meters Centerline goodness [0,1] 0.669583438874433 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.09 [[ 0.99913085 -0.04078321 0.00861783 0.6265892 ] [ 0.04069964 0.99912473 0.00965964 -0.15180273] [-0.00900424 -0.0093005 0.99991621 -0.09384761] [ 0. 0. 0. 1. ]] SLAMing on 128.50992885099998 meters Centerline goodness [0,1] 0.6745414696043373 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.09 [[ 0.9991488 -0.04038681 0.00840173 0.62727007] [ 0.04030756 0.99914313 0.00939685 -0.15017278] [-0.00877404 -0.0090502 0.99992055 -0.09385868] [ 0. 0. 0. 1. ]] SLAMing on 128.53992885099998 meters Centerline goodness [0,1] 0.6774521117009 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.09 [[ 0.99915649 -0.04021607 0.00830536 0.62756584] [ 0.04013766 0.99914994 0.00940042 -0.14982554] [-0.00867634 -0.00905913 0.99992132 -0.09392603] [ 0. 0. 0. 1. ]] SLAMing on 128.569928851 meters Centerline goodness [0,1] 0.6776800350950105 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.09 [[ 0.9991604 -0.04011934 0.00830249 0.62763986] [ 0.04004052 0.99915335 0.00945184 -0.14976176] [-0.00867466 -0.00911147 0.99992086 -0.09400445] [ 0. 0. 0. 1. ]] SLAMing on 128.599928851 meters Centerline goodness [0,1] 0.6895580939194647 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.09 [[ 0.99916652 -0.03998641 0.00820733 0.62788988] [ 0.03990793 0.99915807 0.0095134 -0.14958617] [-0.00858083 -0.00917793 0.99992106 -0.09405034] [ 0. 0. 0. 1. ]] SLAMing on 128.629928851 meters Centerline goodness [0,1] 0.6797299788037969 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.09 [[ 0.99917394 -0.03981988 0.00811257 0.62832133] [ 0.03974043 0.99916266 0.00972994 -0.14969262] [-0.00849322 -0.0093995 0.99991975 -0.09439412] [ 0. 0. 0. 1. ]] SLAMing on 128.659928851 meters Centerline goodness [0,1] 0.6814614780962932 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.09 [[ 0.99917422 -0.03981397 0.00810728 0.6282727 ] [ 0.03973378 0.99916202 0.00982269 -0.14995936] [-0.00849156 -0.00949244 0.99991889 -0.09435077] [ 0. 0. 0. 1. ]] SLAMing on 128.689928851 meters Centerline goodness [0,1] 0.6853532903702677 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.09 [[ 0.99916793 -0.03995215 0.00820227 0.62791017] [ 0.03987067 0.99915612 0.009868 -0.15031891] [-0.00858959 -0.00953276 0.99991767 -0.09418107] [ 0. 0. 0. 1. ]] SLAMing on 128.719928851 meters Centerline goodness [0,1] 0.6785040276179517 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.09 [[ 0.99913609 -0.0406645 0.00857122 0.62657466] [ 0.04057857 0.99912659 0.00997149 -0.15231529] [-0.00896921 -0.00961507 0.99991355 -0.09370549] [ 0. 0. 0. 1. ]] SLAMing on 128.749928851 meters Centerline goodness [0,1] 0.6715063520871143 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.09 [[ 0.99912391 -0.04092875 0.00873246 0.62616172] [ 0.04083984 0.99911437 0.01012815 -0.15355519] [-0.00913926 -0.00976264 0.99991058 -0.09371125] [ 0. 0. 0. 1. ]] SLAMing on 128.779928851 meters Centerline goodness [0,1] 0.664963570544838 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.09 [[ 0.99897098 -0.04451201 0.00869793 0.62696219] [ 0.04445585 0.9989899 0.0065466 -0.15435402] [-0.00898055 -0.00615319 0.99994074 -0.09407487] [ 0. 0. 0. 1. ]] SLAMing on 128.809928851 meters Centerline goodness [0,1] 0.6637180278406364 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99896073 -0.04469684 0.00892491 0.62643511] [ 0.04463661 0.99897989 0.00683691 -0.15556704] [-0.00922139 -0.00643142 0.9999368 -0.09414277] [ 0. 0. 0. 1. ]] SLAMing on 128.839928851 meters Centerline goodness [0,1] 0.6630056745377997 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99894669 -0.04497405 0.00910204 0.62583082] [ 0.04491145 0.99896666 0.00696926 -0.15658105] [-0.00940607 -0.00655314 0.99993429 -0.0939266 ] [ 0. 0. 0. 1. ]] SLAMing on 128.869928851 meters Centerline goodness [0,1] 0.6588879219530069 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99893207 -0.04523977 0.00938548 0.62501976] [ 0.04517376 0.9989537 0.00713026 -0.15753898] [-0.00969824 -0.00669867 0.99993053 -0.09373269] [ 0. 0. 0. 1. ]] SLAMing on 128.89992885099997 meters Centerline goodness [0,1] 0.6573579739904175 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.09 [[ 0.99893027 -0.04526086 0.00947434 0.62485241] [ 0.04519007 0.99894983 0.00755664 -0.1587858 ] [-0.00980641 -0.00712041 0.99992656 -0.0939011 ] [ 0. 0. 0. 1. ]] SLAMing on 128.92992885099997 meters Centerline goodness [0,1] 0.6690288953913679 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.09 [[ 0.99891667 -0.04552193 0.00965596 0.62411959] [ 0.04544976 0.99893797 0.00756651 -0.15949312] [-0.00999015 -0.00711945 0.99992475 -0.09346566] [ 0. 0. 0. 1. ]] SLAMing on 128.95992885099997 meters Centerline goodness [0,1] 0.6654654106698903 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.09 [[ 0.99891707 -0.0455024 0.0097065 0.62387288] [ 0.04542597 0.99893604 0.00795469 -0.16094746] [-0.01005813 -0.00750515 0.99992125 -0.09334 ] [ 0. 0. 0. 1. ]] SLAMing on 128.98992885099997 meters Centerline goodness [0,1] 0.6632615833637359 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.09 [[ 0.99892508 -0.04534699 0.00960927 0.62416901] [ 0.04526867 0.99894105 0.00821706 -0.16159038] [-0.00997171 -0.00777323 0.99992007 -0.093487 ] [ 0. 0. 0. 1. ]] SLAMing on 129.01992885099997 meters Centerline goodness [0,1] 0.6650218300891395 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.09 [[ 0.99893317 -0.04517627 0.00957168 0.62439229] [ 0.04509635 0.99894727 0.00840662 -0.16190452] [-0.00994139 -0.007966 0.99991885 -0.09366159] [ 0. 0. 0. 1. ]] SLAMing on 129.04992885099998 meters Centerline goodness [0,1] 0.6631732434156565 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.09 [[ 0.998934 -0.04515576 0.00958252 0.62422554] [ 0.04507631 0.99894864 0.00835145 -0.16184207] [-0.00994956 -0.0079106 0.99991921 -0.09338971] [ 0. 0. 0. 1. ]] SLAMing on 129.07992885099998 meters Centerline goodness [0,1] 0.6585249260186661 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.09 [[ 0.99894348 -0.04497121 0.00946142 0.62442975] [ 0.04489226 0.99895654 0.00839697 -0.16167232] [-0.00982917 -0.00796336 0.99991998 -0.09321814] [ 0. 0. 0. 1. ]] SLAMing on 129.10992885099998 meters Centerline goodness [0,1] 0.6674101554498486 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99897871 -0.04422998 0.00923299 0.62513802] [ 0.04414999 0.99898708 0.00869425 -0.16177839] [-0.00960819 -0.00827774 0.99991958 -0.09320968] [ 0. 0. 0. 1. ]] SLAMing on 129.13992885099998 meters Centerline goodness [0,1] 0.6656345339465416 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99899471 -0.04388423 0.00915119 0.62552865] [ 0.04380341 0.99900095 0.00885242 -0.16174495] [-0.00953053 -0.00844267 0.99991894 -0.09340879] [ 0. 0. 0. 1. ]] SLAMing on 129.16992885099998 meters Centerline goodness [0,1] 0.6765976802365249 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99901148 -0.04353662 0.00897871 0.62586688] [ 0.04345685 0.9990157 0.00889588 -0.16152894] [-0.00935717 -0.0084969 0.99992012 -0.09321313] [ 0. 0. 0. 1. ]] SLAMing on 129.19992885099998 meters Centerline goodness [0,1] 0.6714731542859746 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99904496 -0.0428094 0.00874765 0.62639775] [ 0.04272965 0.99904515 0.00910897 -0.16127381] [-0.00912925 -0.00872649 0.99992025 -0.09296653] [ 0. 0. 0. 1. ]] SLAMing on 129.22992885099998 meters Centerline goodness [0,1] 0.6749613671484411 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99906134 -0.04245387 0.00860801 0.62682932] [ 0.04237443 0.99905934 0.00921071 -0.16107095] [-0.00899094 -0.00883731 0.99992053 -0.09300774] [ 0. 0. 0. 1. ]] SLAMing on 129.25992885099998 meters Centerline goodness [0,1] 0.6796222550915918 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99906931 -0.0422809 0.00853502 0.62690502] [ 0.04220196 0.9990665 0.00922568 -0.1608789 ] [-0.00891712 -0.0088569 0.99992102 -0.09285292] [ 0. 0. 0. 1. ]] SLAMing on 129.28992885099998 meters Centerline goodness [0,1] 0.6762127543604651 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99908029 -0.04205634 0.0083571 0.62722995] [ 0.04197828 0.99907518 0.00930644 -0.16091253] [-0.00874077 -0.00894707 0.99992177 -0.09268614] [ 0. 0. 0. 1. ]] SLAMing on 129.319928851 meters Centerline goodness [0,1] 0.676017564216322 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99909897 -0.041622 0.00829778 0.62770075] [ 0.04154027 0.99908887 0.00978994 -0.16181607] [-0.0086977 -0.00943642 0.99991765 -0.09309367] [ 0. 0. 0. 1. ]] SLAMing on 129.349928851 meters Centerline goodness [0,1] 0.676017564216322 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99909897 -0.041622 0.00829778 0.62770075] [ 0.04154027 0.99908887 0.00978994 -0.16181607] [-0.0086977 -0.00943642 0.99991765 -0.09309367] [ 0. 0. 0. 1. ]] SLAMing on 129.379928851 meters Centerline goodness [0,1] 0.6914977923695234 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99909991 -0.04157967 0.00839618 0.62758027] [ 0.04149358 0.99908691 0.01018001 -0.16319821] [-0.0088118 -0.00982246 0.99991293 -0.09322963] [ 0. 0. 0. 1. ]] SLAMing on 129.409928851 meters Centerline goodness [0,1] 0.6913622241875865 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99909667 -0.04164806 0.00844345 0.62738706] [ 0.04155973 0.99908211 0.01037935 -0.16379872] [-0.00886798 -0.01001906 0.99991048 -0.09320929] [ 0. 0. 0. 1. ]] SLAMing on 129.439928851 meters Centerline goodness [0,1] 0.6945922086153429 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99909155 -0.04175336 0.00852836 0.62723998] [ 0.04166238 0.99907572 0.01058068 -0.16465528] [-0.00896226 -0.01021576 0.99990765 -0.09332484] [ 0. 0. 0. 1. ]] SLAMing on 129.469928851 meters Centerline goodness [0,1] 0.680263960767475 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99907086 -0.04220127 0.00874427 0.6265679 ] [ 0.04210463 0.99905314 0.01095569 -0.16681633] [-0.00919834 -0.01057734 0.99990175 -0.09329837] [ 0. 0. 0. 1. ]] SLAMing on 129.499928851 meters Centerline goodness [0,1] 0.6779653387350889 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99907656 -0.04208513 0.00865217 0.62710828] [ 0.04198568 0.9990535 0.01137106 -0.167949 ] [-0.00912253 -0.01099729 0.99989791 -0.09385171] [ 0. 0. 0. 1. ]] SLAMing on 129.529928851 meters Centerline goodness [0,1] 0.6822181711790787 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99907085 -0.04219409 0.0087801 0.62697482] [ 0.04209163 0.99904705 0.01154463 -0.16873645] [-0.00925884 -0.01116433 0.99989481 -0.09407919] [ 0. 0. 0. 1. ]] SLAMing on 129.559928851 meters Centerline goodness [0,1] 0.6704922098712542 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99906226 -0.04235751 0.00896919 0.62672426] [ 0.04225137 0.99903838 0.01171056 -0.16941206] [-0.00945659 -0.01132061 0.9998912 -0.09433853] [ 0. 0. 0. 1. ]] SLAMing on 129.589928851 meters Centerline goodness [0,1] 0.670714157222522 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99904809 -0.04265204 0.00914987 0.62640813] [ 0.04254102 0.99902261 0.01200341 -0.17087541] [-0.0096529 -0.01160274 0.99988609 -0.09456675] [ 0. 0. 0. 1. ]] SLAMing on 129.619928851 meters Centerline goodness [0,1] 0.6740059373875495 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.09 [[ 0.99902472 -0.04313106 0.00945113 0.62535289] [ 0.04301857 0.9990046 0.01179866 -0.17131139] [-0.00995061 -0.01138058 0.99988573 -0.09402973] [ 0. 0. 0. 1. ]] SLAMing on 129.64992885099997 meters Centerline goodness [0,1] 0.6698471994059005 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.09 [[ 0.99901342 -0.04334289 0.00967347 0.62479801] [ 0.04322626 0.99899376 0.0119566 -0.17226637] [-0.01018197 -0.01152666 0.99988172 -0.09395686] [ 0. 0. 0. 1. ]] SLAMing on 129.67992885099997 meters Centerline goodness [0,1] 0.6705861192922502 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.09 [[ 0.99900111 -0.04357293 0.00990837 0.62430582] [ 0.04345328 0.99898355 0.01198632 -0.172827 ] [-0.01042057 -0.01154379 0.99987907 -0.09398265] [ 0. 0. 0. 1. ]] SLAMing on 129.70992885099997 meters Centerline goodness [0,1] 0.6655901679786494 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.09 [[ 0.99899583 -0.04366975 0.01001425 0.62410247] [ 0.04354825 0.9989787 0.01204636 -0.17343343] [-0.01053008 -0.01159816 0.99987729 -0.09399155] [ 0. 0. 0. 1. ]] SLAMing on 129.73992885099997 meters Centerline goodness [0,1] 0.6659037361157859 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.09 [[ 0.99896551 -0.04427047 0.01039438 0.62284074] [ 0.04414639 0.99895447 0.01187706 -0.17422309] [-0.01090932 -0.0114059 0.99987544 -0.0934031 ] [ 0. 0. 0. 1. ]] SLAMing on 129.76992885099997 meters Centerline goodness [0,1] 0.6622034507548527 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.09 [[ 0.9989533 -0.04450016 0.01058521 0.62220808] [ 0.04437387 0.99894435 0.01188066 -0.17464137] [-0.01110273 -0.01139852 0.99987339 -0.09312812] [ 0. 0. 0. 1. ]] SLAMing on 129.79992885099998 meters Centerline goodness [0,1] 0.6654621358351663 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.09 [[ 0.99894092 -0.0447418 0.01073372 0.62172753] [ 0.04461371 0.99893355 0.01189007 -0.1751508 ] [-0.01125426 -0.01139861 0.9998717 -0.09294156] [ 0. 0. 0. 1. ]] SLAMing on 129.82992885099998 meters Centerline goodness [0,1] 0.6562815649480371 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.09 [[ 0.99893359 -0.04488101 0.01083384 0.62148151] [ 0.04475016 0.99892575 0.01203224 -0.17593718] [-0.01136222 -0.01153459 0.99986892 -0.09295765] [ 0. 0. 0. 1. ]] SLAMing on 129.85992885099998 meters Centerline goodness [0,1] 0.6599408124831854 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.09 [[ 0.99893304 -0.04488431 0.01087143 0.62167424] [ 0.04474959 0.9989221 0.01233362 -0.17689738] [-0.0114133 -0.01183396 0.99986484 -0.0934351 ] [ 0. 0. 0. 1. ]] SLAMing on 129.88992885099998 meters Centerline goodness [0,1] 0.6609691077309079 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.09 [[ 0.99892717 -0.04499728 0.01094304 0.62179019] [ 0.04486009 0.99891538 0.01247505 -0.17744141] [-0.01149251 -0.01197076 0.9998623 -0.09390258] [ 0. 0. 0. 1. ]] SLAMing on 129.91992885099998 meters Centerline goodness [0,1] 0.6562464910507759 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.09 [[ 0.99891636 -0.04519681 0.01110695 0.62141214] [ 0.04505914 0.99890801 0.01234746 -0.17716224] [-0.01165288 -0.01183361 0.99986208 -0.09387428] [ 0. 0. 0. 1. ]] SLAMing on 129.94992885099998 meters Centerline goodness [0,1] 0.6634522444759143 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.09 [[ 0.99891047 -0.04532486 0.01111482 0.62124722] [ 0.04518932 0.99890447 0.01215648 -0.17663947] [-0.01165363 -0.01164096 0.99986433 -0.09361583] [ 0. 0. 0. 1. ]] SLAMing on 129.97992885099998 meters Centerline goodness [0,1] 0.6596312578503499 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.09 [[ 0.99890799 -0.04538299 0.01109967 0.6214127 ] [ 0.0452502 0.99890438 0.01193552 -0.17574673] [-0.01162918 -0.01142023 0.99986716 -0.09378381] [ 0. 0. 0. 1. ]] SLAMing on 130.00992885099998 meters Centerline goodness [0,1] 0.6572782606742582 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.09 [[ 0.9989043 -0.04545097 0.01115342 0.62122788] [ 0.04531963 0.99890332 0.0117593 -0.17534891] [-0.01167566 -0.01124094 0.99986865 -0.09365897] [ 0. 0. 0. 1. ]] SLAMing on 130.03992885099998 meters Centerline goodness [0,1] 0.6569393898548771 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.09 [[ 0.99890523 -0.04545385 0.01105827 0.62142389] [ 0.04532534 0.99890485 0.011607 -0.17487621] [-0.01157374 -0.01109308 0.99987149 -0.09363217] [ 0. 0. 0. 1. ]] SLAMing on 130.069928851 meters Centerline goodness [0,1] 0.6591941358996267 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.09 [[ 0.99890585 -0.04542847 0.01110683 0.62144994] [ 0.04530215 0.99890861 0.01137126 -0.17393929] [-0.01161128 -0.01085565 0.99987366 -0.09374809] [ 0. 0. 0. 1. ]] SLAMing on 130.099928851 meters Centerline goodness [0,1] 0.6732121593385607 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.09 [[ 0.99890538 -0.04542997 0.01114242 0.62138967] [ 0.0453064 0.99891144 0.01110291 -0.17292737] [-0.0116347 -0.01058593 0.99987628 -0.09368393] [ 0. 0. 0. 1. ]] SLAMing on 130.129928851 meters Centerline goodness [0,1] 0.6657437421213759 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.09 [[ 0.99890523 -0.04544645 0.01108899 0.62139711] [ 0.04532625 0.9989132 0.01086009 -0.17215141] [-0.01157049 -0.01034558 0.99987954 -0.09347849] [ 0. 0. 0. 1. ]] SLAMing on 130.159928851 meters Centerline goodness [0,1] 0.6669071397975517 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.09 [[ 0.99891311 -0.04529243 0.0110086 0.6218369 ] [ 0.04517528 0.99892212 0.01066752 -0.17072839] [-0.01147989 -0.01015861 0.9998825 -0.09379496] [ 0. 0. 0. 1. ]] SLAMing on 130.189928851 meters Centerline goodness [0,1] 0.6823362144839882 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.09 [[ 0.99892049 -0.04514635 0.01093862 0.62216519] [ 0.04503064 0.99892933 0.0106035 -0.17007299] [-0.01140561 -0.01009948 0.99988395 -0.09400457] [ 0. 0. 0. 1. ]] SLAMing on 130.219928851 meters Centerline goodness [0,1] 0.6679096887924605 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.09 [[ 0.9989392 -0.04476399 0.01080113 0.62293902] [ 0.04464798 0.99894492 0.01075237 -0.1696804 ] [-0.01127106 -0.01025872 0.99988385 -0.09462063] [ 0. 0. 0. 1. ]] SLAMing on 130.249928851 meters Centerline goodness [0,1] 0.6783744688545339 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.09 [[ 0.99894513 -0.04464858 0.01072999 0.62331396] [ 0.0445339 0.99895058 0.01069938 -0.16928016] [-0.01119645 -0.01021024 0.99988519 -0.09490291] [ 0. 0. 0. 1. ]] SLAMing on 130.279928851 meters Centerline goodness [0,1] 0.6783744688545339 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.09 [[ 0.99894513 -0.04464858 0.01072999 0.62331396] [ 0.0445339 0.99895058 0.01069938 -0.16928016] [-0.01119645 -0.01021024 0.99988519 -0.09490291] [ 0. 0. 0. 1. ]] SLAMing on 130.309928851 meters Centerline goodness [0,1] 0.6793806732009869 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99894894 -0.04458671 0.01063194 0.62363435] [ 0.04447452 0.99895465 0.01056548 -0.16847929] [-0.0110919 -0.01008153 0.99988766 -0.09505655] [ 0. 0. 0. 1. ]] SLAMing on 130.339928851 meters Centerline goodness [0,1] 0.6743759759216095 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99895554 -0.0444797 0.01045902 0.62407025] [ 0.04437252 0.9989623 0.0102663 -0.16711968] [-0.01090481 -0.00979149 0.9998926 -0.09505126] [ 0. 0. 0. 1. ]] SLAMing on 130.36992885099997 meters Centerline goodness [0,1] 0.6720165262990625 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99898345 -0.043912 0.01018819 0.62496503] [ 0.04380998 0.99898954 0.01002953 -0.16501366] [-0.01061831 -0.00957299 0.9998978 -0.09520801] [ 0. 0. 0. 1. ]] SLAMing on 130.39992885099997 meters Centerline goodness [0,1] 0.6759652268651973 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99898928 -0.04380288 0.01008639 0.62519181] [ 0.04370359 0.99899586 0.00986261 -0.1641165 ] [-0.01050828 -0.00941183 0.99990049 -0.09518875] [ 0. 0. 0. 1. ]] SLAMing on 130.42992885099997 meters Centerline goodness [0,1] 0.6795145675196582 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99900182 -0.04356773 0.00986031 0.62574086] [ 0.04347379 0.99900893 0.00954907 -0.16285299] [-0.01026657 -0.00911087 0.99990579 -0.09510508] [ 0. 0. 0. 1. ]] SLAMing on 130.45992885099997 meters Centerline goodness [0,1] 0.681032716344512 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99901442 -0.0433157 0.00969206 0.6263246 ] [ 0.04322475 0.9990211 0.00940528 -0.16186283] [-0.01008997 -0.00897707 0.9999088 -0.09532145] [ 0. 0. 0. 1. ]] SLAMing on 130.48992885099997 meters Centerline goodness [0,1] 0.676456526193566 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99902791 -0.04304228 0.00951794 0.62695182] [ 0.04295365 0.99903352 0.009328 -0.16118157] [-0.00991024 -0.0089101 0.99991119 -0.09556951] [ 0. 0. 0. 1. ]] SLAMing on 130.51992885099997 meters Centerline goodness [0,1] 0.6901450200656695 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99905946 -0.04236262 0.00925169 0.62813384] [ 0.0422765 0.99906254 0.0093138 -0.15982411] [-0.00963758 -0.00891391 0.99991383 -0.09615902] [ 0. 0. 0. 1. ]] SLAMing on 130.54992885099998 meters Centerline goodness [0,1] 0.6937214611872147 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99906527 -0.04224591 0.00915785 0.6283277 ] [ 0.04216373 0.99907028 0.00898837 -0.15849633] [-0.00952906 -0.00859384 0.99991767 -0.0960053 ] [ 0. 0. 0. 1. ]] SLAMing on 130.57992885099998 meters Centerline goodness [0,1] 0.6831805399967994 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99907111 -0.04214674 0.00897594 0.62852909] [ 0.04206937 0.99907732 0.00864168 -0.15723615] [-0.00933187 -0.00825604 0.99992237 -0.09562842] [ 0. 0. 0. 1. ]] SLAMing on 130.60992885099998 meters Centerline goodness [0,1] 0.6818296169239566 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99907255 -0.04212847 0.0089012 0.62846 ] [ 0.04205424 0.99908029 0.00836731 -0.15628628] [-0.00924552 -0.00798522 0.99992538 -0.09522202] [ 0. 0. 0. 1. ]] SLAMing on 130.63992885099998 meters Centerline goodness [0,1] 0.6984849871841816 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99906927 -0.04220551 0.0089043 0.62822558] [ 0.04213318 0.99907868 0.00815961 -0.15580639] [-0.00924047 -0.00777685 0.99992706 -0.09489142] [ 0. 0. 0. 1. ]] SLAMing on 130.66992885099998 meters Centerline goodness [0,1] 0.6943546723509593 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.09 [[ 0.99906662 -0.0422369 0.00905157 0.62795005] [ 0.04216286 0.99907693 0.00822092 -0.15606552] [-0.00939044 -0.0078316 0.99992524 -0.0949338 ] [ 0. 0. 0. 1. ]] SLAMing on 130.69992885099998 meters Centerline goodness [0,1] 0.6956153017488368 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99906387 -0.04230276 0.00904767 0.6280481 ] [ 0.04222755 0.99907314 0.0083481 -0.15645054] [-0.00939243 -0.00795822 0.99992422 -0.09514517] [ 0. 0. 0. 1. ]] SLAMing on 130.72992885099998 meters Centerline goodness [0,1] 0.6968145879987204 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99905924 -0.04237323 0.00922714 0.6279139 ] [ 0.04229333 0.99906745 0.00868908 -0.1573547 ] [-0.00958672 -0.00829066 0.99991968 -0.09561669] [ 0. 0. 0. 1. ]] SLAMing on 130.75992885099998 meters Centerline goodness [0,1] 0.6830384729819422 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99904981 -0.04255342 0.00941738 0.62764932] [ 0.04247007 0.99905827 0.00888121 -0.15814154] [-0.00978644 -0.00847282 0.99991621 -0.09593883] [ 0. 0. 0. 1. ]] SLAMing on 130.78992885099998 meters Centerline goodness [0,1] 0.6946439189498239 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99903582 -0.04285069 0.00955272 0.62750656] [ 0.04276356 0.99904335 0.00914623 -0.15920975] [-0.0099355 -0.00872891 0.99991254 -0.09640441] [ 0. 0. 0. 1. ]] SLAMing on 130.819928851 meters Centerline goodness [0,1] 0.6751835670334194 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99902815 -0.04299775 0.00969224 0.62741218] [ 0.04290797 0.99903585 0.00928801 -0.15967468] [-0.01008226 -0.00886311 0.99990989 -0.09679118] [ 0. 0. 0. 1. ]] SLAMing on 130.849928851 meters Centerline goodness [0,1] 0.6870696950982411 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99901866 -0.0431781 0.00986745 0.62721528] [ 0.0430854 0.99902696 0.00942212 -0.16017881] [-0.01026468 -0.00898773 0.99990692 -0.09714444] [ 0. 0. 0. 1. ]] SLAMing on 130.879928851 meters Centerline goodness [0,1] 0.6811137018241669 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99900423 -0.04347312 0.01003191 0.6268461 ] [ 0.04337863 0.99901399 0.00945224 -0.16073023] [-0.01043294 -0.00900766 0.999905 -0.09722703] [ 0. 0. 0. 1. ]] SLAMing on 130.909928851 meters Centerline goodness [0,1] 0.6847259083005399 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99899736 -0.04361835 0.01008557 0.62657409] [ 0.04352503 0.9990091 0.00929414 -0.16041986] [-0.01048097 -0.00884585 0.99990595 -0.09702379] [ 0. 0. 0. 1. ]] SLAMing on 130.939928851 meters Centerline goodness [0,1] 0.6813671696387746 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99899482 -0.04365565 0.01017475 0.62631004] [ 0.04356146 0.99900745 0.00930163 -0.1603973 ] [-0.01057072 -0.00884905 0.99990497 -0.09693138] [ 0. 0. 0. 1. ]] SLAMing on 130.969928851 meters Centerline goodness [0,1] 0.681919106370316 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.10 [[ 0.99898461 -0.04385938 0.01030086 0.62570176] [ 0.04376602 0.99900018 0.00911997 -0.16028936] [-0.01069055 -0.00865988 0.99990535 -0.09645209] [ 0. 0. 0. 1. ]] SLAMing on 130.999928851 meters Centerline goodness [0,1] 0.6747081534279122 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.10 [[ 0.99897022 -0.04411475 0.0106015 0.62478383] [ 0.04402013 0.99899012 0.00899833 -0.16062074] [-0.01098775 -0.00852239 0.99990331 -0.09604256] [ 0. 0. 0. 1. ]] SLAMing on 131.029928851 meters Centerline goodness [0,1] 0.6820883240376703 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.10 [[ 0.99896222 -0.04426373 0.01073375 0.62437673] [ 0.04416787 0.9989835 0.00900958 -0.16100778] [-0.01112164 -0.00852614 0.9999018 -0.09592158] [ 0. 0. 0. 1. ]] SLAMing on 131.059928851 meters Centerline goodness [0,1] 0.6812412815294198 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.10 [[ 0.9989555 -0.04439038 0.01083563 0.62412471] [ 0.0442929 0.99897736 0.00907617 -0.16130373] [-0.01122745 -0.00858675 0.9999001 -0.09596321] [ 0. 0. 0. 1. ]] SLAMing on 131.089928851 meters Centerline goodness [0,1] 0.6692406104358951 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.10 [[ 0.99895307 -0.04443312 0.01088382 0.62430667] [ 0.04433066 0.99897192 0.00948121 -0.16230334] [-0.01129391 -0.00898879 0.99989582 -0.09656526] [ 0. 0. 0. 1. ]] SLAMing on 131.11992885099997 meters Centerline goodness [0,1] 0.668448831311262 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.10 [[ 0.99894952 -0.04448305 0.01100541 0.6243766 ] [ 0.04437625 0.99896716 0.0097658 -0.1630274 ] [-0.01142845 -0.00926716 0.99989175 -0.09714029] [ 0. 0. 0. 1. ]] SLAMing on 131.14992885099997 meters Centerline goodness [0,1] 0.6653100420706055 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.10 [[ 0.99894741 -0.04451289 0.01107625 0.62463028] [ 0.04440233 0.99896332 0.01003556 -0.16360467] [-0.01151148 -0.00953319 0.9998883 -0.09783452] [ 0. 0. 0. 1. ]] SLAMing on 131.17992885099997 meters Centerline goodness [0,1] 0.6680546075085324 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.10 [[ 0.99894111 -0.04465054 0.01109034 0.62516065] [ 0.04453446 0.99895265 0.01050168 -0.16503068] [-0.01154763 -0.00999665 0.99988335 -0.09892894] [ 0. 0. 0. 1. ]] SLAMing on 131.20992885099997 meters Centerline goodness [0,1] 0.6695582696039265 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.9989281 -0.04489874 0.01125824 0.6247169 ] [ 0.04478003 0.99894081 0.01058371 -0.1657969 ] [-0.01172151 -0.01006822 0.99988061 -0.09889043] [ 0. 0. 0. 1. ]] SLAMing on 131.23992885099997 meters Centerline goodness [0,1] 0.6682037070688716 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99891846 -0.04509985 0.0113099 0.62452982] [ 0.04497908 0.99893047 0.01071439 -0.16655115] [-0.01178102 -0.01019409 0.99987864 -0.09890465] [ 0. 0. 0. 1. ]] SLAMing on 131.26992885099997 meters Centerline goodness [0,1] 0.6672658187527019 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99890024 -0.04543754 0.01156501 0.62375294] [ 0.04531419 0.99891534 0.01071279 -0.16722858] [-0.01203923 -0.01017695 0.99987574 -0.0986606 ] [ 0. 0. 0. 1. ]] SLAMing on 131.29992885099998 meters Centerline goodness [0,1] 0.6620659860387912 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99886029 -0.04620767 0.01195751 0.62244876] [ 0.04608147 0.9988812 0.01062303 -0.16819401] [-0.012435 -0.01005991 0.99987208 -0.09822984] [ 0. 0. 0. 1. ]] SLAMing on 131.32992885099998 meters Centerline goodness [0,1] 0.6661286656058195 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99884934 -0.04641754 0.0120588 0.6221619 ] [ 0.04629031 0.99887153 0.01062413 -0.16858059] [-0.01253834 -0.0100537 0.99987085 -0.09819227] [ 0. 0. 0. 1. ]] SLAMing on 131.35992885099998 meters Centerline goodness [0,1] 0.6609849346866323 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99884072 -0.04657122 0.0121791 0.62195391] [ 0.04644201 0.99886384 0.01068526 -0.16889694] [-0.01266289 -0.01010725 0.99986874 -0.09835831] [ 0. 0. 0. 1. ]] SLAMing on 131.38992885099998 meters Centerline goodness [0,1] 0.6640997682976694 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99883575 -0.04665815 0.0122544 0.62199763] [ 0.04652694 0.99885884 0.01078208 -0.16911164] [-0.01274348 -0.01019937 0.99986678 -0.09872526] [ 0. 0. 0. 1. ]] SLAMing on 131.41992885099998 meters Centerline goodness [0,1] 0.6568629684474314 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99881864 -0.04695937 0.01249549 0.62138295] [ 0.04683017 0.99884831 0.01043949 -0.1683555 ] [-0.01297133 -0.009842 0.99986743 -0.09857585] [ 0. 0. 0. 1. ]] SLAMing on 131.44992885099998 meters Centerline goodness [0,1] 0.6652000455944375 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.9988121 -0.04709747 0.01249889 0.62123825] [ 0.04697062 0.99884362 0.01025581 -0.16782725] [-0.01296745 -0.00965654 0.99986929 -0.09842065] [ 0. 0. 0. 1. ]] SLAMing on 131.47992885099998 meters Centerline goodness [0,1] 0.658837761343924 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99880291 -0.04727623 0.01255839 0.62087379] [ 0.04715305 0.99883832 0.00992982 -0.16715674] [-0.01301325 -0.00932577 0.99987183 -0.09804379] [ 0. 0. 0. 1. ]] SLAMing on 131.50992885099998 meters Centerline goodness [0,1] 0.6549016026665448 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99880084 -0.04732868 0.01252516 0.62084624] [ 0.04720814 0.99883748 0.0097505 -0.16656786] [-0.01297207 -0.00914751 0.99987402 -0.09789508] [ 0. 0. 0. 1. ]] SLAMing on 131.53992885099998 meters Centerline goodness [0,1] 0.6539251952322236 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99879718 -0.04740708 0.01252034 0.6207823 ] [ 0.04728899 0.99883545 0.00956525 -0.16597417] [-0.01295922 -0.00896167 0.99987587 -0.09779954] [ 0. 0. 0. 1. ]] SLAMing on 131.569928851 meters Centerline goodness [0,1] 0.6613109366441483 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99879331 -0.04746078 0.01262491 0.62082343] [ 0.04734203 0.99883314 0.00954404 -0.16574052] [-0.01306315 -0.00893484 0.99987475 -0.09819416] [ 0. 0. 0. 1. ]] SLAMing on 131.599928851 meters Centerline goodness [0,1] 0.6605416523825849 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99878846 -0.04755927 0.01263822 0.62089125] [ 0.04744236 0.99882979 0.00939498 -0.1652045 ] [-0.01307025 -0.00878402 0.999876 -0.09837742] [ 0. 0. 0. 1. ]] SLAMing on 131.629928851 meters Centerline goodness [0,1] 0.6591715705355712 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.10 [[ 0.9987872 -0.0475892 0.0126252 0.62124408] [ 0.0474759 0.99883069 0.0091267 -0.16386688] [-0.01304477 -0.00851623 0.99987865 -0.09880766] [ 0. 0. 0. 1. ]] SLAMing on 131.659928851 meters Centerline goodness [0,1] 0.6591715705355712 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.10 [[ 0.9987872 -0.0475892 0.0126252 0.62124408] [ 0.0474759 0.99883069 0.0091267 -0.16386688] [-0.01304477 -0.00851623 0.99987865 -0.09880766] [ 0. 0. 0. 1. ]] SLAMing on 131.689928851 meters Centerline goodness [0,1] 0.6521689182979505 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.10 [[ 0.99878144 -0.04770278 0.01265264 0.62142221] [ 0.04759174 0.99882689 0.00893675 -0.16287489] [-0.01306411 -0.0083237 0.99988002 -0.09920633] [ 0. 0. 0. 1. ]] SLAMing on 131.719928851 meters Centerline goodness [0,1] 0.6502875546353808 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.10 [[ 0.99878333 -0.04769134 0.01254564 0.62185593] [ 0.04758185 0.99882782 0.00888608 -0.16228851] [-0.01295473 -0.00827833 0.99988182 -0.09954461] [ 0. 0. 0. 1. ]] SLAMing on 131.749928851 meters Centerline goodness [0,1] 0.6513241293475004 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.10 [[ 0.99877572 -0.04783771 0.01259436 0.6217708 ] [ 0.04773002 0.99882224 0.00871662 -0.16160508] [-0.01299651 -0.00810482 0.99988269 -0.09961407] [ 0. 0. 0. 1. ]] SLAMing on 131.779928851 meters Centerline goodness [0,1] 0.6534052907124241 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.10 [[ 0.99876696 -0.04800697 0.01264447 0.62153771] [ 0.04790257 0.99881641 0.00843385 -0.1608565 ] [-0.01303439 -0.00781775 0.99988449 -0.09943785] [ 0. 0. 0. 1. ]] SLAMing on 131.809928851 meters Centerline goodness [0,1] 0.6478457422271428 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.10 [[ 0.99875719 -0.04819506 0.01270094 0.6211531 ] [ 0.04809263 0.9988088 0.00825065 -0.16066669] [-0.01308345 -0.00762957 0.9998853 -0.09910032] [ 0. 0. 0. 1. ]] SLAMing on 131.839928851 meters Centerline goodness [0,1] 0.6501094848449925 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.10 [[ 0.9987481 -0.04835906 0.01279161 0.62067988] [ 0.04825889 0.9988026 0.00802759 -0.16010908] [-0.0131645 -0.00740023 0.99988596 -0.09870021] [ 0. 0. 0. 1. ]] SLAMing on 131.86992885099997 meters Centerline goodness [0,1] 0.6503800967519004 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.10 [[ 0.99874048 -0.04850244 0.01284416 0.62036578] [ 0.04840451 0.99879713 0.00782909 -0.15969729] [-0.01320844 -0.00719752 0.99988686 -0.09842078] [ 0. 0. 0. 1. ]] SLAMing on 131.89992885099997 meters Centerline goodness [0,1] 0.6499457512869642 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.10 [[ 0.99873212 -0.04864048 0.01297108 0.61991201] [ 0.04854205 0.99879069 0.00779871 -0.15977719] [-0.01333472 -0.00715918 0.99988546 -0.09824169] [ 0. 0. 0. 1. ]] SLAMing on 131.92992885099997 meters Centerline goodness [0,1] 0.6493782156288213 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.10 [[ 0.99872269 -0.04880089 0.01309412 0.61950719] [ 0.04870204 0.99878317 0.00776441 -0.15997718] [-0.0134571 -0.00711678 0.99988412 -0.09806727] [ 0. 0. 0. 1. ]] SLAMing on 131.95992885099997 meters Centerline goodness [0,1] 0.6342683292230391 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.10 [[ 0.99870462 -0.04910414 0.01333657 0.61877084] [ 0.04899997 0.99876651 0.00802834 -0.16128423] [-0.01371434 -0.00736445 0.99987883 -0.09794226] [ 0. 0. 0. 1. ]] SLAMing on 131.98992885099997 meters Centerline goodness [0,1] 0.6442993147219795 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.10 [[ 0.99869674 -0.04923758 0.01343451 0.61850341] [ 0.04912904 0.99875801 0.0082929 -0.16229531] [-0.01382614 -0.00762207 0.99987536 -0.09797333] [ 0. 0. 0. 1. ]] SLAMing on 132.01992885099997 meters Centerline goodness [0,1] 0.6502620448694373 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.10 [[ 0.99868354 -0.0494632 0.01358579 0.61796432] [ 0.04935031 0.99874516 0.00852308 -0.16365692] [-0.01399032 -0.00784139 0.99987138 -0.09779347] [ 0. 0. 0. 1. ]] SLAMing on 132.04992885099998 meters Centerline goodness [0,1] 0.645153149019158 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99866336 -0.04979193 0.01386588 0.61727557] [ 0.04967184 0.99872617 0.0088744 -0.16539512] [-0.01429009 -0.00817379 0.99986448 -0.0978301 ] [ 0. 0. 0. 1. ]] SLAMing on 132.07992885099998 meters Centerline goodness [0,1] 0.6367624880032905 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99848499 -0.05328812 0.01371487 0.61824265] [ 0.0532162 0.99856756 0.00555637 -0.16721908] [-0.01399131 -0.0048181 0.99989051 -0.0980647 ] [ 0. 0. 0. 1. ]] SLAMing on 132.10992885099998 meters Centerline goodness [0,1] 0.636378150302201 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99847012 -0.05352823 0.01386173 0.61782494] [ 0.0534494 0.99855256 0.00599612 -0.16931869] [-0.01416263 -0.00524605 0.99988594 -0.09807535] [ 0. 0. 0. 1. ]] SLAMing on 132.13992885099998 meters Centerline goodness [0,1] 0.638885090478144 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99844972 -0.05383974 0.01412225 0.61718178] [ 0.05375299 0.99853341 0.00645282 -0.17141104] [-0.01444896 -0.00568371 0.99987945 -0.09816073] [ 0. 0. 0. 1. ]] SLAMing on 132.16992885099998 meters Centerline goodness [0,1] 0.6322966452986614 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99840532 -0.05462137 0.01425889 0.61624185] [ 0.05452829 0.99848882 0.00683731 -0.17493842] [-0.01461081 -0.00604889 0.99987496 -0.09762808] [ 0. 0. 0. 1. ]] SLAMing on 132.19992885099998 meters Centerline goodness [0,1] 0.6322966452986614 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99840532 -0.05462137 0.01425889 0.61624185] [ 0.05452829 0.99848882 0.00683731 -0.17493842] [-0.01461081 -0.00604889 0.99987496 -0.09762808] [ 0. 0. 0. 1. ]] SLAMing on 132.22992885099998 meters Centerline goodness [0,1] 0.6395222584147666 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.10 [[ 0.99839239 -0.05481582 0.01441714 0.61560925] [ 0.05471864 0.99847692 0.00705101 -0.17625754] [-0.01478169 -0.00625079 0.99987121 -0.09727119] [ 0. 0. 0. 1. ]] SLAMing on 132.25992885099998 meters Centerline goodness [0,1] 0.6351308592867152 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.10 [[ 0.99838884 -0.054847 0.01454409 0.61522007] [ 0.05474482 0.99847345 0.00733312 -0.1774133 ] [-0.01492409 -0.00652509 0.99986734 -0.09711977] [ 0. 0. 0. 1. ]] SLAMing on 132.28992885099998 meters Centerline goodness [0,1] 0.6322051466943079 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.10 [[ 0.99839928 -0.05465235 0.01456005 0.61526643] [ 0.05454424 0.9984815 0.00772184 -0.17832756] [-0.01495996 -0.00691531 0.99986418 -0.09725762] [ 0. 0. 0. 1. ]] SLAMing on 132.319928851 meters Centerline goodness [0,1] 0.6325367688461452 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.10 [[ 0.99840843 -0.05452021 0.0144275 0.61545578] [ 0.05441023 0.99848735 0.00790866 -0.17895793] [-0.01483686 -0.00711107 0.99986464 -0.09715767] [ 0. 0. 0. 1. ]] SLAMing on 132.349928851 meters Centerline goodness [0,1] 0.6308024955517015 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.10 [[ 0.99842277 -0.05428382 0.01432627 0.61570908] [ 0.0541715 0.99849867 0.00811521 -0.17953569] [-0.01474529 -0.00732633 0.99986444 -0.09713689] [ 0. 0. 0. 1. ]] SLAMing on 132.379928851 meters Centerline goodness [0,1] 0.6344122350609276 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.10 [[ 0.99843681 -0.05406538 0.01417308 0.6158594 ] [ 0.05395363 0.99851017 0.00815195 -0.17968527] [-0.0145927 -0.00737452 0.99986633 -0.0968171 ] [ 0. 0. 0. 1. ]] SLAMing on 132.409928851 meters Centerline goodness [0,1] 0.6412585363654804 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.10 [[ 0.99845085 -0.05383516 0.01405954 0.61591807] [ 0.05372414 0.99852249 0.00815859 -0.17956489] [-0.01447799 -0.00739062 0.99986787 -0.0964498 ] [ 0. 0. 0. 1. ]] SLAMing on 132.439928851 meters Centerline goodness [0,1] 0.6392198373910498 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.18, Z:-0.10 [[ 0.99853654 -0.0520588 0.01465111 0.61403182] [ 0.05192441 0.99860669 0.00940899 -0.180298 ] [-0.01512052 -0.00863447 0.9998484 -0.09503059] [ 0. 0. 0. 1. ]] SLAMing on 132.469928851 meters Centerline goodness [0,1] 0.6432782753499258 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.18, Z:-0.09 [[ 0.99855563 -0.05173871 0.01448326 0.61426021] [ 0.05160429 0.99862237 0.00950596 -0.18051187] [-0.01495513 -0.00874483 0.99984992 -0.09474502] [ 0. 0. 0. 1. ]] SLAMing on 132.499928851 meters Centerline goodness [0,1] 0.6533192597915918 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.10 [[ 0.99861955 -0.05057233 0.01419254 0.61563852] [ 0.0504278 0.99867394 0.01036323 -0.18173977] [-0.01469781 -0.00963322 0.99984558 -0.09556818] [ 0. 0. 0. 1. ]] SLAMing on 132.529928851 meters Centerline goodness [0,1] 0.6493500662281391 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.10 [[ 0.99865145 -0.05002918 0.01386973 0.61660073] [ 0.04988489 0.99869913 0.01056174 -0.18157625] [-0.01438008 -0.0098556 0.99984803 -0.09586268] [ 0. 0. 0. 1. ]] SLAMing on 132.559928851 meters Centerline goodness [0,1] 0.6592162489351208 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.10 [[ 0.99868402 -0.04945032 0.01359781 0.61749657] [ 0.04930689 0.99872648 0.01068895 -0.18099396] [-0.01410907 -0.01000442 0.99985041 -0.09613177] [ 0. 0. 0. 1. ]] SLAMing on 132.589928851 meters Centerline goodness [0,1] 0.6583866262762257 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.10 [[ 0.99871555 -0.04889944 0.01327022 0.61841713] [ 0.04875884 0.99875305 0.01071999 -0.18020322] [-0.01377787 -0.01005918 0.99985448 -0.09630919] [ 0. 0. 0. 1. ]] SLAMing on 132.61992885099997 meters Centerline goodness [0,1] 0.6556777378815081 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.10 [[ 0.99874957 -0.04829133 0.01293216 0.61926795] [ 0.0481535 0.99878193 0.01076593 -0.17958016] [-0.01343631 -0.01012974 0.99985842 -0.09628133] [ 0. 0. 0. 1. ]] SLAMing on 132.64992885099997 meters Centerline goodness [0,1] 0.6630437218474778 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.10 [[ 0.99894689 -0.04407431 0.01275046 0.61932205] [ 0.04388236 0.99892467 0.01496167 -0.18006385] [-0.01339617 -0.01438639 0.99980677 -0.09641461] [ 0. 0. 0. 1. ]] SLAMing on 132.67992885099997 meters Centerline goodness [0,1] 0.6882252789103455 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.10 [[ 0.99897203 -0.04359032 0.01244045 0.6200929 ] [ 0.04340262 0.99894537 0.01497858 -0.1794435 ] [-0.01308025 -0.01442323 0.99981042 -0.09646448] [ 0. 0. 0. 1. ]] SLAMing on 132.70992885099997 meters Centerline goodness [0,1] 0.6891685736079329 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.10 [[ 0.99902218 -0.04250966 0.0121492 0.62125736] [ 0.04232413 0.99898921 0.01514047 -0.17854403] [-0.01278054 -0.01461146 0.99981156 -0.09675313] [ 0. 0. 0. 1. ]] SLAMing on 132.73992885099997 meters Centerline goodness [0,1] 0.6864880579658288 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.10 [[ 0.99903611 -0.0422262 0.01199189 0.62176341] [ 0.04204399 0.99900225 0.01506013 -0.17792234] [-0.01261585 -0.01454142 0.99981468 -0.09685873] [ 0. 0. 0. 1. ]] SLAMing on 132.76992885099997 meters Centerline goodness [0,1] 0.685012472750972 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.10 [[ 0.99904691 -0.04202445 0.0117992 0.62231685] [ 0.04184801 0.99901403 0.01482288 -0.17675608] [-0.01241049 -0.01431498 0.99982051 -0.09694905] [ 0. 0. 0. 1. ]] SLAMing on 132.79992885099998 meters Centerline goodness [0,1] 0.6881384151554696 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.10 [[ 0.99905957 -0.04178566 0.0115733 0.62286778] [ 0.04161511 0.99902698 0.01460422 -0.17560016] [-0.01217228 -0.01410886 0.99982637 -0.09694828] [ 0. 0. 0. 1. ]] SLAMing on 132.82992885099998 meters Centerline goodness [0,1] 0.6906505526102974 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99906221 -0.04173704 0.01152072 0.62290336] [ 0.04157161 0.99903399 0.01424362 -0.17439127] [-0.01210408 -0.01375132 0.99983218 -0.0967094 ] [ 0. 0. 0. 1. ]] SLAMing on 132.85992885099998 meters Centerline goodness [0,1] 0.6882832927598954 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99907317 -0.04149414 0.0114476 0.62289673] [ 0.04133508 0.99905006 0.01379791 -0.17260966] [-0.01200926 -0.01331194 0.99983927 -0.09622259] [ 0. 0. 0. 1. ]] SLAMing on 132.88992885099998 meters Centerline goodness [0,1] 0.6866413329435838 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99907333 -0.0415141 0.01136091 0.62295746] [ 0.0413603 0.99905372 0.0134533 -0.17153078] [-0.01190866 -0.01297094 0.99984496 -0.0959761 ] [ 0. 0. 0. 1. ]] SLAMing on 132.91992885099998 meters Centerline goodness [0,1] 0.7056834321527605 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99907276 -0.04153333 0.01133999 0.62291763] [ 0.04138227 0.99905558 0.01324567 -0.17087715] [-0.01187942 -0.01276411 0.99984797 -0.0958164 ] [ 0. 0. 0. 1. ]] SLAMing on 132.94992885099998 meters Centerline goodness [0,1] 0.699280835042947 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99908252 -0.04132248 0.01125074 0.62321416] [ 0.04117385 0.99906563 0.01313669 -0.17038974] [-0.01178306 -0.0126614 0.99985041 -0.09584236] [ 0. 0. 0. 1. ]] SLAMing on 132.97992885099998 meters Centerline goodness [0,1] 0.7039972976016214 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99908247 -0.04130893 0.01130445 0.62315006] [ 0.04116004 0.99906666 0.01310156 -0.17018875] [-0.01183511 -0.01262424 0.99985027 -0.0959072 ] [ 0. 0. 0. 1. ]] SLAMing on 133.00992885099998 meters Centerline goodness [0,1] 0.7030109077796809 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99908464 -0.0412837 0.01120395 0.62332222] [ 0.0411375 0.99906918 0.0129798 -0.16980263] [-0.01172937 -0.01250702 0.99985299 -0.09582775] [ 0. 0. 0. 1. ]] SLAMing on 133.03992885099998 meters Centerline goodness [0,1] 0.7034467222347376 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99908409 -0.04127866 0.01127159 0.62332621] [ 0.04113219 0.99907004 0.01293089 -0.1694083 ] [-0.01179488 -0.01245542 0.99985286 -0.09599957] [ 0. 0. 0. 1. ]] SLAMing on 133.069928851 meters Centerline goodness [0,1] 0.7120311585393309 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99909063 -0.04112665 0.01124787 0.62345326] [ 0.04097965 0.99907539 0.0130016 -0.16939394] [-0.01177218 -0.01252885 0.99985221 -0.09609913] [ 0. 0. 0. 1. ]] SLAMing on 133.099928851 meters Centerline goodness [0,1] 0.7120311585393309 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99909063 -0.04112665 0.01124787 0.62345326] [ 0.04097965 0.99907539 0.0130016 -0.16939394] [-0.01177218 -0.01252885 0.99985221 -0.09609913] [ 0. 0. 0. 1. ]] SLAMing on 133.129928851 meters Centerline goodness [0,1] 0.7230523784913376 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99909642 -0.04100813 0.01116567 0.62339002] [ 0.04086215 0.99908019 0.01300252 -0.16960849] [-0.01168861 -0.01253452 0.99985312 -0.09567767] [ 0. 0. 0. 1. ]] SLAMing on 133.159928851 meters Centerline goodness [0,1] 0.7210150638355363 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99909857 -0.04094483 0.01120605 0.62333379] [ 0.04079761 0.999082 0.01306594 -0.16985853] [-0.01173074 -0.01259698 0.99985184 -0.09565298] [ 0. 0. 0. 1. ]] SLAMing on 133.189928851 meters Centerline goodness [0,1] 0.7262554769127064 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99910075 -0.04090522 0.01115578 0.62341754] [ 0.04075789 0.99908279 0.01312875 -0.17030886] [-0.01168258 -0.01266226 0.99985158 -0.0956219 ] [ 0. 0. 0. 1. ]] SLAMing on 133.219928851 meters Centerline goodness [0,1] 0.7176581468931624 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99911153 -0.04063895 0.01116393 0.62343835] [ 0.04048775 0.99908948 0.01345189 -0.17107541] [-0.01170044 -0.01298794 0.99984719 -0.095626 ] [ 0. 0. 0. 1. ]] SLAMing on 133.249928851 meters Centerline goodness [0,1] 0.7280949815961936 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99911426 -0.04055864 0.011211 0.62331163] [ 0.04040577 0.99909158 0.01354195 -0.17134578] [-0.01175005 -0.01307697 0.99984545 -0.0955205 ] [ 0. 0. 0. 1. ]] SLAMing on 133.279928851 meters Centerline goodness [0,1] 0.7270708566045354 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99911986 -0.04042832 0.01118266 0.62328197] [ 0.04027397 0.99909476 0.01369949 -0.17193421] [-0.01172639 -0.01323706 0.99984362 -0.0953337 ] [ 0. 0. 0. 1. ]] SLAMing on 133.309928851 meters Centerline goodness [0,1] 0.731731843575419 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99914924 -0.03976223 0.01094317 0.62413924] [ 0.03960373 0.99911258 0.01433832 -0.17325012] [-0.01150358 -0.01389273 0.99983732 -0.0957094 ] [ 0. 0. 0. 1. ]] SLAMing on 133.339928851 meters Centerline goodness [0,1] 0.7386729222520108 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.9991602 -0.03950852 0.01086106 0.62442844] [ 0.03934904 0.99911995 0.01452505 -0.17355564] [-0.01142536 -0.01408548 0.99983552 -0.09580674] [ 0. 0. 0. 1. ]] SLAMing on 133.36992885099997 meters Centerline goodness [0,1] 0.7378088245140269 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.99916742 -0.03933136 0.01083987 0.62451555] [ 0.03917065 0.999125 0.01465907 -0.17373605] [-0.01140694 -0.01422226 0.99983379 -0.09581029] [ 0. 0. 0. 1. ]] SLAMing on 133.39992885099997 meters Centerline goodness [0,1] 0.7397336664361713 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.10 [[ 0.9991772 -0.03911639 0.01071596 0.62477615] [ 0.03895642 0.99913203 0.01475079 -0.17377945] [-0.01128365 -0.0143212 0.99983378 -0.09574241] [ 0. 0. 0. 1. ]] SLAMing on 133.42992885099997 meters Centerline goodness [0,1] 0.7595675916638805 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.10 [[ 0.99919868 -0.03860033 0.01058315 0.6252032 ] [ 0.03843958 0.99914843 0.0149936 -0.17387262] [-0.01115289 -0.01457477 0.99983158 -0.0957768 ] [ 0. 0. 0. 1. ]] SLAMing on 133.45992885099997 meters Centerline goodness [0,1] 0.7525260410858073 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.10 [[ 0.99920671 -0.03840803 0.01052493 0.62537505] [ 0.03824727 0.99915464 0.01507183 -0.17389983] [-0.01109491 -0.01465733 0.99983102 -0.09575898] [ 0. 0. 0. 1. ]] SLAMing on 133.48992885099997 meters Centerline goodness [0,1] 0.7512688095450093 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.10 [[ 0.99921077 -0.03831264 0.01048682 0.62549956] [ 0.03815173 0.99915731 0.01513669 -0.17417488] [-0.01105791 -0.01472465 0.99983044 -0.09575482] [ 0. 0. 0. 1. ]] SLAMing on 133.51992885099997 meters Centerline goodness [0,1] 0.7547165608642388 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99922904 -0.03786048 0.01038805 0.62609093] [ 0.03769564 0.99916702 0.01563005 -0.17544367] [-0.01097115 -0.01522641 0.99982388 -0.09616895] [ 0. 0. 0. 1. ]] SLAMing on 133.54992885099998 meters Centerline goodness [0,1] 0.7537349933303691 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99923225 -0.03779065 0.01033356 0.6262781 ] [ 0.03762565 0.99916824 0.01572076 -0.17595223] [-0.01091907 -0.01531989 0.99982302 -0.09625178] [ 0. 0. 0. 1. ]] SLAMing on 133.57992885099998 meters Centerline goodness [0,1] 0.7533484625995639 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99923938 -0.03762421 0.01025106 0.62651029] [ 0.03745932 0.99917279 0.01582849 -0.17625768] [-0.01083811 -0.01543246 0.99982217 -0.09625491] [ 0. 0. 0. 1. ]] SLAMing on 133.60992885099998 meters Centerline goodness [0,1] 0.7587748565327639 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99925595 -0.03721228 0.01013846 0.62694478] [ 0.03704743 0.99918557 0.01598995 -0.17648813] [-0.01072523 -0.01560245 0.99982075 -0.09629954] [ 0. 0. 0. 1. ]] SLAMing on 133.63992885099998 meters Centerline goodness [0,1] 0.7555461886591535 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99926074 -0.03711956 0.01000519 0.62717974] [ 0.03695682 0.99918897 0.01598719 -0.17668421] [-0.01059051 -0.01560562 0.99982214 -0.09615493] [ 0. 0. 0. 1. ]] SLAMing on 133.66992885099998 meters Centerline goodness [0,1] 0.7619840213049267 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99926661 -0.03698688 0.0099107 0.62737288] [ 0.03682461 0.99919231 0.01608347 -0.17688157] [-0.01049757 -0.01570671 0.99982153 -0.09614916] [ 0. 0. 0. 1. ]] SLAMing on 133.69992885099998 meters Centerline goodness [0,1] 0.7641452849050316 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99927455 -0.03679213 0.0098344 0.62749515] [ 0.03663032 0.99919827 0.01615647 -0.17701996] [-0.01042095 -0.01578452 0.99982111 -0.09599793] [ 0. 0. 0. 1. ]] SLAMing on 133.72992885099998 meters Centerline goodness [0,1] 0.775377107364685 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99927705 -0.03673479 0.00979454 0.62741653] [ 0.03657427 0.99920135 0.01609299 -0.17698249] [-0.01037789 -0.01572312 0.99982253 -0.09570025] [ 0. 0. 0. 1. ]] SLAMing on 133.75992885099998 meters Centerline goodness [0,1] 0.7808225252189336 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99929469 -0.03628938 0.00965403 0.62757704] [ 0.03612946 0.99921493 0.01625353 -0.17715716] [-0.01023628 -0.01589327 0.9998213 -0.09531358] [ 0. 0. 0. 1. ]] SLAMing on 133.78992885099998 meters Centerline goodness [0,1] 0.781896284486958 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99930146 -0.036114 0.00961077 0.62775426] [ 0.03595398 0.99921998 0.01633251 -0.17727057] [-0.01019311 -0.01597555 0.99982042 -0.09531888] [ 0. 0. 0. 1. ]] SLAMing on 133.819928851 meters Centerline goodness [0,1] 0.7780773480662984 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99930771 -0.03596977 0.00950102 0.6279673 ] [ 0.03581121 0.99922461 0.01636252 -0.17742488] [-0.01008221 -0.01601095 0.99982098 -0.09520726] [ 0. 0. 0. 1. ]] SLAMing on 133.849928851 meters Centerline goodness [0,1] 0.7759104880260045 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99930951 -0.0359053 0.00955618 0.62791054] [ 0.03574504 0.99922564 0.01644402 -0.17776033] [-0.01013921 -0.01609108 0.99981912 -0.09521658] [ 0. 0. 0. 1. ]] SLAMing on 133.879928851 meters Centerline goodness [0,1] 0.7794449109470987 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.9993157 -0.0357333 0.0095528 0.62802972] [ 0.03556975 0.9992264 0.01677492 -0.1790466 ] [-0.01014483 -0.01642365 0.99981366 -0.09532257] [ 0. 0. 0. 1. ]] SLAMing on 133.909928851 meters Centerline goodness [0,1] 0.7806779286739538 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99931987 -0.03564515 0.00944547 0.62832769] [ 0.03548157 0.99922651 0.01695412 -0.17971453] [-0.01004249 -0.01660745 0.99981165 -0.09541891] [ 0. 0. 0. 1. ]] SLAMing on 133.939928851 meters Centerline goodness [0,1] 0.7801960091824122 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.9993197 -0.03564926 0.00944837 0.62840166] [ 0.03548492 0.99922517 0.01702568 -0.18018591] [-0.01004801 -0.01667883 0.99981041 -0.09548363] [ 0. 0. 0. 1. ]] SLAMing on 133.969928851 meters Centerline goodness [0,1] 0.7789187756724526 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99931782 -0.03569697 0.00946688 0.62859135] [ 0.03553126 0.99922175 0.01712947 -0.1806643 ] [-0.01007098 -0.01678141 0.99980846 -0.09580434] [ 0. 0. 0. 1. ]] SLAMing on 133.999928851 meters Centerline goodness [0,1] 0.7760927546454471 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99931183 -0.03586076 0.00948005 0.62861764] [ 0.0356946 0.99921558 0.01715021 -0.18115598] [-0.01008763 -0.01680003 0.99980798 -0.09591378] [ 0. 0. 0. 1. ]] SLAMing on 134.029928851 meters Centerline goodness [0,1] 0.7677457742909404 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.9992861 -0.03650663 0.0097242 0.62793458] [ 0.03633707 0.99919365 0.01707816 -0.1820963 ] [-0.01033982 -0.01671262 0.99980687 -0.09588926] [ 0. 0. 0. 1. ]] SLAMing on 134.059928851 meters Centerline goodness [0,1] 0.7636383682469681 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99926286 -0.0370644 0.00999801 0.6271862 ] [ 0.03689318 0.99917801 0.01679848 -0.18228273] [-0.01061242 -0.01641724 0.99980891 -0.09569631] [ 0. 0. 0. 1. ]] SLAMing on 134.089928851 meters Centerline goodness [0,1] 0.7636383682469681 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99926286 -0.0370644 0.00999801 0.6271862 ] [ 0.03689318 0.99917801 0.01679848 -0.18228273] [-0.01061242 -0.01641724 0.99980891 -0.09569631] [ 0. 0. 0. 1. ]] SLAMing on 134.11992885099997 meters Centerline goodness [0,1] 0.755536439032998 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99923373 -0.03778371 0.01021484 0.62628896] [ 0.03761283 0.99915726 0.0164332 -0.18247622] [-0.01082714 -0.0160364 0.99981279 -0.0951987 ] [ 0. 0. 0. 1. ]] SLAMing on 134.14992885099997 meters Centerline goodness [0,1] 0.7359193754686191 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.99906276 -0.04204311 0.0102941 0.62646632] [ 0.04191797 0.99904796 0.01208552 -0.18142964] [-0.01079241 -0.01164269 0.99987398 -0.09519453] [ 0. 0. 0. 1. ]] SLAMing on 134.17992885099997 meters Centerline goodness [0,1] 0.7265616393081414 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.10 [[ 0.9990311 -0.04272369 0.01056169 0.62582151] [ 0.04259686 0.99902081 0.01195528 -0.18198245] [-0.01106212 -0.0114938 0.99987275 -0.09528733] [ 0. 0. 0. 1. ]] SLAMing on 134.20992885099997 meters Centerline goodness [0,1] 0.7048890850899459 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.09 [[ 0.99898972 -0.04358491 0.01094929 0.62472302] [ 0.04345914 0.99898933 0.01147287 -0.1819805 ] [-0.01143827 -0.01098543 0.99987424 -0.09495616] [ 0. 0. 0. 1. ]] SLAMing on 134.23992885099997 meters Centerline goodness [0,1] 0.6806396042228013 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.09 [[ 0.99892734 -0.04491662 0.01125446 0.62376125] [ 0.04479722 0.99893938 0.01064559 -0.18066476] [-0.01172069 -0.01013 0.99988 -0.09489584] [ 0. 0. 0. 1. ]] SLAMing on 134.26992885099997 meters Centerline goodness [0,1] 0.6761993232035034 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.09 [[ 0.99889637 -0.04554049 0.011494 0.62311536] [ 0.04542542 0.99891686 0.01008144 -0.17953731] [-0.01194066 -0.00954819 0.99988312 -0.09475352] [ 0. 0. 0. 1. ]] SLAMing on 134.29992885099998 meters Centerline goodness [0,1] 0.6700549207192843 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.09 [[ 0.99887215 -0.04602687 0.01166003 0.62263276] [ 0.04591713 0.99889998 0.00951068 -0.17820618] [-0.01208495 -0.00896456 0.99988679 -0.09457839] [ 0. 0. 0. 1. ]] SLAMing on 134.32992885099998 meters Centerline goodness [0,1] 0.6674348519765999 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.09 [[ 0.99885464 -0.0463627 0.01182856 0.62226642] [ 0.0462585 0.99888954 0.00893524 -0.17649367] [-0.01222969 -0.00837784 0.99989012 -0.09450993] [ 0. 0. 0. 1. ]] SLAMing on 134.35992885099998 meters Centerline goodness [0,1] 0.7052643319205889 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.09 [[ 0.99896405 -0.04389202 0.01201351 0.62098206] [ 0.0437565 0.99897809 0.01132052 -0.17323804] [-0.01249812 -0.01078312 0.99986375 -0.09407651] [ 0. 0. 0. 1. ]] SLAMing on 134.38992885099998 meters Centerline goodness [0,1] 0.7193448923049424 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.09 [[ 0.99895222 -0.04416785 0.01198556 0.62089991] [ 0.0440457 0.99897672 0.01027076 -0.17001568] [-0.01242693 -0.00973209 0.99987542 -0.09376974] [ 0. 0. 0. 1. ]] SLAMing on 134.41992885099998 meters Centerline goodness [0,1] 0.7046608936922423 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.09 [[ 0.99894434 -0.04434091 0.01200359 0.62090732] [ 0.04423013 0.99897769 0.00934208 -0.1668065 ] [-0.01240556 -0.0088013 0.99988431 -0.09365684] [ 0. 0. 0. 1. ]] SLAMing on 134.44992885099998 meters Centerline goodness [0,1] 0.6986972147349506 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.09 [[ 0.99894514 -0.04434017 0.01193976 0.62118522] [ 0.04424018 0.99898466 0.0085123 -0.16359555] [-0.01230508 -0.00797511 0.99989249 -0.09367079] [ 0. 0. 0. 1. ]] SLAMing on 134.47992885099998 meters Centerline goodness [0,1] 0.6508029197080292 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.09 [[ 0.99896108 -0.0440676 0.01161045 0.62238658] [ 0.04397611 0.99900038 0.00802134 -0.16058479] [-0.01195232 -0.00750242 0.99990042 -0.09425016] [ 0. 0. 0. 1. ]] SLAMing on 134.50992885099998 meters Centerline goodness [0,1] 0.6508137432188066 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.09 [[ 0.99907721 -0.04129081 0.01182399 0.6216943 ] [ 0.04116698 0.99909678 0.01053155 -0.15662298] [-0.01224816 -0.01003508 0.99987463 -0.09460503] [ 0. 0. 0. 1. ]] SLAMing on 134.53992885099998 meters Centerline goodness [0,1] 0.6535250358304707 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.09 [[ 0.99906185 -0.04165345 0.01184927 0.62175847] [ 0.04153867 0.9990891 0.00977313 -0.1542865 ] [-0.01224556 -0.00927176 0.99988203 -0.09476705] [ 0. 0. 0. 1. ]] SLAMing on 134.569928851 meters Centerline goodness [0,1] 0.6462739174219536 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.10 [[ 0.99902687 -0.0424136 0.01209969 0.62150778] [ 0.04231058 0.99906709 0.00864673 -0.15057797] [-0.01245514 -0.00812637 0.99988941 -0.09525028] [ 0. 0. 0. 1. ]] SLAMing on 134.599928851 meters Centerline goodness [0,1] 0.7061147608765563 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.10 [[ 0.99899917 -0.04301106 0.01227635 0.62096751] [ 0.04291721 0.99904812 0.00780839 -0.14836029] [-0.01260051 -0.00727371 0.99989415 -0.09502878] [ 0. 0. 0. 1. ]] SLAMing on 134.629928851 meters Centerline goodness [0,1] 0.6812590531809717 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.10 [[ 0.99897524 -0.04354538 0.01234 0.62077353] [ 0.04345984 0.99902982 0.00711747 -0.14614886] [-0.01263797 -0.00657388 0.99989853 -0.09507454] [ 0. 0. 0. 1. ]] SLAMing on 134.659928851 meters Centerline goodness [0,1] 0.6923308270676691 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.09 [[ 0.99893502 -0.0443886 0.01258889 0.61980902] [ 0.04431529 0.99899931 0.00604383 -0.14346413] [-0.01284457 -0.00547952 0.99990249 -0.09455051] [ 0. 0. 0. 1. ]] SLAMing on 134.689928851 meters Centerline goodness [0,1] 0.6764992347293725 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.09 [[ 0.99890964 -0.04493466 0.01266531 0.61961071] [ 0.04487109 0.99897894 0.00525998 -0.14104763] [-0.01288873 -0.00468594 0.99990596 -0.09456457] [ 0. 0. 0. 1. ]] SLAMing on 134.719928851 meters Centerline goodness [0,1] 0.6728005813544622 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.09 [[ 0.99884972 -0.04615175 0.01300942 0.61866733] [ 0.04611042 0.99893036 0.00345906 -0.13585995] [-0.01315515 -0.00285521 0.99990939 -0.09431484] [ 0. 0. 0. 1. ]] SLAMing on 134.749928851 meters Centerline goodness [0,1] 0.6756090112523198 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.13, Z:-0.09 [[ 0.99882428 -0.0466475 0.01319342 0.61830943] [ 0.04661709 0.99890944 0.00260347 -0.13304736] [-0.01330048 -0.00198537 0.99990957 -0.09437838] [ 0. 0. 0. 1. ]] SLAMing on 134.779928851 meters Centerline goodness [0,1] 0.663034228441755 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.13, Z:-0.09 [[ 9.98801242e-01 -4.71292456e-02 1.32254463e-02 6.18202040e-01] [ 4.71120078e-02 9.98888312e-01 1.61209883e-03 -1.29806596e-01] [-1.32867207e-02 -9.87088986e-04 9.99911240e-01 -9.43113298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.809928851 meters Centerline goodness [0,1] 0.6669198452445942 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.13, Z:-0.09 [[ 0.99891217 -0.04460985 0.0135805 0.61671784] [ 0.04454782 0.99899555 0.00483594 -0.12834289] [-0.01378259 -0.0042257 0.99989609 -0.09451354] [ 0. 0. 0. 1. ]] SLAMing on 134.839928851 meters Centerline goodness [0,1] 0.6606942354093505 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.12, Z:-0.09 [[ 0.99889142 -0.04506748 0.01359619 0.61661877] [ 0.04502104 0.99897918 0.00370263 -0.12452144] [-0.01374918 -0.00308641 0.99990071 -0.09431667] [ 0. 0. 0. 1. ]] SLAMing on 134.86992885099997 meters Centerline goodness [0,1] 0.6587170065086341 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.12, Z:-0.09 [[ 0.99899895 -0.04248405 0.01400701 0.61503343] [ 0.04239015 0.99907707 0.00693373 -0.12303122] [-0.01428866 -0.00633303 0.99987786 -0.09448014] [ 0. 0. 0. 1. ]] SLAMing on 134.89992885099997 meters Centerline goodness [0,1] 0.6652597875127346 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.12, Z:-0.10 [[ 0.99904823 -0.0412525 0.01417261 0.6154591 ] [ 0.04114146 0.99912099 0.00803913 -0.11749871] [-0.01449179 -0.0074484 0.99986725 -0.0961824 ] [ 0. 0. 0. 1. ]] SLAMing on 134.92992885099997 meters Centerline goodness [0,1] 0.6577269729610904 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.11, Z:-0.10 [[ 0.99903703 -0.04154882 0.01409665 0.61566018] [ 0.04145137 0.99911504 0.00713599 -0.11421526] [-0.01438067 -0.00654479 0.99987517 -0.09618865] [ 0. 0. 0. 1. ]] SLAMing on 134.95992885099997 meters Centerline goodness [0,1] 0.6550870311350822 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.11, Z:-0.10 [[ 0.99902143 -0.04190782 0.01413953 0.61555805] [ 0.0418246 0.99910616 0.00613126 -0.11078495] [-0.01438384 -0.00553388 0.99988123 -0.09604451] [ 0. 0. 0. 1. ]] SLAMing on 134.98992885099997 meters Centerline goodness [0,1] 0.65920987654321 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.10 [[ 0.99910755 -0.03956603 0.01478593 0.61338561] [ 0.03944194 0.99918493 0.0085915 -0.10676069] [-0.01511381 -0.00800065 0.99985377 -0.09589575] [ 0. 0. 0. 1. ]] SLAMing on 135.01992885099997 meters Centerline goodness [0,1] 0.6594791305639451 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.10, Z:-0.10 [[ 0.99910247 -0.03973083 0.01468753 0.61367996] [ 0.03961947 0.99918442 0.00779691 -0.10399258] [-0.01498533 -0.007208 0.99986173 -0.09586923] [ 0. 0. 0. 1. ]] SLAMing on 135.04992885099998 meters Centerline goodness [0,1] 0.6602767044746354 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.10, Z:-0.10 [[ 0.99916173 -0.03795742 0.01533223 0.61352512] [ 0.03781403 0.99923929 0.00953671 -0.1003335 ] [-0.01568256 -0.00894894 0.99983697 -0.09770571] [ 0. 0. 0. 1. ]] SLAMing on 135.07992885099998 meters Centerline goodness [0,1] 0.6620331016550828 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.10, Z:-0.10 [[ 0.99915666 -0.03812522 0.01524601 0.61384034] [ 0.03799302 0.99923865 0.0088688 -0.09778288] [-0.01557253 -0.00828207 0.99984444 -0.09781638] [ 0. 0. 0. 1. ]] SLAMing on 135.10992885099998 meters Centerline goodness [0,1] 0.6671681460307908 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.10, Z:-0.10 [[ 0.99914681 -0.03839181 0.01522271 0.61389488] [ 0.03827196 0.99923463 0.00808768 -0.09518542] [-0.01552156 -0.00749818 0.99985142 -0.09772244] [ 0. 0. 0. 1. ]] SLAMing on 135.13992885099998 meters Centerline goodness [0,1] 0.6711956521739131 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.10 [[ 0.99913867 -0.03864885 0.01510589 0.61426664] [ 0.0385456 0.99923185 0.00706756 -0.09085944] [-0.01536744 -0.00647921 0.99986092 -0.09775225] [ 0. 0. 0. 1. ]] SLAMing on 135.16992885099998 meters Centerline goodness [0,1] 0.6714271295922487 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.10 [[ 0.99911716 -0.03914519 0.01524945 0.6136113 ] [ 0.03905279 0.99921722 0.00631102 -0.08885523] [-0.01548455 -0.00570991 0.9998638 -0.09726151] [ 0. 0. 0. 1. ]] SLAMing on 135.19992885099998 meters Centerline goodness [0,1] 0.6689787858842591 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.10 [[ 0.99909732 -0.03959413 0.01538981 0.61303568] [ 0.03950908 0.99920243 0.00579192 -0.08751089] [-0.01560686 -0.00517865 0.99986479 -0.09697819] [ 0. 0. 0. 1. ]] SLAMing on 135.22992885099998 meters Centerline goodness [0,1] 0.6702122258326564 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.10 [[ 0.99907682 -0.04001013 0.01564265 0.61249151] [ 0.03992868 0.99918748 0.00548515 -0.08642774] [-0.0158494 -0.0048555 0.9998626 -0.09711709] [ 0. 0. 0. 1. ]] SLAMing on 135.25992885099998 meters Centerline goodness [0,1] 0.6666328033727841 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.99902569 -0.04107118 0.01615021 0.61097612] [ 0.041 0.99914803 0.0047142 -0.08435251] [-0.01633006 -0.00404745 0.99985846 -0.09699847] [ 0. 0. 0. 1. ]] SLAMing on 135.28992885099998 meters Centerline goodness [0,1] 0.6669797669518418 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.99900183 -0.04153318 0.01644177 0.61023442] [ 0.04146508 0.99912999 0.00446192 -0.08354296] [-0.01661278 -0.0037757 0.99985487 -0.09703812] [ 0. 0. 0. 1. ]] SLAMing on 135.319928851 meters Centerline goodness [0,1] 0.6644782044430873 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.99896833 -0.04218548 0.01681276 0.60899732] [ 0.04212366 0.99910434 0.00401451 -0.08269184] [-0.01696706 -0.00330216 0.9998506 -0.0966509 ] [ 0. 0. 0. 1. ]] SLAMing on 135.349928851 meters Centerline goodness [0,1] 0.6630907288303634 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.99894662 -0.04261247 0.01702423 0.60830028] [ 0.04255432 0.99908706 0.00376412 -0.08211842] [-0.01716908 -0.0030357 0.99984799 -0.09649652] [ 0. 0. 0. 1. ]] SLAMing on 135.379928851 meters Centerline goodness [0,1] 0.6570766016003262 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.99889802 -0.04351628 0.01758063 0.60691129] [ 0.04346519 0.99904957 0.0032775 -0.08101348] [-0.01770654 -0.00250975 0.99984008 -0.09660152] [ 0. 0. 0. 1. ]] SLAMing on 135.409928851 meters Centerline goodness [0,1] 0.6566475462077757 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.99888114 -0.04385063 0.01770853 0.60651771] [ 0.04380283 0.99903545 0.00307815 -0.08057912] [-0.01782643 -0.00229902 0.99983845 -0.09657916] [ 0. 0. 0. 1. ]] SLAMing on 135.439928851 meters Centerline goodness [0,1] 0.6517202768729642 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.99886969 -0.04405938 0.01783566 0.60639578] [ 0.044011 0.99902625 0.00309612 -0.08027783] [-0.0179547 -0.00230765 0.99983614 -0.09698717] [ 0. 0. 0. 1. ]] SLAMing on 135.469928851 meters Centerline goodness [0,1] 0.6516275394458464 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.99885471 -0.04431953 0.01802923 0.60601185] [ 0.04427301 0.99901505 0.00297096 -0.07983807] [-0.01814315 -0.00216935 0.99983305 -0.09712483] [ 0. 0. 0. 1. ]] SLAMing on 135.499928851 meters Centerline goodness [0,1] 0.6488408986234072 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.99883566 -0.04466927 0.01822018 0.60552347] [ 0.04462681 0.999 0.00273043 -0.07911713] [-0.01832393 -0.00191415 0.99983027 -0.09714229] [ 0. 0. 0. 1. ]] SLAMing on 135.529928851 meters Centerline goodness [0,1] 0.6596634344056231 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.99882356 -0.04494537 0.01820473 0.60525294] [ 0.04491025 0.9989883 0.00233362 -0.07804367] [-0.0182912 -0.0015133 0.99983156 -0.09676458] [ 0. 0. 0. 1. ]] SLAMing on 135.559928851 meters Centerline goodness [0,1] 0.6518870346598202 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.99882005 -0.04501062 0.01823606 0.60520144] [ 0.04497837 0.99898559 0.00217525 -0.07748805] [-0.01831547 -0.00135245 0.99983134 -0.09678118] [ 0. 0. 0. 1. ]] SLAMing on 135.589928851 meters Centerline goodness [0,1] 0.6490972328781137 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.99882262 -0.04497238 0.01818941 0.60529345] [ 0.04493929 0.99898724 0.00222369 -0.07753368] [-0.01827099 -0.00140366 0.99983209 -0.09678115] [ 0. 0. 0. 1. ]] SLAMing on 135.61992885099997 meters Centerline goodness [0,1] 0.6481167463131391 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.08, Z:-0.10 [[ 0.99881442 -0.04511322 0.01829065 0.60486795] [ 0.04508486 0.99898124 0.00196002 -0.07701089] [-0.01836044 -0.00113306 0.99983079 -0.09642489] [ 0. 0. 0. 1. ]] SLAMing on 135.64992885099997 meters Centerline goodness [0,1] 0.6531618270045444 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.08, Z:-0.10 [[ 0.99894805 -0.0418759 0.01868699 0.60320504] [ 0.04177 0.99910911 0.00602171 -0.0779937 ] [-0.0189225 -0.00523482 0.99980725 -0.09636521] [ 0. 0. 0. 1. ]] SLAMing on 135.67992885099997 meters Centerline goodness [0,1] 0.6544197048387926 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.08, Z:-0.10 [[ 0.99896156 -0.04161908 0.01853791 0.60363022] [ 0.04151566 0.99912026 0.00592962 -0.07741411] [-0.01876838 -0.00515385 0.99981057 -0.09629031] [ 0. 0. 0. 1. ]] SLAMing on 135.70992885099997 meters Centerline goodness [0,1] 0.6589506172839505 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.08, Z:-0.10 [[ 0.99897624 -0.0413568 0.01833272 0.60410824] [ 0.04125685 0.99913175 0.0057973 -0.07683081] [-0.01855656 -0.00503502 0.99981513 -0.09610226] [ 0. 0. 0. 1. ]] SLAMing on 135.73992885099997 meters Centerline goodness [0,1] 0.6664521940548191 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.99901863 -0.04048467 0.01796577 0.60546658] [ 0.04038128 0.99916584 0.00608096 -0.07654481] [-0.01819697 -0.00534951 0.99982011 -0.09638751] [ 0. 0. 0. 1. ]] SLAMing on 135.76992885099997 meters Centerline goodness [0,1] 0.6640759708675399 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.99904008 -0.04005402 0.01773677 0.60626517] [ 0.03994857 0.99918213 0.00625992 -0.07652889] [-0.017973 -0.00554536 0.99982309 -0.09662139] [ 0. 0. 0. 1. ]] SLAMing on 135.79992885099998 meters Centerline goodness [0,1] 0.667600709529808 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.99905779 -0.03967785 0.01758427 0.60694792] [ 0.03957067 0.99919627 0.00640197 -0.07651409] [-0.01782416 -0.00570012 0.99982489 -0.09691285] [ 0. 0. 0. 1. ]] SLAMing on 135.82992885099998 meters Centerline goodness [0,1] 0.6642393989296007 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.99909814 -0.03878888 0.01727231 0.60816957] [ 0.03868068 0.99923012 0.00655475 -0.07603196] [-0.01751327 -0.00588074 0.99982934 -0.0970114 ] [ 0. 0. 0. 1. ]] SLAMing on 135.85992885099998 meters Centerline goodness [0,1] 0.6674982639335407 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.99911147 -0.03850358 0.01713911 0.60866451] [ 0.03839607 0.99924107 0.00655865 -0.07556712] [-0.01737863 -0.00589475 0.9998316 -0.09709209] [ 0. 0. 0. 1. ]] SLAMing on 135.88992885099998 meters Centerline goodness [0,1] 0.6659885143313332 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.999124 -0.0382648 0.01694195 0.6091268 ] [ 0.03815817 0.99925009 0.00657283 -0.07530644] [-0.01718075 -0.0059206 0.99983487 -0.09705124] [ 0. 0. 0. 1. ]] SLAMing on 135.91992885099998 meters Centerline goodness [0,1] 0.6708450232941237 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.99913622 -0.03798837 0.01684338 0.60956967] [ 0.03788016 0.99925984 0.00669797 -0.07539984] [-0.01708535 -0.00605416 0.99983571 -0.0972004 ] [ 0. 0. 0. 1. ]] SLAMing on 135.94992885099998 meters Centerline goodness [0,1] 0.6691089516170496 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.9991454 -0.03772841 0.01688308 0.60973287] [ 0.03761333 0.99926726 0.00708322 -0.07630313] [-0.01713794 -0.00644213 0.99983238 -0.09750256] [ 0. 0. 0. 1. ]] SLAMing on 135.97992885099998 meters Centerline goodness [0,1] 0.6703122198601542 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.99914054 -0.03774696 0.01712744 0.60942126] [ 0.03762227 0.99926355 0.00754486 -0.0778945 ] [-0.01739962 -0.00689401 0.99982485 -0.09791803] [ 0. 0. 0. 1. ]] SLAMing on 136.00992885099998 meters Centerline goodness [0,1] 0.6703122198601542 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.99914054 -0.03774696 0.01712744 0.60942126] [ 0.03762227 0.99926355 0.00754486 -0.0778945 ] [-0.01739962 -0.00689401 0.99982485 -0.09791803] [ 0. 0. 0. 1. ]] SLAMing on 136.03992885099998 meters Centerline goodness [0,1] 0.6670937652153859 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.99913918 -0.03773774 0.01722676 0.60925697] [ 0.03760962 0.99926283 0.00770186 -0.07854868] [-0.01750471 -0.00704734 0.99982194 -0.09795462] [ 0. 0. 0. 1. ]] SLAMing on 136.069928851 meters Centerline goodness [0,1] 0.6692629858521886 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.99913031 -0.03789856 0.01738761 0.60868026] [ 0.03776297 0.99925421 0.00806114 -0.08034022] [-0.01768015 -0.00739752 0.99981633 -0.09780901] [ 0. 0. 0. 1. ]] SLAMing on 136.099928851 meters Centerline goodness [0,1] 0.668138769050111 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.99911872 -0.03808569 0.01764283 0.60800954] [ 0.03794452 0.99924564 0.00826877 -0.0814858 ] [-0.01794444 -0.00759204 0.99981016 -0.09777664] [ 0. 0. 0. 1. ]] SLAMing on 136.129928851 meters Centerline goodness [0,1] 0.6689497135582432 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.08, Z:-0.10 [[ 0.99910219 -0.03840781 0.01787896 0.60724632] [ 0.03825492 0.99922912 0.00881629 -0.08443358] [-0.01820379 -0.00812441 0.99980129 -0.0978041 ] [ 0. 0. 0. 1. ]] SLAMing on 136.159928851 meters Centerline goodness [0,1] 0.6670387093501091 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.10 [[ 0.9990815 -0.03876671 0.01825631 0.60618236] [ 0.03860075 0.9992109 0.00935696 -0.08708419] [-0.01860464 -0.00864366 0.99978956 -0.09781495] [ 0. 0. 0. 1. ]] SLAMing on 136.189928851 meters Centerline goodness [0,1] 0.6706049029777115 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.10 [[ 0.99907752 -0.03878968 0.01842461 0.60592834] [ 0.03861495 0.99920663 0.00974666 -0.08847879] [-0.01878806 -0.0090262 0.99978274 -0.09805342] [ 0. 0. 0. 1. ]] SLAMing on 136.219928851 meters Centerline goodness [0,1] 0.6679148850036687 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.10 [[ 0.99907399 -0.03881447 0.01856322 0.60561761] [ 0.03863167 0.99920241 0.01010682 -0.08984826] [-0.01894071 -0.00938033 0.9997766 -0.09811524] [ 0. 0. 0. 1. ]] SLAMing on 136.249928851 meters Centerline goodness [0,1] 0.6679148850036687 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.10 [[ 0.99907399 -0.03881447 0.01856322 0.60561761] [ 0.03863167 0.99920241 0.01010682 -0.08984826] [-0.01894071 -0.00938033 0.9997766 -0.09811524] [ 0. 0. 0. 1. ]] SLAMing on 136.279928851 meters Centerline goodness [0,1] 0.6640467044076022 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.10 [[ 0.9990726 -0.03877623 0.01871769 0.60539376] [ 0.03858499 0.99920044 0.01047273 -0.09115527] [-0.01910882 -0.0097408 0.99976996 -0.09829615] [ 0. 0. 0. 1. ]] SLAMing on 136.309928851 meters Centerline goodness [0,1] 0.6659350085780604 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.10 [[ 0.99907311 -0.03872039 0.01880563 0.60533178] [ 0.03852358 0.99920021 0.01071753 -0.09209189] [-0.01920558 -0.00998313 0.99976571 -0.09846334] [ 0. 0. 0. 1. ]] SLAMing on 136.339928851 meters Centerline goodness [0,1] 0.6713955126270248 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.10 [[ 0.99908169 -0.03851794 0.0187658 0.60570256] [ 0.0383132 0.99920357 0.01115033 -0.09325974] [-0.01918034 -0.01042111 0.99976173 -0.09888564] [ 0. 0. 0. 1. ]] SLAMing on 136.36992885099997 meters Centerline goodness [0,1] 0.664168971586623 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.10 [[ 0.999096 -0.03821221 0.01862815 0.60627934] [ 0.03800104 0.99921082 0.01156129 -0.0941807 ] [-0.01905524 -0.01084295 0.99975964 -0.09926969] [ 0. 0. 0. 1. ]] SLAMing on 136.39992885099997 meters Centerline goodness [0,1] 0.6647988541849887 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.10 [[ 0.99911015 -0.03791556 0.01847501 0.6068609 ] [ 0.03769923 0.99921803 0.01192007 -0.09496777] [-0.01891252 -0.01121297 0.99975826 -0.09958234] [ 0. 0. 0. 1. ]] SLAMing on 136.42992885099997 meters Centerline goodness [0,1] 0.6672861053213128 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.10, Z:-0.10 [[ 0.99912606 -0.03757011 0.01831934 0.60757124] [ 0.03734934 0.9992272 0.01224845 -0.09555311] [-0.01876536 -0.01155353 0.99975716 -0.10005351] [ 0. 0. 0. 1. ]] SLAMing on 136.45992885099997 meters Centerline goodness [0,1] 0.6714708241427711 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.10, Z:-0.10 [[ 0.99914325 -0.03721327 0.01810899 0.60828227] [ 0.0369891 0.99923672 0.0125609 -0.09614266] [-0.0185626 -0.01188031 0.99975711 -0.10035087] [ 0. 0. 0. 1. ]] SLAMing on 136.48992885099997 meters Centerline goodness [0,1] 0.6712633897287016 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.10, Z:-0.10 [[ 0.99918491 -0.03623724 0.01778708 0.60978507] [ 0.0360037 0.99926342 0.01327947 -0.09736352] [-0.01825519 -0.01262825 0.99975361 -0.1011458 ] [ 0. 0. 0. 1. ]] SLAMing on 136.51992885099997 meters Centerline goodness [0,1] 0.670523995591624 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.10, Z:-0.10 [[ 0.99920652 -0.03575613 0.01754516 0.61068842] [ 0.03552109 0.99927733 0.01353021 -0.09756335] [-0.01801627 -0.01289625 0.99975452 -0.10153993] [ 0. 0. 0. 1. ]] SLAMing on 136.54992885099998 meters Centerline goodness [0,1] 0.6774290584578362 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.10, Z:-0.10 [[ 0.9992287 -0.03529043 0.01722165 0.61163737] [ 0.03505817 0.99929263 0.01360731 -0.09719933] [-0.01768967 -0.01299305 0.9997591 -0.10168313] [ 0. 0. 0. 1. ]] SLAMing on 136.57992885099998 meters Centerline goodness [0,1] 0.6794939245897532 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.10, Z:-0.10 [[ 0.99924604 -0.03493111 0.0169462 0.61240372] [ 0.03470443 0.99930655 0.01349139 -0.09635213] [-0.01740572 -0.01289311 0.99976538 -0.10166005] [ 0. 0. 0. 1. ]] SLAMing on 136.60992885099998 meters Centerline goodness [0,1] 0.6837596100698458 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.10, Z:-0.10 [[ 0.99938076 -0.03083573 0.01694874 0.61270865] [ 0.03053177 0.99937334 0.01790939 -0.09717368] [-0.01749037 -0.01738083 0.99969595 -0.10270876] [ 0. 0. 0. 1. ]] SLAMing on 136.63992885099998 meters Centerline goodness [0,1] 0.6794204211002943 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.10, Z:-0.10 [[ 0.99939862 -0.03039388 0.01669189 0.61373481] [ 0.03009364 0.99938584 0.01795329 -0.09663828] [-0.01722731 -0.01744018 0.99969948 -0.10313189] [ 0. 0. 0. 1. ]] SLAMing on 136.66992885099998 meters Centerline goodness [0,1] 0.6801228940542446 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.10, Z:-0.10 [[ 0.99941341 -0.03005802 0.01641168 0.61471197] [ 0.02976375 0.99939686 0.01788963 -0.0959187 ] [-0.01693951 -0.01739066 0.99970527 -0.10344645] [ 0. 0. 0. 1. ]] SLAMing on 136.69992885099998 meters Centerline goodness [0,1] 0.6853196208913087 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.10, Z:-0.10 [[ 0.99942951 -0.02962466 0.01621833 0.61549227] [ 0.02933463 0.99941047 0.01783784 -0.09507667] [-0.01673721 -0.01735191 0.99970935 -0.10368869] [ 0. 0. 0. 1. ]] SLAMing on 136.72992885099998 meters Centerline goodness [0,1] 0.6865076359964659 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.09, Z:-0.10 [[ 0.9994267 -0.02970311 0.01624828 0.61537187] [ 0.02941593 0.99941165 0.01763684 -0.09472694] [-0.01676259 -0.01714877 0.99971243 -0.10353778] [ 0. 0. 0. 1. ]] SLAMing on 136.75992885099998 meters Centerline goodness [0,1] 0.6895057685525718 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.09, Z:-0.10 [[ 0.9994196 -0.02989142 0.01633894 0.61502097] [ 0.02960723 0.99941073 0.01736678 -0.09436581] [-0.01684843 -0.01687295 0.99971568 -0.1032692 ] [ 0. 0. 0. 1. ]] SLAMing on 136.78992885099998 meters Centerline goodness [0,1] 0.6862403834026989 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.09, Z:-0.10 [[ 0.99941206 -0.03007506 0.01646302 0.61457601] [ 0.02978967 0.99940621 0.0173149 -0.09462082] [-0.01697399 -0.01681429 0.99971454 -0.10304497] [ 0. 0. 0. 1. ]] SLAMing on 136.819928851 meters Centerline goodness [0,1] 0.686476286325324 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.10, Z:-0.10 [[ 0.99938575 -0.03075043 0.01680896 0.6134743 ] [ 0.03045894 0.99938577 0.01733048 -0.09597596] [-0.01733156 -0.01680785 0.99970851 -0.10290332] [ 0. 0. 0. 1. ]] SLAMing on 136.849928851 meters Centerline goodness [0,1] 0.6815201828640325 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.10, Z:-0.10 [[ 0.99936195 -0.03132157 0.01716531 0.61244962] [ 0.03102254 0.99936689 0.01741886 -0.09729039] [-0.01770003 -0.01687523 0.99970092 -0.10286365] [ 0. 0. 0. 1. ]] SLAMing on 136.879928851 meters Centerline goodness [0,1] 0.6829097107334436 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.10, Z:-0.10 [[ 0.99923738 -0.03519923 0.01690181 0.6129736 ] [ 0.03497979 0.99930205 0.01310818 -0.09658412] [-0.01735141 -0.01250696 0.99977123 -0.1021729 ] [ 0. 0. 0. 1. ]] SLAMing on 136.909928851 meters Centerline goodness [0,1] 0.6742868551748235 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.10, Z:-0.10 [[ 0.99905489 -0.03989492 0.01725489 0.61186158] [ 0.03974004 0.99916744 0.00922799 -0.09830921] [-0.01760868 -0.00853356 0.99980854 -0.10161548] [ 0. 0. 0. 1. ]] SLAMing on 136.939928851 meters Centerline goodness [0,1] 0.6779284895028175 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.10, Z:-0.10 [[ 0.99901885 -0.0406312 0.01761954 0.61080557] [ 0.0404696 0.99913624 0.00943346 -0.10021737] [-0.01798761 -0.00871115 0.99980026 -0.10168325] [ 0. 0. 0. 1. ]] SLAMing on 136.969928851 meters Centerline goodness [0,1] 0.6730788324066719 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.10, Z:-0.10 [[ 0.99897367 -0.04161706 0.01787829 0.60962285] [ 0.041455 0.9990967 0.00934151 -0.10194753] [-0.01825091 -0.00859078 0.99979653 -0.10131363] [ 0. 0. 0. 1. ]] SLAMing on 136.999928851 meters Centerline goodness [0,1] 0.6662287442367756 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.10, Z:-0.10 [[ 0.99892883 -0.04250575 0.01828809 0.60815373] [ 0.04233987 0.99905938 0.00936455 -0.10360046] [-0.01866893 -0.00858021 0.9997889 -0.10094869] [ 0. 0. 0. 1. ]] SLAMing on 137.029928851 meters Centerline goodness [0,1] 0.6673260960953535 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.10 [[ 0.99871909 -0.04702197 0.01868435 0.60688252] [ 0.04692803 0.99888349 0.00543484 -0.1055251 ] [-0.01891905 -0.00455106 0.99981066 -0.09992371] [ 0. 0. 0. 1. ]] SLAMing on 137.059928851 meters Centerline goodness [0,1] 0.663360488297113 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.11, Z:-0.10 [[ 0.99869217 -0.04747969 0.01896387 0.60603493] [ 0.04737529 0.99885963 0.00591742 -0.10792707] [-0.0192232 -0.00501126 0.99980266 -0.09995391] [ 0. 0. 0. 1. ]] SLAMing on 137.089928851 meters Centerline goodness [0,1] 0.6610415487933876 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.11, Z:-0.10 [[ 0.99866195 -0.04794939 0.01936921 0.6049491 ] [ 0.04783831 0.99883611 0.00615845 -0.10971296] [-0.01964196 -0.00522362 0.99979343 -0.09987047] [ 0. 0. 0. 1. ]] SLAMing on 137.11992885099997 meters Centerline goodness [0,1] 0.6607636425898296 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.11, Z:-0.10 [[ 0.99862319 -0.04864745 0.01962534 0.60392955] [ 0.0485291 0.99880086 0.00646243 -0.11243834] [-0.01991618 -0.00550114 0.99978652 -0.09961379] [ 0. 0. 0. 1. ]] SLAMing on 137.14992885099997 meters Centerline goodness [0,1] 0.6474427928808919 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.11, Z:-0.10 [[ 0.99861632 -0.04869884 0.01984619 0.60356196] [ 0.04857133 0.99879618 0.00685722 -0.11380163] [-0.02015624 -0.00588377 0.99977953 -0.09985946] [ 0. 0. 0. 1. ]] SLAMing on 137.17992885099997 meters Centerline goodness [0,1] 0.6428780630674606 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:-0.10 [[ 0.99860786 -0.04878112 0.02006867 0.60309701] [ 0.04864635 0.99879047 0.00714986 -0.11506056] [-0.02039318 -0.00616364 0.99977304 -0.09991758] [ 0. 0. 0. 1. ]] SLAMing on 137.20992885099997 meters Centerline goodness [0,1] 0.6509746588693957 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:-0.10 [[ 0.99860236 -0.04881222 0.02026542 0.60265733] [ 0.04867078 0.99878735 0.00741549 -0.11617598] [-0.02060281 -0.0064188 0.99976713 -0.09989835] [ 0. 0. 0. 1. ]] SLAMing on 137.23992885099997 meters Centerline goodness [0,1] 0.6495922093730979 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:-0.10 [[ 0.99860043 -0.04884382 0.02028465 0.60236658] [ 0.04870016 0.99878516 0.00751701 -0.11690212] [-0.02062716 -0.00651863 0.99976599 -0.09953489] [ 0. 0. 0. 1. ]] SLAMing on 137.26992885099997 meters Centerline goodness [0,1] 0.6558054711246201 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:-0.10 [[ 0.99860808 -0.0487393 0.0201588 0.60234226] [ 0.04859571 0.99878997 0.00755291 -0.11745115] [-0.02050253 -0.00656276 0.99976826 -0.09903588] [ 0. 0. 0. 1. ]] SLAMing on 137.29992885099998 meters Centerline goodness [0,1] 0.6504366812227074 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:-0.10 [[ 0.99865974 -0.04784737 0.01973217 0.6035448 ] [ 0.04769571 0.99882918 0.00808678 -0.11859111] [-0.020096 -0.0071348 0.9997726 -0.09911596] [ 0. 0. 0. 1. ]] SLAMing on 137.32992885099998 meters Centerline goodness [0,1] 0.6595125500181884 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.12, Z:-0.10 [[ 0.9986898 -0.0473233 0.0194726 0.60435323] [ 0.04716849 0.99885218 0.00833462 -0.11877012] [-0.01984467 -0.00740521 0.99977565 -0.09929011] [ 0. 0. 0. 1. ]] SLAMing on 137.35992885099998 meters Centerline goodness [0,1] 0.6630426869221249 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.10 [[ 0.99872698 -0.04669854 0.01907022 0.6054136 ] [ 0.04654239 0.99887971 0.00855142 -0.11879464] [-0.0194482 -0.00765296 0.99978158 -0.0993731 ] [ 0. 0. 0. 1. ]] SLAMing on 137.38992885099998 meters Centerline goodness [0,1] 0.6624687583412197 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.10 [[ 0.99876961 -0.0459321 0.01869496 0.60662798] [ 0.0457729 0.99891261 0.00885661 -0.11876363] [-0.01908144 -0.00798999 0.99978601 -0.09966238] [ 0. 0. 0. 1. ]] SLAMing on 137.41992885099998 meters Centerline goodness [0,1] 0.6675800193986421 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.10 [[ 0.99897307 -0.04140144 0.01840477 0.60735548] [ 0.04115632 0.99906147 0.01350325 -0.12007211] [-0.01894655 -0.01273191 0.99973943 -0.10038581] [ 0. 0. 0. 1. ]] SLAMing on 137.44992885099998 meters Centerline goodness [0,1] 0.6701303746145816 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.10 [[ 0.99901031 -0.04065528 0.01804285 0.60856151] [ 0.04040961 0.9990882 0.01377799 -0.11999278] [-0.01858654 -0.01303525 0.99974228 -0.10067309] [ 0. 0. 0. 1. ]] SLAMing on 137.47992885099998 meters Centerline goodness [0,1] 0.6728115070220972 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.10 [[ 0.99903656 -0.04012251 0.01778017 0.60936336] [ 0.03987597 0.99910641 0.01401059 -0.12009787] [-0.01832642 -0.01328809 0.99974375 -0.10082568] [ 0. 0. 0. 1. ]] SLAMing on 137.50992885099998 meters Centerline goodness [0,1] 0.6708784013192997 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.10 [[ 0.99907651 -0.03929827 0.0173716 0.61066017] [ 0.03904807 0.99913191 0.01451489 -0.120861 ] [-0.01792693 -0.01382316 0.99974374 -0.10113667] [ 0. 0. 0. 1. ]] SLAMing on 137.53992885099998 meters Centerline goodness [0,1] 0.6762064278085251 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.10 [[ 0.99908038 -0.03921972 0.01732673 0.61074366] [ 0.03896881 0.99913393 0.01458867 -0.12124723] [-0.01788388 -0.01390005 0.99974344 -0.10107583] [ 0. 0. 0. 1. ]] SLAMing on 137.569928851 meters Centerline goodness [0,1] 0.6744287374128582 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.10 [[ 0.99908264 -0.03917095 0.01730674 0.6107299 ] [ 0.03891897 0.99913476 0.0146644 -0.12193514] [-0.01786619 -0.01397739 0.99974268 -0.10088444] [ 0. 0. 0. 1. ]] SLAMing on 137.599928851 meters Centerline goodness [0,1] 0.674833877008578 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.10 [[ 0.99908182 -0.03916762 0.01736111 0.61064203] [ 0.03891256 0.99913311 0.01479338 -0.12272929] [-0.01792548 -0.01410423 0.99973984 -0.10087042] [ 0. 0. 0. 1. ]] SLAMing on 137.629928851 meters Centerline goodness [0,1] 0.6697601542726286 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.10 [[ 0.9990695 -0.03940635 0.01752939 0.61001875] [ 0.03914417 0.99912014 0.01505609 -0.12454292] [-0.01810728 -0.0143559 0.99973298 -0.10065305] [ 0. 0. 0. 1. ]] SLAMing on 137.659928851 meters Centerline goodness [0,1] 0.6685176243360695 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.10 [[ 0.99906267 -0.03952072 0.01766059 0.60962754] [ 0.03925385 0.99911349 0.01521051 -0.12556227] [-0.01824606 -0.01450301 0.99972834 -0.10052437] [ 0. 0. 0. 1. ]] SLAMing on 137.689928851 meters Centerline goodness [0,1] 0.6673653776653415 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.10 [[ 0.99904991 -0.03975542 0.0178545 0.60913037] [ 0.0394847 0.99910353 0.01526767 -0.12653534] [-0.01844546 -0.01454819 0.99972402 -0.10040476] [ 0. 0. 0. 1. ]] SLAMing on 137.719928851 meters Centerline goodness [0,1] 0.6647085730794231 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.10 [[ 0.99903566 -0.04003195 0.01803302 0.60847982] [ 0.03975743 0.99909171 0.01533326 -0.12765701] [-0.01863047 -0.01460153 0.99971981 -0.10010349] [ 0. 0. 0. 1. ]] SLAMing on 137.749928851 meters Centerline goodness [0,1] 0.6581331799223357 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.10 [[ 0.99894099 -0.04223557 0.01824972 0.60750635] [ 0.04199785 0.99903025 0.01321875 -0.12955448] [-0.01879032 -0.0124383 0.99974607 -0.0989932 ] [ 0. 0. 0. 1. ]] SLAMing on 137.779928851 meters Centerline goodness [0,1] 0.6668900964737989 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.10 [[ 0.99892338 -0.04256044 0.01845802 0.60687161] [ 0.04231747 0.99901488 0.01336022 -0.13092023] [-0.01900845 -0.01256474 0.99974037 -0.098837 ] [ 0. 0. 0. 1. ]] SLAMing on 137.809928851 meters Centerline goodness [0,1] 0.6545991520983185 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.10 [[ 0.99890689 -0.04289666 0.01857145 0.60644971] [ 0.04265001 0.99899913 0.01347997 -0.13237211] [-0.01913111 -0.01267316 0.99973666 -0.09868729] [ 0. 0. 0. 1. ]] SLAMing on 137.83992885099997 meters Centerline goodness [0,1] 0.6694806430134119 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.10 [[ 0.99887202 -0.04364842 0.01869505 0.60575089] [ 0.0433978 0.99896519 0.01360828 -0.13454142] [-0.01926968 -0.0127816 0.99973262 -0.0984731 ] [ 0. 0. 0. 1. ]] SLAMing on 137.86992885099997 meters Centerline goodness [0,1] 0.6630099254404711 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.10 [[ 0.99886331 -0.04382149 0.01875514 0.60556701] [ 0.04356893 0.9989569 0.01366939 -0.13522751] [-0.01933459 -0.01283672 0.99973066 -0.09844593] [ 0. 0. 0. 1. ]] SLAMing on 137.89992885099997 meters Centerline goodness [0,1] 0.6630099254404711 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.14, Z:-0.10 [[ 0.99886331 -0.04382149 0.01875514 0.60556701] [ 0.04356893 0.9989569 0.01366939 -0.13522751] [-0.01933459 -0.01283672 0.99973066 -0.09844593] [ 0. 0. 0. 1. ]] SLAMing on 137.92992885099997 meters Centerline goodness [0,1] 0.6598895760763963 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.10 [[ 0.998848 -0.04410061 0.01891611 0.60492588] [ 0.04384586 0.99894468 0.01367735 -0.13592532] [-0.01949932 -0.0128322 0.99972752 -0.09808532] [ 0. 0. 0. 1. ]] SLAMing on 137.95992885099997 meters Centerline goodness [0,1] 0.6592632847387945 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.10 [[ 0.99882325 -0.04455721 0.019151 0.60378532] [ 0.04430047 0.9989253 0.01362775 -0.13736752] [-0.01973764 -0.01276332 0.99972372 -0.09724742] [ 0. 0. 0. 1. ]] SLAMing on 137.98992885099997 meters Centerline goodness [0,1] 0.6547994910701663 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.10 [[ 0.99881302 -0.04473488 0.01927002 0.60331453] [ 0.04447841 0.99891861 0.01353828 -0.13790221] [-0.01985482 -0.01266511 0.99972265 -0.09687644] [ 0. 0. 0. 1. ]] SLAMing on 138.01992885099997 meters Centerline goodness [0,1] 0.6600765306122449 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.10 [[ 0.99881031 -0.04477021 0.0193287 0.60304923] [ 0.044513 0.99891706 0.01353865 -0.13824324] [-0.0199139 -0.01266217 0.99972151 -0.09663862] [ 0. 0. 0. 1. ]] SLAMing on 138.04992885099998 meters Centerline goodness [0,1] 0.6648504575903387 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.10 [[ 0.99881337 -0.04471466 0.01929881 0.60295255] [ 0.04445715 0.99891909 0.01357243 -0.13842427] [-0.01988484 -0.01269836 0.99972163 -0.09639042] [ 0. 0. 0. 1. ]] SLAMing on 138.07992885099998 meters Centerline goodness [0,1] 0.6600616572141293 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.10 [[ 0.99879808 -0.04499623 0.01943534 0.60204871] [ 0.04473366 0.99890445 0.01374018 -0.13993508] [-0.0200323 -0.01285425 0.9997167 -0.09565992] [ 0. 0. 0. 1. ]] SLAMing on 138.10992885099998 meters Centerline goodness [0,1] 0.658914910592763 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.10 [[ 0.99876405 -0.04561963 0.01972887 0.60098031] [ 0.04534999 0.99887437 0.01390569 -0.14190854] [-0.02034104 -0.0129938 0.99970866 -0.09528893] [ 0. 0. 0. 1. ]] SLAMing on 138.13992885099998 meters Centerline goodness [0,1] 0.6588926722328468 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.09 [[ 0.99860786 -0.04902364 0.01946855 0.60196003] [ 0.0488315 0.99875469 0.01022536 -0.14276712] [-0.01994559 -0.00926045 0.99975818 -0.0949974 ] [ 0. 0. 0. 1. ]] SLAMing on 138.16992885099998 meters Centerline goodness [0,1] 0.6473815807751077 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.15, Z:-0.09 [[ 0.99838505 -0.05324336 0.01981 0.60121854] [ 0.05311278 0.99856356 0.00706081 -0.1480761 ] [-0.02015749 -0.00599724 0.99977883 -0.09443725] [ 0. 0. 0. 1. ]] SLAMing on 138.19992885099998 meters Centerline goodness [0,1] 0.6466985910304817 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.15, Z:-0.09 [[ 0.99819191 -0.05677699 0.01973011 0.60188605] [ 0.0567139 0.99838345 0.00374329 -0.15022445] [-0.01991075 -0.00261755 0.99979833 -0.09438943] [ 0. 0. 0. 1. ]] SLAMing on 138.22992885099998 meters Centerline goodness [0,1] 0.6435772879336419 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.15, Z:-0.09 [[ 0.99815209 -0.05736384 0.02004464 0.60092795] [ 0.05728653 0.99834804 0.00441009 -0.15372748] [-0.02026451 -0.00325365 0.99978936 -0.09437091] [ 0. 0. 0. 1. ]] SLAMing on 138.25992885099998 meters Centerline goodness [0,1] 0.6378247568604174 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.16, Z:-0.09 [[ 0.9981119 -0.05795048 0.02035602 0.59977428] [ 0.05786324 0.99831274 0.00484968 -0.15680374] [-0.02060272 -0.00366266 0.99978103 -0.09388517] [ 0. 0. 0. 1. ]] SLAMing on 138.28992885099998 meters Centerline goodness [0,1] 0.6278890600924499 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.16, Z:-0.09 [[ 0.99786057 -0.0620239 0.02067175 0.59908347] [ 0.06198706 0.99807402 0.0024188 -0.16281945] [-0.02078196 -0.00113225 0.99978339 -0.09353185] [ 0. 0. 0. 1. ]] SLAMing on 138.319928851 meters Centerline goodness [0,1] 0.6203781085537461 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.09 [[ 0.99780556 -0.06283324 0.02088186 0.59846654] [ 0.06278932 0.99802301 0.00275313 -0.16760631] [-0.02101357 -0.00143593 0.99977816 -0.09343573] [ 0. 0. 0. 1. ]] SLAMing on 138.349928851 meters Centerline goodness [0,1] 0.6305822625572828 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.09 [[ 0.99774411 -0.06375538 0.02102241 0.5980835 ] [ 0.06371154 0.99796457 0.00274924 -0.1724194 ] [-0.0211549 -0.00140367 0.99977522 -0.0932414 ] [ 0. 0. 0. 1. ]] SLAMing on 138.379928851 meters Centerline goodness [0,1] 0.6123006629636265 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.18, Z:-0.09 [[ 0.99772141 -0.06404801 0.02120967 0.59759294] [ 0.06398524 0.99794426 0.00362565 -0.17682104] [-0.02139828 -0.00226029 0.99976848 -0.09328781] [ 0. 0. 0. 1. ]] SLAMing on 138.409928851 meters Centerline goodness [0,1] 0.616238552602189 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.18, Z:-0.09 [[ 9.97546473e-01 -6.68057238e-02 2.09291606e-02 5.98760525e-01] [ 6.67884128e-02 9.97765995e-01 1.52580571e-03 -1.82024800e-01] [-2.09843373e-02 -1.24236691e-04 9.99779797e-01 -9.32498817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.439928851 meters Centerline goodness [0,1] 0.6181575433911882 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.18, Z:-0.09 [[ 0.997571 -0.06645367 0.020881 0.59888791] [ 0.06641688 0.99778895 0.00245088 -0.18461178] [-0.0209977 -0.00105808 0.99977896 -0.09333614] [ 0. 0. 0. 1. ]] SLAMing on 138.469928851 meters Centerline goodness [0,1] 0.6229005598507065 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.19, Z:-0.09 [[ 0.9976037 -0.06600876 0.02072934 0.59932084] [ 0.0659563 0.99781737 0.00320493 -0.18664372] [-0.02089565 -0.00183002 0.99977999 -0.09346551] [ 0. 0. 0. 1. ]] SLAMing on 138.499928851 meters Centerline goodness [0,1] 0.6307702540907276 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.19, Z:-0.09 [[ 0.99764682 -0.06543055 0.02048551 0.59995216] [ 0.0653615 0.99785354 0.00402307 -0.18863097] [-0.02070477 -0.00267463 0.99978206 -0.09365384] [ 0. 0. 0. 1. ]] SLAMing on 138.529928851 meters Centerline goodness [0,1] 0.5931633014523556 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.19, Z:-0.09 [[ 0.99768623 -0.06483041 0.02047444 0.59977187] [ 0.06473123 0.99788774 0.00547051 -0.19343122] [-0.02078585 -0.00413251 0.99977541 -0.09338927] [ 0. 0. 0. 1. ]] SLAMing on 138.559928851 meters Centerline goodness [0,1] 0.6198953110850984 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.09 [[ 0.99766535 -0.06508209 0.02069205 0.59878323] [ 0.06497161 0.99786926 0.00596834 -0.19623199] [-0.02103639 -0.00461001 0.99976808 -0.09270603] [ 0. 0. 0. 1. ]] SLAMing on 138.58992885099997 meters Centerline goodness [0,1] 0.6195851061484535 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.09 [[ 0.99767321 -0.06493874 0.02076353 0.59845694] [ 0.06481094 0.99787459 0.0067706 -0.19916802] [-0.02115908 -0.00540914 0.99976149 -0.0924708 ] [ 0. 0. 0. 1. ]] SLAMing on 138.61992885099997 meters Centerline goodness [0,1] 0.6242910529786767 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.09 [[ 0.997696 -0.06462656 0.02064232 0.5986414 ] [ 0.06448616 0.99789118 0.00739731 -0.20122393] [-0.02107686 -0.00604913 0.99975956 -0.09233444] [ 0. 0. 0. 1. ]] SLAMing on 138.64992885099997 meters Centerline goodness [0,1] 0.6362282334903078 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.09 [[ 0.99796659 -0.06039046 0.02038796 0.59843583] [ 0.06015378 0.99811663 0.01202965 -0.20428947] [-0.02107604 -0.01077878 0.99971977 -0.09197112] [ 0. 0. 0. 1. ]] SLAMing on 138.67992885099997 meters Centerline goodness [0,1] 0.6383100199828718 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.09 [[ 0.99803152 -0.05943335 0.02001905 0.59942976] [ 0.05919313 0.9981697 0.01238601 -0.20393994] [-0.02071855 -0.01117664 0.99972287 -0.09204055] [ 0. 0. 0. 1. ]] SLAMing on 138.70992885099997 meters Centerline goodness [0,1] 0.6424307597770267 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.09 [[ 0.9982579 -0.05555679 0.01986493 0.59889632] [ 0.05523496 0.99833872 0.01639834 -0.20476281] [-0.02074297 -0.01527254 0.99966818 -0.09152563] [ 0. 0. 0. 1. ]] SLAMing on 138.73992885099997 meters Centerline goodness [0,1] 0.6441515650741351 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.09 [[ 0.99836961 -0.05326804 0.02050924 0.59783772] [ 0.05290497 0.99843989 0.01785633 -0.2047669 ] [-0.02142842 -0.01674218 0.99963019 -0.09111275] [ 0. 0. 0. 1. ]] SLAMing on 138.76992885099997 meters Centerline goodness [0,1] 0.6495931383329667 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.21, Z:-0.09 [[ 0.99858631 -0.04908444 0.02039837 0.59722389] [ 0.04863321 0.99857311 0.0220579 -0.2055356 ] [-0.02145197 -0.02103468 0.99954858 -0.09045423] [ 0. 0. 0. 1. ]] SLAMing on 138.79992885099998 meters Centerline goodness [0,1] 0.6491405460060667 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.21, Z:-0.09 [[ 0.99862202 -0.04846693 0.02012529 0.59782854] [ 0.04801835 0.99859961 0.02220496 -0.20521889] [-0.02117331 -0.02120798 0.99955086 -0.0903191 ] [ 0. 0. 0. 1. ]] SLAMing on 138.82992885099998 meters Centerline goodness [0,1] 0.6483858932999759 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.21, Z:-0.09 [[ 0.99865149 -0.04794489 0.01991205 0.59835147] [ 0.04749986 0.99862336 0.0222521 -0.20504098] [-0.02095151 -0.02127628 0.99955408 -0.09021184] [ 0. 0. 0. 1. ]] SLAMing on 138.85992885099998 meters Centerline goodness [0,1] 0.648614166300044 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.21, Z:-0.09 [[ 0.99867563 -0.04751571 0.01972945 0.59882441] [ 0.04706959 0.99863835 0.02249208 -0.20527824] [-0.02077131 -0.02153364 0.99955233 -0.09028851] [ 0. 0. 0. 1. ]] SLAMing on 138.88992885099998 meters Centerline goodness [0,1] 0.6617184579182336 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.09 [[ 0.99872589 -0.04654925 0.01948779 0.59974131] [ 0.04610316 0.99867768 0.02274622 -0.20460724] [-0.02052084 -0.02181879 0.99955132 -0.09050286] [ 0. 0. 0. 1. ]] SLAMing on 138.91992885099998 meters Centerline goodness [0,1] 0.6639945532812088 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.09 [[ 0.9987438 -0.04624993 0.01928103 0.60027089] [ 0.04581127 0.99869436 0.02260332 -0.2035587 ] [-0.02030126 -0.02169163 0.99955857 -0.09055732] [ 0. 0. 0. 1. ]] SLAMing on 138.94992885099998 meters Centerline goodness [0,1] 0.6639389339844695 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.09 [[ 0.99875801 -0.04600584 0.01912876 0.60067573] [ 0.04557275 0.99870779 0.02249162 -0.20264374] [-0.02013879 -0.02159194 0.99956401 -0.09061165] [ 0. 0. 0. 1. ]] SLAMing on 138.97992885099998 meters Centerline goodness [0,1] 0.6842035690680767 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.09 [[ 0.99881238 -0.04489942 0.01891756 0.60191959] [ 0.04446855 0.99875483 0.02261273 -0.20100138] [-0.0199093 -0.02174464 0.9995653 -0.09132242] [ 0. 0. 0. 1. ]] SLAMing on 139.00992885099998 meters Centerline goodness [0,1] 0.6739513570673246 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.09 [[ 0.99882734 -0.04461858 0.01879188 0.60248886] [ 0.04419253 0.99876945 0.02250796 -0.20004542] [-0.01977303 -0.02165111 0.99957004 -0.09166813] [ 0. 0. 0. 1. ]] SLAMing on 139.03992885099998 meters Centerline goodness [0,1] 0.6833017245181494 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.09 [[ 0.99882914 -0.04461371 0.01870753 0.60265611] [ 0.04419455 0.99877512 0.02225091 -0.19917233] [-0.01967731 -0.02139809 0.99957737 -0.09164392] [ 0. 0. 0. 1. ]] SLAMing on 139.069928851 meters Centerline goodness [0,1] 0.6726261422328168 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.09 [[ 0.99881975 -0.0448337 0.01868262 0.60247314] [ 0.04442545 0.99877651 0.02172223 -0.19797462] [-0.01963365 -0.02086661 0.99958947 -0.09127397] [ 0. 0. 0. 1. ]] SLAMing on 139.099928851 meters Centerline goodness [0,1] 0.685591255382577 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.09 [[ 0.99879634 -0.04529491 0.01882107 0.60159587] [ 0.04489842 0.99877123 0.02098009 -0.19647392] [-0.01974824 -0.0201098 0.99960272 -0.09038236] [ 0. 0. 0. 1. ]] SLAMing on 139.129928851 meters Centerline goodness [0,1] 0.6789765816766546 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.09 [[ 0.9987782 -0.04564982 0.01892647 0.60117973] [ 0.04525918 0.9987633 0.02057854 -0.19581003] [-0.01984247 -0.0196968 0.99960908 -0.09010833] [ 0. 0. 0. 1. ]] SLAMing on 139.159928851 meters Centerline goodness [0,1] 0.6763299991148093 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.09 [[ 0.99875189 -0.04614373 0.01911601 0.60057735] [ 0.0457575 0.99874889 0.02017195 -0.19553182] [-0.0200229 -0.01927207 0.99961376 -0.08981619] [ 0. 0. 0. 1. ]] SLAMing on 139.189928851 meters Centerline goodness [0,1] 0.6655989042548491 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.20, Z:-0.09 [[ 0.99872536 -0.04666566 0.0192349 0.60009473] [ 0.04628292 0.99873043 0.01988513 -0.19577778] [-0.02013843 -0.01896954 0.99961723 -0.08957955] [ 0. 0. 0. 1. ]] SLAMing on 139.219928851 meters Centerline goodness [0,1] 0.6604120107096232 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.19, Z:-0.09 [[ 0.99854049 -0.05047919 0.0192028 0.60077425] [ 0.05018139 0.99861692 0.01568665 -0.19465928] [-0.01996809 -0.01470013 0.99969254 -0.08971824] [ 0. 0. 0. 1. ]] SLAMing on 139.249928851 meters Centerline goodness [0,1] 0.6674562238505302 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.19, Z:-0.09 [[ 0.99850847 -0.05104197 0.01937909 0.60019271] [ 0.05074872 0.99859373 0.01533402 -0.19460837] [-0.02013452 -0.01432768 0.99969461 -0.08948548] [ 0. 0. 0. 1. ]] SLAMing on 139.279928851 meters Centerline goodness [0,1] 0.6626824857760332 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.19, Z:-0.09 [[ 0.99847979 -0.05152507 0.01957764 0.59958733] [ 0.05123399 0.99857267 0.01508988 -0.19477749] [-0.0203272 -0.0140639 0.99969446 -0.08926047] [ 0. 0. 0. 1. ]] SLAMing on 139.309928851 meters Centerline goodness [0,1] 0.6713391850361494 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.19, Z:-0.09 [[ 0.9984362 -0.05223783 0.01990866 0.59857675] [ 0.05195107 0.99854204 0.01465881 -0.1946951 ] [-0.02064537 -0.01360161 0.99969434 -0.08886238] [ 0. 0. 0. 1. ]] SLAMing on 139.33992885099997 meters Centerline goodness [0,1] 0.6659015163219811 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.19, Z:-0.09 [[ 0.99834375 -0.05381388 0.02034246 0.596713 ] [ 0.05354042 0.99847092 0.01375668 -0.19463681] [-0.02105165 -0.01264475 0.99969842 -0.08781667] [ 0. 0. 0. 1. ]] SLAMing on 139.36992885099997 meters Centerline goodness [0,1] 0.6487422007628371 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.19, Z:-0.09 [[ 0.99831913 -0.05422507 0.0204588 0.59634038] [ 0.05395388 0.99845104 0.0135828 -0.19484523] [-0.02116364 -0.01245614 0.99969843 -0.08766891] [ 0. 0. 0. 1. ]] SLAMing on 139.39992885099997 meters Centerline goodness [0,1] 0.6511109640122681 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.19, Z:-0.09 [[ 0.99828813 -0.05469791 0.02071103 0.59560298] [ 0.05443167 0.99843014 0.01320804 -0.19440274] [-0.02140097 -0.01205809 0.99969826 -0.0873982 ] [ 0. 0. 0. 1. ]] SLAMing on 139.42992885099997 meters Centerline goodness [0,1] 0.6530788095711539 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.19, Z:-0.09 [[ 0.99825368 -0.05523677 0.02094006 0.59486178] [ 0.05497934 0.99840702 0.01267643 -0.19330542] [-0.02160691 -0.01150302 0.99970037 -0.08707438] [ 0. 0. 0. 1. ]] SLAMing on 139.45992885099997 meters Centerline goodness [0,1] 0.6495118611123383 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.19, Z:-0.09 [[ 0.9982413 -0.05542462 0.02103385 0.59451945] [ 0.05517338 0.99840049 0.01234326 -0.19253027] [-0.02168432 -0.01116104 0.99970257 -0.0868345 ] [ 0. 0. 0. 1. ]] SLAMing on 139.48992885099997 meters Centerline goodness [0,1] 0.6584395784077601 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.19, Z:-0.09 [[ 0.99822398 -0.05570014 0.02112779 0.59416175] [ 0.05545742 0.99839007 0.01190575 -0.19148231] [-0.02175692 -0.01071291 0.99970589 -0.08661965] [ 0. 0. 0. 1. ]] SLAMing on 139.51992885099997 meters Centerline goodness [0,1] 0.6534856991291278 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.19, Z:-0.09 [[ 0.99821841 -0.05578709 0.02116147 0.59407708] [ 0.05556035 0.99839301 0.01115588 -0.18868024] [-0.02174982 -0.00996027 0.99971383 -0.08647143] [ 0. 0. 0. 1. ]] SLAMing on 139.54992885099998 meters Centerline goodness [0,1] 0.653665008291874 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.19, Z:-0.09 [[ 0.99821857 -0.05580742 0.0211001 0.59425528] [ 0.05559262 0.99839691 0.01063349 -0.18681155] [-0.02165971 -0.00944154 0.99972082 -0.08645287] [ 0. 0. 0. 1. ]] SLAMing on 139.57992885099998 meters Centerline goodness [0,1] 0.6554523075558316 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.19, Z:-0.09 [[ 0.99822721 -0.05569216 0.0209957 0.59452323] [ 0.05548729 0.99840711 0.01021755 -0.18508226] [-0.0215313 -0.00903444 0.99972735 -0.08644446] [ 0. 0. 0. 1. ]] SLAMing on 139.60992885099998 meters Centerline goodness [0,1] 0.6681309904153354 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.18, Z:-0.09 [[ 0.99823365 -0.05561791 0.02088627 0.59486305] [ 0.05542409 0.99841533 0.0097471 -0.18335366] [-0.02139528 -0.00857228 0.99973434 -0.0864997 ] [ 0. 0. 0. 1. ]] SLAMing on 139.63992885099998 meters Centerline goodness [0,1] 0.6621159651926833 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.18, Z:-0.09 [[ 0.99823629 -0.05558562 0.02084596 0.59499936] [ 0.05540232 0.99842108 0.00927027 -0.18162933] [-0.02132834 -0.008099 0.99973972 -0.08646392] [ 0. 0. 0. 1. ]] SLAMing on 139.66992885099998 meters Centerline goodness [0,1] 0.6573414152179222 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.18, Z:-0.09 [[ 0.99823221 -0.05565546 0.02085471 0.59498836] [ 0.05548461 0.99842178 0.00868363 -0.17961378] [-0.02130509 -0.00751116 0.99974481 -0.08637318] [ 0. 0. 0. 1. ]] SLAMing on 139.69992885099998 meters Centerline goodness [0,1] 0.6549992186976806 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.18, Z:-0.09 [[ 0.99824017 -0.05555264 0.02074779 0.59533376] [ 0.05539989 0.99843326 0.00786637 -0.17602881] [-0.02115228 -0.0067031 0.99975379 -0.08637931] [ 0. 0. 0. 1. ]] SLAMing on 139.72992885099998 meters Centerline goodness [0,1] 0.6585616361890727 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.09 [[ 0.99823472 -0.05567927 0.02067021 0.59532966] [ 0.05553571 0.99842886 0.00745593 -0.17477735] [-0.02105287 -0.00629483 0.99975855 -0.08613019] [ 0. 0. 0. 1. ]] SLAMing on 139.75992885099998 meters Centerline goodness [0,1] 0.6556575333288672 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.09 [[ 0.99822429 -0.05585291 0.02070562 0.59517358] [ 0.05571533 0.998421 0.00716327 -0.17387331] [-0.02107302 -0.00599693 0.99975995 -0.08603025] [ 0. 0. 0. 1. ]] SLAMing on 139.78992885099998 meters Centerline goodness [0,1] 0.6596272459104318 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.09 [[ 0.99820981 -0.0560855 0.02077456 0.59485552] [ 0.0559527 0.99840944 0.00691974 -0.17334274] [-0.02112961 -0.00574496 0.99976024 -0.08582049] [ 0. 0. 0. 1. ]] SLAMing on 139.819928851 meters Centerline goodness [0,1] 0.6596272459104318 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.09 [[ 0.99820981 -0.0560855 0.02077456 0.59485552] [ 0.0559527 0.99840944 0.00691974 -0.17334274] [-0.02112961 -0.00574496 0.99976024 -0.08582049] [ 0. 0. 0. 1. ]] SLAMing on 139.849928851 meters Centerline goodness [0,1] 0.652276417339472 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.09 [[ 0.99819352 -0.05635837 0.0208192 0.59487938] [ 0.05622382 0.9983937 0.00699315 -0.17380809] [-0.02117988 -0.00580998 0.9997588 -0.086187 ] [ 0. 0. 0. 1. ]] SLAMing on 139.879928851 meters Centerline goodness [0,1] 0.6535835415922885 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.09 [[ 0.99817344 -0.05663373 0.02103319 0.59447411] [ 0.05649731 0.99837804 0.00702508 -0.17427268] [-0.02139693 -0.00582393 0.9997541 -0.08632128] [ 0. 0. 0. 1. ]] SLAMing on 139.909928851 meters Centerline goodness [0,1] 0.6544270194302542 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.09 [[ 0.99814604 -0.0570385 0.02123904 0.59397868] [ 0.05689997 0.99835484 0.00707093 -0.1747708 ] [-0.02160741 -0.00584932 0.99974942 -0.08638764] [ 0. 0. 0. 1. ]] SLAMing on 139.939928851 meters Centerline goodness [0,1] 0.6515659205647143 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.09 [[ 0.99812842 -0.05731893 0.02131185 0.59360654] [ 0.05718457 0.99834004 0.00686192 -0.1746433 ] [-0.02166979 -0.00563037 0.99974933 -0.08608039] [ 0. 0. 0. 1. ]] SLAMing on 139.969928851 meters Centerline goodness [0,1] 0.6507210143309969 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.18, Z:-0.09 [[ 0.99811991 -0.05745172 0.02135309 0.59334307] [ 0.05731551 0.99833201 0.00693782 -0.17512382] [-0.02171606 -0.00570091 0.99974792 -0.08586237] [ 0. 0. 0. 1. ]] SLAMing on 139.999928851 meters Centerline goodness [0,1] 0.6484401132841247 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.18, Z:-0.09 [[ 0.99810966 -0.05757873 0.02148927 0.59301034] [ 0.05743847 0.99832388 0.00708837 -0.17583542] [-0.02186139 -0.00584065 0.99974395 -0.08585438] [ 0. 0. 0. 1. ]] SLAMing on 140.029928851 meters Centerline goodness [0,1] 0.6508647588481768 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.18, Z:-0.09 [[ 0.99810363 -0.05763961 0.021606 0.59274994] [ 0.05749291 0.99831885 0.00735103 -0.17695613] [-0.02199339 -0.00609489 0.99973954 -0.08585211] [ 0. 0. 0. 1. ]] SLAMing on 140.059928851 meters Centerline goodness [0,1] 0.6468243363620167 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.18, Z:-0.09 [[ 0.99810046 -0.05766894 0.02167411 0.59254937] [ 0.05751865 0.9983163 0.00749506 -0.17786901] [-0.02206985 -0.00623415 0.99973699 -0.08574315] [ 0. 0. 0. 1. ]] SLAMing on 140.08992885099997 meters Centerline goodness [0,1] 0.6436704770818014 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.18, Z:-0.09 [[ 0.99811148 -0.0575127 0.02158161 0.59284211] [ 0.05736391 0.99832552 0.00745203 -0.17745142] [-0.02197406 -0.00619995 0.99973932 -0.08578799] [ 0. 0. 0. 1. ]] SLAMing on 140.11992885099997 meters Centerline goodness [0,1] 0.6487999643112063 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.18, Z:-0.09 [[ 0.99812811 -0.0572986 0.02138094 0.5932312 ] [ 0.05715289 0.99833827 0.00736542 -0.17679686] [-0.02176744 -0.00612965 0.99974427 -0.08567977] [ 0. 0. 0. 1. ]] SLAMing on 140.14992885099997 meters Centerline goodness [0,1] 0.6529191215854312 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.18, Z:-0.09 [[ 0.99814794 -0.05705734 0.0210984 0.59375875] [ 0.05691697 0.99835299 0.00719486 -0.17582519] [-0.02147417 -0.00598068 0.99975151 -0.08550425] [ 0. 0. 0. 1. ]] SLAMing on 140.17992885099997 meters Centerline goodness [0,1] 0.6570092621593807 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.18, Z:-0.09 [[ 0.99835009 -0.05343655 0.02101517 0.59313644] [ 0.05321805 0.99852426 0.01082332 -0.17535476] [-0.02156252 -0.00968708 0.99972057 -0.08510083] [ 0. 0. 0. 1. ]] SLAMing on 140.20992885099997 meters Centerline goodness [0,1] 0.6591254923021841 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.08 [[ 0.99837941 -0.05300081 0.02072365 0.59381131] [ 0.05279075 0.99854981 0.01055525 -0.17390586] [-0.02125304 -0.00944413 0.99972952 -0.08498638] [ 0. 0. 0. 1. ]] SLAMing on 140.23992885099997 meters Centerline goodness [0,1] 0.6624859518993031 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.08 [[ 0.9985877 -0.0489754 0.0205918 0.59375831] [ 0.04868888 0.99871315 0.01419261 -0.17285281] [-0.02126039 -0.01316998 0.99968722 -0.08499452] [ 0. 0. 0. 1. ]] SLAMing on 140.26992885099997 meters Centerline goodness [0,1] 0.6638893255777394 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.09 [[ 0.99861672 -0.0484712 0.02037625 0.59440538] [ 0.04819335 0.99874113 0.01391269 -0.17117446] [-0.02102496 -0.01291145 0.99969558 -0.08501545] [ 0. 0. 0. 1. ]] SLAMing on 140.29992885099998 meters Centerline goodness [0,1] 0.664014564088733 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.08 [[ 0.998651 -0.04786089 0.0201373 0.5951372 ] [ 0.04759151 0.9987736 0.01365062 -0.16949524] [-0.02076593 -0.01267384 0.99970403 -0.08496478] [ 0. 0. 0. 1. ]] SLAMing on 140.32992885099998 meters Centerline goodness [0,1] 0.6746998806279421 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.08 [[ 0.99867641 -0.04738306 0.02000693 0.59560855] [ 0.0471252 0.99880217 0.01316949 -0.16726864] [-0.02060698 -0.01220923 0.9997131 -0.08485328] [ 0. 0. 0. 1. ]] SLAMing on 140.35992885099998 meters Centerline goodness [0,1] 0.668999300209937 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.17, Z:-0.08 [[ 0.99885131 -0.04354454 0.01999853 0.59530496] [ 0.04321574 0.99892802 0.01658945 -0.16521691] [-0.02069947 -0.01570614 0.99966237 -0.08492853] [ 0. 0. 0. 1. ]] SLAMing on 140.38992885099998 meters Centerline goodness [0,1] 0.6883707255292202 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.16, Z:-0.08 [[ 0.99886748 -0.04325441 0.01981963 0.59569116] [ 0.04293715 0.99894703 0.01616291 -0.16352826] [-0.02049788 -0.0152936 0.99967292 -0.08465374] [ 0. 0. 0. 1. ]] SLAMing on 140.41992885099998 meters Centerline goodness [0,1] 0.6889719202898551 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.16, Z:-0.08 [[ 0.99887274 -0.04315962 0.01976097 0.59564816] [ 0.04285043 0.99895637 0.01581189 -0.16224466] [-0.02042278 -0.0149473 0.99967969 -0.08430062] [ 0. 0. 0. 1. ]] SLAMing on 140.44992885099998 meters Centerline goodness [0,1] 0.6701357466063349 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.16, Z:-0.08 [[ 0.99886511 -0.04329885 0.01984189 0.59529921] [ 0.04299736 0.99895683 0.01537786 -0.16120932] [-0.02048704 -0.01450726 0.99968486 -0.08394751] [ 0. 0. 0. 1. ]] SLAMing on 140.47992885099998 meters Centerline goodness [0,1] 0.6639605617240678 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.08 [[ 0.99884496 -0.04366358 0.02005601 0.59458342] [ 0.04336496 0.99894533 0.01509022 -0.16108745] [-0.02069375 -0.01420306 0.99968497 -0.08358283] [ 0. 0. 0. 1. ]] SLAMing on 140.50992885099998 meters Centerline goodness [0,1] 0.6823843819359514 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.08 [[ 0.99882739 -0.04399968 0.02019582 0.59399685] [ 0.04370187 0.99893263 0.0149584 -0.16157935] [-0.02083243 -0.01405827 0.99968414 -0.08322221] [ 0. 0. 0. 1. ]] SLAMing on 140.53992885099998 meters Centerline goodness [0,1] 0.6796300902163837 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.08 [[ 0.99880475 -0.04441713 0.02040097 0.59327463] [ 0.04411793 0.99891537 0.01488952 -0.16224002] [-0.02104019 -0.01397167 0.999681 -0.08289286] [ 0. 0. 0. 1. ]] SLAMing on 140.569928851 meters Centerline goodness [0,1] 0.6756970134440133 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.08 [[ 0.99862558 -0.04828827 0.02037637 0.59353963] [ 0.04807179 0.99878349 0.01098362 -0.16251469] [-0.02088197 -0.00998899 0.99973205 -0.08255923] [ 0. 0. 0. 1. ]] SLAMing on 140.599928851 meters Centerline goodness [0,1] 0.6538772939906441 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.08 [[ 0.9986058 -0.0486561 0.02047051 0.59313993] [ 0.0484347 0.99876382 0.01117593 -0.16395192] [-0.02098898 -0.01016886 0.99972799 -0.08242892] [ 0. 0. 0. 1. ]] SLAMing on 140.629928851 meters Centerline goodness [0,1] 0.6744666981365343 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.08 [[ 0.99856858 -0.04926425 0.02082845 0.59214164] [ 0.04903759 0.9987335 0.01125698 -0.16546679] [-0.02135664 -0.01021949 0.99971969 -0.08225822] [ 0. 0. 0. 1. ]] SLAMing on 140.659928851 meters Centerline goodness [0,1] 0.6560154599793268 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.08 [[ 0.99853418 -0.04983655 0.02111426 0.59112735] [ 0.04960349 0.99870367 0.01142219 -0.16746961] [-0.02165613 -0.01035811 0.99971182 -0.08181777] [ 0. 0. 0. 1. ]] SLAMing on 140.689928851 meters Centerline goodness [0,1] 0.590104662226451 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.08 [[ 0.99818228 -0.05563737 0.02316512 0.64605636] [ 0.05557384 0.99844887 0.00337747 -0.16931104] [-0.0233171 -0.00208396 0.99972595 -0.08341264] [ 0. 0. 0. 1. ]] SLAMing on 140.719928851 meters Centerline goodness [0,1] 0.6638928036149699 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.08 [[ 0.99819266 -0.05595537 0.02191835 0.56830458] [ 0.05591725 0.99843264 0.00234865 -0.16642546] [-0.02201542 -0.00111879 0.99975701 -0.07936229] [ 0. 0. 0. 1. ]] SLAMing on 140.749928851 meters Centerline goodness [0,1] 0.6651551365961534 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.08 [[ 0.99819903 -0.05583296 0.0219401 0.56845412] [ 0.05578135 0.99843863 0.00295774 -0.16819673] [-0.02207098 -0.00172856 0.99975491 -0.07971025] [ 0. 0. 0. 1. ]] SLAMing on 140.779928851 meters Centerline goodness [0,1] 0.6669637485795772 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.08 [[ 0.9982016 -0.05578018 0.02195781 0.56855085] [ 0.05572005 0.99844084 0.00334164 -0.16941543] [-0.02210997 -0.00211214 0.99975331 -0.07997772] [ 0. 0. 0. 1. ]] SLAMing on 140.809928851 meters Centerline goodness [0,1] 0.680655431128526 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.08 [[ 0.99824058 -0.0551669 0.02173367 0.56960524] [ 0.05509254 0.99847322 0.00400593 -0.17043142] [-0.02192148 -0.00280152 0.99975577 -0.08079008] [ 0. 0. 0. 1. ]] SLAMing on 140.83992885099997 meters Centerline goodness [0,1] 0.665268606103873 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.08 [[ 0.99827351 -0.05468985 0.02142493 0.57053079] [ 0.05461299 0.99849894 0.00415694 -0.17008512] [-0.02162011 -0.00297968 0.99976182 -0.08107931] [ 0. 0. 0. 1. ]] SLAMing on 140.86992885099997 meters Centerline goodness [0,1] 0.6957851497968478 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.08 [[ 0.99831947 -0.05400351 0.02102026 0.57173889] [ 0.05392451 0.99853572 0.00430755 -0.16932444] [-0.02122211 -0.0031668 0.99976977 -0.08142683] [ 0. 0. 0. 1. ]] SLAMing on 140.89992885099997 meters Centerline goodness [0,1] 0.6763300129539465 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.08 [[ 0.99850828 -0.05038886 0.02102805 0.57101237] [ 0.05022707 0.99870455 0.00815275 -0.16990189] [-0.02141162 -0.00708441 0.99974564 -0.08109993] [ 0. 0. 0. 1. ]] SLAMing on 140.92992885099997 meters Centerline goodness [0,1] 0.6882558452029024 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.08 [[ 0.99873578 -0.04572878 0.02087403 0.57088828] [ 0.04548789 0.99889433 0.01187305 -0.16825357] [-0.02139389 -0.01090853 0.99971161 -0.08052721] [ 0. 0. 0. 1. ]] SLAMing on 140.95992885099997 meters Centerline goodness [0,1] 0.7042628973365292 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.08 [[ 0.99889312 -0.04213396 0.02091068 0.56986447] [ 0.04181564 0.99900614 0.01543334 -0.16795458] [-0.02154017 -0.01454186 0.99966222 -0.07971293] [ 0. 0. 0. 1. ]] SLAMing on 140.98992885099997 meters Centerline goodness [0,1] 0.706549964183381 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.08 [[ 0.99904228 -0.0384476 0.02088768 0.56898638] [ 0.03805226 0.99909499 0.01900573 -0.1676023 ] [-0.0215995 -0.01819271 0.99960116 -0.07890755] [ 0. 0. 0. 1. ]] SLAMing on 141.01992885099997 meters Centerline goodness [0,1] 0.7184932429398824 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.08 [[ 0.99918084 -0.0346394 0.02092264 0.56837366] [ 0.03416172 0.99915684 0.0227724 -0.16738431] [-0.02169382 -0.022039 0.99952172 -0.07856517] [ 0. 0. 0. 1. ]] SLAMing on 141.04992885099998 meters Centerline goodness [0,1] 0.7253841839596187 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.17, Z:-0.08 [[ 0.99922081 -0.0335575 0.02077638 0.56932451] [ 0.03308369 0.99919377 0.02274388 -0.16562962] [-0.02152286 -0.0220388 0.99952542 -0.07885858] [ 0. 0. 0. 1. ]] SLAMing on 141.07992885099998 meters Centerline goodness [0,1] 0.7350458137283595 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.16, Z:-0.08 [[ 0.99948079 -0.02593433 0.01911973 0.56375086] [ 0.02565478 0.99956242 0.01472437 -0.16259229] [-0.01949323 -0.01422621 0.99970877 -0.07866624] [ 0. 0. 0. 1. ]] SLAMing on 141.10992885099998 meters Centerline goodness [0,1] 0.7405729483625216 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.16, Z:-0.08 [[ 0.99949079 -0.0256014 0.01904569 0.56401685] [ 0.02532639 0.99957345 0.01454307 -0.16161902] [-0.01940989 -0.0140533 0.99971284 -0.07859009] [ 0. 0. 0. 1. ]] SLAMing on 141.13992885099998 meters Centerline goodness [0,1] 0.7441105525372529 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.16, Z:-0.08 [[ 0.99949739 -0.0253936 0.01897728 0.56419514] [ 0.02512057 0.99957941 0.01448997 -0.16129587] [-0.01933725 -0.01400596 0.99971491 -0.07851725] [ 0. 0. 0. 1. ]] SLAMing on 141.16992885099998 meters Centerline goodness [0,1] 0.7512895015428971 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.16, Z:-0.08 [[ 0.99949591 -0.02540731 0.01903665 0.56404323] [ 0.02513225 0.99957822 0.01455159 -0.16191528] [-0.01939833 -0.01406583 0.99971289 -0.07847771] [ 0. 0. 0. 1. ]] SLAMing on 141.19992885099998 meters Centerline goodness [0,1] 0.7516187050359713 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.16, Z:-0.08 [[ 0.99948708 -0.02565024 0.01917374 0.56355683] [ 0.02537271 0.99957172 0.01458074 -0.16271888] [-0.01953953 -0.01408678 0.99970984 -0.07822383] [ 0. 0. 0. 1. ]] SLAMing on 141.22992885099998 meters Centerline goodness [0,1] 0.7441028985181355 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.16, Z:-0.08 [[ 0.99946937 -0.0261498 0.01942063 0.56279707] [ 0.02587025 0.99956001 0.01450914 -0.16356942] [-0.0197915 -0.01399903 0.99970612 -0.07800231] [ 0. 0. 0. 1. ]] SLAMing on 141.25992885099998 meters Centerline goodness [0,1] 0.741052773471726 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.16, Z:-0.08 [[ 0.99944932 -0.0267748 0.0196004 0.56193739] [ 0.02649436 0.9995448 0.01443072 -0.16459918] [-0.01997786 -0.01390347 0.99970375 -0.07751585] [ 0. 0. 0. 1. ]] SLAMing on 141.28992885099998 meters Centerline goodness [0,1] 0.7384215712622055 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.08 [[ 0.99932805 -0.03098579 0.01957898 0.56208862] [ 0.03077885 0.99946804 0.01078401 -0.16652921] [-0.01990272 -0.01017414 0.99975015 -0.07741701] [ 0. 0. 0. 1. ]] SLAMing on 141.319928851 meters Centerline goodness [0,1] 0.7373428322576323 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.08 [[ 0.99920944 -0.03464134 0.0195059 0.56282319] [ 0.03450657 0.99937851 0.00720379 -0.16726221] [-0.01974332 -0.00652502 0.99978379 -0.07779309] [ 0. 0. 0. 1. ]] SLAMing on 141.349928851 meters Centerline goodness [0,1] 0.7129286892922446 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.08 [[ 0.99907497 -0.03834808 0.01945818 0.56353509] [ 0.0382851 0.99926037 0.00359942 -0.16816129] [-0.01958182 -0.00285114 0.99980419 -0.07817841] [ 0. 0. 0. 1. ]] SLAMing on 141.379928851 meters Centerline goodness [0,1] 0.6980673636343372 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.08 [[ 0.99904214 -0.03913019 0.01958626 0.56307949] [ 0.03905559 0.99922831 0.00417737 -0.17119073] [-0.0197346 -0.00340842 0.99979944 -0.07848558] [ 0. 0. 0. 1. ]] SLAMing on 141.409928851 meters Centerline goodness [0,1] 0.6892821368948248 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.08 [[ 9.98844588e-01 -4.37796693e-02 1.98199281e-02 5.62785781e-01] [ 4.37740827e-02 9.99041199e-01 7.15829632e-04 -1.73600082e-01] [-1.98322635e-02 1.52596617e-04 9.99803310e-01 -7.87756231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.439928851 meters Centerline goodness [0,1] 0.6777088411256371 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.18, Z:-0.08 [[ 9.98813633e-01 -4.44389878e-02 1.99124021e-02 5.62381425e-01] [ 4.44262720e-02 9.99012081e-01 1.08071157e-03 -1.75569982e-01] [-1.99407559e-02 -1.94795655e-04 9.99801144e-01 -7.89290551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.469928851 meters Centerline goodness [0,1] 0.6714571301643714 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.18, Z:-0.08 [[ 9.98778370e-01 -4.51105218e-02 2.01694686e-02 5.61535286e-01] [ 4.50941087e-02 9.98981938e-01 1.26805622e-03 -1.77043889e-01] [-2.02061375e-02 -3.56982915e-04 9.99795771e-01 -7.88110204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.499928851 meters Centerline goodness [0,1] 0.6770259463301938 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.18, Z:-0.08 [[ 9.98742550e-01 -4.58068243e-02 2.03728864e-02 5.61171441e-01] [ 4.57828363e-02 9.98950066e-01 1.64254616e-03 -1.79028455e-01] [-2.04267360e-02 -7.07752217e-04 9.99791102e-01 -7.93468374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.529928851 meters Centerline goodness [0,1] 0.6722504492911184 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.18, Z:-0.08 [[ 9.98734342e-01 -4.59730558e-02 2.04007964e-02 5.61186692e-01] [ 4.59479687e-02 9.98942393e-01 1.69699363e-03 -1.79428224e-01] [-2.04572363e-02 -7.57470662e-04 9.99790442e-01 -7.95413655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.559928851 meters Centerline goodness [0,1] 0.6668960007101957 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.18, Z:-0.08 [[ 9.98740095e-01 -4.58804098e-02 2.03275972e-02 5.61629952e-01] [ 4.58523541e-02 9.98946525e-01 1.84436587e-03 -1.79341993e-01] [-2.03908029e-02 -9.09973960e-04 9.99791672e-01 -7.99661388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.58992885099997 meters Centerline goodness [0,1] 0.6823432526875737 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.18, Z:-0.08 [[ 0.99887119 -0.04287229 0.02045247 0.56044907] [ 0.04277321 0.99907097 0.00525768 -0.17913139] [-0.02065888 -0.00437693 0.999777 -0.07944814] [ 0. 0. 0. 1. ]] SLAMing on 141.61992885099997 meters Centerline goodness [0,1] 0.6775823686553873 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.18, Z:-0.08 [[ 0.99887977 -0.04276659 0.02025378 0.56080036] [ 0.04267827 0.99907746 0.00477328 -0.17727078] [-0.02043923 -0.00390353 0.99978348 -0.07923218] [ 0. 0. 0. 1. ]] SLAMing on 141.64992885099997 meters Centerline goodness [0,1] 0.6781581001226447 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.18, Z:-0.08 [[ 0.99890405 -0.04229907 0.0200371 0.5614838 ] [ 0.04221769 0.99909845 0.0044673 -0.17539492] [-0.020208 -0.00361648 0.99978926 -0.07929405] [ 0. 0. 0. 1. ]] SLAMing on 141.67992885099997 meters Centerline goodness [0,1] 0.6792473886260155 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.08 [[ 0.99904164 -0.0388619 0.02013829 0.56071582] [ 0.03870715 0.99921843 0.00801845 -0.17485459] [-0.02043416 -0.00723127 0.99976505 -0.0790968 ] [ 0. 0. 0. 1. ]] SLAMing on 141.70992885099997 meters Centerline goodness [0,1] 0.6792473886260155 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.08 [[ 0.99904164 -0.0388619 0.02013829 0.56071582] [ 0.03870715 0.99921843 0.00801845 -0.17485459] [-0.02043416 -0.00723127 0.99976505 -0.0790968 ] [ 0. 0. 0. 1. ]] SLAMing on 141.73992885099997 meters Centerline goodness [0,1] 0.6910054566598085 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.08 [[ 0.99916943 -0.03539521 0.0201896 0.56004951] [ 0.03516911 0.99931582 0.01144653 -0.17380004] [-0.02058094 -0.01072697 0.99973064 -0.07885764] [ 0. 0. 0. 1. ]] SLAMing on 141.76992885099997 meters Centerline goodness [0,1] 0.6962247191011236 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.08 [[ 0.99931318 -0.03117476 0.02003263 0.56031241] [ 0.03088929 0.999419 0.01440551 -0.1695457 ] [-0.02047008 -0.01377682 0.99969554 -0.07874844] [ 0. 0. 0. 1. ]] SLAMing on 141.79992885099998 meters Centerline goodness [0,1] 0.7043337383556096 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.17, Z:-0.08 [[ 0.99933608 -0.03047548 0.01996615 0.5609339 ] [ 0.03020058 0.99944681 0.01392827 -0.1665363 ] [-0.02037957 -0.01331604 0.99970363 -0.07886005] [ 0. 0. 0. 1. ]] SLAMing on 141.82992885099998 meters Centerline goodness [0,1] 0.7134081378216026 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.16, Z:-0.08 [[ 0.999436 -0.02695854 0.02002289 0.56027051] [ 0.02662534 0.99950556 0.01672519 -0.16327775] [-0.02046388 -0.01618264 0.99965962 -0.07832515] [ 0. 0. 0. 1. ]] SLAMing on 141.85992885099998 meters Centerline goodness [0,1] 0.7167172838946557 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.16, Z:-0.08 [[ 0.99943614 -0.02698767 0.01997678 0.56035056] [ 0.02667041 0.99951653 0.01598112 -0.16089292] [-0.02039842 -0.01543932 0.99967271 -0.07809337] [ 0. 0. 0. 1. ]] SLAMing on 141.88992885099998 meters Centerline goodness [0,1] 0.7077045454545454 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.16, Z:-0.08 [[ 0.99943414 -0.02707585 0.01995721 0.56048792] [ 0.02677133 0.9995234 0.01537076 -0.15889385] [-0.02036387 -0.01482778 0.99968267 -0.07809612] [ 0. 0. 0. 1. ]] SLAMing on 141.91992885099998 meters Centerline goodness [0,1] 0.7132264301148641 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.16, Z:-0.08 [[ 0.99942861 -0.02725353 0.01999271 0.56047901] [ 0.02695997 0.99952682 0.01480882 -0.15709252] [-0.02038684 -0.01426135 0.99969045 -0.07810934] [ 0. 0. 0. 1. ]] SLAMing on 141.94992885099998 meters Centerline goodness [0,1] 0.7177922523140212 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.15, Z:-0.08 [[ 0.99941643 -0.02764202 0.02006767 0.56052939] [ 0.02736873 0.99953059 0.01376766 -0.15362278] [-0.02043882 -0.0132104 0.99970383 -0.07828215] [ 0. 0. 0. 1. ]] SLAMing on 141.97992885099998 meters Centerline goodness [0,1] 0.7107213099757581 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.15, Z:-0.08 [[ 0.99940655 -0.02799682 0.02006822 0.56047476] [ 0.02773693 0.99952924 0.01311363 -0.15182709] [-0.02042591 -0.01254922 0.99971261 -0.07819332] [ 0. 0. 0. 1. ]] SLAMing on 142.00992885099998 meters Centerline goodness [0,1] 0.7055259776023499 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.15, Z:-0.08 [[ 0.99939793 -0.02823888 0.02015816 0.5604727 ] [ 0.02798681 0.99952788 0.01267903 -0.15048284] [-0.02050669 -0.01210723 0.99971641 -0.07842801] [ 0. 0. 0. 1. ]] SLAMing on 142.03992885099998 meters Centerline goodness [0,1] 0.717083486575947 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.15, Z:-0.08 [[ 0.99939192 -0.02842365 0.0201961 0.5605117 ] [ 0.02817932 0.99952744 0.01228119 -0.14933996] [-0.02053563 -0.01170461 0.99972061 -0.07852989] [ 0. 0. 0. 1. ]] SLAMing on 142.069928851 meters Centerline goodness [0,1] 0.700059918879056 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.15, Z:-0.08 [[ 0.99938151 -0.02876793 0.02022389 0.56053785] [ 0.02853894 0.99952628 0.01152171 -0.14713244] [-0.02054577 -0.01093742 0.99972909 -0.07854406] [ 0. 0. 0. 1. ]] SLAMing on 142.099928851 meters Centerline goodness [0,1] 0.7055965573884275 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.15, Z:-0.08 [[ 0.9993667 -0.02916866 0.02038123 0.56000062] [ 0.02895065 0.99952129 0.01091105 -0.14573506] [-0.02068973 -0.01031409 0.99973274 -0.07821412] [ 0. 0. 0. 1. ]] SLAMing on 142.129928851 meters Centerline goodness [0,1] 0.7117079506447723 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.14, Z:-0.08 [[ 0.99935996 -0.02934899 0.02045274 0.55971929] [ 0.02914025 0.99952091 0.01043006 -0.14435215] [-0.02074905 -0.00982739 0.99973641 -0.07790305] [ 0. 0. 0. 1. ]] SLAMing on 142.159928851 meters Centerline goodness [0,1] 0.7083081078563778 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.14, Z:-0.08 [[ 0.99936667 -0.02929534 0.02020021 0.56037769] [ 0.02910277 0.99952875 0.00976212 -0.14146579] [-0.02047668 -0.00916806 0.99974829 -0.07791784] [ 0. 0. 0. 1. ]] SLAMing on 142.189928851 meters Centerline goodness [0,1] 0.7030819519028718 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.14, Z:-0.08 [[ 0.99937001 -0.02930889 0.02001446 0.56080318] [ 0.02912558 0.99953166 0.00938965 -0.14005394] [-0.02028029 -0.00880081 0.9997556 -0.07791375] [ 0. 0. 0. 1. ]] SLAMing on 142.219928851 meters Centerline goodness [0,1] 0.7160842754367934 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.14, Z:-0.08 [[ 0.99937099 -0.02934464 0.01991265 0.56119296] [ 0.02916882 0.99953341 0.0090635 -0.13878064] [-0.02016932 -0.00847697 0.99976064 -0.07813004] [ 0. 0. 0. 1. ]] SLAMing on 142.249928851 meters Centerline goodness [0,1] 0.7120679966282664 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.14, Z:-0.08 [[ 0.99937414 -0.02924613 0.01989959 0.56167179] [ 0.02907384 0.99953771 0.00889245 -0.13765592] [-0.02015046 -0.00830832 0.99976244 -0.07869468] [ 0. 0. 0. 1. ]] SLAMing on 142.279928851 meters Centerline goodness [0,1] 0.7101700473134398 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.14, Z:-0.08 [[ 0.99938124 -0.02908366 0.01978097 0.56237837] [ 0.02891994 0.99954548 0.00851298 -0.13593484] [-0.02001956 -0.00793564 0.99976809 -0.07913993] [ 0. 0. 0. 1. ]] SLAMing on 142.309928851 meters Centerline goodness [0,1] 0.7196235294117648 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.13, Z:-0.08 [[ 0.99938861 -0.02893739 0.01962225 0.56294149] [ 0.02877822 0.99955097 0.00834646 -0.13497039] [-0.01985497 -0.00777666 0.99977263 -0.07940278] [ 0. 0. 0. 1. ]] SLAMing on 142.33992885099997 meters Centerline goodness [0,1] 0.7191338453228118 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.13, Z:-0.08 [[ 0.99939885 -0.02870829 0.01943657 0.56372464] [ 0.02855601 0.99955964 0.0080678 -0.13348556] [-0.01965962 -0.00750792 0.99977854 -0.07975263] [ 0. 0. 0. 1. ]] SLAMing on 142.36992885099997 meters Centerline goodness [0,1] 0.718523059511459 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.13, Z:-0.08 [[ 0.9994074 -0.02849565 0.01930947 0.56415872] [ 0.02835115 0.99956825 0.00771583 -0.13180576] [-0.019521 -0.00716382 0.99978378 -0.07978255] [ 0. 0. 0. 1. ]] SLAMing on 142.39992885099997 meters Centerline goodness [0,1] 0.7369894871734023 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.13, Z:-0.08 [[ 0.99950229 -0.02485892 0.01942157 0.56334078] [ 0.02465009 0.99963651 0.01091926 -0.12944792] [-0.01968595 -0.01043508 0.99975176 -0.07919834] [ 0. 0. 0. 1. ]] SLAMing on 142.42992885099997 meters Centerline goodness [0,1] 0.7395883083389053 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.13, Z:-0.08 [[ 0.99951667 -0.02436402 0.01930878 0.563625 ] [ 0.02416636 0.9996538 0.01040522 -0.12713389] [-0.01955561 -0.00993357 0.99975942 -0.07869147] [ 0. 0. 0. 1. ]] SLAMing on 142.45992885099997 meters Centerline goodness [0,1] 0.7498209425583727 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.08 [[ 0.99954302 -0.02367863 0.01879015 0.56478402] [ 0.0234953 0.99967475 0.00991787 -0.12497478] [-0.01901888 -0.00947185 0.99977426 -0.07821178] [ 0. 0. 0. 1. ]] SLAMing on 142.48992885099997 meters Centerline goodness [0,1] 0.7710114302180386 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.08 [[ 0.99963866 -0.01915475 0.01885846 0.56459 ] [ 0.01890595 0.99973301 0.01328416 -0.12223416] [-0.01910788 -0.01292282 0.99973391 -0.07767674] [ 0. 0. 0. 1. ]] SLAMing on 142.51992885099997 meters Centerline goodness [0,1] 0.7666538313438583 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.08 [[ 0.99976625 -0.01334641 0.01700923 0.56018472] [ 0.01329291 0.99990635 0.00325478 -0.11939539] [-0.01705108 -0.00302791 0.99985003 -0.07711069] [ 0. 0. 0. 1. ]] SLAMing on 142.54992885099998 meters Centerline goodness [0,1] 0.7840481019994204 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.08 [[ 0.99978965 -0.01235055 0.01637406 0.56229188] [ 0.0122962 0.99991856 0.00341612 -0.11799767] [-0.01641492 -0.00321407 0.9998601 -0.07776868] [ 0. 0. 0. 1. ]] SLAMing on 142.57992885099998 meters Centerline goodness [0,1] 0.7758958126948076 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.12, Z:-0.08 [[ 0.99980486 -0.01172538 0.01589845 0.56382386] [ 0.01167212 0.99992597 0.00343856 -0.11690275] [-0.01593759 -0.00325232 0.9998677 -0.07823255] [ 0. 0. 0. 1. ]] SLAMing on 142.60992885099998 meters Centerline goodness [0,1] 0.7892746314972847 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.12, Z:-0.08 [[ 0.99981684 -0.01117704 0.0155355 0.56510305] [ 0.01112546 0.99993232 0.00340269 -0.11557494] [-0.01557248 -0.00322923 0.99987353 -0.07868311] [ 0. 0. 0. 1. ]] SLAMing on 142.63992885099998 meters Centerline goodness [0,1] 0.7865165813541641 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.12, Z:-0.08 [[ 0.99982036 -0.01101678 0.015423 0.56576618] [ 0.01096279 0.99993349 0.00358092 -0.11563082] [-0.01546143 -0.00341119 0.99987465 -0.07929433] [ 0. 0. 0. 1. ]] SLAMing on 142.66992885099998 meters Centerline goodness [0,1] 0.7859750937008826 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.12, Z:-0.08 [[ 0.99982435 -0.01093484 0.01522136 0.56648594] [ 0.01087858 0.9999337 0.00377422 -0.11618171] [-0.01526162 -0.00360797 0.99987703 -0.07978384] [ 0. 0. 0. 1. ]] SLAMing on 142.69992885099998 meters Centerline goodness [0,1] 0.7726261844904274 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.12, Z:-0.08 [[ 0.99981476 -0.01156699 0.01538345 0.56614685] [ 0.01151006 0.9999266 0.00378432 -0.11698026] [-0.0154261 -0.00360656 0.99987451 -0.08023835] [ 0. 0. 0. 1. ]] SLAMing on 142.72992885099998 meters Centerline goodness [0,1] 0.7757730083666787 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.12, Z:-0.08 [[ 0.99981252 -0.01172917 0.01540652 0.56621077] [ 0.01167138 0.99992453 0.0038351 -0.11716326] [-0.01545034 -0.00365457 0.99987396 -0.08049497] [ 0. 0. 0. 1. ]] SLAMing on 142.75992885099998 meters Centerline goodness [0,1] 0.7737930700031522 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.12, Z:-0.08 [[ 0.99981171 -0.01191024 0.0153197 0.56618334] [ 0.01185578 0.99992309 0.00364071 -0.11698732] [-0.01536188 -0.0034584 0.99987602 -0.08020835] [ 0. 0. 0. 1. ]] SLAMing on 142.78992885099998 meters Centerline goodness [0,1] 0.7747948388970927 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.12, Z:-0.08 [[ 0.99981276 -0.01194232 0.01522588 0.56648554] [ 0.01188728 0.9999225 0.00370083 -0.11693995] [-0.0152689 -0.00351914 0.99987723 -0.08044655] [ 0. 0. 0. 1. ]] SLAMing on 142.819928851 meters Centerline goodness [0,1] 0.7681236803145401 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.12, Z:-0.08 [[ 0.99981238 -0.01206753 0.01515204 0.56659252] [ 0.01201401 0.99992128 0.00361854 -0.11696544] [-0.01519452 -0.00343583 0.99987865 -0.08045025] [ 0. 0. 0. 1. ]] SLAMing on 142.849928851 meters Centerline goodness [0,1] 0.7610703349049726 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.12, Z:-0.08 [[ 0.99981418 -0.01203658 0.0150573 0.56696808] [ 0.01198216 0.99992137 0.00369974 -0.11699438] [-0.01510065 -0.00351863 0.99987979 -0.08075816] [ 0. 0. 0. 1. ]] SLAMing on 142.879928851 meters Centerline goodness [0,1] 0.7655113911778962 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.12, Z:-0.08 [[ 0.9998145 -0.01206771 0.01501104 0.56714061] [ 0.01201402 0.99992113 0.0036614 -0.11671999] [-0.01505404 -0.00348038 0.99988062 -0.08088638] [ 0. 0. 0. 1. ]] SLAMing on 142.909928851 meters Centerline goodness [0,1] 0.7727548617349292 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.12, Z:-0.08 [[ 0.99981213 -0.01229164 0.01498742 0.56687973] [ 0.01224453 0.99991981 0.00323116 -0.115348 ] [-0.01502594 -0.00304704 0.99988246 -0.08040972] [ 0. 0. 0. 1. ]] SLAMing on 142.939928851 meters Centerline goodness [0,1] 0.7686297347795492 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.11, Z:-0.08 [[ 0.99981421 -0.01229267 0.01484687 0.56721775] [ 0.01224875 0.99992034 0.00304601 -0.11454413] [-0.01488313 -0.00286359 0.99988514 -0.08040054] [ 0. 0. 0. 1. ]] SLAMing on 142.969928851 meters Centerline goodness [0,1] 0.7641690798919524 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.11, Z:-0.08 [[ 0.99981959 -0.01210121 0.0146403 0.5680181 ] [ 0.01206077 0.99992321 0.00284731 -0.11315555] [-0.01467363 -0.00267023 0.99988877 -0.08077108] [ 0. 0. 0. 1. ]] SLAMing on 142.999928851 meters Centerline goodness [0,1] 0.7534236561235927 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.11, Z:-0.08 [[ 0.99982516 -0.0118832 0.01443756 0.56886863] [ 0.01184369 0.99992589 0.00281882 -0.1123872 ] [-0.01446998 -0.00264734 0.9998918 -0.08121801] [ 0. 0. 0. 1. ]] SLAMing on 143.029928851 meters Centerline goodness [0,1] 0.7534236561235927 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.11, Z:-0.08 [[ 0.99982516 -0.0118832 0.01443756 0.56886863] [ 0.01184369 0.99992589 0.00281882 -0.1123872 ] [-0.01446998 -0.00264734 0.9998918 -0.08121801] [ 0. 0. 0. 1. ]] SLAMing on 143.059928851 meters Centerline goodness [0,1] 0.7754056362083689 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.11, Z:-0.08 [[ 0.99983149 -0.0116578 0.01418058 0.56982487] [ 0.01161967 0.99992866 0.00276844 -0.11143719] [-0.01421184 -0.0026032 0.99989562 -0.08171648] [ 0. 0. 0. 1. ]] SLAMing on 143.08992885099997 meters Centerline goodness [0,1] 0.7664094549716741 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.11, Z:-0.08 [[ 0.9998367 -0.01142646 0.01400053 0.57083211] [ 0.0113934 0.99993212 0.00243926 -0.10911959] [-0.01402745 -0.00227935 0.99989901 -0.08234402] [ 0. 0. 0. 1. ]] SLAMing on 143.11992885099997 meters Centerline goodness [0,1] 0.7710621360654529 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.11, Z:-0.08 [[ 0.9998376 -0.01143699 0.01392719 0.57118025] [ 0.01140783 0.99993257 0.00217114 -0.10777858] [-0.01395109 -0.00201191 0.99990065 -0.08256837] [ 0. 0. 0. 1. ]] SLAMing on 143.14992885099997 meters Centerline goodness [0,1] 0.7688220970558576 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.11, Z:-0.08 [[ 0.99984328 -0.01125412 0.01366603 0.572164 ] [ 0.01122613 0.99993473 0.00212357 -0.10668159] [-0.01368904 -0.00196982 0.99990436 -0.08312906] [ 0. 0. 0. 1. ]] SLAMing on 143.17992885099997 meters Centerline goodness [0,1] 0.7505917743367196 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.10, Z:-0.08 [[ 0.99984754 -0.0111275 0.01345608 0.57356592] [ 0.01110103 0.9999363 0.00204052 -0.10439844] [-0.01347793 -0.00189083 0.99990738 -0.08454043] [ 0. 0. 0. 1. ]] SLAMing on 143.20992885099997 meters Centerline goodness [0,1] 0.766401664313842 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.10, Z:-0.09 [[ 0.99985122 -0.01103363 0.01325898 0.57442458] [ 0.01100875 0.9999375 0.00194784 -0.10329561] [-0.01327964 -0.00180158 0.9999102 -0.08511172] [ 0. 0. 0. 1. ]] SLAMing on 143.23992885099997 meters Centerline goodness [0,1] 0.7568137814625429 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.10, Z:-0.09 [[ 0.99985235 -0.01108616 0.01312898 0.57492735] [ 0.01106433 0.99993729 0.00173395 -0.10201245] [-0.01314738 -0.00158843 0.99991231 -0.08541612] [ 0. 0. 0. 1. ]] SLAMing on 143.26992885099997 meters Centerline goodness [0,1] 0.7510130012180873 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.10, Z:-0.09 [[ 0.99985192 -0.01121492 0.01305261 0.57530497] [ 0.01119632 0.9999362 0.00149725 -0.10075171] [-0.01306857 -0.00135089 0.99991369 -0.08572211] [ 0. 0. 0. 1. ]] SLAMing on 143.29992885099998 meters Centerline goodness [0,1] 0.7567755904531993 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.10, Z:-0.09 [[ 9.99848074e-01 -1.15067923e-02 1.30928702e-02 5.75329335e-01] [ 1.14927511e-02 9.99933298e-01 1.14716946e-03 -9.94630609e-02] [-1.31051971e-02 -9.96522074e-04 9.99913627e-01 -8.59226669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.32992885099998 meters Centerline goodness [0,1] 0.7269752454225265 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.10, Z:-0.09 [[ 9.99827612e-01 -1.26950950e-02 1.35491743e-02 5.74149977e-01] [ 1.26925654e-02 9.99919409e-01 2.72673025e-04 -9.71680729e-02] [-1.35515439e-02 -1.00652239e-04 9.99908169e-01 -8.60748788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35992885099998 meters Centerline goodness [0,1] 0.7238085712856929 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.10, Z:-0.09 [[ 9.99820202e-01 -1.30880857e-02 1.37210070e-02 5.73981261e-01] [ 1.30878259e-02 9.99914345e-01 1.08731391e-04 -9.64557587e-02] [-1.37212548e-02 7.08663102e-05 9.99905857e-01 -8.65353369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.38992885099998 meters Centerline goodness [0,1] 0.7288050440855083 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.09, Z:-0.09 [[ 9.99792749e-01 -1.45300115e-02 1.42596621e-02 5.72588114e-01] [ 1.45437461e-02 9.99893864e-01 -8.59947156e-04 -9.38986822e-02] [-1.42456536e-02 1.06715784e-03 9.99897956e-01 -8.67731796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41992885099998 meters Centerline goodness [0,1] 0.7218122749137432 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.09, Z:-0.09 [[ 0.99977972 -0.01514775 0.01452802 0.5720784 ] [ 0.01516862 0.99988407 -0.00132797 -0.09247903] [-0.01450622 0.00154804 0.99989358 -0.0870602 ] [ 0. 0. 0. 1. ]] SLAMing on 143.44992885099998 meters Centerline goodness [0,1] 0.7042662159093775 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.09, Z:-0.09 [[ 0.99977303 -0.0155154 0.01459994 0.57200902] [ 0.01554247 0.99987769 -0.0017428 -0.09103674] [-0.01457112 0.00196932 0.9998919 -0.08724105] [ 0. 0. 0. 1. ]] SLAMing on 143.47992885099998 meters Centerline goodness [0,1] 0.7141735275490817 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.09, Z:-0.09 [[ 0.9997643 -0.015965 0.01471288 0.57189141] [ 0.01599957 0.9998695 -0.00223475 -0.08914665] [-0.01467528 0.00246962 0.99988926 -0.08752542] [ 0. 0. 0. 1. ]] SLAMing on 143.50992885099998 meters Centerline goodness [0,1] 0.7122254497273608 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.08, Z:-0.09 [[ 0.99974934 -0.01671103 0.01489945 0.57167513] [ 0.01676143 0.99985419 -0.00326406 -0.08481179] [-0.01484274 0.00351298 0.99988367 -0.08789496] [ 0. 0. 0. 1. ]] SLAMing on 143.53992885099998 meters Centerline goodness [0,1] 0.7111929986181483 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.08, Z:-0.09 [[ 9.99782652e-01 -1.40896730e-02 1.53665047e-02 5.70223570e-01] [ 1.40844410e-02 9.99900709e-01 4.48650653e-04 -8.46024850e-02] [-1.53713003e-02 -2.32124510e-04 9.99881828e-01 -8.84603773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.569928851 meters Centerline goodness [0,1] 0.7069487179487179 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.08, Z:-0.09 [[ 9.99779044e-01 -1.43837458e-02 1.53287753e-02 5.70422238e-01] [ 1.43891119e-02 9.99896443e-01 -2.39824479e-04 -8.18869799e-02] [-1.53237384e-02 4.60338952e-04 9.99882479e-01 -8.84968421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.599928851 meters Centerline goodness [0,1] 0.7036192720473349 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.08, Z:-0.09 [[ 0.99977101 -0.01488182 0.0153772 0.57017467] [ 0.01489988 0.99988843 -0.00106056 -0.07905399] [-0.0153597 0.00128944 0.9998812 -0.08827066] [ 0. 0. 0. 1. ]] SLAMing on 143.629928851 meters Centerline goodness [0,1] 0.7036192720473349 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.08, Z:-0.09 [[ 0.99977101 -0.01488182 0.0153772 0.57017467] [ 0.01489988 0.99988843 -0.00106056 -0.07905399] [-0.0153597 0.00128944 0.9998812 -0.08827066] [ 0. 0. 0. 1. ]] SLAMing on 143.659928851 meters Centerline goodness [0,1] 0.7089004966163188 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.08, Z:-0.09 [[ 0.99980015 -0.01220272 0.01583544 0.56877872] [ 0.01216306 0.99992265 0.00259879 -0.07859428] [-0.01586593 -0.00240566 0.99987123 -0.0887851 ] [ 0. 0. 0. 1. ]] SLAMing on 143.689928851 meters Centerline goodness [0,1] 0.709316129032258 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.08, Z:-0.09 [[ 0.99980139 -0.01229287 0.01568663 0.56959214] [ 0.01225971 0.99992241 0.00220806 -0.07664329] [-0.01571256 -0.00201531 0.99987452 -0.08939308] [ 0. 0. 0. 1. ]] SLAMing on 143.719928851 meters Centerline goodness [0,1] 0.7120147778124675 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.07, Z:-0.09 [[ 0.99979809 -0.0125185 0.01571809 0.57055105] [ 0.01249485 0.99992065 0.00160178 -0.07333626] [-0.01573689 -0.00140507 0.99987518 -0.09073288] [ 0. 0. 0. 1. ]] SLAMing on 143.749928851 meters Centerline goodness [0,1] 0.7067665262391429 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.07, Z:-0.09 [[ 0.99979847 -0.01260485 0.0156251 0.57109719] [ 0.0125875 0.99992004 0.00120793 -0.07143297] [-0.01563908 -0.001011 0.99987719 -0.09112113] [ 0. 0. 0. 1. ]] SLAMing on 143.779928851 meters Centerline goodness [0,1] 0.7125160076313932 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.07, Z:-0.09 [[ 9.99798606e-01 -1.27041589e-02 1.55355314e-02 5.71563467e-01] [ 1.26945054e-02 9.99919162e-01 7.19839502e-04 -6.92076824e-02] [-1.55434205e-02 -5.22478643e-04 9.99879057e-01 -9.13507216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.809928851 meters Centerline goodness [0,1] 0.7114604860438957 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.07, Z:-0.09 [[ 9.99801123e-01 -1.27199655e-02 1.53595830e-02 5.72199198e-01] [ 1.27196699e-02 9.99919095e-01 1.16943246e-04 -6.65746761e-02] [-1.53598278e-02 7.84488360e-05 9.99882028e-01 -9.13911419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83992885099997 meters Centerline goodness [0,1] 0.7078356739729623 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.06, Z:-0.09 [[ 0.99982459 -0.0098534 0.01592773 0.57079825] [ 0.00980361 0.99994682 0.00320148 -0.06356668] [-0.01595843 -0.00304477 0.99986802 -0.09169434] [ 0. 0. 0. 1. ]] SLAMing on 143.86992885099997 meters Centerline goodness [0,1] 0.7117060034848726 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.06, Z:-0.09 [[ 0.99982632 -0.0099655 0.0157483 0.5711049 ] [ 0.00992828 0.99994774 0.00243978 -0.06110776] [-0.01577179 -0.002283 0.99987301 -0.09128792] [ 0. 0. 0. 1. ]] SLAMing on 143.89992885099997 meters Centerline goodness [0,1] 0.7135986470059722 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.06, Z:-0.09 [[ 0.99982983 -0.00989717 0.01556751 0.5717617 ] [ 0.0098683 0.99994944 0.00193034 -0.0590457 ] [-0.01558583 -0.00177639 0.99987696 -0.09132862] [ 0. 0. 0. 1. ]] SLAMing on 143.92992885099997 meters Centerline goodness [0,1] 0.7124837347637889 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.06, Z:-0.09 [[ 9.99827754e-01 -1.01187879e-02 1.55586611e-02 5.71769285e-01] [ 1.01063196e-02 9.99948543e-01 8.79791190e-04 -5.50396235e-02] [-1.55667630e-02 -7.22398847e-04 9.99878570e-01 -9.09014661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.95992885099997 meters Centerline goodness [0,1] 0.7123367661110521 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.05, Z:-0.09 [[ 9.99824604e-01 -1.04131378e-02 1.55669087e-02 5.71549091e-01] [ 1.04123385e-02 9.99945781e-01 1.32392321e-04 -5.26490507e-02] [-1.55674433e-02 2.97188231e-05 9.99878820e-01 -9.04203863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.98992885099997 meters Centerline goodness [0,1] 0.7106896459870542 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.05, Z:-0.09 [[ 9.99822710e-01 -1.06313073e-02 1.55410087e-02 5.71495671e-01] [ 1.06401665e-02 9.99943273e-01 -4.87481812e-04 -5.04467266e-02] [-1.55349445e-02 6.52754307e-04 9.99879112e-01 -9.00574710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.01992885099997 meters Centerline goodness [0,1] 0.7122216013411032 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.05, Z:-0.09 [[ 0.99982059 -0.01085335 0.01552416 0.57155243] [ 0.01087099 0.99994036 -0.0010522 -0.04817016] [-0.01551181 0.00122078 0.99987894 -0.08994034] [ 0. 0. 0. 1. ]] SLAMing on 144.04992885099998 meters Centerline goodness [0,1] 0.7058870751940058 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.09 [[ 0.99981194 -0.01140482 0.01568495 0.57147736] [ 0.0114349 0.99993295 -0.00182972 -0.04481552] [-0.01566303 0.00200873 0.99987531 -0.09035899] [ 0. 0. 0. 1. ]] SLAMing on 144.07992885099998 meters Centerline goodness [0,1] 0.7042151746286631 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.09 [[ 0.99980917 -0.01155375 0.01575218 0.57171304] [ 0.01158354 0.99993129 -0.0018014 -0.04415976] [-0.01573028 0.00198352 0.9998743 -0.09111142] [ 0. 0. 0. 1. ]] SLAMing on 144.10992885099998 meters Centerline goodness [0,1] 0.7002628332349944 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.09 [[ 0.99980343 -0.01185266 0.01589382 0.57167644] [ 0.01188487 0.9999275 -0.00193417 -0.04340255] [-0.01586974 0.00212269 0.99987181 -0.09167076] [ 0. 0. 0. 1. ]] SLAMing on 144.13992885099998 meters Centerline goodness [0,1] 0.6946546449847046 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.09 [[ 0.99978751 -0.0127353 0.01620929 0.57099777] [ 0.01277619 0.99991545 -0.00242131 -0.04158617] [-0.01617709 0.00262789 0.99986569 -0.09222318] [ 0. 0. 0. 1. ]] SLAMing on 144.16992885099998 meters Centerline goodness [0,1] 0.692893128952728 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.09 [[ 0.99978245 -0.01303888 0.0162801 0.57103401] [ 0.01308189 0.99991121 -0.00253797 -0.04089589] [-0.01624557 0.00275039 0.99986425 -0.09269427] [ 0. 0. 0. 1. ]] SLAMing on 144.19992885099998 meters Centerline goodness [0,1] 0.6885575608055563 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.09 [[ 0.99977575 -0.01333512 0.01645045 0.57087454] [ 0.0133795 0.99990714 -0.00259042 -0.04031223] [-0.01641438 0.00280994 0.99986133 -0.09324484] [ 0. 0. 0. 1. ]] SLAMing on 144.22992885099998 meters Centerline goodness [0,1] 0.6848991215108938 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.09 [[ 0.99977006 -0.01359032 0.01658691 0.57067163] [ 0.01363598 0.99990353 -0.00264246 -0.03989429] [-0.0165494 0.00286803 0.99985894 -0.09355827] [ 0. 0. 0. 1. ]] SLAMing on 144.25992885099998 meters Centerline goodness [0,1] 0.6764879991389516 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.09 [[ 0.99975025 -0.01455812 0.01695583 0.56929357] [ 0.01461595 0.99988776 -0.00329158 -0.03837757] [-0.01690601 0.00353858 0.99985082 -0.09320774] [ 0. 0. 0. 1. ]] SLAMing on 144.28992885099998 meters Centerline goodness [0,1] 0.6762974709060123 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.09 [[ 0.99974631 -0.01476048 0.01701288 0.56906895] [ 0.01482177 0.99988409 -0.0034823 -0.03795891] [-0.01695951 0.00373358 0.99984921 -0.09306883] [ 0. 0. 0. 1. ]] SLAMing on 144.319928851 meters Centerline goodness [0,1] 0.6708404987102321 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.09 [[ 0.99974224 -0.01493679 0.01709784 0.56884679] [ 0.01500065 0.99988096 -0.00361288 -0.03748085] [-0.01704184 0.00386843 0.99984729 -0.0930747 ] [ 0. 0. 0. 1. ]] SLAMing on 144.349928851 meters Centerline goodness [0,1] 0.6697489382291275 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.09 [[ 0.99974105 -0.01504139 0.0170758 0.56885522] [ 0.01510705 0.99987895 -0.00372322 -0.03692888] [-0.01701773 0.00398022 0.99984727 -0.09308311] [ 0. 0. 0. 1. ]] SLAMing on 144.379928851 meters Centerline goodness [0,1] 0.6737357698414834 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.09 [[ 9.99763541e-01 -1.31761333e-02 1.72988768e-02 5.67153264e-01] [ 1.31866064e-02 9.99912932e-01 -4.91487070e-04 -3.79423772e-02] [-1.72908947e-02 7.19484333e-04 9.99850242e-01 -9.30552437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.409928851 meters Centerline goodness [0,1] 0.6666309099198156 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.09 [[ 9.99760511e-01 -1.32912969e-02 1.73856829e-02 5.67222141e-01] [ 1.33017540e-02 9.99911410e-01 -4.85968673e-04 -3.73499180e-02] [-1.73776835e-02 7.17112365e-04 9.99848739e-01 -9.35416362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.439928851 meters Centerline goodness [0,1] 0.6698141123934038 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.09 [[ 9.99766164e-01 -1.30429956e-02 1.72481005e-02 5.67957041e-01] [ 1.30452334e-02 9.99914907e-01 -1.72358758e-05 -3.79208745e-02] [-1.72464080e-02 2.42237343e-04 9.99851240e-01 -9.43203481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.469928851 meters Centerline goodness [0,1] 0.6723901652559452 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.10 [[ 9.99770796e-01 -1.27709989e-02 1.71830697e-02 5.68753297e-01] [ 1.27634995e-02 9.99918394e-01 5.46040884e-04 -3.87942484e-02] [-1.71886410e-02 -3.26599627e-04 9.99852211e-01 -9.53775457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.499928851 meters Centerline goodness [0,1] 0.6650352283117302 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.10 [[ 9.99775256e-01 -1.25467681e-02 1.70884616e-02 5.69437807e-01] [ 1.25298563e-02 9.99920897e-01 1.09637402e-03 -3.99204801e-02] [-1.71008658e-02 -8.82011646e-04 9.99853380e-01 -9.62169898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.529928851 meters Centerline goodness [0,1] 0.6748446539532891 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.10 [[ 0.99977476 -0.01243716 0.01719698 0.569903 ] [ 0.01240313 0.99992091 0.00208444 -0.04203181] [-0.01722155 -0.00187068 0.99984995 -0.09780964] [ 0. 0. 0. 1. ]] SLAMing on 144.559928851 meters Centerline goodness [0,1] 0.6782345374638226 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.10 [[ 0.99977911 -0.01222764 0.01709455 0.57053533] [ 0.01218714 0.99992268 0.00247129 -0.04286386] [-0.01712345 -0.00226241 0.99985082 -0.09842123] [ 0. 0. 0. 1. ]] SLAMing on 144.58992885099997 meters Centerline goodness [0,1] 0.6615801330186655 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.10 [[ 0.99978292 -0.01204875 0.01699837 0.5710654 ] [ 0.01200215 0.99992394 0.00284092 -0.04346803] [-0.01703131 -0.00263628 0.99985148 -0.09895755] [ 0. 0. 0. 1. ]] SLAMing on 144.61992885099997 meters Centerline goodness [0,1] 0.6691302485004285 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.10 [[ 0.99979319 -0.01156329 0.01672951 0.57211794] [ 0.01151041 0.99992846 0.00325359 -0.04407842] [-0.01676594 -0.00306035 0.99985476 -0.09944621] [ 0. 0. 0. 1. ]] SLAMing on 144.64992885099997 meters Centerline goodness [0,1] 0.6606778933819586 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.04, Z:-0.10 [[ 0.99980169 -0.01117746 0.01648155 0.57298975] [ 0.01111982 0.99993175 0.00358487 -0.04471628] [-0.0165205 -0.00340089 0.99985774 -0.09981946] [ 0. 0. 0. 1. ]] SLAMing on 144.67992885099997 meters Centerline goodness [0,1] 0.6687648996866044 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.05, Z:-0.10 [[ 0.99980814 -0.01086251 0.01629976 0.57361898] [ 0.01080104 0.99993424 0.00385436 -0.04548514] [-0.01634056 -0.00367757 0.99985972 -0.10001167] [ 0. 0. 0. 1. ]] SLAMing on 144.70992885099997 meters Centerline goodness [0,1] 0.6714797582758436 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.05, Z:-0.10 [[ 0.99981089 -0.01073554 0.01621544 0.57380061] [ 0.01066852 0.99993421 0.00421355 -0.04664259] [-0.0162596 -0.00403976 0.99985964 -0.10012936] [ 0. 0. 0. 1. ]] SLAMing on 144.73992885099997 meters Centerline goodness [0,1] 0.6662388706184327 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.05, Z:-0.10 [[ 0.99981056 -0.01080205 0.01619153 0.5737135 ] [ 0.01073126 0.99993251 0.00445248 -0.04769376] [-0.01623853 -0.00427788 0.99985899 -0.10008849] [ 0. 0. 0. 1. ]] SLAMing on 144.76992885099997 meters Centerline goodness [0,1] 0.6440962955054981 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.05, Z:-0.10 [[ 0.9998104 -0.01088333 0.01614671 0.57367895] [ 0.01080151 0.99992842 0.00514551 -0.05008204] [-0.01620156 -0.00497012 0.99985639 -0.10041819] [ 0. 0. 0. 1. ]] SLAMing on 144.79992885099998 meters Centerline goodness [0,1] 0.6709611889233401 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.05, Z:-0.10 [[ 0.99980962 -0.01089152 0.01618917 0.57359992] [ 0.01080302 0.99992628 0.00554393 -0.05170769] [-0.01624836 -0.00536798 0.99985358 -0.10062136] [ 0. 0. 0. 1. ]] SLAMing on 144.82992885099998 meters Centerline goodness [0,1] 0.6676885346413244 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.05, Z:-0.10 [[ 0.99981221 -0.01076899 0.01611141 0.57400496] [ 0.01066986 0.99992369 0.00622645 -0.05372102] [-0.01617724 -0.00605337 0.99985082 -0.10128427] [ 0. 0. 0. 1. ]] SLAMing on 144.85992885099998 meters Centerline goodness [0,1] 0.6561876645655469 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.06, Z:-0.10 [[ 0.99980461 -0.01125484 0.01625045 0.5734465 ] [ 0.01114515 0.9999146 0.00682493 -0.05731988] [-0.01632588 -0.00664248 0.99984466 -0.10167989] [ 0. 0. 0. 1. ]] SLAMing on 144.88992885099998 meters Centerline goodness [0,1] 0.6536682615629984 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.06, Z:-0.10 [[ 0.99980433 -0.01129919 0.01623692 0.57338386] [ 0.01118505 0.99991221 0.00710382 -0.05920973] [-0.01631576 -0.00692082 0.99984294 -0.1016473 ] [ 0. 0. 0. 1. ]] SLAMing on 144.91992885099998 meters Centerline goodness [0,1] 0.6494703024188195 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.06, Z:-0.10 [[ 0.99980531 -0.01126007 0.01620353 0.57358612] [ 0.0111393 0.99990964 0.00752472 -0.06110187] [-0.0162868 -0.00734276 0.9998404 -0.10192674] [ 0. 0. 0. 1. ]] SLAMing on 144.94992885099998 meters Centerline goodness [0,1] 0.6487338419156601 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.06, Z:-0.10 [[ 0.99980157 -0.01160084 0.01619402 0.57290884] [ 0.01147169 0.99990183 0.00804527 -0.06416506] [-0.01628576 -0.0078579 0.9998365 -0.10149823] [ 0. 0. 0. 1. ]] SLAMing on 144.97992885099998 meters Centerline goodness [0,1] 0.6534951200211025 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.07, Z:-0.10 [[ 0.99980385 -0.01152997 0.01610364 0.57301721] [ 0.01139319 0.99989846 0.00856002 -0.06621396] [-0.0162007 -0.00837487 0.99983369 -0.10153478] [ 0. 0. 0. 1. ]] SLAMing on 145.00992885099998 meters Centerline goodness [0,1] 0.6480655152501444 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.07, Z:-0.10 [[ 0.99977969 -0.01432332 0.01534343 0.57491801] [ 0.01424144 0.99988383 0.00543235 -0.06928413] [-0.01541946 -0.00521264 0.99986753 -0.10111599] [ 0. 0. 0. 1. ]] SLAMing on 145.03992885099998 meters Centerline goodness [0,1] 0.6658266393657795 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.07, Z:-0.10 [[ 0.99978074 -0.01423779 0.0153546 0.5747958 ] [ 0.01414716 0.99988195 0.00599522 -0.07192247] [-0.01543815 -0.00577668 0.99986414 -0.10112971] [ 0. 0. 0. 1. ]] SLAMing on 145.069928851 meters Centerline goodness [0,1] 0.6658266393657795 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.07, Z:-0.10 [[ 0.99978074 -0.01423779 0.0153546 0.5747958 ] [ 0.01414716 0.99988195 0.00599522 -0.07192247] [-0.01543815 -0.00577668 0.99986414 -0.10112971] [ 0. 0. 0. 1. ]] SLAMing on 145.099928851 meters Centerline goodness [0,1] 0.6384377619446773 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.07, Z:-0.10 [[ 0.99978044 -0.01419902 0.01540982 0.57459878] [ 0.01409778 0.99987845 0.00665913 -0.07450796] [-0.0155025 -0.00644042 0.99985909 -0.1012725 ] [ 0. 0. 0. 1. ]] SLAMing on 145.129928851 meters Centerline goodness [0,1] 0.6490939903532786 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.08, Z:-0.10 [[ 0.99978044 -0.01424471 0.0153673 0.57419025] [ 0.01412857 0.999871 0.00764017 -0.07916183] [-0.01547415 -0.00742137 0.99985273 -0.10105323] [ 0. 0. 0. 1. ]] SLAMing on 145.159928851 meters Centerline goodness [0,1] 0.6331476468138275 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.08, Z:-0.10 [[ 0.99978404 -0.0140814 0.01528375 0.57419712] [ 0.01395631 0.99986848 0.00826053 -0.08173363] [-0.01539806 -0.00804544 0.99984907 -0.10093669] [ 0. 0. 0. 1. ]] SLAMing on 145.189928851 meters Centerline goodness [0,1] 0.6384204244720046 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.08, Z:-0.10 [[ 0.99979044 -0.01379645 0.01512397 0.57448549] [ 0.01366221 0.99986667 0.00894314 -0.08459691] [-0.01524534 -0.00873463 0.99984563 -0.10090329] [ 0. 0. 0. 1. ]] SLAMing on 145.219928851 meters Centerline goodness [0,1] 0.6455276979999482 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.09, Z:-0.10 [[ 0.99979228 -0.01366746 0.01511962 0.57427744] [ 0.01352566 0.99986395 0.00944149 -0.08727209] [-0.01524661 -0.00923503 0.99984111 -0.10061155] [ 0. 0. 0. 1. ]] SLAMing on 145.249928851 meters Centerline goodness [0,1] 0.6406851918434434 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.09, Z:-0.10 [[ 0.99976507 -0.01629255 0.01429553 0.5761379 ] [ 0.0162012 0.99984773 0.00648295 -0.0908008 ] [-0.01439898 -0.00624983 0.9998768 -0.0999691 ] [ 0. 0. 0. 1. ]] SLAMing on 145.279928851 meters Centerline goodness [0,1] 0.6349104695545251 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.09, Z:-0.10 [[ 0.99977125 -0.01596348 0.01423398 0.57643347] [ 0.0158593 0.99984683 0.00740223 -0.09388297] [-0.01434997 -0.0071748 0.99987129 -0.10034464] [ 0. 0. 0. 1. ]] SLAMing on 145.30992885099997 meters Centerline goodness [0,1] 0.6436300530828909 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.10, Z:-0.10 [[ 0.99977944 -0.0156346 0.01402216 0.57690427] [ 0.0155205 0.99984585 0.00820956 -0.09703149] [-0.01414835 -0.00799012 0.99986798 -0.10042928] [ 0. 0. 0. 1. ]] SLAMing on 145.33992885099997 meters Centerline goodness [0,1] 0.644257064721969 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.10, Z:-0.10 [[ 0.9997659 -0.01633592 0.01418758 0.57663116] [ 0.01622948 0.99983952 0.0075852 -0.10256392] [-0.01430921 -0.00735317 0.99987058 -0.09980861] [ 0. 0. 0. 1. ]] SLAMing on 145.36992885099997 meters Centerline goodness [0,1] 0.6526464789444416 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.11, Z:-0.10 [[ 0.99977663 -0.01580981 0.01402645 0.57724652] [ 0.01569032 0.99984001 0.00858845 -0.10584476] [-0.01415999 -0.00836645 0.99986474 -0.10022078] [ 0. 0. 0. 1. ]] SLAMing on 145.39992885099997 meters Centerline goodness [0,1] 0.647266225098849 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.11, Z:-0.10 [[ 0.99978041 -0.01557914 0.01401477 0.57722883] [ 0.01545013 0.9998377 0.00926651 -0.1089177 ] [-0.01415686 -0.00904794 0.99985885 -0.10018893] [ 0. 0. 0. 1. ]] SLAMing on 145.42992885099997 meters Centerline goodness [0,1] 0.6537273708790519 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.11, Z:-0.10 [[ 0.99978462 -0.01533312 0.0139859 0.5772994 ] [ 0.01519398 0.99983455 0.01000051 -0.11202686] [-0.01413692 -0.00978585 0.99985218 -0.10024871] [ 0. 0. 0. 1. ]] SLAMing on 145.45992885099997 meters Centerline goodness [0,1] 0.6413568264396994 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.12, Z:-0.10 [[ 0.99976261 -0.01750535 0.01297263 0.58023233] [ 0.01740731 0.99981935 0.00763229 -0.1164732 ] [-0.01310389 -0.00740466 0.99988672 -0.10050694] [ 0. 0. 0. 1. ]] SLAMing on 145.48992885099997 meters Centerline goodness [0,1] 0.6465081723625556 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.12, Z:-0.10 [[ 0.99977381 -0.01697757 0.01281007 0.58090722] [ 0.01686718 0.99982009 0.00867708 -0.11977992] [-0.01295508 -0.00845905 0.9998803 -0.10100051] [ 0. 0. 0. 1. ]] SLAMing on 145.51992885099997 meters Centerline goodness [0,1] 0.6465081723625556 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.12, Z:-0.10 [[ 0.99977381 -0.01697757 0.01281007 0.58090722] [ 0.01686718 0.99982009 0.00867708 -0.11977992] [-0.01295508 -0.00845905 0.9998803 -0.10100051] [ 0. 0. 0. 1. ]] SLAMing on 145.54992885099998 meters Centerline goodness [0,1] 0.6458436417615042 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.12, Z:-0.10 [[ 0.99978432 -0.01647234 0.01264836 0.58146274] [ 0.01635162 0.99982032 0.00958886 -0.12299299] [-0.01280404 -0.00937997 0.99987403 -0.10124226] [ 0. 0. 0. 1. ]] SLAMing on 145.57992885099998 meters Centerline goodness [0,1] 0.6515357434085349 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.13, Z:-0.10 [[ 0.9997927 -0.01603696 0.0125445 0.58200457] [ 0.0159071 0.99981955 0.01038456 -0.12574809] [-0.01270878 -0.01018286 0.99986739 -0.10164619] [ 0. 0. 0. 1. ]] SLAMing on 145.60992885099998 meters Centerline goodness [0,1] 0.6456334563345634 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.13, Z:-0.10 [[ 0.99981999 -0.01469317 0.0120041 0.58364776] [ 0.01455002 0.99982301 0.01192644 -0.13050806] [-0.01217721 -0.01174963 0.99985682 -0.10201016] [ 0. 0. 0. 1. ]] SLAMing on 145.63992885099998 meters Centerline goodness [0,1] 0.6457807097138093 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.13, Z:-0.10 [[ 0.99982983 -0.01417861 0.0118013 0.58411887] [ 0.0140317 0.99982417 0.01243981 -0.13231127] [-0.0119756 -0.0122721 0.99985298 -0.10187833] [ 0. 0. 0. 1. ]] SLAMing on 145.66992885099998 meters Centerline goodness [0,1] 0.6625119377035531 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.13, Z:-0.10 [[ 0.99983614 -0.01380599 0.01170851 0.58406352] [ 0.01365489 0.9998237 0.01288824 -0.13403993] [-0.01188438 -0.01272625 0.99984839 -0.10140153] [ 0. 0. 0. 1. ]] SLAMing on 145.69992885099998 meters Centerline goodness [0,1] 0.6604813342761697 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.14, Z:-0.10 [[ 0.99983916 -0.01364112 0.01164363 0.58373224] [ 0.01348806 0.9998229 0.01312389 -0.13558972] [-0.01182059 -0.01296473 0.99984608 -0.1006371 ] [ 0. 0. 0. 1. ]] SLAMing on 145.72992885099998 meters Centerline goodness [0,1] 0.6585555582565574 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.14, Z:-0.10 [[ 0.99984473 -0.01325752 0.01160815 0.58308801] [ 0.01309489 0.99981658 0.01397586 -0.1397794 ] [-0.01179131 -0.01382168 0.99983495 -0.09957043] [ 0. 0. 0. 1. ]] SLAMing on 145.75992885099998 meters Centerline goodness [0,1] 0.6524275134324024 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.14, Z:-0.10 [[ 0.99984977 -0.01294665 0.01152461 0.58327518] [ 0.01277765 0.99981148 0.01461952 -0.14245222] [-0.01171171 -0.01447007 0.99982671 -0.09951753] [ 0. 0. 0. 1. ]] SLAMing on 145.78992885099998 meters Centerline goodness [0,1] 0.6594351701978596 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.15, Z:-0.10 [[ 0.99985299 -0.01273605 0.01148016 0.58337734] [ 0.01256042 0.99980492 0.01524303 -0.145062 ] [-0.01167205 -0.0150966 0.99981791 -0.09959055] [ 0. 0. 0. 1. ]] SLAMing on 145.819928851 meters Centerline goodness [0,1] 0.6510204573383773 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.15, Z:-0.10 [[ 0.99985549 -0.01257449 0.01144002 0.58337267] [ 0.0123923 0.99979744 0.01585925 -0.14783633] [-0.01163713 -0.01571519 0.99980879 -0.09954349] [ 0. 0. 0. 1. ]] SLAMing on 145.849928851 meters Centerline goodness [0,1] 0.6657652914712358 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.15, Z:-0.10 [[ 0.99986612 -0.0119065 0.01122421 0.58401793] [ 0.01171194 0.99978273 0.01724303 -0.15308798] [-0.01142707 -0.01710926 0.99978833 -0.09986039] [ 0. 0. 0. 1. ]] SLAMing on 145.879928851 meters Centerline goodness [0,1] 0.660295768927539 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.15, Z:-0.10 [[ 0.99993203 -0.00873649 0.0077204 0.578598 ] [ 0.00869422 0.99994713 0.00549129 -0.15274445] [-0.00776796 -0.00542379 0.99995512 -0.09781398] [ 0. 0. 0. 1. ]] SLAMing on 145.909928851 meters Centerline goodness [0,1] 0.6722709087445228 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.15, Z:-0.10 [[ 0.99993874 -0.0082064 0.00742747 0.57934904] [ 0.00816088 0.99994786 0.00613771 -0.15484407] [-0.00747745 -0.00607671 0.99995358 -0.09791107] [ 0. 0. 0. 1. ]] SLAMing on 145.939928851 meters Centerline goodness [0,1] 0.666674561819043 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.16, Z:-0.10 [[ 0.99994588 -0.00755855 0.00714841 0.58020543] [ 0.00750935 0.9999481 0.00688589 -0.15706099] [-0.00720009 -0.00683184 0.99995074 -0.09811564] [ 0. 0. 0. 1. ]] SLAMing on 145.969928851 meters Centerline goodness [0,1] 0.6715538374504997 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.16, Z:-0.10 [[ 0.99995336 -0.00659554 0.00705582 0.58079404] [ 0.00653677 0.99994402 0.00832085 -0.16121248] [-0.0071103 -0.00827434 0.99994049 -0.09857775] [ 0. 0. 0. 1. ]] SLAMing on 145.999928851 meters Centerline goodness [0,1] 0.6706330542752328 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.16, Z:-0.10 [[ 0.99995697 -0.00623731 0.00686733 0.58114575] [ 0.00617681 0.99994224 0.00879598 -0.16306954] [-0.0069218 -0.00875318 0.99993773 -0.09847447] [ 0. 0. 0. 1. ]] SLAMing on 146.029928851 meters Centerline goodness [0,1] 0.6714238845144357 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.10 [[ 0.99995963 -0.00594019 0.00674223 0.58129466] [ 0.00587743 0.99993957 0.00929069 -0.16514959] [-0.00679701 -0.00925069 0.99993411 -0.098309 ] [ 0. 0. 0. 1. ]] SLAMing on 146.05992885099997 meters Centerline goodness [0,1] 0.6718928097885506 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.10 [[ 0.99996096 -0.00567291 0.00677494 0.58084686] [ 0.00560382 0.99993255 0.01017329 -0.16908152] [-0.0068322 -0.01013493 0.9999253 -0.09788613] [ 0. 0. 0. 1. ]] SLAMing on 146.08992885099997 meters Centerline goodness [0,1] 0.6667053795410202 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.10 [[ 0.99996231 -0.00551387 0.00670617 0.58089854] [ 0.00544281 0.99992934 0.01056865 -0.17103706] [-0.00676397 -0.01053175 0.99992166 -0.09775862] [ 0. 0. 0. 1. ]] SLAMing on 146.11992885099997 meters Centerline goodness [0,1] 0.6692090787223224 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.17, Z:-0.10 [[ 0.99996285 -0.00540193 0.00671682 0.58088491] [ 0.0053272 0.99992427 0.01109419 -0.17327512] [-0.00677624 -0.011058 0.9999159 -0.09785651] [ 0. 0. 0. 1. ]] SLAMing on 146.14992885099997 meters Centerline goodness [0,1] 0.6691800405829182 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.10 [[ 0.99996241 -0.00540398 0.00678001 0.58063331] [ 0.00532542 0.99991909 0.01155191 -0.17572194] [-0.00684188 -0.01151537 0.99991029 -0.09779419] [ 0. 0. 0. 1. ]] SLAMing on 146.17992885099997 meters Centerline goodness [0,1] 0.6707038391224862 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.10 [[ 0.99994537 -0.00832374 0.00632283 0.58205878] [ 0.00826792 0.99992705 0.00880493 -0.17920868] [-0.00639566 -0.00875217 0.99994125 -0.09816995] [ 0. 0. 0. 1. ]] SLAMing on 146.20992885099997 meters Centerline goodness [0,1] 0.6625199726089934 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.10 [[ 0.99994424 -0.00842091 0.00637248 0.58171357] [ 0.00836188 0.9999224 0.00923383 -0.18162103] [-0.00644974 -0.00918003 0.99993706 -0.09799666] [ 0. 0. 0. 1. ]] SLAMing on 146.23992885099997 meters Centerline goodness [0,1] 0.6612852024851481 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.10 [[ 0.99994425 -0.00844682 0.00633608 0.58161545] [ 0.00838502 0.99991763 0.00971761 -0.18426092] [-0.00641764 -0.00966394 0.99993271 -0.09786872] [ 0. 0. 0. 1. ]] SLAMing on 146.26992885099997 meters Centerline goodness [0,1] 0.6652747202868621 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.10 [[ 0.99994412 -0.00842723 0.00638269 0.58147789] [ 0.00836083 0.99991138 0.01036016 -0.18683965] [-0.00646944 -0.01030622 0.99992596 -0.09799438] [ 0. 0. 0. 1. ]] SLAMing on 146.29992885099998 meters Centerline goodness [0,1] 0.6551272497346612 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.10 [[ 0.99991727 -0.01136603 0.00602237 0.58257925] [ 0.01132029 0.99990724 0.00757429 -0.18953252] [-0.00610791 -0.00750549 0.99995318 -0.0981676 ] [ 0. 0. 0. 1. ]] SLAMing on 146.32992885099998 meters Centerline goodness [0,1] 0.67042151981436 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.10 [[ 0.99991537 -0.01146011 0.00615707 0.5822067 ] [ 0.01141057 0.99990271 0.0080229 -0.19175603] [-0.00624841 -0.00795196 0.99994886 -0.09817946] [ 0. 0. 0. 1. ]] SLAMing on 146.35992885099998 meters Centerline goodness [0,1] 0.6659998201762273 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.10 [[ 0.99991498 -0.01146051 0.00621956 0.58205782] [ 0.01140791 0.99989941 0.00842837 -0.19372207] [-0.00631553 -0.0083567 0.99994514 -0.09818489] [ 0. 0. 0. 1. ]] SLAMing on 146.38992885099998 meters Centerline goodness [0,1] 0.6595472308314243 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.20, Z:-0.10 [[ 0.99991733 -0.01125711 0.00621393 0.58240998] [ 0.01120044 0.99989605 0.00907995 -0.19571184] [-0.0063155 -0.0090096 0.99993947 -0.09875757] [ 0. 0. 0. 1. ]] SLAMing on 146.41992885099998 meters Centerline goodness [0,1] 0.6676200478180234 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.20, Z:-0.10 [[ 0.99992348 -0.01076792 0.00608922 0.58313981] [ 0.01070683 0.99989289 0.00997822 -0.19879855] [-0.00619602 -0.00991226 0.99993168 -0.09938085] [ 0. 0. 0. 1. ]] SLAMing on 146.44992885099998 meters Centerline goodness [0,1] 0.6698214285714286 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.20, Z:-0.10 [[ 0.99992416 -0.01070421 0.00609091 0.58319373] [ 0.0106421 0.99989195 0.01014029 -0.19968037] [-0.0061988 -0.0100747 0.99993004 -0.09940681] [ 0. 0. 0. 1. ]] SLAMing on 146.47992885099998 meters Centerline goodness [0,1] 0.6637049604857794 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.20, Z:-0.10 [[ 0.99992503 -0.01063738 0.00606449 0.58319803] [ 0.01057497 0.99989173 0.01023263 -0.2002751 ] [-0.00617268 -0.01016773 0.99992926 -0.09927053] [ 0. 0. 0. 1. ]] SLAMing on 146.50992885099998 meters Centerline goodness [0,1] 0.6769471100200848 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.20, Z:-0.10 [[ 0.9999273 -0.01043848 0.00603594 0.58314133] [ 0.01037618 0.99989351 0.01026134 -0.20033938] [-0.00614241 -0.01019796 0.99992913 -0.09896275] [ 0. 0. 0. 1. ]] SLAMing on 146.53992885099998 meters Centerline goodness [0,1] 0.6836391198698085 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.20, Z:-0.10 [[ 0.99993041 -0.01019869 0.00592946 0.58323365] [ 0.01013801 0.99989683 0.01017555 -0.19980913] [-0.00603263 -0.01011473 0.99993065 -0.09861073] [ 0. 0. 0. 1. ]] SLAMing on 146.569928851 meters Centerline goodness [0,1] 0.6762517818959373 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.20, Z:-0.10 [[ 0.99996427 -0.00603278 0.00592213 0.58307373] [ 0.00594833 0.99988184 0.01417456 -0.20028083] [-0.00600695 -0.01413883 0.999882 -0.09836073] [ 0. 0. 0. 1. ]] SLAMing on 146.599928851 meters Centerline goodness [0,1] 0.6925872255044031 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.20, Z:-0.10 [[ 0.99997184 -0.00500056 0.0055958 0.58447278] [ 0.0049197 0.99988463 0.01437114 -0.19911035] [-0.00566702 -0.0143432 0.99988107 -0.09887649] [ 0. 0. 0. 1. ]] SLAMing on 146.629928851 meters Centerline goodness [0,1] 0.7079316193536869 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.20, Z:-0.10 [[ 0.99998091 -0.00319793 0.00528678 0.58653737] [ 0.00311656 0.99987766 0.01532824 -0.19809765] [-0.00533515 -0.01531147 0.99986854 -0.10022433] [ 0. 0. 0. 1. ]] SLAMing on 146.659928851 meters Centerline goodness [0,1] 0.7289017470676624 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.10 [[ 0.99997847 0.00639911 0.00145446 0.58275523] [-0.00641138 0.99994257 0.00858831 -0.192938 ] [-0.00139942 -0.00859745 0.99996206 -0.09941855] [ 0. 0. 0. 1. ]] SLAMing on 146.689928851 meters Centerline goodness [0,1] 0.7408222376900105 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.19, Z:-0.10 [[ 0.99996723 0.00800106 0.00123432 0.58422213] [-0.00801141 0.99993072 0.00862432 -0.19013708] [-0.00116524 -0.00863393 0.99996205 -0.09975449] [ 0. 0. 0. 1. ]] SLAMing on 146.719928851 meters Centerline goodness [0,1] 0.7442362626239907 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.19, Z:-0.10 [[ 0.99995402 0.00952811 0.00108555 0.58545512] [-0.00953692 0.99991905 0.00842215 -0.18702337] [-0.00100521 -0.00843211 0.99996394 -0.09980806] [ 0. 0. 0. 1. ]] SLAMing on 146.749928851 meters Centerline goodness [0,1] 0.7544873676367659 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.18, Z:-0.10 [[ 9.99936964e-01 1.11921638e-02 8.95883113e-04 5.86841429e-01] [-1.11993108e-02 9.99901873e-01 8.41545021e-03 -1.84210259e-01] [-8.01608105e-04 -8.42495302e-03 9.99964188e-01 -9.99837366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.779928851 meters Centerline goodness [0,1] 0.7698452208544533 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.18, Z:-0.10 [[ 9.99853239e-01 1.71162321e-02 7.31424818e-04 5.88656199e-01] [-1.71238460e-02 9.99779849e-01 1.21254588e-02 -1.80493504e-01] [-5.23721627e-04 -1.21362040e-02 9.99926216e-01 -1.00297052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80992885099997 meters Centerline goodness [0,1] 0.7790222181834704 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.18, Z:-0.10 [[ 9.99835372e-01 1.81386170e-02 4.69523550e-04 5.89882461e-01] [-1.81428609e-02 9.99767360e-01 1.16645737e-02 -1.77391652e-01] [-2.57835085e-04 -1.16711719e-02 9.99931856e-01 -1.00302488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83992885099997 meters Centerline goodness [0,1] 0.7799804042199284 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.10 [[ 9.99821042e-01 1.89174903e-02 1.10554792e-04 5.91119104e-01] [-1.89175562e-02 9.99759909e-01 1.10566517e-02 -1.74240418e-01] [ 9.86358529e-05 -1.10567645e-02 9.99938867e-01 -1.00184773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86992885099997 meters Centerline goodness [0,1] 0.783906628294733 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.10 [[ 9.99810581e-01 1.94621111e-02 -1.70831623e-04 5.92047904e-01] [-1.94592896e-02 9.99756756e-01 1.03809470e-02 -1.71255839e-01] [ 3.72825213e-04 -1.03756564e-02 9.99946102e-01 -9.99841800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89992885099997 meters Centerline goodness [0,1] 0.7857864523536165 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.10 [[ 9.99795351e-01 2.02286591e-02 -2.40243787e-04 5.92733231e-01] [-2.02254866e-02 9.99750782e-01 9.45010695e-03 -1.66724657e-01] [ 4.31346906e-04 -9.44331395e-03 9.99955318e-01 -9.96162631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92992885099997 meters Centerline goodness [0,1] 0.7851245371541593 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.17, Z:-0.10 [[ 9.99795855e-01 2.02016524e-02 -3.75988486e-04 5.93185556e-01] [-2.01974667e-02 9.99755732e-01 8.97436916e-03 -1.65409336e-01] [ 5.57193730e-04 -8.96494307e-03 9.99959659e-01 -9.96617621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95992885099997 meters Centerline goodness [0,1] 0.7856073000437818 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.10 [[ 9.99846343e-01 1.75189602e-02 -6.13896386e-04 5.94577513e-01] [-1.75157133e-02 9.99834355e-01 4.94603394e-03 -1.62705519e-01] [ 7.00444068e-04 -4.93452111e-03 9.99987580e-01 -9.99318870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.98992885099997 meters Centerline goodness [0,1] 0.7852774893273335 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.16, Z:-0.10 [[ 9.99902327e-01 1.39389866e-02 -1.02007140e-03 5.95471468e-01] [-1.39386077e-02 9.99902782e-01 3.77533707e-04 -1.58391618e-01] [ 1.02523467e-03 -3.63278458e-04 9.99999408e-01 -9.96632935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.01992885099997 meters Centerline goodness [0,1] 0.7852159852159852 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.16, Z:-0.10 [[ 9.99909938e-01 1.33826671e-02 -1.00962380e-03 5.95104330e-01] [-1.33829373e-02 9.99910410e-01 -2.61396034e-04 -1.57187797e-01] [ 1.00603517e-03 2.74884224e-04 9.99999456e-01 -9.92137842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.04992885099998 meters Centerline goodness [0,1] 0.7836596455414309 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.10 [[ 9.99920228e-01 1.26016257e-02 -8.58677915e-04 5.94250676e-01] [-1.26024562e-02 9.99920117e-01 -9.68774843e-04 -1.56196279e-01] [ 8.46401183e-04 9.79519012e-04 9.99999162e-01 -9.86573703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07992885099998 meters Centerline goodness [0,1] 0.784201368750725 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.16, Z:-0.10 [[ 9.99929035e-01 1.18853888e-02 -8.14213543e-04 5.93869029e-01] [-1.18866303e-02 9.99928170e-01 -1.53728247e-03 -1.55491346e-01] [ 7.95883858e-04 1.54685163e-03 9.99998487e-01 -9.84214528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.10992885099998 meters Centerline goodness [0,1] 0.7770437846232298 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.10 [[ 9.99970268e-01 7.64236637e-03 -1.02796616e-03 5.94408575e-01] [-7.64834335e-03 9.99953097e-01 -5.94186075e-03 -1.53699173e-01] [ 9.82508073e-04 5.94954633e-03 9.99981819e-01 -9.85750404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13992885099998 meters Centerline goodness [0,1] 0.7718482535276429 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.10 [[ 9.99974118e-01 7.12347204e-03 -1.01005941e-03 5.94273652e-01] [-7.12941092e-03 9.99956565e-01 -6.00338105e-03 -1.54344949e-01] [ 9.67250616e-04 6.01042680e-03 9.99981469e-01 -9.87599819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.16992885099998 meters Centerline goodness [0,1] 0.7656231843640335 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.10 [[ 9.99979983e-01 6.29624179e-03 -6.25160738e-04 5.93123201e-01] [-6.30010982e-03 9.99959730e-01 -6.39110608e-03 -1.54480006e-01] [ 5.84895614e-04 6.39491673e-03 9.99979381e-01 -9.85518450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19992885099998 meters Centerline goodness [0,1] 0.755799387584671 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.10 [[ 9.99983206e-01 5.77023757e-03 -5.40716268e-04 5.92866914e-01] [-5.77363891e-03 9.99962106e-01 -6.51548646e-03 -1.54709987e-01] [ 5.03099873e-04 6.51849894e-03 9.99978628e-01 -9.87070012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.22992885099998 meters Centerline goodness [0,1] 0.752619473549706 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.10 [[ 9.99986780e-01 5.13941969e-03 -1.60867053e-04 5.91890403e-01] [-5.14038768e-03 9.99964051e-01 -6.74340303e-03 -1.54494927e-01] [ 1.26204092e-04 6.74414080e-03 9.99977250e-01 -9.87122796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25992885099998 meters Centerline goodness [0,1] 0.7417818561970031 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.10 [[ 9.99988213e-01 4.85238042e-03 -1.69252771e-04 5.91944681e-01] [-4.85342723e-03 9.99964699e-01 -6.85892821e-03 -1.54161928e-01] [ 1.35964667e-04 6.85966882e-03 9.99976463e-01 -9.88714250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.28992885099998 meters Centerline goodness [0,1] 0.7394189132560414 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.10 [[ 9.99990774e-01 4.29557278e-03 -2.16215503e-05 5.91961380e-01] [-4.29561814e-03 9.99965665e-01 -7.08638060e-03 -1.53211585e-01] [-8.81925575e-06 7.08640810e-03 9.99974891e-01 -9.96023718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.319928851 meters Centerline goodness [0,1] 0.72326003913165 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.10 [[ 9.99990865e-01 4.27314136e-03 -9.72072637e-05 5.92532736e-01] [-4.27371440e-03 9.99966650e-01 -6.95952326e-03 -1.53162026e-01] [ 6.74649952e-05 6.95987513e-03 9.99975777e-01 -1.00289351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.349928851 meters Centerline goodness [0,1] 0.726601788042466 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.10 [[ 9.99990849e-01 4.27399263e-03 -1.87006798e-04 5.93124807e-01] [-4.27517840e-03 9.99967183e-01 -6.88161824e-03 -1.52819308e-01] [ 1.57588675e-04 6.88235475e-03 9.99976304e-01 -1.00917306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.379928851 meters Centerline goodness [0,1] 0.7338026851288768 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.10 [[ 9.99990828e-01 4.27323534e-03 -2.87091042e-04 5.93617406e-01] [-4.27512304e-03 9.99966832e-01 -6.93237618e-03 -1.52111597e-01] [ 2.57457845e-04 6.93353995e-03 9.99975930e-01 -1.01306180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.409928851 meters Centerline goodness [0,1] 0.7528058229631369 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.10 [[ 9.99991446e-01 4.11787938e-03 -3.87762668e-04 5.94059851e-01] [-4.12068706e-03 9.99963068e-01 -7.54201393e-03 -1.49330997e-01] [ 3.56691243e-04 7.54354727e-03 9.99971483e-01 -1.01462386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.439928851 meters Centerline goodness [0,1] 0.7528058229631369 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.10 [[ 9.99991446e-01 4.11787938e-03 -3.87762668e-04 5.94059851e-01] [-4.12068706e-03 9.99963068e-01 -7.54201393e-03 -1.49330997e-01] [ 3.56691243e-04 7.54354727e-03 9.99971483e-01 -1.01462386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.469928851 meters Centerline goodness [0,1] 0.7369014613974907 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.10 [[ 9.99991329e-01 4.13209221e-03 -5.17313696e-04 5.94467836e-01] [-4.13597107e-03 9.99961523e-01 -7.73608396e-03 -1.48057083e-01] [ 4.85327579e-04 7.73815647e-03 9.99969942e-01 -1.01558982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.499928851 meters Centerline goodness [0,1] 0.727664002270255 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.10 [[ 9.99991915e-01 3.97489688e-03 -6.08559044e-04 5.94784595e-01] [-3.97983288e-03 9.99957328e-01 -8.33680941e-03 -1.45525336e-01] [ 5.75395118e-04 8.33916397e-03 9.99965063e-01 -1.01548597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.529928851 meters Centerline goodness [0,1] 0.7205979595692424 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.10 [[ 9.99991853e-01 3.98493557e-03 -6.44251335e-04 5.95092844e-01] [-3.99024024e-03 9.99956306e-01 -8.45365458e-03 -1.44505653e-01] [ 6.10535916e-04 8.45615642e-03 9.99964060e-01 -1.01837648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55992885099997 meters Centerline goodness [0,1] 0.7169829132445955 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.10 [[ 9.99992092e-01 3.92731830e-03 -6.25925283e-04 5.95372870e-01] [-3.93249038e-03 9.99956244e-01 -8.48795107e-03 -1.43889235e-01] [ 5.92563009e-04 8.49034539e-03 9.99963781e-01 -1.02286213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58992885099997 meters Centerline goodness [0,1] 0.7196604237608778 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.10 [[ 9.99992815e-01 3.75282600e-03 -5.34269695e-04 5.95433919e-01] [-3.75726129e-03 9.99956322e-01 -8.55787312e-03 -1.43304216e-01] [ 5.02130150e-04 8.55981902e-03 9.99963238e-01 -1.02697828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61992885099997 meters Centerline goodness [0,1] 0.7266171691534027 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.10 [[ 9.99995832e-01 2.86953415e-03 -3.17558886e-04 5.94987540e-01] [-2.87226829e-03 9.99955614e-01 -8.97327262e-03 -1.42603236e-01] [ 2.91795679e-04 8.97414734e-03 9.99959689e-01 -1.03127755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64992885099997 meters Centerline goodness [0,1] 0.7246788274540421 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.10 [[ 9.99996833e-01 2.50156457e-03 -2.76777875e-04 5.95020008e-01] [-2.50397488e-03 9.99955634e-01 -9.08079893e-03 -1.42220164e-01] [ 2.54049390e-04 9.08146322e-03 9.99958730e-01 -1.03492895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67992885099997 meters Centerline goodness [0,1] 0.7202287721296692 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.10 [[ 9.99997792e-01 2.09312174e-03 -1.85355637e-04 5.94991640e-01] [-2.09474649e-03 9.99955039e-01 -9.24834569e-03 -1.41643144e-01] [ 1.65989390e-04 9.24871355e-03 9.99957216e-01 -1.03871567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.70992885099997 meters Centerline goodness [0,1] 0.7155503591114081 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.10 [[ 9.99998477e-01 1.74541884e-03 -1.98881873e-05 5.94797608e-01] [-1.74552830e-03 9.99955280e-01 -9.29469524e-03 -1.41396570e-01] [ 3.66416172e-06 9.29471580e-03 9.99956803e-01 -1.04259701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.73992885099997 meters Centerline goodness [0,1] 0.7056934931506849 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.10 [[ 9.99999905e-01 3.75257931e-04 2.21957684e-04 5.93647053e-01] [-3.73045651e-04 9.99951077e-01 -9.88456984e-03 -1.41310018e-01] [-2.25656089e-04 9.88448610e-03 9.99951122e-01 -1.04040305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.76992885099997 meters Centerline goodness [0,1] 0.702320141309018 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.10 [[ 9.99999846e-01 -1.16257446e-04 5.42569248e-04 5.92874342e-01] [ 1.21619753e-04 9.99951049e-01 -9.89362972e-03 -1.41738562e-01] [-5.41392481e-04 9.89369418e-03 9.99950910e-01 -1.04188239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.79992885099998 meters Centerline goodness [0,1] 0.703374650712904 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.10 [[ 9.99999425e-01 -7.13201473e-04 8.01315639e-04 5.91972010e-01] [ 7.21216642e-04 9.99949266e-01 -1.00471491e-02 -1.41881071e-01] [-7.94109344e-04 1.00477212e-02 9.99949205e-01 -1.04031705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.82992885099998 meters Centerline goodness [0,1] 0.6972720746590093 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.10 [[ 0.99999781 -0.00181011 0.00105027 0.59102839] [ 0.00182078 0.99994577 -0.0102541 -0.14213575] [-0.00103166 0.01025599 0.99994687 -0.10415434] [ 0. 0. 0. 1. ]] SLAMing on 147.85992885099998 meters Centerline goodness [0,1] 0.6921087914192683 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.10 [[ 0.99999669 -0.00223454 0.00127391 0.59048075] [ 0.00224753 0.99994455 -0.01028811 -0.14221774] [-0.00125085 0.01029094 0.99994626 -0.10431029] [ 0. 0. 0. 1. ]] SLAMing on 147.88992885099998 meters Centerline goodness [0,1] 0.6843087524525051 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.10 [[ 0.99999568 -0.0025777 0.00141221 0.59026305] [ 0.00259192 0.99994501 -0.01016196 -0.14258309] [-0.00138594 0.01016558 0.99994737 -0.10469244] [ 0. 0. 0. 1. ]] SLAMing on 147.91992885099998 meters Centerline goodness [0,1] 0.6786671773266948 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.11 [[ 0.99999495 -0.00277467 0.00155098 0.59009989] [ 0.00278985 0.99994735 -0.00987444 -0.14338288] [-0.0015235 0.00987871 0.99995004 -0.10511148] [ 0. 0. 0. 1. ]] SLAMing on 147.94992885099998 meters Centerline goodness [0,1] 0.6785185892235002 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.11 [[ 0.99999287 -0.00330581 0.00182568 0.58958776] [ 0.00332301 0.99994934 -0.00950162 -0.1449911 ] [-0.00179418 0.00950762 0.99995319 -0.10574172] [ 0. 0. 0. 1. ]] SLAMing on 147.97992885099998 meters Centerline goodness [0,1] 0.6758449256656628 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.11 [[ 0.99999259 -0.00334578 0.00190221 0.58952725] [ 0.00336324 0.99995157 -0.0092494 -0.14553863] [-0.00187117 0.00925573 0.99995541 -0.1060727 ] [ 0. 0. 0. 1. ]] SLAMing on 148.00992885099998 meters Centerline goodness [0,1] 0.6794694072657743 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.11 [[ 0.99999205 -0.00343292 0.00202801 0.58925815] [ 0.00345128 0.99995247 -0.00911822 -0.14583526] [-0.00199661 0.00912514 0.99995637 -0.10616897] [ 0. 0. 0. 1. ]] SLAMing on 148.03992885099998 meters Centerline goodness [0,1] 0.674132913506035 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.11 [[ 0.99999226 -0.003413 0.00195516 0.58941331] [ 0.00343045 0.99995368 -0.00899282 -0.1459188 ] [-0.00192437 0.00899946 0.99995765 -0.10624027] [ 0. 0. 0. 1. ]] SLAMing on 148.069928851 meters Centerline goodness [0,1] 0.6754463328009916 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.11 [[ 9.99997171e-01 -3.38244219e-04 2.35456361e-03 5.88067851e-01] [ 3.49693366e-04 9.99988110e-01 -4.86382220e-03 -1.47468954e-01] [-2.35289046e-03 4.86463182e-03 9.99985400e-01 -1.06381126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.099928851 meters Centerline goodness [0,1] 0.6796104975656098 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.11 [[ 9.99997721e-01 9.75560614e-05 2.13254338e-03 5.89069134e-01] [-8.80522428e-05 9.99990067e-01 -4.45620488e-03 -1.47810190e-01] [-2.13295693e-03 4.45600695e-03 9.99987797e-01 -1.07034363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.129928851 meters Centerline goodness [0,1] 0.6757369073738433 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.11 [[ 9.99998004e-01 4.75160697e-04 1.94064358e-03 5.89805998e-01] [-4.66766160e-04 9.99990543e-01 -4.32381046e-03 -1.47673019e-01] [-1.94267973e-03 4.32289601e-03 9.99988769e-01 -1.07334021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.159928851 meters Centerline goodness [0,1] 0.6792457333810717 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.11 [[ 9.99998186e-01 9.67467728e-04 1.64074721e-03 5.90910161e-01] [-9.60896262e-04 9.99991533e-01 -4.00123620e-03 -1.47635085e-01] [-1.64460438e-03 3.99965235e-03 9.99990649e-01 -1.07882236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.189928851 meters Centerline goodness [0,1] 0.6782202966172305 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.11 [[ 0.99999796 0.00155743 0.00128662 0.5923016 ] [-0.00155267 0.99999199 -0.00368825 -0.14728964] [-0.00129236 0.00368624 0.99999237 -0.10858438] [ 0. 0. 0. 1. ]] SLAMing on 148.219928851 meters Centerline goodness [0,1] 0.6928748687601413 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.15, Z:-0.11 [[ 9.99994524e-01 3.24615647e-03 6.43967432e-04 5.94987504e-01] [-3.24426064e-03 9.99990464e-01 -2.92350748e-03 -1.46081075e-01] [-6.53451454e-04 2.92140227e-03 9.99995519e-01 -1.09598383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.249928851 meters Centerline goodness [0,1] 0.6975271628330895 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.11 [[ 9.99992802e-01 3.77265449e-03 4.02712907e-04 5.95873161e-01] [-3.77141067e-03 9.99988249e-01 -3.04591020e-03 -1.44641157e-01] [-4.14199342e-04 3.04436948e-03 9.99995280e-01 -1.09726630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.279928851 meters Centerline goodness [0,1] 0.7015638888221587 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.11 [[ 9.99989615e-01 4.55732039e-03 2.64178563e-06 5.97269202e-01] [-4.55729047e-03 9.99984842e-01 -3.08989291e-03 -1.43422029e-01] [-1.67233776e-05 3.08984879e-03 9.99995226e-01 -1.09917519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30992885099997 meters Centerline goodness [0,1] 0.7094918273512916 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.11 [[ 9.99985266e-01 5.42042405e-03 -2.94265487e-04 5.98600591e-01] [-5.42131170e-03 9.99980485e-01 -3.10451628e-03 -1.41864658e-01] [ 2.77431950e-04 3.10606584e-03 9.99995138e-01 -1.10283502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33992885099997 meters Centerline goodness [0,1] 0.7245208323275238 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.11 [[ 9.99941551e-01 1.07868294e-02 -7.33520343e-04 6.00859324e-01] [-1.07861289e-02 9.99941375e-01 9.52311571e-04 -1.40147094e-01] [ 7.43749762e-04 -9.44344065e-04 9.99999278e-01 -1.11118074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.36992885099997 meters Centerline goodness [0,1] 0.7329850529676389 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.11 [[ 9.99924849e-01 1.22086963e-02 -1.11519852e-03 6.02720758e-01] [-1.22076834e-02 9.99925069e-01 9.10617409e-04 -1.37813089e-01] [ 1.12623241e-03 -8.96934985e-04 9.99998964e-01 -1.11461183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39992885099997 meters Centerline goodness [0,1] 0.7433587489679958 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.14, Z:-0.11 [[ 9.99904526e-01 1.37515210e-02 -1.35468417e-03 6.04343473e-01] [-1.37504388e-02 9.99905134e-01 8.04980427e-04 -1.35070767e-01] [ 1.36562536e-03 -7.86276070e-04 9.99998758e-01 -1.11666090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42992885099997 meters Centerline goodness [0,1] 0.7718547499694339 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.11 [[ 0.9997367 0.0229033 -0.001402 0.60580437] [-0.02289016 0.99969956 0.00876537 -0.1329127 ] [ 0.00160233 -0.00873097 0.9999606 -0.11236394] [ 0. 0. 0. 1. ]] SLAMing on 148.45992885099997 meters Centerline goodness [0,1] 0.7879108703680906 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.11 [[ 0.99962194 0.02745213 -0.00153614 0.60679077] [-0.02743051 0.99954346 0.01266666 -0.1316897 ] [ 0.00188317 -0.01261973 0.99991859 -0.11268842] [ 0. 0. 0. 1. ]] SLAMing on 148.48992885099997 meters Centerline goodness [0,1] 0.7965850037119525 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.11 [[ 0.99957076 0.02924645 -0.0017165 0.60849861] [-0.02922269 0.99949433 0.01253458 -0.12854418] [ 0.00208223 -0.01247904 0.99991997 -0.11280666] [ 0. 0. 0. 1. ]] SLAMing on 148.51992885099997 meters Centerline goodness [0,1] 0.8042754163559532 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.11 [[ 0.99952256 0.030829 -0.00205381 0.61029691] [-0.03080137 0.99944924 0.0123486 -0.12599873] [ 0.00243337 -0.01227945 0.99992164 -0.11280101] [ 0. 0. 0. 1. ]] SLAMing on 148.54992885099998 meters Centerline goodness [0,1] 0.8091501629481073 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.11 [[ 0.99934309 0.03617818 -0.00212838 0.6116121 ] [-0.03613913 0.99921585 0.01617552 -0.12420693] [ 0.00271191 -0.01608798 0.9998669 -0.11275736] [ 0. 0. 0. 1. ]] SLAMing on 148.57992885099998 meters Centerline goodness [0,1] 0.8079566547935584 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.11 [[ 0.99932048 0.0367746 -0.00249064 0.61260053] [-0.03673045 0.99919849 0.01591402 -0.12292445] [ 0.00307387 -0.01581173 0.99987026 -0.11247146] [ 0. 0. 0. 1. ]] SLAMing on 148.60992885099998 meters Centerline goodness [0,1] 0.8082763475462591 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.12, Z:-0.11 [[ 0.99930369 0.03720927 -0.00275888 0.61338885] [-0.03716105 0.99918364 0.01584618 -0.1224161 ] [ 0.00334625 -0.01573262 0.99987064 -0.11236762] [ 0. 0. 0. 1. ]] SLAMing on 148.63992885099998 meters Centerline goodness [0,1] 0.8106657301961571 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.12, Z:-0.11 [[ 0.99939042 0.0347538 -0.00331171 0.61501482] [-0.03471206 0.99932622 0.01192422 -0.1206283 ] [ 0.00372389 -0.011802 0.99992342 -0.11197247] [ 0. 0. 0. 1. ]] SLAMing on 148.66992885099998 meters Centerline goodness [0,1] 0.8064919788772931 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.12, Z:-0.11 [[ 0.99949324 0.03160351 -0.00380618 0.61596399] [-0.03157259 0.99947002 0.00792774 -0.12023186] [ 0.0040547 -0.00780355 0.99996133 -0.11136349] [ 0. 0. 0. 1. ]] SLAMing on 148.69992885099998 meters Centerline goodness [0,1] 0.8089133850412749 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.12, Z:-0.11 [[ 0.9995927 0.0281841 -0.00448181 0.61731849] [-0.02816748 0.99959626 0.00372873 -0.11926359] [ 0.00458509 -0.00360097 0.999983 -0.11096149] [ 0. 0. 0. 1. ]] SLAMing on 148.72992885099998 meters Centerline goodness [0,1] 0.8065591718921071 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.12, Z:-0.11 [[ 9.99684709e-01 2.46026277e-02 -5.01934734e-03 6.18326262e-01] [-2.46054815e-02 9.99697110e-01 -5.07603802e-04 -1.18507599e-01] [ 5.00533864e-03 6.30947217e-04 9.99987274e-01 -1.10471716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75992885099998 meters Centerline goodness [0,1] 0.8050255241116122 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.12, Z:-0.11 [[ 0.99975343 0.02144288 -0.0057686 0.62019695] [-0.02146693 0.99976099 -0.00413906 -0.11862284] [ 0.00567847 0.00426187 0.9999748 -0.11063942] [ 0. 0. 0. 1. ]] SLAMing on 148.78992885099998 meters Centerline goodness [0,1] 0.8046158398264128 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.12, Z:-0.11 [[ 0.99981643 0.0180505 -0.00642508 0.62183881] [-0.0180962 0.99981084 -0.00712813 -0.12150548] [ 0.00629519 0.00724309 0.99995395 -0.111244 ] [ 0. 0. 0. 1. ]] SLAMing on 148.819928851 meters Centerline goodness [0,1] 0.8022202028636687 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.12, Z:-0.11 [[ 0.99986421 0.01490518 -0.00702874 0.6235338 ] [-0.01497834 0.99983296 -0.01047396 -0.12227488] [ 0.00687145 0.01057782 0.99992044 -0.11164019] [ 0. 0. 0. 1. ]] SLAMing on 148.849928851 meters Centerline goodness [0,1] 0.8013609771620199 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.12, Z:-0.11 [[ 0.99986739 0.01465352 -0.00710438 0.62351095] [-0.01472385 0.99984209 -0.00995035 -0.12478777] [ 0.00695745 0.01005364 0.99992526 -0.11188391] [ 0. 0. 0. 1. ]] SLAMing on 148.879928851 meters Centerline goodness [0,1] 0.7996638737334373 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.13, Z:-0.11 [[ 0.99987254 0.01426743 -0.00716602 0.62330362] [-0.014336 0.99985105 -0.00961031 -0.12691737] [ 0.00702783 0.00971181 0.99992814 -0.11187935] [ 0. 0. 0. 1. ]] SLAMing on 148.909928851 meters Centerline goodness [0,1] 0.7940456275607923 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.13, Z:-0.11 [[ 0.99989088 0.01278432 -0.00740193 0.62224271] [-0.01285736 0.99986827 -0.00990588 -0.13031082] [ 0.00727432 0.00999997 0.99992354 -0.1108129 ] [ 0. 0. 0. 1. ]] SLAMing on 148.939928851 meters Centerline goodness [0,1] 0.794532457496136 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.13, Z:-0.11 [[ 0.99989263 0.01257314 -0.00752587 0.62218413] [-0.01264499 0.99987419 -0.00957596 -0.13219146] [ 0.00740452 0.0096701 0.99992583 -0.11070548] [ 0. 0. 0. 1. ]] SLAMing on 148.969928851 meters Centerline goodness [0,1] 0.79415382389118 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.13, Z:-0.11 [[ 0.99989331 0.01245995 -0.00762406 0.6222829 ] [-0.01253009 0.99987896 -0.0092229 -0.13389384] [ 0.00750822 0.00931744 0.9999284 -0.1108098 ] [ 0. 0. 0. 1. ]] SLAMing on 148.999928851 meters Centerline goodness [0,1] 0.7907279029462738 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.11 [[ 0.99989074 0.01253652 -0.00783202 0.62276904] [-0.01260468 0.99988258 -0.00871444 -0.13581608] [ 0.00772186 0.0088122 0.99993136 -0.11111073] [ 0. 0. 0. 1. ]] SLAMing on 149.029928851 meters Centerline goodness [0,1] 0.7880411487355337 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.11 [[ 0.99989072 0.01246213 -0.00795257 0.6230927 ] [-0.01252608 0.9998892 -0.00804297 -0.13872244] [ 0.00785145 0.0081417 0.99993603 -0.11161814] [ 0. 0. 0. 1. ]] SLAMing on 149.05992885099997 meters Centerline goodness [0,1] 0.7904887083283546 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.11 [[ 0.99989428 0.01227419 -0.0077963 0.62266531] [-0.01233612 0.99989234 -0.00794559 -0.13967909] [ 0.00769794 0.00804093 0.99993804 -0.1116143 ] [ 0. 0. 0. 1. ]] SLAMing on 149.08992885099997 meters Centerline goodness [0,1] 0.7644207812052335 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.11 [[ 0.99989856 0.01203109 -0.00762382 0.62211805] [-0.01209183 0.99989512 -0.00797119 -0.14042005] [ 0.00752712 0.00806257 0.99993917 -0.1114268 ] [ 0. 0. 0. 1. ]] SLAMing on 149.11992885099997 meters Centerline goodness [0,1] 0.7859401374129282 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.11 [[ 0.99989816 0.01197327 -0.00776602 0.62232124] [-0.01203389 0.99989712 -0.00780624 -0.14122444] [ 0.00767175 0.0078989 0.99993937 -0.11145119] [ 0. 0. 0. 1. ]] SLAMing on 149.14992885099997 meters Centerline goodness [0,1] 0.7824637439573262 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.11 [[ 0.99990192 0.01171683 -0.00767306 0.62183132] [-0.01177667 0.99990023 -0.00780029 -0.14189596] [ 0.0075809 0.00788989 0.99994014 -0.11118887] [ 0. 0. 0. 1. ]] SLAMing on 149.17992885099997 meters Centerline goodness [0,1] 0.7814731348594472 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.11 [[ 0.99990992 0.01119414 -0.00740624 0.62058387] [-0.01125051 0.99990772 -0.0076142 -0.14403399] [ 0.00732032 0.00769684 0.99994358 -0.1106502 ] [ 0. 0. 0. 1. ]] SLAMing on 149.20992885099997 meters Centerline goodness [0,1] 0.7833060478800389 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.11 [[ 0.99991478 0.010909 -0.00717161 0.61986137] [-0.01096247 0.99991209 -0.00745929 -0.14524219] [ 0.00708961 0.00753728 0.99994646 -0.1105419 ] [ 0. 0. 0. 1. ]] SLAMing on 149.23992885099997 meters Centerline goodness [0,1] 0.7782506916365184 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.11 [[ 0.99992301 0.01039939 -0.00676993 0.61848152] [-0.01044851 0.99991905 -0.00726121 -0.14746226] [ 0.00669387 0.00733139 0.99995072 -0.1101427 ] [ 0. 0. 0. 1. ]] SLAMing on 149.26992885099997 meters Centerline goodness [0,1] 0.7763381078024878 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.11 [[ 0.99992663 0.0101452 -0.0066183 0.61803499] [-0.01019193 0.99992309 -0.00706673 -0.14861117] [ 0.0065461 0.00713367 0.99995313 -0.11020835] [ 0. 0. 0. 1. ]] SLAMing on 149.29992885099998 meters Centerline goodness [0,1] 0.783129123468426 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.11 [[ 0.99992636 0.01013846 -0.00667017 0.61818089] [-0.01018344 0.9999254 -0.00674521 -0.14987004] [ 0.00660128 0.00681264 0.999955 -0.11039575] [ 0. 0. 0. 1. ]] SLAMing on 149.32992885099998 meters Centerline goodness [0,1] 0.783129123468426 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.11 [[ 0.99992636 0.01013846 -0.00667017 0.61818089] [-0.01018344 0.9999254 -0.00674521 -0.14987004] [ 0.00660128 0.00681264 0.999955 -0.11039575] [ 0. 0. 0. 1. ]] SLAMing on 149.35992885099998 meters Centerline goodness [0,1] 0.7712824602969809 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.11 [[ 0.99992476 0.01020352 -0.00680858 0.61857451] [-0.01024709 0.99992705 -0.00639524 -0.15101914] [ 0.00674283 0.00646453 0.99995637 -0.11065642] [ 0. 0. 0. 1. ]] SLAMing on 149.38992885099998 meters Centerline goodness [0,1] 0.7729106087609042 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.11 [[ 0.99992998 0.00986968 -0.00652841 0.61788508] [-0.00990962 0.99993221 -0.00611322 -0.15285588] [ 0.00646763 0.00617748 0.99996 -0.11080658] [ 0. 0. 0. 1. ]] SLAMing on 149.41992885099998 meters Centerline goodness [0,1] 0.7625134616285059 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.11 [[ 0.99993009 0.0098758 -0.00650217 0.61801647] [-0.0099136 0.99993399 -0.00580851 -0.15399902] [ 0.00644438 0.00587256 0.99996199 -0.11116869] [ 0. 0. 0. 1. ]] SLAMing on 149.44992885099998 meters Centerline goodness [0,1] 0.7689519711920685 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.11 [[ 0.99993327 0.00966556 -0.00632733 0.61761301] [-0.00970218 0.99993621 -0.00578237 -0.15469089] [ 0.00627104 0.00584337 0.99996326 -0.1112021 ] [ 0. 0. 0. 1. ]] SLAMing on 149.47992885099998 meters Centerline goodness [0,1] 0.769825378346915 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.11 [[ 0.99993055 0.00982046 -0.00651613 0.61821714] [-0.00985591 0.99993669 -0.00542968 -0.15562435] [ 0.0064624 0.00549352 0.99996403 -0.11154832] [ 0. 0. 0. 1. ]] SLAMing on 149.50992885099998 meters Centerline goodness [0,1] 0.7695284272360661 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.11 [[ 0.99993285 0.00959628 -0.0064963 0.61809196] [-0.00963161 0.99993888 -0.00542886 -0.15624588] [ 0.00644381 0.00549107 0.99996416 -0.11154249] [ 0. 0. 0. 1. ]] SLAMing on 149.53992885099998 meters Centerline goodness [0,1] 0.769785179483591 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.11 [[ 0.99993168 0.00970469 -0.00651593 0.61847358] [-0.00973854 0.99993914 -0.00518341 -0.1566763 ] [ 0.00646523 0.00524652 0.99996534 -0.11204181] [ 0. 0. 0. 1. ]] SLAMing on 149.569928851 meters Centerline goodness [0,1] 0.7726754334923776 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.11 [[ 0.99992837 0.00993899 -0.00666903 0.61911844] [-0.00997252 0.99993771 -0.00501262 -0.15684501] [ 0.0066188 0.00507877 0.9999652 -0.11241363] [ 0. 0. 0. 1. ]] SLAMing on 149.599928851 meters Centerline goodness [0,1] 0.770235715281975 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.11 [[ 0.99992666 0.01001179 -0.0068145 0.61948161] [-0.01004604 0.99993698 -0.0050111 -0.15675394] [ 0.0067639 0.00507919 0.99996423 -0.11245706] [ 0. 0. 0. 1. ]] SLAMing on 149.629928851 meters Centerline goodness [0,1] 0.7711384858999139 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.11 [[ 0.99992893 0.00984032 -0.00673125 0.61923046] [-0.00987554 0.99993762 -0.00521835 -0.15655407] [ 0.00667948 0.00528445 0.99996373 -0.11236666] [ 0. 0. 0. 1. ]] SLAMing on 149.659928851 meters Centerline goodness [0,1] 0.7754112876916623 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.11 [[ 0.99993215 0.00961951 -0.00656994 0.61890132] [-0.00965471 0.9999391 -0.00534688 -0.15630696] [ 0.00651811 0.00540995 0.99996412 -0.11244268] [ 0. 0. 0. 1. ]] SLAMing on 149.689928851 meters Centerline goodness [0,1] 0.7717029061502249 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.11 [[ 0.99993467 0.00941046 -0.00648876 0.61869354] [-0.00944583 0.99994058 -0.00544171 -0.15618636] [ 0.00643716 0.00550265 0.99996414 -0.11247619] [ 0. 0. 0. 1. ]] SLAMing on 149.719928851 meters Centerline goodness [0,1] 0.7634148609690319 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.11 [[ 0.99993812 0.00898355 -0.00656067 0.61863538] [-0.00902069 0.99994334 -0.0056523 -0.15623614] [ 0.00650952 0.00571113 0.9999625 -0.11241257] [ 0. 0. 0. 1. ]] SLAMing on 149.749928851 meters Centerline goodness [0,1] 0.7662883564522909 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.11 [[ 0.99994434 0.0085016 -0.00624823 0.61782315] [-0.00853922 0.99994542 -0.00601991 -0.15581916] [ 0.00619671 0.00607293 0.99996236 -0.11227327] [ 0. 0. 0. 1. ]] SLAMing on 149.779928851 meters Centerline goodness [0,1] 0.755728218768958 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.11 [[ 0.99994666 0.00828959 -0.00616183 0.61770556] [-0.00832664 0.99994726 -0.00601217 -0.15584934] [ 0.00611166 0.00606316 0.99996294 -0.11249784] [ 0. 0. 0. 1. ]] SLAMing on 149.80992885099997 meters Centerline goodness [0,1] 0.7563554870789271 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.11 [[ 0.99994984 0.00797747 -0.00605607 0.61725648] [-0.00801499 0.99994869 -0.00619523 -0.15576118] [ 0.00600633 0.00624346 0.99996247 -0.11230752] [ 0. 0. 0. 1. ]] SLAMing on 149.83992885099997 meters Centerline goodness [0,1] 0.7578962079567688 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.11 [[ 0.99995319 0.00757025 -0.00602597 0.61702017] [-0.0076096 0.9999497 -0.00653373 -0.15533687] [ 0.00597621 0.00657927 0.9999605 -0.11216289] [ 0. 0. 0. 1. ]] SLAMing on 149.86992885099997 meters Centerline goodness [0,1] 0.7602137240719569 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.11 [[ 0.99995405 0.00746807 -0.00601044 0.61695718] [-0.00750793 0.99994978 -0.00663819 -0.15487968] [ 0.00596056 0.00668301 0.9999599 -0.11212129] [ 0. 0. 0. 1. ]] SLAMing on 149.89992885099997 meters Centerline goodness [0,1] 0.7560912754193609 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.11 [[ 0.99995555 0.00735507 -0.00589946 0.61685541] [-0.00739502 0.99994968 -0.00677911 -0.15399478] [ 0.0058493 0.00682244 0.99995962 -0.11230878] [ 0. 0. 0. 1. ]] SLAMing on 149.92992885099997 meters Centerline goodness [0,1] 0.7510775862068966 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.11 [[ 0.99995565 0.00730594 -0.00594386 0.61704387] [-0.00734698 0.99994912 -0.00691227 -0.15324737] [ 0.00589306 0.00695564 0.99995844 -0.11241706] [ 0. 0. 0. 1. ]] SLAMing on 149.95992885099997 meters Centerline goodness [0,1] 0.7585040405938733 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.11 [[ 0.99995472 0.00740641 -0.00597534 0.61749769] [-0.00744765 0.9999484 -0.00690907 -0.15256754] [ 0.00592386 0.00695326 0.99995828 -0.11288916] [ 0. 0. 0. 1. ]] SLAMing on 149.98992885099997 meters Centerline goodness [0,1] 0.7516797510432138 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.11 [[ 0.99994778 0.00813075 -0.0061913 0.61921444] [-0.00817223 0.99994413 -0.00670411 -0.15051504] [ 0.00613645 0.00675436 0.99995836 -0.11425882] [ 0. 0. 0. 1. ]] SLAMing on 150.01992885099997 meters Centerline goodness [0,1] 0.7567318811507328 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.11 [[ 0.99994151 0.00860621 -0.00655075 0.62063233] [-0.00865032 0.9999399 -0.00673535 -0.1488506 ] [ 0.00649239 0.00679162 0.99995586 -0.11490769] [ 0. 0. 0. 1. ]] SLAMing on 150.04992885099998 meters Centerline goodness [0,1] 0.7607567029372022 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.12 [[ 0.99993693 0.00900104 -0.00671628 0.62156378] [-0.00904734 0.9999353 -0.00689565 -0.14693521] [ 0.00665378 0.00695598 0.99995367 -0.11539936] [ 0. 0. 0. 1. ]] SLAMing on 150.07992885099998 meters Centerline goodness [0,1] 0.7683930185000238 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.12 [[ 0.99989385 0.01293035 -0.00671582 0.62185051] [-0.0129555 0.99990917 -0.00371494 -0.14405038] [ 0.00666717 0.00380156 0.99997055 -0.11539645] [ 0. 0. 0. 1. ]] SLAMing on 150.10992885099998 meters Centerline goodness [0,1] 0.7684210526315789 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.12 [[ 0.99988918 0.01326453 -0.00675812 0.62232826] [-0.01329479 0.99990171 -0.00445144 -0.14096068] [ 0.00669841 0.00454079 0.99996726 -0.1152438 ] [ 0. 0. 0. 1. ]] SLAMing on 150.13992885099998 meters Centerline goodness [0,1] 0.7771483437349976 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.12 [[ 0.99987561 0.01406848 -0.00712991 0.62377053] [-0.01410186 0.99988974 -0.00465311 -0.13826657] [ 0.00706367 0.00475308 0.99996376 -0.11549921] [ 0. 0. 0. 1. ]] SLAMing on 150.16992885099998 meters Centerline goodness [0,1] 0.7797983695914331 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.12 [[ 0.99986962 0.01439076 -0.00732434 0.62444685] [-0.01443106 0.99988085 -0.00547926 -0.13510064] [ 0.00724462 0.00558425 0.99995816 -0.11518494] [ 0. 0. 0. 1. ]] SLAMing on 150.19992885099998 meters Centerline goodness [0,1] 0.796630829615544 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.13, Z:-0.12 [[ 0.99981139 0.01810166 -0.00703721 0.62412793] [-0.01812085 0.99983223 -0.00267307 -0.13127755] [ 0.00698764 0.00280009 0.99997167 -0.11506496] [ 0. 0. 0. 1. ]] SLAMing on 150.22992885099998 meters Centerline goodness [0,1] 0.7911301160659743 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.12 [[ 0.99979927 0.0186032 -0.00743856 0.62548806] [-0.01862637 0.99982184 -0.00305808 -0.12857965] [ 0.00738034 0.00319602 0.99996766 -0.11525992] [ 0. 0. 0. 1. ]] SLAMing on 150.25992885099998 meters Centerline goodness [0,1] 0.8006436397582666 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.12 [[ 0.99979307 0.01879549 -0.00778081 0.626383 ] [-0.0188249 0.99981586 -0.00372412 -0.12570746] [ 0.00770938 0.00386983 0.99996279 -0.11506159] [ 0. 0. 0. 1. ]] SLAMing on 150.28992885099998 meters Centerline goodness [0,1] 0.8013708726415094 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.12 [[ 0.99978133 0.01921459 -0.00825213 0.62785641] [-0.01924792 0.99980683 -0.00397818 -0.12365326] [ 0.0081741 0.00413615 0.99995804 -0.11536326] [ 0. 0. 0. 1. ]] SLAMing on 150.319928851 meters Centerline goodness [0,1] 0.8040679138966463 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.12 [[ 0.99977254 0.019518 -0.00859753 0.62926954] [-0.01955671 0.99979889 -0.00444108 -0.12044442] [ 0.00850912 0.00460821 0.99995318 -0.11590448] [ 0. 0. 0. 1. ]] SLAMing on 150.349928851 meters Centerline goodness [0,1] 0.8012180931395608 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.12 [[ 0.99977032 0.01951666 -0.00885453 0.62997979] [-0.019559 0.99979756 -0.00471976 -0.11928879] [ 0.00876062 0.00489186 0.99994966 -0.11600495] [ 0. 0. 0. 1. ]] SLAMing on 150.379928851 meters Centerline goodness [0,1] 0.801789964299881 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.12 [[ 0.99977143 0.01938058 -0.00902715 0.63029683] [-0.01942637 0.99979872 -0.00501264 -0.11846262] [ 0.00892819 0.00518686 0.99994669 -0.11594257] [ 0. 0. 0. 1. ]] SLAMing on 150.409928851 meters Centerline goodness [0,1] 0.7960880681113014 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.12 [[ 0.99977333 0.01924831 -0.00909907 0.63072977] [-0.01929595 0.99980042 -0.00517637 -0.11778183] [ 0.00899762 0.00535077 0.9999452 -0.11632952] [ 0. 0. 0. 1. ]] SLAMing on 150.439928851 meters Centerline goodness [0,1] 0.7982576228998133 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.12 [[ 0.99978461 0.01865581 -0.0090937 0.63102406] [-0.0187066 0.99980971 -0.00553303 -0.11688372] [ 0.00898875 0.00570195 0.99994334 -0.11705808] [ 0. 0. 0. 1. ]] SLAMing on 150.469928851 meters Centerline goodness [0,1] 0.7940100992512624 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.12 [[ 0.99978919 0.0184039 -0.00910367 0.63125521] [-0.0184554 0.99981396 -0.00560656 -0.11657726] [ 0.00899879 0.00577339 0.99994284 -0.11753082] [ 0. 0. 0. 1. ]] SLAMing on 150.499928851 meters Centerline goodness [0,1] 0.7908511380048807 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.12 [[ 0.99979361 0.01810688 -0.00921241 0.6315066 ] [-0.01816133 0.99981789 -0.00586147 -0.11612977] [ 0.0091046 0.00602757 0.99994039 -0.11764751] [ 0. 0. 0. 1. ]] SLAMing on 150.529928851 meters Centerline goodness [0,1] 0.7885127898577797 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.12 [[ 0.99979791 0.0178398 -0.00926726 0.63174767] [-0.01789651 0.9998214 -0.00607272 -0.11562527] [ 0.00915727 0.00623734 0.99993862 -0.11788779] [ 0. 0. 0. 1. ]] SLAMing on 150.55992885099997 meters Centerline goodness [0,1] 0.7760885277770855 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.12 [[ 0.99979893 0.01769631 -0.00943109 0.63231661] [-0.01775409 0.99982391 -0.00607871 -0.11566537] [ 0.00932186 0.00624493 0.99993705 -0.11830852] [ 0. 0. 0. 1. ]] SLAMing on 150.58992885099997 meters Centerline goodness [0,1] 0.7717120350982152 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.12 [[ 0.99980601 0.01730835 -0.00940041 0.63257456] [-0.01736629 0.99983048 -0.00611725 -0.11564548] [ 0.00929294 0.00627931 0.9999371 -0.11902066] [ 0. 0. 0. 1. ]] SLAMing on 150.61992885099997 meters Centerline goodness [0,1] 0.7745819565435066 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.12 [[ 0.99980825 0.01711711 -0.00951109 0.63273955] [-0.01717672 0.99983311 -0.00622181 -0.11553589] [ 0.00940301 0.00638398 0.99993541 -0.11902521] [ 0. 0. 0. 1. ]] SLAMing on 150.64992885099997 meters Centerline goodness [0,1] 0.7810489422956566 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.12 [[ 0.99980909 0.01699733 -0.0096371 0.63300943] [-0.01705916 0.99983419 -0.00637008 -0.11537412] [ 0.00952723 0.00653326 0.99993327 -0.11901262] [ 0. 0. 0. 1. ]] SLAMing on 150.67992885099997 meters Centerline goodness [0,1] 0.7749048858630356 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.12 [[ 0.99981345 0.01669952 -0.00970491 0.63303495] [-0.01676535 0.99983673 -0.00674115 -0.11403763] [ 0.00959075 0.0069026 0.99993018 -0.11887352] [ 0. 0. 0. 1. ]] SLAMing on 150.70992885099997 meters Centerline goodness [0,1] 0.7684962406015038 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.12 [[ 0.99981285 0.01662459 -0.00989393 0.63327208] [-0.01669394 0.99983636 -0.00696881 -0.11318591] [ 0.00977646 0.00713267 0.99992677 -0.1186438 ] [ 0. 0. 0. 1. ]] SLAMing on 150.73992885099997 meters Centerline goodness [0,1] 0.7617897834452577 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.12 [[ 0.99982184 0.01615045 -0.00977027 0.63246893] [-0.01622563 0.99983898 -0.00766471 -0.11195654] [ 0.00964491 0.00782188 0.99992289 -0.11782117] [ 0. 0. 0. 1. ]] SLAMing on 150.76992885099997 meters Centerline goodness [0,1] 0.7601619881275783 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.12 [[ 0.99982183 0.01611973 -0.00982136 0.63256575] [-0.0161958 0.99983907 -0.00771526 -0.11166013] [ 0.00969541 0.00787295 0.999922 -0.11781618] [ 0. 0. 0. 1. ]] SLAMing on 150.79992885099998 meters Centerline goodness [0,1] 0.7723258096172718 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.12 [[ 0.99982548 0.01584332 -0.00989968 0.63267971] [-0.01592336 0.99984073 -0.00805961 -0.11079955] [ 0.00977041 0.00821584 0.99991852 -0.11779598] [ 0. 0. 0. 1. ]] SLAMing on 150.82992885099998 meters Centerline goodness [0,1] 0.7635813366960909 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.12 [[ 0.99982525 0.01576398 -0.01004825 0.63319232] [-0.01584592 0.99984141 -0.0081275 -0.11061003] [ 0.00991853 0.00828531 0.99991648 -0.11809444] [ 0. 0. 0. 1. ]] SLAMing on 150.85992885099998 meters Centerline goodness [0,1] 0.7615473731929683 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.12 [[ 0.99982482 0.01571304 -0.01016959 0.63381154] [-0.01579603 0.99984216 -0.0081326 -0.11028262] [ 0.0100402 0.00829182 0.99991522 -0.11861674] [ 0. 0. 0. 1. ]] SLAMing on 150.88992885099998 meters Centerline goodness [0,1] 0.7634487283003634 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.12 [[ 0.99982263 0.01572235 -0.01036944 0.63459737] [-0.01580626 0.99984258 -0.00806106 -0.11016229] [ 0.01024107 0.00822354 0.99991374 -0.11917619] [ 0. 0. 0. 1. ]] SLAMing on 150.91992885099998 meters Centerline goodness [0,1] 0.75249666691822 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:-0.12 [[ 0.99982786 0.0153569 -0.01041249 0.63500598] [-0.01544321 0.99984663 -0.00825922 -0.10959434] [ 0.01028405 0.0084186 0.99991168 -0.1198517 ] [ 0. 0. 0. 1. ]] SLAMing on 150.94992885099998 meters Centerline goodness [0,1] 0.7604739097554827 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:-0.12 [[ 0.99982852 0.01527347 -0.0104717 0.6352002 ] [-0.01536029 0.99984789 -0.00826182 -0.10962858] [ 0.01034392 0.00842125 0.99991104 -0.12001778] [ 0. 0. 0. 1. ]] SLAMing on 150.97992885099998 meters Centerline goodness [0,1] 0.7467943882938604 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:-0.12 [[ 0.99983199 0.01502797 -0.01049559 0.63502277] [-0.01511749 0.99984957 -0.00850307 -0.10932193] [ 0.01036622 0.00866031 0.99990877 -0.11975151] [ 0. 0. 0. 1. ]] SLAMing on 151.00992885099998 meters Centerline goodness [0,1] 0.7553242553621504 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.12 [[ 0.99985325 0.01393654 -0.00996294 0.63279388] [-0.01402779 0.99985975 -0.00914839 -0.10855382] [ 0.00983405 0.00928681 0.99990852 -0.11873805] [ 0. 0. 0. 1. ]] SLAMing on 151.03992885099998 meters Centerline goodness [0,1] 0.7460649255798726 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.12 [[ 0.99985993 0.01353539 -0.00984451 0.63221249] [-0.01362752 0.9998634 -0.0093527 -0.10863043] [ 0.00971658 0.00948555 0.9999078 -0.11844188] [ 0. 0. 0. 1. ]] SLAMing on 151.069928851 meters Centerline goodness [0,1] 0.7412622706740354 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.12 [[ 0.9998708 0.01292724 -0.00955379 0.63097315] [-0.01301886 0.99986926 -0.00959016 -0.1087299 ] [ 0.00942857 0.0097133 0.99990837 -0.11793507] [ 0. 0. 0. 1. ]] SLAMing on 151.099928851 meters Centerline goodness [0,1] 0.728439256812968 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.12 [[ 0.99988857 0.01186279 -0.00906201 0.62955567] [-0.01194961 0.99988264 -0.00958683 -0.10943017] [ 0.00894722 0.00969405 0.99991298 -0.11831337] [ 0. 0. 0. 1. ]] SLAMing on 151.129928851 meters Centerline goodness [0,1] 0.7308661893717858 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.12 [[ 0.99988969 0.0116834 -0.00917115 0.63007457] [-0.01176928 0.99988687 -0.00936668 -0.11022547] [ 0.00906068 0.00947359 0.99991407 -0.11900502] [ 0. 0. 0. 1. ]] SLAMing on 151.159928851 meters Centerline goodness [0,1] 0.72783136474677 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.12 [[ 0.99988934 0.01163171 -0.00927459 0.63074794] [-0.01171531 0.99989077 -0.00901064 -0.11120499] [ 0.00916877 0.0091183 0.99991639 -0.11988606] [ 0. 0. 0. 1. ]] SLAMing on 151.189928851 meters Centerline goodness [0,1] 0.7251197982345523 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.12 [[ 0.99989405 0.01139685 -0.0090556 0.63065773] [-0.01147709 0.99989489 -0.00885896 -0.11145269] [ 0.00895368 0.00896196 0.99991975 -0.12063109] [ 0. 0. 0. 1. ]] SLAMing on 151.219928851 meters Centerline goodness [0,1] 0.7187822367593408 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.12 [[ 0.99989268 0.0114011 -0.00920002 0.63130575] [-0.01148115 0.99989629 -0.00869487 -0.11159702] [ 0.00909994 0.00879957 0.99991988 -0.12122126] [ 0. 0. 0. 1. ]] SLAMing on 151.249928851 meters Centerline goodness [0,1] 0.7187822367593408 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.12 [[ 0.99989268 0.0114011 -0.00920002 0.63130575] [-0.01148115 0.99989629 -0.00869487 -0.11159702] [ 0.00909994 0.00879957 0.99991988 -0.12122126] [ 0. 0. 0. 1. ]] SLAMing on 151.279928851 meters Centerline goodness [0,1] 0.7268413347468323 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.12 [[ 0.99989481 0.01122661 -0.00918363 0.63155631] [-0.01130906 0.99989577 -0.00897569 -0.11013776] [ 0.00908191 0.0090786 0.99991755 -0.12159818] [ 0. 0. 0. 1. ]] SLAMing on 151.30992885099997 meters Centerline goodness [0,1] 0.7286972811503215 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.12 [[ 0.99989205 0.01137073 -0.00930592 0.63218365] [-0.01145497 0.99989345 -0.00904876 -0.10900946] [ 0.00920204 0.00915438 0.99991576 -0.12197735] [ 0. 0. 0. 1. ]] SLAMing on 151.33992885099997 meters Centerline goodness [0,1] 0.7305252473991373 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.12 [[ 0.99988089 0.01196861 -0.00974509 0.63373692] [-0.01205934 0.99988398 -0.00930552 -0.10642795] [ 0.00963259 0.00942193 0.99990922 -0.12217737] [ 0. 0. 0. 1. ]] SLAMing on 151.36992885099997 meters Centerline goodness [0,1] 0.7154578940683348 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.12 [[ 0.99987564 0.01220262 -0.00999013 0.63444464] [-0.01229769 0.99987915 -0.00951108 -0.10507101] [ 0.00987286 0.00963275 0.99990486 -0.1221356 ] [ 0. 0. 0. 1. ]] SLAMing on 151.39992885099997 meters Centerline goodness [0,1] 0.7317900211610535 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.10, Z:-0.12 [[ 0.99987344 0.01225072 -0.01015051 0.63467258] [-0.01235131 0.99987464 -0.00990743 -0.10355619] [ 0.01002787 0.01003155 0.9998994 -0.12172422] [ 0. 0. 0. 1. ]] SLAMing on 151.42992885099997 meters Centerline goodness [0,1] 0.7316599355861153 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.10, Z:-0.12 [[ 0.99987548 0.01208961 -0.01014242 0.63429306] [-0.01219474 0.99987189 -0.0103681 -0.10229216] [ 0.01001578 0.01049049 0.99989481 -0.12109945] [ 0. 0. 0. 1. ]] SLAMing on 151.45992885099997 meters Centerline goodness [0,1] 0.7260011251470362 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.10, Z:-0.12 [[ 0.99988013 0.01172047 -0.01011724 0.63363077] [-0.01183193 0.99986918 -0.01102811 -0.10034063] [ 0.00998666 0.0111465 0.999888 -0.12024278] [ 0. 0. 0. 1. ]] SLAMing on 151.48992885099997 meters Centerline goodness [0,1] 0.7306481742112132 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.10, Z:-0.12 [[ 0.99988204 0.01152953 -0.01014754 0.63349145] [-0.01164297 0.99986959 -0.01119115 -0.09986499] [ 0.01001719 0.01130798 0.99988589 -0.12004094] [ 0. 0. 0. 1. ]] SLAMing on 151.51992885099997 meters Centerline goodness [0,1] 0.7293473533399852 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.10, Z:-0.12 [[ 0.99988563 0.01125731 -0.01009935 0.6332673 ] [-0.01137259 0.99986999 -0.01143067 -0.09942079] [ 0.00996936 0.01154422 0.99988366 -0.11992346] [ 0. 0. 0. 1. ]] SLAMing on 151.54992885099998 meters Centerline goodness [0,1] 0.7198028147429185 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.10, Z:-0.12 [[ 0.99988743 0.01104704 -0.01015335 0.63325541] [-0.01116416 0.99987095 -0.01155146 -0.09913782] [ 0.01002443 0.01166351 0.99988173 -0.11982519] [ 0. 0. 0. 1. ]] SLAMing on 151.57992885099998 meters Centerline goodness [0,1] 0.7194657950511989 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.10, Z:-0.12 [[ 0.99988957 0.01084599 -0.01015974 0.63328727] [-0.01096352 0.99987279 -0.01158469 -0.09909057] [ 0.0100328 0.01169479 0.99988128 -0.11999084] [ 0. 0. 0. 1. ]] SLAMing on 151.60992885099998 meters Centerline goodness [0,1] 0.7182104213030466 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.10, Z:-0.12 [[ 0.99989374 0.01061514 -0.00999112 0.63313379] [-0.01073001 0.99987614 -0.01151427 -0.09900939] [ 0.00986766 0.01162025 0.99988379 -0.12046663] [ 0. 0. 0. 1. ]] SLAMing on 151.63992885099998 meters Centerline goodness [0,1] 0.7149978271428206 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.10, Z:-0.12 [[ 0.99989517 0.01051611 -0.00995324 0.63393575] [-0.01062565 0.99988285 -0.01101759 -0.09940744] [ 0.00983621 0.01112219 0.99988977 -0.12207092] [ 0. 0. 0. 1. ]] SLAMing on 151.66992885099998 meters Centerline goodness [0,1] 0.7082149348488339 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.10, Z:-0.12 [[ 0.99989694 0.01044748 -0.00984714 0.63433219] [-0.01055314 0.99988663 -0.01074036 -0.09951029] [ 0.00973381 0.01084317 0.99989383 -0.12314318] [ 0. 0. 0. 1. ]] SLAMing on 151.69992885099998 meters Centerline goodness [0,1] 0.7055122138380867 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.10, Z:-0.12 [[ 0.99989434 0.01061115 -0.00993498 0.63520515] [-0.01071456 0.99988837 -0.0104137 -0.09968937] [ 0.00982337 0.01051905 0.99989642 -0.12409076] [ 0. 0. 0. 1. ]] SLAMing on 151.72992885099998 meters Centerline goodness [0,1] 0.7160142531210747 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.10, Z:-0.13 [[ 0.99989183 0.01081792 -0.00996543 0.63600605] [-0.01091812 0.99988984 -0.01005508 -0.09965329] [ 0.00985555 0.0101628 0.99989979 -0.12514409] [ 0. 0. 0. 1. ]] SLAMing on 151.75992885099998 meters Centerline goodness [0,1] 0.7142380708055414 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.10, Z:-0.13 [[ 0.99988799 0.01107018 -0.01007306 0.63707434] [-0.01116899 0.99988954 -0.00980643 -0.09905498] [ 0.00996339 0.00991783 0.99990118 -0.12624215] [ 0. 0. 0. 1. ]] SLAMing on 151.78992885099998 meters Centerline goodness [0,1] 0.7054717174828047 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.10, Z:-0.13 [[ 0.99988647 0.01114052 -0.01014534 0.63743611] [-0.01124093 0.99988786 -0.00989442 -0.09831894] [ 0.01003397 0.01000734 0.99989958 -0.12638315] [ 0. 0. 0. 1. ]] SLAMing on 151.819928851 meters Centerline goodness [0,1] 0.7124830080279053 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.10, Z:-0.13 [[ 0.99988214 0.01127486 -0.0104203 0.63801996] [-0.01137976 0.99988462 -0.01006243 -0.09746019] [ 0.01030564 0.01017982 0.99989508 -0.12618815] [ 0. 0. 0. 1. ]] SLAMing on 151.849928851 meters Centerline goodness [0,1] 0.7099912492922222 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.10, Z:-0.13 [[ 0.99988013 0.01128611 -0.01059911 0.63816216] [-0.01139851 0.99987879 -0.01060559 -0.0954043 ] [ 0.01047813 0.01072513 0.99988758 -0.12551553] [ 0. 0. 0. 1. ]] SLAMing on 151.879928851 meters Centerline goodness [0,1] 0.7136258660508084 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.10, Z:-0.13 [[ 0.99987487 0.01151041 -0.01085125 0.63891536] [-0.01162521 0.99987649 -0.01057599 -0.09506573] [ 0.01072817 0.01070081 0.99988519 -0.1256592 ] [ 0. 0. 0. 1. ]] SLAMing on 151.909928851 meters Centerline goodness [0,1] 0.7096127656294164 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:-0.13 [[ 0.99987606 0.01142728 -0.01082985 0.63888642] [-0.01154395 0.99987534 -0.01077253 -0.09444448] [ 0.0107054 0.01089622 0.99988333 -0.12561391] [ 0. 0. 0. 1. ]] SLAMing on 151.939928851 meters Centerline goodness [0,1] 0.7046577457539887 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:-0.13 [[ 0.9998772 0.01138447 -0.0107697 0.63888695] [-0.01149989 0.99987645 -0.01071657 -0.09422509] [ 0.01064637 0.01083911 0.99988458 -0.12587513] [ 0. 0. 0. 1. ]] SLAMing on 151.969928851 meters Centerline goodness [0,1] 0.7162325785094159 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:-0.13 [[ 0.99987957 0.01126189 -0.01067755 0.63866865] [-0.01137864 0.99987544 -0.01093759 -0.09353092] [ 0.01055304 0.01105777 0.99988317 -0.12578134] [ 0. 0. 0. 1. ]] SLAMing on 151.999928851 meters Centerline goodness [0,1] 0.7113742486391662 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:-0.13 [[ 0.9998803 0.01122519 -0.0106482 0.63852972] [-0.01134232 0.99987512 -0.01100405 -0.09331979] [ 0.01052335 0.0111235 0.99988276 -0.12569294] [ 0. 0. 0. 1. ]] SLAMing on 152.029928851 meters Centerline goodness [0,1] 0.7058626379292565 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:-0.13 [[ 0.99988139 0.01117605 -0.0105977 0.63844884] [-0.01129256 0.99987575 -0.01099833 -0.09332791] [ 0.01047346 0.0111167 0.99988336 -0.12576315] [ 0. 0. 0. 1. ]] SLAMing on 152.05992885099997 meters Centerline goodness [0,1] 0.7109241962949584 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:-0.13 [[ 0.99989098 0.01064246 -0.01023601 0.63727263] [-0.01075603 0.99988048 -0.01110521 -0.09354215] [ 0.0101166 0.0112141 0.99988594 -0.12556668] [ 0. 0. 0. 1. ]] SLAMing on 152.08992885099997 meters Centerline goodness [0,1] 0.705563443913773 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:-0.13 [[ 0.99989561 0.01034344 -0.01008906 0.63675228] [-0.01045503 0.99988406 -0.01107028 -0.09377012] [ 0.00997338 0.01117461 0.99988782 -0.125559 ] [ 0. 0. 0. 1. ]] SLAMing on 152.11992885099997 meters Centerline goodness [0,1] 0.7064897516650317 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.09, Z:-0.13 [[ 0.99989899 0.01002778 -0.01007196 0.63644916] [-0.01013887 0.99988765 -0.01104044 -0.09423418] [ 0.00996011 0.01114144 0.99988833 -0.12547443] [ 0. 0. 0. 1. ]] SLAMing on 152.14992885099997 meters Centerline goodness [0,1] 0.7018136786976601 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.10, Z:-0.13 [[ 0.99990703 0.0095223 -0.00975984 0.63538151] [-0.00962911 0.99989362 -0.01095559 -0.09500628] [ 0.00965448 0.01104855 0.99989235 -0.12540402] [ 0. 0. 0. 1. ]] SLAMing on 152.17992885099997 meters Centerline goodness [0,1] 0.6949117609171712 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.10, Z:-0.13 [[ 0.99992056 0.00849893 -0.00930766 0.63399316] [-0.0085954 0.99990924 -0.01037406 -0.09738722] [ 0.00921864 0.01045324 0.99990287 -0.12608576] [ 0. 0. 0. 1. ]] SLAMing on 152.20992885099997 meters Centerline goodness [0,1] 0.6840400925212028 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.10, Z:-0.13 [[ 0.99992666 0.00810036 -0.00900378 0.63339264] [-0.00818829 0.99991872 -0.00977268 -0.09933977] [ 0.00892389 0.00984569 0.99991171 -0.12686128] [ 0. 0. 0. 1. ]] SLAMing on 152.23992885099997 meters Centerline goodness [0,1] 0.6855720371606016 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.10, Z:-0.13 [[ 0.99993297 0.00767045 -0.00867339 0.63268151] [-0.00775158 0.99992616 -0.00935866 -0.10109097] [ 0.00860097 0.00942527 0.99991859 -0.12738259] [ 0. 0. 0. 1. ]] SLAMing on 152.26992885099997 meters Centerline goodness [0,1] 0.6764314928425358 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.10, Z:-0.13 [[ 0.99994462 0.00645247 -0.00831396 0.63144868] [-0.00652504 0.99994059 -0.00873101 -0.10405635] [ 0.00825713 0.00878478 0.99992732 -0.12833051] [ 0. 0. 0. 1. ]] SLAMing on 152.29992885099998 meters Centerline goodness [0,1] 0.6775034503910443 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.13 [[ 0.99994883 0.00617159 -0.00801605 0.63092537] [-0.00623882 0.99994535 -0.00838885 -0.10526053] [ 0.00796384 0.00843843 0.99993268 -0.12884918] [ 0. 0. 0. 1. ]] SLAMing on 152.32992885099998 meters Centerline goodness [0,1] 0.6741148862360984 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.13 [[ 0.99995025 0.00609881 -0.00789312 0.63082798] [-0.00616179 0.99994919 -0.0079787 -0.10644573] [ 0.00784406 0.00802694 0.99993702 -0.1293565 ] [ 0. 0. 0. 1. ]] SLAMing on 152.35992885099998 meters Centerline goodness [0,1] 0.6563962955424385 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.13 [[ 0.99995373 0.00582949 -0.00765208 0.63013419] [-0.00588876 0.99995266 -0.00774657 -0.1074098 ] [ 0.00760656 0.00779128 0.99994072 -0.12943852] [ 0. 0. 0. 1. ]] SLAMing on 152.38992885099998 meters Centerline goodness [0,1] 0.665869968725368 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.13 [[ 0.99995346 0.00591518 -0.00762155 0.63004368] [-0.00597362 0.99995276 -0.00766805 -0.10745144] [ 0.00757584 0.00771322 0.99994155 -0.12939229] [ 0. 0. 0. 1. ]] SLAMing on 152.41992885099998 meters Centerline goodness [0,1] 0.6815239551478083 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.13 [[ 0.99995058 0.00618222 -0.00778616 0.63038686] [-0.00624173 0.99995132 -0.00764147 -0.10722646] [ 0.00773854 0.00768969 0.99994049 -0.12919044] [ 0. 0. 0. 1. ]] SLAMing on 152.44992885099998 meters Centerline goodness [0,1] 0.6701104381902387 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.13 [[ 0.99994927 0.00627941 -0.0078756 0.63042591] [-0.00634072 0.9999496 -0.00778428 -0.10656453] [ 0.00782633 0.00783383 0.99993869 -0.12882606] [ 0. 0. 0. 1. ]] SLAMing on 152.47992885099998 meters Centerline goodness [0,1] 0.6805131337813073 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.13 [[ 0.99994469 0.00671957 -0.0080914 0.63100207] [-0.0067814 0.99994783 -0.00763921 -0.10635819] [ 0.00803965 0.00769366 0.99993808 -0.12874875] [ 0. 0. 0. 1. ]] SLAMing on 152.50992885099998 meters Centerline goodness [0,1] 0.679413185527955 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.13 [[ 0.99993466 0.00772317 -0.00842753 0.63223752] [-0.00778558 0.99994232 -0.00739834 -0.10594493] [ 0.0083699 0.00746347 0.99993712 -0.12875265] [ 0. 0. 0. 1. ]] SLAMing on 152.53992885099998 meters Centerline goodness [0,1] 0.6793580548349356 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.13 [[ 0.99993053 0.00803887 -0.00862034 0.63279684] [-0.00810231 0.99994017 -0.00734974 -0.1056116 ] [ 0.00856074 0.00741907 0.99993583 -0.12876328] [ 0. 0. 0. 1. ]] SLAMing on 152.569928851 meters Centerline goodness [0,1] 0.689803502341682 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.13 [[ 0.99992332 0.00858157 -0.0089279 0.63381864] [-0.00864529 0.99993726 -0.0071234 -0.10554365] [ 0.00886621 0.00720004 0.99993477 -0.12899132] [ 0. 0. 0. 1. ]] SLAMing on 152.599928851 meters Centerline goodness [0,1] 0.6892504328343008 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:-0.13 [[ 0.99991137 0.00955753 -0.00926871 0.63554658] [-0.00961762 0.99993289 -0.00645963 -0.10600838] [ 0.00920635 0.0065482 0.99993618 -0.12995893] [ 0. 0. 0. 1. ]] SLAMing on 152.629928851 meters Centerline goodness [0,1] 0.6892394739524926 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:-0.13 [[ 0.99990708 0.00985392 -0.00941983 0.6362178 ] [-0.00991295 0.99993139 -0.00624073 -0.10630788] [ 0.00935769 0.00633353 0.99993616 -0.13032913] [ 0. 0. 0. 1. ]] SLAMing on 152.659928851 meters Centerline goodness [0,1] 0.6937129481210086 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:-0.13 [[ 0.99990408 0.0100801 -0.00949831 0.63656926] [-0.01013708 0.9999308 -0.00597009 -0.10670162] [ 0.00943748 0.0060658 0.99993707 -0.13058881] [ 0. 0. 0. 1. ]] SLAMing on 152.689928851 meters Centerline goodness [0,1] 0.6930051813471503 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:-0.13 [[ 0.9999049 0.01010412 -0.00938566 0.63637117] [-0.0101595 0.99993115 -0.00587175 -0.10716485] [ 0.00932569 0.00596655 0.99993871 -0.1306358 ] [ 0. 0. 0. 1. ]] SLAMing on 152.719928851 meters Centerline goodness [0,1] 0.693720273672966 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:-0.13 [[ 0.99990466 0.01011284 -0.00940182 0.63648076] [-0.01016796 0.99993129 -0.00583351 -0.10747711] [ 0.00934218 0.00592855 0.99993879 -0.13073926] [ 0. 0. 0. 1. ]] SLAMing on 152.749928851 meters Centerline goodness [0,1] 0.697621887769346 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:-0.13 [[ 0.99990351 0.01022385 -0.00940414 0.6368163 ] [-0.0102763 0.99993182 -0.005546 -0.1081492 ] [ 0.0093468 0.00564211 0.9999404 -0.13128526] [ 0. 0. 0. 1. ]] SLAMing on 152.77992885099997 meters Centerline goodness [0,1] 0.6856809358268416 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:-0.13 [[ 0.99990511 0.01011111 -0.00935562 0.63664974] [-0.01016291 0.9999332 -0.00550556 -0.10870534] [ 0.00929933 0.00560011 0.99994108 -0.13128721] [ 0. 0. 0. 1. ]] SLAMing on 152.80992885099997 meters Centerline goodness [0,1] 0.6933542780409943 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:-0.13 [[ 0.99990493 0.0101827 -0.00929706 0.63675556] [-0.01023018 0.9999348 -0.00507383 -0.10970936] [ 0.00924479 0.00516846 0.99994391 -0.13176398] [ 0. 0. 0. 1. ]] SLAMing on 152.83992885099997 meters Centerline goodness [0,1] 0.6861823723647447 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:-0.13 [[ 0.99991232 0.00965908 -0.00905843 0.63557969] [-0.00970711 0.99993898 -0.00527384 -0.11010632] [ 0.00900694 0.00536131 0.99994506 -0.13115837] [ 0. 0. 0. 1. ]] SLAMing on 152.86992885099997 meters Centerline goodness [0,1] 0.6839717103095135 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:-0.13 [[ 0.99991553 0.009443 -0.00893073 0.63501257] [-0.00949074 0.99994082 -0.00531868 -0.11054093] [ 0.00887997 0.00540299 0.99994598 -0.13086994] [ 0. 0. 0. 1. ]] SLAMing on 152.89992885099997 meters Centerline goodness [0,1] 0.6763716388839703 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.13 [[ 0.99992678 0.00855545 -0.00855754 0.63315233] [-0.00860119 0.99994884 -0.0053231 -0.11214908] [ 0.00851156 0.00539631 0.99994922 -0.13014216] [ 0. 0. 0. 1. ]] SLAMing on 152.92992885099997 meters Centerline goodness [0,1] 0.684574951986253 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.13 [[ 0.99993285 0.00810248 -0.00828499 0.63203675] [-0.00814628 0.99995294 -0.00526762 -0.11322485] [ 0.00824192 0.00533476 0.9999518 -0.12975832] [ 0. 0. 0. 1. ]] SLAMing on 152.95992885099997 meters Centerline goodness [0,1] 0.6721988566247765 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.13 [[ 0.99993907 0.00763365 -0.00797379 0.63099738] [-0.00767534 0.99995697 -0.00521089 -0.11430808] [ 0.00793367 0.00527177 0.99995463 -0.12960592] [ 0. 0. 0. 1. ]] SLAMing on 152.98992885099997 meters Centerline goodness [0,1] 0.6801039327968517 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99994511 0.00722466 -0.00758771 0.62990373] [-0.00726248 0.99996128 -0.00496876 -0.11583419] [ 0.00755152 0.00502359 0.99995887 -0.12962619] [ 0. 0. 0. 1. ]] SLAMing on 153.01992885099997 meters Centerline goodness [0,1] 0.6795609253723844 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99995543 0.00614566 -0.00716666 0.62810805] [-0.00617977 0.99996963 -0.00474807 -0.11856088] [ 0.00713727 0.00479214 0.99996305 -0.12940743] [ 0. 0. 0. 1. ]] SLAMing on 153.04992885099998 meters Centerline goodness [0,1] 0.6767752777986806 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99995838 0.00591706 -0.00694469 0.62763951] [-0.00594815 0.99997234 -0.0044654 -0.11986359] [ 0.00691808 0.00450652 0.99996592 -0.12970318] [ 0. 0. 0. 1. ]] SLAMing on 153.07992885099998 meters Centerline goodness [0,1] 0.6753399320135973 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.9999587 0.00592185 -0.00689424 0.6278317 ] [-0.00594926 0.99997445 -0.00396204 -0.12132674] [ 0.0068706 0.00400289 0.99996839 -0.13038865] [ 0. 0. 0. 1. ]] SLAMing on 153.10992885099998 meters Centerline goodness [0,1] 0.674435451638689 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99995877 0.00595551 -0.00685508 0.62801236] [-0.00597992 0.99997583 -0.00354625 -0.12267908] [ 0.00683379 0.0035871 0.99997022 -0.13093488] [ 0. 0. 0. 1. ]] SLAMing on 153.13992885099998 meters Centerline goodness [0,1] 0.674435451638689 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99995877 0.00595551 -0.00685508 0.62801236] [-0.00597992 0.99997583 -0.00354625 -0.12267908] [ 0.00683379 0.0035871 0.99997022 -0.13093488] [ 0. 0. 0. 1. ]] SLAMing on 153.16992885099998 meters Centerline goodness [0,1] 0.6739773716275022 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99996013 0.00580856 -0.00678208 0.62780629] [-0.00583155 0.9999773 -0.00337573 -0.12386832] [ 0.00676231 0.00341515 0.9999713 -0.1310283 ] [ 0. 0. 0. 1. ]] SLAMing on 153.19992885099998 meters Centerline goodness [0,1] 0.6682873313885357 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99996001 0.00578163 -0.00682277 0.62771474] [-0.00580547 0.9999771 -0.0034789 -0.12367911] [ 0.0068025 0.00351837 0.99997067 -0.1307492 ] [ 0. 0. 0. 1. ]] SLAMing on 153.22992885099998 meters Centerline goodness [0,1] 0.6682258104645087 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99995745 0.00605396 -0.00696086 0.62818055] [-0.00607743 0.9999759 -0.00335475 -0.12358038] [ 0.00694039 0.00339691 0.99997015 -0.13084219] [ 0. 0. 0. 1. ]] SLAMing on 153.25992885099998 meters Centerline goodness [0,1] 0.6751322223331004 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99995072 0.00672928 -0.00729852 0.62919624] [-0.00675333 0.99997183 -0.00327562 -0.12329978] [ 0.00727627 0.00332475 0.999968 -0.13072419] [ 0. 0. 0. 1. ]] SLAMing on 153.28992885099998 meters Centerline goodness [0,1] 0.6742639366312957 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99994584 0.00715579 -0.00755668 0.63002267] [-0.00718014 0.99996911 -0.00319895 -0.12316687] [ 0.00753356 0.00325303 0.99996633 -0.1308242 ] [ 0. 0. 0. 1. ]] SLAMing on 153.319928851 meters Centerline goodness [0,1] 0.6739211726871588 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99994082 0.00751425 -0.00786773 0.63074079] [-0.00754097 0.99996589 -0.00337085 -0.12242603] [ 0.00784213 0.00342998 0.99996337 -0.13056622] [ 0. 0. 0. 1. ]] SLAMing on 153.349928851 meters Centerline goodness [0,1] 0.6759790471439262 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99993595 0.00790225 -0.00810212 0.63144445] [-0.00793077 0.99996245 -0.0034942 -0.1216436 ] [ 0.00807421 0.00355824 0.99996107 -0.13045804] [ 0. 0. 0. 1. ]] SLAMing on 153.379928851 meters Centerline goodness [0,1] 0.6774104889688429 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99992154 0.00913316 -0.00857359 0.63323259] [-0.00916288 0.99995213 -0.00343257 -0.12046887] [ 0.00854183 0.00351086 0.99995735 -0.13053073] [ 0. 0. 0. 1. ]] SLAMing on 153.409928851 meters Centerline goodness [0,1] 0.679319208405081 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99991526 0.00958215 -0.00881174 0.63418075] [-0.0096135 0.99994759 -0.00352193 -0.11961486] [ 0.00877753 0.00360635 0.99995497 -0.13070756] [ 0. 0. 0. 1. ]] SLAMing on 153.439928851 meters Centerline goodness [0,1] 0.6818806365385095 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.12, Z:-0.13 [[ 0.99990685 0.0101288 -0.00914917 0.63524517] [-0.01016284 0.99994158 -0.00368129 -0.11862999] [ 0.00911135 0.00377393 0.99995137 -0.1306956 ] [ 0. 0. 0. 1. ]] SLAMing on 153.469928851 meters Centerline goodness [0,1] 0.6851423979104927 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.12, Z:-0.13 [[ 0.99988832 0.011521 -0.00951892 0.63719116] [-0.01155698 0.99992625 -0.00373355 -0.11688796] [ 0.0094752 0.00384314 0.99994772 -0.13101691] [ 0. 0. 0. 1. ]] SLAMing on 153.499928851 meters Centerline goodness [0,1] 0.6996581024687013 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.12, Z:-0.13 [[ 0.99988235 0.0118516 -0.00973756 0.63795757] [-0.01189081 0.99992138 -0.00397918 -0.11552704] [ 0.00968963 0.0040945 0.99994467 -0.13107489] [ 0. 0. 0. 1. ]] SLAMing on 153.52992885099997 meters Centerline goodness [0,1] 0.6996274292619071 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:-0.13 [[ 0.99987959 0.01191838 -0.0099376 0.63821058] [-0.01196249 0.9999188 -0.00439139 -0.11423031] [ 0.00988446 0.00450974 0.99994098 -0.1305527 ] [ 0. 0. 0. 1. ]] SLAMing on 153.55992885099997 meters Centerline goodness [0,1] 0.7030742503210212 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:-0.13 [[ 0.99987998 0.01185385 -0.00997576 0.63806852] [-0.01190171 0.99991788 -0.00475194 -0.11315958] [ 0.00991861 0.0048701 0.99993895 -0.13009075] [ 0. 0. 0. 1. ]] SLAMing on 153.58992885099997 meters Centerline goodness [0,1] 0.7028795150290477 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:-0.13 [[ 0.99988408 0.01165247 -0.00980037 0.63740713] [-0.01170074 0.99991962 -0.004883 -0.11304526] [ 0.00974269 0.0049971 0.99994005 -0.1297766 ] [ 0. 0. 0. 1. ]] SLAMing on 153.61992885099997 meters Centerline goodness [0,1] 0.7012029394000403 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:-0.13 [[ 0.99988834 0.01141763 -0.00964064 0.6370603 ] [-0.01146469 0.99992256 -0.00484034 -0.11351948] [ 0.00958463 0.00495033 0.99994181 -0.12992037] [ 0. 0. 0. 1. ]] SLAMing on 153.64992885099997 meters Centerline goodness [0,1] 0.6961055972593078 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:-0.13 [[ 0.99989527 0.01099262 -0.00941291 0.63632632] [-0.01103801 0.99992764 -0.00478328 -0.11426058] [ 0.00935965 0.00488668 0.99994426 -0.1299192 ] [ 0. 0. 0. 1. ]] SLAMing on 153.67992885099997 meters Centerline goodness [0,1] 0.697983708769107 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.12, Z:-0.13 [[ 0.99990226 0.01054601 -0.00917902 0.63559517] [-0.01058911 0.99993308 -0.00465985 -0.11530668] [ 0.00912926 0.00475659 0.99994701 -0.12997765] [ 0. 0. 0. 1. ]] SLAMing on 153.70992885099997 meters Centerline goodness [0,1] 0.6932356850843973 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99992284 0.00884807 -0.00871962 0.63341024] [-0.00888979 0.99994917 -0.00475768 -0.11759278] [ 0.00867708 0.00483483 0.99995067 -0.12971054] [ 0. 0. 0. 1. ]] SLAMing on 153.73992885099997 meters Centerline goodness [0,1] 0.6929576760580985 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.999932 0.00812642 -0.00836381 0.63232119] [-0.00816612 0.9999555 -0.00472348 -0.11870335] [ 0.00832505 0.00479146 0.99995387 -0.1297856 ] [ 0. 0. 0. 1. ]] SLAMing on 153.76992885099997 meters Centerline goodness [0,1] 0.6883838510249543 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99994733 0.00664509 -0.00782171 0.63031549] [-0.00668005 0.99996778 -0.00445244 -0.12169718] [ 0.00779187 0.00450446 0.9999595 -0.13004259] [ 0. 0. 0. 1. ]] SLAMing on 153.79992885099998 meters Centerline goodness [0,1] 0.6827443449634636 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99995415 0.00603243 -0.007437 0.62926515] [-0.0060644 0.99997244 -0.0042839 -0.12307651] [ 0.00741095 0.0043288 0.99996317 -0.13022104] [ 0. 0. 0. 1. ]] SLAMing on 153.82992885099998 meters Centerline goodness [0,1] 0.6847893857395815 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99995895 0.00562149 -0.00710592 0.62856807] [-0.00564945 0.99997636 -0.00392019 -0.12444938] [ 0.00708371 0.00396018 0.99996707 -0.13072144] [ 0. 0. 0. 1. ]] SLAMing on 153.85992885099998 meters Centerline goodness [0,1] 0.674675373227326 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.13 [[ 0.99996205 0.00532025 -0.00689936 0.6281498 ] [-0.00534632 0.99997862 -0.00376491 -0.12509147] [ 0.00687918 0.00380165 0.99996911 -0.13102636] [ 0. 0. 0. 1. ]] SLAMing on 153.88992885099998 meters Centerline goodness [0,1] 0.6875467557727795 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.13 [[ 0.99996413 0.00506043 -0.00679169 0.62793065] [-0.0050866 0.99997969 -0.00384092 -0.12508702] [ 0.00677212 0.00387533 0.99996956 -0.13113409] [ 0. 0. 0. 1. ]] SLAMing on 153.91992885099998 meters Centerline goodness [0,1] 0.6828695608732578 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.13 [[ 0.99996605 0.00486723 -0.0066493 0.62782107] [-0.00489137 0.99998149 -0.00361846 -0.12552086] [ 0.00663156 0.00365086 0.99997135 -0.13167923] [ 0. 0. 0. 1. ]] SLAMing on 153.94992885099998 meters Centerline goodness [0,1] 0.6832932692307692 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.13 [[ 0.99996714 0.00470137 -0.00660462 0.62746658] [-0.00472669 0.99998152 -0.0038223 -0.12535294] [ 0.00658653 0.00385339 0.99997088 -0.13134289] [ 0. 0. 0. 1. ]] SLAMing on 153.97992885099998 meters Centerline goodness [0,1] 0.6899984990243658 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.13 [[ 0.99996738 0.00474349 -0.00653744 0.62753108] [-0.00476795 0.99998167 -0.00373156 -0.12518617] [ 0.00651962 0.00376261 0.99997167 -0.1316318 ] [ 0. 0. 0. 1. ]] SLAMing on 154.00992885099998 meters Centerline goodness [0,1] 0.6785276380652103 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99996486 0.00504107 -0.00669805 0.62784207] [-0.00506794 0.99997915 -0.00400217 -0.12378576] [ 0.00667773 0.00403597 0.99996956 -0.13120928] [ 0. 0. 0. 1. ]] SLAMing on 154.03992885099998 meters Centerline goodness [0,1] 0.6930183516180052 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.9999639 0.00506379 -0.00682346 0.62791432] [-0.00509383 0.99997738 -0.00439255 -0.12272403] [ 0.00680106 0.00442715 0.99996707 -0.13069942] [ 0. 0. 0. 1. ]] SLAMing on 154.069928851 meters Centerline goodness [0,1] 0.6903989742816201 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.9999585 0.00579591 -0.00702925 0.62888951] [-0.00582711 0.99997323 -0.00442644 -0.12134921] [ 0.0070034 0.00446722 0.9999655 -0.13081499] [ 0. 0. 0. 1. ]] SLAMing on 154.099928851 meters Centerline goodness [0,1] 0.6869925851451553 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99995637 0.00598745 -0.00717016 0.62938769] [-0.00602021 0.9999715 -0.00455574 -0.12054543] [ 0.00714267 0.00459871 0.99996392 -0.13088802] [ 0. 0. 0. 1. ]] SLAMing on 154.129928851 meters Centerline goodness [0,1] 0.7000628851716766 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99994997 0.00671932 -0.00740973 0.63059089] [-0.0067525 0.99996725 -0.00446188 -0.11965334] [ 0.00737951 0.00451169 0.99996259 -0.13125862] [ 0. 0. 0. 1. ]] SLAMing on 154.159928851 meters Centerline goodness [0,1] 0.6979713933787486 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99994766 0.00690324 -0.0075507 0.63110689] [-0.00693816 0.99996531 -0.00460845 -0.11891834] [ 0.00751862 0.0046606 0.99996087 -0.13132095] [ 0. 0. 0. 1. ]] SLAMing on 154.189928851 meters Centerline goodness [0,1] 0.6980437632348493 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99994465 0.00735346 -0.00752494 0.63165194] [-0.00738973 0.99996116 -0.00480403 -0.11725993] [ 0.00748932 0.00485937 0.99996015 -0.13161802] [ 0. 0. 0. 1. ]] SLAMing on 154.219928851 meters Centerline goodness [0,1] 0.6980260500807755 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99994197 0.00763433 -0.00760074 0.63201992] [-0.00767299 0.99995771 -0.00506994 -0.11590034] [ 0.00756171 0.00512796 0.99995826 -0.13151041] [ 0. 0. 0. 1. ]] SLAMing on 154.249928851 meters Centerline goodness [0,1] 0.700045401805983 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99994664 0.00731901 -0.00729081 0.63167252] [-0.00735357 0.9999618 -0.00472555 -0.11696505] [ 0.00725594 0.00477891 0.99996226 -0.13240652] [ 0. 0. 0. 1. ]] SLAMing on 154.27992885099997 meters Centerline goodness [0,1] 0.6924567230273753 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99995054 0.00704817 -0.00701789 0.63114071] [-0.00707977 0.99996486 -0.0044889 -0.11801545] [ 0.006986 0.00453837 0.9999653 -0.13278307] [ 0. 0. 0. 1. ]] SLAMing on 154.30992885099997 meters Centerline goodness [0,1] 0.6924567230273753 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99995054 0.00704817 -0.00701789 0.63114071] [-0.00707977 0.99996486 -0.0044889 -0.11801545] [ 0.006986 0.00453837 0.9999653 -0.13278307] [ 0. 0. 0. 1. ]] SLAMing on 154.33992885099997 meters Centerline goodness [0,1] 0.6924567230273753 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99995054 0.00704817 -0.00701789 0.63114071] [-0.00707977 0.99996486 -0.0044889 -0.11801545] [ 0.006986 0.00453837 0.9999653 -0.13278307] [ 0. 0. 0. 1. ]] SLAMing on 154.36992885099997 meters Centerline goodness [0,1] 0.6968180103131681 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99995486 0.00673028 -0.00670721 0.6304798 ] [-0.00675925 0.99996789 -0.00430515 -0.11888344] [ 0.00667802 0.00435029 0.99996824 -0.13308963] [ 0. 0. 0. 1. ]] SLAMing on 154.39992885099997 meters Centerline goodness [0,1] 0.6968180103131681 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99995486 0.00673028 -0.00670721 0.6304798 ] [-0.00675925 0.99996789 -0.00430515 -0.11888344] [ 0.00667802 0.00435029 0.99996824 -0.13308963] [ 0. 0. 0. 1. ]] SLAMing on 154.42992885099997 meters Centerline goodness [0,1] 0.6989001607071113 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99995927 0.00634812 -0.00641558 0.62976214] [-0.00637524 0.9999708 -0.0042143 -0.11958741] [ 0.00638864 0.00425503 0.99997054 -0.13323983] [ 0. 0. 0. 1. ]] SLAMing on 154.45992885099997 meters Centerline goodness [0,1] 0.691703670254133 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.9999639 0.00588424 -0.00612898 0.62887769] [-0.00590988 0.99997383 -0.00417358 -0.12041062] [ 0.00610426 0.00420966 0.99997251 -0.13319077] [ 0. 0. 0. 1. ]] SLAMing on 154.48992885099997 meters Centerline goodness [0,1] 0.6873485700012489 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99997396 0.0044783 -0.0056585 0.62681886] [-0.0045026 0.99998066 -0.00428914 -0.12246869] [ 0.00563918 0.0043145 0.99997479 -0.13282853] [ 0. 0. 0. 1. ]] SLAMing on 154.51992885099997 meters Centerline goodness [0,1] 0.6844966459689285 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99997866 0.00392132 -0.00522455 0.6256171 ] [-0.00394296 0.99998366 -0.00413959 -0.12356405] [ 0.00520823 0.0041601 0.99997778 -0.13293593] [ 0. 0. 0. 1. ]] SLAMing on 154.54992885099998 meters Centerline goodness [0,1] 0.679667471438883 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.12, Z:-0.13 [[ 0.99998128 0.00356991 -0.00496908 0.62488939] [-0.00358987 0.9999855 -0.004013 -0.12447846] [ 0.00495469 0.00403076 0.9999796 -0.13297604] [ 0. 0. 0. 1. ]] SLAMing on 154.57992885099998 meters Centerline goodness [0,1] 0.6853809606726201 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.13, Z:-0.13 [[ 0.99998335 0.00323686 -0.00477828 0.6245633 ] [-0.0032551 0.99998743 -0.00381415 -0.12511934] [ 0.00476587 0.00382964 0.99998131 -0.13347705] [ 0. 0. 0. 1. ]] SLAMing on 154.60992885099998 meters Centerline goodness [0,1] 0.675885890363302 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.12, Z:-0.13 [[ 0.99998305 0.00329334 -0.00480051 0.62492377] [-0.0033116 0.99998729 -0.00380252 -0.12479186] [ 0.00478793 0.00381835 0.99998125 -0.13385043] [ 0. 0. 0. 1. ]] SLAMing on 154.63992885099998 meters Centerline goodness [0,1] 0.6785171907287076 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.9999821 0.00340112 -0.0049219 0.62539299] [-0.00342021 0.99998664 -0.00387469 -0.12422629] [ 0.00490865 0.00389146 0.99998038 -0.1340649 ] [ 0. 0. 0. 1. ]] SLAMing on 154.66992885099998 meters Centerline goodness [0,1] 0.6757860147867865 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99998096 0.00361366 -0.00500294 0.62591232] [-0.00363355 0.9999855 -0.00397349 -0.12338084] [ 0.00498851 0.0039916 0.99997959 -0.13430922] [ 0. 0. 0. 1. ]] SLAMing on 154.69992885099998 meters Centerline goodness [0,1] 0.688181704729814 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99997461 0.00479453 -0.00527108 0.62731426] [-0.00481631 0.99997989 -0.00412633 -0.12063785] [ 0.00525119 0.00415161 0.99997759 -0.13437223] [ 0. 0. 0. 1. ]] SLAMing on 154.72992885099998 meters Centerline goodness [0,1] 0.6869147178126096 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99997027 0.00531074 -0.00558997 0.62825635] [-0.00533571 0.99997581 -0.00446182 -0.11873608] [ 0.00556614 0.00449151 0.99997442 -0.13416074] [ 0. 0. 0. 1. ]] SLAMing on 154.75992885099998 meters Centerline goodness [0,1] 0.6877727067556045 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.13 [[ 0.99996297 0.00611719 -0.00605372 0.62989582] [-0.00614399 0.99997137 -0.0044177 -0.11725382] [ 0.00602653 0.00445473 0.99997192 -0.13451288] [ 0. 0. 0. 1. ]] SLAMing on 154.78992885099998 meters Centerline goodness [0,1] 0.689916050872166 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.13 [[ 0.99995232 0.00755115 -0.00619125 0.63127189] [-0.0075786 0.9999615 -0.00442221 -0.11447628] [ 0.00615762 0.00446892 0.99997106 -0.13471814] [ 0. 0. 0. 1. ]] SLAMing on 154.819928851 meters Centerline goodness [0,1] 0.6909716985874428 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.13 [[ 0.99995029 0.00768078 -0.00635784 0.6314804 ] [-0.00771243 0.99995791 -0.00496937 -0.11276799] [ 0.0063194 0.00501815 0.99996744 -0.13416537] [ 0. 0. 0. 1. ]] SLAMing on 154.849928851 meters Centerline goodness [0,1] 0.7027067896567367 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.13 [[ 0.99994663 0.00798274 -0.00655877 0.63207553] [-0.00801681 0.99995442 -0.0051853 -0.11163453] [ 0.00651707 0.00523761 0.99996505 -0.13405133] [ 0. 0. 0. 1. ]] SLAMing on 154.879928851 meters Centerline goodness [0,1] 0.7034209995969367 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.13 [[ 0.9999447 0.00807576 -0.00673588 0.63244455] [-0.00811351 0.99995143 -0.00559576 -0.11051701] [ 0.00669036 0.0056501 0.99996166 -0.133745 ] [ 0. 0. 0. 1. ]] SLAMing on 154.909928851 meters Centerline goodness [0,1] 0.7045002392404744 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.13 [[ 0.99993868 0.00865571 -0.00690815 0.63344007] [-0.0086939 0.99994698 -0.00551811 -0.10942821] [ 0.00686002 0.00557783 0.99996091 -0.13423934] [ 0. 0. 0. 1. ]] SLAMing on 154.939928851 meters Centerline goodness [0,1] 0.6999394581504466 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.13 [[ 0.99994299 0.00829311 -0.0067259 0.63252872] [-0.00833266 0.99994803 -0.00587318 -0.10895329] [ 0.00667685 0.00592889 0.99996013 -0.13360212] [ 0. 0. 0. 1. ]] SLAMing on 154.969928851 meters Centerline goodness [0,1] 0.7015770319450061 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.13 [[ 0.99994828 0.00786349 -0.00644948 0.6314765 ] [-0.00790148 0.99995145 -0.00588679 -0.10933275] [ 0.00640287 0.00593745 0.99996187 -0.13331634] [ 0. 0. 0. 1. ]] SLAMing on 154.999928851 meters Centerline goodness [0,1] 0.6982687137221398 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.13 [[ 0.99995906 0.00642639 -0.00637091 0.63078554] [-0.00646026 0.99996504 -0.0053088 -0.11256252] [ 0.00633657 0.00534974 0.99996561 -0.13440796] [ 0. 0. 0. 1. ]] SLAMing on 155.02992885099997 meters Centerline goodness [0,1] 0.6830932905103628 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.14 [[ 0.99996572 0.00567317 -0.00603183 0.63002543] [-0.00570187 0.99997246 -0.00475086 -0.1149207 ] [ 0.00600471 0.00478509 0.99997052 -0.1353033 ] [ 0. 0. 0. 1. ]] SLAMing on 155.05992885099997 meters Centerline goodness [0,1] 0.6830932905103628 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.11, Z:-0.14 [[ 0.99996572 0.00567317 -0.00603183 0.63002543] [-0.00570187 0.99997246 -0.00475086 -0.1149207 ] [ 0.00600471 0.00478509 0.99997052 -0.1353033 ] [ 0. 0. 0. 1. ]] SLAMing on 155.08992885099997 meters Centerline goodness [0,1] 0.6903737429329064 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.14 [[ 0.99997324 0.00470805 -0.00559933 0.62880319] [-0.0047313 0.99998021 -0.00414656 -0.11773204] [ 0.00557969 0.00417294 0.99997573 -0.13601002] [ 0. 0. 0. 1. ]] SLAMing on 155.11992885099997 meters Centerline goodness [0,1] 0.6795472676505784 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.14 [[ 0.99998049 0.00336473 -0.0052635 0.62716496] [-0.00338534 0.99998662 -0.00391143 -0.1205905 ] [ 0.00525027 0.00392917 0.9999785 -0.13601717] [ 0. 0. 0. 1. ]] SLAMing on 155.14992885099997 meters Centerline goodness [0,1] 0.6698309621771674 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.14 [[ 0.99998551 -0.00196935 -0.00500945 0.62573015] [ 0.00193392 0.99997315 -0.00706826 -0.12480627] [ 0.00502324 0.00705847 0.99996247 -0.13639145] [ 0. 0. 0. 1. ]] SLAMing on 155.17992885099997 meters Centerline goodness [0,1] 0.6693771626297578 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.14 [[ 0.99998433 -0.00264527 -0.00493447 0.62518404] [ 0.00261421 0.9999768 -0.00628967 -0.12801633] [ 0.00495099 0.00627667 0.99996805 -0.1368964 ] [ 0. 0. 0. 1. ]] SLAMing on 155.20992885099997 meters Centerline goodness [0,1] 0.6483538131941196 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.13, Z:-0.14 [[ 0.99998438 -0.00304872 -0.00468532 0.62464031] [ 0.00302295 0.99998033 -0.00549562 -0.13064681] [ 0.00470198 0.00548137 0.99997392 -0.13759235] [ 0. 0. 0. 1. ]] SLAMing on 155.23992885099997 meters Centerline goodness [0,1] 0.6389976121901386 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.13, Z:-0.14 [[ 0.99998441 -0.00324122 -0.00454632 0.62435624] [ 0.00321974 0.99998366 -0.00472415 -0.13312761] [ 0.00456155 0.00470944 0.99997851 -0.1381714 ] [ 0. 0. 0. 1. ]] SLAMing on 155.26992885099997 meters Centerline goodness [0,1] 0.66016268154228 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.14 [[ 0.99998413 -0.00366763 -0.00427553 0.62337797] [ 0.00365049 0.9999853 -0.00400989 -0.13615639] [ 0.00429017 0.00399422 0.99998282 -0.13830637] [ 0. 0. 0. 1. ]] SLAMing on 155.29992885099998 meters Centerline goodness [0,1] 0.6560597132194068 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.14 [[ 0.99998452 -0.00353991 -0.00429279 0.62335647] [ 0.00352441 0.99998727 -0.00361097 -0.13733174] [ 0.00430552 0.00359579 0.99998427 -0.13832444] [ 0. 0. 0. 1. ]] SLAMing on 155.32992885099998 meters Centerline goodness [0,1] 0.6516823621738277 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.14 [[ 0.99998405 -0.00339175 -0.00451594 0.6236171 ] [ 0.00337585 0.9999881 -0.00352304 -0.13768589] [ 0.00452784 0.00350774 0.9999836 -0.13799943] [ 0. 0. 0. 1. ]] SLAMing on 155.35992885099998 meters Centerline goodness [0,1] 0.6498760340722194 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.14 [[ 0.9999848 -0.00269329 -0.00481032 0.62426988] [ 0.00267811 0.99999142 -0.0031591 -0.13817474] [ 0.00481879 0.00314617 0.99998344 -0.13771321] [ 0. 0. 0. 1. ]] SLAMing on 155.38992885099998 meters Centerline goodness [0,1] 0.6571695239966596 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.14 [[ 0.99998458 -0.00224798 -0.00507854 0.624886 ] [ 0.00223242 0.99999281 -0.00306601 -0.13797658] [ 0.00508539 0.00305463 0.9999824 -0.13752587] [ 0. 0. 0. 1. ]] SLAMing on 155.41992885099998 meters Centerline goodness [0,1] 0.6513752455795678 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.14 [[ 0.99998351 -0.00150482 -0.00554225 0.62634028] [ 0.0014898 0.99999521 -0.00271394 -0.13790759] [ 0.00554631 0.00270564 0.99998096 -0.1378801 ] [ 0. 0. 0. 1. ]] SLAMing on 155.44992885099998 meters Centerline goodness [0,1] 0.6551443776485661 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.14 [[ 9.99982551e-01 -9.72576713e-04 -5.82687499e-03 6.27199562e-01] [ 9.57302744e-04 9.99996100e-01 -2.62351280e-03 -1.37595013e-01] [ 5.82940383e-03 2.61788894e-03 9.99979582e-01 -1.37898956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47992885099998 meters Centerline goodness [0,1] 0.6607301211942063 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.14 [[ 9.99980386e-01 7.53986495e-04 -6.21764318e-03 6.29057959e-01] [-7.67490593e-04 9.99997351e-01 -2.16979978e-03 -1.37000672e-01] [ 6.21599071e-03 2.17452921e-03 9.99978316e-01 -1.38160004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.50992885099998 meters Centerline goodness [0,1] 0.680445386017638 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.14 [[ 0.99997719 0.00147723 -0.0065914 0.63027998] [-0.00149067 0.99999682 -0.0020348 -0.13642374] [ 0.00658837 0.00204458 0.99997621 -0.13834967] [ 0. 0. 0. 1. ]] SLAMing on 155.53992885099998 meters Centerline goodness [0,1] 0.6846667159144074 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.14 [[ 0.99997375 0.00220922 -0.00690086 0.6313504 ] [-0.00222254 0.99999568 -0.00192398 -0.13600465] [ 0.00689658 0.00193927 0.99997434 -0.1384227 ] [ 0. 0. 0. 1. ]] SLAMing on 155.569928851 meters Centerline goodness [0,1] 0.680344827586207 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.14 [[ 0.99996587 0.0039965 -0.00723152 0.63301669] [-0.00400789 0.99999075 -0.00156217 -0.13531987] [ 0.00722521 0.0015911 0.99997263 -0.13849612] [ 0. 0. 0. 1. ]] SLAMing on 155.599928851 meters Centerline goodness [0,1] 0.6887735013288709 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.14 [[ 0.99996115 0.00458428 -0.00752935 0.63403575] [-0.00459584 0.99998829 -0.00151831 -0.13461683] [ 0.0075223 0.00155285 0.9999705 -0.13860837] [ 0. 0. 0. 1. ]] SLAMing on 155.629928851 meters Centerline goodness [0,1] 0.691824519053132 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.13, Z:-0.14 [[ 0.99995508 0.00519348 -0.00792904 0.63522277] [-0.00520568 0.9999853 -0.00151896 -0.13398972] [ 0.00792104 0.00156017 0.99996741 -0.13863951] [ 0. 0. 0. 1. ]] SLAMing on 155.659928851 meters Centerline goodness [0,1] 0.6973042235473855 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.13, Z:-0.14 [[ 0.99994293 0.00664525 -0.0083653 0.63706645] [-0.00665394 0.99997735 -0.00101158 -0.13386805] [ 0.00835839 0.00106718 0.9999645 -0.13908213] [ 0. 0. 0. 1. ]] SLAMing on 155.689928851 meters Centerline goodness [0,1] 0.6873878524199297 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.13, Z:-0.14 [[ 9.99937522e-01 7.10688580e-03 -8.62810539e-03 6.37954203e-01] [-7.11497706e-03 9.99974276e-01 -9.07446503e-04 -1.33962867e-01] [ 8.62143433e-03 9.68778580e-04 9.99962365e-01 -1.39222151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.719928851 meters Centerline goodness [0,1] 0.6991035244995703 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.13, Z:-0.14 [[ 9.99933324e-01 7.48455408e-03 -8.79373810e-03 6.38531987e-01] [-7.49193551e-03 9.99971610e-01 -8.06754060e-04 -1.34144840e-01] [ 8.78745025e-03 8.72582387e-04 9.99961009e-01 -1.39304234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.749928851 meters Centerline goodness [0,1] 0.6888529332450786 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.13, Z:-0.14 [[ 9.99931784e-01 7.56062555e-03 -8.90299465e-03 6.38590875e-01] [-7.56903926e-03 9.99970939e-01 -9.11727327e-04 -1.34137249e-01] [ 8.89584269e-03 9.79052249e-04 9.99959952e-01 -1.38949439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77992885099997 meters Centerline goodness [0,1] 0.7045977574303481 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.13, Z:-0.14 [[ 9.99929699e-01 7.77459189e-03 -8.95276689e-03 6.38541565e-01] [-7.78300219e-03 9.99969302e-01 -9.04950469e-04 -1.34576164e-01] [ 8.94545644e-03 9.74566255e-04 9.99959514e-01 -1.38526393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.80992885099997 meters Centerline goodness [0,1] 0.7033426183844012 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.14 [[ 9.99929884e-01 7.71892611e-03 -8.98026473e-03 6.38421706e-01] [-7.72761689e-03 9.99969706e-01 -9.33468439e-04 -1.35009043e-01] [ 8.97278731e-03 1.00279903e-03 9.99959241e-01 -1.38293996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83992885099997 meters Centerline goodness [0,1] 0.7057717661995215 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.14 [[ 0.99993096 0.00761708 -0.00894732 0.63808516] [-0.00762637 0.99997042 -0.00100378 -0.13544367] [ 0.00893941 0.00107194 0.99995947 -0.13795212] [ 0. 0. 0. 1. ]] SLAMing on 155.86992885099997 meters Centerline goodness [0,1] 0.7077095625883845 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.14 [[ 9.99931052e-01 7.59503559e-03 -8.95579587e-03 6.38088580e-01] [-7.60404395e-03 9.99970616e-01 -9.72247585e-04 -1.35867330e-01] [ 8.94814846e-03 1.04028082e-03 9.99959423e-01 -1.37937980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89992885099997 meters Centerline goodness [0,1] 0.6998978499854072 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.14 [[ 9.99933134e-01 7.46639232e-03 -8.83067107e-03 6.37825221e-01] [-7.47164841e-03 9.99971929e-01 -5.62366587e-04 -1.37698039e-01] [ 8.82622433e-03 6.28308653e-04 9.99960851e-01 -1.38165144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92992885099997 meters Centerline goodness [0,1] 0.7029054103254934 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.14 [[ 9.99934133e-01 7.33007263e-03 -8.83176427e-03 6.37765168e-01] [-7.33442952e-03 9.99972996e-01 -4.61032601e-04 -1.38524366e-01] [ 8.82814638e-03 5.25778187e-04 9.99960893e-01 -1.38208168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95992885099997 meters Centerline goodness [0,1] 0.6947118298862838 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.14 [[ 9.99935979e-01 7.14498064e-03 -8.77423934e-03 6.37453496e-01] [-7.14875034e-03 9.99974368e-01 -3.98345510e-04 -1.39318779e-01] [ 8.77116827e-03 4.61044854e-04 9.99961426e-01 -1.38082497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.98992885099997 meters Centerline goodness [0,1] 0.6843753764606674 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.14 [[ 0.99994973 0.00387046 -0.00924985 0.6387853 ] [-0.0039089 0.99998378 -0.00414151 -0.13904131] [ 0.00923367 0.00417746 0.99994864 -0.13803389] [ 0. 0. 0. 1. ]] SLAMing on 156.01992885099997 meters Centerline goodness [0,1] 0.6914870611980105 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.14 [[ 0.99995099 0.00383115 -0.00912892 0.63856929] [-0.00386582 0.99998537 -0.00378276 -0.14026169] [ 0.00911429 0.00381787 0.99995118 -0.13826898] [ 0. 0. 0. 1. ]] SLAMing on 156.04992885099998 meters Centerline goodness [0,1] 0.6849097089953469 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.14 [[ 0.99995297 0.00362932 -0.00899388 0.63817151] [-0.00366169 0.99998687 -0.00358457 -0.1413965 ] [ 0.00898075 0.00361733 0.99995313 -0.13832922] [ 0. 0. 0. 1. ]] SLAMing on 156.07992885099998 meters Centerline goodness [0,1] 0.6907390039198711 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.14 [[ 0.99995424 0.00356987 -0.00887572 0.63800404] [-0.00359851 0.99998837 -0.00321246 -0.14272373] [ 0.00886415 0.00324425 0.99995545 -0.13865795] [ 0. 0. 0. 1. ]] SLAMing on 156.10992885099998 meters Centerline goodness [0,1] 0.6941108655970795 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.14 [[ 0.9999583 0.00302711 -0.00861625 0.63703011] [-0.00305336 0.99999073 -0.00303462 -0.14444637] [ 0.00860699 0.0030608 0.99995827 -0.1384881 ] [ 0. 0. 0. 1. ]] SLAMing on 156.13992885099998 meters Centerline goodness [0,1] 0.687377339524197 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.14 [[ 0.99995859 0.00297906 -0.00859883 0.63690589] [-0.00300243 0.99999183 -0.00270629 -0.14573841] [ 0.0085907 0.00273199 0.99995937 -0.1385497 ] [ 0. 0. 0. 1. ]] SLAMing on 156.16992885099998 meters Centerline goodness [0,1] 0.6848984468339308 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.14 [[ 0.99996049 0.00279139 -0.0084391 0.63635152] [-0.00281307 0.99999277 -0.00255855 -0.14684834] [ 0.0084319 0.00258219 0.99996112 -0.13839152] [ 0. 0. 0. 1. ]] SLAMing on 156.19992885099998 meters Centerline goodness [0,1] 0.682970842435179 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.14 [[ 0.99995978 0.00289181 -0.00848965 0.63640239] [-0.00290765 0.99999405 -0.00185399 -0.149292 ] [ 0.00848423 0.0018786 0.99996224 -0.13859899] [ 0. 0. 0. 1. ]] SLAMing on 156.22992885099998 meters Centerline goodness [0,1] 0.6887072631804034 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.14 [[ 0.99996057 0.00273316 -0.0084491 0.63593118] [-0.00274913 0.99999446 -0.00187905 -0.15002456] [ 0.00844392 0.00190221 0.99996254 -0.13814394] [ 0. 0. 0. 1. ]] SLAMing on 156.25992885099998 meters Centerline goodness [0,1] 0.6843692132377379 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.14 [[ 0.99996165 0.00262259 -0.00835582 0.63540196] [-0.00263767 0.99999491 -0.00179374 -0.15095687] [ 0.00835108 0.00181571 0.99996348 -0.13778685] [ 0. 0. 0. 1. ]] SLAMing on 156.28992885099998 meters Centerline goodness [0,1] 0.6811182856737388 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.15, Z:-0.14 [[ 0.99996176 0.00272575 -0.00831015 0.63532463] [-0.00273709 0.99999534 -0.00135303 -0.1523691 ] [ 0.00830642 0.00137572 0.99996455 -0.13792611] [ 0. 0. 0. 1. ]] SLAMing on 156.319928851 meters Centerline goodness [0,1] 0.6799386358272362 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.14 [[ 0.99996351 0.00267045 -0.00811473 0.63421352] [-0.00267884 0.99999589 -0.00102331 -0.15454022] [ 0.00811196 0.00104501 0.99996655 -0.13709876] [ 0. 0. 0. 1. ]] SLAMing on 156.349928851 meters Centerline goodness [0,1] 0.680623954381583 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.14 [[ 9.99964740e-01 2.64643501e-03 -7.96960161e-03 6.33592730e-01] [-2.65284315e-03 9.99996166e-01 -7.93607921e-04 -1.55958034e-01] [ 7.96747083e-03 8.14722041e-04 9.99967927e-01 -1.36719908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.379928851 meters Centerline goodness [0,1] 0.6932908855087843 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.14 [[ 9.99965929e-01 2.64084593e-03 -7.82093155e-03 6.33033451e-01] [-2.64408692e-03 9.99996423e-01 -4.04088922e-04 -1.57645857e-01] [ 7.81983644e-03 4.24754377e-04 9.99969334e-01 -1.36540337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.409928851 meters Centerline goodness [0,1] 0.6788350149476832 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.14 [[ 9.99966978e-01 2.57191552e-03 -7.70893775e-03 6.32416049e-01] [-2.56931957e-03 9.99996639e-01 3.46630111e-04 -1.61419341e-01] [ 7.70980334e-03 -3.26811940e-04 9.99970226e-01 -1.36341641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.439928851 meters Centerline goodness [0,1] 0.685967000396742 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.16, Z:-0.14 [[ 9.99968451e-01 2.47156304e-03 -7.54907152e-03 6.31913395e-01] [-2.46583956e-03 9.99996665e-01 7.67383129e-04 -1.63487820e-01] [ 7.55094298e-03 -7.48744119e-04 9.99971211e-01 -1.36289132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.469928851 meters Centerline goodness [0,1] 0.6823718097717446 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.14 [[ 0.99997064 0.00233638 -0.00729848 0.63131513] [-0.00232759 0.99999656 0.00121278 -0.16582114] [ 0.00730129 -0.00119576 0.99997263 -0.13636798] [ 0. 0. 0. 1. ]] SLAMing on 156.499928851 meters Centerline goodness [0,1] 0.679099291108743 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.14 [[ 0.99997214 0.0022067 -0.00713068 0.63069535] [-0.00219485 0.9999962 0.00166809 -0.16836949] [ 0.00713433 -0.00165239 0.99997319 -0.13621622] [ 0. 0. 0. 1. ]] SLAMing on 156.52992885099997 meters Centerline goodness [0,1] 0.6745038379088584 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.14 [[ 9.99970246e-01 -4.07337109e-04 -7.70327439e-03 6.32902872e-01] [ 3.97547516e-04 9.99999112e-01 -1.27232382e-03 -1.69578065e-01] [ 7.70378581e-03 1.26922355e-03 9.99969520e-01 -1.37039802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55992885099997 meters Centerline goodness [0,1] 0.6819630776287122 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.17, Z:-0.14 [[ 9.99971855e-01 -7.86943919e-04 -7.46128842e-03 6.32028624e-01] [ 7.81874740e-04 9.99999462e-01 -6.82289800e-04 -1.73581774e-01] [ 7.46182132e-03 6.76436804e-04 9.99971931e-01 -1.36948999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.58992885099997 meters Centerline goodness [0,1] 0.6865989290127694 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.14 [[ 9.99972052e-01 -6.62054397e-04 -7.44688876e-03 6.32076629e-01] [ 6.61072213e-04 9.99999772e-01 -1.34352622e-04 -1.75511094e-01] [ 7.44697601e-03 1.29425935e-04 9.99972263e-01 -1.37160092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61992885099997 meters Centerline goodness [0,1] 0.6839300011437721 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.14 [[ 9.99972851e-01 -4.53420711e-04 -7.35472087e-03 6.32196142e-01] [ 4.57405380e-04 9.99999750e-01 5.40110788e-04 -1.77527376e-01] [ 7.35447414e-03 -5.43460213e-04 9.99972808e-01 -1.37686791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.64992885099997 meters Centerline goodness [0,1] 0.6840404224326293 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.14 [[ 9.99973675e-01 -4.18200255e-04 -7.24396748e-03 6.31787087e-01] [ 4.28017814e-04 9.99998992e-01 1.35377648e-03 -1.81139235e-01] [ 7.24339403e-03 -1.35684139e-03 9.99972846e-01 -1.37694274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67992885099997 meters Centerline goodness [0,1] 0.6787849851078827 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.14 [[ 9.99973952e-01 -3.52573733e-04 -7.20903420e-03 6.31738088e-01] [ 3.65501490e-04 9.99998328e-01 1.79203286e-03 -1.82905056e-01] [ 7.20839032e-03 -1.79462109e-03 9.99972409e-01 -1.37814696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70992885099997 meters Centerline goodness [0,1] 0.6833839459728959 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.18, Z:-0.14 [[ 9.99973981e-01 -2.20584614e-04 -7.21031641e-03 6.31804160e-01] [ 2.35798205e-04 9.99997748e-01 2.10919360e-03 -1.84422197e-01] [ 7.20983492e-03 -2.11083890e-03 9.99971781e-01 -1.37900847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.73992885099997 meters Centerline goodness [0,1] 0.6813030200203597 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.14 [[ 9.99974392e-01 -2.04286902e-04 -7.15362259e-03 6.31614149e-01] [ 2.21147891e-04 9.99997200e-01 2.35627453e-03 -1.85684307e-01] [ 7.15312120e-03 -2.35779620e-03 9.99971636e-01 -1.37835800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.76992885099997 meters Centerline goodness [0,1] 0.6858655325309927 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.14 [[ 9.99974674e-01 -1.31273395e-04 -7.11583018e-03 6.31198762e-01] [ 1.51025784e-04 9.99996137e-01 2.77537127e-03 -1.87620871e-01] [ 7.11543836e-03 -2.77637565e-03 9.99970831e-01 -1.37474857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.79992885099998 meters Centerline goodness [0,1] 0.6787681748397001 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.14 [[ 9.99974210e-01 -7.01362004e-05 -7.18150141e-03 6.31077920e-01] [ 9.08094126e-05 9.99995853e-01 2.87838989e-03 -1.88356921e-01] [ 7.18126976e-03 -2.87896780e-03 9.99970070e-01 -1.37108538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.82992885099998 meters Centerline goodness [0,1] 0.6848323600369777 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.14 [[ 9.99974207e-01 -3.69446721e-05 -7.18224542e-03 6.30799954e-01] [ 5.86058393e-05 9.99995451e-01 3.01574540e-03 -1.89307293e-01] [ 7.18210133e-03 -3.01608854e-03 9.99969660e-01 -1.36725279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.85992885099998 meters Centerline goodness [0,1] 0.6846254042400288 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.14 [[ 9.99973967e-01 1.54182710e-04 -7.21401446e-03 6.30321417e-01] [-1.29695400e-04 9.99994229e-01 3.39475297e-03 -1.91509129e-01] [ 7.21449624e-03 -3.39372897e-03 9.99968216e-01 -1.35964207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.88992885099998 meters Centerline goodness [0,1] 0.697246471129463 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.14 [[ 9.99973904e-01 2.31410053e-04 -7.22063950e-03 6.30085633e-01] [-2.05728309e-04 9.99993652e-01 3.55725335e-03 -1.92537560e-01] [ 7.22141685e-03 -3.55567503e-03 9.99967604e-01 -1.35602621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91992885099998 meters Centerline goodness [0,1] 0.6938976598365245 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.14 [[ 9.99973409e-01 3.78071518e-04 -7.28273460e-03 6.30237544e-01] [-3.50927288e-04 9.99992989e-01 3.72812030e-03 -1.93396771e-01] [ 7.28409303e-03 -3.72546545e-03 9.99966531e-01 -1.35566638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.94992885099998 meters Centerline goodness [0,1] 0.6938976598365245 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.14 [[ 9.99973409e-01 3.78071518e-04 -7.28273460e-03 6.30237544e-01] [-3.50927288e-04 9.99992989e-01 3.72812030e-03 -1.93396771e-01] [ 7.28409303e-03 -3.72546545e-03 9.99966531e-01 -1.35566638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97992885099998 meters Centerline goodness [0,1] 0.6879194630872483 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.19, Z:-0.14 [[ 9.99972911e-01 5.17704864e-04 -7.34234950e-03 6.30391121e-01] [-4.88687021e-04 9.99992066e-01 3.95336315e-03 -1.94412423e-01] [ 7.34433792e-03 -3.94966794e-03 9.99965230e-01 -1.35600637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.00992885099998 meters Centerline goodness [0,1] 0.70204974768901 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.14 [[ 0.99997084 0.00135273 -0.0075153 0.63114506] [-0.00131641 0.99998744 0.00483539 -0.19677215] [ 0.00752175 -0.00482535 0.99996007 -0.13598799] [ 0. 0. 0. 1. ]] SLAMing on 157.03992885099998 meters Centerline goodness [0,1] 0.6910242168407021 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.14 [[ 9.99970555e-01 -4.09470010e-04 -7.66293407e-03 6.32823736e-01] [ 4.26046740e-04 9.99997573e-01 2.16172800e-03 -1.96516681e-01] [ 7.66203031e-03 -2.16492911e-03 9.99968303e-01 -1.36834499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.069928851 meters Centerline goodness [0,1] 0.6948432040239478 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.14 [[ 9.99970438e-01 -1.69309811e-04 -7.68729417e-03 6.32744015e-01] [ 1.87618245e-04 9.99997148e-01 2.38098999e-03 -1.97398731e-01] [ 7.68686912e-03 -2.38236188e-03 9.99967618e-01 -1.36590389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.099928851 meters Centerline goodness [0,1] 0.7156597668543061 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.14 [[ 9.99968127e-01 7.18422834e-04 -7.95171211e-03 6.33588825e-01] [-6.92904738e-04 9.99994603e-01 3.21142220e-03 -1.99276728e-01] [ 7.95397635e-03 -3.20581006e-03 9.99963228e-01 -1.36772048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.129928851 meters Centerline goodness [0,1] 0.7220349507673202 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.14 [[ 0.99996711 0.00106666 -0.00804015 0.63380394] [-0.00103821 0.99999319 0.00354151 -0.20024774] [ 0.00804387 -0.00353304 0.99996141 -0.13673721] [ 0. 0. 0. 1. ]] SLAMing on 157.159928851 meters Centerline goodness [0,1] 0.7246457041629761 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.14 [[ 0.99996552 0.00146177 -0.00817476 0.634215 ] [-0.00142936 0.9999911 0.00396854 -0.20146622] [ 0.00818049 -0.00395672 0.99995871 -0.1368334 ] [ 0. 0. 0. 1. ]] SLAMing on 157.189928851 meters Centerline goodness [0,1] 0.7333938133380538 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.14 [[ 0.99996459 0.00166639 -0.00824904 0.63431912] [-0.00163158 0.99998974 0.00422492 -0.20244024] [ 0.008256 -0.00421131 0.99995705 -0.13673494] [ 0. 0. 0. 1. ]] SLAMing on 157.219928851 meters Centerline goodness [0,1] 0.7421335040960982 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.14 [[ 0.99996255 0.00223883 -0.00835932 0.63463401] [-0.00219686 0.99998496 0.00502616 -0.20474374] [ 0.00837045 -0.00500761 0.99995243 -0.13681592] [ 0. 0. 0. 1. ]] SLAMing on 157.249928851 meters Centerline goodness [0,1] 0.7325152566185187 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.14 [[ 9.99963132e-01 -6.33562841e-05 -8.58663747e-03 6.36168631e-01] [ 7.91675677e-05 9.99998302e-01 1.84105507e-03 -2.04182136e-01] [ 8.58650625e-03 -1.84166698e-03 9.99961439e-01 -1.37350539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27992885099997 meters Centerline goodness [0,1] 0.7443979749064495 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.14 [[ 9.99962889e-01 6.74155071e-06 -8.61517507e-03 6.35982817e-01] [ 1.02949232e-05 9.99998045e-01 1.97745008e-03 -2.05064864e-01] [ 8.61517156e-03 -1.97746539e-03 9.99960933e-01 -1.37026153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.30992885099997 meters Centerline goodness [0,1] 0.7384206946486167 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.14 [[ 9.99962175e-01 3.35545278e-04 -8.69118300e-03 6.36155585e-01] [-3.13353925e-04 9.99996688e-01 2.55455379e-03 -2.07148073e-01] [ 8.69201138e-03 -2.55173374e-03 9.99958968e-01 -1.37099045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33992885099997 meters Centerline goodness [0,1] 0.7382575424399683 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.14 [[ 9.99961746e-01 4.16441740e-04 -8.73688838e-03 6.36276923e-01] [-3.93199112e-04 9.99996380e-01 2.66183575e-03 -2.07685909e-01] [ 8.73796525e-03 -2.65829859e-03 9.99958290e-01 -1.37104892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36992885099997 meters Centerline goodness [0,1] 0.7296033714524024 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.14 [[ 9.99961201e-01 5.52361238e-04 -8.79155088e-03 6.36598402e-01] [-5.28176230e-04 9.99996071e-01 2.75302177e-03 -2.08009575e-01] [ 8.79303700e-03 -2.74827146e-03 9.99957564e-01 -1.37336655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39992885099997 meters Centerline goodness [0,1] 0.7386805509787122 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.14 [[ 0.99995809 0.00113349 -0.00908435 0.63789369] [-0.00110571 0.9999947 0.00306255 -0.2081205 ] [ 0.00908777 -0.00305238 0.99995405 -0.13809868] [ 0. 0. 0. 1. ]] SLAMing on 157.42992885099997 meters Centerline goodness [0,1] 0.7409967739811706 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.14 [[ 0.99995569 0.00140775 -0.00930784 0.6386781 ] [-0.0013804 0.99999472 0.00294323 -0.20738196] [ 0.00931193 -0.00293025 0.99995235 -0.1383696 ] [ 0. 0. 0. 1. ]] SLAMing on 157.45992885099997 meters Centerline goodness [0,1] 0.745655851145625 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.14 [[ 0.99995346 0.00177246 -0.00948301 0.63934081] [-0.00174594 0.99999454 0.00280457 -0.20646893] [ 0.00948793 -0.00278789 0.9999511 -0.13852416] [ 0. 0. 0. 1. ]] SLAMing on 157.48992885099997 meters Centerline goodness [0,1] 0.7557464949676966 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.14 [[ 0.99995054 0.00211391 -0.00971831 0.63998007] [-0.00208905 0.99999452 0.00256746 -0.20542301] [ 0.00972368 -0.00254704 0.99994948 -0.13848598] [ 0. 0. 0. 1. ]] SLAMing on 157.51992885099997 meters Centerline goodness [0,1] 0.7694640384995715 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.14 [[ 0.99994794 0.00303313 -0.00974245 0.64034272] [-0.00301221 0.99999313 0.00216191 -0.20322772] [ 0.00974894 -0.00213245 0.9999502 -0.13807754] [ 0. 0. 0. 1. ]] SLAMing on 157.54992885099998 meters Centerline goodness [0,1] 0.770837915108863 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.14 [[ 0.99994674 0.00315755 -0.00982624 0.64027861] [-0.00314197 0.99999378 0.00160094 -0.20155816] [ 0.00983123 -0.00156999 0.99995044 -0.13746258] [ 0. 0. 0. 1. ]] SLAMing on 157.57992885099998 meters Centerline goodness [0,1] 0.7705812469749637 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.14 [[ 0.99994511 0.00329884 -0.00994452 0.64043977] [-0.00328775 0.99999396 0.00113165 -0.19998636] [ 0.00994819 -0.00109889 0.99994991 -0.13705775] [ 0. 0. 0. 1. ]] SLAMing on 157.60992885099998 meters Centerline goodness [0,1] 0.7700886474120675 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.14 [[ 9.99944436e-01 3.36062159e-03 -9.99152751e-03 6.40442919e-01] [-3.35320376e-03 9.99994090e-01 7.59071260e-04 -1.98863753e-01] [ 9.99401941e-03 -7.25525455e-04 9.99949795e-01 -1.36739050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63992885099998 meters Centerline goodness [0,1] 0.7717333803561982 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.14 [[ 9.99944327e-01 3.63734545e-03 -9.90521544e-03 6.40371651e-01] [-3.63467833e-03 9.99993353e-01 2.87253095e-04 -1.97195028e-01] [ 9.90619444e-03 -2.51234831e-04 9.99950901e-01 -1.36461193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.66992885099998 meters Centerline goodness [0,1] 0.7702470603778571 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.14 [[ 9.99945066e-01 3.62100723e-03 -9.83635718e-03 6.40407668e-01] [-3.62104622e-03 9.99993444e-01 1.38458855e-05 -1.96299073e-01] [ 9.83634283e-03 2.17727791e-05 9.99951622e-01 -1.36588237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69992885099998 meters Centerline goodness [0,1] 0.7698736466074224 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.14 [[ 9.99945648e-01 3.57288124e-03 -9.79470654e-03 6.40381414e-01] [-3.57481375e-03 9.99993594e-01 -1.79801494e-04 -1.95700569e-01] [ 9.79400139e-03 2.14805973e-04 9.99952015e-01 -1.36612949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72992885099998 meters Centerline goodness [0,1] 0.76673637864612 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.14 [[ 9.99947494e-01 3.45178287e-03 -9.64854357e-03 6.40472394e-01] [-3.45392365e-03 9.99994014e-01 -2.05221648e-04 -1.95822064e-01] [ 9.64777743e-03 2.38536206e-04 9.99953431e-01 -1.37142149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75992885099998 meters Centerline goodness [0,1] 0.7660299386718836 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.14 [[ 9.99949534e-01 3.23396578e-03 -9.51162338e-03 6.40350310e-01] [-3.23490067e-03 9.99994764e-01 -8.29059323e-05 -1.96443206e-01] [ 9.51130546e-03 1.13670905e-04 9.99954760e-01 -1.37496444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.78992885099998 meters Centerline goodness [0,1] 0.7640278908123089 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.14 [[ 9.99952057e-01 2.89453702e-03 -9.35445489e-03 6.39928288e-01] [-2.89494746e-03 9.99995809e-01 -3.03355123e-05 -1.97351765e-01] [ 9.35432788e-03 5.74147133e-05 9.99956246e-01 -1.37528420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.819928851 meters Centerline goodness [0,1] 0.7615846022015688 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.14 [[ 9.99955861e-01 2.25658996e-03 -9.12049712e-03 6.39130163e-01] [-2.25780773e-03 9.99997444e-01 -1.23226079e-04 -1.98318401e-01] [ 9.12019573e-03 1.43812969e-04 9.99958400e-01 -1.37369991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.849928851 meters Centerline goodness [0,1] 0.7509719934102141 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.14 [[ 0.9999574 -0.00187791 -0.00903771 0.63924038] [ 0.00184732 0.99999254 -0.00339199 -0.20064469] [ 0.00904402 0.00337515 0.99995341 -0.13795425] [ 0. 0. 0. 1. ]] SLAMing on 157.879928851 meters Centerline goodness [0,1] 0.7421612726275371 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.14 [[ 0.99995781 -0.00247753 -0.00884488 0.6389028 ] [ 0.00245263 0.999993 -0.00282463 -0.20322845] [ 0.00885182 0.00280282 0.99995689 -0.13858421] [ 0. 0. 0. 1. ]] SLAMing on 157.909928851 meters Centerline goodness [0,1] 0.6532572614107883 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.14 [[ 0.99993958 -0.0073095 -0.00820967 0.68643346] [ 0.00726648 0.99995978 -0.00525741 -0.20620223] [ 0.00824777 0.00519744 0.99995248 -0.13931589] [ 0. 0. 0. 1. ]] SLAMing on 157.939928851 meters Centerline goodness [0,1] 0.7153358127324436 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.14 [[ 0.99994233 -0.00857512 -0.00646621 0.61284502] [ 0.0085498 0.99995572 -0.00393293 -0.2043491 ] [ 0.00649965 0.00387741 0.99997136 -0.14349068] [ 0. 0. 0. 1. ]] SLAMing on 157.969928851 meters Centerline goodness [0,1] 0.7037344761238411 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.21, Z:-0.14 [[ 0.99993974 -0.0089493 -0.00635821 0.61287213] [ 0.00892825 0.99995459 -0.00333283 -0.20647163] [ 0.00638774 0.00327586 0.99997423 -0.14425278] [ 0. 0. 0. 1. ]] SLAMing on 157.999928851 meters Centerline goodness [0,1] 0.6824018374712895 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.21, Z:-0.15 [[ 0.99993243 -0.0098774 -0.00612932 0.61245644] [ 0.00985987 0.99994723 -0.00288411 -0.20876145] [ 0.00615748 0.00282349 0.99997706 -0.14504239] [ 0. 0. 0. 1. ]] SLAMing on 158.02992885099997 meters Centerline goodness [0,1] 0.6882782122416882 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.21, Z:-0.15 [[ 0.9999326 -0.0098373 -0.00616664 0.6129145 ] [ 0.00982208 0.99994865 -0.00249386 -0.20951647] [ 0.00619086 0.00243312 0.99997788 -0.14567844] [ 0. 0. 0. 1. ]] SLAMing on 158.05992885099997 meters Centerline goodness [0,1] 0.6765446149132215 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.21, Z:-0.15 [[ 0.9999331 -0.00972373 -0.00626506 0.61335666] [ 0.00971008 0.99995042 -0.00220535 -0.20990346] [ 0.0062862 0.00214437 0.99997794 -0.14608805] [ 0. 0. 0. 1. ]] SLAMing on 158.08992885099997 meters Centerline goodness [0,1] 0.7078691036445223 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.21, Z:-0.15 [[ 0.99993351 -0.00964499 -0.00632005 0.61366584] [ 0.00963191 0.99995141 -0.00209695 -0.20980685] [ 0.00633997 0.00203594 0.99997783 -0.1463593 ] [ 0. 0. 0. 1. ]] SLAMing on 158.11992885099997 meters Centerline goodness [0,1] 0.6697844563217383 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.21, Z:-0.15 [[ 0.99996066 -0.00634704 -0.00619589 0.61313911] [ 0.00635707 0.99997851 0.00160027 -0.21011532] [ 0.0061856 -0.0016396 0.99997952 -0.14645293] [ 0. 0. 0. 1. ]] SLAMing on 158.14992885099997 meters Centerline goodness [0,1] 0.7151512490670413 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.21, Z:-0.15 [[ 0.9999607 -0.00607222 -0.00645937 0.61405128] [ 0.00608221 0.99998033 0.00152924 -0.20873094] [ 0.00644996 -0.00156847 0.99997797 -0.14685682] [ 0. 0. 0. 1. ]] SLAMing on 158.17992885099997 meters Centerline goodness [0,1] 0.7013964890776168 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.21, Z:-0.15 [[ 0.99996077 -0.00580863 -0.00668646 0.61486195] [ 0.00581822 0.99998207 0.00141644 -0.20747484] [ 0.00667811 -0.00145528 0.99997664 -0.14718742] [ 0. 0. 0. 1. ]] SLAMing on 158.20992885099997 meters Centerline goodness [0,1] 0.7102385030965872 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.21, Z:-0.15 [[ 0.99996004 -0.00578288 -0.00681795 0.61513714] [ 0.00578986 0.99998273 0.00100501 -0.20597769] [ 0.00681202 -0.00104445 0.99997625 -0.14706949] [ 0. 0. 0. 1. ]] SLAMing on 158.23992885099997 meters Centerline goodness [0,1] 0.7088743875376267 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.20, Z:-0.15 [[ 9.99959897e-01 -5.44721495e-03 -7.10861810e-03 6.16009197e-01] [ 5.45308619e-03 9.99984806e-01 8.06812290e-04 -2.04423834e-01] [ 7.10411522e-03 -8.45543842e-04 9.99974408e-01 -1.47274642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.26992885099997 meters Centerline goodness [0,1] 0.7101917122340076 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.20, Z:-0.15 [[ 9.99959524e-01 -5.40601533e-03 -7.19206792e-03 6.16479207e-01] [ 5.41168890e-03 9.99985061e-01 7.69637112e-04 -2.03702090e-01] [ 7.18779981e-03 -8.08527194e-04 9.99973841e-01 -1.47666206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.29992885099998 meters Centerline goodness [0,1] 0.7076743725667025 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.20, Z:-0.15 [[ 9.99959061e-01 -5.49297889e-03 -7.19050979e-03 6.16772713e-01] [ 5.49780134e-03 9.99984675e-01 6.51073938e-04 -2.02848507e-01] [ 7.18682326e-03 -6.90579278e-04 9.99973936e-01 -1.48088906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.32992885099998 meters Centerline goodness [0,1] 0.6813991442812404 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.20, Z:-0.15 [[ 9.99956468e-01 -6.07713128e-03 -7.08028820e-03 6.16522878e-01] [ 6.07991262e-03 9.99981448e-01 3.71371276e-04 -2.02024172e-01] [ 7.07789998e-03 -4.14402643e-04 9.99974865e-01 -1.48312779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35992885099998 meters Centerline goodness [0,1] 0.7002690543401553 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.20, Z:-0.15 [[ 9.99955477e-01 -6.37986107e-03 -6.95282782e-03 6.16282738e-01] [ 6.38197566e-03 9.99979595e-01 2.81990025e-04 -2.02014610e-01] [ 6.95088689e-03 -3.26350248e-04 9.99975789e-01 -1.48412034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38992885099998 meters Centerline goodness [0,1] 0.6768834712198557 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.20, Z:-0.15 [[ 9.99954218e-01 -6.69127373e-03 -6.84026930e-03 6.16082597e-01] [ 6.69320616e-03 9.99977567e-01 2.59655439e-04 -2.02252242e-01] [ 6.83837843e-03 -3.05426884e-04 9.99976571e-01 -1.48589517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41992885099998 meters Centerline goodness [0,1] 0.6563923173387896 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.15 [[ 9.99948987e-01 -7.72789460e-03 -6.50405844e-03 6.14865109e-01] [ 7.72769980e-03 9.99970139e-01 -5.50820981e-05 -2.02618858e-01] [ 6.50428989e-03 4.81787719e-06 9.99978847e-01 -1.48305008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44992885099998 meters Centerline goodness [0,1] 0.6582760747004933 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.15 [[ 9.99947638e-01 -8.04144409e-03 -6.32905304e-03 6.14493432e-01] [ 8.04169351e-03 9.99967665e-01 1.39610086e-05 -2.03143952e-01] [ 6.32873613e-03 -6.48565823e-05 9.99979971e-01 -1.48442558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47992885099998 meters Centerline goodness [0,1] 0.6625252880640338 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.15 [[ 9.99947339e-01 -8.12412411e-03 -6.27033665e-03 6.14574386e-01] [ 8.12651208e-03 9.99966916e-01 3.55451343e-04 -2.04034533e-01] [ 6.26724147e-03 -4.06388591e-04 9.99980278e-01 -1.48901645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.50992885099998 meters Centerline goodness [0,1] 0.6561936193619362 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.20, Z:-0.15 [[ 9.99946870e-01 -8.21502418e-03 -6.22666437e-03 6.14677472e-01] [ 8.21913461e-03 9.99966021e-01 6.34832260e-04 -2.04752930e-01] [ 6.22123763e-03 -6.85976323e-04 9.99980413e-01 -1.49323463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53992885099998 meters Centerline goodness [0,1] 0.6447851816001936 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.21, Z:-0.15 [[ 9.99946744e-01 -8.29366773e-03 -6.14203401e-03 6.14839175e-01] [ 8.29971357e-03 9.99965096e-01 9.59504162e-04 -2.05330506e-01] [ 6.13386182e-03 -1.01043019e-03 9.99980677e-01 -1.49955815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.569928851 meters Centerline goodness [0,1] 0.6337412395368763 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.21, Z:-0.15 [[ 0.99994472 -0.00860582 -0.00604049 0.61509065] [ 0.00861359 0.99996211 0.00126093 -0.20588822] [ 0.00602941 -0.00131289 0.99998096 -0.15090898] [ 0. 0. 0. 1. ]] SLAMing on 158.599928851 meters Centerline goodness [0,1] 0.6428964697073138 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.21, Z:-0.15 [[ 0.9999437 -0.00874581 -0.00600899 0.61514407] [ 0.00875392 0.99996081 0.00132509 -0.20599777] [ 0.00599717 -0.00137762 0.99998107 -0.15115231] [ 0. 0. 0. 1. ]] SLAMing on 158.629928851 meters Centerline goodness [0,1] 0.6333744710860367 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.21, Z:-0.15 [[ 0.99994277 -0.00886131 -0.00599506 0.61564273] [ 0.00887078 0.99995945 0.00155472 -0.20605608] [ 0.00598104 -0.00160781 0.99998082 -0.15212874] [ 0. 0. 0. 1. ]] SLAMing on 158.659928851 meters Centerline goodness [0,1] 0.6303206739887963 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.21, Z:-0.15 [[ 0.9999422 -0.008935 -0.00598078 0.6158113 ] [ 0.00894365 0.999959 0.00142034 -0.20520353] [ 0.00596784 -0.00147375 0.99998111 -0.1524023 ] [ 0. 0. 0. 1. ]] SLAMing on 158.689928851 meters Centerline goodness [0,1] 0.6258255472356592 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.20, Z:-0.15 [[ 0.99994208 -0.00881929 -0.00616846 0.61658758] [ 0.00882796 0.99996008 0.00137871 -0.20402884] [ 0.00615606 -0.00143308 0.99998002 -0.15291244] [ 0. 0. 0. 1. ]] SLAMing on 158.719928851 meters Centerline goodness [0,1] 0.6223953734769556 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.20, Z:-0.15 [[ 0.99994178 -0.00867105 -0.00642273 0.61743072] [ 0.00867859 0.99996168 0.00114756 -0.2023353 ] [ 0.00641253 -0.00120323 0.99997872 -0.15324183] [ 0. 0. 0. 1. ]] SLAMing on 158.749928851 meters Centerline goodness [0,1] 0.6222128547023718 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.20, Z:-0.15 [[ 0.99996508 -0.00577705 -0.00603932 0.61608354] [ 0.00579999 0.99997601 0.00378688 -0.19929582] [ 0.0060173 -0.00382177 0.99997459 -0.15275022] [ 0. 0. 0. 1. ]] SLAMing on 158.77992885099997 meters Centerline goodness [0,1] 0.6279949278102823 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.20, Z:-0.15 [[ 0.99996505 -0.00554071 -0.00626099 0.61698606] [ 0.00556186 0.99997887 0.00336545 -0.1967235 ] [ 0.00624221 -0.00340015 0.99997474 -0.15311606] [ 0. 0. 0. 1. ]] SLAMing on 158.80992885099997 meters Centerline goodness [0,1] 0.6196734457487805 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.19, Z:-0.15 [[ 0.99996488 -0.00506418 -0.00667731 0.61860743] [ 0.00508501 0.99998224 0.00310753 -0.19395651] [ 0.00666145 -0.00314137 0.99997288 -0.15390862] [ 0. 0. 0. 1. ]] SLAMing on 158.83992885099997 meters Centerline goodness [0,1] 0.620838911200357 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.19, Z:-0.15 [[ 0.99996443 -0.00481513 -0.00692489 0.61954133] [ 0.00483186 0.99998544 0.00240146 -0.19067376] [ 0.00691323 -0.00243484 0.99997314 -0.15411626] [ 0. 0. 0. 1. ]] SLAMing on 158.86992885099997 meters Centerline goodness [0,1] 0.620838911200357 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.19, Z:-0.15 [[ 0.99996443 -0.00481513 -0.00692489 0.61954133] [ 0.00483186 0.99998544 0.00240146 -0.19067376] [ 0.00691323 -0.00243484 0.99997314 -0.15411626] [ 0. 0. 0. 1. ]] SLAMing on 158.89992885099997 meters Centerline goodness [0,1] 0.6449514323530072 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.19, Z:-0.15 [[ 0.99997509 -0.00139253 -0.00692014 0.61963387] [ 0.00142688 0.99998668 0.00496101 -0.18652217] [ 0.00691314 -0.00497076 0.99996375 -0.15419977] [ 0. 0. 0. 1. ]] SLAMing on 158.92992885099997 meters Centerline goodness [0,1] 0.6278781318359155 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.15 [[ 0.99997337 -0.00133344 -0.00717491 0.62030138] [ 0.00136298 0.99999061 0.00411439 -0.18336402] [ 0.00716935 -0.00412406 0.9999658 -0.15408629] [ 0. 0. 0. 1. ]] SLAMing on 158.95992885099997 meters Centerline goodness [0,1] 0.6487945954495131 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.15 [[ 0.99997073 -0.00120239 -0.00755548 0.62158766] [ 0.00122828 0.99999339 0.00342362 -0.17998533] [ 0.00755131 -0.0034328 0.9999656 -0.15448926] [ 0. 0. 0. 1. ]] SLAMing on 158.98992885099997 meters Centerline goodness [0,1] 0.6447715689843465 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.18, Z:-0.15 [[ 0.99997188 0.00177199 -0.00728626 0.62076998] [-0.00172938 0.9999814 0.0058495 -0.17560635] [ 0.00729649 -0.00583674 0.99995635 -0.15423346] [ 0. 0. 0. 1. ]] SLAMing on 159.01992885099997 meters Centerline goodness [0,1] 0.6438784119672543 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.15 [[ 0.9999715 0.00155086 -0.00738942 0.62103825] [-0.00151255 0.9999854 0.00518738 -0.17342213] [ 0.00739736 -0.00517605 0.99995924 -0.15420126] [ 0. 0. 0. 1. ]] SLAMing on 159.04992885099998 meters Centerline goodness [0,1] 0.6408021719787365 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.15 [[ 0.99997192 0.00111256 -0.00741103 0.62082514] [-0.00108053 0.99999007 0.00432337 -0.17142933] [ 0.00741577 -0.00431524 0.99996319 -0.15374778] [ 0. 0. 0. 1. ]] SLAMing on 159.07992885099998 meters Centerline goodness [0,1] 0.6402001553717498 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.15 [[ 9.99971809e-01 7.83740467e-04 -7.46773524e-03 6.20925742e-01] [-7.54910167e-04 9.99992255e-01 3.86268532e-03 -1.69968812e-01] [ 7.47070474e-03 -3.85693896e-03 9.99964656e-01 -1.53808556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.10992885099998 meters Centerline goodness [0,1] 0.6430871125011499 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.15 [[ 9.99973875e-01 -1.46315131e-04 -7.22692692e-03 6.20120724e-01] [ 1.65767469e-04 9.99996365e-01 2.69112165e-03 -1.66703054e-01] [ 7.22650690e-03 -2.69224933e-03 9.99970264e-01 -1.53463928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13992885099998 meters Centerline goodness [0,1] 0.6351112031095472 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.17, Z:-0.15 [[ 9.99974774e-01 -6.62941684e-04 -7.07192281e-03 6.19629055e-01] [ 6.77886871e-04 9.99997542e-01 2.11112531e-03 -1.65541585e-01] [ 7.07050587e-03 -2.11586602e-03 9.99972765e-01 -1.53303129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.16992885099998 meters Centerline goodness [0,1] 0.6321794134560093 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.15 [[ 0.99997585 -0.00108878 -0.00686417 0.6192368 ] [ 0.00110086 0.99999785 0.00175595 -0.16464078] [ 0.00686224 -0.00176347 0.9999749 -0.15344488] [ 0. 0. 0. 1. ]] SLAMing on 159.19992885099998 meters Centerline goodness [0,1] 0.6336508374746916 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.15 [[ 0.99997607 -0.00132023 -0.00679042 0.61939703] [ 0.00133153 0.99999774 0.00165934 -0.16401909] [ 0.00678821 -0.00166834 0.99997557 -0.15396306] [ 0. 0. 0. 1. ]] SLAMing on 159.22992885099998 meters Centerline goodness [0,1] 0.6317260818335143 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.15 [[ 0.99997705 -0.00189421 -0.00650493 0.61917376] [ 0.00190307 0.99999727 0.00135693 -0.1625255 ] [ 0.00650234 -0.00136928 0.99997792 -0.15474055] [ 0. 0. 0. 1. ]] SLAMing on 159.25992885099998 meters Centerline goodness [0,1] 0.6301401491537946 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.16 [[ 0.99997697 -0.00197239 -0.00649422 0.61950784] [ 0.00198109 0.99999715 0.00133365 -0.16204154] [ 0.00649157 -0.00134648 0.99997802 -0.15530923] [ 0. 0. 0. 1. ]] SLAMing on 159.28992885099998 meters Centerline goodness [0,1] 0.6410607079112677 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.16 [[ 9.99977050e-01 -2.17123311e-03 -6.41755551e-03 6.19750036e-01] [ 2.17647773e-03 9.99997303e-01 8.10360000e-04 -1.59598794e-01] [ 6.41577872e-03 -8.24309069e-04 9.99979079e-01 -1.55784022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.319928851 meters Centerline goodness [0,1] 0.6424203113417346 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.16 [[ 9.99976434e-01 -2.00720819e-03 -6.56525038e-03 6.20323993e-01] [ 2.01134744e-03 9.99997783e-01 6.23937650e-04 -1.58032127e-01] [ 6.56398345e-03 -6.37127946e-04 9.99978254e-01 -1.55972057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.349928851 meters Centerline goodness [0,1] 0.6416839456701535 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:-0.16 [[ 9.99975855e-01 -1.99003397e-03 -6.65804263e-03 6.20617344e-01] [ 1.99137826e-03 9.99997998e-01 1.95281703e-04 -1.55841551e-01] [ 6.65764068e-03 -2.08535669e-04 9.99977816e-01 -1.55964267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.379928851 meters Centerline goodness [0,1] 0.640343327673234 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.16 [[ 9.99973882e-01 -1.54880249e-03 -7.05953276e-03 6.21994271e-01] [ 1.54989622e-03 9.99998788e-01 1.49461219e-04 -1.54173694e-01] [ 7.05929272e-03 -1.60398859e-04 9.99975070e-01 -1.56452782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.409928851 meters Centerline goodness [0,1] 0.6446362399737324 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.16 [[ 0.99997649 0.00182966 -0.00660847 0.62099052] [-0.00180824 0.9999931 0.00324475 -0.15179463] [ 0.00661436 -0.00323273 0.9999729 -0.15648627] [ 0. 0. 0. 1. ]] SLAMing on 159.439928851 meters Centerline goodness [0,1] 0.6452979384354702 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.16 [[ 0.99997537 0.00183489 -0.00677424 0.62152942] [-0.00181769 0.99999511 0.00254382 -0.14897661] [ 0.00677888 -0.00253145 0.99997382 -0.15646404] [ 0. 0. 0. 1. ]] SLAMing on 159.469928851 meters Centerline goodness [0,1] 0.6472333411820108 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.16 [[ 0.99997148 0.00218523 -0.00722955 0.62290329] [-0.00217007 0.99999543 0.00210498 -0.14628278] [ 0.00723411 -0.00208923 0.99997165 -0.15666548] [ 0. 0. 0. 1. ]] SLAMing on 159.499928851 meters Centerline goodness [0,1] 0.6555212538589409 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.16 [[ 0.99996996 0.00231444 -0.00739761 0.62348674] [-0.00230364 0.99999627 0.00146706 -0.14324275] [ 0.00740098 -0.00144998 0.99997156 -0.15664046] [ 0. 0. 0. 1. ]] SLAMing on 159.52992885099997 meters Centerline goodness [0,1] 0.6565390959290512 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.16 [[ 0.99996449 0.00373739 -0.00755271 0.6252283 ] [-0.00372576 0.99999185 0.0015534 -0.13837501] [ 0.00755845 -0.00152521 0.99997027 -0.15754001] [ 0. 0. 0. 1. ]] SLAMing on 159.55992885099997 meters Centerline goodness [0,1] 0.6575665088558313 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.16 [[ 9.99962967e-01 3.72126171e-03 -7.75991146e-03 6.25846804e-01] [-3.71521336e-03 9.99992784e-01 7.93704720e-04 -1.35359373e-01] [ 7.76280904e-03 -7.64845600e-04 9.99969576e-01 -1.57474206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58992885099997 meters Centerline goodness [0,1] 0.6578085884844984 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.16 [[ 9.99961118e-01 3.75836629e-03 -7.97733066e-03 6.26636067e-01] [-3.75632207e-03 9.99992908e-01 2.71220845e-04 -1.32823293e-01] [ 7.97829343e-03 -2.41244876e-04 9.99968144e-01 -1.57726545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61992885099997 meters Centerline goodness [0,1] 0.6606775808284768 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.16 [[ 9.99959310e-01 3.82660103e-03 -8.16918925e-03 6.27385473e-01] [-3.82793210e-03 9.99992663e-01 -1.47308142e-04 -1.30659024e-01] [ 8.16856562e-03 1.78573249e-04 9.99966621e-01 -1.58042940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64992885099997 meters Centerline goodness [0,1] 0.658285243198681 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.16 [[ 9.99958498e-01 3.70972915e-03 -8.32105105e-03 6.27885158e-01] [-3.71454280e-03 9.99992943e-01 -5.63110045e-04 -1.28893451e-01] [ 8.31890333e-03 5.93995576e-04 9.99965221e-01 -1.58264822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67992885099997 meters Centerline goodness [0,1] 0.6666423001949318 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.16 [[ 9.99956660e-01 3.83415322e-03 -8.48396352e-03 6.29205444e-01] [-3.84067774e-03 9.99992341e-01 -7.52882555e-04 -1.26194424e-01] [ 8.48101187e-03 7.85434095e-04 9.99963727e-01 -1.59498104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70992885099997 meters Centerline goodness [0,1] 0.6682891035832212 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.16 [[ 0.99995751 0.00353244 -0.00851494 0.62919641] [-0.00354309 0.99999296 -0.00123581 -0.12456692] [ 0.00851051 0.00126593 0.99996298 -0.15938104] [ 0. 0. 0. 1. ]] SLAMing on 159.73992885099997 meters Centerline goodness [0,1] 0.6636979765603974 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.16 [[ 0.99995954 0.00318275 -0.00841366 0.62894684] [-0.00319612 0.99999365 -0.00157605 -0.12345986] [ 0.00840859 0.00160288 0.99996336 -0.15942738] [ 0. 0. 0. 1. ]] SLAMing on 159.76992885099997 meters Centerline goodness [0,1] 0.6636254677983514 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.16 [[ 0.99996372 0.00271377 -0.0080749 0.62848199] [-0.00272676 0.99999501 -0.00159805 -0.12332079] [ 0.00807052 0.00162001 0.99996612 -0.16013864] [ 0. 0. 0. 1. ]] SLAMing on 159.79992885099998 meters Centerline goodness [0,1] 0.66328029375765 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.16 [[ 0.9999664 0.00238454 -0.00784292 0.62801273] [-0.00239723 0.99999583 -0.00160951 -0.12323361] [ 0.00783905 0.00162826 0.99996795 -0.16040612] [ 0. 0. 0. 1. ]] SLAMing on 159.82992885099998 meters Centerline goodness [0,1] 0.6620552875786587 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.16 [[ 0.99997001 0.00179104 -0.00753495 0.62688215] [-0.00180548 0.99999654 -0.00191061 -0.1230255 ] [ 0.00753151 0.00192416 0.99996979 -0.16000697] [ 0. 0. 0. 1. ]] SLAMing on 159.85992885099998 meters Centerline goodness [0,1] 0.6592782874617737 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.16 [[ 0.99997317 0.00134254 -0.00720112 0.6258716 ] [-0.00135654 0.9999972 -0.00193928 -0.12334109] [ 0.00719849 0.001949 0.99997219 -0.15987507] [ 0. 0. 0. 1. ]] SLAMing on 159.88992885099998 meters Centerline goodness [0,1] 0.6604078040193633 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.12, Z:-0.16 [[ 9.99977465e-01 1.50351229e-04 -6.71170376e-03 6.24066462e-01] [-1.63947523e-04 9.99997936e-01 -2.02525465e-03 -1.24691284e-01] [ 6.71138540e-03 2.02630938e-03 9.99975425e-01 -1.59617691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91992885099998 meters Centerline goodness [0,1] 0.6544058500914076 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.13, Z:-0.16 [[ 9.99979151e-01 -3.02952109e-04 -6.45024827e-03 6.23259104e-01] [ 2.91226404e-04 9.99998304e-01 -1.81873048e-03 -1.25879654e-01] [ 6.45078831e-03 1.81681408e-03 9.99977543e-01 -1.59666525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.94992885099998 meters Centerline goodness [0,1] 0.6570941420046279 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.13, Z:-0.16 [[ 9.99981457e-01 -8.08910325e-04 -6.03575963e-03 6.22129258e-01] [ 7.98872378e-04 9.99998294e-01 -1.66530494e-03 -1.27045602e-01] [ 6.03709641e-03 1.66045226e-03 9.99980398e-01 -1.59689770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97992885099998 meters Centerline goodness [0,1] 0.6523908018007056 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.13, Z:-0.16 [[ 0.99998337 -0.00134675 -0.00560679 0.62101165] [ 0.00133839 0.99999799 -0.00149506 -0.12833518] [ 0.00560879 0.00148753 0.99998316 -0.15978337] [ 0. 0. 0. 1. ]] SLAMing on 160.00992885099998 meters Centerline goodness [0,1] 0.6510544324993326 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.13, Z:-0.16 [[ 0.99998366 -0.00232687 -0.00522199 0.61974113] [ 0.00232115 0.9999967 -0.00110253 -0.13132013] [ 0.00522454 0.0010904 0.99998576 -0.16010157] [ 0. 0. 0. 1. ]] SLAMing on 160.03992885099998 meters Centerline goodness [0,1] 0.6515129473377945 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.13, Z:-0.16 [[ 9.99984206e-01 -2.30270138e-03 -5.12682865e-03 6.19867994e-01] [ 2.30050572e-03 9.99997260e-01 -4.34124828e-04 -1.32930810e-01] [ 5.12781426e-03 4.22323673e-04 9.99986763e-01 -1.60854075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.069928851 meters Centerline goodness [0,1] 0.6508586237798824 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.13, Z:-0.16 [[ 9.99984572e-01 -2.26602868e-03 -5.07159403e-03 6.20025178e-01] [ 2.26644389e-03 9.99997429e-01 7.61245322e-05 -1.34190074e-01] [ 5.07140849e-03 -8.76178410e-05 9.99987136e-01 -1.61419615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.099928851 meters Centerline goodness [0,1] 0.6518590287029187 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.16 [[ 9.99984992e-01 -2.41191510e-03 -4.91921925e-03 6.19675599e-01] [ 2.41417754e-03 9.99996983e-01 4.54032082e-04 -1.36003537e-01] [ 4.91810932e-03 -4.65901136e-04 9.99987797e-01 -1.61651548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.129928851 meters Centerline goodness [0,1] 0.651931963901188 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.16 [[ 9.99985253e-01 -2.21850336e-03 -4.95702938e-03 6.20025640e-01] [ 2.22175235e-03 9.99997321e-01 6.50020411e-04 -1.36603351e-01] [ 4.95557403e-03 -6.61024117e-04 9.99987503e-01 -1.61940444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.159928851 meters Centerline goodness [0,1] 0.6561282987832902 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.16 [[ 9.99985476e-01 -1.64330375e-03 -5.13290883e-03 6.21069387e-01] [ 1.64817454e-03 9.99998195e-01 9.44846560e-04 -1.36168736e-01] [ 5.13134689e-03 -9.53292767e-04 9.99986380e-01 -1.62572460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.189928851 meters Centerline goodness [0,1] 0.6554513652706249 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.16 [[ 9.99984569e-01 -1.57576211e-03 -5.32717300e-03 6.21380482e-01] [ 1.57944528e-03 9.99998517e-01 6.87257878e-04 -1.35110700e-01] [ 5.32608214e-03 -6.95661251e-04 9.99985574e-01 -1.62307424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.219928851 meters Centerline goodness [0,1] 0.6568143700930944 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.13, Z:-0.16 [[ 9.99983359e-01 -9.58140843e-04 -5.68890715e-03 6.22679637e-01] [ 9.63970000e-04 9.99999013e-01 1.02199966e-03 -1.34762605e-01] [ 5.68792232e-03 -1.02746659e-03 9.99983296e-01 -1.62827182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24992885099996 meters Centerline goodness [0,1] 0.6586724393744071 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.13, Z:-0.16 [[ 9.99981735e-01 -6.08979838e-04 -6.01323591e-03 6.23505782e-01] [ 6.14394248e-04 9.99999408e-01 8.98609225e-04 -1.33951406e-01] [ 6.01268512e-03 -9.02287309e-04 9.99981517e-01 -1.62738935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27992885099997 meters Centerline goodness [0,1] 0.6610545295063593 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.13, Z:-0.16 [[ 9.99980710e-01 -3.37782321e-04 -6.20210492e-03 6.24041777e-01] [ 3.42131261e-04 9.99999696e-01 7.00156290e-04 -1.32896409e-01] [ 6.20186654e-03 -7.02264718e-04 9.99980522e-01 -1.62660810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30992885099997 meters Centerline goodness [0,1] 0.6585950494080814 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.13, Z:-0.16 [[ 9.99978790e-01 3.81659605e-04 -6.50185198e-03 6.24893768e-01] [-3.78985516e-04 9.99999843e-01 4.12508232e-04 -1.31360156e-01] [ 6.50200840e-03 -4.10035375e-04 9.99978778e-01 -1.62262213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33992885099997 meters Centerline goodness [0,1] 0.6608993157380254 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.16 [[ 9.99977284e-01 7.80919742e-04 -6.69494276e-03 6.25724241e-01] [-7.76615583e-04 9.99999490e-01 6.45472768e-04 -1.31136194e-01] [ 6.69544341e-03 -6.40258708e-04 9.99977380e-01 -1.62745819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36992885099997 meters Centerline goodness [0,1] 0.6631136319186388 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.16 [[ 9.99975620e-01 1.13783614e-03 -6.88952237e-03 6.26084669e-01] [-1.13273028e-03 9.99999081e-01 7.44961947e-04 -1.31446153e-01] [ 6.89036369e-03 -7.37139814e-04 9.99975989e-01 -1.62475434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39992885099997 meters Centerline goodness [0,1] 0.6620048326865344 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.16 [[ 9.99976046e-01 1.04962072e-03 -6.84151718e-03 6.25753287e-01] [-1.04501964e-03 9.99999225e-01 6.76063372e-04 -1.31874893e-01] [ 6.84222149e-03 -6.68897657e-04 9.99976368e-01 -1.62124972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42992885099997 meters Centerline goodness [0,1] 0.6556942959867846 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.16 [[ 9.99975133e-01 1.26280354e-03 -6.93823466e-03 6.26054752e-01] [-1.25590047e-03 9.99998712e-01 9.99198231e-04 -1.32765287e-01] [ 6.93948752e-03 -9.90459652e-04 9.99975431e-01 -1.62258883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45992885099997 meters Centerline goodness [0,1] 0.660138669261647 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.16 [[ 0.99997544 0.00127391 -0.00689198 0.62581292] [-0.0012663 0.99999858 0.00110763 -0.13380137] [ 0.00689338 -0.00109888 0.99997564 -0.1620658 ] [ 0. 0. 0. 1. ]] SLAMing on 160.48992885099997 meters Centerline goodness [0,1] 0.6566167002745318 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.16 [[ 0.99997711 0.00119207 -0.00665975 0.62525886] [-0.00118346 0.99999846 0.0012965 -0.13512418] [ 0.00666128 -0.00128859 0.99997698 -0.16204763] [ 0. 0. 0. 1. ]] SLAMing on 160.51992885099997 meters Centerline goodness [0,1] 0.6556283386913538 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.16 [[ 9.99978730e-01 9.31603326e-04 -6.45535063e-03 6.24503074e-01] [-9.19875808e-04 9.99997922e-01 1.81944381e-03 -1.38481427e-01] [ 6.45703222e-03 -1.81346699e-03 9.99977509e-01 -1.61968502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.54992885099998 meters Centerline goodness [0,1] 0.6515031360392185 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.16 [[ 9.99979483e-01 9.38688772e-04 -6.33658124e-03 6.24199543e-01] [-9.24951871e-04 9.99997217e-01 2.17045518e-03 -1.40450339e-01] [ 6.33860098e-03 -2.16454962e-03 9.99977568e-01 -1.61954613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.57992885099998 meters Centerline goodness [0,1] 0.6530842287029931 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.14, Z:-0.16 [[ 9.99980368e-01 8.40726509e-04 -6.20938736e-03 6.23718760e-01] [-8.25656278e-04 9.99996709e-01 2.42917241e-03 -1.42133916e-01] [ 6.21140919e-03 -2.42399790e-03 9.99977771e-01 -1.61784318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.60992885099998 meters Centerline goodness [0,1] 0.6512459759151067 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.16 [[ 9.99981423e-01 4.36500277e-04 -6.07973746e-03 6.22878822e-01] [-4.18993873e-04 9.99995764e-01 2.88044328e-03 -1.45497284e-01] [ 6.08096902e-03 -2.87784240e-03 9.99977370e-01 -1.61426312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63992885099998 meters Centerline goodness [0,1] 0.6505900584098223 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.16 [[ 9.99982179e-01 3.85871194e-04 -5.95762501e-03 6.22631890e-01] [-3.67327329e-04 9.99995086e-01 3.11340772e-03 -1.47086630e-01] [ 5.95879710e-03 -3.11116383e-03 9.99977406e-01 -1.61513120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.66992885099998 meters Centerline goodness [0,1] 0.6505069256033129 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.16 [[ 9.99981666e-01 5.38885943e-04 -6.03134462e-03 6.22923925e-01] [-5.18133682e-04 9.99993943e-01 3.44176927e-03 -1.48495755e-01] [ 6.03316281e-03 -3.43858112e-03 9.99975888e-01 -1.61734368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69992885099998 meters Centerline goodness [0,1] 0.6515151515151515 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.15, Z:-0.16 [[ 0.99997824 0.00134238 -0.00645869 0.62476025] [-0.00131658 0.99999115 0.00399596 -0.14934442] [ 0.006464 -0.00398737 0.99997116 -0.16274 ] [ 0. 0. 0. 1. ]] SLAMing on 160.72992885099998 meters Centerline goodness [0,1] 0.6508389181995342 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.16 [[ 0.99997467 0.00176619 -0.00689422 0.626012 ] [-0.00173897 0.99999068 0.0039518 -0.14868895] [ 0.00690114 -0.00393971 0.99996843 -0.16294189] [ 0. 0. 0. 1. ]] SLAMing on 160.75992885099998 meters Centerline goodness [0,1] 0.6508389181995342 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.16 [[ 0.99997467 0.00176619 -0.00689422 0.626012 ] [-0.00173897 0.99999068 0.0039518 -0.14868895] [ 0.00690114 -0.00393971 0.99996843 -0.16294189] [ 0. 0. 0. 1. ]] SLAMing on 160.78992885099998 meters Centerline goodness [0,1] 0.6550070387249172 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.16 [[ 0.99997021 0.0024282 -0.00732637 0.62740357] [-0.00239974 0.99998955 0.00389094 -0.14743576] [ 0.00733574 -0.00387324 0.99996559 -0.16317283] [ 0. 0. 0. 1. ]] SLAMing on 160.819928851 meters Centerline goodness [0,1] 0.6564159977132512 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.15, Z:-0.16 [[ 0.99996447 0.00323595 -0.00778435 0.62882149] [-0.00320762 0.9999882 0.00364929 -0.14570759] [ 0.00779607 -0.00362419 0.99996304 -0.16312223] [ 0. 0. 0. 1. ]] SLAMing on 160.849928851 meters Centerline goodness [0,1] 0.6728275200767111 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.16 [[ 0.99992964 0.0085974 -0.00817329 0.63018466] [-0.00853666 0.9999359 0.00743836 -0.14349078] [ 0.00823671 -0.00736806 0.99993893 -0.16277752] [ 0. 0. 0. 1. ]] SLAMing on 160.879928851 meters Centerline goodness [0,1] 0.6784562821808382 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.16 [[ 0.99991392 0.01016729 -0.00829312 0.63146023] [-0.01010703 0.99992246 0.00727504 -0.14023724] [ 0.00836645 -0.0071906 0.99993915 -0.1627554 ] [ 0. 0. 0. 1. ]] SLAMing on 160.909928851 meters Centerline goodness [0,1] 0.6950102694212879 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.16 [[ 0.99989126 0.01206357 -0.00848133 0.63295917] [-0.01200167 0.99990125 0.00731154 -0.13690405] [ 0.0085687 -0.00720895 0.9999373 -0.16270066] [ 0. 0. 0. 1. ]] SLAMing on 160.939928851 meters Centerline goodness [0,1] 0.7097767326852682 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.16 [[ 0.99982687 0.01651444 -0.0085732 0.63351223] [-0.01641857 0.9998032 0.01113519 -0.13565717] [ 0.0087554 -0.0109925 0.99990125 -0.16276913] [ 0. 0. 0. 1. ]] SLAMing on 160.969928851 meters Centerline goodness [0,1] 0.7194797589126669 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.16 [[ 0.99979545 0.01827977 -0.0086544 0.63499943] [-0.01818311 0.99977284 0.01111907 -0.1324866 ] [ 0.00885569 -0.01095943 0.99990073 -0.16303936] [ 0. 0. 0. 1. ]] SLAMing on 160.99992885099996 meters Centerline goodness [0,1] 0.7545906562300004 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.13, Z:-0.16 [[ 0.9996683 0.02425854 -0.00864894 0.63676251] [-0.0241296 0.99960057 0.01471254 -0.12825469] [ 0.00900239 -0.01449897 0.99985436 -0.16332821] [ 0. 0. 0. 1. ]] SLAMing on 161.02992885099997 meters Centerline goodness [0,1] 0.7489179630499839 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.13, Z:-0.16 [[ 0.99964088 0.02522767 -0.00903702 0.63843682] [-0.02509691 0.99958272 0.01430119 -0.12537519] [ 0.00939404 -0.01406926 0.99985689 -0.16352227] [ 0. 0. 0. 1. ]] SLAMing on 161.05992885099997 meters Centerline goodness [0,1] 0.758779233044213 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.12, Z:-0.16 [[ 0.99962403 0.02575065 -0.00941831 0.63970934] [-0.02561963 0.99957683 0.0137769 -0.12292623] [ 0.00976909 -0.01353043 0.99986074 -0.16357197] [ 0. 0. 0. 1. ]] SLAMing on 161.08992885099997 meters Centerline goodness [0,1] 0.7605402172829663 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.12, Z:-0.16 [[ 0.9996097 0.02616195 -0.00979836 0.64077169] [-0.02602929 0.99957096 0.01343014 -0.12132889] [ 0.01014551 -0.01316986 0.9998618 -0.16347518] [ 0. 0. 0. 1. ]] SLAMing on 161.11992885099997 meters Centerline goodness [0,1] 0.7648600089833808 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.12, Z:-0.16 [[ 0.99960439 0.02629247 -0.00998807 0.64153522] [-0.02616094 0.99957218 0.01307899 -0.11989853] [ 0.01032768 -0.01281252 0.99986458 -0.16373101] [ 0. 0. 0. 1. ]] SLAMing on 161.14992885099997 meters Centerline goodness [0,1] 0.7611940298507462 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.12, Z:-0.16 [[ 0.99968063 0.02298664 -0.01050053 0.64285988] [-0.02289497 0.99969943 0.00876805 -0.11766474] [ 0.01069893 -0.00852484 0.99990643 -0.16349535] [ 0. 0. 0. 1. ]] SLAMing on 161.17992885099997 meters Centerline goodness [0,1] 0.7611914213666892 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.12, Z:-0.16 [[ 0.99975297 0.0192932 -0.01103483 0.64379816] [-0.01924693 0.99980558 0.00428457 -0.11591032] [ 0.01111535 -0.00407113 0.99992994 -0.16287116] [ 0. 0. 0. 1. ]] SLAMing on 161.20992885099997 meters Centerline goodness [0,1] 0.7496459715286576 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.12, Z:-0.16 [[ 9.99839176e-01 1.42926727e-02 -1.08324416e-02 6.41982881e-01] [-1.42975309e-02 9.99897716e-01 -3.71176054e-04 -1.15917329e-01] [ 1.08260285e-02 5.25993528e-04 9.99941258e-01 -1.61378254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.23992885099997 meters Centerline goodness [0,1] 0.7490138678706988 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.12, Z:-0.16 [[ 0.99988953 0.01003677 -0.01096301 0.64178696] [-0.01008909 0.99993793 -0.00472736 -0.11531686] [ 0.01091488 0.00483745 0.99992873 -0.16071018] [ 0. 0. 0. 1. ]] SLAMing on 161.26992885099997 meters Centerline goodness [0,1] 0.7368304067570571 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.12, Z:-0.16 [[ 0.99990126 0.00907792 -0.01072708 0.64063535] [-0.00912681 0.99994815 -0.00451753 -0.11774597] [ 0.01068551 0.00461499 0.99993226 -0.1606695 ] [ 0. 0. 0. 1. ]] SLAMing on 161.29992885099998 meters Centerline goodness [0,1] 0.7272211113579699 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.12, Z:-0.16 [[ 0.99991905 0.00764592 -0.01016992 0.63827176] [-0.00769443 0.99995917 -0.00473931 -0.11973803] [ 0.01013327 0.00481718 0.99993705 -0.15999124] [ 0. 0. 0. 1. ]] SLAMing on 161.32992885099998 meters Centerline goodness [0,1] 0.7106947543958604 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.12, Z:-0.16 [[ 0.9999493 0.00258983 -0.0097307 0.63644712] [-0.00267365 0.99995935 -0.00861083 -0.12163278] [ 0.009708 0.00863641 0.99991558 -0.15948082] [ 0. 0. 0. 1. ]] SLAMing on 161.35992885099998 meters Centerline goodness [0,1] 0.689172660110573 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.12, Z:-0.16 [[ 0.99995508 0.00176134 -0.00931267 0.6350296 ] [-0.00183917 0.9999634 -0.00835598 -0.12369402] [ 0.00929761 0.00837273 0.99992172 -0.15942232] [ 0. 0. 0. 1. ]] SLAMing on 161.38992885099998 meters Centerline goodness [0,1] 0.6916522206216276 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.16 [[ 0.99995994 0.00112929 -0.00887991 0.63374571] [-0.00120016 0.99996744 -0.00797935 -0.12583468] [ 0.00887061 0.00798969 0.99992874 -0.15951614] [ 0. 0. 0. 1. ]] SLAMing on 161.41992885099998 meters Centerline goodness [0,1] 0.6758602255054432 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.16 [[ 9.99961724e-01 -4.34760376e-04 -8.73850722e-03 6.32540352e-01] [ 3.66730287e-04 9.99969628e-01 -7.78518798e-03 -1.29465513e-01] [ 8.74162650e-03 7.78168532e-03 9.99931512e-01 -1.59653658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.44992885099998 meters Centerline goodness [0,1] 0.6767953789772589 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.16 [[ 9.99963983e-01 -6.75676418e-04 -8.46030840e-03 6.32120686e-01] [ 6.15272327e-04 9.99974319e-01 -7.14027160e-03 -1.31621727e-01] [ 8.46491564e-03 7.13480904e-03 9.99938718e-01 -1.60324012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47992885099998 meters Centerline goodness [0,1] 0.662618834514623 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.16 [[ 9.99966003e-01 -9.45244499e-04 -8.19138624e-03 6.31640514e-01] [ 8.91274667e-04 9.99977890e-01 -6.58975557e-03 -1.33751878e-01] [ 8.19743406e-03 6.58223076e-03 9.99944737e-01 -1.60870139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.50992885099998 meters Centerline goodness [0,1] 0.6651303088803089 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.16 [[ 9.99967199e-01 -9.82801794e-04 -8.03953152e-03 6.31698359e-01] [ 9.35520873e-04 9.99982259e-01 -5.88270243e-03 -1.35862075e-01] [ 8.04517042e-03 5.87498833e-03 9.99950379e-01 -1.61750633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53992885099998 meters Centerline goodness [0,1] 0.6585213032581454 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.16 [[ 0.99996885 -0.00161987 -0.00772443 0.63103909] [ 0.00157935 0.99998498 -0.00524902 -0.13871956] [ 0.00773281 0.00523666 0.99995639 -0.16255562] [ 0. 0. 0. 1. ]] SLAMing on 161.569928851 meters Centerline goodness [0,1] 0.6560830003370084 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.16 [[ 0.99996846 -0.00155315 -0.00778835 0.63136921] [ 0.00151582 0.99998735 -0.00479563 -0.13997355] [ 0.0077957 0.00478367 0.99995817 -0.16299674] [ 0. 0. 0. 1. ]] SLAMing on 161.599928851 meters Centerline goodness [0,1] 0.6573386224305806 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.16 [[ 0.99996806 -0.001325 -0.00788159 0.63185556] [ 0.00129102 0.99998986 -0.00431516 -0.14107367] [ 0.00788722 0.00430485 0.99995963 -0.16344514] [ 0. 0. 0. 1. ]] SLAMing on 161.629928851 meters Centerline goodness [0,1] 0.6572252252252253 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.16 [[ 0.9999676 -0.00113387 -0.00796993 0.63231096] [ 0.00110235 0.99999156 -0.00395843 -0.14166403] [ 0.00797435 0.00394952 0.9999604 -0.16386193] [ 0. 0. 0. 1. ]] SLAMing on 161.659928851 meters Centerline goodness [0,1] 0.6568912839512113 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.16 [[ 9.99966201e-01 -7.35074222e-04 -8.18885055e-03 6.32855776e-01] [ 7.04798367e-04 9.99992909e-01 -3.69947695e-03 -1.42034058e-01] [ 8.19151187e-03 3.69358042e-03 9.99959627e-01 -1.63844973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.689928851 meters Centerline goodness [0,1] 0.6613167139900862 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.16 [[ 9.99964167e-01 -3.30189883e-04 -8.45902388e-03 6.33558613e-01] [ 3.00706485e-04 9.99993877e-01 -3.48647217e-03 -1.41912087e-01] [ 8.46012328e-03 3.48380356e-03 9.99958144e-01 -1.63920549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.719928851 meters Centerline goodness [0,1] 0.6609521519596057 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.16 [[ 9.99961817e-01 1.45774787e-04 -8.73751662e-03 6.34169557e-01] [-1.75497912e-04 9.99994201e-01 -3.40111163e-03 -1.41517248e-01] [ 8.73697015e-03 3.40251518e-03 9.99956043e-01 -1.63694151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.74992885099996 meters Centerline goodness [0,1] 0.6715045610994776 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.14, Z:-0.16 [[ 9.99959253e-01 7.65054860e-04 -8.99483786e-03 6.34904960e-01] [-7.93752155e-04 9.99994606e-01 -3.18728138e-03 -1.41137749e-01] [ 8.99235089e-03 3.19429118e-03 9.99954466e-01 -1.63680950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77992885099997 meters Centerline goodness [0,1] 0.6802923920361643 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.16 [[ 0.9999553 0.00222161 -0.00919001 0.63569893] [-0.00224845 0.99999324 -0.00291086 -0.14034966] [ 0.00918348 0.0029314 0.99995353 -0.16316918] [ 0. 0. 0. 1. ]] SLAMing on 161.80992885099997 meters Centerline goodness [0,1] 0.689114679893097 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.16 [[ 0.99995216 0.00265821 -0.00941309 0.63607038] [-0.00268647 0.99999192 -0.0029909 -0.13982664] [ 0.00940506 0.00301605 0.99995122 -0.16273047] [ 0. 0. 0. 1. ]] SLAMing on 161.83992885099997 meters Centerline goodness [0,1] 0.6942564720048163 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.16 [[ 0.99994919 0.00311388 -0.00958771 0.63655724] [-0.00314247 0.99999066 -0.00296775 -0.13940182] [ 0.00957838 0.00299773 0.99994963 -0.16260961] [ 0. 0. 0. 1. ]] SLAMing on 161.86992885099997 meters Centerline goodness [0,1] 0.6812330052698703 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.16 [[ 0.99994355 0.00411538 -0.00979549 0.63721167] [-0.00414222 0.99998772 -0.0027213 -0.1390793 ] [ 0.00978417 0.00276172 0.99994832 -0.16229518] [ 0. 0. 0. 1. ]] SLAMing on 161.89992885099997 meters Centerline goodness [0,1] 0.7112502098472312 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.16 [[ 0.99994098 0.00443857 -0.00991646 0.63751763] [-0.00446404 0.99998679 -0.00254708 -0.13915148] [ 0.00990502 0.0025912 0.99994759 -0.16220629] [ 0. 0. 0. 1. ]] SLAMing on 161.92992885099997 meters Centerline goodness [0,1] 0.7108187415816818 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.16 [[ 0.99993998 0.00455459 -0.00996459 0.63756814] [-0.00458081 0.9999861 -0.00261034 -0.13912559] [ 0.00995256 0.00265583 0.99994695 -0.16199824] [ 0. 0. 0. 1. ]] SLAMing on 161.95992885099997 meters Centerline goodness [0,1] 0.69434260657034 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.16 [[ 0.99993693 0.00496449 -0.01007458 0.63803157] [-0.00498638 0.99998526 -0.00214876 -0.14012023] [ 0.01006376 0.00219886 0.99994694 -0.16222591] [ 0. 0. 0. 1. ]] SLAMing on 161.98992885099997 meters Centerline goodness [0,1] 0.71004108149422 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.16 [[ 0.99993631 0.00522177 -0.01000591 0.63793674] [-0.0052379 0.99998502 -0.00158705 -0.1422787 ] [ 0.00999747 0.00163936 0.99994868 -0.16233003] [ 0. 0. 0. 1. ]] SLAMing on 162.01992885099997 meters Centerline goodness [0,1] 0.7206611964507204 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.16 [[ 0.99993523 0.00532873 -0.01005718 0.6380442 ] [-0.00534254 0.99998482 -0.00134674 -0.14319688] [ 0.01004985 0.00140038 0.99994852 -0.16233402] [ 0. 0. 0. 1. ]] SLAMing on 162.04992885099998 meters Centerline goodness [0,1] 0.688419446365132 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.16 [[ 0.99993456 0.00542597 -0.01007154 0.63823473] [-0.00543735 0.99998461 -0.00110336 -0.14380067] [ 0.0100654 0.00115805 0.99994867 -0.16260332] [ 0. 0. 0. 1. ]] SLAMing on 162.07992885099998 meters Centerline goodness [0,1] 0.7235128559843533 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.16 [[ 9.99932415e-01 5.58726035e-03 -1.01954671e-02 6.38723160e-01] [-5.59699118e-03 9.99983908e-01 -9.26144102e-04 -1.44046362e-01] [ 1.01901284e-02 9.83145448e-04 9.99947596e-01 -1.62902511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.10992885099998 meters Centerline goodness [0,1] 0.7164803134556574 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.16 [[ 9.99926341e-01 6.15331990e-03 -1.04618193e-02 6.39978072e-01] [-6.16067133e-03 9.99980798e-01 -6.70609453e-04 -1.43843678e-01] [ 1.04574919e-02 7.35011886e-04 9.99945049e-01 -1.63643522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13992885099998 meters Centerline goodness [0,1] 0.7286749408135447 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.16 [[ 9.99921637e-01 6.46096475e-03 -1.07226938e-02 6.40871490e-01] [-6.46942113e-03 9.99978789e-01 -7.54143690e-04 -1.43232487e-01] [ 1.07175939e-02 8.23454215e-04 9.99942226e-01 -1.63882585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.16992885099998 meters Centerline goodness [0,1] 0.7386442378915676 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.16 [[ 9.99916911e-01 6.82414961e-03 -1.09363046e-02 6.41632123e-01] [-6.83480417e-03 9.99976203e-01 -9.37158725e-04 -1.42341822e-01] [ 1.09296491e-02 1.01182836e-03 9.99939758e-01 -1.63997839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19992885099998 meters Centerline goodness [0,1] 0.7512364945978391 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.16 [[ 9.99901155e-01 8.60280281e-03 -1.11207951e-02 6.43300429e-01] [-8.61262550e-03 9.99962561e-01 -8.35682226e-04 -1.39777494e-01] [ 1.11131895e-02 9.31378866e-04 9.99937813e-01 -1.64340231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.22992885099998 meters Centerline goodness [0,1] 0.7535065310647322 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.14, Z:-0.16 [[ 9.99888911e-01 9.43953734e-03 -1.15352356e-02 6.44849626e-01] [-9.45078624e-03 9.99954916e-01 -9.21054721e-04 -1.37772015e-01] [ 1.15260212e-02 1.02996945e-03 9.99933043e-01 -1.64674049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25992885099998 meters Centerline goodness [0,1] 0.7578153332849786 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.16 [[ 0.99987987 0.00999468 -0.01184705 0.64572591] [-0.01001196 0.9999489 -0.00140051 -0.13560108] [ 0.01183245 0.00151896 0.99992884 -0.16435325] [ 0. 0. 0. 1. ]] SLAMing on 162.28992885099998 meters Centerline goodness [0,1] 0.7604570100697134 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.16 [[ 0.99986807 0.01071732 -0.01220604 0.64695344] [-0.01073839 0.99994096 -0.00166202 -0.13369773] [ 0.0121875 0.00179287 0.99992412 -0.16437191] [ 0. 0. 0. 1. ]] SLAMing on 162.319928851 meters Centerline goodness [0,1] 0.7622655298416565 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.16 [[ 0.99984412 0.01278439 -0.01217806 0.64821142] [-0.01280135 0.99991719 -0.00131594 -0.13118371] [ 0.01216022 0.00147163 0.99992498 -0.16456157] [ 0. 0. 0. 1. ]] SLAMing on 162.349928851 meters Centerline goodness [0,1] 0.7627992183683439 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.16 [[ 0.99983449 0.01322349 -0.01249521 0.64894264] [-0.01324424 0.99991104 -0.00157947 -0.12990917] [ 0.01247321 0.00174469 0.99992068 -0.16424111] [ 0. 0. 0. 1. ]] SLAMing on 162.379928851 meters Centerline goodness [0,1] 0.7624504186866461 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.16 [[ 0.99982707 0.0135743 -0.01271082 0.64950508] [-0.01359756 0.99990603 -0.00174521 -0.12905343] [ 0.01268594 0.00191775 0.99991769 -0.16406264] [ 0. 0. 0. 1. ]] SLAMing on 162.409928851 meters Centerline goodness [0,1] 0.7638485388540319 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.16 [[ 0.99982409 0.01366743 -0.01284502 0.64970076] [-0.01369504 0.99990409 -0.00206342 -0.12813357] [ 0.01281559 0.00223897 0.99991537 -0.16373907] [ 0. 0. 0. 1. ]] SLAMing on 162.439928851 meters Centerline goodness [0,1] 0.7639296187683284 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.16 [[ 0.9998177 0.01399018 -0.01299385 0.6498113 ] [-0.01401921 0.99989942 -0.00214595 -0.12777379] [ 0.01296252 0.00232773 0.99991327 -0.16314779] [ 0. 0. 0. 1. ]] SLAMing on 162.469928851 meters Centerline goodness [0,1] 0.7619700046485455 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.16 [[ 0.99982018 0.01393683 -0.01285977 0.64941384] [-0.01396455 0.99990035 -0.00206888 -0.12821224] [ 0.01282965 0.00224809 0.99991517 -0.16303141] [ 0. 0. 0. 1. ]] SLAMing on 162.49992885099996 meters Centerline goodness [0,1] 0.7624868591545853 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.16 [[ 0.99982639 0.01366978 -0.01266241 0.6486478 ] [-0.01369672 0.99990411 -0.00204393 -0.12928604] [ 0.01263326 0.00221701 0.99991774 -0.16271282] [ 0. 0. 0. 1. ]] SLAMing on 162.52992885099997 meters Centerline goodness [0,1] 0.7616955853283549 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.16 [[ 0.99982925 0.01351843 -0.01259891 0.64836816] [-0.01354139 0.9999068 -0.00173945 -0.13096947] [ 0.01257422 0.00190976 0.99991912 -0.16275112] [ 0. 0. 0. 1. ]] SLAMing on 162.55992885099997 meters Centerline goodness [0,1] 0.7587466218683807 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.16 [[ 0.99986391 0.01016959 -0.0129898 0.64954456] [-0.01024156 0.9999325 -0.00548665 -0.13080944] [ 0.01293312 0.00561894 0.99990058 -0.16288277] [ 0. 0. 0. 1. ]] SLAMing on 162.58992885099997 meters Centerline goodness [0,1] 0.7573233912748754 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.16 [[ 0.99989439 0.00632587 -0.01308409 0.64979583] [-0.00644139 0.99994048 -0.00880627 -0.13296702] [ 0.0130276 0.00888962 0.99987562 -0.16310947] [ 0. 0. 0. 1. ]] SLAMing on 162.61992885099997 meters Centerline goodness [0,1] 0.7581406551059731 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.16 [[ 0.99990293 0.00571226 -0.01270842 0.6486496 ] [-0.0058204 0.99994704 -0.00848817 -0.13487193] [ 0.01265926 0.00856132 0.99988322 -0.16317018] [ 0. 0. 0. 1. ]] SLAMing on 162.64992885099997 meters Centerline goodness [0,1] 0.7526562649564468 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.16 [[ 0.99991714 0.00154262 -0.01277985 0.64868775] [-0.0016939 0.99992853 -0.01183471 -0.13687106] [ 0.01276068 0.01185538 0.9998483 -0.16342694] [ 0. 0. 0. 1. ]] SLAMing on 162.67992885099997 meters Centerline goodness [0,1] 0.7526562649564468 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.16 [[ 0.99991714 0.00154262 -0.01277985 0.64868775] [-0.0016939 0.99992853 -0.01183471 -0.13687106] [ 0.01276068 0.01185538 0.9998483 -0.16342694] [ 0. 0. 0. 1. ]] SLAMing on 162.70992885099997 meters Centerline goodness [0,1] 0.7484835458757224 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.16 [[ 0.9999229 0.00101793 -0.01237554 0.64775882] [-0.00115871 0.99993464 -0.01137411 -0.13906987] [ 0.01236315 0.01138757 0.99985873 -0.16383827] [ 0. 0. 0. 1. ]] SLAMing on 162.73992885099997 meters Centerline goodness [0,1] 0.7440577148180885 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.16 [[ 9.99928054e-01 4.73741772e-04 -1.19859246e-02 6.46783285e-01] [-6.05010423e-04 9.99939857e-01 -1.09506458e-02 -1.41234681e-01] [ 1.19800160e-02 1.09571096e-02 9.99868202e-01 -1.64129691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.76992885099997 meters Centerline goodness [0,1] 0.7439134141720349 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.15, Z:-0.17 [[ 0.99997712 -0.00305045 -0.00603756 0.65547144] [ 0.00303764 0.99999312 -0.00212889 -0.14507139] [ 0.00604402 0.0021105 0.99997951 -0.16832027] [ 0. 0. 0. 1. ]] SLAMing on 162.79992885099998 meters Centerline goodness [0,1] 0.7237659443311679 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.17 [[ 0.99997538 -0.0041787 -0.00563658 0.65360748] [ 0.0041661 0.9999888 -0.00224533 -0.14673272] [ 0.0056459 0.0022218 0.99998159 -0.16754806] [ 0. 0. 0. 1. ]] SLAMing on 162.82992885099998 meters Centerline goodness [0,1] 0.7325850661625709 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.17 [[ 0.99997483 -0.00448705 -0.00549577 0.65312046] [ 0.00447533 0.99998769 -0.00214325 -0.1472851 ] [ 0.00550532 0.0021186 0.9999826 -0.16753764] [ 0. 0. 0. 1. ]] SLAMing on 162.85992885099998 meters Centerline goodness [0,1] 0.7270721116199605 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.17 [[ 0.99997439 -0.00481342 -0.00529598 0.65239718] [ 0.0048019 0.99998608 -0.00218573 -0.14767646] [ 0.00530643 0.00216025 0.99998359 -0.16725766] [ 0. 0. 0. 1. ]] SLAMing on 162.88992885099998 meters Centerline goodness [0,1] 0.7181006089614482 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.17 [[ 0.99997417 -0.00491364 -0.00524549 0.65237314] [ 0.00490361 0.99998613 -0.00192337 -0.14836662] [ 0.00525487 0.0018976 0.99998439 -0.16757511] [ 0. 0. 0. 1. ]] SLAMing on 162.91992885099998 meters Centerline goodness [0,1] 0.7149282704417405 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.17 [[ 0.99997297 -0.00538704 -0.00500333 0.65186207] [ 0.00537828 0.99998398 -0.001763 -0.14970654] [ 0.00501275 0.00173604 0.99998593 -0.16791693] [ 0. 0. 0. 1. ]] SLAMing on 162.94992885099998 meters Centerline goodness [0,1] 0.717119590947827 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.17 [[ 0.99997379 -0.00537246 -0.00485409 0.651681 ] [ 0.00536523 0.99998448 -0.00150092 -0.15036683] [ 0.00486208 0.00147484 0.99998709 -0.16819822] [ 0. 0. 0. 1. ]] SLAMing on 162.97992885099998 meters Centerline goodness [0,1] 0.7129139072847682 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.17 [[ 0.99997421 -0.00532692 -0.00481685 0.65179311] [ 0.0053208 0.99998502 -0.00128332 -0.15069138] [ 0.00482362 0.00125766 0.99998758 -0.16854251] [ 0. 0. 0. 1. ]] SLAMing on 163.00992885099998 meters Centerline goodness [0,1] 0.7091859667384259 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.17 [[ 0.99997409 -0.00522849 -0.00494811 0.65238111] [ 0.00522247 0.99998561 -0.00122717 -0.15000191] [ 0.00495445 0.0012013 0.99998701 -0.16898821] [ 0. 0. 0. 1. ]] SLAMing on 163.03992885099998 meters Centerline goodness [0,1] 0.7132820816085157 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.17 [[ 0.99997436 -0.00506951 -0.00505684 0.65292976] [ 0.00506401 0.99998657 -0.00109877 -0.14950163] [ 0.00506234 0.00107313 0.99998661 -0.16945594] [ 0. 0. 0. 1. ]] SLAMing on 163.069928851 meters Centerline goodness [0,1] 0.7145232157700986 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.17 [[ 0.99997481 -0.00502552 -0.00501302 0.65299302] [ 0.0050197 0.99998671 -0.00117381 -0.1486006 ] [ 0.00501886 0.00114862 0.99998675 -0.16959371] [ 0. 0. 0. 1. ]] SLAMing on 163.099928851 meters Centerline goodness [0,1] 0.7062133478952493 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.17 [[ 0.99997495 -0.00482593 -0.00517798 0.65369933] [ 0.00482064 0.99998785 -0.0010337 -0.1479626 ] [ 0.0051829 0.00100872 0.99998606 -0.17010618] [ 0. 0. 0. 1. ]] SLAMing on 163.129928851 meters Centerline goodness [0,1] 0.707893796880581 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.17 [[ 0.99997375 -0.00499958 -0.00524524 0.65402841] [ 0.00499288 0.9999867 -0.00128879 -0.14649293] [ 0.00525162 0.00126257 0.99998541 -0.17044405] [ 0. 0. 0. 1. ]] SLAMing on 163.159928851 meters Centerline goodness [0,1] 0.7036048700293059 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.17 [[ 0.99997372 -0.00502389 -0.00522695 0.654286 ] [ 0.00501768 0.99998669 -0.00120006 -0.14602235] [ 0.00523291 0.0011738 0.99998562 -0.17094491] [ 0. 0. 0. 1. ]] SLAMing on 163.189928851 meters Centerline goodness [0,1] 0.7082238256797438 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.17 [[ 0.99997295 -0.00528682 -0.00511355 0.65405897] [ 0.00527986 0.99998512 -0.00137272 -0.14522599] [ 0.00512073 0.00134569 0.99998598 -0.17107713] [ 0. 0. 0. 1. ]] SLAMing on 163.219928851 meters Centerline goodness [0,1] 0.7001362039714211 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.17 [[ 0.99997234 -0.005541 -0.00496054 0.65388119] [ 0.00553356 0.99998355 -0.00151232 -0.14453313] [ 0.00496884 0.00148483 0.99998655 -0.17134142] [ 0. 0. 0. 1. ]] SLAMing on 163.24992885099996 meters Centerline goodness [0,1] 0.6642664051099256 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.17 [[ 0.99996758 -0.00658881 -0.00462967 0.65295945] [ 0.00657905 0.99997611 -0.00211971 -0.1431487 ] [ 0.00464352 0.00208918 0.99998704 -0.1714737 ] [ 0. 0. 0. 1. ]] SLAMing on 163.27992885099997 meters Centerline goodness [0,1] 0.6792457362478981 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.17 [[ 0.99996552 -0.00708494 -0.00433247 0.65240155] [ 0.00707503 0.99997233 -0.00229885 -0.14262908] [ 0.00434863 0.00226812 0.99998797 -0.17178445] [ 0. 0. 0. 1. ]] SLAMing on 163.30992885099997 meters Centerline goodness [0,1] 0.6780080197853386 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.17 [[ 0.99996305 -0.00752705 -0.00415301 0.65222311] [ 0.00751701 0.9999688 -0.00242791 -0.14206374] [ 0.00417116 0.0023966 0.99998843 -0.17232536] [ 0. 0. 0. 1. ]] SLAMing on 163.33992885099997 meters Centerline goodness [0,1] 0.6707208400568387 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.17 [[ 0.99996023 -0.00798292 -0.00397628 0.65196857] [ 0.00797219 0.99996456 -0.00270731 -0.14123052] [ 0.00399775 0.00267551 0.99998843 -0.17264563] [ 0. 0. 0. 1. ]] SLAMing on 163.36992885099997 meters Centerline goodness [0,1] 0.6663605384633975 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.17 [[ 0.99995155 -0.00915624 -0.00361506 0.65116497] [ 0.00914254 0.99995104 -0.00378691 -0.13794269] [ 0.00364956 0.00375367 0.9999863 -0.17293037] [ 0. 0. 0. 1. ]] SLAMing on 163.39992885099997 meters Centerline goodness [0,1] 0.6603640776699029 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.17 [[ 9.99970352e-01 -7.00463307e-03 -3.19860282e-03 6.49539772e-01] [ 7.00314528e-03 9.99975364e-01 -4.76102004e-04 -1.38057129e-01] [ 3.20185894e-03 4.53687608e-04 9.99994771e-01 -1.73111251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.42992885099997 meters Centerline goodness [0,1] 0.6585057191530785 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.17 [[ 9.99968018e-01 -7.32149658e-03 -3.21852146e-03 6.49738946e-01] [ 7.31861500e-03 9.99972808e-01 -9.06180830e-04 -1.36281912e-01] [ 3.22506854e-03 8.82596729e-04 9.99994410e-01 -1.73380765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45992885099997 meters Centerline goodness [0,1] 0.6585342051332097 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.17 [[ 0.99996586 -0.00762083 -0.00319407 0.64987311] [ 0.00761661 0.99997011 -0.00133162 -0.13440381] [ 0.00320413 0.00130724 0.99999401 -0.17368695] [ 0. 0. 0. 1. ]] SLAMing on 163.48992885099997 meters Centerline goodness [0,1] 0.65476833881983 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.17 [[ 0.99997972 -0.00587036 -0.00247074 0.647454 ] [ 0.00587301 0.99998219 0.00106575 -0.13087591] [ 0.00246444 -0.00108024 0.99999638 -0.1734795 ] [ 0. 0. 0. 1. ]] SLAMing on 163.51992885099997 meters Centerline goodness [0,1] 0.6597088576363188 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.17 [[ 9.99977064e-01 -6.29448559e-03 -2.50015155e-03 6.47377340e-01] [ 6.29525577e-03 9.99980140e-01 3.00304229e-04 -1.27986735e-01] [ 2.49821163e-03 -3.16036435e-04 9.99996830e-01 -1.73290052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.54992885099998 meters Centerline goodness [0,1] 0.6575064369182015 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.17 [[ 9.99975530e-01 -6.51855060e-03 -2.53920580e-03 6.47554008e-01] [ 6.51805950e-03 9.99978737e-01 -2.01635843e-04 -1.25724541e-01] [ 2.54046618e-03 1.85080215e-04 9.99996756e-01 -1.73411907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.57992885099998 meters Centerline goodness [0,1] 0.6564743748452587 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.17 [[ 9.99973869e-01 -6.78724181e-03 -2.48884306e-03 6.47790150e-01] [ 6.78565933e-03 9.99976770e-01 -6.43722231e-04 -1.23621016e-01] [ 2.49315434e-03 6.26816969e-04 9.99996696e-01 -1.73930510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.60992885099998 meters Centerline goodness [0,1] 0.6606184132034202 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.17 [[ 0.99997233 -0.00699755 -0.0025253 0.6482033 ] [ 0.00699479 0.99997493 -0.0010991 -0.12153381] [ 0.00253293 0.0010814 0.99999621 -0.17440257] [ 0. 0. 0. 1. ]] SLAMing on 163.63992885099998 meters Centerline goodness [0,1] 0.6605151287821955 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.17 [[ 0.9999675 -0.00767176 -0.00247782 0.64850091] [ 0.00766606 0.99996797 -0.00230127 -0.11631197] [ 0.00249539 0.0022822 0.99999428 -0.17498693] [ 0. 0. 0. 1. ]] SLAMing on 163.66992885099998 meters Centerline goodness [0,1] 0.6552485633265577 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.18 [[ 0.99998422 -0.00526427 -0.00196396 0.64666302] [ 0.00526635 0.99998557 0.00105613 -0.11565266] [ 0.00195837 -0.00106646 0.99999751 -0.17508491] [ 0. 0. 0. 1. ]] SLAMing on 163.69992885099998 meters Centerline goodness [0,1] 0.6577847176749105 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.11, Z:-0.18 [[ 9.99983029e-01 -5.46421561e-03 -2.02078564e-03 6.46955060e-01] [ 5.46524387e-03 9.99984939e-01 5.03669919e-04 -1.13215418e-01] [ 2.01800305e-03 -5.14705458e-04 9.99997831e-01 -1.75251204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.72992885099998 meters Centerline goodness [0,1] 0.6629705577073999 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.11, Z:-0.18 [[ 9.99980879e-01 -5.83101267e-03 -2.05911941e-03 6.47514331e-01] [ 5.83002129e-03 9.99982887e-01 -4.87132270e-04 -1.08737725e-01] [ 2.06192465e-03 4.75118246e-04 9.99997761e-01 -1.75799986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75992885099998 meters Centerline goodness [0,1] 0.6607591722737083 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.11, Z:-0.18 [[ 9.99981314e-01 -5.67779062e-03 -2.26602717e-03 6.48546047e-01] [ 5.67628067e-03 9.99983664e-01 -6.72218646e-04 -1.06899436e-01] [ 2.26980687e-03 6.59343479e-04 9.99997207e-01 -1.76457978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.78992885099998 meters Centerline goodness [0,1] 0.6634001069055921 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.10, Z:-0.18 [[ 9.99981062e-01 -5.63385308e-03 -2.47680327e-03 6.49398587e-01] [ 5.63141440e-03 9.99983653e-01 -9.90482099e-04 -1.04860309e-01] [ 2.48234301e-03 9.76515436e-04 9.99996442e-01 -1.76910334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.819928851 meters Centerline goodness [0,1] 0.6656515508240353 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.10, Z:-0.18 [[ 0.99999374 -0.00306967 -0.00176222 0.6475547 ] [ 0.00307307 0.99999341 0.00193115 -0.10215541] [ 0.00175628 -0.00193656 0.99999658 -0.17716028] [ 0. 0. 0. 1. ]] SLAMing on 163.849928851 meters Centerline goodness [0,1] 0.6676148011480114 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.10, Z:-0.18 [[ 0.99999351 -0.00307335 -0.00188154 0.64810039] [ 0.00307641 0.99999394 0.00162808 -0.10026942] [ 0.00187652 -0.00163386 0.9999969 -0.17745764] [ 0. 0. 0. 1. ]] SLAMing on 163.879928851 meters Centerline goodness [0,1] 0.667429247101766 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.10, Z:-0.18 [[ 0.99999282 -0.00328273 -0.00189119 0.64806311] [ 0.00328495 0.99999392 0.00116908 -0.0984042 ] [ 0.00188734 -0.00117528 0.99999753 -0.17732847] [ 0. 0. 0. 1. ]] SLAMing on 163.909928851 meters Centerline goodness [0,1] 0.6676443346711949 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.10, Z:-0.18 [[ 0.99999251 -0.0033231 -0.00198594 0.64851869] [ 0.0033251 0.99999397 0.00100477 -0.09707716] [ 0.00198259 -0.00101136 0.99999752 -0.17769052] [ 0. 0. 0. 1. ]] SLAMing on 163.939928851 meters Centerline goodness [0,1] 0.6694229825060078 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.09, Z:-0.18 [[ 9.99991845e-01 -3.47618324e-03 -2.05597809e-03 6.49167106e-01] [ 3.47732718e-03 9.99993801e-01 5.53084470e-04 -9.44717647e-02] [ 2.05404272e-03 -5.60229268e-04 9.99997734e-01 -1.78348936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.969928851 meters Centerline goodness [0,1] 0.6705003618319032 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.09, Z:-0.18 [[ 9.99991652e-01 -3.49344105e-03 -2.11951182e-03 6.49647439e-01] [ 3.49437766e-03 9.99993799e-01 4.38354491e-04 -9.33934951e-02] [ 2.11796731e-03 -4.45757206e-04 9.99997658e-01 -1.78811175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99992885099996 meters Centerline goodness [0,1] 0.672495200539615 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.09, Z:-0.18 [[ 9.99991631e-01 -3.39615390e-03 -2.28144284e-03 6.50348126e-01] [ 3.39698007e-03 9.99994166e-01 3.58346083e-04 -9.22340895e-02] [ 2.28021253e-03 -3.66093100e-04 9.99997333e-01 -1.79206953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02992885099997 meters Centerline goodness [0,1] 0.6707722689949069 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.09, Z:-0.18 [[ 9.99991434e-01 -3.41556534e-03 -2.33799743e-03 6.50770999e-01] [ 3.41596478e-03 9.99994152e-01 1.66874511e-04 -9.08406408e-02] [ 2.33741379e-03 -1.74859599e-04 9.99997253e-01 -1.79603025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05992885099997 meters Centerline goodness [0,1] 0.6694837885071863 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.09, Z:-0.18 [[ 9.99990664e-01 -3.57357204e-03 -2.42930723e-03 6.51418810e-01] [ 3.57284620e-03 9.99993571e-01 -3.03056321e-04 -8.83472520e-02] [ 2.43037461e-03 2.94373950e-04 9.99997003e-01 -1.80167158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.08992885099997 meters Centerline goodness [0,1] 0.6760802549767491 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.09, Z:-0.18 [[ 9.99990730e-01 -3.54797601e-03 -2.43954864e-03 6.51826336e-01] [ 3.54722567e-03 9.99993660e-01 -3.11830250e-04 -8.74620342e-02] [ 2.44063954e-03 3.03173730e-04 9.99996976e-01 -1.80722788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11992885099997 meters Centerline goodness [0,1] 0.6730372035870219 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.09, Z:-0.18 [[ 9.99990455e-01 -3.59757305e-03 -2.47950534e-03 6.52196888e-01] [ 3.59651898e-03 9.99993440e-01 -4.29438334e-04 -8.63793583e-02] [ 2.48103402e-03 4.20516647e-04 9.99996834e-01 -1.81125128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.14992885099997 meters Centerline goodness [0,1] 0.6702598048193402 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.08, Z:-0.18 [[ 0.99998916 -0.00388631 -0.00256592 0.65242272] [ 0.00388344 0.99999183 -0.00112039 -0.08364776] [ 0.00257025 0.00111041 0.99999608 -0.1810882 ] [ 0. 0. 0. 1. ]] SLAMing on 164.17992885099997 meters Centerline goodness [0,1] 0.6678295997062064 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.08, Z:-0.18 [[ 0.99998866 -0.00397241 -0.00262827 0.65251039] [ 0.00396869 0.99999112 -0.00141874 -0.08229756] [ 0.00263388 0.00140829 0.99999554 -0.18097081] [ 0. 0. 0. 1. ]] SLAMing on 164.20992885099997 meters Centerline goodness [0,1] 0.6738366297675883 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.08, Z:-0.18 [[ 0.9999884 -0.00391894 -0.00279911 0.65293125] [ 0.00391449 0.99999107 -0.00159484 -0.08116978] [ 0.00280533 0.00158386 0.99999481 -0.18093486] [ 0. 0. 0. 1. ]] SLAMing on 164.23992885099997 meters Centerline goodness [0,1] 0.6731897209290092 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.08, Z:-0.18 [[ 0.99998835 -0.00387433 -0.00287948 0.65327386] [ 0.00386949 0.99999109 -0.00168548 -0.0801065 ] [ 0.00288598 0.00167431 0.99999443 -0.18114449] [ 0. 0. 0. 1. ]] SLAMing on 164.26992885099997 meters Centerline goodness [0,1] 0.6682273719651735 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.08, Z:-0.18 [[ 0.99998817 -0.00385892 -0.00296167 0.6536821 ] [ 0.00385333 0.99999079 -0.00188897 -0.07868229] [ 0.00296893 0.00187754 0.99999383 -0.18141615] [ 0. 0. 0. 1. ]] SLAMing on 164.29992885099998 meters Centerline goodness [0,1] 0.666140364727244 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.08, Z:-0.18 [[ 0.9999881 -0.00380364 -0.00305546 0.65403927] [ 0.00379796 0.99999105 -0.00186526 -0.07812987] [ 0.00306253 0.00185363 0.99999359 -0.18164256] [ 0. 0. 0. 1. ]] SLAMing on 164.32992885099998 meters Centerline goodness [0,1] 0.6748787942664418 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.08, Z:-0.18 [[ 0.99998803 -0.00381491 -0.00306417 0.65414843] [ 0.00380905 0.99999091 -0.00191496 -0.07733933] [ 0.00307144 0.00190327 0.99999347 -0.18178447] [ 0. 0. 0. 1. ]] SLAMing on 164.35992885099998 meters Centerline goodness [0,1] 0.6734666982947208 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.08, Z:-0.18 [[ 0.99998788 -0.00380912 -0.00311807 0.6542836 ] [ 0.00380337 0.99999106 -0.0018477 -0.07681624] [ 0.00312508 0.00183582 0.99999343 -0.18191341] [ 0. 0. 0. 1. ]] SLAMing on 164.38992885099998 meters Centerline goodness [0,1] 0.6747873265032001 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.08, Z:-0.18 [[ 0.99998812 -0.00363909 -0.00324256 0.65489874] [ 0.00363381 0.99999207 -0.00163109 -0.07667057] [ 0.00324847 0.00161929 0.99999341 -0.18237597] [ 0. 0. 0. 1. ]] SLAMing on 164.41992885099998 meters Centerline goodness [0,1] 0.6684249393395928 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:-0.18 [[ 0.99998871 -0.00339706 -0.00332204 0.6557399 ] [ 0.00339259 0.99999333 -0.0013517 -0.07657415] [ 0.00332661 0.00134041 0.99999357 -0.18332851] [ 0. 0. 0. 1. ]] SLAMing on 164.44992885099998 meters Centerline goodness [0,1] 0.6747701951694893 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:-0.18 [[ 0.99998916 -0.00307244 -0.00349962 0.65664764] [ 0.00306871 0.99999472 -0.00107087 -0.07670096] [ 0.00350289 0.00106011 0.9999933 -0.18394839] [ 0. 0. 0. 1. ]] SLAMing on 164.47992885099998 meters Centerline goodness [0,1] 0.6752289245139453 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:-0.18 [[ 9.99989237e-01 -2.74945997e-03 -3.73712833e-03 6.57703967e-01] [ 2.74633362e-03 9.99995875e-01 -8.41438182e-04 -7.66143864e-02] [ 3.73942641e-03 8.31165725e-04 9.99992663e-01 -1.84582426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.50992885099998 meters Centerline goodness [0,1] 0.6797206483067597 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:-0.18 [[ 9.99988880e-01 -2.63867726e-03 -3.90869350e-03 6.58209817e-01] [ 2.63495159e-03 9.99996070e-01 -9.58020103e-04 -7.58377196e-02] [ 3.91120604e-03 9.47710232e-04 9.99991902e-01 -1.84641941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53992885099998 meters Centerline goodness [0,1] 0.6812887891192394 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.18 [[ 0.99998868 -0.00230257 -0.00416381 0.65903668] [ 0.00229767 0.99999666 -0.00118064 -0.07401459] [ 0.00416652 0.00117106 0.99999063 -0.1846584 ] [ 0. 0. 0. 1. ]] SLAMing on 164.569928851 meters Centerline goodness [0,1] 0.6812887891192394 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.18 [[ 0.99998868 -0.00230257 -0.00416381 0.65903668] [ 0.00229767 0.99999666 -0.00118064 -0.07401459] [ 0.00416652 0.00117106 0.99999063 -0.1846584 ] [ 0. 0. 0. 1. ]] SLAMing on 164.599928851 meters Centerline goodness [0,1] 0.6767769769032461 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.18 [[ 0.99998807 -0.00194117 -0.00448212 0.65993609] [ 0.00193615 0.99999749 -0.00112498 -0.07362112] [ 0.00448429 0.00111629 0.99998932 -0.18469244] [ 0. 0. 0. 1. ]] SLAMing on 164.629928851 meters Centerline goodness [0,1] 0.6814392740318667 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.18 [[ 0.99998752 -0.00196664 -0.00459256 0.65991114] [ 0.0019602 0.99999709 -0.00140634 -0.07294371] [ 0.00459531 0.00139733 0.99998847 -0.18420979] [ 0. 0. 0. 1. ]] SLAMing on 164.659928851 meters Centerline goodness [0,1] 0.6756749630879562 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.18 [[ 0.99998774 -0.00167347 -0.00466096 0.66027129] [ 0.00166826 0.99999798 -0.00112113 -0.07333642] [ 0.00466283 0.00111334 0.99998851 -0.18444662] [ 0. 0. 0. 1. ]] SLAMing on 164.689928851 meters Centerline goodness [0,1] 0.6802437544516844 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.18 [[ 0.99998753 -0.0015667 -0.00474291 0.66034377] [ 0.00156104 0.99999807 -0.0011961 -0.07274818] [ 0.00474478 0.00118868 0.99998804 -0.18417186] [ 0. 0. 0. 1. ]] SLAMing on 164.719928851 meters Centerline goodness [0,1] 0.6791421251419667 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.18 [[ 0.99998743 -0.00146852 -0.00479311 0.66051027] [ 0.00146318 0.9999983 -0.0011186 -0.07252699] [ 0.00479475 0.00111158 0.99998789 -0.18421517] [ 0. 0. 0. 1. ]] SLAMing on 164.74992885099996 meters Centerline goodness [0,1] 0.6770398180952885 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.18 [[ 9.99987353e-01 -1.38387880e-03 -4.83524308e-03 6.60641888e-01] [ 1.37905834e-03 9.99998549e-01 -1.00013467e-03 -7.24845843e-02] [ 4.83662013e-03 9.93453937e-04 9.99987810e-01 -1.84276670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77992885099997 meters Centerline goodness [0,1] 0.683447346874092 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.18 [[ 9.99987527e-01 -1.33719153e-03 -4.81221931e-03 6.60645318e-01] [ 1.33276049e-03 9.99998685e-01 -9.23877295e-04 -7.26888426e-02] [ 4.81344838e-03 9.17452236e-04 9.99987994e-01 -1.84322423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.80992885099997 meters Centerline goodness [0,1] 0.678738286920945 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.07, Z:-0.18 [[ 9.99988056e-01 -1.19241337e-03 -4.73990074e-03 6.60807628e-01] [ 1.18956551e-03 9.99999110e-01 -6.03600614e-04 -7.34246442e-02] [ 4.74061627e-03 5.97954982e-04 9.99988584e-01 -1.84732419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83992885099997 meters Centerline goodness [0,1] 0.6765591170723979 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:-0.19 [[ 9.99989194e-01 -1.41105079e-03 -4.42957612e-03 6.60333994e-01] [ 1.41092002e-03 9.99999004e-01 -3.26479589e-05 -7.56814798e-02] [ 4.42961778e-03 2.63978285e-05 9.99990189e-01 -1.85481924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.86992885099997 meters Centerline goodness [0,1] 0.673258474241986 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:-0.19 [[ 9.99989740e-01 -1.37039155e-03 -4.31753091e-03 6.60415784e-01] [ 1.37244698e-03 9.99998946e-01 4.73140292e-04 -7.73757612e-02] [ 4.31687797e-03 -4.79061020e-04 9.99990567e-01 -1.86133343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89992885099997 meters Centerline goodness [0,1] 0.6719465347576699 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:-0.19 [[ 9.99990358e-01 -1.66225381e-03 -4.06465797e-03 6.59834312e-01] [ 1.66479219e-03 9.99998421e-01 6.21196647e-04 -7.85058465e-02] [ 4.06361897e-03 -6.27957468e-04 9.99991546e-01 -1.86313647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92992885099997 meters Centerline goodness [0,1] 0.6724291243853959 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:-0.19 [[ 0.99997726 -0.00459925 -0.00493314 0.6625293 ] [ 0.00458542 0.99998554 -0.00280978 -0.07833747] [ 0.004946 0.0027871 0.99998388 -0.18681977] [ 0. 0. 0. 1. ]] SLAMing on 164.95992885099997 meters Centerline goodness [0,1] 0.6802098360655737 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:-0.19 [[ 0.99997773 -0.00461893 -0.00481797 0.6624329 ] [ 0.00460724 0.99998643 -0.00243342 -0.07934857] [ 0.00482914 0.00241117 0.99998543 -0.18722634] [ 0. 0. 0. 1. ]] SLAMing on 164.98992885099997 meters Centerline goodness [0,1] 0.6686863917742105 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:-0.19 [[ 0.99997837 -0.00463783 -0.00466475 0.66216103] [ 0.00462836 0.99998721 -0.00203801 -0.08062855] [ 0.00467415 0.00201637 0.99998704 -0.18751813] [ 0. 0. 0. 1. ]] SLAMing on 165.01992885099997 meters Centerline goodness [0,1] 0.6725525023508515 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:-0.19 [[ 0.99997899 -0.00459593 -0.00457028 0.66200708] [ 0.00458888 0.99998826 -0.00155321 -0.08237896] [ 0.00457736 0.00153221 0.99998835 -0.18777847] [ 0. 0. 0. 1. ]] SLAMing on 165.04992885099998 meters Centerline goodness [0,1] 0.6641408862876255 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:-0.19 [[ 0.99997898 -0.00475034 -0.00441232 0.66137334] [ 0.00474531 0.99998808 -0.0011491 -0.08412487] [ 0.00441772 0.00112814 0.99998961 -0.18770835] [ 0. 0. 0. 1. ]] SLAMing on 165.07992885099998 meters Centerline goodness [0,1] 0.663999790833268 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:-0.19 [[ 9.99978817e-01 -4.89434710e-03 -4.29089994e-03 6.60875396e-01] [ 4.89103513e-03 9.99987733e-01 -7.82014020e-04 -8.56072152e-02] [ 4.29467475e-03 7.61010512e-04 9.99990488e-01 -1.87676159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.10992885099998 meters Centerline goodness [0,1] 0.666649337145828 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:-0.19 [[ 9.99976105e-01 -5.58047507e-03 -4.08019245e-03 6.59540374e-01] [ 5.57870302e-03 9.99984340e-01 -4.45557846e-04 -8.80243705e-02] [ 4.08261498e-03 4.22785017e-04 9.99991577e-01 -1.87252801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13992885099998 meters Centerline goodness [0,1] 0.661768544135303 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:-0.19 [[ 9.99974964e-01 -6.00840405e-03 -3.73758963e-03 6.58328031e-01] [ 6.00714205e-03 9.99981896e-01 -3.48786097e-04 -8.91695767e-02] [ 3.73961761e-03 3.26325133e-04 9.99992954e-01 -1.86923219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.16992885099998 meters Centerline goodness [0,1] 0.6583619702176403 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:-0.19 [[ 9.99974642e-01 -6.11279455e-03 -3.65367400e-03 6.58070862e-01] [ 6.11329585e-03 9.99981306e-01 1.26051245e-04 -9.10544376e-02] [ 3.65283517e-03 -1.48384039e-04 9.99993317e-01 -1.87087471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19992885099998 meters Centerline goodness [0,1] 0.6605430687280759 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:-0.19 [[ 9.99974815e-01 -6.14488423e-03 -3.55099246e-03 6.57781594e-01] [ 6.14738070e-03 9.99980865e-01 6.92547219e-04 -9.32694531e-02] [ 3.54666889e-03 -7.14359080e-04 9.99993455e-01 -1.87283009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.22992885099998 meters Centerline goodness [0,1] 0.6568914196971658 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:-0.19 [[ 0.99997062 -0.00696139 -0.00320893 0.65631999] [ 0.00696483 0.99997518 0.00106146 -0.09773835] [ 0.00320146 -0.00108377 0.99999429 -0.18700981] [ 0. 0. 0. 1. ]] SLAMing on 165.25992885099998 meters Centerline goodness [0,1] 0.6563291466377217 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:-0.19 [[ 0.99997164 -0.00686978 -0.00308742 0.65614582] [ 0.00687538 0.99997473 0.00180796 -0.10048015] [ 0.00307492 -0.00182913 0.9999936 -0.18738133] [ 0. 0. 0. 1. ]] SLAMing on 165.28992885099998 meters Centerline goodness [0,1] 0.6520272879392457 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:-0.19 [[ 0.99997228 -0.00682406 -0.00297865 0.65595844] [ 0.00683127 0.99997375 0.00241699 -0.10273568] [ 0.00296208 -0.00243727 0.99999264 -0.18765971] [ 0. 0. 0. 1. ]] SLAMing on 165.319928851 meters Centerline goodness [0,1] 0.6571355236139631 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:-0.19 [[ 0.999973 -0.00671257 -0.00299048 0.65595434] [ 0.00672135 0.9999731 0.00293602 -0.10468905] [ 0.00297069 -0.00295604 0.99999122 -0.18772363] [ 0. 0. 0. 1. ]] SLAMing on 165.349928851 meters Centerline goodness [0,1] 0.6598275729744941 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.11, Z:-0.19 [[ 0.9999731 -0.0067219 -0.00293434 0.65554742] [ 0.0067325 0.99997079 0.00361904 -0.10805342] [ 0.00290993 -0.00363869 0.99998915 -0.1876113 ] [ 0. 0. 0. 1. ]] SLAMing on 165.379928851 meters Centerline goodness [0,1] 0.6558217867258669 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.11, Z:-0.19 [[ 0.99997447 -0.00651251 -0.00294114 0.65565861] [ 0.00652518 0.99996938 0.00431884 -0.11071223] [ 0.00291292 -0.00433793 0.99998635 -0.18785966] [ 0. 0. 0. 1. ]] SLAMing on 165.409928851 meters Centerline goodness [0,1] 0.6579148416013039 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.11, Z:-0.19 [[ 0.99997451 -0.00659739 -0.00273109 0.65505003] [ 0.00661044 0.99996664 0.00479813 -0.11341766] [ 0.00269934 -0.00481606 0.99998476 -0.18785781] [ 0. 0. 0. 1. ]] SLAMing on 165.439928851 meters Centerline goodness [0,1] 0.6522618656282397 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.19 [[ 0.9999722 -0.0069825 -0.00261545 0.6541655 ] [ 0.00699622 0.99996162 0.00527313 -0.11792238] [ 0.00257853 -0.00529128 0.99998268 -0.18736212] [ 0. 0. 0. 1. ]] SLAMing on 165.469928851 meters Centerline goodness [0,1] 0.6443374344493747 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.19 [[ 0.99997355 -0.00672558 -0.00276774 0.65445875] [ 0.00674144 0.99996067 0.00576287 -0.1201219 ] [ 0.00272887 -0.00578138 0.99997956 -0.18725792] [ 0. 0. 0. 1. ]] SLAMing on 165.49992885099996 meters Centerline goodness [0,1] 0.6474318645091477 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.19 [[ 0.99997348 -0.00672788 -0.0027873 0.65427819] [ 0.00674428 0.99995976 0.00591474 -0.12143904] [ 0.0027474 -0.00593338 0.99997862 -0.18694323] [ 0. 0. 0. 1. ]] SLAMing on 165.52992885099997 meters Centerline goodness [0,1] 0.6560112585444311 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.19 [[ 0.99997493 -0.00644046 -0.00294266 0.6547438 ] [ 0.00645897 0.99995914 0.00632449 -0.12306541] [ 0.00290181 -0.00634334 0.99997567 -0.1870117 ] [ 0. 0. 0. 1. ]] SLAMing on 165.55992885099997 meters Centerline goodness [0,1] 0.6482614013629215 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.19 [[ 0.99997765 -0.00586012 -0.00321898 0.65562616] [ 0.00588292 0.99995734 0.00712049 -0.12618773] [ 0.00317711 -0.00713927 0.99996947 -0.18728645] [ 0. 0. 0. 1. ]] SLAMing on 165.58992885099997 meters Centerline goodness [0,1] 0.6514532130215863 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.19 [[ 0.9999785 -0.00569842 -0.00324554 0.65569644] [ 0.00572206 0.99995684 0.00731957 -0.12769036] [ 0.00320369 -0.00733798 0.99996794 -0.18717612] [ 0. 0. 0. 1. ]] SLAMing on 165.61992885099997 meters Centerline goodness [0,1] 0.6439442924645611 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.19 [[ 0.99997834 -0.00561841 -0.00342943 0.65588532] [ 0.00564363 0.99995678 0.00738856 -0.12881811] [ 0.00338777 -0.00740775 0.99996682 -0.18679339] [ 0. 0. 0. 1. ]] SLAMing on 165.64992885099997 meters Centerline goodness [0,1] 0.6486661196887198 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.19 [[ 0.99997846 -0.00553373 -0.00352864 0.65591918] [ 0.00555964 0.99995734 0.00737575 -0.12950584] [ 0.00348767 -0.00739521 0.99996657 -0.18638114] [ 0. 0. 0. 1. ]] SLAMing on 165.67992885099997 meters Centerline goodness [0,1] 0.651569763106217 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.19 [[ 0.99997891 -0.00528579 -0.00377296 0.65636382] [ 0.00531364 0.99995844 0.00740827 -0.12999072] [ 0.00373364 -0.00742816 0.99996544 -0.18606885] [ 0. 0. 0. 1. ]] SLAMing on 165.70992885099997 meters Centerline goodness [0,1] 0.649275937314025 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.19 [[ 0.99997999 -0.00464073 -0.00429826 0.65735322] [ 0.00467355 0.99995976 0.00765724 -0.13117261] [ 0.00426255 -0.00767717 0.99996145 -0.18548174] [ 0. 0. 0. 1. ]] SLAMing on 165.73992885099997 meters Centerline goodness [0,1] 0.650016097476411 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.19 [[ 0.99998047 -0.00437171 -0.00446539 0.65769341] [ 0.00440632 0.99996009 0.00777239 -0.13189915] [ 0.00443124 -0.00779191 0.99995982 -0.18528547] [ 0. 0. 0. 1. ]] SLAMing on 165.76992885099997 meters Centerline goodness [0,1] 0.6502310867254888 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.18 [[ 0.99998038 -0.00415486 -0.00468898 0.65794525] [ 0.00419164 0.99996031 0.00786142 -0.13280976] [ 0.00465613 -0.00788092 0.9999581 -0.18482866] [ 0. 0. 0. 1. ]] SLAMing on 165.79992885099998 meters Centerline goodness [0,1] 0.650319934777775 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.18 [[ 0.99998099 -0.00386205 -0.00480693 0.65820104] [ 0.00390053 0.99996022 0.00802136 -0.13364936] [ 0.00477576 -0.00803996 0.99995627 -0.18464391] [ 0. 0. 0. 1. ]] SLAMing on 165.82992885099998 meters Centerline goodness [0,1] 0.6515315937453756 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.18 [[ 0.99998151 -0.00335251 -0.00507408 0.65854981] [ 0.00339528 0.9999586 0.00844267 -0.1355945 ] [ 0.00504557 -0.00845974 0.99995149 -0.18408127] [ 0. 0. 0. 1. ]] SLAMing on 165.85992885099998 meters Centerline goodness [0,1] 0.6501859926588328 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.18 [[ 0.99998139 -0.00318843 -0.0052013 0.65858839] [ 0.00323288 0.99995812 0.00856147 -0.13649114] [ 0.00517378 -0.00857813 0.99994982 -0.18363391] [ 0. 0. 0. 1. ]] SLAMing on 165.88992885099998 meters Centerline goodness [0,1] 0.6511627906976745 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.18 [[ 0.99998105 -0.00309805 -0.00531911 0.65861597] [ 0.00314402 0.99995759 0.00865605 -0.13735923] [ 0.00529206 -0.00867261 0.99994839 -0.18327126] [ 0. 0. 0. 1. ]] SLAMing on 165.91992885099998 meters Centerline goodness [0,1] 0.6503016127046657 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.18 [[ 0.99998127 -0.00286144 -0.00541013 0.65878539] [ 0.00290982 0.99995566 0.00895611 -0.13878686] [ 0.00538427 -0.00897168 0.99994526 -0.18313966] [ 0. 0. 0. 1. ]] SLAMing on 165.94992885099998 meters Centerline goodness [0,1] 0.6519362745098038 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.18 [[ 0.9999816 -0.00243975 -0.00555431 0.65912979] [ 0.00249389 0.99994926 0.00976039 -0.14211995] [ 0.00553022 -0.00977406 0.99993694 -0.18317904] [ 0. 0. 0. 1. ]] SLAMing on 165.97992885099998 meters Centerline goodness [0,1] 0.6470401484810002 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.18 [[ 0.99997021 -0.00472903 -0.00610109 0.66151695] [ 0.00476868 0.9999675 0.00650141 -0.14204803] [ 0.00607015 -0.00653031 0.99996025 -0.18377182] [ 0. 0. 0. 1. ]] SLAMing on 166.00992885099998 meters Centerline goodness [0,1] 0.6503542633764965 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.18 [[ 0.99997072 -0.00455773 -0.00614648 0.66182221] [ 0.00459922 0.99996661 0.0067542 -0.14331401] [ 0.0061155 -0.00678227 0.9999583 -0.18397849] [ 0. 0. 0. 1. ]] SLAMing on 166.03992885099998 meters Centerline goodness [0,1] 0.6507058049101593 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.18 [[ 0.9999708 -0.00445263 -0.00621039 0.66205613] [ 0.00449592 0.99996557 0.00697418 -0.14453318] [ 0.00617912 -0.00700189 0.9999564 -0.18404344] [ 0. 0. 0. 1. ]] SLAMing on 166.069928851 meters Centerline goodness [0,1] 0.6504527371683793 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.18 [[ 0.99997058 -0.00449665 -0.0062146 0.6619504 ] [ 0.00453968 0.9999657 0.00692787 -0.1449583 ] [ 0.00618324 -0.00695588 0.99995669 -0.18382694] [ 0. 0. 0. 1. ]] SLAMing on 166.099928851 meters Centerline goodness [0,1] 0.6490080715744433 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.15, Z:-0.18 [[ 0.9999705 -0.00420996 -0.00642396 0.66260132] [ 0.00425652 0.99996465 0.00725104 -0.14608038] [ 0.0063932 -0.00727817 0.99995308 -0.18400586] [ 0. 0. 0. 1. ]] SLAMing on 166.129928851 meters Centerline goodness [0,1] 0.6503535586712998 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.15, Z:-0.18 [[ 0.99997092 -0.00410311 -0.0064291 0.6625169 ] [ 0.00415191 0.99996254 0.0075953 -0.14786982] [ 0.0063977 -0.00762177 0.99995049 -0.1838873 ] [ 0. 0. 0. 1. ]] SLAMing on 166.159928851 meters Centerline goodness [0,1] 0.6492197344189202 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.15, Z:-0.18 [[ 0.99997109 -0.00406546 -0.00642655 0.66247448] [ 0.00411513 0.99996163 0.00773371 -0.1489927 ] [ 0.00639487 -0.00775993 0.99994944 -0.18378937] [ 0. 0. 0. 1. ]] SLAMing on 166.189928851 meters Centerline goodness [0,1] 0.6495242245950461 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.15, Z:-0.18 [[ 0.9999711 -0.00413424 -0.0063801 0.66211698] [ 0.00418346 0.99996144 0.00772091 -0.14994269] [ 0.00634794 -0.00774738 0.99994984 -0.1833825 ] [ 0. 0. 0. 1. ]] SLAMing on 166.219928851 meters Centerline goodness [0,1] 0.6427382589188798 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.15, Z:-0.18 [[ 0.99997122 -0.00412058 -0.00637097 0.6617159 ] [ 0.0041707 0.99996029 0.00787514 -0.15147313] [ 0.00633826 -0.00790148 0.9999487 -0.18282578] [ 0. 0. 0. 1. ]] SLAMing on 166.24992885099996 meters Centerline goodness [0,1] 0.6451744885679904 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.15, Z:-0.18 [[ 0.99997104 -0.00428357 -0.00629039 0.66123467] [ 0.0043326 0.99996018 0.00780207 -0.15215279] [ 0.00625672 -0.00782909 0.99994978 -0.18242664] [ 0. 0. 0. 1. ]] SLAMing on 166.27992885099997 meters Centerline goodness [0,1] 0.6435022820081672 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.15, Z:-0.18 [[ 0.99997113 -0.00426618 -0.00628764 0.6611034 ] [ 0.00431565 0.99995967 0.00787623 -0.15314567] [ 0.00625378 -0.00790314 0.99994921 -0.18216002] [ 0. 0. 0. 1. ]] SLAMing on 166.30992885099997 meters Centerline goodness [0,1] 0.6438280366636996 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.15, Z:-0.18 [[ 0.99997106 -0.00446542 -0.0061589 0.6604385 ] [ 0.00451396 0.99995868 0.00789016 -0.15420041] [ 0.00612341 -0.00791774 0.99994991 -0.18168015] [ 0. 0. 0. 1. ]] SLAMing on 166.33992885099997 meters Centerline goodness [0,1] 0.646335912608102 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.18 [[ 0.99997097 -0.00484522 -0.00588045 0.65932244] [ 0.0048925 0.99995561 0.00805288 -0.15669903] [ 0.00584117 -0.00808142 0.99995028 -0.18113168] [ 0. 0. 0. 1. ]] SLAMing on 166.36992885099997 meters Centerline goodness [0,1] 0.6465377268385865 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.18 [[ 0.99997079 -0.00500446 -0.00577628 0.65889634] [ 0.00505174 0.99995363 0.00819916 -0.15824396] [ 0.00573498 -0.0082281 0.9999497 -0.18094057] [ 0. 0. 0. 1. ]] SLAMing on 166.39992885099997 meters Centerline goodness [0,1] 0.6427344309234073 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.18 [[ 0.99997021 -0.00523891 -0.00566862 0.65838521] [ 0.00528588 0.99995156 0.00830253 -0.15989616] [ 0.00562485 -0.00833224 0.99994947 -0.18065095] [ 0. 0. 0. 1. ]] SLAMing on 166.42992885099997 meters Centerline goodness [0,1] 0.6436808940672929 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.18 [[ 0.99996973 -0.0054766 -0.00552668 0.65788111] [ 0.00552334 0.99994881 0.00847808 -0.16172747] [ 0.00547997 -0.00850835 0.99994879 -0.18049972] [ 0. 0. 0. 1. ]] SLAMing on 166.45992885099997 meters Centerline goodness [0,1] 0.6399060810169813 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.18 [[ 0.99996914 -0.00573091 -0.00537337 0.65733923] [ 0.00577745 0.99994558 0.00868707 -0.16346238] [ 0.00532329 -0.00871785 0.99994783 -0.18037575] [ 0. 0. 0. 1. ]] SLAMing on 166.48992885099997 meters Centerline goodness [0,1] 0.6399060810169813 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.18 [[ 0.99996914 -0.00573091 -0.00537337 0.65733923] [ 0.00577745 0.99994558 0.00868707 -0.16346238] [ 0.00532329 -0.00871785 0.99994783 -0.18037575] [ 0. 0. 0. 1. ]] SLAMing on 166.51992885099997 meters Centerline goodness [0,1] 0.6416165822724906 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.18 [[ 0.99996812 -0.00600968 -0.00525787 0.65680724] [ 0.00605588 0.9999428 0.00881619 -0.16512218] [ 0.00520458 -0.00884775 0.99994731 -0.18010537] [ 0. 0. 0. 1. ]] SLAMing on 166.54992885099998 meters Centerline goodness [0,1] 0.6404637054106803 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.18 [[ 0.99994344 -0.00896133 -0.00572733 0.65855578] [ 0.00899589 0.99994131 0.00603809 -0.16782221] [ 0.00567289 -0.00608927 0.99996537 -0.18083513] [ 0. 0. 0. 1. ]] SLAMing on 166.57992885099998 meters Centerline goodness [0,1] 0.6383257950364416 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.18 [[ 0.99994419 -0.0089682 -0.00558513 0.65825717] [ 0.0090047 0.99993803 0.00654561 -0.17032068] [ 0.00552608 -0.00659553 0.99996298 -0.18093637] [ 0. 0. 0. 1. ]] SLAMing on 166.60992885099998 meters Centerline goodness [0,1] 0.6356772172612091 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.18 [[ 0.9999432 -0.00919962 -0.00538193 0.65748427] [ 0.00923603 0.99993436 0.00678012 -0.17228086] [ 0.0053192 -0.00682944 0.99996253 -0.18059007] [ 0. 0. 0. 1. ]] SLAMing on 166.63992885099998 meters Centerline goodness [0,1] 0.6360155035161418 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.18 [[ 0.99991333 -0.01170553 -0.00602536 0.65969123] [ 0.01172913 0.99992362 0.0038975 -0.17308269] [ 0.00597928 -0.00396784 0.99997425 -0.1811199 ] [ 0. 0. 0. 1. ]] SLAMing on 166.66992885099998 meters Centerline goodness [0,1] 0.63281033046376 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.18 [[ 0.999908 -0.0123277 -0.00565771 0.65778836] [ 0.01235135 0.99991505 0.00416472 -0.17720907] [ 0.00560589 -0.00423422 0.99997532 -0.17985652] [ 0. 0. 0. 1. ]] SLAMing on 166.69992885099998 meters Centerline goodness [0,1] 0.6354575238798394 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.18 [[ 0.99990699 -0.01248829 -0.00548282 0.65707969] [ 0.01251308 0.99991154 0.00451026 -0.17928618] [ 0.00542601 -0.00457845 0.9999748 -0.17952769] [ 0. 0. 0. 1. ]] SLAMing on 166.72992885099998 meters Centerline goodness [0,1] 0.6313693174014559 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.18 [[ 0.99990277 -0.0129281 -0.00522685 0.65584651] [ 0.0129547 0.99990314 0.00508697 -0.18375893] [ 0.00516058 -0.00515418 0.9999734 -0.1789137 ] [ 0. 0. 0. 1. ]] SLAMing on 166.75992885099998 meters Centerline goodness [0,1] 0.6316809116809117 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.18 [[ 0.99990422 -0.01287323 -0.00508239 0.65562652] [ 0.01290235 0.99990029 0.00573881 -0.18648672] [ 0.00500801 -0.00580384 0.99997062 -0.17914905] [ 0. 0. 0. 1. ]] SLAMing on 166.78992885099998 meters Centerline goodness [0,1] 0.6302513362902309 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.18 [[ 0.9999043 -0.0129442 -0.00488336 0.65501632] [ 0.01297455 0.99989639 0.00623409 -0.18908118] [ 0.00480216 -0.00629686 0.99996864 -0.17903277] [ 0. 0. 0. 1. ]] SLAMing on 166.819928851 meters Centerline goodness [0,1] 0.6287450953709374 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.18 [[ 0.999904 -0.01304132 -0.00468179 0.65440431] [ 0.01307206 0.99989279 0.00659781 -0.19130186] [ 0.00459524 -0.00665838 0.99996727 -0.17883046] [ 0. 0. 0. 1. ]] SLAMing on 166.849928851 meters Centerline goodness [0,1] 0.6304165628468525 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.18 [[ 0.9999068 -0.01285947 -0.00458619 0.65400533] [ 0.01289303 0.99988976 0.00736502 -0.19478417] [ 0.00449098 -0.00742346 0.99996236 -0.17863302] [ 0. 0. 0. 1. ]] SLAMing on 166.879928851 meters Centerline goodness [0,1] 0.6319546409451309 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.18 [[ 0.99990823 -0.01276529 -0.00453671 0.6538039 ] [ 0.01280002 0.99988835 0.00771054 -0.19635982] [ 0.00443777 -0.00776791 0.99995998 -0.17853383] [ 0. 0. 0. 1. ]] SLAMing on 166.909928851 meters Centerline goodness [0,1] 0.6322648899293206 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.18 [[ 0.99991076 -0.01257593 -0.00450844 0.65382662] [ 0.01261233 0.99988733 0.0081393 -0.19792746] [ 0.00440557 -0.00819544 0.99995671 -0.17861837] [ 0. 0. 0. 1. ]] SLAMing on 166.939928851 meters Centerline goodness [0,1] 0.6309368973404494 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.18 [[ 0.99991323 -0.01238421 -0.00449066 0.6538693 ] [ 0.01242175 0.99988731 0.0084306 -0.19925435] [ 0.00438575 -0.00848565 0.99995438 -0.17863531] [ 0. 0. 0. 1. ]] SLAMing on 166.969928851 meters Centerline goodness [0,1] 0.6291453221892693 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.18 [[ 0.99991509 -0.01219838 -0.00458438 0.65404575] [ 0.01223788 0.99988735 0.00868994 -0.20028507] [ 0.00447786 -0.00874531 0.99995173 -0.17857565] [ 0. 0. 0. 1. ]] SLAMing on 166.99992885099996 meters Centerline goodness [0,1] 0.6354308706829105 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.18 [[ 0.99992203 -0.01157778 -0.00467918 0.65448131] [ 0.01162146 0.99988811 0.00941825 -0.20278338] [ 0.00456962 -0.00947189 0.9999447 -0.17874688] [ 0. 0. 0. 1. ]] SLAMing on 167.02992885099997 meters Centerline goodness [0,1] 0.6305849221072395 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.18 [[ 0.99992445 -0.01137009 -0.00467076 0.6545693 ] [ 0.011415 0.99988776 0.00970431 -0.20391814] [ 0.00455989 -0.0097569 0.999942 -0.17883041] [ 0. 0. 0. 1. ]] SLAMing on 167.05992885099997 meters Centerline goodness [0,1] 0.6292758227253406 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.18 [[ 0.99992616 -0.01125156 -0.00458992 0.65443195] [ 0.01129681 0.99988664 0.00995434 -0.20474289] [ 0.0044774 -0.01000546 0.99993992 -0.17886632] [ 0. 0. 0. 1. ]] SLAMing on 167.08992885099997 meters Centerline goodness [0,1] 0.6388702835454343 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.18 [[ 0.99992698 -0.01115726 -0.004643 0.65452996] [ 0.01120374 0.99988615 0.01010772 -0.20546615] [ 0.0045297 -0.010159 0.99993814 -0.17876575] [ 0. 0. 0. 1. ]] SLAMing on 167.11992885099997 meters Centerline goodness [0,1] 0.6301623405583802 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.18 [[ 0.99993029 -0.01088823 -0.00456666 0.65414709] [ 0.01093608 0.99988414 0.01058805 -0.20748785] [ 0.00445085 -0.01063725 0.99993352 -0.17836143] [ 0. 0. 0. 1. ]] SLAMing on 167.14992885099997 meters Centerline goodness [0,1] 0.6343393366619116 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.18 [[ 0.99993123 -0.01080353 -0.00456381 0.65407279] [ 0.01085249 0.99988232 0.0108427 -0.20876169] [ 0.00444613 -0.01089148 0.9999308 -0.17826747] [ 0. 0. 0. 1. ]] SLAMing on 167.17992885099997 meters Centerline goodness [0,1] 0.6411917963791837 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.18 [[ 0.99993202 -0.01072201 -0.00458275 0.654043 ] [ 0.01077209 0.99988095 0.01104747 -0.21004732] [ 0.00446376 -0.01109608 0.99992847 -0.17813182] [ 0. 0. 0. 1. ]] SLAMing on 167.20992885099997 meters Centerline goodness [0,1] 0.6387709273628743 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.18 [[ 0.99993232 -0.0107368 -0.00448067 0.6536862 ] [ 0.01078606 0.99988001 0.01111849 -0.21090286] [ 0.00436076 -0.01116607 0.99992815 -0.1779132 ] [ 0. 0. 0. 1. ]] SLAMing on 167.23992885099997 meters Centerline goodness [0,1] 0.6331943582010113 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.18 [[ 0.99993422 -0.01060507 -0.00436999 0.65318955] [ 0.01065522 0.99987574 0.01161809 -0.21327041] [ 0.00424623 -0.01166389 0.99992296 -0.17756661] [ 0. 0. 0. 1. ]] SLAMing on 167.26992885099997 meters Centerline goodness [0,1] 0.6341625501185123 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.18 [[ 0.9999336 -0.01069409 -0.00429253 0.65276845] [ 0.01074349 0.99987437 0.01165454 -0.21440026] [ 0.00416736 -0.01169989 0.99992287 -0.17718963] [ 0. 0. 0. 1. ]] SLAMing on 167.29992885099998 meters Centerline goodness [0,1] 0.6383573806881243 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.18 [[ 0.99993368 -0.01072636 -0.00419407 0.65242943] [ 0.01077544 0.99987161 0.01186004 -0.21576261] [ 0.00406632 -0.01190445 0.99992087 -0.17703504] [ 0. 0. 0. 1. ]] SLAMing on 167.32992885099998 meters Centerline goodness [0,1] 0.6354978738483346 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.18 [[ 0.99993451 -0.01064303 -0.00420812 0.6524927 ] [ 0.01069335 0.99986934 0.01212273 -0.21714979] [ 0.00407855 -0.01216694 0.99991766 -0.17703303] [ 0. 0. 0. 1. ]] SLAMing on 167.35992885099998 meters Centerline goodness [0,1] 0.6365399876554096 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.18 [[ 0.9999354 -0.01062493 -0.00403935 0.6522179 ] [ 0.01067627 0.99985968 0.01290886 -0.220693 ] [ 0.00390163 -0.01295115 0.99990852 -0.17730114] [ 0. 0. 0. 1. ]] SLAMing on 167.38992885099998 meters Centerline goodness [0,1] 0.634051268498943 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.18 [[ 0.99993477 -0.01071885 -0.00394504 0.65203096] [ 0.01076987 0.99985559 0.01314558 -0.2223978 ] [ 0.00380357 -0.01318721 0.99990581 -0.1773262 ] [ 0. 0. 0. 1. ]] SLAMing on 167.41992885099998 meters Centerline goodness [0,1] 0.6384434325436108 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.18 [[ 0.99993367 -0.01085418 -0.00385357 0.65181917] [ 0.01090454 0.99985211 0.01329862 -0.22392864] [ 0.00370865 -0.01333976 0.99990414 -0.17727551] [ 0. 0. 0. 1. ]] SLAMing on 167.44992885099998 meters Centerline goodness [0,1] 0.6397183408515787 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.18 [[ 0.9999322 -0.01101312 -0.0037819 0.65159223] [ 0.01106295 0.99984878 0.01341763 -0.22521754] [ 0.00363356 -0.01345856 0.99990283 -0.17718423] [ 0. 0. 0. 1. ]] SLAMing on 167.47992885099998 meters Centerline goodness [0,1] 0.6348502152332425 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.18 [[ 0.99992976 -0.01126754 -0.00367754 0.65089133] [ 0.01131652 0.9998437 0.01358351 -0.22707802] [ 0.00352391 -0.01362418 0.99990098 -0.17659844] [ 0. 0. 0. 1. ]] SLAMing on 167.50992885099998 meters Centerline goodness [0,1] 0.6403655214831737 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.18 [[ 0.99992716 -0.01151664 -0.00361158 0.65045116] [ 0.01156394 0.99984384 0.01336308 -0.22730877] [ 0.00345712 -0.01340387 0.99990419 -0.17616279] [ 0. 0. 0. 1. ]] SLAMing on 167.53992885099998 meters Centerline goodness [0,1] 0.6320133462112565 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.18 [[ 0.99992555 -0.01164836 -0.00363577 0.65025186] [ 0.01169553 0.99984402 0.01323467 -0.22768238] [ 0.00348104 -0.01327621 0.99990581 -0.1757729 ] [ 0. 0. 0. 1. ]] SLAMing on 167.569928851 meters Centerline goodness [0,1] 0.6425565491846397 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.18 [[ 0.99992335 -0.01184857 -0.00359201 0.64992825] [ 0.01189444 0.99984436 0.01302999 -0.22808642] [ 0.00343706 -0.01307172 0.99990865 -0.17541671] [ 0. 0. 0. 1. ]] SLAMing on 167.599928851 meters Centerline goodness [0,1] 0.6434870354933533 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.18 [[ 0.99992043 -0.01210833 -0.00353964 0.64962125] [ 0.01215235 0.99984562 0.01269078 -0.22774442] [ 0.00338543 -0.01273279 0.9999132 -0.1751267 ] [ 0. 0. 0. 1. ]] SLAMing on 167.629928851 meters Centerline goodness [0,1] 0.6427788495264819 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.17 [[ 0.99991709 -0.01239109 -0.0035031 0.64927577] [ 0.01243298 0.99984828 0.01220003 -0.22708515] [ 0.0033514 -0.01224257 0.99991944 -0.17469872] [ 0. 0. 0. 1. ]] SLAMing on 167.659928851 meters Centerline goodness [0,1] 0.6425644733670763 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.17 [[ 0.99991475 -0.01256409 -0.00355359 0.64924667] [ 0.01260503 0.9998516 0.0117431 -0.22614567] [ 0.00340552 -0.0117869 0.99992473 -0.17441304] [ 0. 0. 0. 1. ]] SLAMing on 167.689928851 meters Centerline goodness [0,1] 0.6416198912471496 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.23, Z:-0.17 [[ 0.99991452 -0.01256417 -0.00361851 0.64927159] [ 0.01260505 0.99985436 0.01150557 -0.22543612] [ 0.00347343 -0.0115502 0.99992726 -0.17423128] [ 0. 0. 0. 1. ]] SLAMing on 167.71992885099996 meters Centerline goodness [0,1] 0.6471039424952335 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.17 [[ 0.99991413 -0.01258356 -0.00365905 0.64931481] [ 0.01262309 0.99985992 0.01099081 -0.22386012] [ 0.00352023 -0.01103606 0.9999329 -0.17400547] [ 0. 0. 0. 1. ]] SLAMing on 167.74992885099996 meters Centerline goodness [0,1] 0.6465375419509092 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.17 [[ 0.99991425 -0.01256411 -0.00369157 0.64930075] [ 0.01260323 0.99986256 0.01077104 -0.22301217] [ 0.00355573 -0.01081664 0.99993518 -0.17378754] [ 0. 0. 0. 1. ]] SLAMing on 167.77992885099997 meters Centerline goodness [0,1] 0.6484632634217122 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.17 [[ 0.99991254 -0.01270313 -0.00367944 0.64916792] [ 0.01274102 0.99986405 0.01046613 -0.22207802] [ 0.00354598 -0.01051209 0.99993846 -0.1736426 ] [ 0. 0. 0. 1. ]] SLAMing on 167.80992885099997 meters Centerline goodness [0,1] 0.6449714536671058 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.17 [[ 0.99991022 -0.01289589 -0.00363851 0.64900247] [ 0.01293222 0.99986492 0.0101438 -0.2214229 ] [ 0.0035072 -0.01018995 0.99994193 -0.17346599] [ 0. 0. 0. 1. ]] SLAMing on 167.83992885099997 meters Centerline goodness [0,1] 0.6662858649325542 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.17 [[ 0.99990754 -0.01316005 -0.00342493 0.64856498] [ 0.01319374 0.9998629 0.0100056 -0.22149274] [ 0.00329279 -0.01004986 0.99994408 -0.17348022] [ 0. 0. 0. 1. ]] SLAMing on 167.86992885099997 meters Centerline goodness [0,1] 0.6538309636650869 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.17 [[ 0.99990394 -0.01345411 -0.00333106 0.64836356] [ 0.01348625 0.99986082 0.0098217 -0.22171364] [ 0.00319845 -0.00986568 0.99994622 -0.17349797] [ 0. 0. 0. 1. ]] SLAMing on 167.89992885099997 meters Centerline goodness [0,1] 0.6443742320519572 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.17 [[ 0.99990083 -0.01373058 -0.0031314 0.64790845] [ 0.01376016 0.99985896 0.00962884 -0.22193891] [ 0.00299875 -0.00967097 0.99994874 -0.17339738] [ 0. 0. 0. 1. ]] SLAMing on 167.92992885099997 meters Centerline goodness [0,1] 0.6491799693855238 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.17 [[ 0.99989951 -0.01382733 -0.0031256 0.64803972] [ 0.01385676 0.9998579 0.00960088 -0.22216249] [ 0.0029924 -0.00964322 0.99994903 -0.17358843] [ 0. 0. 0. 1. ]] SLAMing on 167.95992885099997 meters Centerline goodness [0,1] 0.6452179256463153 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.17 [[ 0.99989317 -0.01432892 -0.00288624 0.64729842] [ 0.01435484 0.99985491 0.00917002 -0.22162983] [ 0.00275442 -0.00921047 0.99995379 -0.1732993 ] [ 0. 0. 0. 1. ]] SLAMing on 167.98992885099997 meters Centerline goodness [0,1] 0.6455237802602989 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.17 [[ 0.99988964 -0.01460454 -0.00272434 0.64692229] [ 0.01462833 0.99985315 0.0089266 -0.22119423] [ 0.00259357 -0.00896547 0.99995645 -0.17322459] [ 0. 0. 0. 1. ]] SLAMing on 168.01992885099997 meters Centerline goodness [0,1] 0.646189000944785 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.17 [[ 0.99988604 -0.01486881 -0.00261111 0.64667684] [ 0.01489088 0.99985173 0.00864798 -0.22051785] [ 0.00248213 -0.00868588 0.9999592 -0.17323395] [ 0. 0. 0. 1. ]] SLAMing on 168.04992885099998 meters Centerline goodness [0,1] 0.6583782594344812 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.17 [[ 0.99988401 -0.01501997 -0.00252387 0.64669199] [ 0.0150409 0.99985083 0.00849098 -0.2201745 ] [ 0.00239596 -0.00852796 0.99996077 -0.17347484] [ 0. 0. 0. 1. ]] SLAMing on 168.07992885099998 meters Centerline goodness [0,1] 0.6524660722912732 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.17 [[ 0.9998822 -0.01515464 -0.00243472 0.64671683] [ 0.01517462 0.9998495 0.00840903 -0.22016128] [ 0.00230692 -0.00844499 0.99996168 -0.17376493] [ 0. 0. 0. 1. ]] SLAMing on 168.10992885099998 meters Centerline goodness [0,1] 0.6506138073656884 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.17 [[ 0.99987852 -0.01542457 -0.00224044 0.64664071] [ 0.01544215 0.99984832 0.00805442 -0.21925909] [ 0.00211587 -0.00808804 0.99996505 -0.17412223] [ 0. 0. 0. 1. ]] SLAMing on 168.13992885099998 meters Centerline goodness [0,1] 0.6531780453975033 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.17 [[ 0.99987744 -0.01549494 -0.00223725 0.64675611] [ 0.01551169 0.99985024 0.00767366 -0.21766674] [ 0.00211802 -0.00770742 0.99996805 -0.1741695 ] [ 0. 0. 0. 1. ]] SLAMing on 168.16992885099998 meters Centerline goodness [0,1] 0.6540707282141677 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.17 [[ 0.99987648 -0.01553342 -0.00239732 0.64707902] [ 0.01555016 0.9998537 0.00712587 -0.21557116] [ 0.00228628 -0.00716227 0.99997174 -0.17401382] [ 0. 0. 0. 1. ]] SLAMing on 168.19992885099998 meters Centerline goodness [0,1] 0.6523497050440776 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.17 [[ 0.99987864 -0.01537353 -0.00252009 0.64747497] [ 0.0153903 0.9998586 0.00677702 -0.21362167] [ 0.00241555 -0.00681498 0.99997386 -0.174073 ] [ 0. 0. 0. 1. ]] SLAMing on 168.22992885099998 meters Centerline goodness [0,1] 0.6456708569913616 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.17 [[ 0.99988483 -0.01490598 -0.0028545 0.64863662] [ 0.01492468 0.99986652 0.00664805 -0.21151719] [ 0.00275503 -0.00668988 0.99997383 -0.17453157] [ 0. 0. 0. 1. ]] SLAMing on 168.25992885099998 meters Centerline goodness [0,1] 0.6554358689616879 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.17 [[ 0.99992874 -0.01164141 -0.00264531 0.64778362] [ 0.01166554 0.99988873 0.00929754 -0.2083174 ] [ 0.00253678 -0.00932774 0.99995328 -0.17404948] [ 0. 0. 0. 1. ]] SLAMing on 168.28992885099998 meters Centerline goodness [0,1] 0.6508702127186645 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.17 [[ 0.99993182 -0.01134531 -0.00276569 0.64828317] [ 0.01136915 0.999897 0.00875988 -0.20579689] [ 0.00266602 -0.00879073 0.99995781 -0.17408838] [ 0. 0. 0. 1. ]] SLAMing on 168.319928851 meters Centerline goodness [0,1] 0.659306134272154 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.17 [[ 0.99996609 -0.0077476 -0.00279232 0.64837556] [ 0.00777912 0.99990406 0.01146119 -0.20218334] [ 0.00270326 -0.01148252 0.99993042 -0.17410121] [ 0. 0. 0. 1. ]] SLAMing on 168.349928851 meters Centerline goodness [0,1] 0.6685238638652078 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.17 [[ 0.99996772 -0.00741732 -0.00309049 0.64917572] [ 0.00745026 0.99991407 0.0107864 -0.19906183] [ 0.00301022 -0.01080907 0.99993705 -0.17403485] [ 0. 0. 0. 1. ]] SLAMing on 168.379928851 meters Centerline goodness [0,1] 0.6685238638652078 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.17 [[ 0.99996772 -0.00741732 -0.00309049 0.64917572] [ 0.00745026 0.99991407 0.0107864 -0.19906183] [ 0.00301022 -0.01080907 0.99993705 -0.17403485] [ 0. 0. 0. 1. ]] SLAMing on 168.409928851 meters Centerline goodness [0,1] 0.6623359168496035 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.17 [[ 0.99996745 -0.00738021 -0.00325999 0.64943154] [ 0.00741176 0.99992475 0.00977553 -0.19559962] [ 0.0031876 -0.00979938 0.9999469 -0.1735626 ] [ 0. 0. 0. 1. ]] SLAMing on 168.439928851 meters Centerline goodness [0,1] 0.6718430914925608 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.17 [[ 0.99996698 -0.00733227 -0.00350292 0.6500431 ] [ 0.00736323 0.99993319 0.00891078 -0.19257458] [ 0.00343735 -0.00893627 0.99995416 -0.17340169] [ 0. 0. 0. 1. ]] SLAMing on 168.46992885099996 meters Centerline goodness [0,1] 0.6755898059893193 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.17 [[ 0.99996941 -0.00691926 -0.00364607 0.65047472] [ 0.00694744 0.99994566 0.00777264 -0.18783021] [ 0.00359209 -0.00779773 0.99996315 -0.17280778] [ 0. 0. 0. 1. ]] SLAMing on 168.49992885099996 meters Centerline goodness [0,1] 0.6885523787998644 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.17 [[ 0.99996803 -0.00716076 -0.00355908 0.65008683] [ 0.00718602 0.99994873 0.00713451 -0.18580991] [ 0.0035078 -0.00715986 0.99996822 -0.17243283] [ 0. 0. 0. 1. ]] SLAMing on 168.52992885099997 meters Centerline goodness [0,1] 0.6779106498194946 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.17 [[ 0.9999667 -0.00728997 -0.00366908 0.65018803] [ 0.00731443 0.99995082 0.00669807 -0.18453811] [ 0.00362007 -0.00672469 0.99997084 -0.17218528] [ 0. 0. 0. 1. ]] SLAMing on 168.55992885099997 meters Centerline goodness [0,1] 0.673657566443681 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.17 [[ 0.99996512 -0.00755677 -0.00355865 0.64987698] [ 0.00757956 0.99995058 0.00643379 -0.18408025] [ 0.00350985 -0.00646054 0.99997297 -0.17209566] [ 0. 0. 0. 1. ]] SLAMing on 168.58992885099997 meters Centerline goodness [0,1] 0.6794364413487415 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.17 [[ 0.99996193 -0.00807682 -0.00330066 0.64948601] [ 0.0080976 0.99994716 0.00633361 -0.18453078] [ 0.00324933 -0.0063601 0.9999745 -0.17245486] [ 0. 0. 0. 1. ]] SLAMing on 168.61992885099997 meters Centerline goodness [0,1] 0.6665838957990022 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.18, Z:-0.17 [[ 0.99995913 -0.00847419 -0.00314957 0.64899486] [ 0.00849342 0.99994506 0.00614368 -0.18484632] [ 0.00309733 -0.00617018 0.99997617 -0.17229874] [ 0. 0. 0. 1. ]] SLAMing on 168.64992885099997 meters Centerline goodness [0,1] 0.668814781433078 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.17 [[ 0.99995743 -0.0087031 -0.00306652 0.64895896] [ 0.00872221 0.99994227 0.00627604 -0.18556375] [ 0.00301173 -0.00630252 0.9999756 -0.17262616] [ 0. 0. 0. 1. ]] SLAMing on 168.67992885099997 meters Centerline goodness [0,1] 0.6674623907756059 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.17 [[ 0.99995225 -0.00936474 -0.00279097 0.64832214] [ 0.00938211 0.9999363 0.00627456 -0.18693066] [ 0.00273203 -0.00630044 0.99997642 -0.17280324] [ 0. 0. 0. 1. ]] SLAMing on 168.70992885099997 meters Centerline goodness [0,1] 0.6678537618897353 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.17 [[ 0.99994974 -0.00970747 -0.00250791 0.64771126] [ 0.0097232 0.99993264 0.00633824 -0.18783474] [ 0.00244621 -0.0063623 0.99997677 -0.17290629] [ 0. 0. 0. 1. ]] SLAMing on 168.73992885099997 meters Centerline goodness [0,1] 0.6633567504278123 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.17 [[ 0.99994815 -0.00991693 -0.00231297 0.64755455] [ 0.00993177 0.99992958 0.00649602 -0.18888033] [ 0.00224839 -0.00651866 0.99997623 -0.17331885] [ 0. 0. 0. 1. ]] SLAMing on 168.76992885099997 meters Centerline goodness [0,1] 0.6618292271346609 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.17 [[ 0.99994446 -0.01033903 -0.00204656 0.64695792] [ 0.01035197 0.99992584 0.00641424 -0.18948847] [ 0.00198009 -0.00643507 0.99997733 -0.17336868] [ 0. 0. 0. 1. ]] SLAMing on 168.79992885099998 meters Centerline goodness [0,1] 0.6591587212563096 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.17 [[ 0.99994142 -0.01064546 -0.00195878 0.64686129] [ 0.01065775 0.99992288 0.00637524 -0.19003476] [ 0.00189076 -0.00639574 0.99997776 -0.17358517] [ 0. 0. 0. 1. ]] SLAMing on 168.82992885099998 meters Centerline goodness [0,1] 0.6610858002109657 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.17 [[ 0.99993927 -0.01086056 -0.0018718 0.64664489] [ 0.01087191 0.99992188 0.00616727 -0.18985507] [ 0.00180468 -0.00618725 0.99997923 -0.17354122] [ 0. 0. 0. 1. ]] SLAMing on 168.85992885099998 meters Centerline goodness [0,1] 0.651305614703575 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.17 [[ 0.99993826 -0.01096609 -0.00179278 0.64662879] [ 0.01097689 0.99992099 0.00612559 -0.18965093] [ 0.00172547 -0.00614489 0.99997963 -0.17375819] [ 0. 0. 0. 1. ]] SLAMing on 168.88992885099998 meters Centerline goodness [0,1] 0.658708432437284 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.17 [[ 0.99993715 -0.01108192 -0.00170165 0.64646856] [ 0.01109219 0.99991959 0.00614691 -0.18958387] [ 0.00163339 -0.00616539 0.99997966 -0.17388892] [ 0. 0. 0. 1. ]] SLAMing on 168.91992885099998 meters Centerline goodness [0,1] 0.6580079788426196 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.17 [[ 0.99993639 -0.0111596 -0.00163719 0.64651991] [ 0.01116941 0.99991894 0.00611221 -0.18955962] [ 0.00156884 -0.00613011 0.99997998 -0.17410386] [ 0. 0. 0. 1. ]] SLAMing on 168.94992885099998 meters Centerline goodness [0,1] 0.650635066418763 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.17 [[ 0.99993241 -0.01153041 -0.00148924 0.64586023] [ 0.01153899 0.99991609 0.00588808 -0.18960056] [ 0.00142122 -0.00590487 0.99998156 -0.17372489] [ 0. 0. 0. 1. ]] SLAMing on 168.97992885099998 meters Centerline goodness [0,1] 0.6761778813825257 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.17 [[ 0.99993256 -0.01151651 -0.00150083 0.64572924] [ 0.01152521 0.99991602 0.00592724 -0.18982625] [ 0.00143244 -0.00594413 0.99998131 -0.173512 ] [ 0. 0. 0. 1. ]] SLAMing on 169.00992885099998 meters Centerline goodness [0,1] 0.6637364608795102 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.17 [[ 0.99993091 -0.01166556 -0.00144436 0.64535571] [ 0.01167371 0.99991519 0.00577465 -0.1896365 ] [ 0.00137687 -0.00579112 0.99998228 -0.17316719] [ 0. 0. 0. 1. ]] SLAMing on 169.03992885099998 meters Centerline goodness [0,1] 0.6673990046182128 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.17 [[ 0.99992933 -0.0118079 -0.00137926 0.64501704] [ 0.01181554 0.99991413 0.0056678 -0.18962642] [ 0.00131221 -0.00568369 0.99998299 -0.17291604] [ 0. 0. 0. 1. ]] SLAMing on 169.069928851 meters Centerline goodness [0,1] 0.664545332317483 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.17 [[ 0.99992657 -0.01205926 -0.00119179 0.64424612] [ 0.01206567 0.99991192 0.00552988 -0.18970933] [ 0.001125 -0.00554386 0.999984 -0.17241231] [ 0. 0. 0. 1. ]] SLAMing on 169.099928851 meters Centerline goodness [0,1] 0.6625545729318258 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.17 [[ 0.99992869 -0.01188279 -0.00118821 0.64447122] [ 0.01188949 0.99991247 0.00580525 -0.19004835] [ 0.00111912 -0.00581897 0.99998244 -0.17271519] [ 0. 0. 0. 1. ]] SLAMing on 169.129928851 meters Centerline goodness [0,1] 0.6672336615935541 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.19, Z:-0.17 [[ 0.99992984 -0.01177704 -0.00126922 0.64475256] [ 0.01178431 0.99991327 0.00588014 -0.18997501] [ 0.00119986 -0.00589469 0.99998191 -0.1728621 ] [ 0. 0. 0. 1. ]] SLAMing on 169.159928851 meters Centerline goodness [0,1] 0.6645911259435124 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.17 [[ 0.99993328 -0.01146872 -0.00137939 0.64510968] [ 0.01147696 0.99991539 0.00612341 -0.19020671] [ 0.00130905 -0.00613883 0.9999803 -0.17293851] [ 0. 0. 0. 1. ]] SLAMing on 169.189928851 meters Centerline goodness [0,1] 0.6628385941347661 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.17 [[ 0.99993477 -0.01134173 -0.00134662 0.64516377] [ 0.01135003 0.99991562 0.00631961 -0.19075749] [ 0.00127483 -0.00633448 0.99997912 -0.17307404] [ 0. 0. 0. 1. ]] SLAMing on 169.21992885099996 meters Centerline goodness [0,1] 0.6651611027882744 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.17 [[ 0.99993644 -0.01119413 -0.00134167 0.64530662] [ 0.0112027 0.99991577 0.00655309 -0.19158924] [ 0.0012682 -0.00656771 0.99997763 -0.17324432] [ 0. 0. 0. 1. ]] SLAMing on 169.24992885099996 meters Centerline goodness [0,1] 0.6797359382666488 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.17 [[ 0.99993916 -0.01094551 -0.00137091 0.64573343] [ 0.01095476 0.99991595 0.00693439 -0.19266975] [ 0.00129489 -0.00694899 0.99997502 -0.1736815 ] [ 0. 0. 0. 1. ]] SLAMing on 169.27992885099997 meters Centerline goodness [0,1] 0.676124089704474 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.19, Z:-0.17 [[ 0.9999431 -0.01057011 -0.00143989 0.64630118] [ 0.01058066 0.99991566 0.00753121 -0.194344 ] [ 0.00136016 -0.00754602 0.9999706 -0.17421366] [ 0. 0. 0. 1. ]] SLAMing on 169.30992885099997 meters Centerline goodness [0,1] 0.6713374090767102 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.17 [[ 0.99994359 -0.01053928 -0.0013206 0.64599913] [ 0.01054911 0.99991489 0.00767615 -0.19508241] [ 0.00123958 -0.00768964 0.99996967 -0.17409798] [ 0. 0. 0. 1. ]] SLAMing on 169.33992885099997 meters Centerline goodness [0,1] 0.6731206274230204 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.17 [[ 0.99994383 -0.01053231 -0.00118522 0.64575589] [ 0.01054127 0.99991385 0.00782198 -0.19592723] [ 0.00110273 -0.00783403 0.99996871 -0.1740881 ] [ 0. 0. 0. 1. ]] SLAMing on 169.36992885099997 meters Centerline goodness [0,1] 0.6661323716022174 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.17 [[ 0.99994654 -0.01026588 -0.00123309 0.64610175] [ 0.01027597 0.99991132 0.00847116 -0.19815964] [ 0.00114601 -0.00848338 0.99996336 -0.17443408] [ 0. 0. 0. 1. ]] SLAMing on 169.39992885099997 meters Centerline goodness [0,1] 0.6743364797334814 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.17 [[ 0.99994771 -0.01015444 -0.00120666 0.64640303] [ 0.01016466 0.99990979 0.00878042 -0.19926982] [ 0.00111739 -0.00879222 0.99996072 -0.17487973] [ 0. 0. 0. 1. ]] SLAMing on 169.42992885099997 meters Centerline goodness [0,1] 0.6705372038705373 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.17 [[ 0.99994741 -0.01018848 -0.00117215 0.64632728] [ 0.01019845 0.99990889 0.00884278 -0.19987066] [ 0.00108195 -0.00885427 0.99996021 -0.17486313] [ 0. 0. 0. 1. ]] SLAMing on 169.45992885099997 meters Centerline goodness [0,1] 0.673060273060273 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.17 [[ 0.999948 -0.01012466 -0.00121758 0.64654594] [ 0.01013508 0.99990922 0.00887897 -0.20038725] [ 0.00112757 -0.00889085 0.99995984 -0.17489108] [ 0. 0. 0. 1. ]] SLAMing on 169.48992885099997 meters Centerline goodness [0,1] 0.672213828652684 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.17 [[ 0.9999483 -0.01009797 -0.00119667 0.64654645] [ 0.01010815 0.99990993 0.00882986 -0.20037445] [ 0.0011074 -0.00884149 0.9999603 -0.1748405 ] [ 0. 0. 0. 1. ]] SLAMing on 169.51992885099997 meters Centerline goodness [0,1] 0.6755147826473267 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.17 [[ 0.99994755 -0.01017108 -0.00120441 0.64642598] [ 0.01018113 0.99991073 0.00865369 -0.20033436] [ 0.00111628 -0.0086655 0.99996183 -0.17456111] [ 0. 0. 0. 1. ]] SLAMing on 169.54992885099998 meters Centerline goodness [0,1] 0.6713835080860139 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.17 [[ 0.99994797 -0.01013531 -0.00115412 0.64626764] [ 0.01014483 0.99991187 0.0085633 -0.20024831] [ 0.00106723 -0.00857456 0.99996267 -0.17440025] [ 0. 0. 0. 1. ]] SLAMing on 169.57992885099998 meters Centerline goodness [0,1] 0.6705084445232501 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.17 [[ 0.99994836 -0.0100899 -0.00121608 0.64641822] [ 0.01009972 0.99991408 0.00835627 -0.19971607] [ 0.00113167 -0.00836812 0.99996435 -0.17430736] [ 0. 0. 0. 1. ]] SLAMing on 169.60992885099998 meters Centerline goodness [0,1] 0.6716742483079996 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.17 [[ 0.9999516 -0.0097448 -0.00135721 0.64688139] [ 0.00975579 0.99991765 0.00833804 -0.19906199] [ 0.00127584 -0.00835088 0.99996432 -0.17432753] [ 0. 0. 0. 1. ]] SLAMing on 169.63992885099998 meters Centerline goodness [0,1] 0.6770211159713124 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.17 [[ 0.99995235 -0.00966442 -0.00137447 0.64697013] [ 0.00967544 0.99991915 0.00825131 -0.19868636] [ 0.00129461 -0.00826421 0.99996501 -0.17433811] [ 0. 0. 0. 1. ]] SLAMing on 169.66992885099998 meters Centerline goodness [0,1] 0.6852176615534886 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.17 [[ 0.99995227 -0.00967503 -0.00136018 0.64703158] [ 0.00968581 0.99991982 0.00815713 -0.19845363] [ 0.00128115 -0.00816991 0.99996581 -0.17438871] [ 0. 0. 0. 1. ]] SLAMing on 169.69992885099998 meters Centerline goodness [0,1] 0.681652517889684 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.17 [[ 0.99995134 -0.00978128 -0.00128444 0.64681759] [ 0.00979167 0.99991721 0.00834799 -0.19967577] [ 0.00120267 -0.00836016 0.99996433 -0.17436626] [ 0. 0. 0. 1. ]] SLAMing on 169.72992885099998 meters Centerline goodness [0,1] 0.6754800754800755 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.17 [[ 9.99948388e-01 -1.01036627e-02 -1.06652198e-03 6.46150374e-01] [ 1.01121556e-02 9.99914563e-01 8.28313140e-03 -2.00406723e-01] [ 9.82740897e-04 -8.29348873e-03 9.99965126e-01 -1.74114099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75992885099998 meters Centerline goodness [0,1] 0.6753382356208206 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.17 [[ 9.99944412e-01 -1.05084833e-02 -8.62628534e-04 6.45438018e-01] [ 1.05151726e-02 9.99911455e-01 8.15562326e-03 -2.01094372e-01] [ 7.76848921e-04 -8.16424060e-03 9.99966370e-01 -1.73768522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.78992885099998 meters Centerline goodness [0,1] 0.6753321651176718 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.17 [[ 9.99941199e-01 -1.08240400e-02 -6.62131779e-04 6.44935727e-01] [ 1.08291017e-02 9.99907825e-01 8.18975911e-03 -2.02033873e-01] [ 5.73424467e-04 -8.19644784e-03 9.99966244e-01 -1.73708605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.819928851 meters Centerline goodness [0,1] 0.6701570680628273 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.20, Z:-0.17 [[ 9.99939630e-01 -1.09765803e-02 -5.00056899e-04 6.44614642e-01] [ 1.09804352e-02 9.99903588e-01 8.49971515e-03 -2.03639256e-01] [ 4.06710882e-04 -8.50469287e-03 9.99963752e-01 -1.73815812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.849928851 meters Centerline goodness [0,1] 0.6723023811631407 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.17 [[ 9.99894669e-01 -1.44970278e-02 -6.98619981e-04 6.45407639e-01] [ 1.45004154e-02 9.99881775e-01 5.11603383e-03 -2.04834006e-01] [ 6.24370102e-04 -5.12562523e-03 9.99986669e-01 -1.74075293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.879928851 meters Centerline goodness [0,1] 0.6679350471218088 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.17 [[ 9.99891001e-01 -1.47571542e-02 -4.61429689e-04 6.44881103e-01] [ 1.47594670e-02 9.99875992e-01 5.49178219e-03 -2.06637860e-01] [ 3.80329392e-04 -5.49799404e-03 9.99984814e-01 -1.74235282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.909928851 meters Centerline goodness [0,1] 0.6687014796629288 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.17 [[ 9.99886906e-01 -1.50373959e-02 -2.26420802e-04 6.44383098e-01] [ 1.50384612e-02 9.99869895e-01 5.83414672e-03 -2.08552173e-01] [ 1.38660970e-04 -5.83689193e-03 9.99982956e-01 -1.74358929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.939928851 meters Centerline goodness [0,1] 0.6647510001989345 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.17 [[ 9.99883686e-01 -1.52517212e-02 -5.31245964e-06 6.44050103e-01] [ 1.52514465e-02 9.99863459e-01 6.36051026e-03 -2.10784288e-01] [-9.16969948e-05 -6.35985146e-03 9.99979772e-01 -1.74749942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.96992885099996 meters Centerline goodness [0,1] 0.6595669621202099 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.21, Z:-0.17 [[ 9.99868607e-01 -1.62095081e-02 1.43497236e-04 6.43485260e-01] [ 1.62082484e-02 9.99847903e-01 6.43924962e-03 -2.14369905e-01] [-2.47852479e-04 -6.43607770e-03 9.99979258e-01 -1.74783631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99992885099996 meters Centerline goodness [0,1] 0.659066854824484 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.22, Z:-0.17 [[ 9.99865640e-01 -1.63883975e-02 3.50717759e-04 6.43078047e-01] [ 1.63856670e-02 9.99843092e-01 6.73067749e-03 -2.15781792e-01] [-4.60967746e-04 -6.72402641e-03 9.99977287e-01 -1.74927188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.02992885099997 meters Centerline goodness [0,1] 0.6514505494505495 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.22, Z:-0.18 [[ 9.99865091e-01 -1.64194606e-02 4.48861561e-04 6.42978556e-01] [ 1.64159143e-02 9.99840696e-01 7.00722778e-03 -2.16926337e-01] [-5.63844956e-04 -6.99891397e-03 9.99975348e-01 -1.75051719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05992885099997 meters Centerline goodness [0,1] 0.6468040194375426 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.22, Z:-0.17 [[ 9.99861908e-01 -1.66061784e-02 6.32732803e-04 6.42476078e-01] [ 1.66012082e-02 9.99836381e-01 7.18405354e-03 -2.18083234e-01] [-7.51928950e-04 -7.17255735e-03 9.99973994e-01 -1.74956931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.08992885099997 meters Centerline goodness [0,1] 0.6576840160147829 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.22, Z:-0.18 [[ 9.99862698e-01 -1.65574909e-02 6.59814905e-04 6.42460178e-01] [ 1.65520155e-02 9.99834248e-01 7.58340990e-03 -2.19812342e-01] [-7.85267780e-04 -7.57144741e-03 9.99971028e-01 -1.75052311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.11992885099997 meters Centerline goodness [0,1] 0.6526040407149296 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.22, Z:-0.18 [[ 9.99867499e-01 -1.62689220e-02 5.53978440e-04 6.42882793e-01] [ 1.62641079e-02 9.99837292e-01 7.80181240e-03 -2.20215118e-01] [-6.80815380e-04 -7.79176869e-03 9.99969412e-01 -1.75238326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.14992885099997 meters Centerline goodness [0,1] 0.6619557333450556 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.22, Z:-0.18 [[ 9.99872311e-01 -1.59760578e-02 3.55841563e-04 6.43310087e-01] [ 1.59727623e-02 9.99841428e-01 7.87334783e-03 -2.20042989e-01] [-4.81570197e-04 -7.86665872e-03 9.99968941e-01 -1.75174564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.17992885099997 meters Centerline goodness [0,1] 0.6568250269307714 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.22, Z:-0.18 [[ 9.99879404e-01 -1.55290320e-02 1.62882483e-04 6.43784443e-01] [ 1.55272278e-02 9.99847313e-01 8.01596843e-03 -2.19861566e-01] [-2.87337843e-04 -8.01247263e-03 9.99967858e-01 -1.75122898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.20992885099997 meters Centerline goodness [0,1] 0.6650891722536261 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.22, Z:-0.18 [[ 9.99901451e-01 -1.40387803e-02 8.96240167e-06 6.44839322e-01] [ 1.40381840e-02 9.99864466e-01 8.60106620e-03 -2.19442888e-01] [-1.29709666e-04 -8.60009276e-03 9.99963010e-01 -1.75478632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.23992885099997 meters Centerline goodness [0,1] 0.6612075986704529 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.18 [[ 9.99910889e-01 -1.33475678e-02 -2.37887828e-04 6.45597019e-01] [ 1.33491300e-02 9.99873221e-01 8.68002798e-03 -2.18514797e-01] [ 1.22000407e-04 -8.68243009e-03 9.99962300e-01 -1.75515376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.26992885099997 meters Centerline goodness [0,1] 0.6756096487366845 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.18 [[ 9.99922119e-01 -1.24712625e-02 -4.72702982e-04 6.46607852e-01] [ 1.24749365e-02 9.99883557e-01 8.78915777e-03 -2.17190683e-01] [ 3.63036045e-04 -8.79437020e-03 9.99961263e-01 -1.75845287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.29992885099998 meters Centerline goodness [0,1] 0.6756096487366845 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.18 [[ 9.99922119e-01 -1.24712625e-02 -4.72702982e-04 6.46607852e-01] [ 1.24749365e-02 9.99883557e-01 8.78915777e-03 -2.17190683e-01] [ 3.63036045e-04 -8.79437020e-03 9.99961263e-01 -1.75845287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.32992885099998 meters Centerline goodness [0,1] 0.6796735807139872 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.18 [[ 9.99968302e-01 -7.94204318e-03 -5.65303414e-04 6.46994750e-01] [ 7.94861160e-03 9.99886976e-01 1.27614749e-02 -2.16914641e-01] [ 4.63887336e-04 -1.27655637e-02 9.99918409e-01 -1.75947032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.35992885099998 meters Centerline goodness [0,1] 0.6947634763476347 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.18 [[ 9.99973506e-01 -7.24016567e-03 -7.52698318e-04 6.47739209e-01] [ 7.24918702e-03 9.99892222e-01 1.27669025e-02 -2.16047090e-01] [ 6.60182704e-04 -1.27720207e-02 9.99918216e-01 -1.76076122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.38992885099998 meters Centerline goodness [0,1] 0.6943086207656051 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.18 [[ 9.99977907e-01 -6.57600213e-03 -9.70892338e-04 6.48447062e-01] [ 6.58790465e-03 9.99896216e-01 1.28123972e-02 -2.15304215e-01] [ 8.86537223e-04 -1.28185103e-02 9.99917447e-01 -1.76138342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.41992885099998 meters Centerline goodness [0,1] 0.6993915075620618 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.18 [[ 9.99985260e-01 -5.33556007e-03 -1.00583410e-03 6.48995698e-01] [ 5.34804977e-03 9.99903096e-01 1.28529256e-02 -2.13321307e-01] [ 9.37159070e-04 -1.28581154e-02 9.99916892e-01 -1.76043470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.44992885099998 meters Centerline goodness [0,1] 0.6903902052320973 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.18 [[ 0.99998594 -0.00515791 -0.0012288 0.64940725] [ 0.00517299 0.99990725 0.0125988 -0.21249755] [ 0.00116371 -0.01260498 0.99991988 -0.17583349] [ 0. 0. 0. 1. ]] SLAMing on 170.47992885099998 meters Centerline goodness [0,1] 0.6986102239940092 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.18 [[ 0.99998566 -0.00520626 -0.00125865 0.64940397] [ 0.00522144 0.99990977 0.01237667 -0.21226006] [ 0.0011941 -0.01238307 0.99992261 -0.1756582 ] [ 0. 0. 0. 1. ]] SLAMing on 170.50992885099998 meters Centerline goodness [0,1] 0.6871670702179177 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.18 [[ 0.99998529 -0.00527695 -0.00125512 0.64938506] [ 0.00529205 0.99990975 0.01234874 -0.21287818] [ 0.00118984 -0.01235521 0.99992296 -0.1756125 ] [ 0. 0. 0. 1. ]] SLAMing on 170.53992885099998 meters Centerline goodness [0,1] 0.6900123141877035 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.18 [[ 0.99997155 -0.00741935 -0.00135877 0.65069642] [ 0.00743196 0.99992704 0.00952285 -0.21197304] [ 0.00128801 -0.00953268 0.99995373 -0.1763718 ] [ 0. 0. 0. 1. ]] SLAMing on 170.569928851 meters Centerline goodness [0,1] 0.6905500208924369 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.18 [[ 0.99996993 -0.00764195 -0.00131835 0.65042422] [ 0.00765414 0.99992553 0.00950535 -0.21259582] [ 0.00124561 -0.00951516 0.99995395 -0.17619939] [ 0. 0. 0. 1. ]] SLAMing on 170.599928851 meters Centerline goodness [0,1] 0.6918024864912358 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.18 [[ 0.99996812 -0.00789348 -0.00120408 0.65022937] [ 0.00790463 0.9999231 0.00955541 -0.21347273] [ 0.00112856 -0.00956462 0.99995362 -0.17630221] [ 0. 0. 0. 1. ]] SLAMing on 170.629928851 meters Centerline goodness [0,1] 0.6830818633704306 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.18 [[ 9.99965112e-01 -8.29535596e-03 -9.81009434e-04 6.49666307e-01] [ 8.30430810e-03 9.99920357e-01 9.50356793e-03 -2.14268765e-01] [ 9.02095825e-04 -9.51138298e-03 9.99954359e-01 -1.76243579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.659928851 meters Centerline goodness [0,1] 0.6866646215872738 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.18 [[ 0.99992776 -0.01195731 -0.00122443 0.6505036 ] [ 0.01196434 0.999911 0.00590352 -0.21452303] [ 0.00115373 -0.00591774 0.99998182 -0.17649699] [ 0. 0. 0. 1. ]] SLAMing on 170.689928851 meters Centerline goodness [0,1] 0.6802894102170577 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.18 [[ 9.99922022e-01 -1.24545067e-02 -9.13777974e-04 6.49714077e-01] [ 1.24598630e-02 9.99903699e-01 6.11101058e-03 -2.16337561e-01] [ 8.37580354e-04 -6.12191960e-03 9.99980910e-01 -1.76500018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.71992885099996 meters Centerline goodness [0,1] 0.680460573750792 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.18 [[ 9.99917691e-01 -1.27991604e-02 -8.90556060e-04 6.49696779e-01] [ 1.28047480e-02 9.99896363e-01 6.58032883e-03 -2.18599888e-01] [ 8.06241082e-04 -6.59119055e-03 9.99977953e-01 -1.76874980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.74992885099996 meters Centerline goodness [0,1] 0.670643504861794 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.18 [[ 9.99859295e-01 -1.67564324e-02 -7.82798485e-04 6.49935778e-01] [ 1.67588041e-02 9.99854667e-01 3.12838689e-03 -2.19903238e-01] [ 7.30264115e-04 -3.14106548e-03 9.99994800e-01 -1.77389757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77992885099997 meters Centerline goodness [0,1] 0.6682579126340571 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.18 [[ 9.99858216e-01 -1.68216213e-02 -7.62717399e-04 6.50301632e-01] [ 1.68242545e-02 9.99852022e-01 3.58857857e-03 -2.21035024e-01] [ 7.02238824e-04 -3.60090191e-03 9.99993270e-01 -1.78152326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.80992885099997 meters Centerline goodness [0,1] 0.6765708293279734 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.18 [[ 9.99855285e-01 -1.70001217e-02 -6.37026941e-04 6.50185770e-01] [ 1.70023755e-02 9.99848538e-01 3.71763482e-03 -2.21790269e-01] [ 5.73730212e-04 -3.72792780e-03 9.99992887e-01 -1.78435985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83992885099997 meters Centerline goodness [0,1] 0.6671554573110678 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.18 [[ 9.99854068e-01 -1.70698091e-02 -6.82136774e-04 6.50691096e-01] [ 1.70723105e-02 9.99846857e-01 3.84691775e-03 -2.21916025e-01] [ 6.16366158e-04 -3.85800201e-03 9.99992368e-01 -1.79139825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.86992885099997 meters Centerline goodness [0,1] 0.6719867071864274 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.18 [[ 9.99858296e-01 -1.68127604e-02 -8.47403187e-04 6.51281503e-01] [ 1.68158931e-02 9.99851244e-01 3.83619916e-03 -2.21141715e-01] [ 7.82780033e-04 -3.84990540e-03 9.99992283e-01 -1.79368463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89992885099997 meters Centerline goodness [0,1] 0.6741939723147012 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.18 [[ 9.99913147e-01 -1.31553334e-02 -7.97204013e-04 6.50941337e-01] [ 1.31606816e-02 9.99888026e-01 7.12260271e-03 -2.19733777e-01] [ 7.03414534e-04 -7.13247583e-03 9.99974316e-01 -1.79172821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.92992885099997 meters Centerline goodness [0,1] 0.6908412036020206 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.18 [[ 9.99921006e-01 -1.25275674e-02 -1.02048351e-03 6.51681787e-01] [ 1.25342818e-02 9.99897892e-01 6.86280605e-03 -2.17805024e-01] [ 9.34405049e-04 -6.87505496e-03 9.99975930e-01 -1.79154004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95992885099997 meters Centerline goodness [0,1] 0.6789432072736856 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.22, Z:-0.18 [[ 0.99993275 -0.01152845 -0.00126457 0.65269197] [ 0.01153676 0.9999105 0.00677389 -0.21564042] [ 0.00118637 -0.00678803 0.99997626 -0.17929193] [ 0. 0. 0. 1. ]] SLAMing on 170.98992885099997 meters Centerline goodness [0,1] 0.6946845242022388 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.18 [[ 0.99996767 -0.00795624 -0.00116649 0.65202107] [ 0.00796751 0.99991826 0.00999984 -0.21435414] [ 0.00108683 -0.01000881 0.99994932 -0.17875821] [ 0. 0. 0. 1. ]] SLAMing on 171.01992885099997 meters Centerline goodness [0,1] 0.6969870369962805 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.18 [[ 0.99997442 -0.00704249 -0.00124863 0.65260407] [ 0.00705384 0.99993158 0.00933211 -0.21095287] [ 0.00118282 -0.00934068 0.99995568 -0.17842515] [ 0. 0. 0. 1. ]] SLAMing on 171.04992885099998 meters Centerline goodness [0,1] 0.6981569363204945 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.21, Z:-0.18 [[ 0.99998425 -0.00549278 -0.00115619 0.65324092] [ 0.00550343 0.99994049 0.00941945 -0.20774796] [ 0.00110438 -0.00942566 0.99995497 -0.17859327] [ 0. 0. 0. 1. ]] SLAMing on 171.07992885099998 meters Centerline goodness [0,1] 0.712364223613477 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.18 [[ 9.99999051e-01 -5.94355969e-04 -1.24278240e-03 6.53876327e-01] [ 6.09519716e-04 9.99924941e-01 1.22368811e-02 -2.02666228e-01] [ 1.23541606e-03 -1.22376270e-02 9.99924354e-01 -1.78213959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.10992885099998 meters Centerline goodness [0,1] 0.7146471933056622 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.20, Z:-0.18 [[ 9.99999071e-01 1.66711437e-04 -1.35265137e-03 6.54652534e-01] [-1.50974707e-04 9.99932407e-01 1.16257616e-02 -1.99609457e-01] [ 1.35449808e-03 -1.16255466e-02 9.99931504e-01 -1.78209560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13992885099998 meters Centerline goodness [0,1] 0.7306307507667689 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.20, Z:-0.18 [[ 9.99998370e-01 8.42971604e-04 -1.59654090e-03 6.55684342e-01] [-8.25353995e-04 9.99939118e-01 1.10035594e-02 -1.96648485e-01] [ 1.60571939e-03 -1.10022237e-02 9.99938184e-01 -1.78301306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.16992885099998 meters Centerline goodness [0,1] 0.7274084306211568 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.18 [[ 0.99999727 0.00139462 -0.00187384 0.65675541] [-0.00137497 0.99994451 0.01044427 -0.19394913] [ 0.0018883 -0.01044166 0.9999437 -0.1785171 ] [ 0. 0. 0. 1. ]] SLAMing on 171.19992885099998 meters Centerline goodness [0,1] 0.7534268017262584 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.18 [[ 0.99998417 0.00526537 -0.00198333 0.65754533] [-0.00523801 0.99989437 0.01355742 -0.1909281 ] [ 0.00205451 -0.01354682 0.99990613 -0.17913221] [ 0. 0. 0. 1. ]] SLAMing on 171.22992885099998 meters Centerline goodness [0,1] 0.7563674648865393 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.18 [[ 0.99998387 0.0052109 -0.00226056 0.65824928] [-0.00518169 0.99990543 0.01273928 -0.18829987] [ 0.00232673 -0.01272736 0.9999163 -0.179063 ] [ 0. 0. 0. 1. ]] SLAMing on 171.25992885099998 meters Centerline goodness [0,1] 0.755547097149766 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.19, Z:-0.18 [[ 0.99998323 0.00522632 -0.00249421 0.65899054] [-0.0051954 0.99991151 0.01224626 -0.18635649] [ 0.00255799 -0.0122331 0.9999219 -0.17925767] [ 0. 0. 0. 1. ]] SLAMing on 171.28992885099998 meters Centerline goodness [0,1] 0.7220824158540422 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.18 [[ 0.99998555 0.00472938 -0.00255636 0.65916801] [-0.00470007 0.99992451 0.01135232 -0.18378835] [ 0.00260986 -0.01134014 0.99993229 -0.17926296] [ 0. 0. 0. 1. ]] SLAMing on 171.319928851 meters Centerline goodness [0,1] 0.7513039568345323 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.18 [[ 0.9999953 0.00111818 -0.00285589 0.66009543] [-0.00109887 0.99997658 0.00675574 -0.18084726] [ 0.00286338 -0.00675257 0.9999731 -0.17914615] [ 0. 0. 0. 1. ]] SLAMing on 171.349928851 meters Centerline goodness [0,1] 0.7378601379683485 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.18 [[ 9.99996305e-01 4.50326864e-04 -2.68082236e-03 6.59446231e-01] [-4.33454556e-04 9.99980118e-01 6.29096390e-03 -1.80467067e-01] [ 2.68360205e-03 -6.28977864e-03 9.99976618e-01 -1.78929150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.379928851 meters Centerline goodness [0,1] 0.7398337351026201 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.18 [[ 9.99996595e-01 -2.20193653e-04 -2.60014990e-03 6.59017627e-01] [ 2.35510712e-04 9.99982614e-01 5.89200050e-03 -1.80287484e-01] [ 2.59880731e-03 -5.89259280e-03 9.99979262e-01 -1.78806960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.409928851 meters Centerline goodness [0,1] 0.730400451212634 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.18 [[ 0.99999653 -0.00114482 -0.00237068 0.65815566] [ 0.00115732 0.99998542 0.00527485 -0.17998343] [ 0.00236461 -0.00527758 0.99998328 -0.17853651] [ 0. 0. 0. 1. ]] SLAMing on 171.439928851 meters Centerline goodness [0,1] 0.713908331451795 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.18 [[ 0.99999567 -0.00186085 -0.00227954 0.65781366] [ 0.00187198 0.99998629 0.0048903 -0.17989425] [ 0.00227041 -0.00489455 0.99998544 -0.17858956] [ 0. 0. 0. 1. ]] SLAMing on 171.46992885099996 meters Centerline goodness [0,1] 0.7241714518243885 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.18 [[ 0.99999226 -0.00339845 -0.00198225 0.65659201] [ 0.00340643 0.99998604 0.00403814 -0.17920096] [ 0.0019685 -0.00404486 0.99998988 -0.17833028] [ 0. 0. 0. 1. ]] SLAMing on 171.49992885099996 meters Centerline goodness [0,1] 0.7034984961215767 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.18 [[ 0.99999072 -0.00389475 -0.00184045 0.65625188] [ 0.00390158 0.99998546 0.003723 -0.17888519] [ 0.00182592 -0.00373015 0.99999138 -0.17836257] [ 0. 0. 0. 1. ]] SLAMing on 171.52992885099997 meters Centerline goodness [0,1] 0.7059862743765712 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.18 [[ 0.99998901 -0.00428225 -0.00190678 0.65631673] [ 0.00428886 0.99998476 0.00347761 -0.17844667] [ 0.00189186 -0.00348575 0.99999214 -0.17840541] [ 0. 0. 0. 1. ]] SLAMing on 171.55992885099997 meters Centerline goodness [0,1] 0.7042151327574088 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.18 [[ 0.99998639 -0.00489215 -0.00181529 0.65631239] [ 0.00489802 0.99998275 0.00324302 -0.1780715 ] [ 0.0017994 -0.00325187 0.99999309 -0.1789491 ] [ 0. 0. 0. 1. ]] SLAMing on 171.58992885099997 meters Centerline goodness [0,1] 0.6987442948295829 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.18 [[ 0.99998543 -0.00506443 -0.00186754 0.65664113] [ 0.00507034 0.9999821 0.00317573 -0.17784037] [ 0.00185142 -0.00318515 0.99999321 -0.17932163] [ 0. 0. 0. 1. ]] SLAMing on 171.61992885099997 meters Centerline goodness [0,1] 0.7057045454545454 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.18 [[ 0.99998477 -0.00517935 -0.00190561 0.65677826] [ 0.00518515 0.99998191 0.00304724 -0.17741686] [ 0.00188979 -0.00305707 0.99999354 -0.17938151] [ 0. 0. 0. 1. ]] SLAMing on 171.64992885099997 meters Centerline goodness [0,1] 0.7023993808049536 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.18 [[ 0.99998393 -0.00530904 -0.00199085 0.6570645 ] [ 0.00531494 0.99998145 0.00297384 -0.17684939] [ 0.00197503 -0.00298437 0.9999936 -0.17961115] [ 0. 0. 0. 1. ]] SLAMing on 171.67992885099997 meters Centerline goodness [0,1] 0.6979696009844358 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.18 [[ 0.99998168 -0.0057187 -0.00198294 0.65697948] [ 0.00572395 0.99998009 0.00265643 -0.17611245] [ 0.00196771 -0.00266774 0.99999451 -0.17964133] [ 0. 0. 0. 1. ]] SLAMing on 171.70992885099997 meters Centerline goodness [0,1] 0.6955153063552169 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.18, Z:-0.18 [[ 0.99998185 -0.00561688 -0.00218105 0.6575263 ] [ 0.00562263 0.99998072 0.0026368 -0.1755256 ] [ 0.00216619 -0.00264901 0.99999415 -0.17979657] [ 0. 0. 0. 1. ]] SLAMing on 171.73992885099997 meters Centerline goodness [0,1] 0.6977253042804394 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.18 [[ 0.99998232 -0.00541389 -0.00246092 0.65829177] [ 0.0054202 0.99998203 0.00256231 -0.17467686] [ 0.002447 -0.0025756 0.99999369 -0.17993061] [ 0. 0. 0. 1. ]] SLAMing on 171.76992885099997 meters Centerline goodness [0,1] 0.7019182461749258 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.18 [[ 0.99998356 -0.00502284 -0.00276478 0.65934463] [ 0.00502988 0.9999841 0.0025477 -0.17342122] [ 0.00275194 -0.00256156 0.99999293 -0.18029659] [ 0. 0. 0. 1. ]] SLAMing on 171.79992885099998 meters Centerline goodness [0,1] 0.7014160268493402 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.18 [[ 0.99999145 -0.00313765 -0.00269295 0.66033772] [ 0.00314669 0.9999894 0.00336187 -0.17054949] [ 0.00268237 -0.00337031 0.99999072 -0.18094275] [ 0. 0. 0. 1. ]] SLAMing on 171.82992885099998 meters Centerline goodness [0,1] 0.7152363627990513 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.18 [[ 0.99999224 -0.00250077 -0.00304521 0.66145384] [ 0.00251004 0.99999222 0.00304412 -0.16832547] [ 0.00303757 -0.00305174 0.99999073 -0.18093551] [ 0. 0. 0. 1. ]] SLAMing on 171.85992885099998 meters Centerline goodness [0,1] 0.7146908939977402 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.17, Z:-0.18 [[ 0.99999246 -0.0016486 -0.00351735 0.66311759] [ 0.00165844 0.99999472 0.00279534 -0.16597513] [ 0.00351272 -0.00280115 0.99998991 -0.18121796] [ 0. 0. 0. 1. ]] SLAMing on 171.88992885099998 meters Centerline goodness [0,1] 0.7171425268755057 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.16, Z:-0.18 [[ 9.99992216e-01 -6.07174499e-04 -3.89854104e-03 6.64783923e-01] [ 6.17693370e-04 9.99996171e-01 2.69751897e-03 -1.63432747e-01] [ 3.89688825e-03 -2.69990607e-03 9.99988762e-01 -1.81695309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91992885099998 meters Centerline goodness [0,1] 0.7339038779936105 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.18 [[ 0.99998504 0.00375735 -0.00397425 0.66510135] [-0.00373527 0.99997763 0.00554864 -0.15923398] [ 0.00399501 -0.00553371 0.99997671 -0.18117647] [ 0. 0. 0. 1. ]] SLAMing on 171.94992885099998 meters Centerline goodness [0,1] 0.7362655445591104 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.18 [[ 0.99998217 0.00428014 -0.00416312 0.66577863] [-0.0042604 0.9999797 0.00473902 -0.15596247] [ 0.00418332 -0.0047212 0.9999801 -0.18079962] [ 0. 0. 0. 1. ]] SLAMing on 171.97992885099998 meters Centerline goodness [0,1] 0.744306053995731 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.18 [[ 0.9999769 0.00507692 -0.0045187 0.66713968] [-0.00505732 0.99997781 0.00433729 -0.15312958] [ 0.00454062 -0.00431434 0.99998038 -0.18097255] [ 0. 0. 0. 1. ]] SLAMing on 172.00992885099998 meters Centerline goodness [0,1] 0.7548043966434228 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.18 [[ 0.99994632 0.00929098 -0.00458685 0.66756436] [-0.0092567 0.99992949 0.00743838 -0.14990363] [ 0.00465564 -0.00739552 0.99996181 -0.18079926] [ 0. 0. 0. 1. ]] SLAMing on 172.03992885099998 meters Centerline goodness [0,1] 0.7687985966243125 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.18 [[ 0.99994099 0.0096897 -0.00491262 0.6685101 ] [-0.00965617 0.99993024 0.00680197 -0.14744552] [ 0.00497819 -0.00675413 0.9999648 -0.18057762] [ 0. 0. 0. 1. ]] SLAMing on 172.069928851 meters Centerline goodness [0,1] 0.772752134313096 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.18 [[ 0.99993523 0.0101094 -0.00522827 0.66949056] [-0.01007639 0.99992937 0.00630218 -0.14528015] [ 0.00529161 -0.00624909 0.99996647 -0.18051667] [ 0. 0. 0. 1. ]] SLAMing on 172.099928851 meters Centerline goodness [0,1] 0.7759224411043091 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.18 [[ 0.99992878 0.01054967 -0.00558006 0.67078345] [-0.01051627 0.99992681 0.00598148 -0.14353306] [ 0.00564275 -0.00592238 0.99996654 -0.18087697] [ 0. 0. 0. 1. ]] SLAMing on 172.129928851 meters Centerline goodness [0,1] 0.7819410612790754 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.18 [[ 0.99991521 0.01162223 -0.00587386 0.67255764] [-0.01158876 0.99991659 0.00570183 -0.14034071] [ 0.00593964 -0.00563328 0.99996649 -0.1815335 ] [ 0. 0. 0. 1. ]] SLAMing on 172.159928851 meters Centerline goodness [0,1] 0.7860953611330415 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.18 [[ 0.999914 0.01164074 -0.00604044 0.67295157] [-0.01160959 0.99991926 0.00516667 -0.13850474] [ 0.0061001 -0.00509609 0.99996841 -0.18132158] [ 0. 0. 0. 1. ]] SLAMing on 172.189928851 meters Centerline goodness [0,1] 0.7860953611330415 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.18 [[ 0.999914 0.01164074 -0.00604044 0.67295157] [-0.01160959 0.99991926 0.00516667 -0.13850474] [ 0.0061001 -0.00509609 0.99996841 -0.18132158] [ 0. 0. 0. 1. ]] SLAMing on 172.21992885099996 meters Centerline goodness [0,1] 0.7889257549528755 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.18 [[ 0.99991165 0.01177838 -0.00616175 0.67327426] [-0.01175057 0.9999207 0.0045299 -0.13635807] [ 0.00621462 -0.00445709 0.99997076 -0.18097125] [ 0. 0. 0. 1. ]] SLAMing on 172.24992885099996 meters Centerline goodness [0,1] 0.7888369402805224 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.18 [[ 9.99938137e-01 9.15722864e-03 -6.31408625e-03 6.74407082e-01] [-9.15398550e-03 9.99957954e-01 5.42345147e-04 -1.33691485e-01] [ 6.31878715e-03 -4.84512542e-04 9.99979919e-01 -1.80953437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27992885099997 meters Centerline goodness [0,1] 0.7833594597853611 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.18 [[ 9.99941407e-01 8.84720100e-03 -6.23781096e-03 6.73954181e-01] [-8.84759376e-03 9.99960859e-01 -3.53709228e-05 -1.32685301e-01] [ 6.23725387e-03 9.05584675e-05 9.99980544e-01 -1.80449195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.30992885099997 meters Centerline goodness [0,1] 0.7874804004342058 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.18 [[ 9.99942611e-01 8.67260487e-03 -6.28974852e-03 6.73818150e-01] [-8.67543316e-03 9.99962278e-01 -4.22521426e-04 -1.32024627e-01] [ 6.28584690e-03 4.77063471e-04 9.99980130e-01 -1.80047698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33992885099997 meters Centerline goodness [0,1] 0.7892755441864955 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.18 [[ 0.99994492 0.00840431 -0.00628611 0.67357593] [-0.00841102 0.99996408 -0.00104164 -0.13032159] [ 0.00627713 0.00109445 0.9999797 -0.17957691] [ 0. 0. 0. 1. ]] SLAMing on 172.36992885099997 meters Centerline goodness [0,1] 0.7848352232887642 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.18 [[ 0.99994741 0.00809339 -0.00629877 0.67316673] [-0.00810354 0.99996591 -0.00158634 -0.12930726] [ 0.00628571 0.0016373 0.9999789 -0.17894019] [ 0. 0. 0. 1. ]] SLAMing on 172.39992885099997 meters Centerline goodness [0,1] 0.7848702053467649 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.18 [[ 0.99994937 0.0078636 -0.00627792 0.67282344] [-0.0078762 0.99996701 -0.00198553 -0.12874485] [ 0.0062621 0.00203488 0.99997832 -0.17847874] [ 0. 0. 0. 1. ]] SLAMing on 172.42992885099997 meters Centerline goodness [0,1] 0.7752868832615116 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.18 [[ 0.99995225 0.0076165 -0.00612307 0.67223023] [-0.00763016 0.99996845 -0.00221021 -0.12858629] [ 0.00610604 0.00225682 0.99997881 -0.17815402] [ 0. 0. 0. 1. ]] SLAMing on 172.45992885099997 meters Centerline goodness [0,1] 0.7816211258086319 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.18 [[ 0.99995681 0.00712404 -0.00596861 0.6714743 ] [-0.00713893 0.99997145 -0.00247867 -0.12894371] [ 0.00595078 0.00252117 0.99997912 -0.17771857] [ 0. 0. 0. 1. ]] SLAMing on 172.48992885099997 meters Centerline goodness [0,1] 0.778512157468159 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.18 [[ 0.99996019 0.00675184 -0.0058328 0.67091995] [-0.00676655 0.99997397 -0.00250606 -0.12963016] [ 0.00581573 0.00254543 0.99997985 -0.17756572] [ 0. 0. 0. 1. ]] SLAMing on 172.51992885099997 meters Centerline goodness [0,1] 0.772089321886756 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.18 [[ 0.99996485 0.00627665 -0.00555924 0.67017655] [-0.0062903 0.99997723 -0.00244186 -0.13060591] [ 0.00554379 0.00247674 0.99998157 -0.17761478] [ 0. 0. 0. 1. ]] SLAMing on 172.54992885099998 meters Centerline goodness [0,1] 0.7577605454589105 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.18 [[ 0.99998008 0.00245623 -0.00581442 0.67085147] [-0.00249186 0.99997811 -0.00612868 -0.13101993] [ 0.00579924 0.00614304 0.99996432 -0.17779002] [ 0. 0. 0. 1. ]] SLAMing on 172.57992885099998 meters Centerline goodness [0,1] 0.7579680557223489 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.18 [[ 0.99998224 0.00211374 -0.00557207 0.67029118] [-0.00214622 0.99998071 -0.00582893 -0.13241416] [ 0.00555964 0.00584078 0.99996749 -0.17803542] [ 0. 0. 0. 1. ]] SLAMing on 172.60992885099998 meters Centerline goodness [0,1] 0.7671383760745157 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.18 [[ 0.9999829 0.00204599 -0.00547891 0.67034834] [-0.00207457 0.99998424 -0.00521644 -0.13417303] [ 0.00546815 0.00522772 0.99997138 -0.17872554] [ 0. 0. 0. 1. ]] SLAMing on 172.63992885099998 meters Centerline goodness [0,1] 0.759640933572711 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.18 [[ 0.99998409 0.00188606 -0.00531575 0.67019789] [-0.00191134 0.99998687 -0.0047541 -0.13569216] [ 0.00530671 0.00476418 0.99997457 -0.17933474] [ 0. 0. 0. 1. ]] SLAMing on 172.66992885099998 meters Centerline goodness [0,1] 0.7586652314316469 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.18 [[ 0.99998533 0.00169233 -0.0051451 0.66999489] [-0.00171528 0.99998859 -0.00445898 -0.13685723] [ 0.00513749 0.00446774 0.99997682 -0.17980248] [ 0. 0. 0. 1. ]] SLAMing on 172.69992885099998 meters Centerline goodness [0,1] 0.7358035884710823 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.18 [[ 0.9999868 0.00142199 -0.00493819 0.66989842] [-0.00144079 0.99999172 -0.00380476 -0.13894565] [ 0.00493274 0.00381183 0.99998057 -0.18077476] [ 0. 0. 0. 1. ]] SLAMing on 172.72992885099998 meters Centerline goodness [0,1] 0.7522852574047113 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.18 [[ 0.9999876 0.00132999 -0.00479853 0.66968889] [-0.00134692 0.99999287 -0.00352662 -0.13959903] [ 0.00479381 0.00353304 0.99998227 -0.18107959] [ 0. 0. 0. 1. ]] SLAMing on 172.75992885099998 meters Centerline goodness [0,1] 0.745682251908397 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.18 [[ 0.99998816 0.0012217 -0.00471014 0.66952609] [-0.00123731 0.99999375 -0.00331201 -0.14003972] [ 0.00470607 0.0033178 0.99998342 -0.1813085 ] [ 0. 0. 0. 1. ]] SLAMing on 172.78992885099998 meters Centerline goodness [0,1] 0.7453205846586709 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.18 [[ 0.99998888 0.00107503 -0.00459252 0.66926335] [-0.00108948 0.99999446 -0.00314521 -0.1405216 ] [ 0.00458911 0.00315018 0.99998451 -0.18140622] [ 0. 0. 0. 1. ]] SLAMing on 172.819928851 meters Centerline goodness [0,1] 0.7415149203927924 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.18 [[ 9.99989717e-01 9.12380845e-04 -4.44221007e-03 6.68924155e-01] [-9.25566464e-04 9.99995170e-01 -2.96710624e-03 -1.41274122e-01] [ 4.43948149e-03 2.97118729e-03 9.99985731e-01 -1.81568260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.849928851 meters Centerline goodness [0,1] 0.7399234299574347 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.18 [[ 9.99991496e-01 4.51478357e-04 -4.09933435e-03 6.68041909e-01] [-4.62386913e-04 9.99996354e-01 -2.66049794e-03 -1.42894112e-01] [ 4.09811825e-03 2.66237079e-03 9.99988059e-01 -1.81728964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.879928851 meters Centerline goodness [0,1] 0.7347602983798166 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.18 [[ 9.99992083e-01 2.99834051e-04 -3.96790577e-03 6.67777571e-01] [-3.09529915e-04 9.99996968e-01 -2.44318363e-03 -1.43689188e-01] [ 3.96716119e-03 2.44439247e-03 9.99989143e-01 -1.81930042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.909928851 meters Centerline goodness [0,1] 0.7337765641695357 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.18 [[ 9.99992795e-01 1.23908532e-04 -3.79401527e-03 6.67435535e-01] [-1.32392497e-04 9.99997491e-01 -2.23597466e-03 -1.44528983e-01] [ 3.79372869e-03 2.23646085e-03 9.99990303e-01 -1.82100265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.939928851 meters Centerline goodness [0,1] 0.7325526265882799 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.18 [[ 9.99993226e-01 -4.07886011e-05 -3.68049895e-03 6.67135487e-01] [ 3.32514980e-05 9.99997903e-01 -2.04788613e-03 -1.45166338e-01] [ 3.68057476e-03 2.04774988e-03 9.99991130e-01 -1.82197140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.96992885099996 meters Centerline goodness [0,1] 0.7255547398583844 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.18 [[ 9.99993658e-01 -3.94138878e-04 -3.53956041e-03 6.66588944e-01] [ 3.87461004e-04 9.99998144e-01 -1.88712714e-03 -1.46049119e-01] [ 3.54029764e-03 1.88574373e-03 9.99991955e-01 -1.82150377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99992885099996 meters Centerline goodness [0,1] 0.7269666650860638 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.18 [[ 9.99994130e-01 -6.09719341e-04 -3.37170523e-03 6.66161693e-01] [ 6.03513989e-04 9.99998123e-01 -1.84113092e-03 -1.46543505e-01] [ 3.37282147e-03 1.83908524e-03 9.99992621e-01 -1.82189492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.02992885099997 meters Centerline goodness [0,1] 0.721969589313628 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.18 [[ 9.99994148e-01 -6.93844657e-04 -3.35002818e-03 6.66260296e-01] [ 6.88507069e-04 9.99998492e-01 -1.59418669e-03 -1.47282385e-01] [ 3.35112925e-03 1.59187085e-03 9.99993118e-01 -1.82561488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05992885099997 meters Centerline goodness [0,1] 0.7123284424111693 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.18 [[ 0.99999444 -0.0012427 -0.00309442 0.66576314] [ 0.00123843 0.99999828 -0.00138049 -0.14834675] [ 0.00309613 0.00137665 0.99999426 -0.18309825] [ 0. 0. 0. 1. ]] SLAMing on 173.08992885099997 meters Centerline goodness [0,1] 0.716834498282194 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.18 [[ 0.9999945 -0.00136213 -0.00302555 0.6658827 ] [ 0.00135888 0.9999985 -0.00107686 -0.14897814] [ 0.00302701 0.00107274 0.99999484 -0.18369609] [ 0. 0. 0. 1. ]] SLAMing on 173.11992885099997 meters Centerline goodness [0,1] 0.6998343979181453 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.18 [[ 9.99994577e-01 -1.53527889e-03 -2.91349851e-03 6.65784524e-01] [ 1.53251607e-03 9.99998374e-01 -9.50278723e-04 -1.49299143e-01] [ 2.91495272e-03 9.45808586e-04 9.99995304e-01 -1.84013341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.14992885099997 meters Centerline goodness [0,1] 0.7130173311866654 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.18 [[ 9.99994407e-01 -1.78849240e-03 -2.82627671e-03 6.65656325e-01] [ 1.78582452e-03 9.99997958e-01 -9.46197725e-04 -1.49304988e-01] [ 2.82796321e-03 9.41145198e-04 9.99995558e-01 -1.84235599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17992885099997 meters Centerline goodness [0,1] 0.6974917538738995 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.15, Z:-0.18 [[ 0.99999347 -0.00249988 -0.00260797 0.6649893 ] [ 0.00249691 0.99999623 -0.00114115 -0.14916112] [ 0.00261081 0.00113463 0.99999595 -0.18433071] [ 0. 0. 0. 1. ]] SLAMing on 173.20992885099997 meters Centerline goodness [0,1] 0.7040845404891949 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.18 [[ 9.99993492e-01 -2.59650460e-03 -2.50498421e-03 6.65005910e-01] [ 2.59415552e-03 9.99996193e-01 -9.40555713e-04 -1.49505842e-01] [ 2.50741683e-03 9.34051273e-04 9.99996420e-01 -1.84803860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23992885099997 meters Centerline goodness [0,1] 0.7034803665542947 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.19 [[ 9.99993388e-01 -2.56595615e-03 -2.57668937e-03 6.65347708e-01] [ 2.56406843e-03 9.99996442e-01 -7.35651062e-04 -1.49780640e-01] [ 2.57856785e-03 7.29039390e-04 9.99996410e-01 -1.85137329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.26992885099997 meters Centerline goodness [0,1] 0.6980497806599275 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.18 [[ 0.99999283 -0.00280848 -0.00254028 0.66513585] [ 0.00280562 0.99999543 -0.00113033 -0.14840547] [ 0.00254344 0.0011232 0.99999613 -0.18490787] [ 0. 0. 0. 1. ]] SLAMing on 173.29992885099998 meters Centerline goodness [0,1] 0.6943284579227411 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.18 [[ 0.99999283 -0.0026908 -0.00266465 0.66552231] [ 0.0026875 0.99999562 -0.00124257 -0.14743168] [ 0.00266798 0.0012354 0.99999568 -0.18498126] [ 0. 0. 0. 1. ]] SLAMing on 173.32992885099998 meters Centerline goodness [0,1] 0.6987825005381874 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.19 [[ 0.99999282 -0.00246197 -0.00288106 0.66609744] [ 0.00245838 0.9999962 -0.00124783 -0.14662845] [ 0.00288412 0.00124074 0.99999507 -0.18503689] [ 0. 0. 0. 1. ]] SLAMing on 173.35992885099998 meters Centerline goodness [0,1] 0.6963888822503166 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.19 [[ 0.99999275 -0.0023736 -0.00297918 0.66646983] [ 0.00236941 0.9999962 -0.00140882 -0.14550893] [ 0.00298252 0.00140175 0.99999457 -0.18516594] [ 0. 0. 0. 1. ]] SLAMing on 173.38992885099998 meters Centerline goodness [0,1] 0.6973115698511763 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.19 [[ 0.99999288 -0.00203435 -0.00317671 0.66749246] [ 0.00202952 0.99999678 -0.00152312 -0.14363758] [ 0.00317979 0.00151666 0.99999379 -0.18579741] [ 0. 0. 0. 1. ]] SLAMing on 173.41992885099998 meters Centerline goodness [0,1] 0.6983825614650676 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.19 [[ 0.99999288 -0.00188557 -0.00326825 0.66814882] [ 0.00188081 0.99999717 -0.00145747 -0.14311122] [ 0.00327099 0.00145131 0.9999936 -0.18641678] [ 0. 0. 0. 1. ]] SLAMing on 173.44992885099998 meters Centerline goodness [0,1] 0.6999711233034941 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.19 [[ 0.99999283 -0.00185893 -0.00329945 0.66845751] [ 0.00185385 0.99999709 -0.00154309 -0.14243543] [ 0.00330231 0.00153696 0.99999337 -0.18671457] [ 0. 0. 0. 1. ]] SLAMing on 173.47992885099998 meters Centerline goodness [0,1] 0.6967483790102924 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.19 [[ 0.99999266 -0.00183445 -0.00336428 0.66909609] [ 0.00182863 0.99999683 -0.00173295 -0.14103533] [ 0.00336745 0.00172679 0.99999284 -0.18730082] [ 0. 0. 0. 1. ]] SLAMing on 173.50992885099998 meters Centerline goodness [0,1] 0.6962266885689439 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.19 [[ 0.99999273 -0.00184938 -0.00333432 0.66930086] [ 0.0018434 0.99999669 -0.00179571 -0.14035556] [ 0.00333763 0.00178955 0.99999283 -0.18762478] [ 0. 0. 0. 1. ]] SLAMing on 173.53992885099998 meters Centerline goodness [0,1] 0.6941506061923393 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.19 [[ 0.99999277 -0.00183302 -0.00333111 0.66960998] [ 0.00182703 0.99999671 -0.00180062 -0.13983947] [ 0.0033344 0.00179452 0.99999283 -0.18806156] [ 0. 0. 0. 1. ]] SLAMing on 173.569928851 meters Centerline goodness [0,1] 0.6827990730906633 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.19 [[ 0.99999276 -0.00172804 -0.00338912 0.67013695] [ 0.0017225 0.99999717 -0.0016387 -0.13952888] [ 0.00339194 0.00163285 0.99999291 -0.18862267] [ 0. 0. 0. 1. ]] SLAMing on 173.599928851 meters Centerline goodness [0,1] 0.6936500242365486 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.19 [[ 0.99999213 -0.00219005 -0.00330852 0.66984468] [ 0.00218267 0.99999513 -0.00223121 -0.13743076] [ 0.00331339 0.00222397 0.99999204 -0.18848838] [ 0. 0. 0. 1. ]] SLAMing on 173.629928851 meters Centerline goodness [0,1] 0.6802544368642114 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.19 [[ 0.99999184 -0.00228937 -0.00332749 0.67008318] [ 0.00228175 0.99999477 -0.00229176 -0.13672817] [ 0.00333272 0.00228415 0.99999184 -0.18881715] [ 0. 0. 0. 1. ]] SLAMing on 173.659928851 meters Centerline goodness [0,1] 0.6957821079741484 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.19 [[ 0.99999193 -0.00230987 -0.00328624 0.67029202] [ 0.00230278 0.99999501 -0.00216206 -0.13658676] [ 0.00329121 0.00215447 0.99999226 -0.18930274] [ 0. 0. 0. 1. ]] SLAMing on 173.689928851 meters Centerline goodness [0,1] 0.6848145182812917 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.19 [[ 0.9999918 -0.0025314 -0.0031614 0.67010778] [ 0.00252461 0.9999945 -0.00214947 -0.13663705] [ 0.00316682 0.00214147 0.99999269 -0.18957284] [ 0. 0. 0. 1. ]] SLAMing on 173.71992885099996 meters Centerline goodness [0,1] 0.6801972501578972 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.19 [[ 0.99998943 -0.00371858 -0.00270272 0.66867368] [ 0.00371171 0.99998988 -0.00254039 -0.13657582] [ 0.00271213 0.00253033 0.99999312 -0.18959445] [ 0. 0. 0. 1. ]] SLAMing on 173.74992885099996 meters Centerline goodness [0,1] 0.6773346303501946 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.19 [[ 0.99998867 -0.00400283 -0.00257466 0.66854848] [ 0.00399647 0.99998897 -0.00246825 -0.13670161] [ 0.00258451 0.00245794 0.99999364 -0.18999571] [ 0. 0. 0. 1. ]] SLAMing on 173.77992885099997 meters Centerline goodness [0,1] 0.6707044172017902 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.19 [[ 0.99998748 -0.00435814 -0.00245785 0.66839805] [ 0.00435193 0.99998733 -0.00252905 -0.13651585] [ 0.00246885 0.00251832 0.99999378 -0.1903606 ] [ 0. 0. 0. 1. ]] SLAMing on 173.80992885099997 meters Centerline goodness [0,1] 0.6717807819490371 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.19 [[ 0.99998365 -0.00530072 -0.00214309 0.66745961] [ 0.00529438 0.99998163 -0.0029515 -0.13587974] [ 0.0021587 0.00294011 0.99999335 -0.19043027] [ 0. 0. 0. 1. ]] SLAMing on 173.83992885099997 meters Centerline goodness [0,1] 0.6677526805903378 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.19 [[ 0.99998346 -0.00536592 -0.00207004 0.66758707] [ 0.00536023 0.99998187 -0.00274456 -0.13608576] [ 0.00208473 0.00273342 0.99999409 -0.19097495] [ 0. 0. 0. 1. ]] SLAMing on 173.86992885099997 meters Centerline goodness [0,1] 0.6697417423265097 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.19 [[ 0.99998327 -0.00543947 -0.00196796 0.66757978] [ 0.0054343 0.99998179 -0.00262279 -0.13601133] [ 0.00198219 0.00261205 0.99999462 -0.19136649] [ 0. 0. 0. 1. ]] SLAMing on 173.89992885099997 meters Centerline goodness [0,1] 0.6723298607730503 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.19 [[ 0.99998274 -0.00554524 -0.00194039 0.66773161] [ 0.00554011 0.99998117 -0.00263932 -0.13559468] [ 0.00195498 0.00262852 0.99999463 -0.19173019] [ 0. 0. 0. 1. ]] SLAMing on 173.92992885099997 meters Centerline goodness [0,1] 0.6675451439726696 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.19 [[ 0.99998174 -0.00571038 -0.00197774 0.66783369] [ 0.00570416 0.99997882 -0.00313499 -0.13364014] [ 0.0019956 0.00312365 0.99999313 -0.19161992] [ 0. 0. 0. 1. ]] SLAMing on 173.95992885099997 meters Centerline goodness [0,1] 0.6660634811952854 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.19 [[ 0.99998229 -0.00551545 -0.00223751 0.66852966] [ 0.00550812 0.99997949 -0.00326871 -0.1325137 ] [ 0.00225549 0.00325633 0.99999215 -0.19167633] [ 0. 0. 0. 1. ]] SLAMing on 173.98992885099997 meters Centerline goodness [0,1] 0.6658911121451838 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.19 [[ 9.99995573e-01 -2.36479080e-03 -1.80618331e-03 6.67122207e-01] [ 2.36588612e-03 9.99997019e-01 6.04533143e-04 -1.32992369e-01] [ 1.80474833e-03 -6.08803691e-04 9.99998186e-01 -1.91702899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.01992885099997 meters Centerline goodness [0,1] 0.6700732078809021 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.19 [[ 9.99995795e-01 -2.02437765e-03 -2.07670173e-03 6.67998391e-01] [ 2.02518432e-03 9.99997875e-01 3.86408616e-04 -1.31510253e-01] [ 2.07591508e-03 -3.90612694e-04 9.99997769e-01 -1.91795189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.04992885099998 meters Centerline goodness [0,1] 0.6713011864698224 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.19 [[ 9.99995745e-01 -1.63545825e-03 -2.41544803e-03 6.69027225e-01] [ 1.63582084e-03 9.99998651e-01 1.48146296e-04 -1.29864853e-01] [ 2.41520248e-03 -1.52096906e-04 9.99997072e-01 -1.91851318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.07992885099998 meters Centerline goodness [0,1] 0.6694284164324111 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.19 [[ 9.99996477e-01 -2.53990823e-04 -2.64215332e-03 6.70932475e-01] [ 2.54977155e-04 9.99999898e-01 3.72975819e-04 -1.26454892e-01] [ 2.64205832e-03 -3.73648193e-04 9.99996440e-01 -1.92862835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.10992885099998 meters Centerline goodness [0,1] 0.6694284164324111 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.19 [[ 9.99996477e-01 -2.53990823e-04 -2.64215332e-03 6.70932475e-01] [ 2.54977155e-04 9.99999898e-01 3.72975819e-04 -1.26454892e-01] [ 2.64205832e-03 -3.73648193e-04 9.99996440e-01 -1.92862835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13992885099998 meters Centerline goodness [0,1] 0.672305748891586 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.19 [[ 9.99995660e-01 5.32397867e-05 -2.94569092e-03 6.71842183e-01] [-5.30369444e-05 9.99999996e-01 6.89387313e-05 -1.24665690e-01] [ 2.94569458e-03 -6.87822016e-05 9.99995659e-01 -1.92918525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.16992885099998 meters Centerline goodness [0,1] 0.6725847530971044 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.19 [[ 9.99994722e-01 4.02798735e-04 -3.22381360e-03 6.72910250e-01] [-4.02940661e-04 9.99999918e-01 -4.33747712e-05 -1.23395885e-01] [ 3.22379586e-03 4.46735479e-05 9.99994803e-01 -1.93278535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19992885099998 meters Centerline goodness [0,1] 0.679557052965367 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.19 [[ 9.99993963e-01 5.89012032e-04 -3.42442648e-03 6.73581353e-01] [-5.90100556e-04 9.99999776e-01 -3.16868596e-04 -1.22014210e-01] [ 3.42423907e-03 3.18887439e-04 9.99994086e-01 -1.93336989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.22992885099998 meters Centerline goodness [0,1] 0.6872769917908027 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.19 [[ 9.99992842e-01 9.75358507e-04 -3.65581534e-03 6.74695456e-01] [-9.78076949e-04 9.99999246e-01 -7.41879848e-04 -1.19269782e-01] [ 3.65508899e-03 7.45450206e-04 9.99993042e-01 -1.93687986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25992885099998 meters Centerline goodness [0,1] 0.6840739539409666 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.19 [[ 9.99991969e-01 1.18920381e-03 -3.82712730e-03 6.75442779e-01] [-1.19191226e-03 9.99999041e-01 -7.05495968e-04 -1.18505445e-01] [ 3.82628466e-03 7.10051902e-04 9.99992428e-01 -1.94121591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.28992885099998 meters Centerline goodness [0,1] 0.6833037876707198 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.19 [[ 9.99992228e-01 1.07152142e-03 -3.79405723e-03 6.75544464e-01] [-1.07503485e-03 9.99998995e-01 -9.24117454e-04 -1.17734907e-01] [ 3.79306321e-03 9.28189016e-04 9.99992376e-01 -1.94332732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.319928851 meters Centerline goodness [0,1] 0.6838310761759332 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.19 [[ 9.99993344e-01 7.34383301e-04 -3.57397037e-03 6.75339699e-01] [-7.38021873e-04 9.99999211e-01 -1.01686306e-03 -1.17210897e-01] [ 3.57322078e-03 1.01949396e-03 9.99993096e-01 -1.94935464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.349928851 meters Centerline goodness [0,1] 0.6741561788475492 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.20 [[ 9.99994203e-01 5.25861589e-04 -3.36405193e-03 6.75078682e-01] [-5.29305123e-04 9.99999337e-01 -1.02281836e-03 -1.17076146e-01] [ 3.36351184e-03 1.02459304e-03 9.99993818e-01 -1.95324699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.379928851 meters Centerline goodness [0,1] 0.6775372293830559 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.20 [[ 9.99995137e-01 1.66212171e-04 -3.11416646e-03 6.74575521e-01] [-1.69658285e-04 9.99999374e-01 -1.10636121e-03 -1.16773885e-01] [ 3.11398062e-03 1.10688417e-03 9.99994539e-01 -1.95561768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.409928851 meters Centerline goodness [0,1] 0.6848739495798319 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.20 [[ 9.99995357e-01 -5.61259568e-05 -3.04664593e-03 6.74403781e-01] [ 5.27902913e-05 9.99999399e-01 -1.09493424e-03 -1.16727997e-01] [ 3.04670555e-03 1.09476832e-03 9.99994760e-01 -1.95708124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.439928851 meters Centerline goodness [0,1] 0.668126752102523 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.20 [[ 9.99996228e-01 -8.26633632e-04 -2.61922567e-03 6.73104184e-01] [ 8.23721062e-04 9.99999041e-01 -1.11288037e-03 -1.17215645e-01] [ 2.62014311e-03 1.11071866e-03 9.99995951e-01 -1.95730202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.46992885099996 meters Centerline goodness [0,1] 0.6717227247738518 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.20 [[ 9.99996516e-01 -1.16337066e-03 -2.36970053e-03 6.72480791e-01] [ 1.16100861e-03 9.99998828e-01 -9.97900513e-04 -1.17843988e-01] [ 2.37085868e-03 9.95145794e-04 9.99996694e-01 -1.95871735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.49992885099996 meters Centerline goodness [0,1] 0.6687781672508764 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.20 [[ 0.99999644 -0.00168986 -0.0020668 0.67141592] [ 0.0016875 0.99999793 -0.00113988 -0.1182708 ] [ 0.00206872 0.00113638 0.99999721 -0.19557694] [ 0. 0. 0. 1. ]] SLAMing on 174.52992885099997 meters Centerline goodness [0,1] 0.6668417761100688 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.20 [[ 9.99996525e-01 -1.81678851e-03 -1.91021853e-03 6.71220700e-01] [ 1.81523707e-03 9.99998021e-01 -8.13600740e-04 -1.19348980e-01] [ 1.91169289e-03 8.10130414e-04 9.99997845e-01 -1.95994358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.55992885099997 meters Centerline goodness [0,1] 0.6682496438301382 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.20 [[ 9.99996641e-01 -1.78790441e-03 -1.87656161e-03 6.71378802e-01] [ 1.78701675e-03 9.99998291e-01 -4.74597284e-04 -1.20253152e-01] [ 1.87740694e-03 4.71242242e-04 9.99998127e-01 -1.96415331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.58992885099997 meters Centerline goodness [0,1] 0.6579578379458487 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.20 [[ 9.99996106e-01 -2.24210959e-03 -1.66132167e-03 6.70767163e-01] [ 2.24124779e-03 9.99997353e-01 -5.20426454e-04 -1.20462198e-01] [ 1.66248413e-03 5.16700995e-04 9.99998485e-01 -1.96522245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.61992885099997 meters Centerline goodness [0,1] 0.661884528867783 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.20 [[ 9.99996312e-01 -2.14122692e-03 -1.67064723e-03 6.71004073e-01] [ 2.14057005e-03 9.99997631e-01 -3.94873400e-04 -1.20550502e-01] [ 1.67148879e-03 3.91295806e-04 9.99998527e-01 -1.96769926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.64992885099997 meters Centerline goodness [0,1] 0.6663667491439854 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.20 [[ 9.99996593e-01 -1.84995883e-03 -1.84177157e-03 6.71733758e-01] [ 1.84972573e-03 9.99998281e-01 -1.28256865e-04 -1.20582058e-01] [ 1.84200567e-03 1.24849656e-04 9.99998296e-01 -1.97205216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.67992885099997 meters Centerline goodness [0,1] 0.6625266057343182 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.20 [[ 9.99996643e-01 -1.79175295e-03 -1.87202217e-03 6.71880870e-01] [ 1.79142810e-03 9.99998380e-01 -1.75192543e-04 -1.20188072e-01] [ 1.87233304e-03 1.71838361e-04 9.99998232e-01 -1.97238282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.70992885099997 meters Centerline goodness [0,1] 0.6651640370648635 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.20 [[ 9.99996971e-01 -1.25582781e-03 -2.11702066e-03 6.72900187e-01] [ 1.25625964e-03 9.99999190e-01 2.02660193e-04 -1.20320256e-01] [ 2.11676444e-03 -2.05319107e-04 9.99997739e-01 -1.97715049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.73992885099997 meters Centerline goodness [0,1] 0.6656643111311582 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.20 [[ 9.99997000e-01 -1.18595623e-03 -2.14302683e-03 6.72944470e-01] [ 1.18625873e-03 9.99999287e-01 1.39891997e-04 -1.20302849e-01] [ 2.14285939e-03 -1.42433762e-04 9.99997694e-01 -1.97583174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.76992885099997 meters Centerline goodness [0,1] 0.6687799132984189 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.20 [[ 9.99996881e-01 -8.53671624e-04 -2.34714318e-03 6.73687835e-01] [ 8.54326712e-04 9.99999596e-01 2.78111838e-04 -1.20187412e-01] [ 2.34690481e-03 -2.80116198e-04 9.99997207e-01 -1.97849343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.79992885099998 meters Centerline goodness [0,1] 0.6672863387429031 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.20 [[ 9.99996769e-01 -3.63893322e-04 -2.51604068e-03 6.74251441e-01] [ 3.63888946e-04 9.99999934e-01 -2.19693691e-06 -1.18632148e-01] [ 2.51604131e-03 1.28137042e-06 9.99996835e-01 -1.97542295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.82992885099998 meters Centerline goodness [0,1] 0.6564945030063649 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.20 [[ 9.99996296e-01 -9.36146879e-05 -2.72031057e-03 6.74924988e-01] [ 9.34966993e-05 9.99999995e-01 -4.35003563e-05 -1.17937348e-01] [ 2.72031462e-03 4.32458551e-05 9.99996299e-01 -1.97665881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.85992885099998 meters Centerline goodness [0,1] 0.6729401713697012 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.20 [[ 9.99995665e-01 2.89752284e-04 -2.93029488e-03 6.75816332e-01] [-2.89902669e-04 9.99999957e-01 -5.08963563e-05 -1.17305137e-01] [ 2.93028000e-03 5.17456359e-05 9.99995705e-01 -1.97962767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.88992885099998 meters Centerline goodness [0,1] 0.6659704572334483 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.20 [[ 9.99994356e-01 9.05222818e-04 -3.23561835e-03 6.77166058e-01] [-9.04357831e-04 9.99999555e-01 2.68786100e-04 -1.17083842e-01] [ 3.23586022e-03 -2.65858426e-04 9.99994729e-01 -1.98673390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91992885099998 meters Centerline goodness [0,1] 0.6740010561520859 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.20 [[ 9.99993869e-01 1.25105289e-03 -3.27050936e-03 6.77666282e-01] [-1.25058570e-03 9.99999208e-01 1.44891843e-04 -1.16278611e-01] [ 3.27068804e-03 -1.40800902e-04 9.99994641e-01 -1.98844666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.94992885099998 meters Centerline goodness [0,1] 0.663811131547784 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.20 [[ 9.99994010e-01 1.31827383e-03 -3.20048251e-03 6.77765649e-01] [-1.31763675e-03 9.99999112e-01 2.01158541e-04 -1.16292259e-01] [ 3.20074485e-03 -1.96940262e-04 9.99994858e-01 -1.99122975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97992885099998 meters Centerline goodness [0,1] 0.6613154066121507 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.20 [[ 9.99993277e-01 1.48590155e-03 -3.35234063e-03 6.78320316e-01] [-1.48482948e-03 9.99998846e-01 3.22264081e-04 -1.16460681e-01] [ 3.35281562e-03 -3.17284260e-04 9.99994329e-01 -1.99358471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.00992885099998 meters Centerline goodness [0,1] 0.6662968659388315 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.20 [[ 9.99993893e-01 1.36148622e-03 -3.21873034e-03 6.77965531e-01] [-1.36057980e-03 9.99999034e-01 2.83780726e-04 -1.16754389e-01] [ 3.21911359e-03 -2.79399653e-04 9.99994780e-01 -1.99291994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03992885099998 meters Centerline goodness [0,1] 0.6530170787534271 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.20 [[ 9.99994838e-01 1.16640600e-03 -2.99386076e-03 6.77639162e-01] [-1.16445870e-03 9.99999109e-01 6.52090904e-04 -1.18278894e-01] [ 2.99461870e-03 -6.48601311e-04 9.99995306e-01 -1.99750596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.069928851 meters Centerline goodness [0,1] 0.656167583452641 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.20 [[ 9.99995464e-01 1.01008489e-03 -2.83764079e-03 6.77415061e-01] [-1.00771394e-03 9.99999142e-01 8.36842522e-04 -1.19347752e-01] [ 2.83848364e-03 -8.33979195e-04 9.99995624e-01 -2.00018992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.099928851 meters Centerline goodness [0,1] 0.6663661633235669 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.20 [[ 9.99996280e-01 6.98604433e-04 -2.63670296e-03 6.76877542e-01] [-6.96211363e-04 9.99999345e-01 9.08408259e-04 -1.20407855e-01] [ 2.63733585e-03 -9.06569177e-04 9.99996111e-01 -2.00111770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.129928851 meters Centerline goodness [0,1] 0.6515477860148267 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.20 [[ 9.99997738e-01 2.76365636e-05 -2.12666963e-03 6.75392612e-01] [-2.53737377e-05 9.99999434e-01 1.06404286e-03 -1.22258946e-01] [ 2.12669783e-03 -1.06398649e-03 9.99997173e-01 -2.00058358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.159928851 meters Centerline goodness [0,1] 0.652475 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.20 [[ 9.99998071e-01 -2.81426967e-04 -1.94404419e-03 6.74740909e-01] [ 2.83653453e-04 9.99999304e-01 1.14510496e-03 -1.23484276e-01] [ 1.94372057e-03 -1.14565419e-03 9.99997455e-01 -1.99895298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.18992885099996 meters Centerline goodness [0,1] 0.655936215273452 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.20 [[ 9.99998253e-01 -4.31627190e-04 -1.81851841e-03 6.74475705e-01] [ 4.34478195e-04 9.99998677e-01 1.56765913e-03 -1.25327948e-01] [ 1.81783936e-03 -1.56844650e-03 9.99997118e-01 -2.00172779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.21992885099996 meters Centerline goodness [0,1] 0.6337192045117246 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.13, Z:-0.20 [[ 0.99999096 -0.00347864 -0.00244681 0.67648889] [ 0.00347395 0.99999212 -0.0019193 -0.12549732] [ 0.00245347 0.00191079 0.99999516 -0.20053317] [ 0. 0. 0. 1. ]] SLAMing on 175.24992885099996 meters Centerline goodness [0,1] 0.6437462804999008 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.20 [[ 0.99998725 -0.0046173 -0.00204559 0.6747164 ] [ 0.00461428 0.99998827 -0.00147482 -0.12896954] [ 0.00205237 0.00146536 0.99999682 -0.20044215] [ 0. 0. 0. 1. ]] SLAMing on 175.27992885099997 meters Centerline goodness [0,1] 0.6392850962845771 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.20 [[ 9.99987006e-01 -4.71424229e-03 -1.94009481e-03 6.74566986e-01] [ 4.71272912e-03 9.99988588e-01 -7.83782660e-04 -1.31206249e-01] [ 1.94376761e-03 7.74629334e-04 9.99997811e-01 -2.00951071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.30992885099997 meters Centerline goodness [0,1] 0.635603875452999 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.20 [[ 9.99987661e-01 -4.60470828e-03 -1.86394613e-03 6.74653960e-01] [ 4.60477742e-03 9.99989397e-01 3.28002143e-05 -1.33656376e-01] [ 1.86377533e-03 -4.13828666e-05 9.99998262e-01 -2.01591094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.33992885099997 meters Centerline goodness [0,1] 0.6352050877538946 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.20 [[ 9.99987777e-01 -4.64258180e-03 -1.70062596e-03 6.74289626e-01] [ 4.64351637e-03 9.99989070e-01 5.46006348e-04 -1.35800082e-01] [ 1.69807249e-03 -5.53896558e-04 9.99998405e-01 -2.01797742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.36992885099997 meters Centerline goodness [0,1] 0.6324175689278437 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.20 [[ 0.99998864 -0.00449537 -0.00158333 0.67401168] [ 0.00449754 0.99998895 0.00137084 -0.13918947] [ 0.00157715 -0.00137795 0.99999781 -0.20196102] [ 0. 0. 0. 1. ]] SLAMing on 175.39992885099997 meters Centerline goodness [0,1] 0.6272832029813421 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.20 [[ 0.99998989 -0.00416626 -0.00169382 0.67436623] [ 0.00416921 0.9999898 0.00173957 -0.14041799] [ 0.00168656 -0.00174662 0.99999705 -0.20198802] [ 0. 0. 0. 1. ]] SLAMing on 175.42992885099997 meters Centerline goodness [0,1] 0.6318911631327369 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.20 [[ 0.99999098 -0.00381905 -0.00185993 0.67490171] [ 0.00382288 0.99999057 0.00206094 -0.14126974] [ 0.00185204 -0.00206803 0.99999615 -0.20212733] [ 0. 0. 0. 1. ]] SLAMing on 175.45992885099997 meters Centerline goodness [0,1] 0.6304039514866979 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.20 [[ 0.9999924 -0.00321511 -0.00220617 0.67592676] [ 0.0032205 0.99999184 0.0024409 -0.14237123] [ 0.0021983 -0.00244799 0.99999459 -0.20220136] [ 0. 0. 0. 1. ]] SLAMing on 175.48992885099997 meters Centerline goodness [0,1] 0.6340030836249725 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.20 [[ 0.99999331 -0.00278629 -0.00237188 0.67660254] [ 0.00279266 0.9999925 0.00268418 -0.14299582] [ 0.00236438 -0.00269079 0.99999358 -0.20242748] [ 0. 0. 0. 1. ]] SLAMing on 175.51992885099997 meters Centerline goodness [0,1] 0.6362615362078227 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.20 [[ 0.99999435 -0.00179936 -0.00284034 0.67813595] [ 0.00180883 0.9999928 0.00333446 -0.14443232] [ 0.00283432 -0.00333958 0.99999041 -0.20276793] [ 0. 0. 0. 1. ]] SLAMing on 175.54992885099998 meters Centerline goodness [0,1] 0.6364389435727512 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.20 [[ 0.99999412 -0.0014789 -0.00309302 0.67871024] [ 0.00148954 0.99999297 0.00343991 -0.14506463] [ 0.00308791 -0.0034445 0.9999893 -0.20261488] [ 0. 0. 0. 1. ]] SLAMing on 175.57992885099998 meters Centerline goodness [0,1] 0.6340743991029204 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.20 [[ 0.99999392 -0.00118198 -0.00327972 0.67915807] [ 0.00119388 0.99999271 0.00362641 -0.14584298] [ 0.0032754 -0.00363031 0.99998805 -0.2025588 ] [ 0. 0. 0. 1. ]] SLAMing on 175.60992885099998 meters Centerline goodness [0,1] 0.634794901167467 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.20 [[ 9.99993523e-01 -8.80681368e-04 -3.48984705e-03 6.79616548e-01] [ 8.93729017e-04 9.99992611e-01 3.73895109e-03 -1.46463758e-01] [ 3.48652844e-03 -3.74204585e-03 9.99986921e-01 -2.02435074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63992885099998 meters Centerline goodness [0,1] 0.6382321463319711 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.20 [[ 9.99992796e-01 -2.92749543e-04 -3.78441248e-03 6.80240656e-01] [ 3.08057041e-04 9.99991772e-01 4.04493104e-03 -1.47738135e-01] [ 3.78319719e-03 -4.04606772e-03 9.99984658e-01 -2.02117860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.66992885099998 meters Centerline goodness [0,1] 0.6371092991652106 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.20 [[ 9.99992251e-01 -1.08589793e-04 -3.93515614e-03 6.80479117e-01] [ 1.24644384e-04 9.99991670e-01 4.07976950e-03 -1.48113164e-01] [ 3.93468034e-03 -4.08022838e-03 9.99983935e-01 -2.01870238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69992885099998 meters Centerline goodness [0,1] 0.6337693798449613 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.20 [[ 9.99991869e-01 1.02252351e-04 -4.03119465e-03 6.80755105e-01] [-8.54462943e-05 9.99991306e-01 4.16895340e-03 -1.48641873e-01] [ 4.03158589e-03 -4.16857505e-03 9.99983185e-01 -2.01822289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.72992885099998 meters Centerline goodness [0,1] 0.6379730937371688 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.20 [[ 9.99990424e-01 5.55102350e-04 -4.34104828e-03 6.81395363e-01] [-5.35547690e-04 9.99989711e-01 4.50445969e-03 -1.49973130e-01] [ 4.34350405e-03 -4.50209172e-03 9.99980432e-01 -2.01650694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75992885099998 meters Centerline goodness [0,1] 0.6270300226495109 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.20 [[ 9.99989915e-01 7.09410010e-04 -4.43468224e-03 6.81587013e-01] [-6.88454792e-04 9.99988600e-01 4.72504491e-03 -1.51186461e-01] [ 4.43798367e-03 -4.72194418e-03 9.99979004e-01 -2.01590460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.78992885099998 meters Centerline goodness [0,1] 0.6367311579555299 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.20 [[ 9.99989835e-01 7.96375139e-04 -4.43798667e-03 6.81667151e-01] [-7.74079171e-04 9.99987083e-01 5.02334762e-03 -1.52430095e-01] [ 4.44192982e-03 -5.01986121e-03 9.99977535e-01 -2.01742493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.819928851 meters Centerline goodness [0,1] 0.6406932641989533 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.20 [[ 9.99989919e-01 7.62681121e-04 -4.42502549e-03 6.81466228e-01] [-7.39659249e-04 9.99986196e-01 5.20195876e-03 -1.53803694e-01] [ 4.42893184e-03 -5.19863331e-03 9.99976679e-01 -2.01541998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.849928851 meters Centerline goodness [0,1] 0.6368570813706033 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.15, Z:-0.20 [[ 0.99998565 -0.00202733 -0.00495825 0.68345093] [ 0.002036 0.99999641 0.00174411 -0.15349153] [ 0.0049547 -0.00175418 0.99998619 -0.20199814] [ 0. 0. 0. 1. ]] SLAMing on 175.879928851 meters Centerline goodness [0,1] 0.630952948467369 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.20 [[ 0.99998542 -0.00249821 -0.00478683 0.68232393] [ 0.00250761 0.99999494 0.00195846 -0.1560534 ] [ 0.00478191 -0.00197043 0.99998663 -0.20130943] [ 0. 0. 0. 1. ]] SLAMing on 175.909928851 meters Centerline goodness [0,1] 0.6315801976434816 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.20 [[ 0.99998548 -0.00278672 -0.00461264 0.68156495] [ 0.00279615 0.99999401 0.00203791 -0.1574267 ] [ 0.00460694 -0.00205078 0.99998729 -0.20092333] [ 0. 0. 0. 1. ]] SLAMing on 175.93992885099996 meters Centerline goodness [0,1] 0.6273835499478229 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.20 [[ 0.99998572 -0.00299027 -0.00442962 0.68091793] [ 0.00300039 0.9999929 0.00227881 -0.1591491 ] [ 0.00442278 -0.00229207 0.99998759 -0.20070693] [ 0. 0. 0. 1. ]] SLAMing on 175.96992885099996 meters Centerline goodness [0,1] 0.627114633857802 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.20 [[ 0.99998557 -0.00335381 -0.00419635 0.67995796] [ 0.00336368 0.99999159 0.00234744 -0.16070397] [ 0.00418844 -0.00236152 0.99998844 -0.20023171] [ 0. 0. 0. 1. ]] SLAMing on 175.99992885099996 meters Centerline goodness [0,1] 0.627114633857802 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.20 [[ 0.99998557 -0.00335381 -0.00419635 0.67995796] [ 0.00336368 0.99999159 0.00234744 -0.16070397] [ 0.00418844 -0.00236152 0.99998844 -0.20023171] [ 0. 0. 0. 1. ]] SLAMing on 176.02992885099997 meters Centerline goodness [0,1] 0.6276761293973403 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.16, Z:-0.20 [[ 0.99998539 -0.00355344 -0.00407422 0.6795061 ] [ 0.00356348 0.99999063 0.0024582 -0.16208763] [ 0.00406544 -0.00247268 0.99998868 -0.20003571] [ 0. 0. 0. 1. ]] SLAMing on 176.05992885099997 meters Centerline goodness [0,1] 0.6253020811337134 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.20 [[ 0.99998424 -0.00397269 -0.00396747 0.67886202] [ 0.00398411 0.99998793 0.00287547 -0.165359 ] [ 0.003956 -0.00289123 0.999988 -0.19987606] [ 0. 0. 0. 1. ]] SLAMing on 176.08992885099997 meters Centerline goodness [0,1] 0.6216552144649516 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.20 [[ 0.99998404 -0.00422965 -0.00374688 0.67808779] [ 0.00424115 0.9999863 0.00306773 -0.16720587] [ 0.00373385 -0.00308357 0.99998827 -0.19960889] [ 0. 0. 0. 1. ]] SLAMing on 176.11992885099997 meters Centerline goodness [0,1] 0.6193637041177567 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.20 [[ 0.99998441 -0.00412638 -0.0037632 0.67829305] [ 0.00414018 0.99998471 0.00366539 -0.16949292] [ 0.00374802 -0.00368091 0.9999862 -0.19996738] [ 0. 0. 0. 1. ]] SLAMing on 176.14992885099997 meters Centerline goodness [0,1] 0.6225944736964727 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.20 [[ 0.99998411 -0.00436306 -0.00357044 0.67757495] [ 0.00437678 0.99998303 0.0038454 -0.1711085 ] [ 0.0035536 -0.00386096 0.99998623 -0.19970483] [ 0. 0. 0. 1. ]] SLAMing on 176.17992885099997 meters Centerline goodness [0,1] 0.6193400380034295 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.20 [[ 0.99998339 -0.0046289 -0.00343444 0.67669018] [ 0.00464322 0.99998051 0.00417265 -0.17411465] [ 0.00341506 -0.00418853 0.9999854 -0.19909881] [ 0. 0. 0. 1. ]] SLAMing on 176.20992885099997 meters Centerline goodness [0,1] 0.6280838863326319 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.18, Z:-0.20 [[ 0.99998308 -0.00468633 -0.00344694 0.67638666] [ 0.00470108 0.99997979 0.00428111 -0.17533523] [ 0.0034268 -0.00429724 0.9999849 -0.19867518] [ 0. 0. 0. 1. ]] SLAMing on 176.23992885099997 meters Centerline goodness [0,1] 0.6230692863574446 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.18, Z:-0.20 [[ 0.99998358 -0.00450957 -0.00353548 0.67652719] [ 0.00452575 0.99997927 0.00457913 -0.17663309] [ 0.00351475 -0.00459506 0.99998327 -0.19857358] [ 0. 0. 0. 1. ]] SLAMing on 176.26992885099997 meters Centerline goodness [0,1] 0.6202204098606843 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.18, Z:-0.20 [[ 0.99998373 -0.00444965 -0.0035698 0.67627616] [ 0.00446617 0.99997929 0.00463404 -0.17740593] [ 0.00354911 -0.00464991 0.99998289 -0.19807144] [ 0. 0. 0. 1. ]] SLAMing on 176.29992885099998 meters Centerline goodness [0,1] 0.6281575978078154 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.18, Z:-0.20 [[ 0.99998437 -0.00422362 -0.00366459 0.67609207] [ 0.00424226 0.99997804 0.00509215 -0.17947168] [ 0.003643 -0.00510762 0.99998032 -0.19753486] [ 0. 0. 0. 1. ]] SLAMing on 176.32992885099998 meters Centerline goodness [0,1] 0.624592497359842 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.18, Z:-0.20 [[ 0.99998488 -0.00404323 -0.00372732 0.67620548] [ 0.00406344 0.99997699 0.00543176 -0.18091729] [ 0.00370527 -0.00544683 0.9999783 -0.19749506] [ 0. 0. 0. 1. ]] SLAMing on 176.35992885099998 meters Centerline goodness [0,1] 0.6254441260744985 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.18, Z:-0.20 [[ 0.99998528 -0.00389661 -0.00377699 0.67628203] [ 0.00391846 0.99997553 0.00579503 -0.18247486] [ 0.00375432 -0.00580975 0.99997608 -0.19749399] [ 0. 0. 0. 1. ]] SLAMing on 176.38992885099998 meters Centerline goodness [0,1] 0.6284089351788407 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.18, Z:-0.20 [[ 0.99998567 -0.00374296 -0.00382701 0.67636122] [ 0.0037665 0.99997391 0.00616359 -0.18437002] [ 0.00380384 -0.00617791 0.99997368 -0.19747928] [ 0. 0. 0. 1. ]] SLAMing on 176.41992885099998 meters Centerline goodness [0,1] 0.6251646305463463 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.19, Z:-0.20 [[ 0.99998673 -0.00342117 -0.00385224 0.67647619] [ 0.00344841 0.99996895 0.00708621 -0.18821915] [ 0.00382788 -0.0070994 0.99996747 -0.19768916] [ 0. 0. 0. 1. ]] SLAMing on 176.44992885099998 meters Centerline goodness [0,1] 0.6238017354958885 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.19, Z:-0.20 [[ 0.99998687 -0.00338253 -0.00384983 0.67638107] [ 0.00341051 0.99996767 0.00728258 -0.18947251] [ 0.00382507 -0.00729561 0.99996607 -0.19756674] [ 0. 0. 0. 1. ]] SLAMing on 176.47992885099998 meters Centerline goodness [0,1] 0.6274719037348166 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.19, Z:-0.20 [[ 0.99998701 -0.00339088 -0.00380539 0.67613539] [ 0.00341896 0.9999668 0.00739631 -0.19043381] [ 0.00378018 -0.00740922 0.99996541 -0.1973254 ] [ 0. 0. 0. 1. ]] SLAMing on 176.50992885099998 meters Centerline goodness [0,1] 0.632012678288431 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.19, Z:-0.20 [[ 0.99998687 -0.00335064 -0.00387642 0.6761122 ] [ 0.00337994 0.99996558 0.00757698 -0.19164773] [ 0.0038509 -0.00758998 0.99996378 -0.19708257] [ 0. 0. 0. 1. ]] SLAMing on 176.53992885099998 meters Centerline goodness [0,1] 0.6314104731633643 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.19, Z:-0.20 [[ 0.99998709 -0.00323565 -0.00391742 0.67562357] [ 0.00326693 0.99996263 0.00800462 -0.19442126] [ 0.00389137 -0.00801731 0.99996029 -0.19632302] [ 0. 0. 0. 1. ]] SLAMing on 176.569928851 meters Centerline goodness [0,1] 0.640292299044407 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.20 [[ 0.99998729 -0.00323427 -0.00386881 0.67531883] [ 0.00326595 0.99996095 0.00821156 -0.19579667] [ 0.0038421 -0.0082241 0.9999588 -0.19606202] [ 0. 0. 0. 1. ]] SLAMing on 176.599928851 meters Centerline goodness [0,1] 0.6418001079525009 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.20 [[ 0.99998738 -0.00321355 -0.00386098 0.67514676] [ 0.00324592 0.99995939 0.00840734 -0.19707899] [ 0.0038338 -0.00841977 0.9999572 -0.19585315] [ 0. 0. 0. 1. ]] SLAMing on 176.629928851 meters Centerline goodness [0,1] 0.6312842881554097 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.20 [[ 0.99998735 -0.00314613 -0.00392425 0.67513014] [ 0.00318003 0.99995742 0.00866256 -0.19856258] [ 0.00389683 -0.00867493 0.99995478 -0.19566805] [ 0. 0. 0. 1. ]] SLAMing on 176.659928851 meters Centerline goodness [0,1] 0.6390559095396213 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.20, Z:-0.20 [[ 0.99998716 -0.00320635 -0.00392407 0.67471081] [ 0.0032421 0.99995299 0.00913848 -0.20138636] [ 0.00389459 -0.00915109 0.99995054 -0.19525564] [ 0. 0. 0. 1. ]] SLAMing on 176.68992885099996 meters Centerline goodness [0,1] 0.6365014603259537 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.20 [[ 0.99997176 -0.00591396 -0.00463791 0.67694282] [ 0.00594074 0.99996565 0.00578021 -0.20132165] [ 0.00460357 -0.0058076 0.99997254 -0.19561825] [ 0. 0. 0. 1. ]] SLAMing on 176.71992885099996 meters Centerline goodness [0,1] 0.6366464492737405 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.20 [[ 0.99997177 -0.00599201 -0.00453383 0.67643515] [ 0.00601955 0.99996337 0.00608494 -0.20328346] [ 0.00449721 -0.00611206 0.99997121 -0.19529433] [ 0. 0. 0. 1. ]] SLAMing on 176.74992885099996 meters Centerline goodness [0,1] 0.6389180262012633 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.19 [[ 0.99996332 -0.00737185 -0.00435966 0.67586601] [ 0.00739404 0.99995968 0.00509608 -0.20720198] [ 0.00432192 -0.00512812 0.99997751 -0.19486762] [ 0. 0. 0. 1. ]] SLAMing on 176.77992885099997 meters Centerline goodness [0,1] 0.6375777777777778 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.20 [[ 0.99996414 -0.00716614 -0.004513 0.6762325 ] [ 0.00719236 0.99995719 0.0058216 -0.20980414] [ 0.00447109 -0.00585385 0.99997287 -0.19507674] [ 0. 0. 0. 1. ]] SLAMing on 176.80992885099997 meters Centerline goodness [0,1] 0.6369713445340701 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.19 [[ 0.99996375 -0.00735763 -0.00428582 0.67559703] [ 0.00738375 0.99995407 0.00611081 -0.21190617] [ 0.00424067 -0.00614223 0.99997214 -0.19494185] [ 0. 0. 0. 1. ]] SLAMing on 176.83992885099997 meters Centerline goodness [0,1] 0.6374919514198805 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.19 [[ 0.99996292 -0.00748721 -0.00425387 0.67519674] [ 0.00751473 0.9999507 0.00649052 -0.21416214] [ 0.00420506 -0.00652225 0.99996989 -0.19464671] [ 0. 0. 0. 1. ]] SLAMing on 176.86992885099997 meters Centerline goodness [0,1] 0.638270131706886 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.22, Z:-0.19 [[ 0.99995021 -0.00900797 -0.0042936 0.67511921] [ 0.00903103 0.99994474 0.00538205 -0.21820003] [ 0.00424488 -0.00542056 0.9999763 -0.1942865 ] [ 0. 0. 0. 1. ]] SLAMing on 176.89992885099997 meters Centerline goodness [0,1] 0.6401342815495383 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.22, Z:-0.19 [[ 0.99995234 -0.00879352 -0.00424214 0.67505637] [ 0.00881869 0.9999434 0.00595143 -0.22032876] [ 0.00418957 -0.00598855 0.99997329 -0.19433565] [ 0. 0. 0. 1. ]] SLAMing on 176.92992885099997 meters Centerline goodness [0,1] 0.6420385541104512 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.22, Z:-0.19 [[ 0.99995386 -0.00861395 -0.00425126 0.67486036] [ 0.00864099 0.99994229 0.00638307 -0.22224674] [ 0.00419603 -0.00641951 0.99997059 -0.1940153 ] [ 0. 0. 0. 1. ]] SLAMing on 176.95992885099997 meters Centerline goodness [0,1] 0.6477375316525378 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.22, Z:-0.19 [[ 0.99995584 -0.00838331 -0.00424773 0.67481501] [ 0.00841217 0.99994134 0.0068227 -0.22403158] [ 0.00419028 -0.00685813 0.9999677 -0.19390348] [ 0. 0. 0. 1. ]] SLAMing on 176.98992885099997 meters Centerline goodness [0,1] 0.6508561869965224 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.23, Z:-0.19 [[ 0.99995767 -0.00810484 -0.00435594 0.67482996] [ 0.00813626 0.99994067 0.00724339 -0.22565716] [ 0.00429697 -0.00727853 0.99996428 -0.19359753] [ 0. 0. 0. 1. ]] SLAMing on 177.01992885099997 meters Centerline goodness [0,1] 0.6423735476544072 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.23, Z:-0.19 [[ 0.99996168 -0.00747067 -0.00456429 0.67509908] [ 0.00750753 0.99993891 0.00811272 -0.2287086 ] [ 0.0045034 -0.00814667 0.99995667 -0.19322095] [ 0. 0. 0. 1. ]] SLAMing on 177.04992885099998 meters Centerline goodness [0,1] 0.6454704213053919 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.23, Z:-0.19 [[ 0.9999628 -0.00726463 -0.00464919 0.67509466] [ 0.0073037 0.9999377 0.00844116 -0.2302172 ] [ 0.00458758 -0.0084748 0.99995356 -0.19287464] [ 0. 0. 0. 1. ]] SLAMing on 177.07992885099998 meters Centerline goodness [0,1] 0.6431797848429965 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.23, Z:-0.19 [[ 0.99996454 -0.0070188 -0.0046539 0.67506217] [ 0.00706035 0.99993481 0.00897368 -0.23221945] [ 0.00459061 -0.00900622 0.99994891 -0.19282171] [ 0. 0. 0. 1. ]] SLAMing on 177.10992885099998 meters Centerline goodness [0,1] 0.6435913069988242 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.23, Z:-0.19 [[ 0.99996596 -0.0068129 -0.00465403 0.67492797] [ 0.0068564 0.99993235 0.00939648 -0.23419374] [ 0.00458969 -0.00942807 0.99994502 -0.192569 ] [ 0. 0. 0. 1. ]] SLAMing on 177.13992885099998 meters Centerline goodness [0,1] 0.6445302333651427 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.24, Z:-0.19 [[ 0.99996822 -0.00640603 -0.00474504 0.67464752] [ 0.00645397 0.99992758 0.01015813 -0.23776778] [ 0.00467963 -0.01018843 0.99993715 -0.19188645] [ 0. 0. 0. 1. ]] SLAMing on 177.16992885099998 meters Centerline goodness [0,1] 0.6521673168617252 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.24, Z:-0.19 [[ 0.99996872 -0.00629558 -0.0047882 0.67449186] [ 0.00634501 0.999926 0.01037946 -0.23908478] [ 0.0047225 -0.01040951 0.99993467 -0.1915262 ] [ 0. 0. 0. 1. ]] SLAMing on 177.19992885099998 meters Centerline goodness [0,1] 0.6396176222505785 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.24, Z:-0.19 [[ 0.99996935 -0.00614695 -0.00484909 0.67444989] [ 0.00619746 0.99992598 0.01047038 -0.2400542 ] [ 0.00478437 -0.01050011 0.99993343 -0.19118607] [ 0. 0. 0. 1. ]] SLAMing on 177.22992885099998 meters Centerline goodness [0,1] 0.6521267831591727 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.24, Z:-0.19 [[ 0.99997062 -0.00585476 -0.00494828 0.67452322] [ 0.00590765 0.99992485 0.0107421 -0.2409059 ] [ 0.00488501 -0.01077102 0.99993006 -0.19090739] [ 0. 0. 0. 1. ]] SLAMing on 177.25992885099998 meters Centerline goodness [0,1] 0.6531378046150529 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.99997247 -0.00514706 -0.00534441 0.67569647] [ 0.00520746 0.99992202 0.01135046 -0.24214769] [ 0.00528557 -0.01137797 0.9999213 -0.19124177] [ 0. 0. 0. 1. ]] SLAMing on 177.28992885099998 meters Centerline goodness [0,1] 0.6580148378863582 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.99997332 -0.00484057 -0.00547078 0.67619891] [ 0.0049039 0.99992043 0.01162277 -0.24271646] [ 0.00541408 -0.01164929 0.99991749 -0.19151221] [ 0. 0. 0. 1. ]] SLAMing on 177.319928851 meters Centerline goodness [0,1] 0.6587661356473686 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.99997291 -0.00460625 -0.00574123 0.67688352] [ 0.00467327 0.99992045 0.01171535 -0.24306187] [ 0.00568681 -0.01174186 0.99991489 -0.19160784] [ 0. 0. 0. 1. ]] SLAMing on 177.349928851 meters Centerline goodness [0,1] 0.6726645091693635 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.99997363 -0.00405906 -0.00602121 0.67782059] [ 0.00413183 0.99991797 0.01212378 -0.24422067] [ 0.00597151 -0.01214834 0.99990838 -0.19195531] [ 0. 0. 0. 1. ]] SLAMing on 177.379928851 meters Centerline goodness [0,1] 0.6707427536231885 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.99997311 -0.00395754 -0.00617394 0.67803893] [ 0.00403201 0.99991871 0.01209616 -0.24440667] [ 0.00612556 -0.01212073 0.99990778 -0.19176235] [ 0. 0. 0. 1. ]] SLAMing on 177.409928851 meters Centerline goodness [0,1] 0.6746249325418241 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.99997236 -0.00407975 -0.00621499 0.67785267] [ 0.00415297 0.99992159 0.01181422 -0.24426758] [ 0.00616631 -0.0118397 0.9999109 -0.19132342] [ 0. 0. 0. 1. ]] SLAMing on 177.43992885099996 meters Centerline goodness [0,1] 0.6817995557185067 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.99997153 -0.00410875 -0.00632943 0.6778277 ] [ 0.00418257 0.99992289 0.01169295 -0.2444535 ] [ 0.0062809 -0.01171909 0.9999116 -0.19092188] [ 0. 0. 0. 1. ]] SLAMing on 177.46992885099996 meters Centerline goodness [0,1] 0.667011553716158 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.99997023 -0.00432942 -0.00638726 0.67757795] [ 0.00440194 0.99992552 0.01138344 -0.24438138] [ 0.0063375 -0.01141122 0.99991481 -0.19038343] [ 0. 0. 0. 1. ]] SLAMing on 177.49992885099996 meters Centerline goodness [0,1] 0.6727664619032223 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.99996944 -0.00446097 -0.00641945 0.67749422] [ 0.00453254 0.99992727 0.01117646 -0.24440037] [ 0.00636913 -0.01120522 0.99991694 -0.19012475] [ 0. 0. 0. 1. ]] SLAMing on 177.52992885099997 meters Centerline goodness [0,1] 0.6771815272853066 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.9999687 -0.00449919 -0.00650784 0.67749099] [ 0.00457047 0.99992927 0.01098024 -0.24438898] [ 0.00645798 -0.01100964 0.99991854 -0.18983371] [ 0. 0. 0. 1. ]] SLAMing on 177.55992885099997 meters Centerline goodness [0,1] 0.6870057473747893 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.99996754 -0.00455711 -0.00664424 0.67772035] [ 0.00462909 0.99993032 0.01085896 -0.24451023] [ 0.00659429 -0.01088937 0.99991897 -0.18970377] [ 0. 0. 0. 1. ]] SLAMing on 177.58992885099997 meters Centerline goodness [0,1] 0.6800561191452623 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.99996629 -0.00473234 -0.00671046 0.67773027] [ 0.00480344 0.99993208 0.01061891 -0.24447574] [ 0.00665975 -0.01065078 0.9999211 -0.18951482] [ 0. 0. 0. 1. ]] SLAMing on 177.61992885099997 meters Centerline goodness [0,1] 0.6716324459701621 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.999965 -0.00482024 -0.00683858 0.67782222] [ 0.00489134 0.99993376 0.01041853 -0.24455357] [ 0.00678791 -0.01045162 0.99992234 -0.18920836] [ 0. 0. 0. 1. ]] SLAMing on 177.64992885099997 meters Centerline goodness [0,1] 0.6821342200725513 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.99996383 -0.00498985 -0.00688761 0.67772584] [ 0.00505939 0.99993603 0.01011629 -0.24434314] [ 0.00683669 -0.01015077 0.99992511 -0.18886406] [ 0. 0. 0. 1. ]] SLAMing on 177.67992885099997 meters Centerline goodness [0,1] 0.6688807418589605 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.99996272 -0.00515208 -0.00692949 0.67758404] [ 0.00522009 0.99993803 0.0098325 -0.24395696] [ 0.0068784 -0.00986831 0.99992765 -0.18851236] [ 0. 0. 0. 1. ]] SLAMing on 177.70992885099997 meters Centerline goodness [0,1] 0.6905951840072695 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.99996212 -0.00526273 -0.00693253 0.67744694] [ 0.00532877 0.99994027 0.00954236 -0.24335136] [ 0.0068819 -0.00957894 0.99993044 -0.18823317] [ 0. 0. 0. 1. ]] SLAMing on 177.73992885099997 meters Centerline goodness [0,1] 0.668112845086231 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.99996066 -0.0053272 -0.00709225 0.6776677 ] [ 0.00539277 0.99994259 0.00925908 -0.24265613] [ 0.00704252 -0.00929697 0.99993198 -0.18799893] [ 0. 0. 0. 1. ]] SLAMing on 177.76992885099997 meters Centerline goodness [0,1] 0.6710200744454247 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.99995941 -0.00533643 -0.00725951 0.67797091] [ 0.00540239 0.99994403 0.00909643 -0.24215666] [ 0.00721056 -0.00913528 0.99993227 -0.18786807] [ 0. 0. 0. 1. ]] SLAMing on 177.79992885099998 meters Centerline goodness [0,1] 0.6865893932526064 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.99995826 -0.00556081 -0.00724898 0.67783023] [ 0.0056247 0.99994526 0.00882303 -0.24185397] [ 0.00719952 -0.00886344 0.9999348 -0.1877094 ] [ 0. 0. 0. 1. ]] SLAMing on 177.82992885099998 meters Centerline goodness [0,1] 0.6879766663065788 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.99995643 -0.0058733 -0.00725532 0.67769256] [ 0.00593436 0.99994692 0.00842286 -0.2413842 ] [ 0.00720547 -0.00846555 0.99993821 -0.18747679] [ 0. 0. 0. 1. ]] SLAMing on 177.85992885099998 meters Centerline goodness [0,1] 0.6658878504672897 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.99995442 -0.00633873 -0.00713942 0.67754946] [ 0.0063944 0.99994912 0.00780178 -0.2400181 ] [ 0.0070896 -0.00784708 0.99994408 -0.18751977] [ 0. 0. 0. 1. ]] SLAMing on 177.88992885099998 meters Centerline goodness [0,1] 0.6817867783583056 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.99995144 -0.00667676 -0.00724831 0.67775258] [ 0.00672975 0.99995064 0.00731009 -0.23905034] [ 0.00719915 -0.00735852 0.99994701 -0.18746886] [ 0. 0. 0. 1. ]] SLAMing on 177.91992885099998 meters Centerline goodness [0,1] 0.6817867783583056 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.99995144 -0.00667676 -0.00724831 0.67775258] [ 0.00672975 0.99995064 0.00731009 -0.23905034] [ 0.00719915 -0.00735852 0.99994701 -0.18746886] [ 0. 0. 0. 1. ]] SLAMing on 177.94992885099998 meters Centerline goodness [0,1] 0.6750599261450753 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.9999504 -0.00679537 -0.00728141 0.67809774] [ 0.00684732 0.99995111 0.007134 -0.23854828] [ 0.00723258 -0.00718351 0.99994804 -0.18782737] [ 0. 0. 0. 1. ]] SLAMing on 177.97992885099998 meters Centerline goodness [0,1] 0.6717356877887932 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.99994652 -0.00747511 -0.0071465 0.67766653] [ 0.007521 0.99995113 0.00641582 -0.23735016] [ 0.0070982 -0.00646923 0.99995388 -0.1877335 ] [ 0. 0. 0. 1. ]] SLAMing on 178.00992885099998 meters Centerline goodness [0,1] 0.671101465002713 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.24, Z:-0.19 [[ 0.9999451 -0.00776717 -0.00703345 0.67750714] [ 0.00780981 0.99995117 0.00605583 -0.23653487] [ 0.00698607 -0.00611043 0.99995693 -0.18778451] [ 0. 0. 0. 1. ]] SLAMing on 178.03992885099998 meters Centerline goodness [0,1] 0.6743471916719298 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.23, Z:-0.19 [[ 0.99994009 -0.00843409 -0.00697674 0.67703268] [ 0.00846921 0.99995153 0.00502019 -0.23383637] [ 0.00693406 -0.00507898 0.99996306 -0.18724647] [ 0. 0. 0. 1. ]] SLAMing on 178.069928851 meters Centerline goodness [0,1] 0.6608213820078227 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.23, Z:-0.19 [[ 0.99993922 -0.00838281 -0.00716148 0.67769494] [ 0.00841796 0.9999526 0.00489203 -0.23295639] [ 0.00712013 -0.00495202 0.99996239 -0.18758058] [ 0. 0. 0. 1. ]] SLAMing on 178.099928851 meters Centerline goodness [0,1] 0.6621021546538335 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.23, Z:-0.19 [[ 0.99995886 -0.00569871 -0.0070577 0.67701841] [ 0.00574668 0.99996041 0.00679401 -0.22743388] [ 0.0070187 -0.00683429 0.99995201 -0.18705576] [ 0. 0. 0. 1. ]] SLAMing on 178.129928851 meters Centerline goodness [0,1] 0.6721487386124737 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.23, Z:-0.19 [[ 0.99995749 -0.00585565 -0.00712213 0.67694336] [ 0.00589957 0.99996361 0.00616184 -0.22567014] [ 0.00708579 -0.00620359 0.99995565 -0.18662887] [ 0. 0. 0. 1. ]] SLAMing on 178.159928851 meters Centerline goodness [0,1] 0.6750317522883545 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.22, Z:-0.19 [[ 0.99995573 -0.00608787 -0.00717467 0.67684308] [ 0.0061273 0.99996618 0.00548584 -0.22385582] [ 0.00714103 -0.00552956 0.99995921 -0.1861748 ] [ 0. 0. 0. 1. ]] SLAMing on 178.18992885099996 meters Centerline goodness [0,1] 0.6750317522883545 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.22, Z:-0.19 [[ 0.99995573 -0.00608787 -0.00717467 0.67684308] [ 0.0061273 0.99996618 0.00548584 -0.22385582] [ 0.00714103 -0.00552956 0.99995921 -0.1861748 ] [ 0. 0. 0. 1. ]] SLAMing on 178.21992885099996 meters Centerline goodness [0,1] 0.6750317522883545 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.22, Z:-0.19 [[ 0.99995573 -0.00608787 -0.00717467 0.67684308] [ 0.0061273 0.99996618 0.00548584 -0.22385582] [ 0.00714103 -0.00552956 0.99995921 -0.1861748 ] [ 0. 0. 0. 1. ]] SLAMing on 178.24992885099996 meters Centerline goodness [0,1] 0.675088273351317 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.22, Z:-0.19 [[ 0.99995453 -0.00618844 -0.00725547 0.67688228] [ 0.00622429 0.99996848 0.00492894 -0.22197371] [ 0.00722474 -0.00497388 0.99996153 -0.18583764] [ 0. 0. 0. 1. ]] SLAMing on 178.27992885099997 meters Centerline goodness [0,1] 0.6908951294427381 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.22, Z:-0.19 [[ 0.99995367 -0.00616111 -0.00739633 0.67709496] [ 0.00619469 0.99997057 0.00452615 -0.22029868] [ 0.00736823 -0.00457176 0.9999624 -0.18560755] [ 0. 0. 0. 1. ]] SLAMing on 178.30992885099997 meters Centerline goodness [0,1] 0.6815169205109073 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.22, Z:-0.19 [[ 0.99995378 -0.00609208 -0.00743856 0.67736716] [ 0.0061208 0.99997388 0.00384451 -0.21742673] [ 0.00741495 -0.00388986 0.99996494 -0.18542455] [ 0. 0. 0. 1. ]] SLAMing on 178.33992885099997 meters Centerline goodness [0,1] 0.6831935356374336 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.22, Z:-0.19 [[ 0.99995279 -0.00618196 -0.00749682 0.67738351] [ 0.00620799 0.99997477 0.00345392 -0.21601379] [ 0.00747527 -0.0035003 0.99996593 -0.18515853] [ 0. 0. 0. 1. ]] SLAMing on 178.36992885099997 meters Centerline goodness [0,1] 0.6701137538779731 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.18 [[ 0.99995157 -0.00628178 -0.00757634 0.67744027] [ 0.00630496 0.9999755 0.00303925 -0.21441754] [ 0.00755707 -0.00308687 0.99996668 -0.18493051] [ 0. 0. 0. 1. ]] SLAMing on 178.39992885099997 meters Centerline goodness [0,1] 0.6796172038279618 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.19 [[ 0.99995183 -0.00602656 -0.00774675 0.6782654 ] [ 0.00605077 0.99997687 0.00310598 -0.21363322] [ 0.00772785 -0.0031527 0.99996517 -0.18545968] [ 0. 0. 0. 1. ]] SLAMing on 178.42992885099997 meters Centerline goodness [0,1] 0.702310799178971 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.19 [[ 0.99995221 -0.0060275 -0.00769675 0.67866865] [ 0.00604832 0.99997811 0.00268431 -0.21154101] [ 0.0076804 -0.00273074 0.99996678 -0.1859135 ] [ 0. 0. 0. 1. ]] SLAMing on 178.45992885099997 meters Centerline goodness [0,1] 0.6860817111165123 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.19 [[ 0.99995189 -0.00604126 -0.00772758 0.67903218] [ 0.00606134 0.99997831 0.00257803 -0.21066832] [ 0.00771184 -0.00262474 0.99996682 -0.18629417] [ 0. 0. 0. 1. ]] SLAMing on 178.48992885099997 meters Centerline goodness [0,1] 0.680682847110267 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.19 [[ 0.99995128 -0.00591396 -0.00790291 0.67992713] [ 0.00593525 0.99997881 0.00267393 -0.21011239] [ 0.00788693 -0.00272071 0.9999652 -0.18699646] [ 0. 0. 0. 1. ]] SLAMing on 178.51992885099997 meters Centerline goodness [0,1] 0.6807777286787451 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.19 [[ 0.99995253 -0.00583057 -0.0078069 0.68029451] [ 0.00585278 0.99997888 0.00282532 -0.20980696] [ 0.00779026 -0.00287087 0.99996553 -0.18771306] [ 0. 0. 0. 1. ]] SLAMing on 178.54992885099998 meters Centerline goodness [0,1] 0.690675810197987 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.19 [[ 0.99995185 -0.00603023 -0.00774141 0.6807202 ] [ 0.00605039 0.99997836 0.00258358 -0.20825461] [ 0.00772566 -0.0026303 0.9999667 -0.18845114] [ 0. 0. 0. 1. ]] SLAMing on 178.57992885099998 meters Centerline goodness [0,1] 0.6870333857639734 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.19 [[ 0.9999515 -0.00620852 -0.00764541 0.68062546] [ 0.00622728 0.99997765 0.00243224 -0.20756992] [ 0.00763013 -0.00247973 0.99996782 -0.18864064] [ 0. 0. 0. 1. ]] SLAMing on 178.60992885099998 meters Centerline goodness [0,1] 0.6809034088390442 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.19 [[ 0.99995087 -0.00631952 -0.00763713 0.68086699] [ 0.00633779 0.99997711 0.00237019 -0.20714547] [ 0.00762198 -0.00241848 0.99996803 -0.18898313] [ 0. 0. 0. 1. ]] SLAMing on 178.63992885099998 meters Centerline goodness [0,1] 0.6776324540013301 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.19 [[ 0.99995087 -0.00642545 -0.0075483 0.68100232] [ 0.00644408 0.99997624 0.00244657 -0.20693482] [ 0.0075324 -0.00249509 0.99996852 -0.18949866] [ 0. 0. 0. 1. ]] SLAMing on 178.66992885099998 meters Centerline goodness [0,1] 0.6839392054039641 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.19 [[ 0.9999505 -0.00657101 -0.00747139 0.68109514] [ 0.00658874 0.99997553 0.00235156 -0.20663127] [ 0.00745576 -0.00240067 0.99996932 -0.18985102] [ 0. 0. 0. 1. ]] SLAMing on 178.69992885099998 meters Centerline goodness [0,1] 0.6719886148851482 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.19 [[ 0.99994809 -0.00719023 -0.00721868 0.68072548] [ 0.00720193 0.99997279 0.001596 -0.20452088] [ 0.00720701 -0.0016479 0.99997267 -0.19004311] [ 0. 0. 0. 1. ]] SLAMing on 178.72992885099998 meters Centerline goodness [0,1] 0.6738602703725975 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.19 [[ 0.99994768 -0.0071784 -0.00728751 0.68111466] [ 0.00718889 0.99997316 0.00141431 -0.20323901] [ 0.00727717 -0.00146663 0.99997245 -0.19033163] [ 0. 0. 0. 1. ]] SLAMing on 178.75992885099998 meters Centerline goodness [0,1] 0.6766548502887209 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.19 [[ 0.99994723 -0.00721994 -0.00730788 0.68130612] [ 0.00722769 0.99997334 0.0010356 -0.20151367] [ 0.00730021 -0.00108836 0.99997276 -0.19040567] [ 0. 0. 0. 1. ]] SLAMing on 178.78992885099998 meters Centerline goodness [0,1] 0.6687294743191617 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.19 [[ 9.99946623e-01 -7.24833821e-03 -7.36294573e-03 6.81471920e-01] [ 7.25426239e-03 9.99973385e-01 7.78205098e-04 -2.00004006e-01] [ 7.35710907e-03 -8.31576300e-04 9.99972590e-01 -1.90416650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.819928851 meters Centerline goodness [0,1] 0.6681351611244046 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.19 [[ 9.99944156e-01 -7.71964874e-03 -7.21747620e-03 6.80822241e-01] [ 7.71891264e-03 9.99970200e-01 -1.29839231e-04 -1.96933187e-01] [ 7.21826344e-03 7.41209121e-05 9.99973945e-01 -1.89708079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.849928851 meters Centerline goodness [0,1] 0.6659720821850283 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.19 [[ 9.99942999e-01 -7.87858082e-03 -7.20599410e-03 6.80939399e-01] [ 7.87765318e-03 9.99968958e-01 -1.57105619e-04 -1.96498779e-01] [ 7.20700818e-03 1.00330342e-04 9.99974024e-01 -1.89954528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.879928851 meters Centerline goodness [0,1] 0.6771327544534956 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.19 [[ 9.99942621e-01 -7.88046889e-03 -7.25616532e-03 6.81541125e-01] [ 7.88072586e-03 9.99968947e-01 6.82148822e-06 -1.96567642e-01] [ 7.25588623e-03 -6.40049465e-05 9.99973674e-01 -1.90681216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.909928851 meters Centerline goodness [0,1] 0.6617112875016817 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.19 [[ 9.99938216e-01 -8.80848305e-03 -6.78052894e-03 6.80742147e-01] [ 8.80730848e-03 9.99961194e-01 -2.03068601e-04 -1.96801185e-01] [ 6.78205454e-03 1.43337845e-04 9.99976991e-01 -1.91274235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.93992885099996 meters Centerline goodness [0,1] 0.651752891598673 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.19 [[ 9.99935922e-01 -9.24127829e-03 -6.53834136e-03 6.80371929e-01] [ 9.24085824e-03 9.99957298e-01 -9.44534251e-05 -1.97463492e-01] [ 6.53893503e-03 3.40274871e-05 9.99978620e-01 -1.91683734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.96992885099996 meters Centerline goodness [0,1] 0.630272063107884 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.19 [[ 9.99932691e-01 -9.77175161e-03 -6.25516062e-03 6.79650420e-01] [ 9.77095332e-03 9.99952251e-01 -1.58169763e-04 -1.97923449e-01] [ 6.25640754e-03 9.70402338e-05 9.99980424e-01 -1.91756024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.99992885099996 meters Centerline goodness [0,1] 0.6456730014135386 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.19 [[ 9.99930898e-01 -1.00768623e-02 -6.05438482e-03 6.79316923e-01] [ 1.00767998e-02 9.99949227e-01 -4.08400887e-05 -1.98468277e-01] [ 6.05448896e-03 -2.01715569e-05 9.99981671e-01 -1.92070184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.02992885099997 meters Centerline goodness [0,1] 0.6405878926378994 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.19 [[ 9.99930535e-01 -1.01433027e-02 -6.00323142e-03 6.79427625e-01] [ 1.01444789e-02 9.99948530e-01 1.65517430e-04 -1.98968413e-01] [ 6.00124354e-03 -2.26405587e-04 9.99981967e-01 -1.92470859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.05992885099997 meters Centerline goodness [0,1] 0.6346683999372437 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.19 [[ 9.99927177e-01 -1.06153799e-02 -5.74057402e-03 6.78844799e-01] [ 1.06147445e-02 9.99943652e-01 -1.41148833e-04 -1.98465270e-01] [ 5.74174890e-03 8.02038281e-05 9.99983513e-01 -1.92485866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.08992885099997 meters Centerline goodness [0,1] 0.6293244729811642 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.19 [[ 9.99928587e-01 -1.04849417e-02 -5.73477420e-03 6.79082494e-01] [ 1.04855838e-02 9.99945021e-01 8.19040576e-05 -1.98479180e-01] [ 5.73360015e-03 -1.42030664e-04 9.99983553e-01 -1.92860060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.11992885099997 meters Centerline goodness [0,1] 0.6370825026321094 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.19 [[ 9.99930781e-01 -1.02306496e-02 -5.81098129e-03 6.79783442e-01] [ 1.02331897e-02 9.99947556e-01 4.07557199e-04 -1.98539728e-01] [ 5.80650697e-03 -4.66993862e-04 9.99983033e-01 -1.93591307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.14992885099997 meters Centerline goodness [0,1] 0.6422667445307937 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.19 [[ 9.99932970e-01 -9.96906949e-03 -5.88836101e-03 6.80264900e-01] [ 9.97326181e-03 9.99950033e-01 6.83033233e-04 -1.98442337e-01] [ 5.88125758e-03 -7.41713615e-04 9.99982430e-01 -1.94028869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.17992885099997 meters Centerline goodness [0,1] 0.6431005874702902 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.19 [[ 0.99993493 -0.0096784 -0.00603799 0.68097724] [ 0.00968487 0.99995256 0.00104285 -0.19875676] [ 0.00602761 -0.00110126 0.99998123 -0.19456494] [ 0. 0. 0. 1. ]] SLAMing on 179.20992885099997 meters Centerline goodness [0,1] 0.6369755440879515 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.19 [[ 0.99993563 -0.00970577 -0.00587623 0.68079068] [ 0.00971355 0.99995198 0.00129617 -0.19962695] [ 0.00586337 -0.00135316 0.99998189 -0.19484573] [ 0. 0. 0. 1. ]] SLAMing on 179.23992885099997 meters Centerline goodness [0,1] 0.6367505095527135 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.20 [[ 0.99993591 -0.00963266 -0.00594868 0.68101932] [ 0.00964235 0.99995223 0.00160091 -0.20035826] [ 0.00593298 -0.00165816 0.99998102 -0.19504599] [ 0. 0. 0. 1. ]] SLAMing on 179.26992885099997 meters Centerline goodness [0,1] 0.6352118045433139 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.20 [[ 0.99993671 -0.00963112 -0.00581581 0.68081644] [ 0.00964223 0.99995174 0.00188435 -0.20103545] [ 0.00579738 -0.00194031 0.99998131 -0.19524071] [ 0. 0. 0. 1. ]] SLAMing on 179.29992885099998 meters Centerline goodness [0,1] 0.631967598290407 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.20 [[ 0.99993782 -0.00954213 -0.00577154 0.6809793 ] [ 0.00955577 0.9999516 0.00234053 -0.20236717] [ 0.00574893 -0.00239553 0.99998061 -0.19564973] [ 0. 0. 0. 1. ]] SLAMing on 179.32992885099998 meters Centerline goodness [0,1] 0.6311759833441537 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.20 [[ 0.99993802 -0.00959447 -0.00564792 0.6808138 ] [ 0.00960926 0.99995046 0.00259733 -0.20319363] [ 0.00562272 -0.00265144 0.99998068 -0.19586856] [ 0. 0. 0. 1. ]] SLAMing on 179.35992885099998 meters Centerline goodness [0,1] 0.628842138350659 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:-0.20 [[ 0.99993752 -0.00968257 -0.00558686 0.68069714] [ 0.00969785 0.99994929 0.00271359 -0.20371525] [ 0.0055603 -0.0027676 0.99998071 -0.1959757 ] [ 0. 0. 0. 1. ]] SLAMing on 179.38992885099998 meters Centerline goodness [0,1] 0.6278066980942381 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.20 [[ 0.99993732 -0.00970218 -0.00558787 0.68091958] [ 0.00972052 0.99994742 0.00326557 -0.20530074] [ 0.0055559 -0.00331969 0.99997906 -0.19649625] [ 0. 0. 0. 1. ]] SLAMing on 179.41992885099998 meters Centerline goodness [0,1] 0.6213757181499118 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.20 [[ 0.99993756 -0.00974526 -0.00546867 0.68077583] [ 0.00976476 0.99994602 0.00355118 -0.20659046] [ 0.00543376 -0.00360436 0.99997874 -0.19671788] [ 0. 0. 0. 1. ]] SLAMing on 179.44992885099998 meters Centerline goodness [0,1] 0.6201189783960281 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.20 [[ 0.99993901 -0.00963399 -0.00539985 0.68092567] [ 0.00965562 0.99994541 0.00399389 -0.20797042] [ 0.00536108 -0.00404579 0.99997744 -0.1971861 ] [ 0. 0. 0. 1. ]] SLAMing on 179.47992885099998 meters Centerline goodness [0,1] 0.6255205767766782 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.20 [[ 0.99993875 -0.00971897 -0.00529542 0.68076987] [ 0.00974095 0.99994399 0.00414001 -0.20881595] [ 0.00525489 -0.00419134 0.99997741 -0.1973415 ] [ 0. 0. 0. 1. ]] SLAMing on 179.50992885099998 meters Centerline goodness [0,1] 0.6245277535600116 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.20 [[ 0.99994087 -0.00953308 -0.00523175 0.68099436] [ 0.00955677 0.99994411 0.00452162 -0.20970372] [ 0.00518836 -0.00457135 0.99997609 -0.19779744] [ 0. 0. 0. 1. ]] SLAMing on 179.53992885099998 meters Centerline goodness [0,1] 0.6276793513561941 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.20 [[ 0.99994275 -0.00921741 -0.00543509 0.68147807] [ 0.0092431 0.99994614 0.00472124 -0.20991948] [ 0.00539128 -0.00477121 0.99997408 -0.19780046] [ 0. 0. 0. 1. ]] SLAMing on 179.569928851 meters Centerline goodness [0,1] 0.6205393077542259 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.20 [[ 0.99994416 -0.00891422 -0.00567568 0.68214868] [ 0.00894134 0.99994864 0.0047709 -0.20953644] [ 0.00563286 -0.00482138 0.99997251 -0.19789498] [ 0. 0. 0. 1. ]] SLAMing on 179.599928851 meters Centerline goodness [0,1] 0.6314176416634975 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.20 [[ 0.99994663 -0.00854666 -0.0058045 0.68272901] [ 0.008575 0.99995135 0.00487484 -0.20909231] [ 0.00576256 -0.00492436 0.99997127 -0.19815699] [ 0. 0. 0. 1. ]] SLAMing on 179.629928851 meters Centerline goodness [0,1] 0.6232830745827926 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.21, Z:-0.20 [[ 0.99994924 -0.00800844 -0.00611436 0.68373123] [ 0.00803958 0.99995475 0.00508557 -0.20879862] [ 0.00607336 -0.00513447 0.99996838 -0.19845813] [ 0. 0. 0. 1. ]] SLAMing on 179.659928851 meters Centerline goodness [0,1] 0.6344542509216847 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.20 [[ 0.99995648 -0.00670909 -0.0064824 0.68523079] [ 0.00674438 0.99996247 0.00543727 -0.20781748] [ 0.00644568 -0.00548076 0.99996421 -0.19881728] [ 0. 0. 0. 1. ]] SLAMing on 179.68992885099996 meters Centerline goodness [0,1] 0.6348234242288779 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.20 [[ 0.99995885 -0.00619287 -0.0066292 0.685801 ] [ 0.00622906 0.99996573 0.00545268 -0.2070367 ] [ 0.0065952 -0.00549375 0.99996316 -0.19885834] [ 0. 0. 0. 1. ]] SLAMing on 179.71992885099996 meters Centerline goodness [0,1] 0.6413583284864213 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.20 [[ 0.99995998 -0.00571547 -0.00688338 0.68641966] [ 0.00575273 0.99996884 0.00540613 -0.2061784 ] [ 0.00685227 -0.00544551 0.9999617 -0.19869254] [ 0. 0. 0. 1. ]] SLAMing on 179.74992885099996 meters Centerline goodness [0,1] 0.6402863214405548 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.20 [[ 0.99996084 -0.00529131 -0.00709343 0.68698503] [ 0.00532918 0.99997159 0.00533069 -0.2054642 ] [ 0.00706502 -0.00536828 0.99996063 -0.19860015] [ 0. 0. 0. 1. ]] SLAMing on 179.77992885099997 meters Centerline goodness [0,1] 0.6392639957073869 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.20, Z:-0.20 [[ 0.99996457 -0.00418337 -0.00730444 0.68797466] [ 0.00422324 0.99997623 0.0054507 -0.2042132 ] [ 0.00728146 -0.00548136 0.99995847 -0.19869503] [ 0. 0. 0. 1. ]] SLAMing on 179.80992885099997 meters Centerline goodness [0,1] 0.6392639957073869 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.20, Z:-0.20 [[ 0.99996457 -0.00418337 -0.00730444 0.68797466] [ 0.00422324 0.99997623 0.0054507 -0.2042132 ] [ 0.00728146 -0.00548136 0.99995847 -0.19869503] [ 0. 0. 0. 1. ]] SLAMing on 179.83992885099997 meters Centerline goodness [0,1] 0.638585682716132 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.20, Z:-0.20 [[ 0.99996398 -0.00386459 -0.00755715 0.68866652] [ 0.00390479 0.99997827 0.00531214 -0.20351483] [ 0.00753646 -0.00534146 0.99995733 -0.1986615 ] [ 0. 0. 0. 1. ]] SLAMing on 179.86992885099997 meters Centerline goodness [0,1] 0.6395291590207224 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.20, Z:-0.20 [[ 0.99996398 -0.00371669 -0.00762994 0.6888434 ] [ 0.00375594 0.99997975 0.00513711 -0.2028573 ] [ 0.00761069 -0.00516558 0.9999577 -0.19852893] [ 0. 0. 0. 1. ]] SLAMing on 179.89992885099997 meters Centerline goodness [0,1] 0.6364531578711785 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.20, Z:-0.20 [[ 0.99996459 -0.00361992 -0.00759658 0.6887488 ] [ 0.00365791 0.99998085 0.00499291 -0.20243428] [ 0.00757836 -0.00502052 0.99995868 -0.19834988] [ 0. 0. 0. 1. ]] SLAMing on 179.92992885099997 meters Centerline goodness [0,1] 0.6589324545474926 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.20, Z:-0.20 [[ 0.99996428 -0.00368947 -0.0076048 0.68872515] [ 0.00372735 0.99998069 0.00497258 -0.20273796] [ 0.00758631 -0.00500075 0.99995872 -0.19829389] [ 0. 0. 0. 1. ]] SLAMing on 179.95992885099997 meters Centerline goodness [0,1] 0.655909650005591 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.20, Z:-0.20 [[ 0.99996444 -0.00375328 -0.00755222 0.68888103] [ 0.00379137 0.99998013 0.00503625 -0.20335687] [ 0.00753317 -0.0050647 0.9999588 -0.19863821] [ 0. 0. 0. 1. ]] SLAMing on 179.98992885099997 meters Centerline goodness [0,1] 0.6537782446416199 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.20, Z:-0.20 [[ 0.99996427 -0.00384844 -0.00752684 0.68886552] [ 0.00388702 0.99997935 0.00511832 -0.20425216] [ 0.00750699 -0.00514739 0.99995857 -0.19872432] [ 0. 0. 0. 1. ]] SLAMing on 180.01992885099997 meters Centerline goodness [0,1] 0.653891680625349 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.20 [[ 0.99996332 -0.0041664 -0.0074833 0.688768 ] [ 0.004207 0.99997648 0.00541721 -0.20653203] [ 0.00746055 -0.00544849 0.99995733 -0.19893441] [ 0. 0. 0. 1. ]] SLAMing on 180.04992885099998 meters Centerline goodness [0,1] 0.6406117436927885 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.20 [[ 0.99996304 -0.0045041 -0.00732343 0.68820851] [ 0.00454353 0.99997522 0.00537667 -0.20741876] [ 0.00729903 -0.00540975 0.99995873 -0.19872737] [ 0. 0. 0. 1. ]] SLAMing on 180.07992885099998 meters Centerline goodness [0,1] 0.6460721773653924 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.20 [[ 0.99996269 -0.00477687 -0.0071978 0.68780735] [ 0.00481583 0.99997379 0.00540537 -0.20840509] [ 0.00717179 -0.00543983 0.99995949 -0.19858755] [ 0. 0. 0. 1. ]] SLAMing on 180.10992885099998 meters Centerline goodness [0,1] 0.6457757159425461 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.20 [[ 0.99996172 -0.00510392 -0.00710685 0.68736905] [ 0.0051417 0.99997269 0.005309 -0.20916786] [ 0.00707955 -0.00534534 0.99996065 -0.19830944] [ 0. 0. 0. 1. ]] SLAMing on 180.13992885099998 meters Centerline goodness [0,1] 0.6419944942722671 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.20 [[ 0.99993831 -0.00806474 -0.00763755 0.68954857] [ 0.00808257 0.99996467 0.00230723 -0.20993091] [ 0.00761867 -0.00236882 0.99996817 -0.19943854] [ 0. 0. 0. 1. ]] SLAMing on 180.16992885099998 meters Centerline goodness [0,1] 0.6462752946408716 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.20 [[ 0.99993792 -0.00832456 -0.0074063 0.68891792] [ 0.00834254 0.99996232 0.00239959 -0.21081088] [ 0.00738605 -0.00246123 0.99996969 -0.19937854] [ 0. 0. 0. 1. ]] SLAMing on 180.19992885099998 meters Centerline goodness [0,1] 0.6467715801389475 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.20 [[ 0.99993689 -0.00851453 -0.00732931 0.68870781] [ 0.0085329 0.99996052 0.00247871 -0.21150315] [ 0.00730791 -0.00254109 0.99997007 -0.1993802 ] [ 0. 0. 0. 1. ]] SLAMing on 180.22992885099998 meters Centerline goodness [0,1] 0.635665794027599 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.20 [[ 0.9999376 -0.00850958 -0.00723803 0.68869425] [ 0.00853044 0.99995954 0.00285558 -0.21248923] [ 0.00721344 -0.00291715 0.99996973 -0.19971455] [ 0. 0. 0. 1. ]] SLAMing on 180.25992885099998 meters Centerline goodness [0,1] 0.649695997861963 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.20 [[ 0.99993334 -0.00927509 -0.00687611 0.68727318] [ 0.00929342 0.99995333 0.00263859 -0.21390362] [ 0.00685131 -0.00270231 0.99997288 -0.19902156] [ 0. 0. 0. 1. ]] SLAMing on 180.28992885099998 meters Centerline goodness [0,1] 0.6321056134901264 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.20 [[ 0.99993326 -0.00925363 -0.00691717 0.68745698] [ 0.00927409 0.9999527 0.00293126 -0.21485172] [ 0.00688972 -0.00299522 0.99997178 -0.19921331] [ 0. 0. 0. 1. ]] SLAMing on 180.319928851 meters Centerline goodness [0,1] 0.6334508525687931 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.22, Z:-0.20 [[ 0.99993395 -0.0092219 -0.00685955 0.68724321] [ 0.00924399 0.99995217 0.0031959 -0.21582915] [ 0.00682975 -0.0032591 0.99997137 -0.1990779 ] [ 0. 0. 0. 1. ]] SLAMing on 180.349928851 meters Centerline goodness [0,1] 0.6388674161273936 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.22, Z:-0.20 [[ 0.99993528 -0.00895092 -0.00702216 0.68785135] [ 0.00897652 0.99995315 0.00362294 -0.2168673 ] [ 0.0069894 -0.00368574 0.99996878 -0.19941507] [ 0. 0. 0. 1. ]] SLAMing on 180.379928851 meters Centerline goodness [0,1] 0.6312125698879583 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.22, Z:-0.20 [[ 0.99993602 -0.00890138 -0.00698075 0.68772339] [ 0.00892786 0.99995303 0.00377135 -0.21754927] [ 0.00694685 -0.00383344 0.99996852 -0.19933118] [ 0. 0. 0. 1. ]] SLAMing on 180.409928851 meters Centerline goodness [0,1] 0.6287581699346405 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.22, Z:-0.20 [[ 0.99993695 -0.00875599 -0.0070309 0.68781795] [ 0.00878444 0.99995331 0.00402549 -0.21819856] [ 0.00699532 -0.004087 0.99996718 -0.19934313] [ 0. 0. 0. 1. ]] SLAMing on 180.43992885099996 meters Centerline goodness [0,1] 0.6314175399889685 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.22, Z:-0.20 [[ 0.99993695 -0.00865239 -0.00715743 0.68818002] [ 0.00868197 0.99995385 0.00411241 -0.21843812] [ 0.00712152 -0.00417429 0.99996593 -0.19939636] [ 0. 0. 0. 1. ]] SLAMing on 180.46992885099996 meters Centerline goodness [0,1] 0.6345457755804714 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.22, Z:-0.20 [[ 0.99993761 -0.00853248 -0.00720979 0.68821016] [ 0.00856517 0.99995313 0.00451434 -0.21949255] [ 0.00717093 -0.00457581 0.99996382 -0.19933263] [ 0. 0. 0. 1. ]] SLAMing on 180.49992885099996 meters Centerline goodness [0,1] 0.6362413146575494 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.22, Z:-0.20 [[ 0.9999393 -0.00842197 -0.00710345 0.68822392] [ 0.00845655 0.99995247 0.00485221 -0.22070487] [ 0.00706224 -0.00491199 0.999963 -0.19960117] [ 0. 0. 0. 1. ]] SLAMing on 180.52992885099997 meters Centerline goodness [0,1] 0.6413825047421589 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.22, Z:-0.20 [[ 0.99994022 -0.00837974 -0.00702448 0.68823678] [ 0.00841599 0.99995134 0.00514718 -0.22200254] [ 0.006981 -0.00520599 0.99996208 -0.19985812] [ 0. 0. 0. 1. ]] SLAMing on 180.55992885099997 meters Centerline goodness [0,1] 0.6365793636843031 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.23, Z:-0.20 [[ 0.99994074 -0.00831532 -0.00702658 0.68847968] [ 0.00835563 0.99994869 0.00572657 -0.22503889] [ 0.0069786 -0.00578495 0.99995892 -0.20024702] [ 0. 0. 0. 1. ]] SLAMing on 180.58992885099997 meters Centerline goodness [0,1] 0.6346830985915493 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.23, Z:-0.20 [[ 0.99994111 -0.00838181 -0.0068937 0.68817115] [ 0.00842294 0.99994677 0.00595872 -0.22621532] [ 0.00684338 -0.00601643 0.99995848 -0.20027796] [ 0. 0. 0. 1. ]] SLAMing on 180.61992885099997 meters Centerline goodness [0,1] 0.6394529449213004 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.23, Z:-0.20 [[ 0.99994116 -0.0083402 -0.00693679 0.68838636] [ 0.00838314 0.99994573 0.00618497 -0.22705017] [ 0.00688483 -0.00624276 0.99995681 -0.20045942] [ 0. 0. 0. 1. ]] SLAMing on 180.64992885099997 meters Centerline goodness [0,1] 0.6432866611069656 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.23, Z:-0.20 [[ 0.99994087 -0.00835188 -0.0069648 0.68854032] [ 0.00839573 0.99994497 0.00629022 -0.22743036] [ 0.00691188 -0.00634833 0.99995596 -0.20061355] [ 0. 0. 0. 1. ]] SLAMing on 180.67992885099997 meters Centerline goodness [0,1] 0.647315745577455 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.23, Z:-0.20 [[ 0.99994088 -0.00836672 -0.00694564 0.68840565] [ 0.00841275 0.99994266 0.00662518 -0.22973263] [ 0.00688982 -0.00668322 0.99995393 -0.20051327] [ 0. 0. 0. 1. ]] SLAMing on 180.70992885099997 meters Centerline goodness [0,1] 0.6328075433722025 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.23, Z:-0.20 [[ 0.99994077 -0.00841465 -0.00690327 0.68834247] [ 0.00846164 0.99994104 0.00680577 -0.23117317] [ 0.00684559 -0.00686378 0.99995301 -0.20056897] [ 0. 0. 0. 1. ]] SLAMing on 180.73992885099997 meters Centerline goodness [0,1] 0.6360962217283306 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.23, Z:-0.20 [[ 0.99994123 -0.00829494 -0.00698003 0.68861788] [ 0.00834494 0.99993951 0.00716502 -0.2327102 ] [ 0.00692018 -0.00722285 0.99994997 -0.20077029] [ 0. 0. 0. 1. ]] SLAMing on 180.76992885099997 meters Centerline goodness [0,1] 0.636316019205587 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.23, Z:-0.20 [[ 0.9999408 -0.00839585 -0.00692167 0.68828793] [ 0.00844548 0.99993862 0.00717148 -0.2333235 ] [ 0.00686103 -0.00722951 0.99995033 -0.20050637] [ 0. 0. 0. 1. ]] SLAMing on 180.79992885099998 meters Centerline goodness [0,1] 0.635457124154484 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.23, Z:-0.20 [[ 0.99994114 -0.00832958 -0.00695259 0.68824782] [ 0.00837991 0.99993866 0.00724195 -0.23384627] [ 0.00689184 -0.00729979 0.99994961 -0.20026484] [ 0. 0. 0. 1. ]] SLAMing on 180.82992885099998 meters Centerline goodness [0,1] 0.6403923705722071 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.23, Z:-0.20 [[ 0.99994144 -0.00823355 -0.00702305 0.68785899] [ 0.0082852 0.99993861 0.00735715 -0.23470494] [ 0.00696204 -0.00741491 0.99994827 -0.19945122] [ 0. 0. 0. 1. ]] SLAMing on 180.85992885099998 meters Centerline goodness [0,1] 0.6372423101203822 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.24, Z:-0.20 [[ 0.99994119 -0.0082697 -0.00701652 0.68757723] [ 0.00832179 0.99993779 0.00742711 -0.2354733 ] [ 0.00695466 -0.00748506 0.9999478 -0.19910956] [ 0. 0. 0. 1. ]] SLAMing on 180.88992885099998 meters Centerline goodness [0,1] 0.635410092921028 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.24, Z:-0.20 [[ 0.99994068 -0.00829604 -0.00705713 0.68738247] [ 0.00834877 0.9999372 0.00747616 -0.23650261] [ 0.00699467 -0.00753464 0.99994715 -0.19869383] [ 0. 0. 0. 1. ]] SLAMing on 180.91992885099998 meters Centerline goodness [0,1] 0.6421466423421076 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.24, Z:-0.20 [[ 0.99994022 -0.00832889 -0.00708416 0.68736305] [ 0.00838326 0.99993536 0.00768134 -0.23782591] [ 0.00701973 -0.00774027 0.9999454 -0.19864959] [ 0. 0. 0. 1. ]] SLAMing on 180.94992885099998 meters Centerline goodness [0,1] 0.6349612722657352 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.24, Z:-0.20 [[ 0.99994055 -0.00833498 -0.00703062 0.68736719] [ 0.00839077 0.99993324 0.00794391 -0.23933152] [ 0.00696394 -0.00800243 0.99994373 -0.19884837] [ 0. 0. 0. 1. ]] SLAMing on 180.97992885099998 meters Centerline goodness [0,1] 0.6308801871263969 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.24, Z:-0.20 [[ 0.99994014 -0.00846497 -0.00693267 0.68722808] [ 0.00852236 0.99992931 0.00829142 -0.24154463] [ 0.00686199 -0.00835001 0.99994159 -0.19904431] [ 0. 0. 0. 1. ]] SLAMing on 181.00992885099998 meters Centerline goodness [0,1] 0.6325832232353642 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.24, Z:-0.20 [[ 0.99993957 -0.00859211 -0.00685827 0.68694289] [ 0.00864956 0.99992738 0.00839144 -0.24247897] [ 0.00678567 -0.00845025 0.99994127 -0.19890692] [ 0. 0. 0. 1. ]] SLAMing on 181.03992885099998 meters Centerline goodness [0,1] 0.6445866482186096 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.24, Z:-0.20 [[ 0.99993806 -0.00880163 -0.00681191 0.68660869] [ 0.00885868 0.99992555 0.00839112 -0.24344574] [ 0.00673755 -0.00845095 0.99994159 -0.19864677] [ 0. 0. 0. 1. ]] SLAMing on 181.069928851 meters Centerline goodness [0,1] 0.6479405602712802 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.25, Z:-0.20 [[ 0.99993523 -0.00930306 -0.00655668 0.68535091] [ 0.00935801 0.99992094 0.00839937 -0.24567667] [ 0.00647802 -0.00846018 0.99994323 -0.19778292] [ 0. 0. 0. 1. ]] SLAMing on 181.099928851 meters Centerline goodness [0,1] 0.6428895269759709 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.25, Z:-0.20 [[ 0.99993494 -0.00943507 -0.00641063 0.68485905] [ 0.0094902 0.99991779 0.00862316 -0.24720355] [ 0.00632874 -0.00868344 0.99994227 -0.19757468] [ 0. 0. 0. 1. ]] SLAMing on 181.129928851 meters Centerline goodness [0,1] 0.6350707836841991 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.25, Z:-0.20 [[ 0.99993281 -0.00970354 -0.00634197 0.68436693] [ 0.00975878 0.99991419 0.00873921 -0.24893899] [ 0.00625662 -0.00880051 0.9999417 -0.19717139] [ 0. 0. 0. 1. ]] SLAMing on 181.159928851 meters Centerline goodness [0,1] 0.6449259769323463 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.25, Z:-0.20 [[ 0.99989501 -0.01295323 -0.00649475 0.68487917] [ 0.01299108 0.99989867 0.00582037 -0.25152946] [ 0.0064187 -0.00590413 0.99996197 -0.19719957] [ 0. 0. 0. 1. ]] SLAMing on 181.18992885099996 meters Centerline goodness [0,1] 0.6518087300223406 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.25, Z:-0.20 [[ 0.99989334 -0.01318504 -0.00628227 0.68432257] [ 0.01322426 0.99989307 0.00624252 -0.25363625] [ 0.00619929 -0.00632494 0.99996078 -0.19717647] [ 0. 0. 0. 1. ]] SLAMing on 181.21992885099996 meters Centerline goodness [0,1] 0.6311681070532478 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.26, Z:-0.20 [[ 0.99989115 -0.01341364 -0.00614473 0.68400231] [ 0.01345481 0.99988698 0.00670815 -0.2557468 ] [ 0.00605406 -0.0067901 0.99995862 -0.19730505] [ 0. 0. 0. 1. ]] SLAMing on 181.24992885099996 meters Centerline goodness [0,1] 0.6303122522020531 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.26, Z:-0.20 [[ 0.99988776 -0.01376359 -0.00591824 0.68324259] [ 0.01380458 0.99988061 0.00694196 -0.25776384] [ 0.00582198 -0.00702288 0.99995839 -0.19703289] [ 0. 0. 0. 1. ]] SLAMing on 181.27992885099997 meters Centerline goodness [0,1] 0.6328854766474727 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.26, Z:-0.20 [[ 0.99983811 -0.01692727 -0.00610099 0.68425295] [ 0.0169545 0.99984641 0.00443799 -0.2610308 ] [ 0.00602493 -0.00454071 0.99997154 -0.19772518] [ 0. 0. 0. 1. ]] SLAMing on 181.30992885099997 meters Centerline goodness [0,1] 0.6218750666013086 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.26, Z:-0.20 [[ 0.99983589 -0.01710323 -0.00597297 0.68375111] [ 0.01713305 0.99984083 0.00497769 -0.26395206] [ 0.00588688 -0.00507921 0.99996977 -0.19757142] [ 0. 0. 0. 1. ]] SLAMing on 181.33992885099997 meters Centerline goodness [0,1] 0.6323218518439429 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.27, Z:-0.20 [[ 0.99982859 -0.01762499 -0.00567032 0.68257833] [ 0.01765386 0.99983124 0.00508307 -0.26629081] [ 0.00557977 -0.0051823 0.999971 -0.19700733] [ 0. 0. 0. 1. ]] SLAMing on 181.36992885099997 meters Centerline goodness [0,1] 0.6176953066746202 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.27, Z:-0.20 [[ 0.99981333 -0.01854325 -0.00542748 0.68166291] [ 0.01857104 0.99981445 0.00511647 -0.2704198 ] [ 0.00533159 -0.00521631 0.99997218 -0.1966728 ] [ 0. 0. 0. 1. ]] SLAMing on 181.39992885099997 meters Centerline goodness [0,1] 0.6260721506863893 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.27, Z:-0.20 [[ 0.99981641 -0.01837807 -0.00542162 0.68180656] [ 0.01840904 0.99981418 0.0057202 -0.27224146] [ 0.00531549 -0.00581896 0.99996894 -0.19695033] [ 0. 0. 0. 1. ]] SLAMing on 181.42992885099997 meters Centerline goodness [0,1] 0.6282010345488218 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.27, Z:-0.20 [[ 0.99981889 -0.01825214 -0.00539001 0.68178888] [ 0.01828563 0.99981339 0.00623037 -0.27405077] [ 0.00527529 -0.00632781 0.99996606 -0.1970729 ] [ 0. 0. 0. 1. ]] SLAMing on 181.45992885099997 meters Centerline goodness [0,1] 0.6225810558479036 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.28, Z:-0.20 [[ 0.9998249 -0.01792771 -0.00536379 0.68201735] [ 0.01796437 0.99981504 0.00686759 -0.27576268] [ 0.00523968 -0.00696274 0.99996203 -0.197434 ] [ 0. 0. 0. 1. ]] SLAMing on 181.48992885099997 meters Centerline goodness [0,1] 0.6199252590453541 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.28, Z:-0.20 [[ 0.99983608 -0.01726696 -0.0054465 0.68231246] [ 0.01730903 0.99981996 0.00777476 -0.27804463] [ 0.00531127 -0.00786776 0.99995494 -0.19753209] [ 0. 0. 0. 1. ]] SLAMing on 181.51992885099997 meters Centerline goodness [0,1] 0.6182543556225197 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.28, Z:-0.20 [[ 0.99984331 -0.01680979 -0.00554866 0.68266909] [ 0.01685529 0.99982383 0.00825843 -0.27887218] [ 0.00540886 -0.00835066 0.9999505 -0.19767557] [ 0. 0. 0. 1. ]] SLAMing on 181.54992885099998 meters Centerline goodness [0,1] 0.6165867933330507 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.28, Z:-0.20 [[ 0.99984899 -0.01640335 -0.00573831 0.68305776] [ 0.01645242 0.99982758 0.00861027 -0.2796195 ] [ 0.00559608 -0.00870338 0.99994647 -0.19760351] [ 0. 0. 0. 1. ]] SLAMing on 181.57992885099998 meters Centerline goodness [0,1] 0.6175460174739164 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.28, Z:-0.20 [[ 0.9998565 -0.01588388 -0.00588928 0.68351304] [ 0.0159368 0.99983204 0.00905003 -0.28029239] [ 0.00574454 -0.00914258 0.99994171 -0.19771097] [ 0. 0. 0. 1. ]] SLAMing on 181.60992885099998 meters Centerline goodness [0,1] 0.6256087748274255 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.28, Z:-0.20 [[ 0.99987005 -0.01494718 -0.00603901 0.68384025] [ 0.01500472 0.99984135 0.0095981 -0.28070644] [ 0.00589459 -0.00968746 0.9999357 -0.19749788] [ 0. 0. 0. 1. ]] SLAMing on 181.63992885099998 meters Centerline goodness [0,1] 0.6256040695209835 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.28, Z:-0.20 [[ 0.99987456 -0.01459284 -0.00615767 0.68402032] [ 0.0146532 0.99984387 0.00987479 -0.28120635] [ 0.0060126 -0.00996378 0.99993228 -0.19731761] [ 0. 0. 0. 1. ]] SLAMing on 181.66992885099998 meters Centerline goodness [0,1] 0.6256622165713075 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.28, Z:-0.20 [[ 0.99987796 -0.0143439 -0.00618932 0.68408104] [ 0.01440591 0.9998453 0.01009219 -0.28194906] [ 0.0060436 -0.01018012 0.99992992 -0.19722602] [ 0. 0. 0. 1. ]] SLAMing on 181.69992885099998 meters Centerline goodness [0,1] 0.6148734445102852 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.28, Z:-0.20 [[ 0.99988145 -0.01408132 -0.00622944 0.68419275] [ 0.0141456 0.99984587 0.01039853 -0.28296498] [ 0.00608206 -0.01048541 0.99992653 -0.19719477] [ 0. 0. 0. 1. ]] SLAMing on 181.72992885099998 meters Centerline goodness [0,1] 0.6148734445102852 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.28, Z:-0.20 [[ 0.99988145 -0.01408132 -0.00622944 0.68419275] [ 0.0141456 0.99984587 0.01039853 -0.28296498] [ 0.00608206 -0.01048541 0.99992653 -0.19719477] [ 0. 0. 0. 1. ]] SLAMing on 181.75992885099998 meters Centerline goodness [0,1] 0.6324365450049665 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.28, Z:-0.20 [[ 0.9998886 -0.01353516 -0.00629173 0.68455832] [ 0.01360395 0.9998467 0.01102293 -0.28495776] [ 0.00614157 -0.0111073 0.99991945 -0.19737895] [ 0. 0. 0. 1. ]] SLAMing on 181.78992885099998 meters Centerline goodness [0,1] 0.6133403693931399 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.29, Z:-0.20 [[ 0.99989095 -0.01333031 -0.00635512 0.68479563] [ 0.01340155 0.99984632 0.01130198 -0.28592047] [ 0.00620349 -0.01138592 0.99991594 -0.1974758 ] [ 0. 0. 0. 1. ]] SLAMing on 181.819928851 meters Centerline goodness [0,1] 0.6130087823002871 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.29, Z:-0.20 [[ 0.99989284 -0.01315215 -0.00642848 0.6851593 ] [ 0.01322578 0.99984583 0.01154984 -0.28674938] [ 0.00627559 -0.01163363 0.99991263 -0.19771057] [ 0. 0. 0. 1. ]] SLAMing on 181.849928851 meters Centerline goodness [0,1] 0.6513135664808245 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.29, Z:-0.20 [[ 0.99989425 -0.01300845 -0.0065016 0.6854832 ] [ 0.0130842 0.99984539 0.01174744 -0.28730124] [ 0.00634778 -0.01183126 0.99990986 -0.19792349] [ 0. 0. 0. 1. ]] SLAMing on 181.879928851 meters Centerline goodness [0,1] 0.6433099484405376 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.29, Z:-0.20 [[ 0.99989626 -0.01277129 -0.0066603 0.68591981] [ 0.0128503 0.99984592 0.01195873 -0.28778108] [ 0.00650655 -0.01204308 0.99990631 -0.19803015] [ 0. 0. 0. 1. ]] SLAMing on 181.909928851 meters Centerline goodness [0,1] 0.6442947368421053 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.29, Z:-0.20 [[ 0.99990061 -0.01234507 -0.00681016 0.68646758] [ 0.01242785 0.99984773 0.01224997 -0.28819944] [ 0.0066579 -0.01233339 0.99990178 -0.198167 ] [ 0. 0. 0. 1. ]] SLAMing on 181.93992885099996 meters Centerline goodness [0,1] 0.6547619047619048 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.29, Z:-0.20 [[ 0.99989978 -0.01234108 -0.00693799 0.68648934] [ 0.01242471 0.99984908 0.01214281 -0.28834138] [ 0.00678709 -0.0122278 0.9999022 -0.19778772] [ 0. 0. 0. 1. ]] SLAMing on 181.96992885099996 meters Centerline goodness [0,1] 0.6539401086636061 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.29, Z:-0.20 [[ 0.99989772 -0.01249868 -0.00695287 0.68631807] [ 0.0125808 0.9998501 0.01189526 -0.28844258] [ 0.00680315 -0.01198152 0.99990508 -0.19745014] [ 0. 0. 0. 1. ]] SLAMing on 181.99992885099996 meters Centerline goodness [0,1] 0.6402753145849168 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.29, Z:-0.20 [[ 0.99989494 -0.01278617 -0.006828 0.68569028] [ 0.01286533 0.99984904 0.01167823 -0.28878384] [ 0.00667764 -0.01176485 0.99990849 -0.19694682] [ 0. 0. 0. 1. ]] SLAMing on 182.02992885099997 meters Centerline goodness [0,1] 0.6588175611405864 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.29, Z:-0.20 [[ 0.9998913 -0.01312915 -0.00670991 0.68488186] [ 0.01320575 0.99984664 0.01150209 -0.289932 ] [ 0.00655787 -0.01158944 0.99991134 -0.19612676] [ 0. 0. 0. 1. ]] SLAMing on 182.05992885099997 meters Centerline goodness [0,1] 0.6403579116194656 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.29, Z:-0.20 [[ 0.99988955 -0.01330372 -0.00662574 0.68460463] [ 0.0133779 0.99984688 0.01128023 -0.28995286] [ 0.00647465 -0.01136762 0.99991442 -0.19592894] [ 0. 0. 0. 1. ]] SLAMing on 182.08992885099997 meters Centerline goodness [0,1] 0.6469681614728486 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.29, Z:-0.20 [[ 0.99988878 -0.01340121 -0.00654528 0.68438559] [ 0.01347422 0.99984604 0.01124013 -0.29032364] [ 0.00639364 -0.01132707 0.99991541 -0.19579114] [ 0. 0. 0. 1. ]] SLAMing on 182.11992885099997 meters Centerline goodness [0,1] 0.6595573950502576 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.29, Z:-0.20 [[ 0.99988839 -0.01341396 -0.0065788 0.68457288] [ 0.01348657 0.99984724 0.01111829 -0.29017949] [ 0.00642866 -0.01120578 0.99991655 -0.19587764] [ 0. 0. 0. 1. ]] SLAMing on 182.14992885099997 meters Centerline goodness [0,1] 0.6483453784709015 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.29, Z:-0.20 [[ 0.99988784 -0.01345137 -0.00658536 0.68463389] [ 0.01352331 0.99984801 0.01100369 -0.29013774] [ 0.00643635 -0.01109151 0.99991777 -0.19585656] [ 0. 0. 0. 1. ]] SLAMing on 182.17992885099997 meters Centerline goodness [0,1] 0.6499978873536992 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.29, Z:-0.20 [[ 0.99988707 -0.01349441 -0.0066142 0.6847415 ] [ 0.01356595 0.99984864 0.01089308 -0.2900293 ] [ 0.0064662 -0.01098157 0.99991879 -0.19588082] [ 0. 0. 0. 1. ]] SLAMing on 182.20992885099997 meters Centerline goodness [0,1] 0.6455664140827828 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.29, Z:-0.20 [[ 0.99988551 -0.01357926 -0.00667578 0.6847545 ] [ 0.01364985 0.99985017 0.01064477 -0.289799 ] [ 0.00653024 -0.01073468 0.99992106 -0.19566764] [ 0. 0. 0. 1. ]] SLAMing on 182.23992885099997 meters Centerline goodness [0,1] 0.654054964016666 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.29, Z:-0.20 [[ 0.99988389 -0.01372343 -0.00662303 0.68474033] [ 0.01379183 0.99985085 0.01039526 -0.28946706] [ 0.00647938 -0.0104854 0.99992403 -0.19567659] [ 0. 0. 0. 1. ]] SLAMing on 182.26992885099997 meters Centerline goodness [0,1] 0.6503998143342405 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.29, Z:-0.20 [[ 0.99988167 -0.01389283 -0.0066059 0.68454122] [ 0.01395987 0.99985039 0.01021354 -0.28921203] [ 0.00646301 -0.01030455 0.99992602 -0.19543511] [ 0. 0. 0. 1. ]] SLAMing on 182.29992885099998 meters Centerline goodness [0,1] 0.6475311120032116 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.29, Z:-0.19 [[ 0.99987764 -0.01421184 -0.00653609 0.68406679] [ 0.01427616 0.99984906 0.00990152 -0.28909934] [ 0.00639439 -0.00999362 0.99992962 -0.19493349] [ 0. 0. 0. 1. ]] SLAMing on 182.32992885099998 meters Centerline goodness [0,1] 0.6665188189076163 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.29, Z:-0.19 [[ 0.99987556 -0.01437075 -0.0065077 0.68392639] [ 0.01443436 0.99984745 0.00983522 -0.28943715] [ 0.00636537 -0.00992793 0.99993046 -0.1947774 ] [ 0. 0. 0. 1. ]] SLAMing on 182.35992885099998 meters Centerline goodness [0,1] 0.6554971389962205 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.29, Z:-0.19 [[ 0.99987039 -0.01481472 -0.00630265 0.68334177] [ 0.01487509 0.99984287 0.00964171 -0.29022981] [ 0.00615882 -0.00973421 0.99993365 -0.19450765] [ 0. 0. 0. 1. ]] SLAMing on 182.38992885099998 meters Centerline goodness [0,1] 0.6446011366028205 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.29, Z:-0.19 [[ 0.99986771 -0.01500149 -0.00628658 0.68332076] [ 0.01506054 0.99984188 0.00945443 -0.29025734] [ 0.00614376 -0.00954786 0.99993554 -0.19446987] [ 0. 0. 0. 1. ]] SLAMing on 182.41992885099998 meters Centerline goodness [0,1] 0.6619733153468372 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.29, Z:-0.19 [[ 0.99986676 -0.01506342 -0.00628944 0.68337991] [ 0.01512167 0.99984222 0.00932039 -0.29000178] [ 0.00614805 -0.00941425 0.99993678 -0.194478 ] [ 0. 0. 0. 1. ]] SLAMing on 182.44992885099998 meters Centerline goodness [0,1] 0.6629113736763121 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.29, Z:-0.19 [[ 0.99986528 -0.01515773 -0.00629804 0.68343071] [ 0.01521412 0.99984371 0.00900448 -0.28889296] [ 0.00616057 -0.00909909 0.99993963 -0.1944819 ] [ 0. 0. 0. 1. ]] SLAMing on 182.47992885099998 meters Centerline goodness [0,1] 0.6620279587576696 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.29, Z:-0.19 [[ 0.99986845 -0.01489052 -0.00643011 0.6841718 ] [ 0.01494638 0.9998502 0.00872862 -0.28684604] [ 0.00629917 -0.00882357 0.99994123 -0.19493403] [ 0. 0. 0. 1. ]] SLAMing on 182.50992885099998 meters Centerline goodness [0,1] 0.6633577628994445 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.29, Z:-0.20 [[ 0.99987063 -0.01469608 -0.00653894 0.68459565] [ 0.01475135 0.99985518 0.00848655 -0.28549146] [ 0.00641328 -0.00858191 0.99994261 -0.19505659] [ 0. 0. 0. 1. ]] SLAMing on 182.53992885099998 meters Centerline goodness [0,1] 0.6649147247551503 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.28, Z:-0.19 [[ 0.99987061 -0.01467452 -0.00658958 0.68475809] [ 0.01472782 0.99985861 0.00811446 -0.28401243] [ 0.00646958 -0.00821046 0.99994536 -0.19499422] [ 0. 0. 0. 1. ]] SLAMing on 182.569928851 meters Centerline goodness [0,1] 0.670760060872506 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.28, Z:-0.20 [[ 0.99987067 -0.01466076 -0.00661105 0.6848861 ] [ 0.0147126 0.99986086 0.00786163 -0.28276312] [ 0.00649487 -0.00795788 0.99994724 -0.19502299] [ 0. 0. 0. 1. ]] SLAMing on 182.599928851 meters Centerline goodness [0,1] 0.6514296582768021 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.28, Z:-0.19 [[ 0.99987353 -0.01445306 -0.00663514 0.68509001] [ 0.01450032 0.99986943 0.00713126 -0.27900129] [ 0.00653121 -0.00722657 0.99995256 -0.19486962] [ 0. 0. 0. 1. ]] SLAMing on 182.629928851 meters Centerline goodness [0,1] 0.66830248545743 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.28, Z:-0.20 [[ 0.99987308 -0.01444562 -0.00671934 0.68546831] [ 0.01449062 0.99987258 0.00669707 -0.27689078] [ 0.00662174 -0.00679358 0.999955 -0.19502102] [ 0. 0. 0. 1. ]] SLAMing on 182.65992885099996 meters Centerline goodness [0,1] 0.6668362048869392 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.27, Z:-0.19 [[ 0.99987088 -0.01456831 -0.00678159 0.68556887] [ 0.01460949 0.99987489 0.00606293 -0.27474557] [ 0.00669242 -0.00616122 0.99995862 -0.19486031] [ 0. 0. 0. 1. ]] SLAMing on 182.68992885099996 meters Centerline goodness [0,1] 0.6517665554823769 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.27, Z:-0.19 [[ 0.99986913 -0.01466728 -0.00682638 0.68580908] [ 0.01470529 0.99987646 0.00555221 -0.27258276] [ 0.00674411 -0.00565186 0.99996129 -0.19498899] [ 0. 0. 0. 1. ]] SLAMing on 182.71992885099996 meters Centerline goodness [0,1] 0.6511084685296866 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.27, Z:-0.20 [[ 0.99987022 -0.01460781 -0.00679413 0.68627641] [ 0.01464011 0.99988164 0.00472992 -0.26786563] [ 0.00672423 -0.00482877 0.99996573 -0.19543921] [ 0. 0. 0. 1. ]] SLAMing on 182.74992885099996 meters Centerline goodness [0,1] 0.6576999957470335 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.27, Z:-0.20 [[ 0.99986716 -0.01473149 -0.00697414 0.68691681] [ 0.01476068 0.99988244 0.00415132 -0.2653769 ] [ 0.00691216 -0.00425371 0.99996706 -0.1957536 ] [ 0. 0. 0. 1. ]] SLAMing on 182.77992885099997 meters Centerline goodness [0,1] 0.6597641338423151 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.26, Z:-0.20 [[ 0.99986641 -0.01471584 -0.00711366 0.68754281] [ 0.01474176 0.99988483 0.00360519 -0.26292528] [ 0.00705979 -0.00370958 0.9999682 -0.19609731] [ 0. 0. 0. 1. ]] SLAMing on 182.80992885099997 meters Centerline goodness [0,1] 0.6769631162403738 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.26, Z:-0.20 [[ 0.99986747 -0.01452044 -0.00736154 0.68859845] [ 0.01454457 0.99988899 0.00323533 -0.26042583] [ 0.00731375 -0.00334197 0.99996767 -0.19666988] [ 0. 0. 0. 1. ]] SLAMing on 182.83992885099997 meters Centerline goodness [0,1] 0.6685236768802229 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.26, Z:-0.20 [[ 0.99990664 -0.01173047 -0.00700735 0.68779381] [ 0.01176799 0.99991651 0.00533725 -0.25581069] [ 0.00694416 -0.00541921 0.9999612 -0.19663059] [ 0. 0. 0. 1. ]] SLAMing on 182.86992885099997 meters Centerline goodness [0,1] 0.6761042629686698 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.25, Z:-0.20 [[ 0.99990737 -0.01155806 -0.00718803 0.68862813] [ 0.01159299 0.9999211 0.00483667 -0.2528695 ] [ 0.00713156 -0.00491956 0.99996247 -0.19706532] [ 0. 0. 0. 1. ]] SLAMing on 182.89992885099997 meters Centerline goodness [0,1] 0.6626782459526107 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.25, Z:-0.20 [[ 0.99990761 -0.0113966 -0.00740891 0.68936299] [ 0.01142829 0.99992566 0.00424969 -0.2498491 ] [ 0.00735993 -0.00433396 0.99996352 -0.19719118] [ 0. 0. 0. 1. ]] SLAMing on 182.92992885099997 meters Centerline goodness [0,1] 0.6810563956744646 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.25, Z:-0.20 [[ 0.9999367 -0.00865065 -0.00719461 0.68853856] [ 0.00869715 0.99994133 0.00645716 -0.24558418] [ 0.00713833 -0.00651932 0.99995327 -0.1968557 ] [ 0. 0. 0. 1. ]] SLAMing on 182.95992885099997 meters Centerline goodness [0,1] 0.668139875819248 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.24, Z:-0.20 [[ 0.9999348 -0.00875141 -0.0073353 0.68909538] [ 0.00879533 0.99994346 0.00597691 -0.24353294] [ 0.00728258 -0.00604104 0.99995523 -0.19715982] [ 0. 0. 0. 1. ]] SLAMing on 182.98992885099997 meters Centerline goodness [0,1] 0.6777492502535114 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.24, Z:-0.20 [[ 0.99993322 -0.0088332 -0.00745168 0.68977916] [ 0.008875 0.99994496 0.00559516 -0.24203182] [ 0.00740185 -0.00566092 0.99995658 -0.19762929] [ 0. 0. 0. 1. ]] SLAMing on 183.01992885099997 meters Centerline goodness [0,1] 0.6677353667518738 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.24, Z:-0.20 [[ 0.99992789 -0.00969635 -0.00708455 0.68895689] [ 0.00972803 0.99994277 0.00445188 -0.2388652 ] [ 0.00704098 -0.00452048 0.99996499 -0.19752574] [ 0. 0. 0. 1. ]] SLAMing on 183.04992885099998 meters Centerline goodness [0,1] 0.6621683093252464 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.24, Z:-0.20 [[ 0.999925 -0.00994984 -0.00714159 0.68915944] [ 0.00997904 0.99994195 0.00406435 -0.23733081] [ 0.00710074 -0.00413531 0.99996624 -0.19766399] [ 0. 0. 0. 1. ]] SLAMing on 183.07992885099998 meters Centerline goodness [0,1] 0.660014286023507 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.24, Z:-0.20 [[ 0.99992311 -0.01022136 -0.00702173 0.68912682] [ 0.01024718 0.99994083 0.00364998 -0.23579417] [ 0.006984 -0.00372165 0.99996869 -0.19789447] [ 0. 0. 0. 1. ]] SLAMing on 183.10992885099998 meters Centerline goodness [0,1] 0.6657846794482519 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.23, Z:-0.20 [[ 0.99992024 -0.01056655 -0.00691869 0.68894518] [ 0.01058887 0.99993883 0.00319714 -0.23425701] [ 0.00688449 -0.00327015 0.99997095 -0.19794964] [ 0. 0. 0. 1. ]] SLAMing on 183.13992885099998 meters Centerline goodness [0,1] 0.6612043263476312 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.23, Z:-0.20 [[ 0.99991592 -0.01108234 -0.00673258 0.68872624] [ 0.0110985 0.99993561 0.00236777 -0.23109416] [ 0.00670591 -0.00244229 0.99997453 -0.19809258] [ 0. 0. 0. 1. ]] SLAMing on 183.16992885099998 meters Centerline goodness [0,1] 0.6584642880495194 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.23, Z:-0.20 [[ 0.99991602 -0.01095827 -0.0069191 0.68959379] [ 0.01097493 0.99993695 0.00237553 -0.23018129] [ 0.00689263 -0.00245127 0.99997324 -0.19873028] [ 0. 0. 0. 1. ]] SLAMing on 183.19992885099998 meters Centerline goodness [0,1] 0.6433470507544581 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.23, Z:-0.20 [[ 0.99991528 -0.01094355 -0.00704832 0.69022414] [ 0.01095927 0.99993753 0.00219589 -0.22912124] [ 0.00702385 -0.00227294 0.99997275 -0.19915886] [ 0. 0. 0. 1. ]] SLAMing on 183.22992885099998 meters Centerline goodness [0,1] 0.6455588145164821 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.23, Z:-0.20 [[ 0.99991331 -0.01107021 -0.00712835 0.6906391 ] [ 0.01108376 0.99993683 0.00186536 -0.22772818] [ 0.00710725 -0.0019442 0.99997285 -0.19948713] [ 0. 0. 0. 1. ]] SLAMing on 183.25992885099998 meters Centerline goodness [0,1] 0.6547572048953809 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.22, Z:-0.20 [[ 0.99991122 -0.01113684 -0.00731608 0.69150413] [ 0.01114591 0.99993716 0.00120085 -0.22430711] [ 0.00730225 -0.00128229 0.99997252 -0.19996005] [ 0. 0. 0. 1. ]] SLAMing on 183.28992885099998 meters Centerline goodness [0,1] 0.6673479254571026 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.22, Z:-0.20 [[ 9.99910056e-01 -1.10737940e-02 -7.56646120e-03 6.92313005e-01] [ 1.10803387e-02 9.99938272e-01 8.23580685e-04 -2.22110598e-01] [ 7.55687397e-03 -9.07345562e-04 9.99971035e-01 -2.00248470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.319928851 meters Centerline goodness [0,1] 0.6465176532583875 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.22, Z:-0.20 [[ 9.99908931e-01 -1.10311699e-02 -7.77446255e-03 6.93098369e-01] [ 1.10350120e-02 9.99939010e-01 4.51472108e-04 -2.19934276e-01] [ 7.76900812e-03 -5.37222280e-04 9.99969676e-01 -2.00630351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.349928851 meters Centerline goodness [0,1] 0.661897109648447 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.22, Z:-0.20 [[ 9.99907260e-01 -1.09571399e-02 -8.08785384e-03 6.94296395e-01] [ 1.09558592e-02 9.99939962e-01 -2.02639262e-04 -2.16246438e-01] [ 8.08958861e-03 1.14011082e-04 9.99967272e-01 -2.01179037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.379928851 meters Centerline goodness [0,1] 0.6465924649971291 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.20 [[ 9.99904783e-01 -1.11075124e-02 -8.18834044e-03 6.94449335e-01] [ 1.11025931e-02 9.99938156e-01 -6.45980959e-04 -2.14572249e-01] [ 8.19500928e-03 5.55007638e-04 9.99966266e-01 -2.01074948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.40992885099996 meters Centerline goodness [0,1] 0.6496063860283579 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.20 [[ 9.99903146e-01 -1.11666881e-02 -8.30687748e-03 6.95017449e-01] [ 1.11586090e-02 9.99937222e-01 -1.01828881e-03 -2.12878502e-01] [ 8.31772691e-03 9.25496984e-04 9.99964979e-01 -2.01382746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.43992885099996 meters Centerline goodness [0,1] 0.64300050728953 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.20 [[ 0.99990232 -0.01109223 -0.00850377 0.69573884] [ 0.01108227 0.99993785 -0.00121724 -0.21127296] [ 0.00851674 0.00112288 0.9999631 -0.20173431] [ 0. 0. 0. 1. ]] SLAMing on 183.46992885099996 meters Centerline goodness [0,1] 0.6465726786582402 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.21, Z:-0.20 [[ 0.99992889 -0.00848073 -0.00838451 0.69499376] [ 0.00849751 0.99996196 0.00196756 -0.21134751] [ 0.0083675 -0.00203866 0.99996291 -0.20171393] [ 0. 0. 0. 1. ]] SLAMing on 183.49992885099996 meters Centerline goodness [0,1] 0.6421444725289345 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.20 [[ 0.99992859 -0.00835028 -0.00854969 0.6959393 ] [ 0.00836451 0.99996369 0.00162947 -0.20844363] [ 0.00853578 -0.00170086 0.99996212 -0.20235478] [ 0. 0. 0. 1. ]] SLAMing on 183.52992885099997 meters Centerline goodness [0,1] 0.6435845665727408 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.20 [[ 0.99992798 -0.00834342 -0.00862697 0.69629305] [ 0.00835576 0.99996412 0.00139487 -0.20701233] [ 0.00861503 -0.00146685 0.99996181 -0.20256841] [ 0. 0. 0. 1. ]] SLAMing on 183.55992885099997 meters Centerline goodness [0,1] 0.6623943035157989 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.20 [[ 0.9999275 -0.00816964 -0.00884626 0.69707581] [ 0.00818121 0.99996572 0.00127307 -0.20570787] [ 0.00883556 -0.00134536 0.99996006 -0.20293561] [ 0. 0. 0. 1. ]] SLAMing on 183.58992885099997 meters Centerline goodness [0,1] 0.6600026656004265 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.20 [[ 0.99992702 -0.00794083 -0.00910497 0.69805335] [ 0.00795323 0.99996749 0.00132717 -0.20477023] [ 0.00909414 -0.00139948 0.99995767 -0.20345738] [ 0. 0. 0. 1. ]] SLAMing on 183.61992885099997 meters Centerline goodness [0,1] 0.6600026656004265 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.20 [[ 0.99992702 -0.00794083 -0.00910497 0.69805335] [ 0.00795323 0.99996749 0.00132717 -0.20477023] [ 0.00909414 -0.00139948 0.99995767 -0.20345738] [ 0. 0. 0. 1. ]] SLAMing on 183.64992885099997 meters Centerline goodness [0,1] 0.6520505718370264 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.20 [[ 9.99924726e-01 -8.15142812e-03 -9.17042517e-03 6.98291343e-01] [ 8.15813162e-03 9.99966481e-01 6.93820895e-04 -2.02338251e-01] [ 9.16446216e-03 -7.68582204e-04 9.99957710e-01 -2.03494776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.67992885099997 meters Centerline goodness [0,1] 0.6502009825815096 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.20 [[ 9.99924158e-01 -7.98479046e-03 -9.37662103e-03 6.99092699e-01] [ 7.99148687e-03 9.99967838e-01 6.76910033e-04 -2.01376021e-01] [ 9.37091448e-03 -7.51791839e-04 9.99955809e-01 -2.03938434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.70992885099997 meters Centerline goodness [0,1] 0.6489040820430323 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.20 [[ 9.99923438e-01 -7.94829372e-03 -9.48378719e-03 6.99415136e-01] [ 7.95400635e-03 9.99968207e-01 5.64791790e-04 -2.00343304e-01] [ 9.47899653e-03 -6.40182652e-04 9.99954868e-01 -2.04026990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.73992885099997 meters Centerline goodness [0,1] 0.649312860915887 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.20 [[ 9.99922097e-01 -7.88632345e-03 -9.67502734e-03 6.99759869e-01] [ 7.89069319e-03 9.99968782e-01 4.13561989e-04 -1.99506048e-01] [ 9.67146383e-03 -4.89872444e-04 9.99953110e-01 -2.03863347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.76992885099997 meters Centerline goodness [0,1] 0.6526436111795952 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.20 [[ 9.99921104e-01 -7.83945802e-03 -9.81469445e-03 7.00427556e-01] [ 7.84200263e-03 9.99969227e-01 2.20807469e-04 -1.97754543e-01] [ 9.81266141e-03 -2.97756908e-04 9.99951810e-01 -2.04333236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.79992885099998 meters Centerline goodness [0,1] 0.6433873825382942 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.20 [[ 9.99919766e-01 -7.83186235e-03 -9.95609082e-03 7.00881838e-01] [ 7.83221334e-03 9.99969328e-01 -3.73699255e-06 -1.96496745e-01] [ 9.95581471e-03 -7.42415346e-05 9.99950437e-01 -2.04498775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.82992885099998 meters Centerline goodness [0,1] 0.6529237402317435 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.20 [[ 9.99919156e-01 -7.51012508e-03 -1.02606196e-02 7.01951935e-01] [ 7.51083071e-03 9.99971793e-01 3.02378519e-05 -1.95539830e-01] [ 1.02601031e-02 -1.07301184e-04 9.99947358e-01 -2.04934652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.85992885099998 meters Centerline goodness [0,1] 0.6513765601766323 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.21 [[ 0.99993621 -0.00518741 -0.0100337 0.70273554] [ 0.00520812 0.99998436 0.00203901 -0.19357301] [ 0.01002297 -0.00209114 0.99994758 -0.20622866] [ 0. 0. 0. 1. ]] SLAMing on 183.88992885099998 meters Centerline goodness [0,1] 0.6511554574530385 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.21 [[ 0.99993493 -0.00479776 -0.01034994 0.70393999] [ 0.00481785 0.99998656 0.00191683 -0.19194096] [ 0.01034061 -0.00196657 0.9999446 -0.20674536] [ 0. 0. 0. 1. ]] SLAMing on 183.91992885099998 meters Centerline goodness [0,1] 0.6588979223125564 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.21 [[ 0.99993307 -0.00453178 -0.01064514 0.70490516] [ 0.00454867 0.99998843 0.00156254 -0.18990839] [ 0.01063794 -0.00161085 0.99994212 -0.20694938] [ 0. 0. 0. 1. ]] SLAMing on 183.94992885099998 meters Centerline goodness [0,1] 0.636001629032988 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.21 [[ 0.99993116 -0.00382488 -0.01109246 0.7066423 ] [ 0.00384486 0.99999102 0.00178041 -0.18852529] [ 0.01108555 -0.00182294 0.99993689 -0.20779208] [ 0. 0. 0. 1. ]] SLAMing on 183.97992885099998 meters Centerline goodness [0,1] 0.6828718975362286 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.21 [[ 9.99939794e-01 -5.10564822e-04 -1.09612125e-02 7.06114936e-01] [ 5.62113900e-04 9.99988796e-01 4.70029721e-03 -1.86418697e-01] [ 1.09586899e-02 -4.70617567e-03 9.99928877e-01 -2.07501542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.00992885099998 meters Centerline goodness [0,1] 0.6580681818181818 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 9.99935423e-01 -3.49516744e-04 -1.13590251e-02 7.07113282e-01] [ 3.98017051e-04 9.99990814e-01 4.26777952e-03 -1.84595798e-01] [ 1.13574291e-02 -4.27202500e-03 9.99926377e-01 -2.07453924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03992885099998 meters Centerline goodness [0,1] 0.6744069799145688 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 9.99931591e-01 -7.10043473e-05 -1.16965475e-02 7.08243404e-01] [ 1.18555443e-04 9.99991732e-01 4.06475264e-03 -1.83261841e-01] [ 1.16961622e-02 -4.06586127e-03 9.99923331e-01 -2.07761206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.069928851 meters Centerline goodness [0,1] 0.6741491011953645 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 9.99929100e-01 -1.29933592e-04 -1.19070710e-02 7.08571351e-01] [ 1.71665120e-04 9.99993847e-01 3.50381358e-03 -1.81531983e-01] [ 1.19065424e-02 -3.50560919e-03 9.99922970e-01 -2.07435181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.099928851 meters Centerline goodness [0,1] 0.6762857860945461 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 9.99927203e-01 -2.78177838e-04 -1.20627660e-02 7.08872264e-01] [ 3.10844753e-04 9.99996290e-01 2.70628798e-03 -1.78769874e-01] [ 1.20619685e-02 -2.70984062e-03 9.99923580e-01 -2.07119875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.129928851 meters Centerline goodness [0,1] 0.6766478040734037 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 9.99926793e-01 -4.23437733e-04 -1.20924953e-02 7.08856917e-01] [ 4.52303550e-04 9.99997055e-01 2.38445018e-03 -1.77930982e-01] [ 1.20914500e-02 -2.38974510e-03 9.99924040e-01 -2.06928437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15992885099996 meters Centerline goodness [0,1] 0.6724655618969034 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 9.99928670e-01 -6.60771092e-04 -1.19254977e-02 7.08686991e-01] [ 6.85942185e-04 9.99997546e-01 2.10672859e-03 -1.77199615e-01] [ 1.19240764e-02 -2.11475852e-03 9.99926669e-01 -2.07116513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.18992885099996 meters Centerline goodness [0,1] 0.6674248690377722 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 9.99928792e-01 -8.36430679e-04 -1.19042174e-02 7.08795999e-01] [ 8.59789246e-04 9.99997715e-01 1.95722689e-03 -1.76527763e-01] [ 1.19025531e-02 -1.96732264e-03 9.99927227e-01 -2.07294400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.21992885099996 meters Centerline goodness [0,1] 0.669539833586172 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 0.99993029 -0.00105102 -0.01176044 0.70861434] [ 0.00107357 0.9999976 0.00191132 -0.17630599] [ 0.0117584 -0.00192381 0.99992902 -0.20752331] [ 0. 0. 0. 1. ]] SLAMing on 184.24992885099996 meters Centerline goodness [0,1] 0.666029655553509 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 0.99993192 -0.00140649 -0.01158389 0.70820743] [ 0.00142646 0.99999751 0.00171661 -0.17607269] [ 0.01158145 -0.00173302 0.99993143 -0.20755677] [ 0. 0. 0. 1. ]] SLAMing on 184.27992885099997 meters Centerline goodness [0,1] 0.6703172813657594 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 0.99993406 -0.00160629 -0.01137064 0.70799656] [ 0.00162679 0.99999707 0.00179358 -0.17634346] [ 0.01136772 -0.00181196 0.99993374 -0.20796702] [ 0. 0. 0. 1. ]] SLAMing on 184.30992885099997 meters Centerline goodness [0,1] 0.6593267527208302 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 0.99993493 -0.00176599 -0.01127009 0.70803355] [ 0.00178851 0.99999642 0.00198843 -0.17675756] [ 0.01126654 -0.00200845 0.99993451 -0.20846963] [ 0. 0. 0. 1. ]] SLAMing on 184.33992885099997 meters Centerline goodness [0,1] 0.6459694487899144 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 0.99993736 -0.00261233 -0.01088366 0.70706968] [ 0.00263266 0.99999482 0.00185428 -0.17735199] [ 0.01087876 -0.00188282 0.99993905 -0.20872197] [ 0. 0. 0. 1. ]] SLAMing on 184.36992885099997 meters Centerline goodness [0,1] 0.6495683321087435 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 0.9999372 -0.00276348 -0.01086049 0.70732848] [ 0.00278565 0.99999407 0.00202638 -0.17797389] [ 0.01085482 -0.00205651 0.99993897 -0.20925293] [ 0. 0. 0. 1. ]] SLAMing on 184.39992885099997 meters Centerline goodness [0,1] 0.649264891977084 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 0.99993859 -0.00334831 -0.01056457 0.70637206] [ 0.00336734 0.99999274 0.00178383 -0.17803784] [ 0.01055852 -0.0018193 0.9999426 -0.20901031] [ 0. 0. 0. 1. ]] SLAMing on 184.42992885099997 meters Centerline goodness [0,1] 0.6502885521808107 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 0.99993956 -0.00372758 -0.01034327 0.70587386] [ 0.00374537 0.99999154 0.00170041 -0.17829317] [ 0.01033685 -0.00173905 0.99994506 -0.20911003] [ 0. 0. 0. 1. ]] SLAMing on 184.45992885099997 meters Centerline goodness [0,1] 0.6491373551701103 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 0.99993864 -0.00410369 -0.01028958 0.70596315] [ 0.00412188 0.99998998 0.00174773 -0.17840912] [ 0.0102823 -0.00179004 0.99994553 -0.20965028] [ 0. 0. 0. 1. ]] SLAMing on 184.48992885099997 meters Centerline goodness [0,1] 0.6446909300982091 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 0.99993889 -0.00402823 -0.01029511 0.70637649] [ 0.00404839 0.99998993 0.00193788 -0.17828314] [ 0.0102872 -0.00197944 0.99994513 -0.2102326 ] [ 0. 0. 0. 1. ]] SLAMing on 184.51992885099997 meters Centerline goodness [0,1] 0.6475150619791787 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 0.99993807 -0.00415031 -0.01032593 0.70649705] [ 0.0041685 0.9999898 0.00174049 -0.17758587] [ 0.0103186 -0.00178342 0.99994517 -0.21029249] [ 0. 0. 0. 1. ]] SLAMing on 184.54992885099998 meters Centerline goodness [0,1] 0.646459725315516 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 0.99993654 -0.00417926 -0.01046165 0.70670318] [ 0.00419269 0.99999041 0.00126221 -0.17541796] [ 0.01045627 -0.001306 0.99994448 -0.20999963] [ 0. 0. 0. 1. ]] SLAMing on 184.57992885099998 meters Centerline goodness [0,1] 0.6437904704435212 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.21 [[ 0.99993539 -0.0038573 -0.01069254 0.70755983] [ 0.0038725 0.99999152 0.0014011 -0.17461417] [ 0.01068704 -0.00144241 0.99994185 -0.21042574] [ 0. 0. 0. 1. ]] SLAMing on 184.60992885099998 meters Centerline goodness [0,1] 0.6437900128040973 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.21 [[ 0.9999339 -0.00386031 -0.01083016 0.70781345] [ 0.00387187 0.99999196 0.00104643 -0.17330095] [ 0.01082603 -0.0010883 0.9999408 -0.21022603] [ 0. 0. 0. 1. ]] SLAMing on 184.63992885099998 meters Centerline goodness [0,1] 0.6434651162790698 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.21 [[ 9.99932367e-01 -3.70334426e-03 -1.10248156e-02 7.08420386e-01] [ 3.71358451e-03 9.99992692e-01 9.08510044e-04 -1.72232094e-01] [ 1.10213705e-02 -9.49390183e-04 9.99938812e-01 -2.10359877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.66992885099998 meters Centerline goodness [0,1] 0.6503183376477997 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.21 [[ 9.99931860e-01 -3.42199343e-03 -1.11608709e-02 7.09039605e-01] [ 3.42934565e-03 9.99993915e-01 6.39678458e-04 -1.70260874e-01] [ 1.11586140e-02 -6.77909354e-04 9.99937511e-01 -2.10501529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69992885099998 meters Centerline goodness [0,1] 0.6471179233159654 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.21 [[ 9.99931730e-01 -3.42835971e-03 -1.11706058e-02 7.09174096e-01] [ 3.43477881e-03 9.99993947e-01 5.55508202e-04 -1.69503557e-01] [ 1.11686337e-02 -5.93838838e-04 9.99937453e-01 -2.10607532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.72992885099998 meters Centerline goodness [0,1] 0.6444610778443114 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.21 [[ 9.99930533e-01 -3.34006627e-03 -1.13037201e-02 7.09568499e-01] [ 3.34662129e-03 9.99994243e-01 5.61033746e-04 -1.69049170e-01] [ 1.13017812e-02 -5.98824043e-04 9.99935954e-01 -2.10743821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75992885099998 meters Centerline goodness [0,1] 0.6490341892334315 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.21 [[ 9.99930925e-01 -3.38497093e-03 -1.12555575e-02 7.09610010e-01] [ 3.39142855e-03 9.99994095e-01 5.54690145e-04 -1.68721787e-01] [ 1.12536134e-02 -5.92824249e-04 9.99936500e-01 -2.10917218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.78992885099998 meters Centerline goodness [0,1] 0.6322690725504861 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.21 [[ 9.99932085e-01 -3.36100328e-03 -1.11592142e-02 7.09899996e-01] [ 3.37033493e-03 9.99993986e-01 8.17527925e-04 -1.68932968e-01] [ 1.11563994e-02 -8.55082693e-04 9.99937400e-01 -2.11657864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.819928851 meters Centerline goodness [0,1] 0.6476368741226017 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.21 [[ 9.99933405e-01 -3.48270393e-03 -1.10025490e-02 7.09695152e-01] [ 3.49233281e-03 9.99993535e-01 8.56058083e-04 -1.69059227e-01] [ 1.09994964e-02 -8.94425637e-04 9.99939104e-01 -2.11859739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.849928851 meters Centerline goodness [0,1] 0.6494532199270959 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.21 [[ 9.99934307e-01 -3.62754356e-03 -1.08730200e-02 7.09495760e-01] [ 3.63821441e-03 9.99992919e-01 9.61787523e-04 -1.69503948e-01] [ 1.08694541e-02 -1.00128272e-03 9.99940424e-01 -2.12049806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.879928851 meters Centerline goodness [0,1] 0.6403992706531394 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.21 [[ 0.99993557 -0.00376652 -0.01070794 0.7091728 ] [ 0.00377782 0.99999233 0.00103524 -0.1700674 ] [ 0.01070396 -0.00107563 0.99994213 -0.21213985] [ 0. 0. 0. 1. ]] SLAMing on 184.90992885099996 meters Centerline goodness [0,1] 0.6492900939547246 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.21 [[ 0.99993732 -0.0041897 -0.01038246 0.70830338] [ 0.00420117 0.99999059 0.00108278 -0.17134562] [ 0.01037783 -0.00112633 0.99994551 -0.21206313] [ 0. 0. 0. 1. ]] SLAMing on 184.93992885099996 meters Centerline goodness [0,1] 0.6491934545285258 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.21 [[ 0.99993819 -0.00410592 -0.01033225 0.70846333] [ 0.00412097 0.99999048 0.00143575 -0.17221908] [ 0.01032626 -0.00147825 0.99994559 -0.21249809] [ 0. 0. 0. 1. ]] SLAMing on 184.96992885099996 meters Centerline goodness [0,1] 0.6455038777744138 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.21 [[ 0.99993819 -0.00418834 -0.01029911 0.70830933] [ 0.0042035 0.99999011 0.00145086 -0.17260001] [ 0.01029293 -0.00149406 0.99994591 -0.21238028] [ 0. 0. 0. 1. ]] SLAMing on 184.99992885099996 meters Centerline goodness [0,1] 0.6479696377014064 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.21 [[ 0.99993956 -0.00441732 -0.01006836 0.70753603] [ 0.00443263 0.99998905 0.00149825 -0.17330298] [ 0.01006163 -0.00154278 0.99994819 -0.21211504] [ 0. 0. 0. 1. ]] SLAMing on 185.02992885099997 meters Centerline goodness [0,1] 0.6437922935609144 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.21 [[ 0.99994008 -0.00429174 -0.01007022 0.70780113] [ 0.00431006 0.99998909 0.00179876 -0.174194 ] [ 0.01006239 -0.00184205 0.99994768 -0.21244123] [ 0. 0. 0. 1. ]] SLAMing on 185.05992885099997 meters Centerline goodness [0,1] 0.6464580667674771 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.17, Z:-0.21 [[ 0.99994121 -0.00422492 -0.00998659 0.70783829] [ 0.00424575 0.99998885 0.00206519 -0.17493647] [ 0.00997775 -0.00210747 0.999948 -0.21273497] [ 0. 0. 0. 1. ]] SLAMing on 185.08992885099997 meters Centerline goodness [0,1] 0.6475438392753454 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 0.99994241 -0.00416119 -0.00989213 0.7078531 ] [ 0.00418459 0.99998849 0.00234605 -0.17589838] [ 0.00988226 -0.00238731 0.99994832 -0.21305724] [ 0. 0. 0. 1. ]] SLAMing on 185.11992885099997 meters Centerline goodness [0,1] 0.6441619781899006 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 0.99994194 -0.00427424 -0.0098916 0.70774291] [ 0.00430137 0.99998704 0.00272264 -0.17798474] [ 0.00987984 -0.00276503 0.99994737 -0.21306061] [ 0. 0. 0. 1. ]] SLAMing on 185.14992885099997 meters Centerline goodness [0,1] 0.6410428581351733 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 0.99994228 -0.00450867 -0.00975269 0.70716792] [ 0.00453527 0.99998605 0.00270773 -0.17878853] [ 0.00974034 -0.00275181 0.99994878 -0.21278336] [ 0. 0. 0. 1. ]] SLAMing on 185.17992885099997 meters Centerline goodness [0,1] 0.6450649440855734 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 0.9999432 -0.00450273 -0.00966055 0.70703169] [ 0.00453104 0.9999855 0.00291104 -0.17978386] [ 0.0096473 -0.00295465 0.9999491 -0.2128493 ] [ 0. 0. 0. 1. ]] SLAMing on 185.20992885099997 meters Centerline goodness [0,1] 0.642288981624513 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 0.99994211 -0.00486955 -0.00959491 0.70630717] [ 0.00489723 0.99998391 0.00286379 -0.18121779] [ 0.00958081 -0.00291061 0.99994987 -0.21226118] [ 0. 0. 0. 1. ]] SLAMing on 185.23992885099997 meters Centerline goodness [0,1] 0.6362797564126222 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 0.99994317 -0.00499206 -0.00942013 0.70590045] [ 0.00502032 0.99998296 0.00297838 -0.18206136] [ 0.0094051 -0.0030255 0.99995119 -0.21227312] [ 0. 0. 0. 1. ]] SLAMing on 185.26992885099997 meters Centerline goodness [0,1] 0.6355217691776088 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 0.99994282 -0.00514152 -0.00937702 0.70552261] [ 0.00516935 0.9999823 0.00294703 -0.1829195 ] [ 0.0093617 -0.00299534 0.99995169 -0.21187586] [ 0. 0. 0. 1. ]] SLAMing on 185.29992885099998 meters Centerline goodness [0,1] 0.6336330811158897 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.18, Z:-0.21 [[ 0.99994325 -0.005297 -0.00924291 0.70512437] [ 0.00532526 0.99998121 0.00303515 -0.18366056] [ 0.00922666 -0.00308419 0.99995268 -0.21179721] [ 0. 0. 0. 1. ]] SLAMing on 185.32992885099998 meters Centerline goodness [0,1] 0.6364053396944813 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.21 [[ 0.99994378 -0.00530755 -0.00917976 0.70464252] [ 0.00533843 0.99998016 0.00334371 -0.18561034] [ 0.00916183 -0.00339253 0.99995227 -0.2113191 ] [ 0. 0. 0. 1. ]] SLAMing on 185.35992885099998 meters Centerline goodness [0,1] 0.6264562108821783 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.21 [[ 0.9999438 -0.00524245 -0.00921452 0.70480559] [ 0.00527598 0.99997954 0.00361792 -0.18690538] [ 0.00919537 -0.00366633 0.999951 -0.21143932] [ 0. 0. 0. 1. ]] SLAMing on 185.38992885099998 meters Centerline goodness [0,1] 0.6295152471804726 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.21 [[ 0.99994458 -0.00524272 -0.00912978 0.7045972 ] [ 0.00527882 0.99997833 0.00393444 -0.18843653] [ 0.00910895 -0.00398241 0.99995058 -0.21145827] [ 0. 0. 0. 1. ]] SLAMing on 185.41992885099998 meters Centerline goodness [0,1] 0.6258388880041859 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.21 [[ 0.99994211 -0.00602595 -0.00891461 0.7034898 ] [ 0.00606052 0.9999742 0.00385562 -0.19168279] [ 0.00889115 -0.00390943 0.99995283 -0.21087164] [ 0. 0. 0. 1. ]] SLAMing on 185.44992885099998 meters Centerline goodness [0,1] 0.6226685796269728 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.21 [[ 0.99994313 -0.00617382 -0.00869567 0.70296273] [ 0.00620996 0.99997217 0.00413448 -0.19329159] [ 0.0086699 -0.00418825 0.99995364 -0.210897 ] [ 0. 0. 0. 1. ]] SLAMing on 185.47992885099998 meters Centerline goodness [0,1] 0.6275645831913299 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.19, Z:-0.21 [[ 0.99994414 -0.00622731 -0.00853997 0.7027223 ] [ 0.00626489 0.99997078 0.00438153 -0.1947291 ] [ 0.00851243 -0.00443479 0.99995393 -0.21103205] [ 0. 0. 0. 1. ]] SLAMing on 185.50992885099998 meters Centerline goodness [0,1] 0.6254497725678336 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.21 [[ 0.99994445 -0.00610286 -0.00859341 0.70295448] [ 0.00614353 0.99997001 0.00471456 -0.19621542] [ 0.00856438 -0.00476709 0.99995196 -0.21116429] [ 0. 0. 0. 1. ]] SLAMing on 185.53992885099998 meters Centerline goodness [0,1] 0.6254497725678336 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.21 [[ 0.99994445 -0.00610286 -0.00859341 0.70295448] [ 0.00614353 0.99997001 0.00471456 -0.19621542] [ 0.00856438 -0.00476709 0.99995196 -0.21116429] [ 0. 0. 0. 1. ]] SLAMing on 185.569928851 meters Centerline goodness [0,1] 0.6239889435167774 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.21 [[ 0.99994489 -0.00607573 -0.00856136 0.70252236] [ 0.00611938 0.99996836 0.00508182 -0.19850219] [ 0.00853021 -0.00513393 0.99995044 -0.21073624] [ 0. 0. 0. 1. ]] SLAMing on 185.599928851 meters Centerline goodness [0,1] 0.6291764493407983 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.21 [[ 0.99994474 -0.00584184 -0.00874026 0.70310215] [ 0.00588838 0.99996857 0.00530881 -0.19936211] [ 0.00870897 -0.00535999 0.99994771 -0.21089776] [ 0. 0. 0. 1. ]] SLAMing on 185.629928851 meters Centerline goodness [0,1] 0.6355779211987183 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.21 [[ 0.99994558 -0.00561668 -0.00879202 0.7035099 ] [ 0.00566523 0.99996879 0.00550718 -0.19965111] [ 0.00876082 -0.00555669 0.99994618 -0.21117168] [ 0. 0. 0. 1. ]] SLAMing on 185.65992885099996 meters Centerline goodness [0,1] 0.6408301376043312 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.21 [[ 0.99994528 -0.00536041 -0.00898296 0.70388507] [ 0.00541021 0.99997008 0.00552891 -0.1997017 ] [ 0.00895305 -0.00557721 0.99994437 -0.21098537] [ 0. 0. 0. 1. ]] SLAMing on 185.68992885099996 meters Centerline goodness [0,1] 0.643813653094867 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.21 [[ 0.99994641 -0.00489211 -0.00912371 0.70416345] [ 0.00494475 0.99997121 0.00575623 -0.19992349] [ 0.00909529 -0.00580103 0.99994181 -0.21077966] [ 0. 0. 0. 1. ]] SLAMing on 185.71992885099996 meters Centerline goodness [0,1] 0.6400657702096988 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.21 [[ 0.99994539 -0.00472516 -0.00932123 0.70458015] [ 0.00477798 0.99997261 0.00565284 -0.19982139] [ 0.00929426 -0.00569707 0.99994058 -0.21059487] [ 0. 0. 0. 1. ]] SLAMing on 185.74992885099996 meters Centerline goodness [0,1] 0.6433013383804245 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.21 [[ 0.99994511 -0.0045872 -0.00942003 0.70491656] [ 0.00464017 0.99997351 0.00560875 -0.19985596] [ 0.00939405 -0.00565216 0.9999399 -0.21062765] [ 0. 0. 0. 1. ]] SLAMing on 185.77992885099997 meters Centerline goodness [0,1] 0.6451424331677047 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.21 [[ 0.99994433 -0.00444918 -0.00956818 0.70536676] [ 0.00450359 0.99997377 0.00567257 -0.20034696] [ 0.00954269 -0.00571534 0.99993813 -0.21070795] [ 0. 0. 0. 1. ]] SLAMing on 185.80992885099997 meters Centerline goodness [0,1] 0.651006711409396 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.21 [[ 0.99994495 -0.00402499 -0.00969045 0.70617618] [ 0.00408363 0.99997343 0.00603888 -0.20081772] [ 0.00966588 -0.00607812 0.99993481 -0.21137981] [ 0. 0. 0. 1. ]] SLAMing on 185.83992885099997 meters Centerline goodness [0,1] 0.6597165991902834 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.21 [[ 0.99994396 -0.00387344 -0.00985267 0.70680192] [ 0.00393175 0.99997483 0.00590569 -0.20017323] [ 0.00982954 -0.0059441 0.99993402 -0.21156044] [ 0. 0. 0. 1. ]] SLAMing on 185.86992885099997 meters Centerline goodness [0,1] 0.6555503049123518 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.21 [[ 0.99994324 -0.00375245 -0.00997159 0.70704579] [ 0.00380904 0.99997671 0.00566242 -0.19935699] [ 0.00995011 -0.00570009 0.99993425 -0.21132273] [ 0. 0. 0. 1. ]] SLAMing on 185.89992885099997 meters Centerline goodness [0,1] 0.6511748406136655 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.21 [[ 0.99994154 -0.00368558 -0.0101656 0.70743606] [ 0.00373996 0.99997878 0.0053349 -0.19811528] [ 0.01014572 -0.00537261 0.9999341 -0.211128 ] [ 0. 0. 0. 1. ]] SLAMing on 185.92992885099997 meters Centerline goodness [0,1] 0.6577291690156726 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.21 [[ 0.99994192 -0.00267245 -0.01044138 0.70859354] [ 0.00272797 0.9999822 0.00530717 -0.19655547] [ 0.01042702 -0.00533534 0.9999314 -0.21119707] [ 0. 0. 0. 1. ]] SLAMing on 185.95992885099997 meters Centerline goodness [0,1] 0.6562802748676355 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.21 [[ 0.99994059 -0.00258109 -0.01059005 0.70889261] [ 0.00263412 0.99998405 0.00499596 -0.19570068] [ 0.01057699 -0.00502356 0.99993144 -0.21096255] [ 0. 0. 0. 1. ]] SLAMing on 185.98992885099997 meters Centerline goodness [0,1] 0.6600667508569367 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.21 [[ 0.99993957 -0.00264749 -0.01066963 0.70883705] [ 0.00269776 0.99998532 0.00469965 -0.19514677] [ 0.01065703 -0.00472815 0.99993203 -0.21054122] [ 0. 0. 0. 1. ]] SLAMing on 186.01992885099997 meters Centerline goodness [0,1] 0.6565886408182575 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.21 [[ 0.99993918 -0.00274787 -0.01068135 0.708676 ] [ 0.00279582 0.99998607 0.00447673 -0.19492445] [ 0.0106689 -0.00450632 0.99993293 -0.21016864] [ 0. 0. 0. 1. ]] SLAMing on 186.04992885099998 meters Centerline goodness [0,1] 0.664760317924932 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.21 [[ 0.99993988 -0.00324652 -0.01047339 0.70761704] [ 0.0032913 0.9999855 0.00426183 -0.19595089] [ 0.0104594 -0.00429605 0.99993607 -0.20941638] [ 0. 0. 0. 1. ]] SLAMing on 186.07992885099998 meters Centerline goodness [0,1] 0.6574651565982933 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.21 [[ 0.99994064 -0.00349277 -0.01032029 0.70719309] [ 0.00353777 0.9999843 0.00434576 -0.19727042] [ 0.01030495 -0.00438201 0.9999373 -0.20932395] [ 0. 0. 0. 1. ]] SLAMing on 186.10992885099998 meters Centerline goodness [0,1] 0.6599496787527519 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.21 [[ 0.99994094 -0.00375824 -0.01019806 0.70685467] [ 0.00380455 0.99998252 0.00452509 -0.19881962] [ 0.01018088 -0.00456362 0.99993776 -0.20934957] [ 0. 0. 0. 1. ]] SLAMing on 186.13992885099998 meters Centerline goodness [0,1] 0.6525698097936059 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.21 [[ 0.99994043 -0.00456591 -0.00991418 0.70572896] [ 0.00461118 0.99997902 0.00454849 -0.20138578] [ 0.0098932 -0.00459393 0.99994051 -0.20901006] [ 0. 0. 0. 1. ]] SLAMing on 186.16992885099998 meters Centerline goodness [0,1] 0.645365121333662 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.21 [[ 0.99993952 -0.00477259 -0.00990837 0.70562573] [ 0.00482019 0.99997693 0.00478541 -0.20275967] [ 0.00988531 -0.00483288 0.99993946 -0.20903627] [ 0. 0. 0. 1. ]] SLAMing on 186.19992885099998 meters Centerline goodness [0,1] 0.6493736413956928 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.20, Z:-0.21 [[ 0.99993965 -0.00522034 -0.00966714 0.70486917] [ 0.00526649 0.99997483 0.00475466 -0.20381026] [ 0.00964207 -0.00480529 0.99994197 -0.20883826] [ 0. 0. 0. 1. ]] SLAMing on 186.22992885099998 meters Centerline goodness [0,1] 0.6449772966202161 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.21 [[ 0.99993899 -0.00539042 -0.00964145 0.70478632] [ 0.00543882 0.99997271 0.0050001 -0.20538539] [ 0.00961423 -0.00505223 0.99994102 -0.20890557] [ 0. 0. 0. 1. ]] SLAMing on 186.25992885099998 meters Centerline goodness [0,1] 0.6456433015901336 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.21 [[ 0.99993424 -0.00638791 -0.00952413 0.70346536] [ 0.00643314 0.99996814 0.0047267 -0.20821523] [ 0.00949363 -0.00478766 0.99994347 -0.20780099] [ 0. 0. 0. 1. ]] SLAMing on 186.28992885099998 meters Centerline goodness [0,1] 0.6431901840490797 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.21 [[ 0.99993401 -0.00678611 -0.00927002 0.70259394] [ 0.00683069 0.99996522 0.00478564 -0.20977086] [ 0.00923723 -0.00484864 0.99994558 -0.20746176] [ 0. 0. 0. 1. ]] SLAMing on 186.319928851 meters Centerline goodness [0,1] 0.6455179793566221 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.21 [[ 0.99993279 -0.00722711 -0.00906502 0.70175016] [ 0.00727032 0.99996233 0.00474218 -0.21114738] [ 0.0090304 -0.00480776 0.99994767 -0.20700545] [ 0. 0. 0. 1. ]] SLAMing on 186.349928851 meters Centerline goodness [0,1] 0.6399742187847268 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.21, Z:-0.21 [[ 0.99993216 -0.00740305 -0.00899298 0.70152239] [ 0.00744909 0.99995926 0.00509714 -0.21306036] [ 0.00895488 -0.00516378 0.99994657 -0.20707186] [ 0. 0. 0. 1. ]] SLAMing on 186.379928851 meters Centerline goodness [0,1] 0.6356223271067385 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.21 [[ 0.99992711 -0.00829413 -0.008774 0.70046548] [ 0.0083386 0.99995251 0.00504349 -0.21568821] [ 0.00873175 -0.00511629 0.99994879 -0.2066033 ] [ 0. 0. 0. 1. ]] SLAMing on 186.40992885099996 meters Centerline goodness [0,1] 0.6337317810167081 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.21 [[ 0.99992621 -0.00855963 -0.00862062 0.70000864] [ 0.00860438 0.99994963 0.00516689 -0.21706597] [ 0.00857596 -0.00524068 0.99994949 -0.20650398] [ 0. 0. 0. 1. ]] SLAMing on 186.43992885099996 meters Centerline goodness [0,1] 0.6488020036793227 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.21 [[ 0.99992641 -0.00864739 -0.00850811 0.70005872] [ 0.00869407 0.99994727 0.0054652 -0.21865249] [ 0.0084604 -0.00553877 0.99994887 -0.20690952] [ 0. 0. 0. 1. ]] SLAMing on 186.46992885099996 meters Centerline goodness [0,1] 0.638727940200805 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.21 [[ 0.99992612 -0.00875813 -0.00842959 0.69990142] [ 0.00880586 0.99994531 0.00564257 -0.2200178 ] [ 0.00837971 -0.00571639 0.99994855 -0.20696206] [ 0. 0. 0. 1. ]] SLAMing on 186.49992885099996 meters Centerline goodness [0,1] 0.6418221296583506 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.21 [[ 0.99992712 -0.00877068 -0.00829691 0.6997604 ] [ 0.00882078 0.99994297 0.00602081 -0.22181476] [ 0.00824363 -0.00609355 0.99994745 -0.20716525] [ 0. 0. 0. 1. ]] SLAMing on 186.52992885099997 meters Centerline goodness [0,1] 0.632421555403224 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.21 [[ 0.99992672 -0.00875102 -0.00836501 0.69992691] [ 0.0088019 0.99994287 0.00606524 -0.22231457] [ 0.00831146 -0.00613843 0.99994662 -0.20711051] [ 0. 0. 0. 1. ]] SLAMing on 186.55992885099997 meters Centerline goodness [0,1] 0.6360885315426754 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.21 [[ 0.99992696 -0.00880893 -0.0082752 0.6995664 ] [ 0.00885843 0.99994298 0.00596319 -0.22261082] [ 0.0082222 -0.00603606 0.99994798 -0.20681115] [ 0. 0. 0. 1. ]] SLAMing on 186.58992885099997 meters Centerline goodness [0,1] 0.635779715263216 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.21 [[ 0.99992986 -0.00851505 -0.00823261 0.69946977] [ 0.00856484 0.99994513 0.00603196 -0.22285125] [ 0.00818079 -0.00610205 0.99994792 -0.20653034] [ 0. 0. 0. 1. ]] SLAMing on 186.61992885099997 meters Centerline goodness [0,1] 0.6472030211346922 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.21 [[ 0.9999304 -0.00840191 -0.00828233 0.69955108] [ 0.00845171 0.99994631 0.00599628 -0.22271327] [ 0.00823151 -0.00606586 0.99994772 -0.20638442] [ 0. 0. 0. 1. ]] SLAMing on 186.64992885099997 meters Centerline goodness [0,1] 0.6321930522407849 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.21 [[ 0.99993106 -0.00831875 -0.00828657 0.69949747] [ 0.008368 0.99994742 0.00592717 -0.22264204] [ 0.00823683 -0.00599611 0.9999481 -0.20617535] [ 0. 0. 0. 1. ]] SLAMing on 186.67992885099997 meters Centerline goodness [0,1] 0.6414081145584726 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.21 [[ 0.99993264 -0.00801236 -0.008397 0.69988479] [ 0.00806384 0.99994879 0.00611532 -0.22289241] [ 0.00834757 -0.00618262 0.99994605 -0.20628359] [ 0. 0. 0. 1. ]] SLAMing on 186.70992885099997 meters Centerline goodness [0,1] 0.6380204311276836 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.21 [[ 0.99993592 -0.00727851 -0.00867104 0.70086678] [ 0.00733521 0.9999518 0.00652564 -0.22321843] [ 0.00862313 -0.00658883 0.99994111 -0.20656471] [ 0. 0. 0. 1. ]] SLAMing on 186.73992885099997 meters Centerline goodness [0,1] 0.6433033841806662 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.21 [[ 0.99993646 -0.00700901 -0.00882938 0.70136779] [ 0.00706807 0.99995273 0.00667639 -0.22331803] [ 0.00878216 -0.00673837 0.99993873 -0.20669272] [ 0. 0. 0. 1. ]] SLAMing on 186.76992885099997 meters Centerline goodness [0,1] 0.6476053851246966 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.21 [[ 0.99993744 -0.00675183 -0.00891773 0.70176474] [ 0.00681239 0.99995382 0.0067785 -0.22339781] [ 0.00887155 -0.00683882 0.99993726 -0.2068374 ] [ 0. 0. 0. 1. ]] SLAMing on 186.79992885099998 meters Centerline goodness [0,1] 0.6379895906845447 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.21 [[ 0.99994084 -0.00601697 -0.00906191 0.70236432] [ 0.00608241 0.9999555 0.00721071 -0.22402869] [ 0.00901812 -0.0072654 0.99993294 -0.20698041] [ 0. 0. 0. 1. ]] SLAMing on 186.82992885099998 meters Centerline goodness [0,1] 0.6452623681539345 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.21 [[ 0.99994125 -0.00579919 -0.00915764 0.70259828] [ 0.00586653 0.99995583 0.00734307 -0.22443094] [ 0.00911465 -0.00739636 0.99993111 -0.206947 ] [ 0. 0. 0. 1. ]] SLAMing on 186.85992885099998 meters Centerline goodness [0,1] 0.6445451744928046 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.21 [[ 0.99994056 -0.00566048 -0.00931881 0.7029334 ] [ 0.00572901 0.99995662 0.0073438 -0.22473866] [ 0.00927684 -0.00739676 0.99992961 -0.20685401] [ 0. 0. 0. 1. ]] SLAMing on 186.88992885099998 meters Centerline goodness [0,1] 0.6463331350648778 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.22, Z:-0.21 [[ 0.99994037 -0.00562414 -0.00936068 0.70291466] [ 0.00569267 0.99995707 0.00731067 -0.22497296] [ 0.00931917 -0.00736352 0.99992946 -0.20664433] [ 0. 0. 0. 1. ]] SLAMing on 186.91992885099998 meters Centerline goodness [0,1] 0.6393381301296015 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.21 [[ 0.99994073 -0.0054253 -0.00943956 0.70296837] [ 0.00549649 0.99995653 0.00753214 -0.22618886] [ 0.00939829 -0.00758357 0.99992708 -0.20639154] [ 0. 0. 0. 1. ]] SLAMing on 186.94992885099998 meters Centerline goodness [0,1] 0.6383614627285513 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.21 [[ 0.99993974 -0.00546449 -0.0095217 0.70300077] [ 0.00553644 0.9999562 0.00754612 -0.22694303] [ 0.00948005 -0.00759838 0.99992619 -0.20615915] [ 0. 0. 0. 1. ]] SLAMing on 186.97992885099998 meters Centerline goodness [0,1] 0.6391252851377435 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.21 [[ 0.99993954 -0.00547595 -0.00953562 0.70320364] [ 0.00554909 0.99995526 0.00766096 -0.22775512] [ 0.00949324 -0.00771341 0.99992519 -0.20638211] [ 0. 0. 0. 1. ]] SLAMing on 187.00992885099998 meters Centerline goodness [0,1] 0.6349949448327399 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.21 [[ 0.9999388 -0.00558668 -0.00954943 0.70312615] [ 0.00566182 0.99995309 0.00785899 -0.22938383] [ 0.00950508 -0.00791257 0.99992352 -0.20628058] [ 0. 0. 0. 1. ]] SLAMing on 187.03992885099998 meters Centerline goodness [0,1] 0.6532955693145391 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.21 [[ 0.9999382 -0.00567147 -0.00956191 0.70312273] [ 0.00574621 0.99995301 0.00780736 -0.23006186] [ 0.00951718 -0.00786182 0.9999238 -0.2061885 ] [ 0. 0. 0. 1. ]] SLAMing on 187.069928851 meters Centerline goodness [0,1] 0.6324118458204742 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.21 [[ 0.99993732 -0.0059003 -0.00951585 0.70293573] [ 0.00597322 0.99995288 0.00765297 -0.2303581 ] [ 0.00947025 -0.00770933 0.99992544 -0.20606391] [ 0. 0. 0. 1. ]] SLAMing on 187.099928851 meters Centerline goodness [0,1] 0.6485504072873784 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.21 [[ 0.99993595 -0.00607725 -0.00954841 0.70263138] [ 0.00614871 0.99995318 0.00747218 -0.23071637] [ 0.00950255 -0.00753041 0.99992649 -0.20554149] [ 0. 0. 0. 1. ]] SLAMing on 187.129928851 meters Centerline goodness [0,1] 0.6267133785855047 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99993414 -0.00648841 -0.00946606 0.70165638] [ 0.0065568 0.9999525 0.00721136 -0.23151759] [ 0.00941882 -0.00727296 0.99992919 -0.20447491] [ 0. 0. 0. 1. ]] SLAMing on 187.15992885099996 meters Centerline goodness [0,1] 0.6301132753445366 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99993372 -0.00663857 -0.00940613 0.70139941] [ 0.00670555 0.99995226 0.00710755 -0.23209049] [ 0.0093585 -0.00717015 0.9999305 -0.20423948] [ 0. 0. 0. 1. ]] SLAMing on 187.18992885099996 meters Centerline goodness [0,1] 0.6417757193105106 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99993303 -0.00668358 -0.00944765 0.70151269] [ 0.00675105 0.99995181 0.00712719 -0.23292199] [ 0.00939956 -0.00719049 0.99992997 -0.20418949] [ 0. 0. 0. 1. ]] SLAMing on 187.21992885099996 meters Centerline goodness [0,1] 0.6200987891769025 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99993329 -0.00668736 -0.00941812 0.70139563] [ 0.00675525 0.9999513 0.00719517 -0.23363678] [ 0.00936954 -0.00725831 0.99992976 -0.20407552] [ 0. 0. 0. 1. ]] SLAMing on 187.24992885099996 meters Centerline goodness [0,1] 0.650654830880906 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99993364 -0.00643238 -0.0095569 0.70157348] [ 0.00650402 0.99995084 0.00748465 -0.23464088] [ 0.00950829 -0.00754631 0.99992632 -0.20384028] [ 0. 0. 0. 1. ]] SLAMing on 187.27992885099997 meters Centerline goodness [0,1] 0.6536566220400332 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99993277 -0.00627942 -0.00974777 0.70203485] [ 0.00635223 0.99995203 0.00745627 -0.23470398] [ 0.00970049 -0.00751769 0.99992469 -0.20378432] [ 0. 0. 0. 1. ]] SLAMing on 187.30992885099997 meters Centerline goodness [0,1] 0.6524709683052475 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99993298 -0.00616861 -0.0097969 0.70214352] [ 0.00624202 0.99995254 0.00748058 -0.23484877] [ 0.00975029 -0.00754123 0.99992403 -0.20369671] [ 0. 0. 0. 1. ]] SLAMing on 187.33992885099997 meters Centerline goodness [0,1] 0.6567199965124897 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99993357 -0.00581215 -0.00995369 0.70235151] [ 0.00588693 0.99995455 0.0075 -0.23482198] [ 0.00990965 -0.0075581 0.99992233 -0.20328582] [ 0. 0. 0. 1. ]] SLAMing on 187.36992885099997 meters Centerline goodness [0,1] 0.6757341373885684 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.24, Z:-0.20 [[ 0.99993382 -0.00576929 -0.00995385 0.70223396] [ 0.00584375 0.99995504 0.00746789 -0.23504221] [ 0.00991032 -0.00752556 0.99992257 -0.20301106] [ 0. 0. 0. 1. ]] SLAMing on 187.39992885099997 meters Centerline goodness [0,1] 0.6644056706652126 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.24, Z:-0.20 [[ 0.99993278 -0.00576073 -0.01006247 0.70244528] [ 0.00583545 0.9999555 0.00741257 -0.23542606] [ 0.01001932 -0.00747079 0.9999219 -0.20292741] [ 0. 0. 0. 1. ]] SLAMing on 187.42992885099997 meters Centerline goodness [0,1] 0.6644056706652126 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.24, Z:-0.20 [[ 0.99993278 -0.00576073 -0.01006247 0.70244528] [ 0.00583545 0.9999555 0.00741257 -0.23542606] [ 0.01001932 -0.00747079 0.9999219 -0.20292741] [ 0. 0. 0. 1. ]] SLAMing on 187.45992885099997 meters Centerline goodness [0,1] 0.6570906639410217 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.24, Z:-0.20 [[ 0.99993209 -0.00574374 -0.01014017 0.70254769] [ 0.00581875 0.99995581 0.00738375 -0.23587555] [ 0.01009731 -0.00744226 0.99992133 -0.20279399] [ 0. 0. 0. 1. ]] SLAMing on 187.48992885099997 meters Centerline goodness [0,1] 0.676703023969695 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.24, Z:-0.20 [[ 0.9999321 -0.00576456 -0.0101273 0.70234637] [ 0.00583867 0.99995628 0.00730364 -0.23583069] [ 0.01008476 -0.00736228 0.99992204 -0.20249323] [ 0. 0. 0. 1. ]] SLAMing on 187.51992885099997 meters Centerline goodness [0,1] 0.6711747027309551 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.24, Z:-0.20 [[ 0.99993205 -0.005895 -0.01005717 0.70212312] [ 0.00596599 0.99995739 0.00704393 -0.23550235] [ 0.01001522 -0.00710346 0.99992462 -0.20230385] [ 0. 0. 0. 1. ]] SLAMing on 187.54992885099998 meters Centerline goodness [0,1] 0.6572992225166139 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.24, Z:-0.20 [[ 0.99993063 -0.00597256 -0.01015158 0.70235934] [ 0.00604228 0.99995827 0.00685169 -0.23538333] [ 0.01011024 -0.00691255 0.999925 -0.20225144] [ 0. 0. 0. 1. ]] SLAMing on 187.57992885099998 meters Centerline goodness [0,1] 0.6680112508994178 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.24, Z:-0.20 [[ 0.9999294 -0.0059587 -0.01028078 0.70250636] [ 0.0060279 0.9999593 0.00671347 -0.23523217] [ 0.01024035 -0.00677497 0.99992461 -0.20205396] [ 0. 0. 0. 1. ]] SLAMing on 187.60992885099998 meters Centerline goodness [0,1] 0.6653031028330214 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.24, Z:-0.20 [[ 0.99992815 -0.00605049 -0.01034796 0.70285684] [ 0.0061184 0.99995987 0.00654402 -0.23519991] [ 0.01030795 -0.00660687 0.99992504 -0.20228582] [ 0. 0. 0. 1. ]] SLAMing on 187.63992885099998 meters Centerline goodness [0,1] 0.6588375882672461 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.24, Z:-0.20 [[ 0.99992662 -0.00609839 -0.01046732 0.70329407] [ 0.00616663 0.99995986 0.00649988 -0.23525644] [ 0.01042726 -0.00656395 0.99992409 -0.20251783] [ 0. 0. 0. 1. ]] SLAMing on 187.66992885099998 meters Centerline goodness [0,1] 0.6561963350216291 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99992536 -0.00641707 -0.01039677 0.70302634] [ 0.00648188 0.9999597 0.00621137 -0.23493935] [ 0.01035649 -0.0062783 0.99992666 -0.20238739] [ 0. 0. 0. 1. ]] SLAMing on 187.69992885099998 meters Centerline goodness [0,1] 0.6541430217641815 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99992356 -0.00678394 -0.01033695 0.7028004 ] [ 0.00684434 0.99995965 0.00581918 -0.23453651] [ 0.01029706 -0.00588949 0.99992964 -0.20219902] [ 0. 0. 0. 1. ]] SLAMing on 187.72992885099998 meters Centerline goodness [0,1] 0.6502946100493554 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99992024 -0.00750532 -0.01015802 0.70178577] [ 0.00755896 0.99995763 0.00525329 -0.23441409] [ 0.01011816 -0.00532966 0.99993461 -0.20141939] [ 0. 0. 0. 1. ]] SLAMing on 187.75992885099998 meters Centerline goodness [0,1] 0.6779528244407694 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99992034 -0.00778474 -0.00993535 0.70131478] [ 0.00783592 0.99995618 0.00512306 -0.23469417] [ 0.00989503 -0.00520051 0.99993752 -0.20138086] [ 0. 0. 0. 1. ]] SLAMing on 187.78992885099998 meters Centerline goodness [0,1] 0.6644069269712969 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.24, Z:-0.20 [[ 0.99991916 -0.00786203 -0.00999289 0.70165813] [ 0.00791365 0.99995549 0.00513644 -0.23500211] [ 0.00995206 -0.00521511 0.99993688 -0.2016862 ] [ 0. 0. 0. 1. ]] SLAMing on 187.819928851 meters Centerline goodness [0,1] 0.6564995104971174 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99991847 -0.00810909 -0.0098639 0.70144037] [ 0.00815805 0.99995455 0.00493386 -0.23479553] [ 0.00982344 -0.00501393 0.99993918 -0.20177909] [ 0. 0. 0. 1. ]] SLAMing on 187.849928851 meters Centerline goodness [0,1] 0.6520867822601726 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99991704 -0.00841446 -0.00975237 0.70125657] [ 0.00845977 0.99995357 0.00461423 -0.23405215] [ 0.00971309 -0.00469635 0.9999418 -0.20183889] [ 0. 0. 0. 1. ]] SLAMing on 187.879928851 meters Centerline goodness [0,1] 0.6726515118460665 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99991659 -0.00840955 -0.00980254 0.7013976 ] [ 0.00845464 0.99995383 0.0045671 -0.23353383] [ 0.00976368 -0.00464959 0.99994152 -0.2018925 ] [ 0. 0. 0. 1. ]] SLAMing on 187.90992885099996 meters Centerline goodness [0,1] 0.653164059943721 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99991611 -0.00843423 -0.00983056 0.70147629] [ 0.00847837 0.99995413 0.00445647 -0.23293672] [ 0.00979252 -0.00453945 0.99994175 -0.20188095] [ 0. 0. 0. 1. ]] SLAMing on 187.93992885099996 meters Centerline goodness [0,1] 0.6699300089396681 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99991682 -0.00847343 -0.0097235 0.70125324] [ 0.00851594 0.99995433 0.00433842 -0.23262996] [ 0.00968629 -0.00442086 0.99994331 -0.20176642] [ 0. 0. 0. 1. ]] SLAMing on 187.96992885099996 meters Centerline goodness [0,1] 0.6617752559838257 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99991652 -0.00838903 -0.00982708 0.70164976] [ 0.00843381 0.9999542 0.00452456 -0.23290646] [ 0.00978867 -0.00460706 0.99994148 -0.20199275] [ 0. 0. 0. 1. ]] SLAMing on 187.99992885099996 meters Centerline goodness [0,1] 0.6414470104259626 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99991641 -0.00847383 -0.0097661 0.70149979] [ 0.00851815 0.99995357 0.00450604 -0.23302021] [ 0.00972746 -0.00458885 0.99994216 -0.20196899] [ 0. 0. 0. 1. ]] SLAMing on 188.02992885099997 meters Centerline goodness [0,1] 0.6575166528799686 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99991735 -0.00835965 -0.00976728 0.70188282] [ 0.00840611 0.9999535 0.00472568 -0.23328101] [ 0.00972732 -0.00480739 0.99994113 -0.20240855] [ 0. 0. 0. 1. ]] SLAMing on 188.05992885099997 meters Centerline goodness [0,1] 0.6527801987101273 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99991704 -0.00840024 -0.00976424 0.70209 ] [ 0.00844701 0.999953 0.00475857 -0.23321341] [ 0.00972381 -0.00484065 0.99994101 -0.20273964] [ 0. 0. 0. 1. ]] SLAMing on 188.08992885099997 meters Centerline goodness [0,1] 0.6478600491742641 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99991615 -0.00847172 -0.00979413 0.70223303] [ 0.00851793 0.99995275 0.00468537 -0.2331648 ] [ 0.00975398 -0.0047684 0.99994106 -0.20280882] [ 0. 0. 0. 1. ]] SLAMing on 188.11992885099997 meters Centerline goodness [0,1] 0.6485791492329149 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99991676 -0.00839534 -0.0097979 0.70235962] [ 0.00844158 0.99995338 0.00468784 -0.23281126] [ 0.00975809 -0.00477016 0.99994101 -0.20293123] [ 0. 0. 0. 1. ]] SLAMing on 188.14992885099997 meters Centerline goodness [0,1] 0.6460188551895316 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99991651 -0.00826977 -0.00992919 0.70283726] [ 0.00831576 0.99995485 0.00459867 -0.23213778] [ 0.00989072 -0.00468085 0.99994013 -0.20310316] [ 0. 0. 0. 1. ]] SLAMing on 188.17992885099997 meters Centerline goodness [0,1] 0.6419634473873834 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.9999196 -0.00775917 -0.01002913 0.70333486] [ 0.00780254 0.99996034 0.00429299 -0.22974097] [ 0.00999542 -0.0043709 0.99994049 -0.20312788] [ 0. 0. 0. 1. ]] SLAMing on 188.20992885099997 meters Centerline goodness [0,1] 0.6522690473064636 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99991985 -0.0074223 -0.01025718 0.70408502] [ 0.00746596 0.99996321 0.00422447 -0.22854081] [ 0.01022545 -0.00430071 0.99993847 -0.20333031] [ 0. 0. 0. 1. ]] SLAMing on 188.23992885099997 meters Centerline goodness [0,1] 0.6636036232674889 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.23, Z:-0.20 [[ 0.99991991 -0.00707423 -0.01049385 0.70496697] [ 0.0071176 0.99996626 0.00410155 -0.22717716] [ 0.01046448 -0.00417592 0.99993653 -0.20362611] [ 0. 0. 0. 1. ]] SLAMing on 188.26992885099997 meters Centerline goodness [0,1] 0.6523135404378031 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.23, Z:-0.20 [[ 0.99992041 -0.00671113 -0.01068382 0.70562484] [ 0.00675361 0.99996941 0.00394463 -0.22576275] [ 0.01065702 -0.00401647 0.99993515 -0.20375126] [ 0. 0. 0. 1. ]] SLAMing on 188.29992885099998 meters Centerline goodness [0,1] 0.6654337739648079 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.22, Z:-0.20 [[ 0.9999233 -0.00591944 -0.01087897 0.70653401] [ 0.00596074 0.99997514 0.00376734 -0.22274328] [ 0.0108564 -0.00383189 0.99993373 -0.20392692] [ 0. 0. 0. 1. ]] SLAMing on 188.32992885099998 meters Centerline goodness [0,1] 0.6495696546286766 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.22, Z:-0.20 [[ 0.99992306 -0.00582175 -0.01095321 0.70677529] [ 0.00585994 0.99997685 0.00345802 -0.22117276] [ 0.01093282 -0.00352194 0.99993403 -0.20387795] [ 0. 0. 0. 1. ]] SLAMing on 188.35992885099998 meters Centerline goodness [0,1] 0.645738137082601 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.22, Z:-0.20 [[ 0.99992266 -0.00574148 -0.01103239 0.70697107] [ 0.00577679 0.99997828 0.00317168 -0.21976171] [ 0.01101394 -0.00323517 0.99993411 -0.20377986] [ 0. 0. 0. 1. ]] SLAMing on 188.38992885099998 meters Centerline goodness [0,1] 0.6635922436699826 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.22, Z:-0.20 [[ 0.99992213 -0.00587512 -0.01100989 0.70717285] [ 0.0059057 0.99997879 0.00274634 -0.21797195] [ 0.01099352 -0.00281115 0.99993562 -0.20398231] [ 0. 0. 0. 1. ]] SLAMing on 188.41992885099998 meters Centerline goodness [0,1] 0.6710561085175725 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.22, Z:-0.20 [[ 0.99992146 -0.00597726 -0.0110161 0.70735391] [ 0.00600603 0.99997864 0.00257996 -0.21735121] [ 0.01100044 -0.00264592 0.99993599 -0.20419572] [ 0. 0. 0. 1. ]] SLAMing on 188.44992885099998 meters Centerline goodness [0,1] 0.6692451790633609 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.22, Z:-0.20 [[ 0.99992055 -0.00629466 -0.01092069 0.70720758] [ 0.00631968 0.99997748 0.00225821 -0.21659818] [ 0.01090623 -0.00232704 0.99993782 -0.20425917] [ 0. 0. 0. 1. ]] SLAMing on 188.47992885099998 meters Centerline goodness [0,1] 0.6694646397884997 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.22, Z:-0.20 [[ 0.99991881 -0.00645299 -0.01098798 0.70749822] [ 0.0064764 0.99997683 0.00209551 -0.2161258 ] [ 0.0109742 -0.0021665 0.99993743 -0.20449599] [ 0. 0. 0. 1. ]] SLAMing on 188.50992885099998 meters Centerline goodness [0,1] 0.652511526328561 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.21, Z:-0.20 [[ 0.99991685 -0.00687497 -0.01091033 0.70750101] [ 0.00689246 0.99997502 0.00156629 -0.21413409] [ 0.01089929 -0.00164136 0.99993925 -0.20473022] [ 0. 0. 0. 1. ]] SLAMing on 188.53992885099998 meters Centerline goodness [0,1] 0.6656584611988079 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.21, Z:-0.20 [[ 0.99991496 -0.00700541 -0.0109995 0.70763427] [ 0.00702111 0.99997439 0.00138939 -0.21322681] [ 0.01098949 -0.0014665 0.99993854 -0.20467916] [ 0. 0. 0. 1. ]] SLAMing on 188.569928851 meters Centerline goodness [0,1] 0.6650701862805686 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.21, Z:-0.20 [[ 0.99991406 -0.00721304 -0.01094711 0.70763421] [ 0.00722629 0.9999732 0.00117145 -0.21217069] [ 0.01093837 -0.00125046 0.99993939 -0.20483961] [ 0. 0. 0. 1. ]] SLAMing on 188.599928851 meters Centerline goodness [0,1] 0.6619874236117261 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.21, Z:-0.20 [[ 9.99911845e-01 -7.61241887e-03 -1.08790469e-02 7.07369789e-01] [ 7.61915147e-03 9.99970807e-01 5.77547098e-04 -2.10262562e-01] [ 1.08743328e-02 -6.60385290e-04 9.99940655e-01 -2.04670317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.629928851 meters Centerline goodness [0,1] 0.6609646787362442 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.21, Z:-0.20 [[ 9.99911216e-01 -7.72507121e-03 -1.08573907e-02 7.07356688e-01] [ 7.72981438e-03 9.99970047e-01 3.94964834e-04 -2.09311157e-01] [ 1.08540143e-02 -4.78855382e-04 9.99940979e-01 -2.04721028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65992885099996 meters Centerline goodness [0,1] 0.6652694610778442 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.21, Z:-0.21 [[ 9.99911495e-01 -7.57193646e-03 -1.09393029e-02 7.07880196e-01] [ 7.57826164e-03 9.99971140e-01 5.36870044e-04 -2.08630905e-01] [ 1.09349220e-02 -6.19723428e-04 9.99940020e-01 -2.05173630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.68992885099996 meters Centerline goodness [0,1] 0.6571308185305924 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.21, Z:-0.21 [[ 9.99910767e-01 -7.47984046e-03 -1.10684298e-02 7.08418676e-01] [ 7.48572888e-03 9.99971861e-01 4.90667814e-04 -2.07647240e-01] [ 1.10644482e-02 -5.73479295e-04 9.99938623e-01 -2.05465522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.71992885099996 meters Centerline goodness [0,1] 0.672260875363994 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.21, Z:-0.21 [[ 9.99908749e-01 -7.57593885e-03 -1.11848014e-02 7.08903231e-01] [ 7.57722656e-03 9.99971290e-01 7.27575822e-05 -2.05209455e-01] [ 1.11839291e-02 -1.57500717e-04 9.99937446e-01 -2.05728262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.74992885099996 meters Centerline goodness [0,1] 0.6607783297320176 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.21 [[ 9.99906825e-01 -7.66677645e-03 -1.12943028e-02 7.09197060e-01] [ 7.66503962e-03 9.99970604e-01 -1.97058655e-04 -2.04014932e-01] [ 1.12954816e-02 1.10469016e-04 9.99936198e-01 -2.05771161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.77992885099997 meters Centerline goodness [0,1] 0.6532937870746176 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.21 [[ 9.99906669e-01 -7.52248530e-03 -1.14046562e-02 7.09654229e-01] [ 7.52096584e-03 9.99971702e-01 -1.76115128e-04 -2.03297228e-01] [ 1.14056583e-02 9.03246610e-05 9.99934949e-01 -2.06051617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.80992885099997 meters Centerline goodness [0,1] 0.6695143985188821 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.21 [[ 9.99906028e-01 -7.27168880e-03 -1.16214638e-02 7.10423969e-01] [ 7.27086617e-03 9.99973561e-01 -1.13034897e-04 -2.02363066e-01] [ 1.16219785e-02 2.85261664e-05 9.99932462e-01 -2.06426471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.83992885099997 meters Centerline goodness [0,1] 0.67091802546348 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.21 [[ 9.99906013e-01 -6.97584337e-03 -1.18026241e-02 7.11430880e-01] [ 6.97222644e-03 9.99975633e-01 -3.47571263e-04 -1.99954135e-01] [ 1.18047611e-02 2.65248029e-04 9.99930286e-01 -2.07071449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.86992885099997 meters Centerline goodness [0,1] 0.667060871117458 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.21 [[ 9.99905496e-01 -6.73163756e-03 -1.19868217e-02 7.12354469e-01] [ 6.72829902e-03 9.99977314e-01 -3.18823635e-04 -1.99047228e-01] [ 1.19886959e-02 2.38142585e-04 9.99928105e-01 -2.07689226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.89992885099997 meters Centerline goodness [0,1] 0.6672186541947323 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.21 [[ 9.99904593e-01 -6.48921047e-03 -1.21940379e-02 7.13034121e-01] [ 6.48542248e-03 9.99978908e-01 -3.50161115e-04 -1.97941431e-01] [ 1.21960530e-02 2.71044220e-04 9.99925589e-01 -2.07932551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.92992885099997 meters Centerline goodness [0,1] 0.6606866201136135 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.20, Z:-0.21 [[ 9.99902623e-01 -6.36332361e-03 -1.24198808e-02 7.13676696e-01] [ 6.35693216e-03 9.99979641e-01 -5.54025259e-04 -1.96571144e-01] [ 1.24231534e-02 4.75018970e-04 9.99922717e-01 -2.08073894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.95992885099997 meters Centerline goodness [0,1] 0.6641564572327752 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.19, Z:-0.21 [[ 9.99914646e-01 -4.52715562e-03 -1.22558782e-02 7.14305004e-01] [ 4.53759775e-03 9.99989365e-01 8.24336301e-04 -1.94042359e-01] [ 1.22520160e-02 -8.79878186e-04 9.99924554e-01 -2.08894319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.98992885099997 meters Centerline goodness [0,1] 0.6666591645660784 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.21 [[ 9.99912676e-01 -4.17060144e-03 -1.25397621e-02 7.15137591e-01] [ 4.18201514e-03 9.99990865e-01 8.84116745e-04 -1.93103730e-01] [ 1.25359603e-02 -9.36481016e-04 9.99920983e-01 -2.09083098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.01992885099997 meters Centerline goodness [0,1] 0.6645078594076772 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.21 [[ 9.99911090e-01 -3.89270116e-03 -1.27538184e-02 7.15876993e-01] [ 3.90478203e-03 9.99991951e-01 9.22470958e-04 -1.92197968e-01] [ 1.27501248e-02 -9.72189821e-04 9.99918241e-01 -2.09391369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.04992885099998 meters Centerline goodness [0,1] 0.6587593298306538 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.21 [[ 9.99911815e-01 -3.48448908e-03 -1.28148712e-02 7.16247387e-01] [ 3.49331680e-03 9.99993676e-01 6.66545410e-04 -1.90000445e-01] [ 1.28124676e-02 -7.11253035e-04 9.99917664e-01 -2.09345027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.07992885099998 meters Centerline goodness [0,1] 0.6722242331010768 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.21 [[ 9.99910476e-01 -3.43797761e-03 -1.29313560e-02 7.16551603e-01] [ 3.44353321e-03 9.99993988e-01 4.07381732e-04 -1.88727987e-01] [ 1.29298777e-02 -4.51874816e-04 9.99916304e-01 -2.09305139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.10992885099998 meters Centerline goodness [0,1] 0.6751479692496087 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.21 [[ 9.99909682e-01 -3.39940457e-03 -1.30027432e-02 7.16896166e-01] [ 3.40337230e-03 9.99994168e-01 2.83029893e-04 -1.87556301e-01] [ 1.30017052e-02 -3.27257506e-04 9.99915421e-01 -2.09542757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13992885099998 meters Centerline goodness [0,1] 0.6701807569621971 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.21 [[ 9.99907819e-01 -3.08611360e-03 -1.32223257e-02 7.17801562e-01] [ 3.09149960e-03 9.99995146e-01 3.86921538e-04 -1.86736575e-01] [ 1.32210675e-02 -4.27762685e-04 9.99912506e-01 -2.09999134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.16992885099998 meters Centerline goodness [0,1] 0.6783361352174111 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.19, Z:-0.21 [[ 9.99907059e-01 -2.99125875e-03 -1.33013742e-02 7.18183061e-01] [ 2.99453162e-03 9.99995491e-01 2.26145162e-04 -1.85513542e-01] [ 1.33006378e-02 -2.65955530e-04 9.99911507e-01 -2.10148494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19992885099998 meters Centerline goodness [0,1] 0.662653892542612 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.21 [[ 9.99905191e-01 -2.88021340e-03 -1.34652933e-02 7.18627393e-01] [ 2.87966472e-03 9.99995852e-01 -6.01361685e-05 -1.83872066e-01] [ 1.34654107e-02 2.13549368e-05 9.99909337e-01 -2.10141179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.22992885099998 meters Centerline goodness [0,1] 0.6652271745800851 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.21 [[ 9.99903111e-01 -2.64650846e-03 -1.36662190e-02 7.19444771e-01] [ 2.64769237e-03 9.99996493e-01 6.85382358e-05 -1.83668221e-01] [ 1.36659897e-02 -1.04715539e-04 9.99906611e-01 -2.10588670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25992885099998 meters Centerline goodness [0,1] 0.6691895086140279 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.21 [[ 9.99901252e-01 -2.38656651e-03 -1.38488612e-02 7.20290717e-01] [ 2.39100993e-03 9.99997095e-01 3.04302839e-04 -1.83598879e-01] [ 1.38480947e-02 -3.37385554e-04 9.99904054e-01 -2.11145718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.28992885099998 meters Centerline goodness [0,1] 0.6673263272826532 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.21 [[ 9.99901145e-01 -2.30263501e-03 -1.38707665e-02 7.20702105e-01] [ 2.30880460e-03 9.99997243e-01 4.28793702e-04 -1.83141213e-01] [ 1.38697409e-02 -4.60776203e-04 9.99903704e-01 -2.11616870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.319928851 meters Centerline goodness [0,1] 0.6785045875747477 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.21 [[ 9.99899663e-01 -2.44655908e-03 -1.39527073e-02 7.21000760e-01] [ 2.44934147e-03 9.99996984e-01 1.82330811e-04 -1.81543080e-01] [ 1.39522192e-02 -2.16487461e-04 9.99902640e-01 -2.11823417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.349928851 meters Centerline goodness [0,1] 0.6785045875747477 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.21 [[ 9.99899663e-01 -2.44655908e-03 -1.39527073e-02 7.21000760e-01] [ 2.44934147e-03 9.99996984e-01 1.82330811e-04 -1.81543080e-01] [ 1.39522192e-02 -2.16487461e-04 9.99902640e-01 -2.11823417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.379928851 meters Centerline goodness [0,1] 0.6669873777289075 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.21 [[ 9.99899675e-01 -2.63027556e-03 -1.39183837e-02 7.20770431e-01] [ 2.62933296e-03 9.99996540e-01 -8.60221501e-05 -1.80719181e-01] [ 1.39185618e-02 4.94174549e-05 9.99903131e-01 -2.11590496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.40992885099996 meters Centerline goodness [0,1] 0.6724793767186068 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.21 [[ 9.99900700e-01 -2.66146013e-03 -1.38385939e-02 7.20935824e-01] [ 2.66112156e-03 9.99996458e-01 -4.28793852e-05 -1.80253407e-01] [ 1.38386590e-02 6.04894671e-06 9.99904241e-01 -2.12048686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.43992885099996 meters Centerline goodness [0,1] 0.6676327169012788 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.21 [[ 9.99900503e-01 -2.60344147e-03 -1.38638244e-02 7.21519649e-01] [ 2.60435646e-03 9.99996608e-01 4.79444009e-05 -1.79374193e-01] [ 1.38636526e-02 -8.40459713e-05 9.99903891e-01 -2.12793359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.46992885099996 meters Centerline goodness [0,1] 0.672099402936905 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.21 [[ 9.99899562e-01 -2.48671968e-03 -1.39528297e-02 7.22078096e-01] [ 2.48978033e-03 9.99996880e-01 2.01990551e-04 -1.79146964e-01] [ 1.39522839e-02 -2.36709745e-04 9.99902634e-01 -2.13303517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.49992885099996 meters Centerline goodness [0,1] 0.669028014168085 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.21 [[ 9.99899332e-01 -2.42790482e-03 -1.39796343e-02 7.22621564e-01] [ 2.43203453e-03 9.99997004e-01 2.78416386e-04 -1.78782442e-01] [ 1.39789164e-02 -3.12387311e-04 9.99902241e-01 -2.13922444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.52992885099997 meters Centerline goodness [0,1] 0.6732165148643026 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.18, Z:-0.21 [[ 9.99898254e-01 -2.72037361e-03 -1.40029217e-02 7.22373955e-01] [ 2.71757696e-03 9.99996283e-01 -2.18743289e-04 -1.77560869e-01] [ 1.40034647e-02 1.80667015e-04 9.99901930e-01 -2.13500574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.55992885099997 meters Centerline goodness [0,1] 0.6746393757669777 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.21 [[ 9.99896674e-01 -2.90247100e-03 -1.40789336e-02 7.22684700e-01] [ 2.89192431e-03 9.99995522e-01 -7.69412279e-04 -1.74902610e-01] [ 1.40811038e-02 7.28617568e-04 9.99900591e-01 -2.13590662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.58992885099997 meters Centerline goodness [0,1] 0.6671937126514289 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.21 [[ 9.99895727e-01 -2.90195099e-03 -1.41461499e-02 7.22965966e-01] [ 2.88896750e-03 9.99995387e-01 -9.38159331e-04 -1.73417069e-01] [ 1.41488072e-02 8.97193739e-04 9.99899498e-01 -2.13742361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.61992885099997 meters Centerline goodness [0,1] 0.6704537501458065 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.21 [[ 0.99989354 -0.00292069 -0.01429621 0.72327366] [ 0.00290312 0.999995 -0.00124991 -0.17199907] [ 0.01429979 0.00120827 0.99989702 -0.21361505] [ 0. 0. 0. 1. ]] SLAMing on 189.64992885099997 meters Centerline goodness [0,1] 0.6659098888238736 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.21 [[ 0.99989122 -0.00273069 -0.01449463 0.72413424] [ 0.00270802 0.99999508 -0.00158342 -0.16936135] [ 0.01449888 0.001544 0.99989369 -0.21397633] [ 0. 0. 0. 1. ]] SLAMing on 189.67992885099997 meters Centerline goodness [0,1] 0.6681672176502309 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.17, Z:-0.21 [[ 0.99989007 -0.00267498 -0.01458384 0.72464635] [ 0.00265133 0.99999514 -0.00164041 -0.16810754] [ 0.01458816 0.00160156 0.9998923 -0.21442325] [ 0. 0. 0. 1. ]] SLAMing on 189.70992885099997 meters Centerline goodness [0,1] 0.6677536656891496 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.17, Z:-0.21 [[ 0.99988698 -0.00246736 -0.01483013 0.72553871] [ 0.00244421 0.99999577 -0.00157902 -0.1671428 ] [ 0.01483397 0.0015426 0.99988878 -0.21486617] [ 0. 0. 0. 1. ]] SLAMing on 189.73992885099997 meters Centerline goodness [0,1] 0.6659451829196565 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.17, Z:-0.21 [[ 0.99988642 -0.00250708 -0.01486129 0.72568159] [ 0.00248205 0.99999547 -0.00170299 -0.16603363] [ 0.01486549 0.00166591 0.99988811 -0.21495426] [ 0. 0. 0. 1. ]] SLAMing on 189.76992885099997 meters Centerline goodness [0,1] 0.6653862468775038 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.22 [[ 0.99988422 -0.00252695 -0.01500507 0.72632812] [ 0.00249877 0.99999508 -0.001896 -0.16421468] [ 0.01500978 0.00185829 0.99988562 -0.21532096] [ 0. 0. 0. 1. ]] SLAMing on 189.79992885099998 meters Centerline goodness [0,1] 0.6712199048317985 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.22 [[ 0.99988386 -0.00260918 -0.01501502 0.72646079] [ 0.00257963 0.9999947 -0.00198712 -0.16332926] [ 0.01502013 0.00194816 0.99988529 -0.21551424] [ 0. 0. 0. 1. ]] SLAMing on 189.82992885099998 meters Centerline goodness [0,1] 0.6690911675511751 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.22 [[ 0.99988235 -0.00259264 -0.01511824 0.72695033] [ 0.00256329 0.99999479 -0.00196061 -0.16275915] [ 0.01512324 0.00192163 0.99988379 -0.21588317] [ 0. 0. 0. 1. ]] SLAMing on 189.85992885099998 meters Centerline goodness [0,1] 0.6718442923779983 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.22 [[ 0.99988077 -0.00253035 -0.01523268 0.72747959] [ 0.00250229 0.99999514 -0.00186046 -0.16250449] [ 0.01523731 0.00182212 0.99988225 -0.21625607] [ 0. 0. 0. 1. ]] SLAMing on 189.88992885099998 meters Centerline goodness [0,1] 0.6698717948717949 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.22 [[ 0.99988288 -0.0029071 -0.01502585 0.72703158] [ 0.00287591 0.99999367 -0.00209692 -0.16162802] [ 0.01503185 0.00205346 0.99988491 -0.21636892] [ 0. 0. 0. 1. ]] SLAMing on 189.91992885099998 meters Centerline goodness [0,1] 0.6684231764342852 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.22 [[ 0.99988435 -0.0030703 -0.01489522 0.7269199 ] [ 0.00303947 0.99999319 -0.0020921 -0.1612966 ] [ 0.01490154 0.00204658 0.99988687 -0.21670795] [ 0. 0. 0. 1. ]] SLAMing on 189.94992885099998 meters Centerline goodness [0,1] 0.6653125222721117 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.22 [[ 0.99988348 -0.00297581 -0.01497214 0.72753781] [ 0.00294805 0.9999939 -0.00187585 -0.16112334] [ 0.01497763 0.00183149 0.99988615 -0.217345 ] [ 0. 0. 0. 1. ]] SLAMing on 189.97992885099998 meters Centerline goodness [0,1] 0.6761863860854627 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.22 [[ 0.99988243 -0.00289547 -0.01505813 0.72828155] [ 0.00286805 0.99999419 -0.00184197 -0.15982489] [ 0.01506338 0.00179856 0.99988492 -0.21804928] [ 0. 0. 0. 1. ]] SLAMing on 190.00992885099998 meters Centerline goodness [0,1] 0.6724043127973416 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.22 [[ 0.99988085 -0.00275805 -0.01518842 0.72891652] [ 0.00273071 0.99999461 -0.00182052 -0.15902336] [ 0.01519336 0.00177883 0.99988299 -0.21841831] [ 0. 0. 0. 1. ]] SLAMing on 190.03992885099998 meters Centerline goodness [0,1] 0.6735756267242413 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.22 [[ 0.99987982 -0.00270089 -0.01526619 0.72929994] [ 0.00267321 0.99999475 -0.00183335 -0.15814933] [ 0.01527107 0.00179232 0.99988178 -0.21864294] [ 0. 0. 0. 1. ]] SLAMing on 190.069928851 meters Centerline goodness [0,1] 0.6761602614944601 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.22 [[ 0.99987873 -0.00260664 -0.01535371 0.72971536] [ 0.00257905 0.99999502 -0.0018165 -0.15724531] [ 0.01535837 0.00177668 0.99988047 -0.21896123] [ 0. 0. 0. 1. ]] SLAMing on 190.099928851 meters Centerline goodness [0,1] 0.6715653261497018 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.22 [[ 0.99987759 -0.00270258 -0.01541121 0.72985571] [ 0.00266855 0.99999396 -0.00222798 -0.15546279] [ 0.01541714 0.00218658 0.99987876 -0.21886181] [ 0. 0. 0. 1. ]] SLAMing on 190.12992885099996 meters Centerline goodness [0,1] 0.6785972872520152 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.22 [[ 0.99987733 -0.00253943 -0.01545541 0.73033449] [ 0.00250853 0.99999482 -0.00201829 -0.15509734] [ 0.01546045 0.00197928 0.99987852 -0.21938957] [ 0. 0. 0. 1. ]] SLAMing on 190.15992885099996 meters Centerline goodness [0,1] 0.6762680327670783 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.22 [[ 0.9998767 -0.00251058 -0.01550097 0.73063309] [ 0.00247932 0.99999486 -0.00203533 -0.15429515] [ 0.015506 0.00199665 0.99987778 -0.21963892] [ 0. 0. 0. 1. ]] SLAMing on 190.18992885099996 meters Centerline goodness [0,1] 0.6770762670801433 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.22 [[ 0.99987733 -0.00247581 -0.01546573 0.73079764] [ 0.00244524 0.99999502 -0.00199512 -0.15355442] [ 0.01547059 0.00195705 0.99987841 -0.21998724] [ 0. 0. 0. 1. ]] SLAMing on 190.21992885099996 meters Centerline goodness [0,1] 0.6758027383981582 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.22 [[ 0.99987646 -0.00231025 -0.01554774 0.73150177] [ 0.00228166 0.99999567 -0.00185633 -0.15297152] [ 0.01555197 0.00182063 0.9998774 -0.22066794] [ 0. 0. 0. 1. ]] SLAMing on 190.24992885099996 meters Centerline goodness [0,1] 0.6708356606843626 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.22 [[ 0.99987706 -0.00227287 -0.0155148 0.73162769] [ 0.00224623 0.99999597 -0.00173441 -0.15264287] [ 0.01551867 0.00169935 0.99987813 -0.22098288] [ 0. 0. 0. 1. ]] SLAMing on 190.27992885099997 meters Centerline goodness [0,1] 0.6771676582463669 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.22 [[ 0.99987662 -0.00226365 -0.01554393 0.73186378] [ 0.00223459 0.99999572 -0.00188649 -0.15157843] [ 0.01554813 0.00185152 0.99987741 -0.22114653] [ 0. 0. 0. 1. ]] SLAMing on 190.30992885099997 meters Centerline goodness [0,1] 0.6766363768890616 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.23 [[ 9.99994059e-01 2.85111899e-04 -3.43510856e-03 7.33477359e-01] [-2.82677006e-04 9.99999709e-01 7.09290432e-04 -1.53632079e-01] [ 3.43530979e-03 -7.08315192e-04 9.99993848e-01 -2.28953874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.33992885099997 meters Centerline goodness [0,1] 0.672938018545632 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.23 [[ 9.99994239e-01 -7.90849079e-05 -3.39362218e-03 7.32986163e-01] [ 7.86479896e-05 9.99999989e-01 -1.28880147e-04 -1.51258176e-01] [ 3.39363234e-03 1.28612503e-04 9.99994233e-01 -2.28207476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.36992885099997 meters Centerline goodness [0,1] 0.6632183908045977 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.23 [[ 9.99994133e-01 -6.41428599e-05 -3.42487348e-03 7.33156771e-01] [ 6.37908239e-05 9.99999993e-01 -1.02897180e-04 -1.50933035e-01] [ 3.42488006e-03 1.02678101e-04 9.99994130e-01 -2.28366956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.39992885099997 meters Centerline goodness [0,1] 0.6615616491637495 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.23 [[ 9.99993767e-01 8.44426003e-05 -3.52978473e-03 7.33554177e-01] [-8.47151959e-05 9.99999993e-01 -7.70778333e-05 -1.50800285e-01] [ 3.52977820e-03 7.73763793e-05 9.99993767e-01 -2.28432469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.42992885099997 meters Centerline goodness [0,1] 0.676723506131822 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.23 [[ 9.99994038e-01 -1.10899756e-04 -3.45135586e-03 7.33114992e-01] [ 1.09627699e-04 9.99999926e-01 -3.68754232e-04 -1.50241629e-01] [ 3.45139650e-03 3.68373669e-04 9.99993976e-01 -2.28012663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.45992885099997 meters Centerline goodness [0,1] 0.6755751346059716 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.23 [[ 9.99994651e-01 -5.85179354e-04 -3.21806484e-03 7.32268905e-01] [ 5.82963490e-04 9.99999592e-01 -6.89465229e-04 -1.49743326e-01] [ 3.21846699e-03 6.87585527e-04 9.99994584e-01 -2.27712212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.48992885099997 meters Centerline goodness [0,1] 0.6751101053604887 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.23 [[ 9.99994441e-01 -6.66133397e-04 -3.26707643e-03 7.32566420e-01] [ 6.64130057e-04 9.99999591e-01 -6.14236967e-04 -1.50250375e-01] [ 3.26748426e-03 6.12063789e-04 9.99994474e-01 -2.28038268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.51992885099997 meters Centerline goodness [0,1] 0.6767073170731708 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.23 [[ 9.99994789e-01 -8.68816335e-04 -3.10905865e-03 7.32169057e-01] [ 8.66734375e-04 9.99999399e-01 -6.70928012e-04 -1.50766048e-01] [ 3.10963970e-03 6.68229788e-04 9.99994942e-01 -2.27982739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.54992885099998 meters Centerline goodness [0,1] 0.6713093960386379 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.23 [[ 9.99994925e-01 -1.26344194e-03 -2.92473300e-03 7.32009780e-01] [ 1.26196891e-03 9.99999076e-01 -5.05436405e-04 -1.51109957e-01] [ 2.92536889e-03 5.01742918e-04 9.99995595e-01 -2.28630143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.57992885099998 meters Centerline goodness [0,1] 0.6675531266011174 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.23 [[ 9.99995148e-01 -1.53135372e-03 -2.71255311e-03 7.31625284e-01] [ 1.52992864e-03 9.99998691e-01 -5.27361666e-04 -1.51323844e-01] [ 2.71335713e-03 5.23209095e-04 9.99996182e-01 -2.28813366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.60992885099998 meters Centerline goodness [0,1] 0.6665853599043832 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.23 [[ 9.99995403e-01 -1.63432930e-03 -2.55417894e-03 7.31595548e-01] [ 1.63371463e-03 9.99998636e-01 -2.42723583e-04 -1.52094613e-01] [ 2.55457214e-03 2.38549668e-04 9.99996709e-01 -2.29376553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63992885099998 meters Centerline goodness [0,1] 0.6563631503487157 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.23 [[ 9.99994623e-01 -2.32104784e-03 -2.31676196e-03 7.30826772e-01] [ 2.32041776e-03 9.99997270e-01 -2.74614662e-04 -1.53417299e-01] [ 2.31739302e-03 2.69237330e-04 9.99997279e-01 -2.29448531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.66992885099998 meters Centerline goodness [0,1] 0.6546509369841732 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.23 [[ 9.99994565e-01 -2.50990402e-03 -2.13796933e-03 7.30456882e-01] [ 2.50965735e-03 9.99996844e-01 -1.18047949e-04 -1.54215905e-01] [ 2.13825887e-03 1.12681737e-04 9.99997708e-01 -2.29598240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.69992885099998 meters Centerline goodness [0,1] 0.6546448087431693 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.23 [[ 9.99994702e-01 -2.58783487e-03 -1.97466702e-03 7.30278150e-01] [ 2.58793529e-03 9.99996650e-01 4.83032273e-05 -1.54663650e-01] [ 1.97453540e-03 -5.34132818e-05 9.99998049e-01 -2.29892103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.72992885099998 meters Centerline goodness [0,1] 0.6452707616231153 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.23 [[ 9.99995224e-01 -2.26698701e-03 -2.10061297e-03 7.30961137e-01] [ 2.26791945e-03 9.99997331e-01 4.41614174e-04 -1.55356121e-01] [ 2.09960623e-03 -4.46376086e-04 9.99997696e-01 -2.30397094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75992885099998 meters Centerline goodness [0,1] 0.6541380731831519 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.23 [[ 9.99995446e-01 -2.12069022e-03 -2.14738223e-03 7.31230209e-01] [ 2.12178644e-03 9.99997620e-01 5.08343816e-04 -1.55098536e-01] [ 2.14629908e-03 -5.12897787e-04 9.99997565e-01 -2.30522678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.78992885099998 meters Centerline goodness [0,1] 0.6549649433513671 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.23 [[ 9.99995798e-01 -1.77575059e-03 -2.29159353e-03 7.31736649e-01] [ 1.77702947e-03 9.99998266e-01 5.56160464e-04 -1.54406752e-01] [ 2.29060196e-03 -5.60230356e-04 9.99997220e-01 -2.30527367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.819928851 meters Centerline goodness [0,1] 0.6612267730323962 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.15, Z:-0.23 [[ 9.99995897e-01 -1.75240763e-03 -2.26622218e-03 7.31679812e-01] [ 1.75384142e-03 9.99998263e-01 6.30850020e-04 -1.54347644e-01] [ 2.26511274e-03 -6.34822026e-04 9.99997233e-01 -2.30559197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.849928851 meters Centerline goodness [0,1] 0.6460061108686164 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.23 [[ 9.99995931e-01 -1.52130361e-03 -2.41331087e-03 7.32310867e-01] [ 1.52329029e-03 9.99998502e-01 8.21589264e-04 -1.55062869e-01] [ 2.41205737e-03 -8.25262094e-04 9.99996750e-01 -2.30831310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87992885099996 meters Centerline goodness [0,1] 0.6560724518040111 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.23 [[ 9.99995805e-01 -1.89428626e-03 -2.19139579e-03 7.31549613e-01] [ 1.89622016e-03 9.99997814e-01 8.80753896e-04 -1.56387569e-01] [ 2.18972260e-03 -8.84905570e-04 9.99997211e-01 -2.30677714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.90992885099996 meters Centerline goodness [0,1] 0.641155968632007 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.23 [[ 0.99999587 -0.00179201 -0.00224558 0.73176243] [ 0.00179476 0.99999764 0.00122555 -0.15764336] [ 0.00224338 -0.00122957 0.99999673 -0.23084834] [ 0. 0. 0. 1. ]] SLAMing on 190.93992885099996 meters Centerline goodness [0,1] 0.6552975326560232 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.23 [[ 0.99999557 -0.00210837 -0.00209964 0.73110908] [ 0.00211059 0.99999721 0.00105639 -0.15825952] [ 0.00209741 -0.00106082 0.99999724 -0.23042914] [ 0. 0. 0. 1. ]] SLAMing on 190.96992885099996 meters Centerline goodness [0,1] 0.6486401850022885 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.23 [[ 0.99999564 -0.00201825 -0.00215725 0.7314387 ] [ 0.00202144 0.99999687 0.00147746 -0.15965104] [ 0.00215426 -0.00148181 0.99999658 -0.23079531] [ 0. 0. 0. 1. ]] SLAMing on 190.99992885099996 meters Centerline goodness [0,1] 0.6449324161816345 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.23 [[ 0.99999481 -0.00255143 -0.00196682 0.73036855] [ 0.00255447 0.99999555 0.00154413 -0.16182696] [ 0.00196287 -0.00154914 0.99999687 -0.23018665] [ 0. 0. 0. 1. ]] SLAMing on 191.02992885099997 meters Centerline goodness [0,1] 0.6453102453102453 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.16, Z:-0.23 [[ 0.99999529 -0.00244195 -0.00185842 0.73035746] [ 0.0024456 0.99999509 0.0019607 -0.16354216] [ 0.00185363 -0.00196524 0.99999635 -0.23053077] [ 0. 0. 0. 1. ]] SLAMing on 191.05992885099997 meters Centerline goodness [0,1] 0.6532664522632362 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.17, Z:-0.23 [[ 0.99999509 -0.00253005 -0.00185018 0.73020452] [ 0.00253405 0.99999445 0.00216257 -0.16520294] [ 0.0018447 -0.00216725 0.99999595 -0.23046948] [ 0. 0. 0. 1. ]] SLAMing on 191.08992885099997 meters Centerline goodness [0,1] 0.6511811588999785 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.17, Z:-0.23 [[ 0.99999524 -0.0024943 -0.00181409 0.73026066] [ 0.00249884 0.99999374 0.00250558 -0.1670933 ] [ 0.00180783 -0.0025101 0.99999522 -0.23069791] [ 0. 0. 0. 1. ]] SLAMing on 191.11992885099997 meters Centerline goodness [0,1] 0.647009887811371 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.17, Z:-0.23 [[ 0.99999475 -0.00273106 -0.0017466 0.72968782] [ 0.00273626 0.99999182 0.00297844 -0.17029847] [ 0.00173845 -0.0029832 0.99999404 -0.23042386] [ 0. 0. 0. 1. ]] SLAMing on 191.14992885099997 meters Centerline goodness [0,1] 0.6358903653695296 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.17, Z:-0.23 [[ 0.99999415 -0.00296821 -0.00170084 0.72906303] [ 0.00297308 0.99999147 0.00286729 -0.17140071] [ 0.00169232 -0.00287233 0.99999444 -0.22969206] [ 0. 0. 0. 1. ]] SLAMing on 191.17992885099997 meters Centerline goodness [0,1] 0.6449681739665413 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.17, Z:-0.23 [[ 0.99999382 -0.00303457 -0.00177284 0.72854192] [ 0.00304019 0.99999032 0.0031793 -0.17414187] [ 0.00176318 -0.00318467 0.99999337 -0.22889811] [ 0. 0. 0. 1. ]] SLAMing on 191.20992885099997 meters Centerline goodness [0,1] 0.64798603081715 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.18, Z:-0.23 [[ 0.99999412 -0.00285344 -0.00190046 0.72878012] [ 0.00286014 0.99998967 0.00353149 -0.17597519] [ 0.00189037 -0.00353691 0.99999196 -0.22882044] [ 0. 0. 0. 1. ]] SLAMing on 191.23992885099997 meters Centerline goodness [0,1] 0.64798603081715 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.18, Z:-0.23 [[ 0.99999412 -0.00285344 -0.00190046 0.72878012] [ 0.00286014 0.99998967 0.00353149 -0.17597519] [ 0.00189037 -0.00353691 0.99999196 -0.22882044] [ 0. 0. 0. 1. ]] SLAMing on 191.26992885099997 meters Centerline goodness [0,1] 0.6407477075005878 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.18, Z:-0.23 [[ 0.99999424 -0.00281256 -0.00189832 0.72855451] [ 0.00281954 0.99998925 0.00368199 -0.17756703] [ 0.00188794 -0.00368732 0.99999142 -0.22845367] [ 0. 0. 0. 1. ]] SLAMing on 191.29992885099998 meters Centerline goodness [0,1] 0.6371643999718131 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.18, Z:-0.23 [[ 0.99999413 -0.00286617 -0.00187816 0.72831213] [ 0.00287331 0.9999886 0.0038127 -0.17908893] [ 0.00186721 -0.00381808 0.99999097 -0.22821665] [ 0. 0. 0. 1. ]] SLAMing on 191.32992885099998 meters Centerline goodness [0,1] 0.641538208864175 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.18, Z:-0.23 [[ 0.99999437 -0.00276261 -0.00190557 0.72827113] [ 0.00277031 0.99998797 0.00404868 -0.1806235 ] [ 0.00189436 -0.00405393 0.99998999 -0.2280564 ] [ 0. 0. 0. 1. ]] SLAMing on 191.35992885099998 meters Centerline goodness [0,1] 0.6498009833762585 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.18, Z:-0.23 [[ 0.99999486 -0.00236669 -0.00216284 0.72864317] [ 0.0023764 0.99998706 0.0044976 -0.18307955] [ 0.00215216 -0.00450272 0.99998755 -0.22771175] [ 0. 0. 0. 1. ]] SLAMing on 191.38992885099998 meters Centerline goodness [0,1] 0.6514428698377064 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.18, Z:-0.23 [[ 0.99999496 -0.00216717 -0.00232013 0.72884174] [ 0.0021777 0.99998728 0.00454836 -0.18403906] [ 0.00231024 -0.00455339 0.99998696 -0.22739266] [ 0. 0. 0. 1. ]] SLAMing on 191.41992885099998 meters Centerline goodness [0,1] 0.6514320394015078 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.18, Z:-0.23 [[ 0.9999949 -0.00189886 -0.00256917 0.72925077] [ 0.00191076 0.99998741 0.00463998 -0.18491436] [ 0.00256033 -0.00464486 0.99998593 -0.22704892] [ 0. 0. 0. 1. ]] SLAMing on 191.44992885099998 meters Centerline goodness [0,1] 0.6480673680281789 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.19, Z:-0.23 [[ 0.99999503 -0.00155423 -0.00274281 0.72966805] [ 0.00156753 0.999987 0.00485148 -0.18596563] [ 0.00273523 -0.00485575 0.99998447 -0.22691621] [ 0. 0. 0. 1. ]] SLAMing on 191.47992885099998 meters Centerline goodness [0,1] 0.6489970679946013 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.19, Z:-0.23 [[ 9.99994799e-01 -7.21991617e-04 -3.14320101e-03 7.30626499e-01] [ 7.39198045e-04 9.99984731e-01 5.47645808e-03 -1.87891060e-01] [ 3.13919906e-03 -5.47875305e-03 9.99980064e-01 -2.26783651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.50992885099998 meters Centerline goodness [0,1] 0.6514731570979387 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.19, Z:-0.23 [[ 9.99994080e-01 -3.38047344e-04 -3.42441410e-03 7.31251698e-01] [ 3.57305792e-04 9.99984117e-01 5.62481679e-03 -1.88618622e-01] [ 3.42245826e-03 -5.62600705e-03 9.99978317e-01 -2.26599305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53992885099998 meters Centerline goodness [0,1] 0.6569214348693675 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.19, Z:-0.23 [[ 9.99993143e-01 -4.15810267e-05 -3.70310241e-03 7.31716858e-01] [ 6.25931876e-05 9.99983899e-01 5.67426953e-03 -1.89001141e-01] [ 3.70280685e-03 -5.67446241e-03 9.99977045e-01 -2.26270550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.569928851 meters Centerline goodness [0,1] 0.6572874587918466 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.19, Z:-0.23 [[ 9.99991764e-01 6.21061412e-04 -4.01076231e-03 7.32268910e-01] [-5.96848950e-04 9.99981610e-01 6.03525067e-03 -1.90203224e-01] [ 4.01443681e-03 -6.03280714e-03 9.99973744e-01 -2.25830463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.599928851 meters Centerline goodness [0,1] 0.6601392111368909 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.19, Z:-0.23 [[ 9.99990560e-01 8.81061998e-04 -4.25479607e-03 7.32585563e-01] [-8.55071276e-04 9.99980989e-01 6.10653115e-03 -1.91044020e-01] [ 4.26009542e-03 -6.10283535e-03 9.99972303e-01 -2.25363458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.62992885099996 meters Centerline goodness [0,1] 0.6606981538532811 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.19, Z:-0.23 [[ 9.99990052e-01 1.01301841e-03 -4.34388513e-03 7.32642148e-01] [-9.86721271e-04 9.99981201e-01 6.05170511e-03 -1.91656684e-01] [ 4.34993396e-03 -6.04735870e-03 9.99972253e-01 -2.25003111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65992885099996 meters Centerline goodness [0,1] 0.665462712139103 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.19, Z:-0.22 [[ 0.99998955 0.00115471 -0.00442414 0.7327006 ] [-0.00112748 0.99998043 0.00615312 -0.1926082 ] [ 0.00443116 -0.00614807 0.99997128 -0.22476553] [ 0. 0. 0. 1. ]] SLAMing on 191.68992885099996 meters Centerline goodness [0,1] 0.6654634642972835 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.19, Z:-0.22 [[ 0.99998795 0.00153631 -0.0046632 0.73309456] [-0.00150614 0.99997796 0.0064657 -0.19432705] [ 0.00467304 -0.00645859 0.99996822 -0.22449064] [ 0. 0. 0. 1. ]] SLAMing on 191.71992885099996 meters Centerline goodness [0,1] 0.6674671531161245 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.22 [[ 0.99998812 0.00153709 -0.00462671 0.7330708 ] [-0.0015069 0.9999776 0.00652128 -0.1950859 ] [ 0.00463663 -0.00651423 0.99996803 -0.22451999] [ 0. 0. 0. 1. ]] SLAMing on 191.74992885099996 meters Centerline goodness [0,1] 0.6624255113544855 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.19, Z:-0.22 [[ 9.99986961e-01 -9.19608881e-04 -5.02323318e-03 7.34772856e-01] [ 9.35715782e-04 9.99994426e-01 3.20507229e-03 -1.94319048e-01] [ 5.02025777e-03 -3.20973082e-03 9.99982247e-01 -2.24904113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.77992885099997 meters Centerline goodness [0,1] 0.6697833628155943 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.22 [[ 9.99986752e-01 -9.33862109e-04 -5.06200514e-03 7.34740387e-01] [ 9.49993723e-04 9.99994476e-01 3.18533606e-03 -1.95004460e-01] [ 5.05900251e-03 -3.19010273e-03 9.99982115e-01 -2.24674212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.80992885099997 meters Centerline goodness [0,1] 0.6653811720955858 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.22 [[ 9.99986570e-01 -9.36383923e-04 -5.09731497e-03 7.34600783e-01] [ 9.53312122e-04 9.99994036e-01 3.31958693e-03 -1.96382864e-01] [ 5.09417616e-03 -3.32440168e-03 9.99981499e-01 -2.24369027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.83992885099997 meters Centerline goodness [0,1] 0.6605565624354768 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.22 [[ 0.99998672 -0.00104658 -0.0050458 0.73439707] [ 0.00106367 0.9999937 0.0033857 -0.19739014] [ 0.00504222 -0.00339102 0.99998154 -0.22425271] [ 0. 0. 0. 1. ]] SLAMing on 191.86992885099997 meters Centerline goodness [0,1] 0.6574239304506978 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.22 [[ 0.99998691 -0.00173312 -0.0048148 0.73319992] [ 0.00174883 0.99999316 0.0032593 -0.19903086] [ 0.00480912 -0.00326768 0.9999831 -0.22357034] [ 0. 0. 0. 1. ]] SLAMing on 191.89992885099997 meters Centerline goodness [0,1] 0.6572150860890954 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.22 [[ 0.99998645 -0.00180538 -0.0048819 0.7334518 ] [ 0.00182206 0.99999251 0.00341365 -0.20004792] [ 0.0048757 -0.0034225 0.99998226 -0.22375665] [ 0. 0. 0. 1. ]] SLAMing on 191.92992885099997 meters Centerline goodness [0,1] 0.6533746525087727 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.22 [[ 0.99998632 -0.00208562 -0.00479635 0.73306038] [ 0.00210097 0.99999268 0.00319775 -0.20048113] [ 0.00478965 -0.00320779 0.99998338 -0.22346608] [ 0. 0. 0. 1. ]] SLAMing on 191.95992885099997 meters Centerline goodness [0,1] 0.6631200018226971 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.22 [[ 0.99998612 -0.0022508 -0.00476294 0.73301558] [ 0.00226543 0.99999273 0.00306691 -0.20077573] [ 0.004756 -0.00307765 0.99998395 -0.22345852] [ 0. 0. 0. 1. ]] SLAMing on 191.98992885099997 meters Centerline goodness [0,1] 0.6542959861654682 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.22 [[ 0.99998593 -0.00242245 -0.00471877 0.73292118] [ 0.00243639 0.99999268 0.00295057 -0.20100667] [ 0.00471159 -0.00296203 0.99998451 -0.22345273] [ 0. 0. 0. 1. ]] SLAMing on 192.01992885099997 meters Centerline goodness [0,1] 0.6576638176638177 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.22 [[ 0.99998538 -0.00263288 -0.00472398 0.73277815] [ 0.00264585 0.99999274 0.00274101 -0.20109932] [ 0.00471673 -0.00275347 0.99998509 -0.22323425] [ 0. 0. 0. 1. ]] SLAMing on 192.04992885099998 meters Centerline goodness [0,1] 0.6514380480712436 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.22 [[ 0.99998515 -0.00246234 -0.00486247 0.73348348] [ 0.0024771 0.99999233 0.00303367 -0.20171481] [ 0.00485496 -0.00304567 0.99998358 -0.2237703 ] [ 0. 0. 0. 1. ]] SLAMing on 192.07992885099998 meters Centerline goodness [0,1] 0.6553212760156322 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.22 [[ 0.99998508 -0.00251792 -0.00484683 0.73357699] [ 0.00253236 0.99999236 0.00297612 -0.20194406] [ 0.0048393 -0.00298835 0.99998383 -0.22388938] [ 0. 0. 0. 1. ]] SLAMing on 192.10992885099998 meters Centerline goodness [0,1] 0.6513132505504983 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.22 [[ 0.99998484 -0.00275252 -0.00476889 0.73329707] [ 0.00276551 0.99999248 0.0027192 -0.2022172 ] [ 0.00476137 -0.00273235 0.99998493 -0.22366976] [ 0. 0. 0. 1. ]] SLAMing on 192.13992885099998 meters Centerline goodness [0,1] 0.6507065254371839 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.22 [[ 0.99998491 -0.00280981 -0.00472106 0.73322875] [ 0.00282265 0.99999233 0.00271544 -0.20249809] [ 0.00471339 -0.00272872 0.99998517 -0.22371926] [ 0. 0. 0. 1. ]] SLAMing on 192.16992885099998 meters Centerline goodness [0,1] 0.6644016181082678 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.22 [[ 0.99998507 -0.00278897 -0.00469842 0.73329964] [ 0.00280205 0.99999221 0.00278042 -0.2026619 ] [ 0.00469063 -0.00279354 0.9999851 -0.22384052] [ 0. 0. 0. 1. ]] SLAMing on 192.19992885099998 meters Centerline goodness [0,1] 0.6555480072463769 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.22 [[ 0.99998428 -0.00286673 -0.0048196 0.73368089] [ 0.00288036 0.99999186 0.00282408 -0.20299623] [ 0.00481147 -0.00283791 0.9999844 -0.22405793] [ 0. 0. 0. 1. ]] SLAMing on 192.22992885099998 meters Centerline goodness [0,1] 0.6561416234104767 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.22 [[ 0.99998369 -0.00305861 -0.00482278 0.73367224] [ 0.00307134 0.99999182 0.0026325 -0.2029863 ] [ 0.00481469 -0.00264727 0.99998491 -0.22400299] [ 0. 0. 0. 1. ]] SLAMing on 192.25992885099998 meters Centerline goodness [0,1] 0.6523417980284377 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.22 [[ 0.99998323 -0.00322541 -0.00481077 0.73352367] [ 0.00323758 0.99999157 0.00252382 -0.20323687] [ 0.00480259 -0.00253935 0.99998524 -0.22385176] [ 0. 0. 0. 1. ]] SLAMing on 192.28992885099998 meters Centerline goodness [0,1] 0.6550209441865731 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.22 [[ 0.99998347 -0.0030237 -0.00488986 0.73410788] [ 0.00303767 0.99999132 0.00285077 -0.20422712] [ 0.0048812 -0.00286557 0.99998398 -0.22439167] [ 0. 0. 0. 1. ]] SLAMing on 192.319928851 meters Centerline goodness [0,1] 0.6540768064450428 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.22 [[ 0.99998363 -0.00300505 -0.00486933 0.73422021] [ 0.00301959 0.999991 0.0029817 -0.20498966] [ 0.00486032 -0.00299635 0.9999837 -0.22456565] [ 0. 0. 0. 1. ]] SLAMing on 192.349928851 meters Centerline goodness [0,1] 0.6578577898550725 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.22 [[ 0.99998345 -0.00311892 -0.00483368 0.73399927] [ 0.00313266 0.99999107 0.00283818 -0.20490944] [ 0.00482478 -0.00285327 0.99998429 -0.22432176] [ 0. 0. 0. 1. ]] SLAMing on 192.37992885099996 meters Centerline goodness [0,1] 0.651605016525558 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.20, Z:-0.22 [[ 0.99998303 -0.00321188 -0.00486003 0.73391195] [ 0.00322525 0.99999103 0.00274462 -0.204811 ] [ 0.00485117 -0.00276025 0.99998442 -0.22411932] [ 0. 0. 0. 1. ]] SLAMing on 192.40992885099996 meters Centerline goodness [0,1] 0.6632544445702638 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.22 [[ 0.99998298 -0.00332803 -0.0047924 0.73361121] [ 0.0033409 0.99999082 0.00268133 -0.2051847 ] [ 0.00478343 -0.0026973 0.99998492 -0.22388931] [ 0. 0. 0. 1. ]] SLAMing on 192.43992885099996 meters Centerline goodness [0,1] 0.6519140105118315 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.22 [[ 0.99998233 -0.00373959 -0.00462055 0.73317673] [ 0.0037528 0.99998889 0.00285396 -0.20693864] [ 0.00460982 -0.00287125 0.99998525 -0.22398386] [ 0. 0. 0. 1. ]] SLAMing on 192.46992885099996 meters Centerline goodness [0,1] 0.6499988722737218 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.22 [[ 0.99998197 -0.00400094 -0.00447694 0.73272722] [ 0.00401389 0.99998777 0.00288847 -0.208 ] [ 0.00446532 -0.00290639 0.99998581 -0.22386415] [ 0. 0. 0. 1. ]] SLAMing on 192.49992885099996 meters Centerline goodness [0,1] 0.6482261515936479 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.22 [[ 0.99998184 -0.00428174 -0.00424185 0.73210409] [ 0.00429395 0.99998665 0.0028733 -0.20898709] [ 0.00422949 -0.00289146 0.99998688 -0.22368352] [ 0. 0. 0. 1. ]] SLAMing on 192.52992885099997 meters Centerline goodness [0,1] 0.6525343545843658 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.22 [[ 0.9999815 -0.00453635 -0.00405137 0.73168528] [ 0.00454845 0.9999852 0.00298447 -0.21004875] [ 0.00403777 -0.00300284 0.99998734 -0.22376106] [ 0. 0. 0. 1. ]] SLAMing on 192.55992885099997 meters Centerline goodness [0,1] 0.64568345323741 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.22 [[ 0.99998157 -0.00454143 -0.00402878 0.73194932] [ 0.00455502 0.99998394 0.0033725 -0.21131821] [ 0.0040134 -0.00339079 0.9999862 -0.22427952] [ 0. 0. 0. 1. ]] SLAMing on 192.58992885099997 meters Centerline goodness [0,1] 0.6449018905116028 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.22 [[ 0.99997934 -0.00515061 -0.00384544 0.73127742] [ 0.00516318 0.99998134 0.00326613 -0.21303467] [ 0.00382854 -0.00328591 0.99998727 -0.2240472 ] [ 0. 0. 0. 1. ]] SLAMing on 192.61992885099997 meters Centerline goodness [0,1] 0.6456352054548717 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.22 [[ 0.99997937 -0.00520131 -0.00376882 0.73131572] [ 0.00521418 0.99998059 0.00341199 -0.21362972] [ 0.003751 -0.00343157 0.99998708 -0.22434204] [ 0. 0. 0. 1. ]] SLAMing on 192.64992885099997 meters Centerline goodness [0,1] 0.6478117351177779 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.22 [[ 0.99997895 -0.0052656 -0.00379096 0.73140395] [ 0.00527876 0.99998005 0.0034692 -0.21383066] [ 0.00377261 -0.00348914 0.9999868 -0.22442922] [ 0. 0. 0. 1. ]] SLAMing on 192.67992885099997 meters Centerline goodness [0,1] 0.6497053617440792 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.22 [[ 0.99997935 -0.00506151 -0.00395877 0.7321193 ] [ 0.00507607 0.99998036 0.00367631 -0.21409127] [ 0.00394008 -0.00369632 0.99998541 -0.22485502] [ 0. 0. 0. 1. ]] SLAMing on 192.70992885099997 meters Centerline goodness [0,1] 0.6445585860398348 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.22 [[ 0.99997943 -0.00501329 -0.00400066 0.7322736 ] [ 0.0050277 0.99998088 0.00359976 -0.2138955 ] [ 0.00398254 -0.0036198 0.99998552 -0.22483541] [ 0. 0. 0. 1. ]] SLAMing on 192.73992885099997 meters Centerline goodness [0,1] 0.6479059944279679 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.22 [[ 0.99997918 -0.00499691 -0.004082 0.73239374] [ 0.0050111 0.99998141 0.00347277 -0.21365774] [ 0.00406458 -0.00349315 0.99998564 -0.22468459] [ 0. 0. 0. 1. ]] SLAMing on 192.76992885099997 meters Centerline goodness [0,1] 0.6442845903113409 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.22 [[ 0.99998001 -0.00486303 -0.00404198 0.73242432] [ 0.00487667 0.99998243 0.00337144 -0.21315388] [ 0.00402552 -0.00339108 0.99998615 -0.22469662] [ 0. 0. 0. 1. ]] SLAMing on 192.79992885099998 meters Centerline goodness [0,1] 0.6450262251536366 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.22 [[ 0.99998232 -0.00427719 -0.00413182 0.73291374] [ 0.00429122 0.99998504 0.00339106 -0.21212178] [ 0.00411725 -0.00340873 0.99998571 -0.22471731] [ 0. 0. 0. 1. ]] SLAMing on 192.82992885099998 meters Centerline goodness [0,1] 0.646589504438701 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.23 [[ 0.99998294 -0.00385013 -0.00439203 0.73383987] [ 0.0038658 0.99998618 0.00356422 -0.21172264] [ 0.00437824 -0.00358114 0.999984 -0.22507986] [ 0. 0. 0. 1. ]] SLAMing on 192.85992885099998 meters Centerline goodness [0,1] 0.6512166078770586 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.23 [[ 0.99998314 -0.00352511 -0.00461353 0.73452524] [ 0.00354169 0.99998729 0.00358972 -0.21132557] [ 0.00460082 -0.003606 0.99998291 -0.22518805] [ 0. 0. 0. 1. ]] SLAMing on 192.88992885099998 meters Centerline goodness [0,1] 0.658067130411292 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.21, Z:-0.23 [[ 0.99998292 -0.00335127 -0.00478803 0.73496975] [ 0.00336815 0.99998813 0.00352113 -0.21063547] [ 0.00477617 -0.00353719 0.99998234 -0.22522883] [ 0. 0. 0. 1. ]] SLAMing on 192.91992885099998 meters Centerline goodness [0,1] 0.6571916500011235 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.21, Z:-0.23 [[ 0.99998296 -0.00270937 -0.00517003 0.73639631] [ 0.00272929 0.99998886 0.00385065 -0.21033741] [ 0.00515954 -0.00386469 0.99997922 -0.22587808] [ 0. 0. 0. 1. ]] SLAMing on 192.94992885099998 meters Centerline goodness [0,1] 0.6481439820022497 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.21, Z:-0.23 [[ 0.9999823 -0.00271918 -0.00529114 0.73653879] [ 0.00273812 0.99998986 0.00357662 -0.20981112] [ 0.00528136 -0.00359105 0.99997961 -0.2255883 ] [ 0. 0. 0. 1. ]] SLAMing on 192.97992885099998 meters Centerline goodness [0,1] 0.6578693634100948 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.21, Z:-0.23 [[ 0.99998167 -0.00252594 -0.00550321 0.73724624] [ 0.0025457 0.99999033 0.00358694 -0.20950815] [ 0.0054941 -0.00360088 0.99997842 -0.22582276] [ 0. 0. 0. 1. ]] SLAMing on 193.00992885099998 meters Centerline goodness [0,1] 0.6579130630124677 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.21, Z:-0.23 [[ 0.99998118 -0.00248053 -0.00561078 0.73750479] [ 0.00249945 0.9999912 0.00336822 -0.20893322] [ 0.00560237 -0.00338218 0.99997859 -0.22573395] [ 0. 0. 0. 1. ]] SLAMing on 193.03992885099998 meters Centerline goodness [0,1] 0.6603858535377412 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.21, Z:-0.23 [[ 0.99998087 -0.00219713 -0.00578155 0.73807753] [ 0.00221611 0.99999217 0.00327782 -0.20809858] [ 0.0057743 -0.00329057 0.99997791 -0.22583855] [ 0. 0. 0. 1. ]] SLAMing on 193.069928851 meters Centerline goodness [0,1] 0.6545815295815296 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.21, Z:-0.23 [[ 0.99998035 -0.00218385 -0.00587593 0.73829864] [ 0.00220216 0.99999274 0.00311014 -0.2075501 ] [ 0.0058691 -0.00312302 0.9999779 -0.22583993] [ 0. 0. 0. 1. ]] SLAMing on 193.099928851 meters Centerline goodness [0,1] 0.6584541933159175 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.21, Z:-0.23 [[ 0.99997977 -0.0020479 -0.00602169 0.73888669] [ 0.00206707 0.99999282 0.00317754 -0.20717842] [ 0.00601514 -0.00318993 0.99997682 -0.22617586] [ 0. 0. 0. 1. ]] SLAMing on 193.12992885099996 meters Centerline goodness [0,1] 0.6538331568631868 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.21, Z:-0.23 [[ 0.9999791 -0.00241955 -0.00599624 0.73857062] [ 0.00243556 0.99999349 0.00266283 -0.20593018] [ 0.00598976 -0.00267738 0.99997848 -0.22581687] [ 0. 0. 0. 1. ]] SLAMing on 193.15992885099996 meters Centerline goodness [0,1] 0.6538331568631868 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.21, Z:-0.23 [[ 0.9999791 -0.00241955 -0.00599624 0.73857062] [ 0.00243556 0.99999349 0.00266283 -0.20593018] [ 0.00598976 -0.00267738 0.99997848 -0.22581687] [ 0. 0. 0. 1. ]] SLAMing on 193.18992885099996 meters Centerline goodness [0,1] 0.6658997090072409 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.21, Z:-0.23 [[ 0.99997871 -0.00267916 -0.00595043 0.73839819] [ 0.0026937 0.9999934 0.00243684 -0.20566995] [ 0.00594386 -0.00245282 0.99997933 -0.2257345 ] [ 0. 0. 0. 1. ]] SLAMing on 193.21992885099996 meters Centerline goodness [0,1] 0.6549876154019365 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.21, Z:-0.23 [[ 0.99997859 -0.00273801 -0.00594293 0.73865816] [ 0.00275409 0.99999256 0.00269911 -0.206259 ] [ 0.0059355 -0.00271542 0.9999787 -0.22622434] [ 0. 0. 0. 1. ]] SLAMing on 193.24992885099996 meters Centerline goodness [0,1] 0.6568711407581016 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.21, Z:-0.23 [[ 0.99997818 -0.00363022 -0.00551969 0.73753439] [ 0.00364299 0.99999071 0.0023056 -0.20661391] [ 0.00551127 -0.00232566 0.99998211 -0.22615513] [ 0. 0. 0. 1. ]] SLAMing on 193.27992885099997 meters Centerline goodness [0,1] 0.6532971996386631 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.21, Z:-0.23 [[ 0.9999779 -0.00404578 -0.00527506 0.73688713] [ 0.0040569 0.99998957 0.00209806 -0.20669999] [ 0.00526652 -0.00211942 0.99998389 -0.22608482] [ 0. 0. 0. 1. ]] SLAMing on 193.30992885099997 meters Centerline goodness [0,1] 0.6484002799792273 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.21, Z:-0.23 [[ 0.9999772 -0.00435556 -0.00516092 0.73665778] [ 0.00436587 0.99998849 0.0019895 -0.20677868] [ 0.0051522 -0.00201198 0.9999847 -0.22615486] [ 0. 0. 0. 1. ]] SLAMing on 193.33992885099997 meters Centerline goodness [0,1] 0.6483446998780542 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.21, Z:-0.23 [[ 0.99997698 -0.00446821 -0.00510681 0.73670344] [ 0.00447893 0.99998779 0.00208893 -0.20690666] [ 0.00509741 -0.00211176 0.99998478 -0.22639701] [ 0. 0. 0. 1. ]] SLAMing on 193.36992885099997 meters Centerline goodness [0,1] 0.6488111382334327 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.21, Z:-0.23 [[ 0.99997667 -0.00466462 -0.00499071 0.7364947 ] [ 0.00467489 0.99998698 0.00204686 -0.20678105] [ 0.0049811 -0.00207014 0.99998545 -0.22649197] [ 0. 0. 0. 1. ]] SLAMing on 193.39992885099997 meters Centerline goodness [0,1] 0.6448625639632296 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.21, Z:-0.23 [[ 0.99997545 -0.0049827 -0.00492717 0.73627824] [ 0.00499179 0.99998586 0.00183496 -0.20599297] [ 0.00491796 -0.00185951 0.99998618 -0.22646702] [ 0. 0. 0. 1. ]] SLAMing on 193.42992885099997 meters Centerline goodness [0,1] 0.6479051956585775 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.21, Z:-0.23 [[ 0.9999755 -0.00484597 -0.0050509 0.73691501] [ 0.00485611 0.99998622 0.00199642 -0.20579198] [ 0.00504116 -0.0020209 0.99998525 -0.22697305] [ 0. 0. 0. 1. ]] SLAMing on 193.45992885099997 meters Centerline goodness [0,1] 0.6468491782438937 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.23 [[ 0.99997473 -0.00493521 -0.00511665 0.73738042] [ 0.00494454 0.99998613 0.00181423 -0.20443788] [ 0.00510762 -0.00183948 0.99998526 -0.22740171] [ 0. 0. 0. 1. ]] SLAMing on 193.48992885099997 meters Centerline goodness [0,1] 0.6488280628367472 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.23 [[ 0.99997525 -0.0047093 -0.00522782 0.73802686] [ 0.0047196 0.99998694 0.00196064 -0.20396664] [ 0.00521852 -0.00198526 0.99998441 -0.22787269] [ 0. 0. 0. 1. ]] SLAMing on 193.51992885099997 meters Centerline goodness [0,1] 0.6471872299786257 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.23 [[ 0.99997548 -0.00452391 -0.00534533 0.73868848] [ 0.00453505 0.99998757 0.00207281 -0.2034401 ] [ 0.00533589 -0.002097 0.99998357 -0.22840017] [ 0. 0. 0. 1. ]] SLAMing on 193.54992885099998 meters Centerline goodness [0,1] 0.6499852007012591 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.23 [[ 0.99997607 -0.00444575 -0.00530053 0.73884835] [ 0.00445671 0.99998795 0.00205752 -0.20290278] [ 0.00529132 -0.0020811 0.99998384 -0.22865927] [ 0. 0. 0. 1. ]] SLAMing on 193.57992885099998 meters Centerline goodness [0,1] 0.6453161619149469 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.23 [[ 0.99997596 -0.00440429 -0.00535495 0.73915591] [ 0.00441551 0.99998808 0.00208546 -0.20230266] [ 0.0053457 -0.00210906 0.99998349 -0.22890721] [ 0. 0. 0. 1. ]] SLAMing on 193.60992885099998 meters Centerline goodness [0,1] 0.6490166068940311 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.23 [[ 0.99997535 -0.00431012 -0.00554205 0.73929951] [ 0.00431927 0.99998933 0.00164045 -0.20053693] [ 0.00553492 -0.00166435 0.9999833 -0.2283514 ] [ 0. 0. 0. 1. ]] SLAMing on 193.63992885099998 meters Centerline goodness [0,1] 0.6437802539044661 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.23 [[ 0.99997512 -0.00396993 -0.00583095 0.74031159] [ 0.00397989 0.99999064 0.00169706 -0.19970475] [ 0.00582415 -0.00172022 0.99998156 -0.22876505] [ 0. 0. 0. 1. ]] SLAMing on 193.66992885099998 meters Centerline goodness [0,1] 0.6522126725793179 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.23 [[ 0.99997516 -0.00373582 -0.00597731 0.74109418] [ 0.00374616 0.9999915 0.00172074 -0.19880738] [ 0.00597083 -0.00174309 0.99998066 -0.22929376] [ 0. 0. 0. 1. ]] SLAMing on 193.69992885099998 meters Centerline goodness [0,1] 0.6485248889395148 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.23 [[ 0.99997474 -0.00333606 -0.00627544 0.74227821] [ 0.00334881 0.99999235 0.00202269 -0.19849503] [ 0.00626864 -0.00204366 0.99997826 -0.22998293] [ 0. 0. 0. 1. ]] SLAMing on 193.72992885099998 meters Centerline goodness [0,1] 0.649496336996337 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.23 [[ 0.99997389 -0.00335499 -0.00639968 0.74264023] [ 0.00336685 0.99999263 0.00184303 -0.19776547] [ 0.00639345 -0.00186453 0.99997782 -0.23007586] [ 0. 0. 0. 1. ]] SLAMing on 193.75992885099998 meters Centerline goodness [0,1] 0.6527682373952466 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.23 [[ 0.99997356 -0.00328918 -0.00648551 0.74316693] [ 0.00330138 0.9999928 0.00187029 -0.19734438] [ 0.00647931 -0.00189165 0.99997722 -0.23047595] [ 0. 0. 0. 1. ]] SLAMing on 193.78992885099998 meters Centerline goodness [0,1] 0.6562872057880758 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.23 [[ 0.99997352 -0.00320951 -0.00653136 0.74357738] [ 0.00322295 0.99999271 0.00204764 -0.19752242] [ 0.00652474 -0.00206863 0.99997657 -0.23086952] [ 0. 0. 0. 1. ]] SLAMing on 193.819928851 meters Centerline goodness [0,1] 0.6524832461213623 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.23 [[ 0.99997307 -0.00350786 -0.00644604 0.74315481] [ 0.00351931 0.99999225 0.00176663 -0.19712264] [ 0.00643979 -0.00178927 0.99997766 -0.23059901] [ 0. 0. 0. 1. ]] SLAMing on 193.849928851 meters Centerline goodness [0,1] 0.6506998373536756 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.23 [[ 0.99997295 -0.003439 -0.00650192 0.74349555] [ 0.00345106 0.99999234 0.00184441 -0.19730116] [ 0.00649553 -0.0018668 0.99997716 -0.23084676] [ 0. 0. 0. 1. ]] SLAMing on 193.87992885099996 meters Centerline goodness [0,1] 0.6524448925347143 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.23 [[ 0.99997262 -0.00363184 -0.00644759 0.74335671] [ 0.0036418 0.99999219 0.00153465 -0.19625287] [ 0.00644196 -0.00155809 0.99997804 -0.23073898] [ 0. 0. 0. 1. ]] SLAMing on 193.90992885099996 meters Centerline goodness [0,1] 0.6514800632838833 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.23 [[ 0.99997248 -0.00356998 -0.006504 0.74370157] [ 0.00357988 0.99999245 0.00151024 -0.19561687] [ 0.00649856 -0.00153348 0.99997771 -0.2309687 ] [ 0. 0. 0. 1. ]] SLAMing on 193.93992885099996 meters Centerline goodness [0,1] 0.6547987971443656 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.19, Z:-0.23 [[ 0.99997236 -0.00345209 -0.006585 0.74424893] [ 0.00346256 0.99999276 0.00157972 -0.19491477] [ 0.0065795 -0.00160248 0.99997707 -0.23144257] [ 0. 0. 0. 1. ]] SLAMing on 193.96992885099996 meters Centerline goodness [0,1] 0.6607954938941343 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.19, Z:-0.23 [[ 0.99997193 -0.00338372 -0.0066848 0.74470507] [ 0.00339243 0.99999341 0.00129242 -0.19350477] [ 0.00668038 -0.00131506 0.99997682 -0.23163936] [ 0. 0. 0. 1. ]] SLAMing on 193.99992885099996 meters Centerline goodness [0,1] 0.6551502047200626 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.23 [[ 0.99997194 -0.0030431 -0.00684558 0.74553504] [ 0.00305382 0.99999413 0.0015556 -0.1934031 ] [ 0.0068408 -0.00157646 0.99997536 -0.23220522] [ 0. 0. 0. 1. ]] SLAMing on 194.02992885099997 meters Centerline goodness [0,1] 0.6523592295640954 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.23 [[ 0.99997137 -0.0030482 -0.00692579 0.74562907] [ 0.003058 0.99999434 0.00140439 -0.19286887] [ 0.00692147 -0.00142553 0.99997503 -0.23206091] [ 0. 0. 0. 1. ]] SLAMing on 194.05992885099997 meters Centerline goodness [0,1] 0.6561881529893681 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.23 [[ 0.99997103 -0.00280152 -0.00707759 0.74625293] [ 0.00281222 0.99999492 0.00150167 -0.19255004] [ 0.00707335 -0.00152153 0.99997383 -0.23233607] [ 0. 0. 0. 1. ]] SLAMing on 194.08992885099997 meters Centerline goodness [0,1] 0.6555214086004113 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.23 [[ 0.9999708 -0.00302445 -0.00701784 0.7457784 ] [ 0.00303258 0.99999474 0.00114835 -0.19146495] [ 0.00701433 -0.0011696 0.99997472 -0.23184222] [ 0. 0. 0. 1. ]] SLAMing on 194.11992885099997 meters Centerline goodness [0,1] 0.6544275460986361 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.23 [[ 0.99997093 -0.00284603 -0.00707451 0.74626523] [ 0.00285608 0.99999493 0.00141124 -0.19172947] [ 0.00707046 -0.00143141 0.99997398 -0.23228431] [ 0. 0. 0. 1. ]] SLAMing on 194.14992885099997 meters Centerline goodness [0,1] 0.6533026467203682 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.23 [[ 0.99997068 -0.00298626 -0.00705083 0.74603041] [ 0.00299488 0.99999478 0.00121168 -0.19161183] [ 0.00704718 -0.00123276 0.99997441 -0.23198781] [ 0. 0. 0. 1. ]] SLAMing on 194.17992885099997 meters Centerline goodness [0,1] 0.6505539465820807 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.23 [[ 0.99997119 -0.00282713 -0.00704507 0.74637986] [ 0.00283806 0.99999478 0.00154304 -0.19234359] [ 0.00704067 -0.00156299 0.99997399 -0.2324495 ] [ 0. 0. 0. 1. ]] SLAMing on 194.20992885099997 meters Centerline goodness [0,1] 0.65422965583789 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.23 [[ 0.99997228 -0.00334641 -0.00665177 0.74507811] [ 0.0033559 0.99999337 0.00141619 -0.19360566] [ 0.00664698 -0.00143847 0.99997687 -0.23195307] [ 0. 0. 0. 1. ]] SLAMing on 194.23992885099997 meters Centerline goodness [0,1] 0.651729667812142 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.23 [[ 0.99997279 -0.003339 -0.00657844 0.74511691] [ 0.00335009 0.99999298 0.00167651 -0.19466867] [ 0.00657279 -0.0016985 0.99997696 -0.23222369] [ 0. 0. 0. 1. ]] SLAMing on 194.26992885099997 meters Centerline goodness [0,1] 0.6521171594109969 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.20, Z:-0.23 [[ 0.99997315 -0.00342296 -0.0064797 0.744832 ] [ 0.00343447 0.99999254 0.00176695 -0.19531111] [ 0.0064736 -0.00178916 0.99997745 -0.23215009] [ 0. 0. 0. 1. ]] SLAMing on 194.29992885099998 meters Centerline goodness [0,1] 0.6484398216939079 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.23 [[ 0.99997403 -0.00321964 -0.0064471 0.74521409] [ 0.00323374 0.9999924 0.00217764 -0.19633182] [ 0.00644004 -0.00219843 0.99997685 -0.2327639 ] [ 0. 0. 0. 1. ]] SLAMing on 194.32992885099998 meters Centerline goodness [0,1] 0.6507773440175331 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.23 [[ 0.99997411 -0.00309606 -0.00649574 0.74559968] [ 0.00311109 0.9999925 0.00230517 -0.19669654] [ 0.00648855 -0.00232532 0.99997625 -0.23304498] [ 0. 0. 0. 1. ]] SLAMing on 194.35992885099998 meters Centerline goodness [0,1] 0.6490161574148137 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.23 [[ 0.99997464 -0.00297986 -0.00646852 0.74578052] [ 0.0029956 0.99999257 0.002425 -0.19690355] [ 0.00646125 -0.00244431 0.99997614 -0.23328786] [ 0. 0. 0. 1. ]] SLAMing on 194.38992885099998 meters Centerline goodness [0,1] 0.6520737852566295 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.23 [[ 0.99997418 -0.00264843 -0.00668027 0.74672907] [ 0.00266677 0.99999269 0.00273858 -0.19730124] [ 0.00667296 -0.00275632 0.99997394 -0.2338852 ] [ 0. 0. 0. 1. ]] SLAMing on 194.41992885099998 meters Centerline goodness [0,1] 0.6517914267434421 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.23 [[ 0.99997387 -0.00285474 -0.00664135 0.74656943] [ 0.00287102 0.99999289 0.00244358 -0.19675825] [ 0.00663433 -0.00246259 0.99997496 -0.23376231] [ 0. 0. 0. 1. ]] SLAMing on 194.44992885099998 meters Centerline goodness [0,1] 0.6523244085824317 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.23 [[ 0.99997355 -0.00256415 -0.00680648 0.74734347] [ 0.00258192 0.99999328 0.00260393 -0.19632922] [ 0.00679976 -0.00262144 0.99997345 -0.23421656] [ 0. 0. 0. 1. ]] SLAMing on 194.47992885099998 meters Centerline goodness [0,1] 0.640257546006667 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.23 [[ 0.99997273 -0.0024448 -0.00696892 0.7478943 ] [ 0.00246309 0.99999354 0.00261789 -0.19596139] [ 0.00696248 -0.00263499 0.99997229 -0.234408 ] [ 0. 0. 0. 1. ]] SLAMing on 194.50992885099998 meters Centerline goodness [0,1] 0.6519342072152449 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.23 [[ 0.99997312 -0.00262712 -0.00684545 0.74757519] [ 0.00264352 0.99999366 0.00238718 -0.19536882] [ 0.00683913 -0.00240521 0.99997372 -0.2343111 ] [ 0. 0. 0. 1. ]] SLAMing on 194.53992885099998 meters Centerline goodness [0,1] 0.6518346834339216 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.23 [[ 0.99997287 -0.0029266 -0.00675973 0.7470275 ] [ 0.0029395 0.99999388 0.00189933 -0.19441838] [ 0.00675413 -0.00191915 0.99997535 -0.23378034] [ 0. 0. 0. 1. ]] SLAMing on 194.569928851 meters Centerline goodness [0,1] 0.6558042471219556 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.23 [[ 0.99997251 -0.00288268 -0.0068319 0.74739233] [ 0.0028956 0.99999404 0.0018808 -0.19372428] [ 0.00682644 -0.00190053 0.99997489 -0.23404953] [ 0. 0. 0. 1. ]] SLAMing on 194.599928851 meters Centerline goodness [0,1] 0.6568345489266733 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.23 [[ 0.99997298 -0.00292365 -0.00674479 0.74742157] [ 0.00293578 0.99999409 0.00178914 -0.19312791] [ 0.00673952 -0.00180889 0.99997565 -0.23428634] [ 0. 0. 0. 1. ]] SLAMing on 194.62992885099996 meters Centerline goodness [0,1] 0.652973494862187 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.23 [[ 0.99997324 -0.00285942 -0.00673392 0.74773664] [ 0.00287189 0.99999418 0.00184326 -0.19281171] [ 0.00672861 -0.00186255 0.99997563 -0.23469635] [ 0. 0. 0. 1. ]] SLAMing on 194.65992885099996 meters Centerline goodness [0,1] 0.6515092300972436 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.24 [[ 0.99997347 -0.00281004 -0.00672065 0.74800774] [ 0.00282301 0.99999417 0.0019208 -0.19260495] [ 0.00671522 -0.00193972 0.99997557 -0.23503388] [ 0. 0. 0. 1. ]] SLAMing on 194.68992885099996 meters Centerline goodness [0,1] 0.6548542237153968 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.23 [[ 0.99997369 -0.0029505 -0.00662746 0.74765113] [ 0.00296204 0.99999411 0.00173236 -0.19231889] [ 0.00662231 -0.00175194 0.99997654 -0.23479583] [ 0. 0. 0. 1. ]] SLAMing on 194.71992885099996 meters Centerline goodness [0,1] 0.6469882852135411 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.24 [[ 0.99997386 -0.00285241 -0.00664453 0.7478827 ] [ 0.00286485 0.99999416 0.00186329 -0.19245506] [ 0.00663917 -0.00188227 0.99997619 -0.23505678] [ 0. 0. 0. 1. ]] SLAMing on 194.74992885099996 meters Centerline goodness [0,1] 0.6507841466503926 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.24 [[ 0.9999741 -0.00269762 -0.00667233 0.74846635] [ 0.0027113 0.99999424 0.00204215 -0.19273405] [ 0.00666678 -0.00206019 0.99997565 -0.23568641] [ 0. 0. 0. 1. ]] SLAMing on 194.77992885099997 meters Centerline goodness [0,1] 0.6503078761143277 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.24 [[ 0.99997343 -0.00250016 -0.0068479 0.7491611 ] [ 0.00251591 0.99999421 0.00229107 -0.1932001 ] [ 0.00684213 -0.00230824 0.99997393 -0.23605161] [ 0. 0. 0. 1. ]] SLAMing on 194.80992885099997 meters Centerline goodness [0,1] 0.6496078386273202 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.24 [[ 0.99997343 -0.00258722 -0.00681489 0.74908354] [ 0.00260269 0.99999405 0.00226225 -0.19308772] [ 0.006809 -0.00227992 0.99997422 -0.23601407] [ 0. 0. 0. 1. ]] SLAMing on 194.83992885099997 meters Centerline goodness [0,1] 0.6479392974930234 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.24 [[ 0.99997296 -0.00258195 -0.00688596 0.74920329] [ 0.00259726 0.99999417 0.00221535 -0.19292108] [ 0.0068802 -0.00223318 0.99997384 -0.23594797] [ 0. 0. 0. 1. ]] SLAMing on 194.86992885099997 meters Centerline goodness [0,1] 0.6541154253604164 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.24 [[ 0.99997236 -0.00222256 -0.00709532 0.75002673] [ 0.00224082 0.9999942 0.00256546 -0.19335256] [ 0.00708958 -0.00258129 0.99997154 -0.23637377] [ 0. 0. 0. 1. ]] SLAMing on 194.89992885099997 meters Centerline goodness [0,1] 0.653321054449177 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.24 [[ 0.99997286 -0.00230995 -0.00699603 0.74972398] [ 0.00232704 0.99999433 0.00243522 -0.19341906] [ 0.00699037 -0.00245144 0.99997256 -0.23618267] [ 0. 0. 0. 1. ]] SLAMing on 194.92992885099997 meters Centerline goodness [0,1] 0.6520099346886211 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.24 [[ 0.99997251 -0.00250969 -0.0069778 0.74953164] [ 0.00252584 0.99999415 0.00230683 -0.19375906] [ 0.00697197 -0.00232439 0.99997299 -0.23598449] [ 0. 0. 0. 1. ]] SLAMing on 194.95992885099997 meters Centerline goodness [0,1] 0.6534084377514657 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.19, Z:-0.24 [[ 0.99997301 -0.00250993 -0.00690524 0.74962123] [ 0.00252802 0.99999339 0.00261242 -0.1946768 ] [ 0.00689864 -0.0026298 0.99997275 -0.23637514] [ 0. 0. 0. 1. ]] SLAMing on 194.98992885099997 meters Centerline goodness [0,1] 0.64846150318705 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99997324 -0.0026536 -0.00681677 0.74955967] [ 0.00267141 0.99999304 0.00260426 -0.19549119] [ 0.00680982 -0.0026224 0.99997337 -0.23646527] [ 0. 0. 0. 1. ]] SLAMing on 195.01992885099997 meters Centerline goodness [0,1] 0.6509610983981693 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99997303 -0.00334839 -0.00653622 0.74839506] [ 0.00336499 0.99999114 0.00253042 -0.19707506] [ 0.00652769 -0.00255235 0.99997544 -0.23602405] [ 0. 0. 0. 1. ]] SLAMing on 195.04992885099998 meters Centerline goodness [0,1] 0.6509610983981693 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99997303 -0.00334839 -0.00653622 0.74839506] [ 0.00336499 0.99999114 0.00253042 -0.19707506] [ 0.00652769 -0.00255235 0.99997544 -0.23602405] [ 0. 0. 0. 1. ]] SLAMing on 195.07992885099998 meters Centerline goodness [0,1] 0.6515925171158381 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99997354 -0.00347618 -0.00639042 0.74810135] [ 0.00349325 0.99999035 0.0026628 -0.19806458] [ 0.0063811 -0.00268505 0.99997604 -0.23605638] [ 0. 0. 0. 1. ]] SLAMing on 195.10992885099998 meters Centerline goodness [0,1] 0.6573730714645425 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99997378 -0.00360872 -0.00627857 0.74786719] [ 0.00362645 0.99998946 0.00281537 -0.19918746] [ 0.00626834 -0.00283807 0.99997633 -0.23610766] [ 0. 0. 0. 1. ]] SLAMing on 195.13992885099998 meters Centerline goodness [0,1] 0.6495345273222168 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99997409 -0.00376323 -0.00613698 0.74757843] [ 0.00378166 0.99998837 0.00299423 -0.20026311] [ 0.00612564 -0.00301736 0.99997669 -0.23620215] [ 0. 0. 0. 1. ]] SLAMing on 195.16992885099998 meters Centerline goodness [0,1] 0.6493473838206049 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.9999745 -0.00423997 -0.00574571 0.74651687] [ 0.00425707 0.99998654 0.00296688 -0.20173341] [ 0.00573305 -0.00299127 0.99997909 -0.2359852 ] [ 0. 0. 0. 1. ]] SLAMing on 195.19992885099998 meters Centerline goodness [0,1] 0.6456986176168171 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99997452 -0.00423919 -0.0057442 0.74653284] [ 0.0042569 0.99998621 0.00307586 -0.20223312] [ 0.00573108 -0.00310023 0.99997877 -0.23602845] [ 0. 0. 0. 1. ]] SLAMing on 195.22992885099998 meters Centerline goodness [0,1] 0.6486251544127739 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99997432 -0.00456426 -0.00552503 0.74574779] [ 0.00458048 0.99998523 0.00292615 -0.20246986] [ 0.00551159 -0.00295138 0.99998046 -0.23561302] [ 0. 0. 0. 1. ]] SLAMing on 195.25992885099998 meters Centerline goodness [0,1] 0.6486251544127739 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99997432 -0.00456426 -0.00552503 0.74574779] [ 0.00458048 0.99998523 0.00292615 -0.20246986] [ 0.00551159 -0.00295138 0.99998046 -0.23561302] [ 0. 0. 0. 1. ]] SLAMing on 195.28992885099998 meters Centerline goodness [0,1] 0.6484801425080504 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99997486 -0.00441498 -0.00554902 0.74610032] [ 0.00443247 0.99998524 0.00314362 -0.20332932] [ 0.00553506 -0.00316813 0.99997966 -0.23592111] [ 0. 0. 0. 1. ]] SLAMing on 195.319928851 meters Centerline goodness [0,1] 0.6418968188861545 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99997516 -0.00431842 -0.0055702 0.74645196] [ 0.00433716 0.99998496 0.0033573 -0.20426874] [ 0.00555562 -0.00338138 0.99997885 -0.23627172] [ 0. 0. 0. 1. ]] SLAMing on 195.349928851 meters Centerline goodness [0,1] 0.6456750238886109 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.21, Z:-0.24 [[ 0.99997533 -0.00426363 -0.00558287 0.74637417] [ 0.00428287 0.99998492 0.00343824 -0.20545471] [ 0.00556813 -0.00346206 0.9999785 -0.23600332] [ 0. 0. 0. 1. ]] SLAMing on 195.37992885099996 meters Centerline goodness [0,1] 0.6420328047616883 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.21, Z:-0.24 [[ 0.99997512 -0.00429431 -0.00559687 0.74626211] [ 0.004313 0.99998515 0.00333118 -0.2055236 ] [ 0.00558248 -0.00335524 0.99997879 -0.23574965] [ 0. 0. 0. 1. ]] SLAMing on 195.40992885099996 meters Centerline goodness [0,1] 0.6443706802473627 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.21, Z:-0.24 [[ 0.9999761 -0.00394219 -0.00567924 0.7463946 ] [ 0.00396258 0.99998573 0.00358271 -0.20589342] [ 0.00566503 -0.00360513 0.99997745 -0.23554546] [ 0. 0. 0. 1. ]] SLAMing on 195.43992885099996 meters Centerline goodness [0,1] 0.6561263923619005 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.21, Z:-0.24 [[ 0.99997613 -0.00368809 -0.00584313 0.74685526] [ 0.00370949 0.99998644 0.00365589 -0.2062276 ] [ 0.00582957 -0.00367748 0.99997625 -0.23553703] [ 0. 0. 0. 1. ]] SLAMing on 195.46992885099996 meters Centerline goodness [0,1] 0.6426004276420545 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.21, Z:-0.24 [[ 0.99997635 -0.00356616 -0.00588109 0.74703217] [ 0.00358758 0.99998696 0.003635 -0.2063838 ] [ 0.00586805 -0.00365601 0.9999761 -0.23552935] [ 0. 0. 0. 1. ]] SLAMing on 195.49992885099996 meters Centerline goodness [0,1] 0.6495854628052242 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.21, Z:-0.24 [[ 0.99997654 -0.00336859 -0.00596503 0.74756146] [ 0.00339097 0.99998724 0.00374561 -0.20674582] [ 0.00595234 -0.00376575 0.99997519 -0.23585217] [ 0. 0. 0. 1. ]] SLAMing on 195.52992885099997 meters Centerline goodness [0,1] 0.6467308781869688 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.21, Z:-0.24 [[ 0.99997661 -0.00306216 -0.00611628 0.74806637] [ 0.00308655 0.99998731 0.00398163 -0.20755791] [ 0.00610401 -0.00400041 0.99997337 -0.23595371] [ 0. 0. 0. 1. ]] SLAMing on 195.55992885099997 meters Centerline goodness [0,1] 0.6551278856392017 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.21, Z:-0.24 [[ 0.99997639 -0.00305535 -0.00615461 0.74815826] [ 0.00307951 0.99998758 0.00391997 -0.20769491] [ 0.00614255 -0.00393883 0.99997338 -0.23591648] [ 0. 0. 0. 1. ]] SLAMing on 195.58992885099997 meters Centerline goodness [0,1] 0.6560346391004716 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.21, Z:-0.24 [[ 0.99997639 -0.00290146 -0.00622833 0.74862493] [ 0.00292665 0.99998756 0.00403951 -0.20797719] [ 0.00621653 -0.00405765 0.99997244 -0.23621214] [ 0. 0. 0. 1. ]] SLAMing on 195.61992885099997 meters Centerline goodness [0,1] 0.654942361804484 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.21, Z:-0.24 [[ 0.99997582 -0.00308738 -0.00623132 0.74841839] [ 0.00311023 0.99998847 0.00365963 -0.2074828 ] [ 0.00621995 -0.00367893 0.99997389 -0.23583715] [ 0. 0. 0. 1. ]] SLAMing on 195.64992885099997 meters Centerline goodness [0,1] 0.6530939838574755 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.21, Z:-0.24 [[ 0.99997551 -0.00277122 -0.00642685 0.74928395] [ 0.00279585 0.99998877 0.00382673 -0.20758639] [ 0.00641618 -0.00384461 0.99997203 -0.23626601] [ 0. 0. 0. 1. ]] SLAMing on 195.67992885099997 meters Centerline goodness [0,1] 0.6540531982267257 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.21, Z:-0.24 [[ 0.9999745 -0.00278892 -0.00657378 0.74954389] [ 0.00281268 0.99998954 0.0036076 -0.20737878] [ 0.00656365 -0.00362599 0.99997188 -0.23609783] [ 0. 0. 0. 1. ]] SLAMing on 195.70992885099997 meters Centerline goodness [0,1] 0.655603818831727 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.21, Z:-0.24 [[ 0.99997459 -0.00275149 -0.00657685 0.74981025] [ 0.00277444 0.99999008 0.00348323 -0.20700886] [ 0.0065672 -0.00350139 0.99997231 -0.23633125] [ 0. 0. 0. 1. ]] SLAMing on 195.73992885099997 meters Centerline goodness [0,1] 0.6537390477484208 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.21, Z:-0.24 [[ 0.99997356 -0.00239875 -0.00686456 0.75082783] [ 0.00242262 0.99999104 0.00347151 -0.20620652] [ 0.00685617 -0.00348805 0.99997041 -0.23669238] [ 0. 0. 0. 1. ]] SLAMing on 195.76992885099997 meters Centerline goodness [0,1] 0.6560278049112923 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.21, Z:-0.24 [[ 0.99997222 -0.00238353 -0.00706257 0.75120096] [ 0.00240628 0.99999194 0.00321444 -0.2053541 ] [ 0.00705485 -0.00323134 0.99996989 -0.2365742 ] [ 0. 0. 0. 1. ]] SLAMing on 195.79992885099998 meters Centerline goodness [0,1] 0.6533642059384364 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99997158 -0.002139 -0.00722877 0.75201706] [ 0.0021624 0.99999245 0.00323006 -0.20485903] [ 0.0072218 -0.0032456 0.99996866 -0.23701223] [ 0. 0. 0. 1. ]] SLAMing on 195.82992885099998 meters Centerline goodness [0,1] 0.6466066529103649 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99997103 -0.00222617 -0.0072795 0.75219803] [ 0.00224784 0.99999306 0.00297017 -0.2042673 ] [ 0.00727284 -0.00298645 0.99996909 -0.23698219] [ 0. 0. 0. 1. ]] SLAMing on 195.85992885099998 meters Centerline goodness [0,1] 0.6623264676526631 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99997056 -0.00233087 -0.0073105 0.75214976] [ 0.00235106 0.99999344 0.00275504 -0.20378011] [ 0.00730404 -0.00277215 0.99996948 -0.23677372] [ 0. 0. 0. 1. ]] SLAMing on 195.88992885099998 meters Centerline goodness [0,1] 0.6593506463999272 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99997055 -0.00244155 -0.00727638 0.75207813] [ 0.00245996 0.99999379 0.00252323 -0.20339917] [ 0.00727017 -0.00254106 0.99997034 -0.23667949] [ 0. 0. 0. 1. ]] SLAMing on 195.91992885099998 meters Centerline goodness [0,1] 0.6634401272438082 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99997047 -0.00239617 -0.00730255 0.75238205] [ 0.00241538 0.99999365 0.00262216 -0.20370234] [ 0.00729622 -0.00263972 0.9999699 -0.23700846] [ 0. 0. 0. 1. ]] SLAMing on 195.94992885099998 meters Centerline goodness [0,1] 0.6699382042893494 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99997079 -0.00266703 -0.00716249 0.75200012] [ 0.00268382 0.99999367 0.00233584 -0.20351778] [ 0.00715622 -0.002355 0.99997162 -0.23684115] [ 0. 0. 0. 1. ]] SLAMing on 195.97992885099998 meters Centerline goodness [0,1] 0.6645369591414474 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99997119 -0.00263179 -0.00711987 0.75214904] [ 0.00264928 0.99999349 0.00244834 -0.20372199] [ 0.00711338 -0.00246713 0.99997166 -0.23712984] [ 0. 0. 0. 1. ]] SLAMing on 196.00992885099998 meters Centerline goodness [0,1] 0.6544037694816962 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99997051 -0.00256546 -0.00723922 0.75268049] [ 0.00258312 0.99999371 0.00243101 -0.20360103] [ 0.00723294 -0.00244964 0.99997084 -0.23742882] [ 0. 0. 0. 1. ]] SLAMing on 196.03992885099998 meters Centerline goodness [0,1] 0.653737658674189 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99997046 -0.00262023 -0.00722528 0.75273524] [ 0.00263724 0.99999377 0.00234601 -0.20324103] [ 0.00721909 -0.00236499 0.99997115 -0.23754587] [ 0. 0. 0. 1. ]] SLAMing on 196.069928851 meters Centerline goodness [0,1] 0.6651849499920622 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99997029 -0.00244569 -0.00731021 0.75329068] [ 0.00246361 0.99999398 0.00244213 -0.20323723] [ 0.00730419 -0.00246006 0.9999703 -0.23792927] [ 0. 0. 0. 1. ]] SLAMing on 196.099928851 meters Centerline goodness [0,1] 0.6253086559590422 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99996971 -0.00219726 -0.00746709 0.75405922] [ 0.0022156 0.99999455 0.00244913 -0.20307608] [ 0.00746167 -0.0024656 0.99996912 -0.2382733 ] [ 0. 0. 0. 1. ]] SLAMing on 196.12992885099996 meters Centerline goodness [0,1] 0.6596621529822019 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99996876 -0.0021083 -0.0076175 0.75440845] [ 0.002126 0.99999506 0.00231698 -0.20263179] [ 0.00761258 -0.0023331 0.9999683 -0.23816612] [ 0. 0. 0. 1. ]] SLAMing on 196.15992885099996 meters Centerline goodness [0,1] 0.6592459930629548 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99996942 -0.00218509 -0.00750834 0.75421967] [ 0.00220152 0.9999952 0.00218053 -0.20225419] [ 0.00750354 -0.002197 0.99996943 -0.23814676] [ 0. 0. 0. 1. ]] SLAMing on 196.18992885099996 meters Centerline goodness [0,1] 0.6623126726128492 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99996875 -0.00203908 -0.00763761 0.75471771] [ 0.00205673 0.99999523 0.00230302 -0.20225306] [ 0.00763288 -0.00231865 0.99996818 -0.23837793] [ 0. 0. 0. 1. ]] SLAMing on 196.21992885099996 meters Centerline goodness [0,1] 0.6583350313568339 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.9999691 -0.00238044 -0.00749154 0.75417875] [ 0.00239567 0.99999508 0.00202496 -0.20208893] [ 0.00748668 -0.00204285 0.99996989 -0.23811606] [ 0. 0. 0. 1. ]] SLAMing on 196.24992885099996 meters Centerline goodness [0,1] 0.6566079594331506 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99996876 -0.0022154 -0.00758733 0.75466344] [ 0.00223239 0.99999502 0.00223148 -0.20248399] [ 0.00758235 -0.00224835 0.99996873 -0.23840443] [ 0. 0. 0. 1. ]] SLAMing on 196.27992885099997 meters Centerline goodness [0,1] 0.6539393527640012 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99996861 -0.00230363 -0.00758114 0.75490774] [ 0.00232027 0.99999492 0.00218677 -0.20236839] [ 0.00757606 -0.00220429 0.99996887 -0.23871862] [ 0. 0. 0. 1. ]] SLAMing on 196.30992885099997 meters Centerline goodness [0,1] 0.6543680508282278 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.20, Z:-0.24 [[ 0.99996832 -0.00258686 -0.00752795 0.75465105] [ 0.00260137 0.99999478 0.0019178 -0.2021116 ] [ 0.00752295 -0.00193733 0.99996983 -0.23856287] [ 0. 0. 0. 1. ]] SLAMing on 196.33992885099997 meters Centerline goodness [0,1] 0.6609680788266812 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.20, Z:-0.24 [[ 0.99996843 -0.00248877 -0.00754606 0.75544272] [ 0.0025051 0.99999454 0.00215519 -0.20203817] [ 0.00754066 -0.00217403 0.99996921 -0.23959862] [ 0. 0. 0. 1. ]] SLAMing on 196.36992885099997 meters Centerline goodness [0,1] 0.5953934653600419 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.20, Z:-0.24 [[ 0.99996804 -0.00260159 -0.00755924 0.75550352] [ 0.00261608 0.99999476 0.00190757 -0.20128806] [ 0.00755424 -0.00192728 0.99996961 -0.23959844] [ 0. 0. 0. 1. ]] SLAMing on 196.39992885099997 meters Centerline goodness [0,1] 0.6509461823303573 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.20, Z:-0.24 [[ 0.99996707 -0.0024308 -0.00774295 0.75633884] [ 0.00244595 0.99999511 0.00194778 -0.20065634] [ 0.00773818 -0.00196665 0.99996813 -0.24008855] [ 0. 0. 0. 1. ]] SLAMing on 196.42992885099997 meters Centerline goodness [0,1] 0.5926828157726983 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.20, Z:-0.24 [[ 0.99996647 -0.00247962 -0.00780396 0.75649205] [ 0.00249313 0.99999541 0.00172129 -0.1997153 ] [ 0.00779966 -0.00174069 0.99996807 -0.24006903] [ 0. 0. 0. 1. ]] SLAMing on 196.45992885099997 meters Centerline goodness [0,1] 0.5861620585819873 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.20, Z:-0.24 [[ 0.99996579 -0.00238848 -0.00791965 0.75710259] [ 0.00240253 0.99999556 0.00176553 -0.19922729] [ 0.0079154 -0.00178449 0.99996708 -0.24055132] [ 0. 0. 0. 1. ]] SLAMing on 196.48992885099997 meters Centerline goodness [0,1] 0.657257326007326 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.20, Z:-0.24 [[ 0.99996572 -0.00255109 -0.00787672 0.75703649] [ 0.00256323 0.99999554 0.00153222 -0.19864152] [ 0.00787277 -0.00155236 0.9999678 -0.24054435] [ 0. 0. 0. 1. ]] SLAMing on 196.51992885099997 meters Centerline goodness [0,1] 0.6548138668616741 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.20, Z:-0.24 [[ 0.99996621 -0.00263741 -0.00778641 0.75709575] [ 0.00264881 0.99999543 0.00145489 -0.19837611] [ 0.00778254 -0.00147547 0.99996863 -0.24079699] [ 0. 0. 0. 1. ]] SLAMing on 196.54992885099998 meters Centerline goodness [0,1] 0.6468217622275142 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.20, Z:-0.24 [[ 0.99996583 -0.00282282 -0.0077695 0.75697914] [ 0.00283306 0.99999513 0.00130726 -0.19795393] [ 0.00776577 -0.00132923 0.99996896 -0.2407291 ] [ 0. 0. 0. 1. ]] SLAMing on 196.57992885099998 meters Centerline goodness [0,1] 0.6599757664433826 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.20, Z:-0.24 [[ 0.99996525 -0.00276156 -0.0078665 0.75740304] [ 0.00277271 0.99999517 0.00140683 -0.19774881] [ 0.00786257 -0.00142859 0.99996807 -0.24101842] [ 0. 0. 0. 1. ]] SLAMing on 196.60992885099998 meters Centerline goodness [0,1] 0.6527061412557595 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.20, Z:-0.24 [[ 9.99965706e-01 -3.08455616e-03 -7.68587349e-03 7.56788397e-01] [ 3.09085980e-03 9.99994897e-01 8.08416624e-04 -1.96488574e-01] [ 7.68334066e-03 -8.32144858e-04 9.99970136e-01 -2.40528640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.63992885099998 meters Centerline goodness [0,1] 0.6476205706974938 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.20, Z:-0.24 [[ 0.99996457 -0.00287719 -0.00791124 0.75755042] [ 0.00288527 0.99999533 0.00101011 -0.19649736] [ 0.00790829 -0.00103291 0.9999682 -0.24088987] [ 0. 0. 0. 1. ]] SLAMing on 196.66992885099998 meters Centerline goodness [0,1] 0.6470413525245602 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.20, Z:-0.24 [[ 0.99996512 -0.0027519 -0.00788534 0.75776866] [ 0.00276104 0.99999553 0.00114836 -0.19639841] [ 0.00788215 -0.00117009 0.99996825 -0.24120368] [ 0. 0. 0. 1. ]] SLAMing on 196.69992885099998 meters Centerline goodness [0,1] 0.6497335376592484 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.20, Z:-0.24 [[ 0.99996473 -0.00267189 -0.00796201 0.75808439] [ 0.0026814 0.9999957 0.00118395 -0.19607499] [ 0.00795881 -0.00120526 0.9999676 -0.24138467] [ 0. 0. 0. 1. ]] SLAMing on 196.72992885099998 meters Centerline goodness [0,1] 0.6605689659124774 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.19, Z:-0.24 [[ 0.99996509 -0.00250297 -0.0079722 0.75864761] [ 0.00251192 0.99999623 0.00111267 -0.19469136] [ 0.00796939 -0.00113266 0.9999676 -0.2419551 ] [ 0. 0. 0. 1. ]] SLAMing on 196.75992885099998 meters Centerline goodness [0,1] 0.661842075033887 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.19, Z:-0.24 [[ 0.99996468 -0.00233883 -0.00807218 0.75920673] [ 0.00234862 0.99999652 0.00120265 -0.19429062] [ 0.00806934 -0.00122157 0.9999667 -0.2423433 ] [ 0. 0. 0. 1. ]] SLAMing on 196.78992885099998 meters Centerline goodness [0,1] 0.6606913330885054 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.19, Z:-0.24 [[ 0.9999635 -0.00195841 -0.00831646 0.76034825] [ 0.00197121 0.99999688 0.00153191 -0.19435547] [ 0.00831344 -0.00154825 0.99996424 -0.24308106] [ 0. 0. 0. 1. ]] SLAMing on 196.819928851 meters Centerline goodness [0,1] 0.6632491207098687 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.19, Z:-0.24 [[ 0.99996292 -0.0015713 -0.00846712 0.76145807] [ 0.00158606 0.99999723 0.00173693 -0.19391743] [ 0.00846437 -0.0017503 0.99996264 -0.24396555] [ 0. 0. 0. 1. ]] SLAMing on 196.849928851 meters Centerline goodness [0,1] 0.6625882569398127 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.19, Z:-0.24 [[ 0.99996245 -0.00162939 -0.00851083 0.76151182] [ 0.00164314 0.99999736 0.00160865 -0.19338264] [ 0.00850819 -0.00162257 0.99996249 -0.24387317] [ 0. 0. 0. 1. ]] SLAMing on 196.87992885099996 meters Centerline goodness [0,1] 0.6620368234045498 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.19, Z:-0.24 [[ 0.99996202 -0.00176063 -0.00853517 0.76149521] [ 0.00177267 0.99999744 0.00140389 -0.19269118] [ 0.00853268 -0.00141896 0.99996259 -0.24379137] [ 0. 0. 0. 1. ]] SLAMing on 196.90992885099996 meters Centerline goodness [0,1] 0.6621276007465267 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.19, Z:-0.24 [[ 0.99996152 -0.00159217 -0.00862655 0.76208813] [ 0.0016064 0.99999736 0.00164226 -0.19274388] [ 0.00862391 -0.00165606 0.99996144 -0.24427158] [ 0. 0. 0. 1. ]] SLAMing on 196.93992885099996 meters Centerline goodness [0,1] 0.6611659896602659 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.19, Z:-0.24 [[ 0.99996249 -0.0018223 -0.00846703 0.76175914] [ 0.00183509 0.99999719 0.00150287 -0.19228463] [ 0.00846426 -0.00151835 0.99996302 -0.2443061 ] [ 0. 0. 0. 1. ]] SLAMing on 196.96992885099996 meters Centerline goodness [0,1] 0.6611659896602659 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.19, Z:-0.24 [[ 0.99996249 -0.0018223 -0.00846703 0.76175914] [ 0.00183509 0.99999719 0.00150287 -0.19228463] [ 0.00846426 -0.00151835 0.99996302 -0.2443061 ] [ 0. 0. 0. 1. ]] SLAMing on 196.99992885099996 meters Centerline goodness [0,1] 0.6487841910326899 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.19, Z:-0.24 [[ 0.99996163 -0.0019367 -0.00854348 0.7621438 ] [ 0.00194934 0.99999702 0.00147091 -0.1923401 ] [ 0.0085406 -0.00148751 0.99996242 -0.24458487] [ 0. 0. 0. 1. ]] SLAMing on 197.02992885099997 meters Centerline goodness [0,1] 0.6600296008510245 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.19, Z:-0.24 [[ 0.99996161 -0.00211909 -0.00850263 0.76193822] [ 0.00212984 0.99999694 0.00125523 -0.19201454] [ 0.00849994 -0.00127329 0.99996306 -0.24443711] [ 0. 0. 0. 1. ]] SLAMing on 197.05992885099997 meters Centerline goodness [0,1] 0.6569992622648468 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.19, Z:-0.25 [[ 0.99996083 -0.00198263 -0.00862634 0.76268182] [ 0.00199511 0.99999698 0.00143807 -0.19207836] [ 0.00862346 -0.00145523 0.99996176 -0.24502143] [ 0. 0. 0. 1. ]] SLAMing on 197.08992885099997 meters Centerline goodness [0,1] 0.6609937311353611 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.19, Z:-0.24 [[ 0.99996016 -0.00215913 -0.00866162 0.7625518 ] [ 0.00216919 0.99999698 0.00115151 -0.1915197 ] [ 0.00865911 -0.00117025 0.99996182 -0.24473584] [ 0. 0. 0. 1. ]] SLAMing on 197.11992885099997 meters Centerline goodness [0,1] 0.6574323696197825 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.19, Z:-0.25 [[ 0.99995916 -0.0020458 -0.00880352 0.76312242] [ 0.00205648 0.99999716 0.00120419 -0.19087975] [ 0.00880103 -0.00122225 0.99996052 -0.24506093] [ 0. 0. 0. 1. ]] SLAMing on 197.14992885099997 meters Centerline goodness [0,1] 0.6603013437041523 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.19, Z:-0.25 [[ 0.99995942 -0.00200404 -0.00878297 0.76326006] [ 0.0020155 0.99999713 0.00129678 -0.19070702] [ 0.00878034 -0.00131443 0.99996059 -0.24529229] [ 0. 0. 0. 1. ]] SLAMing on 197.17992885099997 meters Centerline goodness [0,1] 0.6572710993278914 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.19, Z:-0.25 [[ 0.99995912 -0.00179382 -0.00886237 0.7639023 ] [ 0.00180766 0.99999716 0.0015539 -0.1908341 ] [ 0.00885956 -0.00156986 0.99995952 -0.2459037 ] [ 0. 0. 0. 1. ]] SLAMing on 197.20992885099997 meters Centerline goodness [0,1] 0.6579621692135669 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.19, Z:-0.25 [[ 0.99995892 -0.00175073 -0.00889396 0.76408584] [ 0.00176445 0.99999726 0.00153519 -0.19082562] [ 0.00889125 -0.00155082 0.99995927 -0.24599325] [ 0. 0. 0. 1. ]] SLAMing on 197.23992885099997 meters Centerline goodness [0,1] 0.6529878618113912 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.19, Z:-0.25 [[ 0.99995857 -0.00177014 -0.00892906 0.76401377] [ 0.00178265 0.99999744 0.00139327 -0.19049339] [ 0.00892657 -0.00140913 0.99995916 -0.24574037] [ 0. 0. 0. 1. ]] SLAMing on 197.26992885099997 meters Centerline goodness [0,1] 0.6479912225412611 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.19, Z:-0.25 [[ 0.99995865 -0.00178484 -0.00891678 0.76419256] [ 0.00179773 0.99999735 0.00143797 -0.19052167] [ 0.00891419 -0.00145394 0.99995921 -0.24597491] [ 0. 0. 0. 1. ]] SLAMing on 197.29992885099998 meters Centerline goodness [0,1] 0.6500975564433709 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.19, Z:-0.25 [[ 0.99995731 -0.00150906 -0.00911584 0.76516582] [ 0.00152599 0.99999712 0.00184978 -0.19113193] [ 0.00911302 -0.00186361 0.99995674 -0.24667661] [ 0. 0. 0. 1. ]] SLAMing on 197.32992885099998 meters Centerline goodness [0,1] 0.6464724284446934 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.19, Z:-0.25 [[ 0.99995711 -0.00166978 -0.00910936 0.76497665] [ 0.00168546 0.99999711 0.00171386 -0.19107253] [ 0.00910647 -0.00172914 0.99995704 -0.24647471] [ 0. 0. 0. 1. ]] SLAMing on 197.35992885099998 meters Centerline goodness [0,1] 0.643380556912555 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.19, Z:-0.25 [[ 0.99995804 -0.001836 -0.00897493 0.7645289 ] [ 0.00184991 0.9999971 0.00154156 -0.1916853 ] [ 0.00897207 -0.00155809 0.99995854 -0.24612506] [ 0. 0. 0. 1. ]] SLAMing on 197.38992885099998 meters Centerline goodness [0,1] 0.6416920678502455 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.19, Z:-0.25 [[ 0.99995806 -0.001816 -0.00897662 0.76450767] [ 0.00183064 0.99999701 0.00162345 -0.19225037] [ 0.00897365 -0.00163981 0.99995839 -0.24606774] [ 0. 0. 0. 1. ]] SLAMing on 197.41992885099998 meters Centerline goodness [0,1] 0.65814266487214 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.19, Z:-0.25 [[ 0.99995779 -0.00141831 -0.00907811 0.76516694] [ 0.00143758 0.99999673 0.0021168 -0.19356098] [ 0.00907507 -0.00212976 0.99995655 -0.24655265] [ 0. 0. 0. 1. ]] SLAMing on 197.44992885099998 meters Centerline goodness [0,1] 0.6381089290268729 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.19, Z:-0.25 [[ 0.99995687 -0.00150959 -0.00916366 0.76510286] [ 0.00152745 0.99999695 0.00194231 -0.19366331] [ 0.0091607 -0.00195622 0.99995613 -0.24616546] [ 0. 0. 0. 1. ]] SLAMing on 197.47992885099998 meters Centerline goodness [0,1] 0.6353893618501937 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.19, Z:-0.25 [[ 0.99995706 -0.00156373 -0.00913443 0.76489149] [ 0.00158049 0.99999708 0.00182762 -0.19371552] [ 0.00913154 -0.00184197 0.99995661 -0.24589712] [ 0. 0. 0. 1. ]] SLAMing on 197.50992885099998 meters Centerline goodness [0,1] 0.654953635919961 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.19, Z:-0.25 [[ 0.99995685 -0.00147448 -0.00917172 0.76504815] [ 0.0014924 0.99999699 0.00194665 -0.19423984] [ 0.00916883 -0.00196026 0.99995604 -0.24593169] [ 0. 0. 0. 1. ]] SLAMing on 197.53992885099998 meters Centerline goodness [0,1] 0.6547541743970315 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 0.999956 -0.00108843 -0.00931764 0.76564142] [ 0.00111118 0.99999641 0.00243692 -0.19580551] [ 0.00931495 -0.00244716 0.99995362 -0.2461966 ] [ 0. 0. 0. 1. ]] SLAMing on 197.569928851 meters Centerline goodness [0,1] 0.6552969781174018 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 0.99995593 -0.00104914 -0.00932919 0.76566417] [ 0.00107208 0.99999642 0.00245349 -0.1964484 ] [ 0.00932659 -0.00246338 0.99995347 -0.24609315] [ 0. 0. 0. 1. ]] SLAMing on 197.59992885099996 meters Centerline goodness [0,1] 0.6530782222427873 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 9.99954970e-01 -8.30592866e-04 -9.45351416e-03 7.66123796e-01] [ 8.55698734e-04 9.99996117e-01 2.65198314e-03 -1.97215219e-01] [ 9.45127474e-03 -2.65995308e-03 9.99951798e-01 -2.46240255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.62992885099996 meters Centerline goodness [0,1] 0.652027183209283 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 9.99954461e-01 -8.10524343e-04 -9.50893181e-03 7.66214382e-01] [ 8.35479252e-04 9.99996217e-01 2.62068632e-03 -1.97500322e-01] [ 9.50677171e-03 -2.62851149e-03 9.99951355e-01 -2.46118375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.65992885099996 meters Centerline goodness [0,1] 0.6475508317929759 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 9.99954238e-01 -6.85995152e-04 -9.54213015e-03 7.66341947e-01] [ 7.11734226e-04 9.99996117e-01 2.69427955e-03 -1.97922146e-01] [ 9.54024484e-03 -2.70094771e-03 9.99950843e-01 -2.46128638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.68992885099996 meters Centerline goodness [0,1] 0.6488191523778712 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 9.99953627e-01 -6.65817150e-04 -9.60732579e-03 7.66489436e-01] [ 6.91558328e-04 9.99996180e-01 2.67625487e-03 -1.98506447e-01] [ 9.60550719e-03 -2.68277479e-03 9.99950267e-01 -2.46059470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.71992885099996 meters Centerline goodness [0,1] 0.6451702186548575 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 9.99953145e-01 -7.27313098e-04 -9.65292952e-03 7.66502843e-01] [ 7.52266859e-04 9.99996384e-01 2.58171812e-03 -1.98865200e-01] [ 9.65101690e-03 -2.58885873e-03 9.99950077e-01 -2.45913744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.74992885099996 meters Centerline goodness [0,1] 0.664935844179821 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 9.99952473e-01 -7.46616431e-04 -9.72077256e-03 7.66633225e-01] [ 7.70356576e-04 9.99996730e-01 2.43869242e-03 -1.99164176e-01] [ 9.71892000e-03 -2.44606498e-03 9.99949778e-01 -2.45767446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.77992885099997 meters Centerline goodness [0,1] 0.660041961589007 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 9.99952789e-01 -7.94980996e-04 -9.68437966e-03 7.66521007e-01] [ 8.17600728e-04 9.99996947e-01 2.33195728e-03 -1.99388402e-01] [ 9.68249623e-03 -2.33976514e-03 9.99950386e-01 -2.45637137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.80992885099997 meters Centerline goodness [0,1] 0.6578249948148318 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 9.99952007e-01 -7.99022677e-04 -9.76447473e-03 7.66737191e-01] [ 8.21988087e-04 9.99996905e-01 2.34814817e-03 -1.99640025e-01] [ 9.76256829e-03 -2.35606176e-03 9.99949569e-01 -2.45666260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.83992885099997 meters Centerline goodness [0,1] 0.6572163764186922 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 0.99995226 -0.00100019 -0.00972042 0.76655735] [ 0.0010213 0.99999713 0.0021668 -0.19980534] [ 0.00971823 -0.00217662 0.99995041 -0.24549493] [ 0. 0. 0. 1. ]] SLAMing on 197.86992885099997 meters Centerline goodness [0,1] 0.6539910849685217 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 0.99995362 -0.00127857 -0.00954551 0.7660524 ] [ 0.00129936 0.9999968 0.00217205 -0.20071582] [ 0.0095427 -0.00218435 0.99995208 -0.24542203] [ 0. 0. 0. 1. ]] SLAMing on 197.89992885099997 meters Centerline goodness [0,1] 0.6629125857283757 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 0.99995452 -0.00162913 -0.00939754 0.7654283 ] [ 0.00164676 0.9999969 0.00186843 -0.20105146] [ 0.00939447 -0.00188382 0.9999541 -0.24501568] [ 0. 0. 0. 1. ]] SLAMing on 197.92992885099997 meters Centerline goodness [0,1] 0.660831960461285 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 0.99995484 -0.0016155 -0.00936573 0.76556394] [ 0.00163438 0.99999665 0.0020082 -0.20170358] [ 0.00936245 -0.00202342 0.99995412 -0.24523883] [ 0. 0. 0. 1. ]] SLAMing on 197.95992885099997 meters Centerline goodness [0,1] 0.6616345296095519 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.24 [[ 0.99995501 -0.00189951 -0.00929377 0.76511441] [ 0.00191536 0.99999673 0.00169736 -0.20161785] [ 0.00929052 -0.00171509 0.99995537 -0.24480389] [ 0. 0. 0. 1. ]] SLAMing on 197.98992885099997 meters Centerline goodness [0,1] 0.6591132779418161 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.24 [[ 0.99995504 -0.00192151 -0.00928613 0.76525561] [ 0.00193717 0.99999671 0.00167862 -0.2014969 ] [ 0.00928288 -0.00169653 0.99995547 -0.2449875 ] [ 0. 0. 0. 1. ]] SLAMing on 198.01992885099997 meters Centerline goodness [0,1] 0.65805905628874 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 0.99995561 -0.00200429 -0.00920618 0.76513802] [ 0.00201935 0.99999664 0.00162655 -0.20150056] [ 0.00920289 -0.00164507 0.9999563 -0.24502727] [ 0. 0. 0. 1. ]] SLAMing on 198.04992885099998 meters Centerline goodness [0,1] 0.6588060723661682 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 0.99995513 -0.00184591 -0.00929097 0.76567102] [ 0.00186262 0.99999666 0.00179048 -0.20176464] [ 0.00928764 -0.0018077 0.99995524 -0.24542256] [ 0. 0. 0. 1. ]] SLAMing on 198.07992885099998 meters Centerline goodness [0,1] 0.6563484454184358 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 0.99995481 -0.00195281 -0.00930442 0.76571238] [ 0.00196823 0.9999967 0.0016487 -0.2013931 ] [ 0.00930117 -0.00166693 0.99995535 -0.24543077] [ 0. 0. 0. 1. ]] SLAMing on 198.10992885099998 meters Centerline goodness [0,1] 0.6543243674856842 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 0.99995508 -0.00192376 -0.009281 0.76593727] [ 0.00193899 0.99999679 0.0016324 -0.20131422] [ 0.00927783 -0.00165032 0.9999556 -0.24572912] [ 0. 0. 0. 1. ]] SLAMing on 198.13992885099998 meters Centerline goodness [0,1] 0.6524636556587626 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 0.99995525 -0.00195259 -0.00925664 0.76608922] [ 0.00196776 0.99999674 0.00162983 -0.20146761] [ 0.00925342 -0.00164797 0.99995583 -0.24596757] [ 0. 0. 0. 1. ]] SLAMing on 198.16992885099998 meters Centerline goodness [0,1] 0.6539349470845048 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 0.99995594 -0.00209327 -0.00915054 0.76593305] [ 0.00210786 0.99999652 0.00158503 -0.20149925] [ 0.00914719 -0.00160424 0.99995688 -0.24605112] [ 0. 0. 0. 1. ]] SLAMing on 198.19992885099998 meters Centerline goodness [0,1] 0.6511336161671457 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 0.99995685 -0.00255857 -0.00893093 0.76548195] [ 0.00257197 0.99999558 0.00148963 -0.20169306] [ 0.00892707 -0.00151253 0.99995901 -0.24623229] [ 0. 0. 0. 1. ]] SLAMing on 198.22992885099998 meters Centerline goodness [0,1] 0.6583999453439913 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 0.99995691 -0.00258742 -0.00891486 0.76575103] [ 0.00260289 0.99999512 0.00172506 -0.20256071] [ 0.00891035 -0.00174819 0.99995877 -0.24665352] [ 0. 0. 0. 1. ]] SLAMing on 198.25992885099998 meters Centerline goodness [0,1] 0.6597310847766636 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 0.99995764 -0.00302132 -0.00869431 0.76513174] [ 0.00303611 0.99999397 0.00168843 -0.2033495 ] [ 0.00868916 -0.00171476 0.99996078 -0.24661026] [ 0. 0. 0. 1. ]] SLAMing on 198.28992885099998 meters Centerline goodness [0,1] 0.6562144967052943 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 0.99995749 -0.00327215 -0.00862079 0.7651714 ] [ 0.00328855 0.99999281 0.00188914 -0.20457504] [ 0.00861454 -0.00191741 0.99996106 -0.24699054] [ 0. 0. 0. 1. ]] SLAMing on 198.319928851 meters Centerline goodness [0,1] 0.6504649100870712 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.21, Z:-0.25 [[ 0.99995864 -0.00350129 -0.00839445 0.76491501] [ 0.00351954 0.99999147 0.00215987 -0.20605846] [ 0.00838682 -0.00218932 0.99996243 -0.24744285] [ 0. 0. 0. 1. ]] SLAMing on 198.34992885099996 meters Centerline goodness [0,1] 0.6496054935310034 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.21, Z:-0.25 [[ 0.99995715 -0.00456656 -0.00805278 0.76352089] [ 0.00458208 0.99998768 0.00190986 -0.20779309] [ 0.00804396 -0.00194668 0.99996575 -0.24696333] [ 0. 0. 0. 1. ]] SLAMing on 198.37992885099996 meters Centerline goodness [0,1] 0.6428522657441336 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.21, Z:-0.25 [[ 0.99995695 -0.00473334 -0.00798026 0.7634517 ] [ 0.0047505 0.99998644 0.00213222 -0.20878064] [ 0.00797006 -0.00217004 0.99996588 -0.24720161] [ 0. 0. 0. 1. ]] SLAMing on 198.40992885099996 meters Centerline goodness [0,1] 0.6426230254472618 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.21, Z:-0.25 [[ 0.99995635 -0.00481256 -0.00800854 0.76363306] [ 0.0048311 0.99998569 0.00229637 -0.20954862] [ 0.00799738 -0.00233496 0.99996529 -0.24742294] [ 0. 0. 0. 1. ]] SLAMing on 198.43992885099996 meters Centerline goodness [0,1] 0.6400545578540577 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.21, Z:-0.25 [[ 0.99995671 -0.00481955 -0.00795938 0.76399238] [ 0.00483993 0.99998505 0.00254437 -0.21041916] [ 0.00794699 -0.00258278 0.99996509 -0.24804615] [ 0. 0. 0. 1. ]] SLAMing on 198.46992885099996 meters Centerline goodness [0,1] 0.6399105084126657 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.21, Z:-0.25 [[ 0.99995713 -0.00488576 -0.00786547 0.76413871] [ 0.00490749 0.99998419 0.00274613 -0.2108512 ] [ 0.00785193 -0.00278462 0.9999653 -0.24857463] [ 0. 0. 0. 1. ]] SLAMing on 198.49992885099996 meters Centerline goodness [0,1] 0.639494154573989 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.21, Z:-0.25 [[ 0.99995593 -0.00491841 -0.00799717 0.76464017] [ 0.00494001 0.9999842 0.00268306 -0.2107289 ] [ 0.00798384 -0.00272245 0.99996442 -0.24884406] [ 0. 0. 0. 1. ]] SLAMing on 198.52992885099997 meters Centerline goodness [0,1] 0.6263138735951221 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.21, Z:-0.25 [[ 0.99995674 -0.00470879 -0.00802191 0.76509145] [ 0.00473114 0.99998497 0.00276987 -0.21070329] [ 0.00800875 -0.00280771 0.99996399 -0.24919168] [ 0. 0. 0. 1. ]] SLAMing on 198.55992885099997 meters Centerline goodness [0,1] 0.6358950969213226 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.21, Z:-0.25 [[ 0.99995644 -0.00471794 -0.00805313 0.76513763] [ 0.00473959 0.9999852 0.00267042 -0.21021512] [ 0.00804041 -0.00270848 0.99996401 -0.24910921] [ 0. 0. 0. 1. ]] SLAMing on 198.58992885099997 meters Centerline goodness [0,1] 0.6348697668075822 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.21, Z:-0.25 [[ 0.99995628 -0.00426345 -0.00832266 0.76601681] [ 0.00428508 0.99998748 0.00258243 -0.20880711] [ 0.00831154 -0.00261798 0.99996203 -0.24913324] [ 0. 0. 0. 1. ]] SLAMing on 198.61992885099997 meters Centerline goodness [0,1] 0.6395444191343964 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.21, Z:-0.25 [[ 0.99995606 -0.0040784 -0.00844077 0.76628921] [ 0.00409891 0.99998869 0.0024135 -0.20755633] [ 0.00843083 -0.00244799 0.99996146 -0.24896583] [ 0. 0. 0. 1. ]] SLAMing on 198.64992885099997 meters Centerline goodness [0,1] 0.6368383845294292 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.21, Z:-0.25 [[ 0.99995582 -0.00383041 -0.00858411 0.76672399] [ 0.00385044 0.9999899 0.00231797 -0.20637452] [ 0.00857514 -0.00235092 0.99996047 -0.2489291 ] [ 0. 0. 0. 1. ]] SLAMing on 198.67992885099997 meters Centerline goodness [0,1] 0.6449958982772764 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.21, Z:-0.25 [[ 0.99995613 -0.00373336 -0.00859088 0.76676586] [ 0.00375114 0.99999085 0.00205443 -0.20531098] [ 0.00858313 -0.00208657 0.99996099 -0.24875543] [ 0. 0. 0. 1. ]] SLAMing on 198.70992885099997 meters Centerline goodness [0,1] 0.6396120935539076 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 0.999957 -0.00306824 -0.00875131 0.76768032] [ 0.00308787 0.99999275 0.00223007 -0.20460519] [ 0.0087444 -0.00225699 0.99995922 -0.24914066] [ 0. 0. 0. 1. ]] SLAMing on 198.73992885099997 meters Centerline goodness [0,1] 0.6421172973590945 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 0.99995683 -0.0029061 -0.0088258 0.76823983] [ 0.00292545 0.99999334 0.00218012 -0.2041698 ] [ 0.00881941 -0.00220584 0.99995868 -0.2495356 ] [ 0. 0. 0. 1. ]] SLAMing on 198.76992885099997 meters Centerline goodness [0,1] 0.6431958057898336 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 0.99995523 -0.0024216 -0.00914732 0.76957575] [ 0.002445 0.99999377 0.00254746 -0.20437763] [ 0.0091411 -0.00256972 0.99995492 -0.25027781] [ 0. 0. 0. 1. ]] SLAMing on 198.79992885099998 meters Centerline goodness [0,1] 0.6517167283865953 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 0.99995489 -0.00221131 -0.009237 0.77023655] [ 0.00223545 0.99999411 0.00260478 -0.20410881] [ 0.00923118 -0.00262531 0.99995395 -0.25077504] [ 0. 0. 0. 1. ]] SLAMing on 198.82992885099998 meters Centerline goodness [0,1] 0.6492813141683778 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 0.99995456 -0.00198436 -0.00932431 0.77103811] [ 0.00201006 0.9999942 0.00274843 -0.2042035 ] [ 0.00931881 -0.00276704 0.99995275 -0.25139771] [ 0. 0. 0. 1. ]] SLAMing on 198.85992885099998 meters Centerline goodness [0,1] 0.6492813141683778 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 0.99995456 -0.00198436 -0.00932431 0.77103811] [ 0.00201006 0.9999942 0.00274843 -0.2042035 ] [ 0.00931881 -0.00276704 0.99995275 -0.25139771] [ 0. 0. 0. 1. ]] SLAMing on 198.88992885099998 meters Centerline goodness [0,1] 0.6523803003331964 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 0.99995332 -0.00195016 -0.00946315 0.77147594] [ 0.00197538 0.99999452 0.00265568 -0.20390368] [ 0.00945792 -0.00267425 0.9999517 -0.25148113] [ 0. 0. 0. 1. ]] SLAMing on 198.91992885099998 meters Centerline goodness [0,1] 0.6550643050025173 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 0.99995265 -0.00211568 -0.0094989 0.77153054] [ 0.00213875 0.99999479 0.00241929 -0.20356588] [ 0.00949373 -0.00243949 0.99995196 -0.25140534] [ 0. 0. 0. 1. ]] SLAMing on 198.94992885099998 meters Centerline goodness [0,1] 0.6544448762200836 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.20, Z:-0.25 [[ 0.99995135 -0.00213768 -0.00962912 0.77215325] [ 0.00216317 0.99999418 0.00263744 -0.20442699] [ 0.00962342 -0.00265814 0.99995016 -0.25190039] [ 0. 0. 0. 1. ]] SLAMing on 198.97992885099998 meters Centerline goodness [0,1] 0.6501164224078892 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.21, Z:-0.25 [[ 0.99995141 -0.00233985 -0.00957628 0.77220127] [ 0.00236543 0.99999366 0.00266008 -0.20517812] [ 0.00956999 -0.00268261 0.99995061 -0.25212806] [ 0. 0. 0. 1. ]] SLAMing on 199.00992885099998 meters Centerline goodness [0,1] 0.6516548111891312 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.21, Z:-0.25 [[ 0.99995296 -0.00278588 -0.00929086 0.77148666] [ 0.00280987 0.99999275 0.00257074 -0.20586606] [ 0.00928363 -0.00259672 0.99995353 -0.25210903] [ 0. 0. 0. 1. ]] SLAMing on 199.03992885099998 meters Centerline goodness [0,1] 0.6518548995405609 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.21, Z:-0.25 [[ 0.99995349 -0.00300274 -0.00916542 0.77119028] [ 0.00302709 0.99999192 0.00264396 -0.20686189] [ 0.00915741 -0.00267158 0.9999545 -0.25212308] [ 0. 0. 0. 1. ]] SLAMing on 199.069928851 meters Centerline goodness [0,1] 0.6471286947781991 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.21, Z:-0.25 [[ 0.99995459 -0.00370184 -0.00878129 0.77008792] [ 0.00372378 0.99998998 0.00248354 -0.20797141] [ 0.00877201 -0.00251612 0.99995836 -0.25191635] [ 0. 0. 0. 1. ]] SLAMing on 199.09992885099996 meters Centerline goodness [0,1] 0.6465202301580053 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.21, Z:-0.25 [[ 0.99995421 -0.00368225 -0.00883314 0.77028243] [ 0.00370569 0.99998965 0.00263929 -0.20878394] [ 0.00882333 -0.0026719 0.9999575 -0.25200013] [ 0. 0. 0. 1. ]] SLAMing on 199.12992885099996 meters Centerline goodness [0,1] 0.6463347921225383 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.21, Z:-0.25 [[ 0.99995367 -0.00382673 -0.00883257 0.76997906] [ 0.00384961 0.99998927 0.00257532 -0.20947262] [ 0.00882262 -0.00260921 0.99995768 -0.25159159] [ 0. 0. 0. 1. ]] SLAMing on 199.15992885099996 meters Centerline goodness [0,1] 0.6443325969618985 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.21, Z:-0.25 [[ 0.99995338 -0.00356562 -0.00897322 0.77080502] [ 0.00359126 0.99998951 0.00284308 -0.20982256] [ 0.00896299 -0.00287517 0.9999557 -0.2521875 ] [ 0. 0. 0. 1. ]] SLAMing on 199.18992885099996 meters Centerline goodness [0,1] 0.639748725418791 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.21, Z:-0.25 [[ 0.99995348 -0.00343157 -0.00901495 0.77111056] [ 0.00345741 0.99998996 0.00285149 -0.20987203] [ 0.00900507 -0.00288252 0.9999553 -0.25230491] [ 0. 0. 0. 1. ]] SLAMing on 199.21992885099996 meters Centerline goodness [0,1] 0.6403926302124849 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.21, Z:-0.25 [[ 0.99995378 -0.00317265 -0.00907578 0.7717069 ] [ 0.00320055 0.99999019 0.00306169 -0.20999917] [ 0.00906598 -0.0030906 0.99995413 -0.25278915] [ 0. 0. 0. 1. ]] SLAMing on 199.24992885099996 meters Centerline goodness [0,1] 0.6417890157694399 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.21, Z:-0.25 [[ 0.99995264 -0.002827 -0.009313 0.77206844] [ 0.00285506 0.99999142 0.00300102 -0.20992753] [ 0.00930444 -0.00302746 0.99995213 -0.25231317] [ 0. 0. 0. 1. ]] SLAMing on 199.27992885099997 meters Centerline goodness [0,1] 0.6373930605668641 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.21, Z:-0.25 [[ 0.99995315 -0.00272801 -0.00928755 0.77201656] [ 0.0027555 0.99999186 0.00294813 -0.20982413] [ 0.00927943 -0.00297358 0.99995252 -0.25218179] [ 0. 0. 0. 1. ]] SLAMing on 199.30992885099997 meters Centerline goodness [0,1] 0.6363863466036837 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.21, Z:-0.25 [[ 0.99995189 -0.00240265 -0.00951037 0.77262526] [ 0.00243221 0.99999224 0.00309851 -0.20984392] [ 0.00950285 -0.00312149 0.99994997 -0.25222963] [ 0. 0. 0. 1. ]] SLAMing on 199.33992885099997 meters Centerline goodness [0,1] 0.6439683869652846 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.21, Z:-0.25 [[ 0.99995147 -0.00202702 -0.00964145 0.77329536] [ 0.00205716 0.99999302 0.00311744 -0.20979761] [ 0.00963507 -0.00313712 0.99994866 -0.25240561] [ 0. 0. 0. 1. ]] SLAMing on 199.36992885099997 meters Centerline goodness [0,1] 0.6469720020890575 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.21, Z:-0.25 [[ 0.99995125 -0.00109001 -0.00981324 0.77401366] [ 0.0011234 0.9999936 0.00339779 -0.20943477] [ 0.00980947 -0.00340865 0.99994608 -0.25239072] [ 0. 0. 0. 1. ]] SLAMing on 199.39992885099997 meters Centerline goodness [0,1] 0.6380608865296493 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.21, Z:-0.25 [[ 9.99950143e-01 -8.09780866e-04 -9.95269036e-03 7.74608584e-01] [ 8.43409373e-04 9.99993949e-01 3.37510317e-03 -2.09251902e-01] [ 9.94989704e-03 -3.38332909e-03 9.99944775e-01 -2.52513577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.42992885099997 meters Centerline goodness [0,1] 0.6381394296061567 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.21, Z:-0.25 [[ 9.99947971e-01 -6.84242489e-04 -1.01778222e-02 7.74985867e-01] [ 7.16831611e-04 9.99994627e-01 3.19867070e-03 -2.08831370e-01] [ 1.01755789e-02 -3.20580006e-03 9.99943089e-01 -2.52213887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.45992885099997 meters Centerline goodness [0,1] 0.647650778540831 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 9.99944915e-01 1.11133576e-05 -1.04960770e-02 7.75976207e-01] [ 2.47638566e-05 9.99994158e-01 3.41801849e-03 -2.08677939e-01] [ 1.04960537e-02 -3.41809013e-03 9.99939073e-01 -2.52260321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.48992885099997 meters Centerline goodness [0,1] 0.6486406887177163 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 9.99942377e-01 2.39743191e-04 -1.07323936e-02 7.76631094e-01] [-2.03330590e-04 9.99994221e-01 3.39373803e-03 -2.08593387e-01] [ 1.07331452e-02 -3.39136025e-03 9.99936647e-01 -2.52329114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.51992885099997 meters Centerline goodness [0,1] 0.6582585441029825 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 9.99939287e-01 5.45670059e-04 -1.10056838e-02 7.77393251e-01] [-5.08506842e-04 9.99994161e-01 3.37924524e-03 -2.08613931e-01] [ 1.10074635e-02 -3.37344361e-03 9.99933726e-01 -2.52360863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.54992885099998 meters Centerline goodness [0,1] 0.6494389663379803 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 9.99937341e-01 6.93486311e-04 -1.11728394e-02 7.77790843e-01] [-6.57641574e-04 9.99994627e-01 3.21155761e-03 -2.08423967e-01] [ 1.11750066e-02 -3.20400865e-03 9.99932424e-01 -2.52221932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.57992885099998 meters Centerline goodness [0,1] 0.6624083060602641 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 9.99935417e-01 7.26249264e-04 -1.13417515e-02 7.78064966e-01] [-6.91736590e-04 9.99995120e-01 3.04660215e-03 -2.08675728e-01] [ 1.13439087e-02 -3.03855989e-03 9.99931039e-01 -2.51917441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.60992885099998 meters Centerline goodness [0,1] 0.6457660425089784 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 9.99934575e-01 6.14232874e-04 -1.14222813e-02 7.78117436e-01] [-5.80709738e-04 9.99995516e-01 2.93797474e-03 -2.08983352e-01] [ 1.14240347e-02 -2.93114949e-03 9.99930447e-01 -2.51730898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.63992885099998 meters Centerline goodness [0,1] 0.6703085414404633 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 9.99934114e-01 4.15889586e-04 -1.14715027e-02 7.78101480e-01] [-3.84856349e-04 9.99996261e-01 2.70732086e-03 -2.09152387e-01] [ 1.14725858e-02 -2.70272760e-03 9.99930535e-01 -2.51530636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.66992885099998 meters Centerline goodness [0,1] 0.6754562518374454 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 9.99935413e-01 2.17987011e-04 -1.13631768e-02 7.77968683e-01] [-1.87314248e-04 9.99996337e-01 2.70030669e-03 -2.09860912e-01] [ 1.13637238e-02 -2.69800380e-03 9.99931791e-01 -2.51651309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.69992885099998 meters Centerline goodness [0,1] 0.6609701441861517 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 9.99936336e-01 -2.46852279e-04 -1.12811108e-02 7.77348888e-01] [ 2.75793365e-04 9.99996675e-01 2.56396278e-03 -2.11175687e-01] [ 1.12804404e-02 -2.56691081e-03 9.99933079e-01 -2.51211514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.72992885099998 meters Centerline goodness [0,1] 0.6617537691839632 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 9.99934555e-01 -1.60841986e-04 -1.14393986e-02 7.77924022e-01] [ 1.92282997e-04 9.99996207e-01 2.74743787e-03 -2.11909406e-01] [ 1.14389133e-02 -2.74945766e-03 9.99930793e-01 -2.51489191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.75992885099998 meters Centerline goodness [0,1] 0.6577122071349495 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 9.99935496e-01 -4.63216661e-04 -1.13485268e-02 7.77397484e-01] [ 4.91038540e-04 9.99996881e-01 2.44892140e-03 -2.12032053e-01] [ 1.13473570e-02 -2.45433600e-03 9.99932605e-01 -2.51000891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.78992885099998 meters Centerline goodness [0,1] 0.6638526477359938 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 9.99936024e-01 -6.75305936e-04 -1.12912466e-02 7.77099932e-01] [ 7.00722435e-04 9.99997230e-01 2.24718676e-03 -2.12056309e-01] [ 1.12896978e-02 -2.25495502e-03 9.99933727e-01 -2.50761877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.819928851 meters Centerline goodness [0,1] 0.6578864353312303 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 9.99934330e-01 -3.26046931e-04 -1.14555783e-02 7.77680955e-01] [ 3.53460797e-04 9.99997079e-01 2.39111513e-03 -2.12343259e-01] [ 1.14547652e-02 -2.39500721e-03 9.99931524e-01 -2.50804730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.84992885099996 meters Centerline goodness [0,1] 0.6594939275816227 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 9.99933882e-01 -3.26705190e-04 -1.14945654e-02 7.77770068e-01] [ 3.51946157e-04 9.99997531e-01 2.19395021e-03 -2.11893121e-01] [ 1.14938202e-02 -2.19785062e-03 9.99931528e-01 -2.50693094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.87992885099996 meters Centerline goodness [0,1] 0.6552901023890785 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 9.99931305e-01 3.29629099e-05 -1.17211392e-02 7.78568439e-01] [-5.87967333e-06 9.99997330e-01 2.31065872e-03 -2.11685029e-01] [ 1.17211841e-02 -2.31043107e-03 9.99928635e-01 -2.50963624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.90992885099996 meters Centerline goodness [0,1] 0.6757703081232493 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 9.99928675e-01 3.09414061e-04 -1.19393962e-02 7.79331057e-01] [-2.81668100e-04 9.99997256e-01 2.32551138e-03 -2.11286976e-01] [ 1.19400829e-02 -2.32198257e-03 9.99926019e-01 -2.51194320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.93992885099996 meters Centerline goodness [0,1] 0.6708317328332241 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 0.99992392 0.00111495 -0.01228422 0.78053162] [-0.00108417 0.99999626 0.00251226 -0.21052267] [ 0.01228697 -0.00249875 0.99992139 -0.25144413] [ 0. 0. 0. 1. ]] SLAMing on 199.96992885099996 meters Centerline goodness [0,1] 0.6747148503670243 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 0.99992138 0.00126512 -0.01247536 0.78106334] [-0.00123596 0.99999649 0.00234465 -0.20975443] [ 0.01247828 -0.00232905 0.99991943 -0.25143905] [ 0. 0. 0. 1. ]] SLAMing on 199.99992885099996 meters Centerline goodness [0,1] 0.6878336802099357 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 0.99991922 0.00136804 -0.01263664 0.78144944] [-0.00134002 0.99999663 0.00222575 -0.20932212] [ 0.01263964 -0.00220864 0.99991768 -0.25140043] [ 0. 0. 0. 1. ]] SLAMing on 200.02992885099997 meters Centerline goodness [0,1] 0.6581963129048332 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 0.99991689 0.00149556 -0.01280567 0.78189093] [-0.00146763 0.99999653 0.00218969 -0.20909406] [ 0.0128089 -0.00217071 0.99991561 -0.25142754] [ 0. 0. 0. 1. ]] SLAMing on 200.05992885099997 meters Centerline goodness [0,1] 0.7030430457587267 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 0.99991453 0.00178555 -0.01295124 0.78221293] [-0.00175978 0.99999645 0.00200102 -0.20884221] [ 0.01295476 -0.00197806 0.99991413 -0.25108915] [ 0. 0. 0. 1. ]] SLAMing on 200.08992885099997 meters Centerline goodness [0,1] 0.698052681516288 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 0.99991296 0.0018364 -0.01306495 0.78249815] [-0.00181348 0.9999968 0.00176662 -0.20826061] [ 0.01306815 -0.00174277 0.99991309 -0.25098175] [ 0. 0. 0. 1. ]] SLAMing on 200.11992885099997 meters Centerline goodness [0,1] 0.6696015351619822 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 0.99991091 0.00197434 -0.01320152 0.78297766] [-0.00195129 0.99999655 0.00175886 -0.20808359] [ 0.01320495 -0.00173294 0.99991131 -0.25111135] [ 0. 0. 0. 1. ]] SLAMing on 200.14992885099997 meters Centerline goodness [0,1] 0.6955589171615001 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 0.99990948 0.00207675 -0.01329369 0.78327528] [-0.00205327 0.99999631 0.00177947 -0.20817839] [ 0.01329734 -0.00175202 0.99991005 -0.25113973] [ 0. 0. 0. 1. ]] SLAMing on 200.17992885099997 meters Centerline goodness [0,1] 0.697269686285146 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 0.99990785 0.00213825 -0.01340563 0.78346497] [-0.00211474 0.9999962 0.00176809 -0.20842262] [ 0.01340936 -0.00173958 0.99990858 -0.25102615] [ 0. 0. 0. 1. ]] SLAMing on 200.20992885099997 meters Centerline goodness [0,1] 0.696450345481642 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 0.99990739 0.00208469 -0.01344879 0.78338257] [-0.00206281 0.99999653 0.00164062 -0.20870205] [ 0.01345217 -0.00161273 0.99990821 -0.25072075] [ 0. 0. 0. 1. ]] SLAMing on 200.23992885099997 meters Centerline goodness [0,1] 0.6911781291588659 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 0.99990677 0.00204132 -0.01350111 0.78339267] [-0.00201974 0.99999666 0.00161152 -0.20924112] [ 0.01350436 -0.0015841 0.99990756 -0.25051235] [ 0. 0. 0. 1. ]] SLAMing on 200.26992885099997 meters Centerline goodness [0,1] 0.6902347798657114 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 0.99990612 0.00195572 -0.01356174 0.78331253] [-0.00193131 0.99999649 0.00181319 -0.21080297] [ 0.01356524 -0.00178683 0.99990639 -0.25032359] [ 0. 0. 0. 1. ]] SLAMing on 200.29992885099998 meters Centerline goodness [0,1] 0.6858792863242101 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 0.99990692 0.0017757 -0.01352747 0.78311251] [-0.0017517 0.99999687 0.0017858 -0.21161206] [ 0.0135306 -0.00176194 0.9999069 -0.25014679] [ 0. 0. 0. 1. ]] SLAMing on 200.32992885099998 meters Centerline goodness [0,1] 0.6826003824091778 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 0.99990636 0.00159232 -0.01359151 0.78295404] [-0.00156943 0.99999733 0.00169416 -0.21215814] [ 0.01359417 -0.00167267 0.9999062 -0.24976722] [ 0. 0. 0. 1. ]] SLAMing on 200.35992885099998 meters Centerline goodness [0,1] 0.7039152630040255 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 0.99990717 0.00133383 -0.01355961 0.78263789] [-0.00131286 0.99999793 0.0015557 -0.21265358] [ 0.01356166 -0.00153775 0.99990685 -0.24947665] [ 0. 0. 0. 1. ]] SLAMing on 200.38992885099998 meters Centerline goodness [0,1] 0.6903285039299549 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.21, Z:-0.25 [[ 0.99990693 0.00134901 -0.0135762 0.78267708] [-0.00132611 0.99999768 0.00169621 -0.21436687] [ 0.01357845 -0.00167805 0.9999064 -0.24941528] [ 0. 0. 0. 1. ]] SLAMing on 200.41992885099998 meters Centerline goodness [0,1] 0.6911653043905489 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.22, Z:-0.25 [[ 0.99990638 0.00132259 -0.0136192 0.78287132] [-0.0012997 0.99999773 0.0016892 -0.21500263] [ 0.01362141 -0.00167134 0.99990583 -0.24948551] [ 0. 0. 0. 1. ]] SLAMing on 200.44992885099998 meters Centerline goodness [0,1] 0.6853827270698505 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.22, Z:-0.25 [[ 0.99990578 0.00129534 -0.01366556 0.78305222] [-0.00127225 0.99999775 0.00169806 -0.21541106] [ 0.01366773 -0.00168051 0.99990518 -0.24955838] [ 0. 0. 0. 1. ]] SLAMing on 200.47992885099998 meters Centerline goodness [0,1] 0.6880046136101499 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.22, Z:-0.25 [[ 0.9999026 0.00150653 -0.01387546 0.78393634] [-0.00147961 0.999997 0.00195011 -0.21581579] [ 0.01387836 -0.00192939 0.99990183 -0.25008496] [ 0. 0. 0. 1. ]] SLAMing on 200.50992885099998 meters Centerline goodness [0,1] 0.7023812180588721 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.22, Z:-0.25 [[ 0.99990202 0.00162223 -0.01390409 0.78367917] [-0.00159573 0.99999689 0.00191705 -0.21552566] [ 0.01390716 -0.00189467 0.9999015 -0.24958679] [ 0. 0. 0. 1. ]] SLAMing on 200.53992885099998 meters Centerline goodness [0,1] 0.6807452030343597 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.22, Z:-0.25 [[ 0.99990285 0.00157511 -0.01384945 0.78351713] [-0.00155173 0.99999735 0.00169881 -0.21527067] [ 0.01385208 -0.00167716 0.99990265 -0.24935828] [ 0. 0. 0. 1. ]] SLAMing on 200.569928851 meters Centerline goodness [0,1] 0.7006511461957006 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.22, Z:-0.25 [[ 0.99990221 0.00168928 -0.01388248 0.78372593] [-0.00166584 0.99999717 0.00169939 -0.21551759] [ 0.01388531 -0.0016761 0.99990219 -0.24937646] [ 0. 0. 0. 1. ]] SLAMing on 200.59992885099996 meters Centerline goodness [0,1] 0.7080863438094174 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.22, Z:-0.25 [[ 0.99990059 0.00195194 -0.01396414 0.78353589] [-0.00192595 0.99999639 0.00187422 -0.21656108] [ 0.01396774 -0.00184713 0.99990074 -0.24879887] [ 0. 0. 0. 1. ]] SLAMing on 200.62992885099996 meters Centerline goodness [0,1] 0.678136391926736 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.22, Z:-0.25 [[ 0.99989726 0.00215596 -0.01417129 0.78431657] [-0.00212762 0.99999571 0.00201419 -0.21707323] [ 0.01417557 -0.00198384 0.99989755 -0.24914903] [ 0. 0. 0. 1. ]] SLAMing on 200.65992885099996 meters Centerline goodness [0,1] 0.7080063143384396 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.22, Z:-0.25 [[ 0.99989693 0.00209775 -0.01420307 0.7844237 ] [-0.0020712 0.99999608 0.00188403 -0.21704989] [ 0.01420696 -0.00185442 0.99989736 -0.24911885] [ 0. 0. 0. 1. ]] SLAMing on 200.68992885099996 meters Centerline goodness [0,1] 0.6768840644185425 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.22, Z:-0.25 [[ 0.99989601 0.00217206 -0.0142567 0.78472494] [-0.00214501 0.99999587 0.00191287 -0.21709241] [ 0.01426079 -0.00188209 0.99989654 -0.24931497] [ 0. 0. 0. 1. ]] SLAMing on 200.71992885099996 meters Centerline goodness [0,1] 0.6978105113257087 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 0.99989436 0.00233091 -0.01434682 0.78505097] [-0.00230044 0.99999506 0.00213992 -0.21808147] [ 0.01435174 -0.00210669 0.99989479 -0.24951725] [ 0. 0. 0. 1. ]] SLAMing on 200.74992885099996 meters Centerline goodness [0,1] 0.7196213808463252 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 0.99989418 0.00235252 -0.014356 0.78529794] [-0.00232031 0.99999475 0.00226019 -0.21891476] [ 0.01436125 -0.00222664 0.99989439 -0.2497949 ] [ 0. 0. 0. 1. ]] SLAMing on 200.77992885099997 meters Centerline goodness [0,1] 0.7196213808463252 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 0.99989418 0.00235252 -0.014356 0.78529794] [-0.00232031 0.99999475 0.00226019 -0.21891476] [ 0.01436125 -0.00222664 0.99989439 -0.2497949 ] [ 0. 0. 0. 1. ]] SLAMing on 200.80992885099997 meters Centerline goodness [0,1] 0.7154693678084322 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 0.99989244 0.00245469 -0.01445947 0.78582089] [-0.00241896 0.99999398 0.00248857 -0.2201309 ] [ 0.01446549 -0.00245333 0.99989236 -0.25016632] [ 0. 0. 0. 1. ]] SLAMing on 200.83992885099997 meters Centerline goodness [0,1] 0.70884166629697 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 0.99989141 0.00242612 -0.01453532 0.78624463] [-0.00238829 0.99999372 0.00261939 -0.22118746] [ 0.01454158 -0.00258439 0.99989093 -0.25053143] [ 0. 0. 0. 1. ]] SLAMing on 200.86992885099997 meters Centerline goodness [0,1] 0.7237683089214381 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 0.99989034 0.0024057 -0.01461227 0.78633141] [-0.00236957 0.99999409 0.00248913 -0.22118578] [ 0.01461818 -0.00245423 0.99989014 -0.25034392] [ 0. 0. 0. 1. ]] SLAMing on 200.89992885099997 meters Centerline goodness [0,1] 0.7069485734569818 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 0.99988887 0.002343 -0.01472287 0.78632763] [-0.00230843 0.99999454 0.00236446 -0.22109148] [ 0.01472833 -0.00233021 0.99988882 -0.25000578] [ 0. 0. 0. 1. ]] SLAMing on 200.92992885099997 meters Centerline goodness [0,1] 0.7193180560168272 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 0.99988742 0.00232914 -0.01482325 0.78652199] [-0.00229525 0.99999471 0.00230321 -0.22136868] [ 0.01482854 -0.00226893 0.99988748 -0.24991387] [ 0. 0. 0. 1. ]] SLAMing on 200.95992885099997 meters Centerline goodness [0,1] 0.72567546635392 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 0.99988727 0.00245878 -0.01481205 0.78638789] [-0.00242144 0.99999385 0.00253805 -0.22291466] [ 0.0148182 -0.0025019 0.99988707 -0.24970033] [ 0. 0. 0. 1. ]] SLAMing on 200.98992885099997 meters Centerline goodness [0,1] 0.7436911654218412 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 0.99988747 0.00238149 -0.0148112 0.78639001] [-0.00234355 0.99999393 0.00257905 -0.22369663] [ 0.01481725 -0.00254405 0.99988698 -0.2497071 ] [ 0. 0. 0. 1. ]] SLAMing on 201.01992885099997 meters Centerline goodness [0,1] 0.735875800057582 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 0.999888 0.00221839 -0.0148009 0.78603746] [-0.00218226 0.9999946 0.0024568 -0.22437004] [ 0.01480627 -0.00242423 0.99988744 -0.24927969] [ 0. 0. 0. 1. ]] SLAMing on 201.04992885099998 meters Centerline goodness [0,1] 0.7377462359885919 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 0.9998875 0.00212714 -0.01484826 0.7861526 ] [-0.00209204 0.99999498 0.0023788 -0.22483441] [ 0.01485324 -0.00234747 0.99988693 -0.24920523] [ 0. 0. 0. 1. ]] SLAMing on 201.07992885099998 meters Centerline goodness [0,1] 0.7333967734082811 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 0.99988871 0.00192658 -0.01479389 0.78595295] [-0.00189397 0.99999575 0.00221806 -0.2249849 ] [ 0.0147981 -0.0021898 0.9998881 -0.24907136] [ 0. 0. 0. 1. ]] SLAMing on 201.10992885099998 meters Centerline goodness [0,1] 0.730590679989389 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 0.99989068 0.00172199 -0.01468517 0.785534 ] [-0.00169263 0.99999654 0.00201155 -0.22511449] [ 0.01468858 -0.00198648 0.99989014 -0.2487364 ] [ 0. 0. 0. 1. ]] SLAMing on 201.13992885099998 meters Centerline goodness [0,1] 0.7312697465809417 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 0.99989131 0.00156731 -0.01466003 0.78556993] [-0.00154093 0.99999717 0.00181075 -0.22509292] [ 0.01466282 -0.00178796 0.9998909 -0.24882421] [ 0. 0. 0. 1. ]] SLAMing on 201.16992885099998 meters Centerline goodness [0,1] 0.7297500719456312 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 0.99989184 0.00150584 -0.01463037 0.78553234] [-0.00148106 0.99999745 0.0017041 -0.22514502] [ 0.0146329 -0.00168224 0.99989152 -0.24882051] [ 0. 0. 0. 1. ]] SLAMing on 201.19992885099998 meters Centerline goodness [0,1] 0.7473239561217269 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 0.99988905 0.00165002 -0.01480454 0.78611255] [-0.00162408 0.99999713 0.00176376 -0.22560391] [ 0.0148074 -0.00173952 0.99988885 -0.24902974] [ 0. 0. 0. 1. ]] SLAMing on 201.22992885099998 meters Centerline goodness [0,1] 0.7528933651382631 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 0.99989145 0.00169903 -0.01463535 0.78600364] [-0.00167337 0.99999704 0.0017657 -0.22581316] [ 0.0146383 -0.00174102 0.99989134 -0.24924808] [ 0. 0. 0. 1. ]] SLAMing on 201.25992885099998 meters Centerline goodness [0,1] 0.7587174614398727 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 0.99989249 0.0014801 -0.01458795 0.78563818] [-0.00145946 0.99999792 0.00142576 -0.22541796] [ 0.01459003 -0.00140432 0.99989257 -0.24882391] [ 0. 0. 0. 1. ]] SLAMing on 201.28992885099998 meters Centerline goodness [0,1] 0.7479656819387935 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 0.99989274 0.0014635 -0.01457309 0.78580108] [-0.00144331 0.99999798 0.001396 -0.22522665] [ 0.0145751 -0.00137481 0.99989283 -0.24904257] [ 0. 0. 0. 1. ]] SLAMing on 201.319928851 meters Centerline goodness [0,1] 0.7637202525497815 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 0.99989381 0.00129825 -0.01451509 0.78568174] [-0.00128139 0.99999849 0.00117015 -0.22508921] [ 0.01451658 -0.00115143 0.99989397 -0.24898926] [ 0. 0. 0. 1. ]] SLAMing on 201.34992885099996 meters Centerline goodness [0,1] 0.7559490990891649 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 0.99989587 0.00115435 -0.0143845 0.78536002] [-0.001138 0.9999987 0.00114523 -0.22575679] [ 0.0143858 -0.00112874 0.99989588 -0.24889842] [ 0. 0. 0. 1. ]] SLAMing on 201.37992885099996 meters Centerline goodness [0,1] 0.7469460524288513 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 9.99897698e-01 9.46246064e-04 -1.42723205e-02 7.85155885e-01] [-9.31008940e-04 9.99998990e-01 1.07420604e-03 -2.26222452e-01] [ 1.42733225e-02 -1.06080848e-03 9.99897568e-01 -2.48941813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.40992885099996 meters Centerline goodness [0,1] 0.7578081950230333 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.23, Z:-0.25 [[ 9.99899047e-01 6.24103752e-04 -1.41952609e-02 7.84773139e-01] [-6.11589330e-04 9.99999421e-01 8.85915518e-04 -2.26430193e-01] [ 1.41958056e-02 -8.77144413e-04 9.99898850e-01 -2.48700494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.43992885099996 meters Centerline goodness [0,1] 0.7486701834153663 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.23, Z:-0.25 [[ 9.99901464e-01 2.00706667e-04 -1.40364704e-02 7.84216304e-01] [-1.91598021e-04 9.99999770e-01 6.50268826e-04 -2.26709516e-01] [ 1.40365977e-02 -6.47515391e-04 9.99901272e-01 -2.48481833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.46992885099996 meters Centerline goodness [0,1] 0.7652630653597644 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.23, Z:-0.25 [[ 9.99901696e-01 -1.91251929e-04 -1.40200450e-02 7.84171417e-01] [ 2.02543414e-04 9.99999656e-01 8.03966067e-04 -2.27743279e-01] [ 1.40198864e-02 -8.06726702e-04 9.99901391e-01 -2.48796166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.49992885099996 meters Centerline goodness [0,1] 0.7609331369143159 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.23, Z:-0.25 [[ 9.99902221e-01 -5.29337150e-04 -1.39738546e-02 7.83978731e-01] [ 5.38387329e-04 9.99999648e-01 6.43896952e-04 -2.28008709e-01] [ 1.39735088e-02 -6.51357338e-04 9.99902154e-01 -2.48787979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.52992885099997 meters Centerline goodness [0,1] 0.7884560329450109 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.23, Z:-0.25 [[ 9.99905283e-01 -7.82623538e-04 -1.37408930e-02 7.83869939e-01] [ 7.95412394e-04 9.99999256e-01 9.25274675e-04 -2.29381955e-01] [ 1.37401586e-02 -9.36116713e-04 9.99905161e-01 -2.49554560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.55992885099997 meters Centerline goodness [0,1] 0.763214647242639 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.23, Z:-0.25 [[ 9.99904744e-01 -6.49758243e-04 -1.37869583e-02 7.84269058e-01] [ 6.66257366e-04 9.99999067e-01 1.19216027e-03 -2.30113878e-01] [ 1.37861708e-02 -1.20123237e-03 9.99904245e-01 -2.49956059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.58992885099997 meters Centerline goodness [0,1] 0.7838496498122818 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 9.99902808e-01 -4.55983785e-04 -1.39343412e-02 7.85047668e-01] [ 4.76301194e-04 9.99998828e-01 1.45479792e-03 -2.30449589e-01] [ 1.39336615e-02 -1.46129347e-03 9.99901854e-01 -2.50553064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.61992885099997 meters Centerline goodness [0,1] 0.7097574905544328 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.23, Z:-0.25 [[ 9.99902920e-01 -5.19265793e-04 -1.39241174e-02 7.84903379e-01] [ 5.37542375e-04 9.99998999e-01 1.30887416e-03 -2.30175744e-01] [ 1.39234238e-02 -1.31623190e-03 9.99902198e-01 -2.50341814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.64992885099997 meters Centerline goodness [0,1] 0.7939742632526681 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.23, Z:-0.25 [[ 9.99903280e-01 -5.48949088e-04 -1.38970986e-02 7.84699809e-01] [ 5.63526817e-04 9.99999295e-01 1.04508228e-03 -2.29484126e-01] [ 1.38965151e-02 -1.05281259e-03 9.99902885e-01 -2.50007015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.67992885099997 meters Centerline goodness [0,1] 0.8028774125319468 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.23, Z:-0.25 [[ 9.99903916e-01 -3.49192337e-04 -1.38577636e-02 7.84264997e-01] [ 3.60479084e-04 9.99999605e-01 8.11981514e-04 -2.28949647e-01] [ 1.38574746e-02 -8.16898929e-04 9.99903647e-01 -2.49266077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.70992885099997 meters Centerline goodness [0,1] 0.7114571403400581 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.23, Z:-0.25 [[ 9.99903590e-01 -2.39681190e-05 -1.38855820e-02 7.84578036e-01] [ 3.79507090e-05 9.99999493e-01 1.00672361e-03 -2.28901625e-01] [ 1.38855508e-02 -1.00715352e-03 9.99903084e-01 -2.49507107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.73992885099997 meters Centerline goodness [0,1] 0.7990233816510129 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.23, Z:-0.25 [[ 9.99903399e-01 1.66301431e-04 -1.38984104e-02 7.84825861e-01] [-1.52304950e-04 9.99999480e-01 1.00810863e-03 -2.28767357e-01] [ 1.38985708e-02 -1.00589445e-03 9.99902904e-01 -2.49688521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.76992885099997 meters Centerline goodness [0,1] 0.7128353244934575 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 9.99899896e-01 5.76682264e-04 -1.41373780e-02 7.85770769e-01] [-5.59673287e-04 9.99999115e-01 1.20704789e-03 -2.28744605e-01] [ 1.41380616e-02 -1.19901475e-03 9.99899334e-01 -2.50164599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.79992885099998 meters Centerline goodness [0,1] 0.7177550393043783 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 0.99989769 0.00102799 -0.01426748 0.7863508 ] [-0.00100916 0.99999861 0.00132669 -0.22842595] [ 0.01426883 -0.00131215 0.99989733 -0.25046777] [ 0. 0. 0. 1. ]] SLAMing on 201.82992885099998 meters Centerline goodness [0,1] 0.815021412100582 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 0.99989677 0.00109804 -0.01432668 0.78663484] [-0.00108042 0.99999865 0.0012381 -0.2281114 ] [ 0.01432802 -0.00122249 0.9998966 -0.25059354] [ 0. 0. 0. 1. ]] SLAMing on 201.85992885099998 meters Centerline goodness [0,1] 0.8125054887152016 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 0.99989612 0.00109354 -0.01437226 0.78691149] [-0.00107734 0.99999878 0.00113492 -0.22795505] [ 0.01437349 -0.00111932 0.99989607 -0.25077725] [ 0. 0. 0. 1. ]] SLAMing on 201.88992885099998 meters Centerline goodness [0,1] 0.818745465338698 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 9.99896287e-01 9.93908784e-04 -1.43676094e-02 7.86971880e-01] [-9.79646695e-04 9.99999020e-01 9.99659615e-04 -2.27878724e-01] [ 1.43685889e-02 -9.85480756e-04 9.99896281e-01 -2.50842839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.91992885099998 meters Centerline goodness [0,1] 0.8413385826771653 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 9.99894236e-01 9.84903588e-04 -1.45101962e-02 7.87499243e-01] [-9.68863864e-04 9.99998912e-01 1.11239869e-03 -2.28527884e-01] [ 1.45112760e-02 -1.09822263e-03 9.99894103e-01 -2.51181598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.94992885099998 meters Centerline goodness [0,1] 0.8576325561976752 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 9.99894770e-01 6.42785840e-04 -1.44925977e-02 7.87183809e-01] [-6.31847889e-04 9.99999512e-01 7.59292912e-04 -2.28482812e-01] [ 1.44930787e-02 -7.50055894e-04 9.99894688e-01 -2.50850413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.97992885099998 meters Centerline goodness [0,1] 0.8583532717255307 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 9.99895711e-01 5.14764299e-04 -1.44326956e-02 7.87192081e-01] [-5.04229547e-04 9.99999604e-01 7.33552077e-04 -2.28688364e-01] [ 1.44330675e-02 -7.26198183e-04 9.99895574e-01 -2.51036153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.00992885099998 meters Centerline goodness [0,1] 0.8560142208176971 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 9.99896602e-01 1.32099814e-04 -1.43794418e-02 7.86837640e-01] [-1.26569302e-04 9.99999918e-01 3.85521747e-04 -2.28328069e-01] [ 1.43794915e-02 -3.83661888e-04 9.99896536e-01 -2.50798599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.03992885099998 meters Centerline goodness [0,1] 0.8362894020546141 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 9.99899442e-01 -1.28437521e-04 -1.41805930e-02 7.86394891e-01] [ 1.31317476e-04 9.99999971e-01 2.02160347e-04 -2.28381050e-01] [ 1.41805666e-02 -2.04002178e-04 9.99899430e-01 -2.50769753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.069928851 meters Centerline goodness [0,1] 0.86318026465691 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 9.99898980e-01 -2.50140665e-04 -1.42115134e-02 7.86435939e-01] [ 2.49688354e-04 9.99999968e-01 -3.36013799e-05 -2.28180693e-01] [ 1.42115214e-02 3.00495361e-05 9.99899011e-01 -2.50710655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.09992885099996 meters Centerline goodness [0,1] 0.8656406444701922 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 9.99896551e-01 -3.20791209e-05 -1.43835458e-02 7.87225965e-01] [ 3.45557939e-05 9.99999985e-01 1.71939433e-04 -2.28212038e-01] [ 1.43835401e-02 -1.72418681e-04 9.99896537e-01 -2.51269641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.12992885099996 meters Centerline goodness [0,1] 0.8466326239891298 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 9.99896981e-01 -1.83431023e-04 -1.43524648e-02 7.87133662e-01] [ 1.82374579e-04 9.99999981e-01 -7.49158853e-05 -2.27637442e-01] [ 1.43524782e-02 7.22906428e-05 9.99896995e-01 -2.51245911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.15992885099996 meters Centerline goodness [0,1] 0.867001117269481 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 9.99897858e-01 -4.08552356e-05 -1.42923585e-02 7.87294593e-01] [ 3.88783170e-05 9.99999990e-01 -1.38597788e-04 -2.26929110e-01] [ 1.42923640e-02 1.38027968e-04 9.99897849e-01 -2.51496814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.18992885099996 meters Centerline goodness [0,1] 0.8642032029404043 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 9.99897012e-01 -7.51627417e-05 -1.43513320e-02 7.87396836e-01] [ 7.01962198e-05 9.99999937e-01 -3.46570379e-04 -2.26299490e-01] [ 1.43513571e-02 3.45527277e-04 9.99896954e-01 -2.51426916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.21992885099996 meters Centerline goodness [0,1] 0.8586300411162628 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 9.99896078e-01 3.95602738e-06 -1.44164537e-02 7.87682027e-01] [-9.20906325e-06 9.99999934e-01 -3.64311446e-04 -2.25817611e-01] [ 1.44164513e-02 3.64406348e-04 9.99896011e-01 -2.51582843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.24992885099996 meters Centerline goodness [0,1] 0.8693656275958553 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 9.99897757e-01 -6.06421139e-05 -1.42993874e-02 7.87490859e-01] [ 5.21624607e-05 9.99999823e-01 -5.93380364e-04 -2.24879450e-01] [ 1.42994208e-02 5.92573803e-04 9.99897582e-01 -2.51569156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.27992885099997 meters Centerline goodness [0,1] 0.8614278848254467 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 9.99898172e-01 -7.56153751e-05 -1.42702359e-02 7.87514231e-01] [ 6.76546681e-05 9.99999842e-01 -5.58335847e-04 -2.24890647e-01] [ 1.42702758e-02 5.57313544e-04 9.99898019e-01 -2.51728526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.30992885099997 meters Centerline goodness [0,1] 0.8808493904836807 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 9.99897500e-01 -6.06563220e-05 -1.43173355e-02 7.87809309e-01] [ 5.37808794e-05 9.99999883e-01 -4.80602553e-04 -2.25012948e-01] [ 1.43173629e-02 4.79783292e-04 9.99897386e-01 -2.52028113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.33992885099997 meters Centerline goodness [0,1] 0.865533906273918 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 9.99897488e-01 -1.02905128e-04 -1.43179357e-02 7.87964029e-01] [ 9.65201717e-05 9.99999896e-01 -4.46631441e-04 -2.24943653e-01] [ 1.43179802e-02 4.45203686e-04 9.99897393e-01 -2.52325519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.36992885099997 meters Centerline goodness [0,1] 0.8710299629572803 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 9.99897715e-01 -3.62683295e-05 -1.43023699e-02 7.88401852e-01] [ 3.18409442e-05 9.99999952e-01 -3.09783657e-04 -2.24927327e-01] [ 1.43023804e-02 3.09296570e-04 9.99897668e-01 -2.53019317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.39992885099997 meters Centerline goodness [0,1] 0.8914715096282341 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 9.99896939e-01 1.35789331e-05 -1.43565953e-02 7.88837306e-01] [-1.69898645e-05 9.99999972e-01 -2.37464435e-04 -2.24991264e-01] [ 1.43565917e-02 2.37683878e-04 9.99896911e-01 -2.53493707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.42992885099997 meters Centerline goodness [0,1] 0.8729974866134849 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.25 [[ 9.99893438e-01 2.65175666e-04 -1.45959939e-02 7.89844998e-01] [-2.64435979e-04 9.99999964e-01 5.26073185e-05 -2.25069133e-01] [ 1.45960073e-02 -4.87420066e-05 9.99893471e-01 -2.54168621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.45992885099997 meters Centerline goodness [0,1] 0.8896769109535066 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 9.99895994e-01 1.44711156e-04 -1.44215105e-02 7.89400095e-01] [-1.46923870e-04 9.99999978e-01 -1.52372182e-04 -2.24749582e-01] [ 1.44214881e-02 1.54475199e-04 9.99895993e-01 -2.54028013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.48992885099997 meters Centerline goodness [0,1] 0.8287128279244953 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 9.99896397e-01 1.13694157e-05 -1.43942802e-02 7.89214283e-01] [-1.65694849e-05 9.99999935e-01 -3.61140199e-04 -2.24551401e-01] [ 1.43942752e-02 3.61341290e-04 9.99896332e-01 -2.53849791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.51992885099997 meters Centerline goodness [0,1] 0.8908039683756379 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 9.99896102e-01 1.30210446e-04 -1.44141798e-02 7.89399606e-01] [-1.33468817e-04 9.99999966e-01 -2.25091394e-04 -2.24607086e-01] [ 1.44141500e-02 2.26991851e-04 9.99896085e-01 -2.54043058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.54992885099998 meters Centerline goodness [0,1] 0.8888160052476222 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 9.99895340e-01 2.29901117e-04 -1.44657227e-02 7.89678470e-01] [-2.32542108e-04 9.99999957e-01 -1.80887178e-04 -2.24509554e-01] [ 1.44656805e-02 1.84232136e-04 9.99895350e-01 -2.54248593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.57992885099998 meters Centerline goodness [0,1] 0.8792154464441726 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 9.99896825e-01 2.25108719e-04 -1.43627301e-02 7.89347567e-01] [-2.30502862e-04 9.99999904e-01 -3.73910976e-04 -2.23973451e-01] [ 1.43626446e-02 3.77183048e-04 9.99896781e-01 -2.53940461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.60992885099998 meters Centerline goodness [0,1] 0.8871775799076769 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 9.99896515e-01 5.21668772e-05 -1.43859620e-02 7.89197403e-01] [-6.16001691e-05 9.99999783e-01 -6.55286629e-04 -2.23538742e-01] [ 1.43859247e-02 6.56104994e-04 9.99896302e-01 -2.53679809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.63992885099998 meters Centerline goodness [0,1] 0.8861310356892932 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 9.99895893e-01 1.56392569e-04 -1.44284002e-02 7.89316592e-01] [-1.64456291e-04 9.99999831e-01 -5.57693655e-04 -2.23573811e-01] [ 1.44283106e-02 5.60008437e-04 9.99895750e-01 -2.53718396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.66992885099998 meters Centerline goodness [0,1] 0.8861310356892932 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 9.99895893e-01 1.56392569e-04 -1.44284002e-02 7.89316592e-01] [-1.64456291e-04 9.99999831e-01 -5.57693655e-04 -2.23573811e-01] [ 1.44283106e-02 5.60008437e-04 9.99895750e-01 -2.53718396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.69992885099998 meters Centerline goodness [0,1] 0.8869768151977142 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 9.99894939e-01 3.22428834e-04 -1.44916443e-02 7.89866486e-01] [-3.27876509e-04 9.99999876e-01 -3.73544051e-04 -2.23598876e-01] [ 1.44915221e-02 3.78256275e-04 9.99894921e-01 -2.54230569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.72992885099998 meters Centerline goodness [0,1] 0.8891360286100571 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 9.99897487e-01 2.10154815e-04 -1.43168383e-02 7.89372280e-01] [-2.18624832e-04 9.99999802e-01 -5.90049740e-04 -2.23251800e-01] [ 1.43167114e-02 5.93119268e-04 9.99897335e-01 -2.54031776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.75992885099998 meters Centerline goodness [0,1] 0.8885420532186593 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 9.99897641e-01 1.66636541e-04 -1.43066590e-02 7.89380270e-01] [-1.76042002e-04 9.99999769e-01 -6.56161581e-04 -2.23238133e-01] [ 1.43065464e-02 6.58612990e-04 9.99897439e-01 -2.54068280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.78992885099998 meters Centerline goodness [0,1] 0.9179422232897352 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 9.99896314e-01 3.75961901e-04 -1.43951623e-02 7.89825508e-01] [-3.81191042e-04 9.99999862e-01 -3.60514814e-04 -2.23544465e-01] [ 1.43950248e-02 3.65964740e-04 9.99896319e-01 -2.54463618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.819928851 meters Centerline goodness [0,1] 0.877629855958097 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.25 [[ 9.99896730e-01 4.42846509e-04 -1.43643130e-02 7.90037900e-01] [-4.47118620e-04 9.99999857e-01 -2.94201362e-04 -2.23621184e-01] [ 1.43641807e-02 3.00593532e-04 9.99896785e-01 -2.54817157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.84992885099996 meters Centerline goodness [0,1] 0.8774462694391054 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.26 [[ 9.99896418e-01 4.41869509e-04 -1.43860263e-02 7.90270201e-01] [-4.45436107e-04 9.99999871e-01 -2.44717732e-04 -2.23603637e-01] [ 1.43859163e-02 2.51100439e-04 9.99896486e-01 -2.55118868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.87992885099996 meters Centerline goodness [0,1] 0.8789778311674129 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.26 [[ 9.99896522e-01 3.99769102e-04 -1.43800618e-02 7.90378793e-01] [-4.03628133e-04 9.99999883e-01 -2.65458579e-04 -2.23569495e-01] [ 1.43799540e-02 2.71235307e-04 9.99896566e-01 -2.55258731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.90992885099996 meters Centerline goodness [0,1] 0.8614941525571653 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.26 [[ 9.99896794e-01 4.13669737e-04 -1.43606884e-02 7.90622264e-01] [-4.15983384e-04 9.99999901e-01 -1.58123043e-04 -2.23768977e-01] [ 1.43606215e-02 1.64080532e-04 9.99896867e-01 -2.55604174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.93992885099996 meters Centerline goodness [0,1] 0.8660908064936192 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.26 [[ 9.99895641e-01 3.19461767e-04 -1.44431522e-02 7.90890806e-01] [-3.18218780e-04 9.99999945e-01 8.83586763e-05 -2.24876354e-01] [ 1.44431796e-02 -8.37533730e-05 9.99895688e-01 -2.55856054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.96992885099996 meters Centerline goodness [0,1] 0.9192577733199598 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.26 [[ 9.99898313e-01 2.33324692e-05 -1.42605188e-02 7.90454484e-01] [-2.23963638e-05 9.99999998e-01 6.58028484e-05 -2.25615244e-01] [ 1.42605203e-02 -6.54767734e-05 9.99898311e-01 -2.55884687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.99992885099996 meters Centerline goodness [0,1] 0.8771214170411413 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.26 [[ 9.99900724e-01 -1.60121466e-04 -1.40896059e-02 7.90265383e-01] [ 1.63042459e-04 9.99999965e-01 2.06167033e-04 -2.26495594e-01] [ 1.40895724e-02 -2.08443770e-04 9.99900715e-01 -2.56205409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.02992885099997 meters Centerline goodness [0,1] 0.9225523942311882 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.26 [[ 9.99901423e-01 -4.48658002e-04 -1.40336317e-02 7.90137326e-01] [ 4.50574435e-04 9.99999890e-01 1.33398516e-04 -2.27002819e-01] [ 1.40335703e-02 -1.39708561e-04 9.99901515e-01 -2.56291116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.05992885099997 meters Centerline goodness [0,1] 0.9196576356825508 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.26 [[ 9.99903564e-01 -6.49355488e-04 -1.38722825e-02 7.89888247e-01] [ 6.53097876e-04 9.99999752e-01 2.65245969e-04 -2.27715103e-01] [ 1.38721068e-02 -2.74280349e-04 9.99903740e-01 -2.56495210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.08992885099997 meters Centerline goodness [0,1] 0.914744887959757 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.26 [[ 9.99902854e-01 -7.17605178e-04 -1.39200298e-02 7.90066651e-01] [ 7.21921689e-04 9.99999693e-01 3.05071180e-04 -2.27871826e-01] [ 1.39198066e-02 -3.15090715e-04 9.99903065e-01 -2.56606602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.11992885099997 meters Centerline goodness [0,1] 0.9139445870123092 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.26 [[ 9.99904687e-01 -9.46988649e-04 -1.37739007e-02 7.89965023e-01] [ 9.51731192e-04 9.99999490e-01 3.37762989e-04 -2.28349237e-01] [ 1.37735738e-02 -3.50839846e-04 9.99905078e-01 -2.56983409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.14992885099997 meters Centerline goodness [0,1] 0.9099195127256907 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.26 [[ 9.99905378e-01 -9.85329091e-04 -1.37209754e-02 7.89974356e-01] [ 9.91738621e-04 9.99999402e-01 4.60337410e-04 -2.28785503e-01] [ 1.37205136e-02 -4.73901473e-04 9.99905757e-01 -2.57171172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.17992885099997 meters Centerline goodness [0,1] 0.9061718733015935 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.26 [[ 9.99905313e-01 -1.13114139e-03 -1.37144405e-02 7.90043883e-01] [ 1.13750362e-03 9.99999249e-01 4.56116312e-04 -2.29114775e-01] [ 1.37139143e-02 -4.71673350e-04 9.99905849e-01 -2.57322244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.20992885099997 meters Centerline goodness [0,1] 0.9081920903954802 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.26 [[ 9.99905648e-01 -1.17089615e-03 -1.36866661e-02 7.90271717e-01] [ 1.17867124e-03 9.99999149e-01 5.60025051e-04 -2.29354530e-01] [ 1.36859987e-02 -5.76104291e-04 9.99906176e-01 -2.57703199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.23992885099997 meters Centerline goodness [0,1] 0.9242490204614715 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.26 [[ 9.99908916e-01 -1.80698229e-03 -1.33751717e-02 7.89293676e-01] [ 1.80936618e-03 9.99998349e-01 1.66133743e-04 -2.29385428e-01] [ 1.33748494e-02 -1.90319194e-04 9.99910535e-01 -2.57354116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.26992885099997 meters Centerline goodness [0,1] 0.8983906046107003 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.26 [[ 9.99909865e-01 -2.02766783e-03 -1.32722018e-02 7.89140651e-01] [ 2.02900945e-03 9.99997938e-01 8.76206194e-05 -2.29505713e-01] [ 1.32719968e-02 -1.14542145e-04 9.99911917e-01 -2.57462258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.29992885099998 meters Centerline goodness [0,1] 0.9216397645065282 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.26 [[ 9.99910118e-01 -2.04873150e-03 -1.32498792e-02 7.89382041e-01] [ 2.05304782e-03 9.99997844e-01 3.12169545e-04 -2.29917217e-01] [ 1.32492111e-02 -3.39344122e-04 9.99912168e-01 -2.57905960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.32992885099998 meters Centerline goodness [0,1] 0.9188878526968705 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.26 [[ 9.99910130e-01 -2.29067713e-03 -1.32092321e-02 7.89297344e-01] [ 2.29360686e-03 9.99997348e-01 2.06649627e-04 -2.29846351e-01] [ 1.32087237e-02 -2.36927840e-04 9.99912733e-01 -2.57958527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.35992885099998 meters Centerline goodness [0,1] 0.9153610465242618 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.26 [[ 9.99911403e-01 -2.56711654e-03 -1.30612775e-02 7.89061686e-01] [ 2.56804202e-03 9.99996701e-01 5.40855824e-05 -2.29557646e-01] [ 1.30610956e-02 -8.76227001e-05 9.99914696e-01 -2.58122326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.38992885099998 meters Centerline goodness [0,1] 0.9098028156792989 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.26 [[ 9.99911476e-01 -2.75781252e-03 -1.30167324e-02 7.89410577e-01] [ 2.75786660e-03 9.99996197e-01 -1.37959602e-05 -2.28981671e-01] [ 1.30167209e-02 -2.21036725e-05 9.99915279e-01 -2.58731196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.41992885099998 meters Centerline goodness [0,1] 0.9049307262326816 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.26 [[ 9.99910618e-01 -2.90453557e-03 -1.30506875e-02 7.89539498e-01] [ 2.90199410e-03 9.99995766e-01 -2.13671512e-04 -2.28273370e-01] [ 1.30512529e-02 1.75779396e-04 9.99914813e-01 -2.58810760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.44992885099998 meters Centerline goodness [0,1] 0.9016482442615474 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.26 [[ 9.99910603e-01 -2.92520064e-03 -1.30471599e-02 7.89709783e-01] [ 2.92170151e-03 9.99995691e-01 -2.87243626e-04 -2.27743165e-01] [ 1.30479439e-02 2.49098041e-04 9.99914841e-01 -2.59006649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.47992885099998 meters Centerline goodness [0,1] 0.9329805996472663 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.26 [[ 9.99909409e-01 -3.05112209e-03 -1.31096711e-02 7.89934401e-01] [ 3.04319842e-03 9.99995175e-01 -6.24319982e-04 -2.26365666e-01] [ 1.31115127e-02 5.84368094e-04 9.99913870e-01 -2.59075734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.50992885099998 meters Centerline goodness [0,1] 0.9063777951796745 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.23, Z:-0.26 [[ 9.99909065e-01 -2.95558716e-03 -1.31577740e-02 7.90308246e-01] [ 2.94715163e-03 9.99995439e-01 -6.60450222e-04 -2.25597937e-01] [ 1.31596660e-02 6.21612208e-04 9.99913215e-01 -2.59389680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.53992885099998 meters Centerline goodness [0,1] 0.8912020905923345 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.26 [[ 9.99908126e-01 -2.84106988e-03 -1.32539680e-02 7.90678797e-01] [ 2.83131619e-03 9.99995707e-01 -7.54613480e-04 -2.24571918e-01] [ 1.32560550e-02 7.17017976e-04 9.99911878e-01 -2.59521112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.569928851 meters Centerline goodness [0,1] 0.9260619228680065 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.26 [[ 9.99905798e-01 -2.53030857e-03 -1.34904449e-02 7.91516265e-01] [ 2.52147179e-03 9.99996595e-01 -6.72008281e-04 -2.23666287e-01] [ 1.34920994e-02 6.37929200e-04 9.99908774e-01 -2.59870056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.59992885099996 meters Centerline goodness [0,1] 0.9346344013417264 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.26 [[ 0.99990616 -0.00253707 -0.01346199 0.79135356] [ 0.00251841 0.99999584 -0.00140323 -0.22104987] [ 0.0134655 0.0013692 0.9999084 -0.25942541] [ 0. 0. 0. 1. ]] SLAMing on 203.62992885099996 meters Centerline goodness [0,1] 0.9459170772114923 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.26 [[ 0.99990555 -0.00229833 -0.01355 0.7918132 ] [ 0.00228071 0.99999653 -0.00131569 -0.22056141] [ 0.01355298 0.00128466 0.99990733 -0.25971379] [ 0. 0. 0. 1. ]] SLAMing on 203.65992885099996 meters Centerline goodness [0,1] 0.944175603801552 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.22, Z:-0.26 [[ 0.99990508 -0.00216555 -0.01360632 0.79225007] [ 0.00214877 0.99999691 -0.00124813 -0.22002992] [ 0.01360898 0.00121878 0.99990665 -0.26013444] [ 0. 0. 0. 1. ]] SLAMing on 203.68992885099996 meters Centerline goodness [0,1] 0.951251963008201 Centerline is valid? [False, True] Translation: X:0.79, Y:-0.22, Z:-0.26 [[ 0.99990541 -0.0020945 -0.01359373 0.7925229 ] [ 0.00207599 0.9999969 -0.0013755 -0.21914614] [ 0.01359657 0.00134715 0.99990665 -0.2604485 ] [ 0. 0. 0. 1. ]] SLAMing on 203.71992885099996 meters Centerline goodness [0,1] 0.9503397804495557 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.22, Z:-0.26 [[ 9.99905392e-01 -2.73224204e-03 -1.34811436e-02 8.20972418e-01] [ 2.74594259e-03 9.99995732e-01 9.97869780e-04 -2.22687912e-01] [ 1.34783596e-02 -1.03479382e-03 9.99908627e-01 -2.60343072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.74992885099996 meters Centerline goodness [0,1] 0.9555158980608935 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.22, Z:-0.26 [[ 9.99910877e-01 -2.63041457e-03 -1.30888559e-02 8.50226548e-01] [ 2.64327873e-03 9.99996040e-01 9.65630003e-04 -2.21449848e-01] [ 1.30862641e-02 -1.00014144e-03 9.99913871e-01 -2.59652449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.77992885099997 meters Centerline goodness [0,1] 0.949717131561128 Centerline is valid? [True, False] Translation: X:0.85, Y:-0.22, Z:-0.26 [[ 9.99911141e-01 -2.67135217e-03 -1.30604355e-02 8.50335513e-01] [ 2.68277466e-03 9.99996034e-01 8.57145002e-04 -2.21098382e-01] [ 1.30580939e-02 -8.92107042e-04 9.99914341e-01 -2.59836859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.80992885099997 meters Centerline goodness [0,1] 0.9458777463563194 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.22, Z:-0.26 [[ 0.99990758 -0.00227994 -0.01340292 0.85172813] [ 0.00229581 0.99999668 0.00116881 -0.22104915] [ 0.01340021 -0.00119947 0.99990949 -0.26072644] [ 0. 0. 0. 1. ]] SLAMing on 203.83992885099997 meters Centerline goodness [0,1] 0.9502651506885189 Centerline is valid? [False, True] Translation: X:0.85, Y:-0.22, Z:-0.26 [[ 0.99990628 -0.00215537 -0.0135201 0.85228726] [ 0.00217192 0.99999691 0.00120972 -0.22080182] [ 0.01351745 -0.00123897 0.99990787 -0.26109501] [ 0. 0. 0. 1. ]] SLAMing on 203.86992885099997 meters Centerline goodness [0,1] 0.9612768184196756 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.22, Z:-0.26 [[ 0.99990257 -0.00194718 -0.01382259 0.88149252] [ 0.00196128 0.99999757 0.00100617 -0.21677519] [ 0.0138206 -0.00103318 0.99990396 -0.26025036] [ 0. 0. 0. 1. ]] SLAMing on 203.89992885099997 meters Centerline goodness [0,1] 0.9572959172540205 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.22, Z:-0.26 [[ 0.99989795 -0.00128686 -0.01422778 0.90933019] [ 0.00130168 0.99999862 0.00103222 -0.22234739] [ 0.01422643 -0.00105063 0.99989825 -0.2612001 ] [ 0. 0. 0. 1. ]] SLAMing on 203.92992885099997 meters Centerline goodness [0,1] 0.9654390440679445 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.22, Z:-0.26 [[ 9.99910546e-01 1.21807776e-03 -1.33197613e-02 9.39581778e-01] [-1.20531404e-03 9.99998807e-01 9.66239886e-04 -2.18136717e-01] [ 1.33209223e-02 -9.50098957e-04 9.99910821e-01 -2.59545897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.95992885099997 meters Centerline goodness [0,1] 0.9617117607365969 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.22, Z:-0.26 [[ 9.99913952e-01 2.51835496e-03 -1.28742482e-02 9.67514084e-01] [-2.50654991e-03 9.99996423e-01 9.33004554e-04 -2.22261387e-01] [ 1.28765518e-02 -9.00654325e-04 9.99916688e-01 -2.59492728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.98992885099997 meters Centerline goodness [0,1] 0.9699502444134078 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.22, Z:-0.26 [[ 9.99917267e-01 5.04130307e-03 -1.18340720e-02 9.97772942e-01] [-5.03150953e-03 9.99986974e-01 8.57198400e-04 -2.18157233e-01] [ 1.18382392e-02 -7.97584235e-04 9.99929607e-01 -2.57383613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.01992885099997 meters Centerline goodness [0,1] 0.9704336829252338 Centerline is valid? [True, True] Translation: X:1.03, Y:-0.22, Z:-0.26 [[ 9.99916403e-01 7.28432612e-03 -1.06829952e-02 1.02742509e+00] [-7.27647660e-03 9.99973227e-01 7.73451978e-04 -2.19115977e-01] [ 1.06883433e-02 -6.95652755e-04 9.99942636e-01 -2.56553110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.04992885099998 meters Centerline goodness [0,1] 0.9699753431233499 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.22, Z:-0.26 [[ 9.99880780e-01 1.21892026e-02 -9.47891330e-03 1.05729223e+00] [-1.21832425e-02 9.99925546e-01 6.86266531e-04 -2.20203235e-01] [ 9.48657260e-03 -5.70700815e-04 9.99954839e-01 -2.55331646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.07992885099998 meters Centerline goodness [0,1] 0.9716806043800083 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.22, Z:-0.25 [[ 9.99856877e-01 1.42572271e-02 -9.10809273e-03 1.08698813e+00] [-1.42518126e-02 9.99898221e-01 6.59099461e-04 -2.20741441e-01] [ 9.11656264e-03 -5.29198298e-04 9.99958303e-01 -2.54556269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.10992885099998 meters Centerline goodness [0,1] 0.9742379547689283 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.22, Z:-0.25 [[ 9.99833952e-01 1.59494814e-02 -8.81382010e-03 1.11587107e+00] [-1.59444822e-02 9.99872676e-01 6.37188883e-04 -2.18932177e-01] [ 8.82286072e-03 -4.96551281e-04 9.99960955e-01 -2.53569699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.13992885099998 meters Centerline goodness [0,1] 0.9756635718186784 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.22, Z:-0.25 [[ 9.99798897e-01 1.81120057e-02 -8.60938433e-03 1.14470193e+00] [-1.81073179e-02 9.99835856e-01 6.22142444e-04 -2.20809509e-01] [ 8.61923939e-03 -4.66124470e-04 9.99962745e-01 -2.53350396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.16992885099998 meters Centerline goodness [0,1] 0.9761800889974697 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.22, Z:-0.25 [[ 9.99789099e-01 1.86506751e-02 -8.59708641e-03 1.17284561e+00] [-1.86460256e-02 9.99825955e-01 6.20667347e-04 -2.23607681e-01] [ 8.60716600e-03 -4.60234955e-04 9.99962852e-01 -2.53671145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.19992885099998 meters Centerline goodness [0,1] 0.976167549350024 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.23, Z:-0.25 [[ 9.99782643e-01 1.86155778e-02 -9.38754872e-03 1.20138285e+00] [-1.86100381e-02 9.99826589e-01 6.77126854e-04 -2.26641150e-01] [ 9.39852592e-03 -5.02277036e-04 9.99955707e-01 -2.54343683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.22992885099998 meters Centerline goodness [0,1] 0.9779431014922768 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.23, Z:-0.25 [[ 9.99785782e-01 1.83410669e-02 -9.59139844e-03 1.22998394e+00] [-1.83352775e-02 9.99831656e-01 6.91191157e-04 -2.26022223e-01] [ 9.60246096e-03 -5.15182139e-04 9.99953763e-01 -2.53490458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.25992885099998 meters Centerline goodness [0,1] 0.9783501551098877 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.23, Z:-0.25 [[ 9.99802165e-01 1.73752404e-02 -9.68147890e-03 1.25720359e+00] [-1.73693045e-02 9.99848899e-01 6.96872612e-04 -2.30024335e-01] [ 9.69212435e-03 -5.28574192e-04 9.99952891e-01 -2.52916072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.28992885099998 meters Centerline goodness [0,1] 0.9774601789221035 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.23, Z:-0.25 [[ 9.99809150e-01 1.69387251e-02 -9.73359266e-03 1.28454507e+00] [-1.69327123e-02 9.99856386e-01 6.99829617e-04 -2.33474727e-01] [ 9.74404901e-03 -5.34879931e-04 9.99952383e-01 -2.52928212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.319928851 meters Centerline goodness [0,1] 0.9779562617311973 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.24, Z:-0.25 [[ 9.99823513e-01 1.61283960e-02 -9.63421701e-03 1.31325323e+00] [-1.61224737e-02 9.99869785e-01 6.92070359e-04 -2.36557540e-01] [ 9.64412448e-03 -5.36620808e-04 9.99953350e-01 -2.52931673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.34992885099996 meters Centerline goodness [0,1] 0.9769869461939111 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.24, Z:-0.25 [[ 9.99826836e-01 1.55352326e-02 -1.02447620e-02 1.34192608e+00] [-1.55285115e-02 9.99879155e-01 7.35269281e-04 -2.39011838e-01] [ 1.02549466e-02 -5.76056053e-04 9.99947251e-01 -2.52904470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.37992885099996 meters Centerline goodness [0,1] 0.9809399193108712 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.24, Z:-0.25 [[ 9.99859842e-01 1.37267328e-02 -9.58505556e-03 1.37168690e+00] [-1.37207696e-02 9.99905629e-01 6.87611394e-04 -2.35296828e-01] [ 9.59358967e-03 -5.56000681e-04 9.99953826e-01 -2.49771683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.40992885099996 meters Centerline goodness [0,1] 0.9800492771951246 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.24, Z:-0.25 [[ 9.99883629e-01 1.23197436e-02 -8.99730899e-03 1.40066847e+00] [-1.23144384e-02 9.99923967e-01 6.44808633e-04 -2.37277721e-01] [ 9.00456877e-03 -5.33936789e-04 9.99959315e-01 -2.48403700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.43992885099996 meters Centerline goodness [0,1] 0.9800347599391701 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.24, Z:-0.25 [[ 9.99908010e-01 1.10803342e-02 -7.82291066e-03 1.42768544e+00] [-1.10762922e-02 9.99938499e-01 5.59819184e-04 -2.41116050e-01] [ 7.82863253e-03 -4.73118842e-04 9.99969244e-01 -2.47292058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.46992885099996 meters Centerline goodness [0,1] 0.9795142509558568 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.25, Z:-0.24 [[ 9.99955549e-01 7.69966172e-03 -5.44195533e-03 1.45739298e+00] [-7.69765638e-03 9.99970297e-01 3.89345908e-04 -2.45034342e-01] [ 5.44479152e-03 -3.47438299e-04 9.99985117e-01 -2.44691715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.49992885099996 meters Centerline goodness [0,1] 0.9765623302995416 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.25, Z:-0.24 [[ 9.99972572e-01 5.82163091e-03 -4.57857722e-03 1.48559673e+00] [-5.82019296e-03 9.99983009e-01 3.27322169e-04 -2.52140962e-01] [ 4.58040497e-03 -3.00664988e-04 9.99989465e-01 -2.44636328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.52992885099997 meters Centerline goodness [0,1] 0.9757707338254451 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.26, Z:-0.24 [[ 9.99981911e-01 3.93657815e-03 -4.54756580e-03 1.51337937e+00] [-3.93514109e-03 9.99992205e-01 3.24910870e-04 -2.57109390e-01] [ 4.54880938e-03 -3.07009680e-04 9.99989607e-01 -2.44814792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.55992885099997 meters Centerline goodness [0,1] 0.9761775969881212 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.26, Z:-0.25 [[ 9.99983923e-01 -1.12643667e-04 -5.66924232e-03 1.54331453e+00] [ 1.14942028e-04 9.99999911e-01 4.05084681e-04 -2.61939787e-01] [ 5.66919618e-03 -4.05729802e-04 9.99983848e-01 -2.45489732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.58992885099997 meters Centerline goodness [0,1] 0.9761775969881212 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.26, Z:-0.25 [[ 9.99983914e-01 -1.78464224e-04 -5.66927191e-03 1.57162783e+00] [ 1.80761301e-04 9.99999902e-01 4.04670366e-04 -2.63895857e-01] [ 5.66919913e-03 -4.05688641e-04 9.99983848e-01 -2.45507567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.61992885099997 meters Centerline goodness [0,1] 0.9752046377315066 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.27, Z:-0.25 [[ 9.99979742e-01 -1.62334584e-03 -6.15468952e-03 1.59982486e+00] [ 1.62607858e-03 9.99998582e-01 4.39030200e-04 -2.67639135e-01] [ 6.15396810e-03 -4.49029315e-04 9.99980963e-01 -2.45484167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.64992885099997 meters Centerline goodness [0,1] 0.9778178500043452 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.26, Z:-0.24 [[ 9.99974337e-01 -3.05340710e-03 -6.48082289e-03 1.63006036e+00] [ 3.05646562e-03 9.99995222e-01 4.62082261e-04 -2.62925484e-01] [ 6.47938100e-03 -4.81878815e-04 9.99978892e-01 -2.44408313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.67992885099997 meters Centerline goodness [0,1] 0.9753062288246026 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.27, Z:-0.24 [[ 9.99967518e-01 -4.06418051e-03 -6.96021923e-03 1.65832417e+00] [ 4.06773007e-03 9.99991604e-01 4.95897978e-04 -2.71932666e-01] [ 6.95814537e-03 -5.24194163e-04 9.99975654e-01 -2.44857067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.70992885099997 meters Centerline goodness [0,1] 0.9759522517634291 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.27, Z:-0.24 [[ 9.99964351e-01 -5.00010004e-03 -6.80413184e-03 1.68745212e+00] [ 5.00350217e-03 9.99987366e-01 4.83079132e-04 -2.70603492e-01] [ 6.80163043e-03 -5.17106399e-04 9.99976735e-01 -2.43345969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.73992885099997 meters Centerline goodness [0,1] 0.9770901194353963 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.27, Z:-0.24 [[ 9.99968905e-01 -5.15675586e-03 -5.96626629e-03 1.71704209e+00] [ 5.15937391e-03 9.99986601e-01 4.23499197e-04 -2.70467247e-01] [ 5.96400247e-03 -4.54268227e-04 9.99982112e-01 -2.42324329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.76992885099997 meters Centerline goodness [0,1] 0.97656827370343 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.27, Z:-0.24 [[ 9.99976004e-01 -4.52089390e-03 -5.24900173e-03 1.74617853e+00] [ 4.52291116e-03 9.99989702e-01 3.72506530e-04 -2.71793858e-01] [ 5.24726361e-03 -3.96238360e-04 9.99986155e-01 -2.41467328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.79992885099998 meters Centerline goodness [0,1] 0.9770982405010983 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.27, Z:-0.24 [[ 9.99978336e-01 -4.30997554e-03 -4.97511591e-03 1.77586686e+00] [ 4.31178430e-03 9.99990642e-01 3.52893576e-04 -2.72439147e-01] [ 4.97354839e-03 -3.74337558e-04 9.99987562e-01 -2.40699648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.82992885099998 meters Centerline goodness [0,1] 0.9777797160862645 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.27, Z:-0.24 [[ 9.99987392e-01 -3.14882947e-03 -3.91153823e-03 1.80624471e+00] [ 3.14993848e-03 9.99995000e-01 2.77393216e-04 -2.70496547e-01] [ 3.91064521e-03 -2.89710823e-04 9.99992311e-01 -2.39345612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.85992885099998 meters Centerline goodness [0,1] 0.9774590163934426 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.27, Z:-0.24 [[ 9.99987985e-01 -2.74694727e-03 -4.06015764e-03 1.83548317e+00] [ 2.74813858e-03 9.99996182e-01 2.87866246e-04 -2.73002338e-01] [ 4.05935138e-03 -2.99020663e-04 9.99991716e-01 -2.38954169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.88992885099998 meters Centerline goodness [0,1] 0.9784378341808341 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.27, Z:-0.24 [[ 9.99991717e-01 -2.12847174e-03 -3.46914182e-03 1.86563597e+00] [ 2.12933732e-03 9.99997703e-01 2.45835634e-04 -2.70403888e-01] [ 3.46861059e-03 -2.53220571e-04 9.99993952e-01 -2.38188363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.91992885099998 meters Centerline goodness [0,1] 0.9792404178139067 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.27, Z:-0.24 [[ 9.99995960e-01 -1.29196092e-03 -2.53186170e-03 1.89534903e+00] [ 1.29241920e-03 9.99999149e-01 1.79379788e-04 -2.70741282e-01] [ 2.53162780e-03 -1.82651290e-04 9.99996779e-01 -2.36729599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.94992885099998 meters Centerline goodness [0,1] 0.9780953214582695 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.27, Z:-0.24 [[ 9.99994638e-01 -1.60153026e-03 -2.85633979e-03 1.92469171e+00] [ 1.60211450e-03 9.99998696e-01 2.02265904e-04 -2.71971237e-01] [ 2.85601213e-03 -2.06841003e-04 9.99995900e-01 -2.36291704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.97992885099998 meters Centerline goodness [0,1] 0.9790258731929226 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.27, Z:-0.24 [[ 9.99992492e-01 -1.82553911e-03 -3.41809303e-03 1.95483302e+00] [ 1.82637691e-03 9.99998303e-01 2.42002451e-04 -2.70550357e-01] [ 3.41764545e-03 -2.48243360e-04 9.99994129e-01 -2.36321925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.00992885099998 meters Centerline goodness [0,1] 0.9774281206171108 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.28, Z:-0.24 [[ 9.99987700e-01 -2.41221146e-03 -4.33363843e-03 1.98440451e+00] [ 2.41356337e-03 9.99997040e-01 3.06754550e-04 -2.76023447e-01] [ 4.33288564e-03 -3.17210288e-04 9.99990563e-01 -2.37210002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.03992885099998 meters Centerline goodness [0,1] 0.9769855199648969 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.28, Z:-0.24 [[ 9.99974265e-01 -3.05350016e-03 -6.49201384e-03 2.01379046e+00] [ 3.05654689e-03 9.99995223e-01 4.59435072e-04 -2.79140042e-01] [ 6.49057995e-03 -4.79266393e-04 9.99978821e-01 -2.39122684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.06992885099996 meters Centerline goodness [0,1] 0.9789099057536413 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.28, Z:-0.24 [[ 9.99967004e-01 -3.88482962e-03 -7.13441727e-03 2.04264504e+00] [ 3.88851747e-03 9.99992313e-01 5.03110777e-04 -2.75027864e-01] [ 7.13240793e-03 -5.30836482e-04 9.99974423e-01 -2.39123794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.09992885099996 meters Centerline goodness [0,1] 0.9800892248862713 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.27, Z:-0.24 [[ 9.99961381e-01 -4.36041937e-03 -7.63044043e-03 2.07163054e+00] [ 4.36463784e-03 9.99990331e-01 5.36282623e-04 -2.72486877e-01] [ 7.62802824e-03 -5.69566021e-04 9.99970744e-01 -2.39214518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.12992885099996 meters Centerline goodness [0,1] 0.9778843826331889 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.28, Z:-0.24 [[ 9.99954125e-01 -5.45145714e-03 -7.87589996e-03 2.09967912e+00] [ 5.45598287e-03 9.99984963e-01 5.53258935e-04 -2.78719384e-01] [ 7.87276547e-03 -5.96204329e-04 9.99968832e-01 -2.39729148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 7595.35 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%| | 0/6838 [00:00