+ python -m lidar_slam --no-model /working/7ce822c6-814c-4a4f-be5e-ec901f4ddba8 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/7ce822c6-814c-4a4f-be5e-ec901f4ddba8 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 0.002414037 Adjusted end_distance from 9.223372036854776e+18 to 289.862414037 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002414037 meters Centerline goodness [0,1] 0.9772235626924037 Centerline is valid? [0, True] SLAMing on 0.032414037 meters Centerline goodness [0,1] 0.978092299995831 Centerline is valid? [True, True] Translation: X:0.03, Y:0.00, Z:0.00 [[ 9.99996401e-01 2.55892536e-03 -8.06352904e-04 3.07293203e-02] [-2.55887656e-03 9.99996724e-01 6.15415917e-05 2.84225470e-03] [ 8.06507743e-04 -5.94780126e-05 9.99999673e-01 5.91673473e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.062414037 meters Centerline goodness [0,1] 0.9788719149025099 Centerline is valid? [True, True] Translation: X:0.06, Y:0.01, Z:-0.00 [[ 9.99985937e-01 4.31520326e-03 -3.08293575e-03 6.17108377e-02] [-4.31449850e-03 9.99990665e-01 2.35217183e-04 1.24539320e-02] [ 3.08392198e-03 -2.21912553e-04 9.99995220e-01 -1.25735642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09241403699999999 meters Centerline goodness [0,1] 0.9799213586547311 Centerline is valid? [True, True] Translation: X:0.09, Y:0.01, Z:-0.00 [[ 9.99985933e-01 3.84879888e-03 -3.64978062e-03 9.11278526e-02] [-3.84780918e-03 9.99992558e-01 2.78150395e-04 1.34390619e-02] [ 3.65082400e-03 -2.64102823e-04 9.99993301e-01 -3.12376867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12241403699999999 meters Centerline goodness [0,1] 0.9811953627806544 Centerline is valid? [True, True] Translation: X:0.12, Y:0.02, Z:-0.01 [[ 9.99970353e-01 5.87476193e-03 -4.97790655e-03 1.21272523e-01] [-5.87294678e-03 9.99982682e-01 3.79179819e-04 1.50489577e-02] [ 4.98004794e-03 -3.49933597e-04 9.99987538e-01 -6.45944991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.152414037 meters Centerline goodness [0,1] 0.9811605124340618 Centerline is valid? [True, True] Translation: X:0.15, Y:0.01, Z:-0.01 [[ 9.99968763e-01 6.73268836e-03 -4.14049584e-03 1.49779616e-01] [-6.73144123e-03 9.99977294e-01 3.15063354e-04 1.44473530e-02] [ 4.14252305e-03 -2.87182008e-04 9.99991378e-01 -6.98444955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.182414037 meters Centerline goodness [0,1] 0.9811336557991499 Centerline is valid? [True, True] Translation: X:0.18, Y:0.01, Z:-0.01 [[ 9.99979120e-01 5.73063261e-03 -2.98648493e-03 1.78913772e-01] [-5.72998004e-03 9.99983558e-01 2.27018820e-04 1.33402481e-02] [ 2.98773678e-03 -2.09901581e-04 9.99995515e-01 -6.73343261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.212414037 meters Centerline goodness [0,1] 0.9808535178777393 Centerline is valid? [True, True] Translation: X:0.21, Y:0.02, Z:-0.01 [[ 9.99975603e-01 6.37167814e-03 -2.86278328e-03 2.07028715e-01] [-6.37108190e-03 9.99979681e-01 2.17345524e-04 1.77382928e-02] [ 2.86410997e-03 -1.99101195e-04 9.99995879e-01 -5.26601012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.242414037 meters Centerline goodness [0,1] 0.9818135998991978 Centerline is valid? [True, True] Translation: X:0.23, Y:0.02, Z:-0.01 [[ 9.99971597e-01 6.71815850e-03 -3.41647887e-03 2.34898469e-01] [-6.71731231e-03 9.99977405e-01 2.59093426e-04 1.87315059e-02] [ 3.41814231e-03 -2.36136512e-04 9.99994130e-01 -5.12885116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.272414037 meters Centerline goodness [0,1] 0.9822243725939794 Centerline is valid? [True, True] Translation: X:0.26, Y:0.02, Z:-0.01 [[ 9.99972526e-01 6.67009873e-03 -3.23379443e-03 2.64028675e-01] [-6.66934103e-03 9.99977730e-01 2.45035085e-04 1.98791215e-02] [ 3.23535682e-03 -2.23461075e-04 9.99994741e-01 -5.30908299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30241403699999997 meters Centerline goodness [0,1] 0.9810329549770033 Centerline is valid? [True, True] Translation: X:0.29, Y:0.02, Z:-0.01 [[ 9.99974006e-01 5.77152937e-03 -4.32157580e-03 2.93047763e-01] [-5.77016858e-03 9.99983299e-01 3.27286571e-04 1.92971033e-02] [ 4.32339257e-03 -3.02341843e-04 9.99990608e-01 -6.77929441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33241403699999994 meters Centerline goodness [0,1] 0.9807931784123768 Centerline is valid? [True, True] Translation: X:0.32, Y:0.02, Z:-0.01 [[ 9.99989028e-01 3.07185961e-03 -3.53648982e-03 3.23544039e-01] [-3.07093136e-03 9.99995249e-01 2.67878895e-04 1.62794047e-02] [ 3.53729590e-03 -2.57015639e-04 9.99993711e-01 -7.73462361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36241403699999997 meters Centerline goodness [0,1] 0.9814293872543836 Centerline is valid? [True, True] Translation: X:0.35, Y:0.02, Z:-0.01 [[ 9.99991692e-01 -3.16098557e-03 -2.57392382e-03 3.53979636e-01] [ 3.16149764e-03 9.99994983e-01 1.94903194e-04 1.77731771e-02] [ 2.57329482e-03 -2.03039029e-04 9.99996668e-01 -6.61456876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.392414037 meters Centerline goodness [0,1] 0.9801176022674394 Centerline is valid? [True, True] Translation: X:0.38, Y:0.01, Z:-0.01 [[ 9.99972443e-01 -6.97118410e-03 -2.55253158e-03 3.84616335e-01] [ 6.97170010e-03 9.99975679e-01 1.93310643e-04 1.47779324e-02] [ 2.55112190e-03 -2.11100800e-04 9.99996724e-01 -6.47239077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42241403699999996 meters Centerline goodness [0,1] 0.9757207569535583 Centerline is valid? [True, True] Translation: X:0.42, Y:0.01, Z:-0.01 [[ 9.99933543e-01 -1.09781106e-02 -3.51997552e-03 4.15238458e-01] [ 1.09791165e-02 9.99939692e-01 2.66587636e-04 1.05097742e-02] [ 3.51683661e-03 -3.05216141e-04 9.99993769e-01 -7.76207416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45241403699999994 meters Centerline goodness [0,1] 0.966005845723726 Centerline is valid? [True, True] Translation: X:0.45, Y:0.01, Z:-0.01 [[ 9.99877765e-01 -1.46539446e-02 -5.45137911e-03 4.45225477e-01] [ 1.46564116e-02 9.99892504e-01 4.12876770e-04 6.12986637e-03] [ 5.44474284e-03 -4.92723958e-04 9.99985056e-01 -1.08776746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48241403699999996 meters Centerline goodness [0,1] 0.9237887051932342 Centerline is valid? [True, False] Translation: X:0.45, Y:0.01, Z:-0.01 [[ 0.99981686 -0.01811933 -0.00615928 0.44920975] [ 0.01809947 0.99983086 -0.00326585 0.00999893] [ 0.00621741 0.00315377 0.9999757 -0.01425434] [ 0. 0. 0. 1. ]] SLAMing on 0.512414037 meters Centerline goodness [0,1] 0.9049130055156845 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:-0.02 [[ 9.99867025e-01 -1.51130366e-02 -6.12605924e-03 4.49341886e-01] [ 1.51169447e-02 9.99885557e-01 5.92136426e-04 9.77635305e-03] [ 6.11640918e-03 -6.84664985e-04 9.99981060e-01 -1.51534515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.542414037 meters Centerline goodness [0,1] 0.8917355195456778 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:-0.01 [[ 0.99990251 -0.01268939 -0.00582737 0.44795162] [ 0.01270544 0.99991557 0.00272422 0.0140032 ] [ 0.00579231 -0.002798 0.99997931 -0.01426985] [ 0. 0. 0. 1. ]] SLAMing on 0.5724140369999999 meters Centerline goodness [0,1] 0.9530392052131182 Centerline is valid? [False, True] Translation: X:0.45, Y:0.02, Z:-0.01 [[ 0.99989983 -0.01288314 -0.00586077 0.44776274] [ 0.01289355 0.99991536 0.00174109 0.01723786] [ 0.00583784 -0.00181648 0.99998131 -0.01357853] [ 0. 0. 0. 1. ]] SLAMing on 0.602414037 meters Centerline goodness [0,1] 0.9525677297668038 Centerline is valid? [True, True] Translation: X:0.48, Y:0.02, Z:-0.01 [[ 9.99913937e-01 -1.21362414e-02 -4.98304663e-03 4.78188360e-01] [ 1.21385155e-02 9.99926235e-01 4.26391924e-04 1.81463193e-02] [ 4.97750426e-03 -4.86842016e-04 9.99987494e-01 -1.23840533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.632414037 meters Centerline goodness [0,1] 0.9206971957808078 Centerline is valid? [True, False] Translation: X:0.48, Y:0.02, Z:-0.01 [[ 0.9999459 -0.00918345 -0.00488403 0.47767985] [ 0.0091958 0.99995456 0.00251243 0.02370554] [ 0.00486073 -0.0025572 0.99998492 -0.01192931] [ 0. 0. 0. 1. ]] SLAMing on 0.6624140369999999 meters Centerline goodness [0,1] 0.9013441323453386 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:-0.01 [[ 0.99996967 -0.00629539 -0.00458657 0.47660443] [ 0.00632105 0.99996434 0.0056002 0.02498908] [ 0.00455115 -0.00562902 0.9999738 -0.01165274] [ 0. 0. 0. 1. ]] SLAMing on 0.6924140369999999 meters Centerline goodness [0,1] 0.9176518724293128 Centerline is valid? [False, False] Translation: X:0.48, Y:0.03, Z:-0.01 [[ 0.99996709 -0.00648393 -0.00487691 0.47730144] [ 0.00650704 0.99996761 0.00473726 0.02776426] [ 0.00484604 -0.00476884 0.99997689 -0.01165419] [ 0. 0. 0. 1. ]] SLAMing on 0.722414037 meters Centerline goodness [0,1] 0.9581027326184711 Centerline is valid? [False, True] Translation: X:0.48, Y:0.03, Z:-0.01 [[ 0.9999642 -0.0069718 -0.00479486 0.47774258] [ 0.00698778 0.99997006 0.00332295 0.03289995] [ 0.00477155 -0.00335634 0.99998298 -0.01228125] [ 0. 0. 0. 1. ]] SLAMing on 0.752414037 meters Centerline goodness [0,1] 0.9470651938488196 Centerline is valid? [True, False] Translation: X:0.48, Y:0.04, Z:-0.01 [[ 0.99996008 -0.00731782 -0.00512745 0.47896966] [ 0.00732879 0.99997089 0.00212302 0.03959746] [ 0.00511176 -0.00216051 0.9999846 -0.01288704] [ 0. 0. 0. 1. ]] SLAMing on 0.782414037 meters Centerline goodness [0,1] 0.9235760008679614 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:-0.01 [[ 9.99954604e-01 -7.82837926e-03 -5.43192296e-03 4.79788503e-01] [ 7.83386943e-03 9.99968825e-01 9.90183199e-04 4.35644969e-02] [ 5.42400209e-03 -1.03269122e-03 9.99984757e-01 -1.30571798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8124140369999999 meters Centerline goodness [0,1] 0.892820746330146 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:-0.01 [[ 9.99949059e-01 -8.29644955e-03 -5.74885454e-03 4.80923568e-01] [ 8.29676269e-03 9.99965581e-01 3.06214173e-05 4.71185215e-02] [ 5.74840262e-03 -7.83167392e-05 9.99983475e-01 -1.37008776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.842414037 meters Centerline goodness [0,1] 0.9162806880205275 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:-0.01 [[ 9.99945479e-01 -8.54733510e-03 -5.99846246e-03 4.82252123e-01] [ 8.54486234e-03 9.99963396e-01 -4.37740344e-04 4.97244461e-02] [ 6.00198440e-03 3.86460442e-04 9.99981913e-01 -1.48401111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.872414037 meters Centerline goodness [0,1] 0.8967401955447162 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:-0.02 [[ 0.9999378 -0.00958139 -0.00570867 0.48243878] [ 0.00957268 0.99995298 -0.00155228 0.05323045] [ 0.00572327 0.00149753 0.9999825 -0.01601991] [ 0. 0. 0. 1. ]] SLAMing on 0.9024140369999999 meters Centerline goodness [0,1] 0.8400392755836787 Centerline is valid? [False, False] Translation: X:0.48, Y:0.05, Z:-0.02 [[ 0.99996038 -0.00715146 -0.00529996 0.48133599] [ 0.00716157 0.99997257 0.00189159 0.05291245] [ 0.00528628 -0.00192947 0.99998417 -0.01638014] [ 0. 0. 0. 1. ]] SLAMing on 0.9324140369999999 meters Centerline goodness [0,1] 0.8428662183180354 Centerline is valid? [False, False] Translation: X:0.48, Y:0.06, Z:-0.02 [[ 9.99952546e-01 -8.08830552e-03 -5.43009922e-03 4.82279169e-01] [ 8.08894343e-03 9.99967279e-01 9.55256168e-05 5.99969295e-02] [ 5.42914891e-03 -1.39444849e-04 9.99985252e-01 -1.71375849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9624140369999999 meters Centerline goodness [0,1] 0.8606235033064569 Centerline is valid? [False, False] Translation: X:0.48, Y:0.06, Z:-0.02 [[ 9.99950024e-01 -8.08435602e-03 -5.88151543e-03 4.84225220e-01] [ 8.08124600e-03 9.99967194e-01 -5.52352413e-04 6.42122747e-02] [ 5.88578789e-03 5.04794836e-04 9.99982551e-01 -1.83791909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.992414037 meters Centerline goodness [0,1] 0.8656293268279818 Centerline is valid? [False, False] Translation: X:0.49, Y:0.07, Z:-0.02 [[ 0.99994639 -0.00812747 -0.00641508 0.48600325] [ 0.00811869 0.99996607 -0.00139316 0.06860107] [ 0.00642618 0.001341 0.99997845 -0.01912256] [ 0. 0. 0. 1. ]] SLAMing on 1.022414037 meters Centerline goodness [0,1] 0.8956778950156726 Centerline is valid? [False, False] Translation: X:0.48, Y:0.08, Z:-0.02 [[ 9.99965436e-01 -5.77062157e-03 -5.98562641e-03 4.84556580e-01] [ 5.76930344e-03 9.99983329e-01 -2.37458243e-04 7.67964159e-02] [ 5.98689691e-03 2.02917141e-04 9.99982058e-01 -1.80375120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0524140370000001 meters Centerline goodness [0,1] 0.9089360384079294 Centerline is valid? [False, False] Translation: X:0.48, Y:0.08, Z:-0.02 [[ 0.99997973 -0.00269745 -0.00576804 0.48378497] [ 0.00271238 0.99999299 0.00258156 0.07968134] [ 0.00576103 -0.00259715 0.99998003 -0.01768858] [ 0. 0. 0. 1. ]] SLAMing on 1.0824140370000002 meters Centerline goodness [0,1] 0.8515819409882688 Centerline is valid? [False, False] Translation: X:0.49, Y:0.09, Z:-0.02 [[ 0.99998257 -0.00142891 -0.00572865 0.48540726] [ 0.00144512 0.99999496 0.00282571 0.08644606] [ 0.00572458 -0.00283394 0.9999796 -0.01951649] [ 0. 0. 0. 1. ]] SLAMing on 1.112414037 meters Centerline goodness [0,1] 0.8515819409882688 Centerline is valid? [False, False] Translation: X:0.49, Y:0.09, Z:-0.02 [[ 0.99998257 -0.00142891 -0.00572865 0.48540726] [ 0.00144512 0.99999496 0.00282571 0.08644606] [ 0.00572458 -0.00283394 0.9999796 -0.01951649] [ 0. 0. 0. 1. ]] SLAMing on 1.142414037 meters Centerline goodness [0,1] 0.8875175440550717 Centerline is valid? [False, False] Translation: X:0.49, Y:0.09, Z:-0.02 [[ 0.99998253 -0.0017096 -0.00565846 0.48597701] [ 0.00172227 0.99999602 0.00223507 0.08872722] [ 0.00565461 -0.00224477 0.99998149 -0.02044474] [ 0. 0. 0. 1. ]] SLAMing on 1.172414037 meters Centerline goodness [0,1] 0.8219480635373907 Centerline is valid? [False, False] Translation: X:0.49, Y:0.09, Z:-0.02 [[ 0.99998217 -0.00221277 -0.00554678 0.48594465] [ 0.00222021 0.99999664 0.00133638 0.09149704] [ 0.0055438 -0.00134867 0.99998372 -0.02057602] [ 0. 0. 0. 1. ]] SLAMing on 1.202414037 meters Centerline goodness [0,1] 0.8335686274509804 Centerline is valid? [False, False] Translation: X:0.49, Y:0.10, Z:-0.02 [[ 0.99998466 -0.0014616 -0.00534218 0.48548531] [ 0.00146829 0.99999814 0.00124968 0.09942296] [ 0.00534034 -0.0012575 0.99998495 -0.02024092] [ 0. 0. 0. 1. ]] SLAMing on 1.232414037 meters Centerline goodness [0,1] 0.8156648780267846 Centerline is valid? [False, False] Translation: X:0.49, Y:0.11, Z:-0.02 [[ 0.99998594 0.00121409 -0.00516137 0.48502067] [-0.00119871 0.99999483 0.00298291 0.10553505] [ 0.00516496 -0.00297669 0.99998223 -0.01986721] [ 0. 0. 0. 1. ]] SLAMing on 1.262414037 meters Centerline goodness [0,1] 0.8199091751203091 Centerline is valid? [False, False] Translation: X:0.49, Y:0.11, Z:-0.02 [[ 9.99984972e-01 9.42854525e-04 -5.40062115e-03 4.85414023e-01] [-9.33721604e-04 9.99998130e-01 1.69335887e-03 1.09452301e-01] [ 5.40220764e-03 -1.68829075e-03 9.99983983e-01 -1.92837006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2924140370000001 meters Centerline goodness [0,1] 0.8202272624383178 Centerline is valid? [False, False] Translation: X:0.49, Y:0.11, Z:-0.02 [[ 9.99984253e-01 6.60438874e-04 -5.57288126e-03 4.85632454e-01] [-6.58221041e-04 9.99999703e-01 3.99793543e-04 1.13629259e-01] [ 5.57314364e-03 -3.96119060e-04 9.99984391e-01 -1.85962463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.322414037 meters Centerline goodness [0,1] 0.8242731297640239 Centerline is valid? [False, False] Translation: X:0.48, Y:0.12, Z:-0.02 [[ 0.99998019 0.00332283 -0.00534574 0.48479151] [-0.00331149 0.99999225 0.00212921 0.11969925] [ 0.00535277 -0.00211147 0.99998344 -0.01783699] [ 0. 0. 0. 1. ]] SLAMing on 1.352414037 meters Centerline goodness [0,1] 0.8160951074531322 Centerline is valid? [False, False] Translation: X:0.49, Y:0.12, Z:-0.02 [[ 0.99997747 0.00321341 -0.00589384 0.48640041] [-0.00320625 0.99999411 0.00122465 0.1233706 ] [ 0.00589774 -0.00120573 0.99998188 -0.01826434] [ 0. 0. 0. 1. ]] SLAMing on 1.382414037 meters Centerline goodness [0,1] 0.7984113751099995 Centerline is valid? [False, False] Translation: X:0.49, Y:0.13, Z:-0.02 [[ 0.99997279 0.00382315 -0.00630974 0.48909312] [-0.00381577 0.99999202 0.00118099 0.12897978] [ 0.0063142 -0.00115688 0.9999794 -0.0206105 ] [ 0. 0. 0. 1. ]] SLAMing on 1.412414037 meters Centerline goodness [0,1] 0.7871119167131437 Centerline is valid? [False, False] Translation: X:0.49, Y:0.13, Z:-0.02 [[ 9.99972579e-01 3.55812869e-03 -6.49475069e-03 4.89858461e-01] [-3.55556124e-03 9.99993596e-01 4.06814877e-04 1.31567605e-01] [ 6.49615660e-03 -3.83711238e-04 9.99978826e-01 -2.09814876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.442414037 meters Centerline goodness [0,1] 0.8015804564208956 Centerline is valid? [False, False] Translation: X:0.49, Y:0.13, Z:-0.02 [[ 9.99970450e-01 3.64006289e-03 -6.77118991e-03 4.91278044e-01] [-3.63875935e-03 9.99993359e-01 2.04821533e-04 1.33369918e-01] [ 6.77189050e-03 -1.80176750e-04 9.99977054e-01 -2.20602159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.472414037 meters Centerline goodness [0,1] 0.7804276894908571 Centerline is valid? [False, False] Translation: X:0.49, Y:0.14, Z:-0.02 [[ 9.99970399e-01 3.56062511e-03 -6.82081641e-03 4.92579306e-01] [-3.56382217e-03 9.99993545e-01 -4.56623232e-04 1.37681099e-01] [ 6.81914652e-03 4.80917892e-04 9.99976634e-01 -2.34714014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.502414037 meters Centerline goodness [0,1] 0.7460410833196075 Centerline is valid? [False, False] Translation: X:0.49, Y:0.14, Z:-0.02 [[ 0.99996937 0.00338349 -0.00705839 0.49303702] [-0.00339358 0.99999324 -0.00141845 0.14111353] [ 0.00705354 0.00144236 0.99997408 -0.02303719] [ 0. 0. 0. 1. ]] SLAMing on 1.5324140370000001 meters Centerline goodness [0,1] 0.7690669443195532 Centerline is valid? [False, False] Translation: X:0.49, Y:0.15, Z:-0.02 [[ 0.99996842 0.00316773 -0.00728897 0.49343995] [-0.00318614 0.99999176 -0.00251609 0.14523386] [ 0.00728094 0.00253924 0.99997027 -0.02248321] [ 0. 0. 0. 1. ]] SLAMing on 1.5624140370000001 meters Centerline goodness [0,1] 0.7697536311383529 Centerline is valid? [False, False] Translation: X:0.50, Y:0.15, Z:-0.02 [[ 0.99996076 0.00469327 -0.00751303 0.49546214] [-0.00470633 0.99998744 -0.00172059 0.15116385] [ 0.00750486 0.00175588 0.9999703 -0.02408937] [ 0. 0. 0. 1. ]] SLAMing on 1.592414037 meters Centerline goodness [0,1] 0.7657162074515362 Centerline is valid? [False, False] Translation: X:0.50, Y:0.15, Z:-0.02 [[ 0.99996243 0.00443016 -0.00745061 0.49564075] [-0.00444711 0.99998756 -0.00226052 0.15323683] [ 0.0074405 0.00229357 0.99996969 -0.0244515 ] [ 0. 0. 0. 1. ]] SLAMing on 1.622414037 meters Centerline goodness [0,1] 0.7623398598017888 Centerline is valid? [False, False] Translation: X:0.50, Y:0.16, Z:-0.02 [[ 0.99996518 0.0037463 -0.00745722 0.49504375] [-0.00377552 0.99998524 -0.00390757 0.15789152] [ 0.00744247 0.00393559 0.99996456 -0.02303564] [ 0. 0. 0. 1. ]] SLAMing on 1.652414037 meters Centerline goodness [0,1] 0.7255447268506203 Centerline is valid? [False, False] Translation: X:0.50, Y:0.16, Z:-0.02 [[ 0.99996468 0.00349487 -0.00764374 0.49527673] [-0.0035322 0.99998188 -0.00487569 0.16112015] [ 0.00762656 0.00490251 0.9999589 -0.02239442] [ 0. 0. 0. 1. ]] SLAMing on 1.682414037 meters Centerline goodness [0,1] 0.778286905714355 Centerline is valid? [False, False] Translation: X:0.50, Y:0.16, Z:-0.02 [[ 0.99996264 0.00350273 -0.00790265 0.4962307 ] [-0.00354518 0.99997933 -0.0053641 0.16361032] [ 0.0078837 0.00539191 0.99995439 -0.02268188] [ 0. 0. 0. 1. ]] SLAMing on 1.712414037 meters Centerline goodness [0,1] 0.7578166918686893 Centerline is valid? [False, False] Translation: X:0.50, Y:0.16, Z:-0.03 [[ 0.99995888 0.00421138 -0.00803136 0.4989715 ] [-0.0042466 0.99998142 -0.00437251 0.16472813] [ 0.0080128 0.00440644 0.99995819 -0.02625726] [ 0. 0. 0. 1. ]] SLAMing on 1.742414037 meters Centerline goodness [0,1] 0.6842955780813869 Centerline is valid? [False, False] Translation: X:0.50, Y:0.17, Z:-0.03 [[ 0.99995603 0.00446248 -0.00824824 0.50053204] [-0.00449586 0.99998176 -0.00403321 0.16532198] [ 0.0082301 0.00407011 0.99995785 -0.02789297] [ 0. 0. 0. 1. ]] SLAMing on 1.772414037 meters Centerline goodness [0,1] 0.7393091902804106 Centerline is valid? [False, False] Translation: X:0.50, Y:0.17, Z:-0.03 [[ 0.9999464 0.00534895 -0.00886495 0.5038793 ] [-0.00538086 0.99997911 -0.00358043 0.1689588 ] [ 0.00884562 0.00362794 0.9999543 -0.03045957] [ 0. 0. 0. 1. ]] SLAMing on 1.802414037 meters Centerline goodness [0,1] 0.7232629890164137 Centerline is valid? [False, False] Translation: X:0.51, Y:0.17, Z:-0.03 [[ 0.99994094 0.00551403 -0.00936535 0.50518614] [-0.0055535 0.99997578 -0.00419399 0.17220776] [ 0.009342 0.00424576 0.99994735 -0.03034602] [ 0. 0. 0. 1. ]] SLAMing on 1.832414037 meters Centerline goodness [0,1] 0.7634614428479093 Centerline is valid? [False, False] Translation: X:0.51, Y:0.18, Z:-0.03 [[ 0.99993767 0.00551272 -0.00970905 0.50576289] [-0.00556422 0.99997056 -0.0052846 0.1763997 ] [ 0.00967963 0.0053383 0.9999389 -0.02943658] [ 0. 0. 0. 1. ]] SLAMing on 1.862414037 meters Centerline goodness [0,1] 0.7681341298127604 Centerline is valid? [False, False] Translation: X:0.50, Y:0.18, Z:-0.03 [[ 0.9999287 0.007868 -0.00898257 0.50234089] [-0.00790803 0.99995892 -0.00443031 0.1837417 ] [ 0.00894734 0.00450103 0.99994984 -0.02575251] [ 0. 0. 0. 1. ]] SLAMing on 1.892414037 meters Centerline goodness [0,1] 0.7423122524658813 Centerline is valid? [False, False] Translation: X:0.50, Y:0.19, Z:-0.03 [[ 0.99992783 0.00781211 -0.00912746 0.50263785] [-0.00785948 0.99995577 -0.00516507 0.1863245 ] [ 0.00908671 0.00523643 0.999945 -0.02530662] [ 0. 0. 0. 1. ]] SLAMing on 1.922414037 meters Centerline goodness [0,1] 0.7677699951955901 Centerline is valid? [False, False] Translation: X:0.50, Y:0.19, Z:-0.03 [[ 0.99992851 0.00828835 -0.00861848 0.50376012] [-0.00832169 0.99995801 -0.00383898 0.18531546] [ 0.0085863 0.00391042 0.99995549 -0.02882752] [ 0. 0. 0. 1. ]] SLAMing on 1.952414037 meters Centerline goodness [0,1] 0.7518279569892473 Centerline is valid? [False, False] Translation: X:0.50, Y:0.18, Z:-0.03 [[ 0.99992986 0.00828989 -0.00845914 0.50429512] [-0.00831824 0.99995989 -0.00332122 0.18438777] [ 0.00843127 0.00339135 0.99995871 -0.03039997] [ 0. 0. 0. 1. ]] SLAMing on 1.982414037 meters Centerline goodness [0,1] 0.7468408815204206 Centerline is valid? [False, False] Translation: X:0.50, Y:0.18, Z:-0.03 [[ 0.99993034 0.00826947 -0.00842196 0.50487182] [-0.00829601 0.99996071 -0.00312174 0.18445283] [ 0.00839581 0.00319139 0.99995966 -0.0314549 ] [ 0. 0. 0. 1. ]] SLAMing on 2.0124140369999997 meters Centerline goodness [0,1] 0.7365289340620051 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.03 [[ 0.99992908 0.00790677 -0.00890624 0.50565279] [-0.00794931 0.99995712 -0.00475123 0.19039427] [ 0.00886829 0.00482169 0.99994905 -0.03038289] [ 0. 0. 0. 1. ]] SLAMing on 2.042414037 meters Centerline goodness [0,1] 0.7318818279735344 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.03 [[ 0.99992581 0.00770826 -0.00943211 0.50642466] [-0.00776392 0.99995257 -0.00587957 0.19421833] [ 0.00938634 0.00595236 0.99993823 -0.0293756 ] [ 0. 0. 0. 1. ]] SLAMing on 2.0724140369999997 meters Centerline goodness [0,1] 0.7588710923417623 Centerline is valid? [False, False] Translation: X:0.51, Y:0.20, Z:-0.03 [[ 0.99992575 0.00733861 -0.00972815 0.5068542 ] [-0.00740381 0.99995026 -0.00668349 0.19760282] [ 0.00967862 0.00675502 0.99993034 -0.02893814] [ 0. 0. 0. 1. ]] SLAMing on 2.102414037 meters Centerline goodness [0,1] 0.7413521809786674 Centerline is valid? [False, False] Translation: X:0.51, Y:0.20, Z:-0.03 [[ 0.99992597 0.0075089 -0.00957474 0.50754524] [-0.00756506 0.99995431 -0.00584314 0.19650744] [ 0.00953043 0.00591514 0.99993709 -0.03072565] [ 0. 0. 0. 1. ]] SLAMing on 2.1324140369999998 meters Centerline goodness [0,1] 0.6889556531340677 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.03 [[ 0.99992859 0.0075336 -0.0092772 0.50786531] [-0.00757917 0.99995934 -0.00488663 0.1947117 ] [ 0.00924001 0.00495659 0.99994503 -0.03264731] [ 0. 0. 0. 1. ]] SLAMing on 2.162414037 meters Centerline goodness [0,1] 0.660330280893096 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.03 [[ 0.99993981 0.00676703 -0.00863613 0.50694579] [-0.00680523 0.99996715 -0.00440255 0.19322955] [ 0.00860605 0.00446105 0.99995302 -0.03426324] [ 0. 0. 0. 1. ]] SLAMing on 2.192414037 meters Centerline goodness [0,1] 0.71344518383392 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.03 [[ 0.99994156 0.00661833 -0.00854877 0.50669751] [-0.00665695 0.99996773 -0.00449699 0.19364761] [ 0.00851873 0.00455364 0.99995335 -0.03418601] [ 0. 0. 0. 1. ]] SLAMing on 2.2224140369999996 meters Centerline goodness [0,1] 0.7027443724946038 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.03 [[ 0.99994078 0.00668903 -0.00858458 0.50688162] [-0.00672709 0.99996764 -0.00441202 0.19389042] [ 0.00855479 0.00446951 0.99995342 -0.03429325] [ 0. 0. 0. 1. ]] SLAMing on 2.252414037 meters Centerline goodness [0,1] 0.6916044295647695 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.03 [[ 0.99994315 0.00646496 -0.00847938 0.50660877] [-0.00650235 0.99996923 -0.0043892 0.19387625] [ 0.00845075 0.00444409 0.99995442 -0.03441747] [ 0. 0. 0. 1. ]] SLAMing on 2.2824140369999997 meters Centerline goodness [0,1] 0.7013933602905195 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.03 [[ 0.99994379 0.00633117 -0.00850486 0.50684141] [-0.00636954 0.99996962 -0.00449202 0.19420768] [ 0.00847616 0.00454594 0.99995374 -0.03468972] [ 0. 0. 0. 1. ]] SLAMing on 2.312414037 meters Centerline goodness [0,1] 0.6795722145097434 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.04 [[ 0.99994184 0.00658055 -0.00854437 0.5077135 ] [-0.00661478 0.99997019 -0.00398408 0.19403521] [ 0.0085179 0.00404037 0.99995556 -0.03589532] [ 0. 0. 0. 1. ]] SLAMing on 2.3424140369999997 meters Centerline goodness [0,1] 0.6576992519989683 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.04 [[ 0.99994241 0.00670071 -0.00838369 0.50827216] [-0.0067292 0.99997166 -0.00337529 0.19342998] [ 0.00836084 0.00343151 0.99995916 -0.03744397] [ 0. 0. 0. 1. ]] SLAMing on 2.372414037 meters Centerline goodness [0,1] 0.6746091226256623 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.04 [[ 0.999944 0.00664818 -0.00823409 0.50804775] [-0.00667562 0.99997224 -0.00330962 0.19326229] [ 0.00821186 0.0033644 0.99996062 -0.03757785] [ 0. 0. 0. 1. ]] SLAMing on 2.402414037 meters Centerline goodness [0,1] 0.6898066783831283 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.04 [[ 0.99994661 0.00646545 -0.008061 0.5070307 ] [-0.0064972 0.99997121 -0.00391894 0.19444512] [ 0.00803543 0.0039711 0.99995983 -0.03620542] [ 0. 0. 0. 1. ]] SLAMing on 2.4324140369999996 meters Centerline goodness [0,1] 0.6890355987055017 Centerline is valid? [False, False] Translation: X:0.51, Y:0.20, Z:-0.04 [[ 0.99994812 0.00623572 -0.00805469 0.5064839 ] [-0.00627252 0.99996997 -0.00455109 0.19552167] [ 0.00802607 0.00460138 0.9999572 -0.03515044] [ 0. 0. 0. 1. ]] SLAMing on 2.462414037 meters Centerline goodness [0,1] 0.689773933759743 Centerline is valid? [False, False] Translation: X:0.51, Y:0.20, Z:-0.03 [[ 0.99994902 0.00611738 -0.00803358 0.50628533] [-0.00615558 0.99996982 -0.00473963 0.19612623] [ 0.00800434 0.00478884 0.9999565 -0.03485896] [ 0. 0. 0. 1. ]] SLAMing on 2.4924140369999996 meters Centerline goodness [0,1] 0.6734535482368769 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.04 [[ 0.99994911 0.00620781 -0.00795184 0.50636017] [-0.00624148 0.99997163 -0.00421663 0.19487975] [ 0.00792544 0.00426605 0.99995949 -0.0353997 ] [ 0. 0. 0. 1. ]] SLAMing on 2.522414037 meters Centerline goodness [0,1] 0.6714138020160247 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.04 [[ 0.99994731 0.00654117 -0.0079115 0.50702364] [-0.00656737 0.99997302 -0.00328996 0.19292303] [ 0.00788976 0.00334175 0.99996329 -0.03670023] [ 0. 0. 0. 1. ]] SLAMing on 2.5524140369999997 meters Centerline goodness [0,1] 0.6779726393746143 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.04 [[ 0.99995256 0.00426245 -0.0087587 0.51081495] [-0.00431257 0.99997439 -0.00571124 0.19093856] [ 0.00873413 0.00574875 0.99994533 -0.03893925] [ 0. 0. 0. 1. ]] SLAMing on 2.582414037 meters Centerline goodness [0,1] 0.6720509055310817 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.04 [[ 0.9999523 0.00451957 -0.00865872 0.51123442] [-0.00456288 0.99997715 -0.0049888 0.18963449] [ 0.00863598 0.00502808 0.99995007 -0.04001553] [ 0. 0. 0. 1. ]] SLAMing on 2.6124140369999997 meters Centerline goodness [0,1] 0.6616464057159013 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.04 [[ 0.99995132 0.00468546 -0.00868338 0.5114606 ] [-0.00472638 0.99997779 -0.00469836 0.18917391] [ 0.00866118 0.00473917 0.99995126 -0.04021769] [ 0. 0. 0. 1. ]] SLAMing on 2.6424140369999995 meters Centerline goodness [0,1] 0.6677933739291981 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.04 [[ 0.99995021 0.00483251 -0.00873072 0.51091492] [-0.00487333 0.99997727 -0.00465927 0.18829611] [ 0.008708 0.00470158 0.99995103 -0.03903917] [ 0. 0. 0. 1. ]] SLAMing on 2.672414037 meters Centerline goodness [0,1] 0.666855392850709 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.04 [[ 0.99994976 0.00500956 -0.0086822 0.51082158] [-0.00504641 0.99997833 -0.00422734 0.18718384] [ 0.00866084 0.00427094 0.99995337 -0.03912195] [ 0. 0. 0. 1. ]] SLAMing on 2.7024140369999996 meters Centerline goodness [0,1] 0.6656636576395853 Centerline is valid? [False, False] Translation: X:0.51, Y:0.19, Z:-0.04 [[ 0.99994734 0.00541562 -0.00871712 0.51088283] [-0.00544838 0.99997817 -0.00373811 0.18572766] [ 0.00869669 0.00378541 0.99995502 -0.03895231] [ 0. 0. 0. 1. ]] SLAMing on 2.732414037 meters Centerline goodness [0,1] 0.660970274095998 Centerline is valid? [False, False] Translation: X:0.51, Y:0.18, Z:-0.04 [[ 0.99994414 0.00574663 -0.00887075 0.51152883] [-0.00577655 0.9999777 -0.00335072 0.18473651] [ 0.0088513 0.00340177 0.99995504 -0.03932318] [ 0. 0. 0. 1. ]] SLAMing on 2.7624140369999997 meters Centerline goodness [0,1] 0.6530848329048844 Centerline is valid? [False, False] Translation: X:0.51, Y:0.18, Z:-0.04 [[ 0.99993815 0.00671373 -0.00886712 0.51292283] [-0.00672753 0.9999762 -0.00152777 0.18004181] [ 0.00885665 0.00158733 0.99995952 -0.04159014] [ 0. 0. 0. 1. ]] SLAMing on 2.792414037 meters Centerline goodness [0,1] 0.6508645015648248 Centerline is valid? [False, False] Translation: X:0.51, Y:0.18, Z:-0.04 [[ 9.99935856e-01 7.10072286e-03 -8.82405209e-03 5.13269677e-01] [-7.10726081e-03 9.99974491e-01 -7.09786979e-04 1.77318140e-01] [ 8.81878700e-03 7.72456290e-04 9.99960815e-01 -4.22950229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8224140369999997 meters Centerline goodness [0,1] 0.6471280843657212 Centerline is valid? [False, False] Translation: X:0.51, Y:0.17, Z:-0.04 [[ 9.99932651e-01 7.38178647e-03 -8.95564679e-03 5.12889016e-01] [-7.38592496e-03 9.99972632e-01 -4.29123098e-04 1.74695020e-01] [ 8.95223399e-03 4.95239932e-04 9.99959805e-01 -4.10854104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.852414037 meters Centerline goodness [0,1] 0.6523803446075302 Centerline is valid? [False, False] Translation: X:0.51, Y:0.18, Z:-0.04 [[ 9.99931123e-01 7.31351904e-03 -9.17942094e-03 5.12728007e-01] [-7.32268665e-03 9.99972723e-01 -9.65500247e-04 1.75020136e-01] [ 9.17210934e-03 1.03265177e-03 9.99957402e-01 -3.97658840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8824140369999998 meters Centerline goodness [0,1] 0.7154268214878142 Centerline is valid? [False, False] Translation: X:0.51, Y:0.17, Z:-0.04 [[ 9.99915402e-01 8.39766562e-03 -9.93317232e-03 5.14487513e-01] [-8.40398461e-03 9.99964509e-01 -5.94580480e-04 1.74197083e-01] [ 9.92782669e-03 6.78008407e-04 9.99950488e-01 -3.91499033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9124140369999996 meters Centerline goodness [0,1] 0.6505882653191435 Centerline is valid? [False, False] Translation: X:0.52, Y:0.17, Z:-0.04 [[ 9.99907165e-01 9.00098412e-03 -1.02295618e-02 5.15716629e-01] [-8.99988232e-03 9.99959488e-01 1.53736764e-04 1.72363015e-01] [ 1.02305311e-02 -6.16576401e-05 9.99947665e-01 -3.99331404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.942414037 meters Centerline goodness [0,1] 0.7115076233868709 Centerline is valid? [False, False] Translation: X:0.52, Y:0.17, Z:-0.04 [[ 0.99990633 0.00778824 -0.01125535 0.52025133] [-0.00781072 0.99996759 -0.00195456 0.16975419] [ 0.01123976 0.00204229 0.99993475 -0.04188011] [ 0. 0. 0. 1. ]] SLAMing on 2.9724140369999996 meters Centerline goodness [0,1] 0.7152934608845696 Centerline is valid? [False, False] Translation: X:0.52, Y:0.17, Z:-0.04 [[ 9.99886436e-01 9.30789001e-03 -1.18523317e-02 5.22814235e-01] [-9.31334486e-03 9.99956548e-01 -4.05121834e-04 1.65912695e-01] [ 1.18480458e-02 5.15460679e-04 9.99929677e-01 -4.33258349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.002414037 meters Centerline goodness [0,1] 0.7201388536968529 Centerline is valid? [False, False] Translation: X:0.52, Y:0.17, Z:-0.04 [[ 9.99877163e-01 9.86903448e-03 -1.21762141e-02 5.23810880e-01] [-9.87323772e-03 9.99951218e-01 -2.85136874e-04 1.65530674e-01] [ 1.21728061e-02 4.05320505e-04 9.99925827e-01 -4.33024126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0324140369999997 meters Centerline goodness [0,1] 0.7201388536968529 Centerline is valid? [False, False] Translation: X:0.52, Y:0.17, Z:-0.04 [[ 9.99877163e-01 9.86903448e-03 -1.21762141e-02 5.23810880e-01] [-9.87323772e-03 9.99951218e-01 -2.85136874e-04 1.65530674e-01] [ 1.21728061e-02 4.05320505e-04 9.99925827e-01 -4.33024126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.062414037 meters Centerline goodness [0,1] 0.7201388536968529 Centerline is valid? [False, False] Translation: X:0.52, Y:0.17, Z:-0.04 [[ 9.99877163e-01 9.86903448e-03 -1.21762141e-02 5.23810880e-01] [-9.87323772e-03 9.99951218e-01 -2.85136874e-04 1.65530674e-01] [ 1.21728061e-02 4.05320505e-04 9.99925827e-01 -4.33024126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0924140369999997 meters Centerline goodness [0,1] 0.7153670886075949 Centerline is valid? [False, False] Translation: X:0.53, Y:0.17, Z:-0.04 [[ 9.99863493e-01 1.05095853e-02 -1.27492785e-02 5.25080055e-01] [-1.05159214e-02 9.99944614e-01 -4.30042154e-04 1.66084265e-01] [ 1.27440528e-02 5.64053861e-04 9.99918632e-01 -4.27141413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.122414037 meters Centerline goodness [0,1] 0.7270199211244818 Centerline is valid? [False, False] Translation: X:0.53, Y:0.17, Z:-0.04 [[ 9.99832371e-01 1.25104522e-02 -1.33685358e-02 5.27308333e-01] [-1.25149014e-02 9.99921655e-01 -2.49198927e-04 1.66888004e-01] [ 1.33643709e-02 4.16463061e-04 9.99910606e-01 -4.20125149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.152414037 meters Centerline goodness [0,1] 0.7350613777011261 Centerline is valid? [False, False] Translation: X:0.53, Y:0.17, Z:-0.04 [[ 9.99816998e-01 1.31904793e-02 -1.38557467e-02 5.28330766e-01] [-1.31950431e-02 9.99912913e-01 -2.38009297e-04 1.66653627e-01] [ 1.38514006e-02 4.20792917e-04 9.99903976e-01 -4.13976172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1824140369999996 meters Centerline goodness [0,1] 0.7660965412390726 Centerline is valid? [False, False] Translation: X:0.53, Y:0.17, Z:-0.04 [[ 9.99801739e-01 1.37972679e-02 -1.43568250e-02 5.29288818e-01] [-1.38016358e-02 9.99904732e-01 -2.05196875e-04 1.65972277e-01] [ 1.43526261e-02 4.03303862e-04 9.99896914e-01 -4.07506372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.212414037 meters Centerline goodness [0,1] 0.7994150129857032 Centerline is valid? [False, False] Translation: X:0.53, Y:0.16, Z:-0.04 [[ 9.99774463e-01 1.51865085e-02 -1.48456558e-02 5.30362045e-01] [-1.51837185e-02 9.99884676e-01 3.00635242e-04 1.63844913e-01] [ 1.48485093e-02 -7.51551788e-05 9.99889752e-01 -3.97663809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2424140369999996 meters Centerline goodness [0,1] 0.8262555110728221 Centerline is valid? [False, False] Translation: X:0.53, Y:0.16, Z:-0.04 [[ 9.99764163e-01 1.55749633e-02 -1.51340072e-02 5.30612688e-01] [-1.55732858e-02 9.99878703e-01 2.28694371e-04 1.63391313e-01] [ 1.51357333e-02 7.04578283e-06 9.99885448e-01 -3.88751209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.272414037 meters Centerline goodness [0,1] 0.8283218460450907 Centerline is valid? [False, False] Translation: X:0.53, Y:0.16, Z:-0.04 [[ 9.99740699e-01 1.66120712e-02 -1.55747680e-02 5.31516135e-01] [-1.66053517e-02 9.99861964e-01 5.60661085e-04 1.62251994e-01] [ 1.55819319e-02 -3.01891204e-04 9.99878549e-01 -3.79829206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3024140369999997 meters Centerline goodness [0,1] 0.8289663188215377 Centerline is valid? [False, False] Translation: X:0.53, Y:0.16, Z:-0.04 [[ 9.99728694e-01 1.70697607e-02 -1.58480842e-02 5.32076914e-01] [-1.70576719e-02 9.99854104e-01 8.97663289e-04 1.61027395e-01] [ 1.58610949e-02 -6.27088328e-04 9.99874008e-01 -3.77057416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.332414037 meters Centerline goodness [0,1] 0.8278669984166478 Centerline is valid? [False, False] Translation: X:0.53, Y:0.16, Z:-0.04 [[ 0.99975765 0.01458886 -0.01648679 0.53398062] [-0.01463697 0.99988895 -0.00280096 0.16131255] [ 0.0164441 0.0030416 0.99986016 -0.03726832] [ 0. 0. 0. 1. ]] SLAMing on 3.3624140369999997 meters Centerline goodness [0,1] 0.827015044335957 Centerline is valid? [False, False] Translation: X:0.54, Y:0.16, Z:-0.04 [[ 0.99977377 0.01241097 -0.01727358 0.53656317] [-0.01250221 0.99990841 -0.00518362 0.15752001] [ 0.01720767 0.00539841 0.99983736 -0.03798187] [ 0. 0. 0. 1. ]] SLAMing on 3.3924140369999995 meters Centerline goodness [0,1] 0.8167738743196438 Centerline is valid? [False, False] Translation: X:0.54, Y:0.15, Z:-0.04 [[ 0.99977041 0.01271761 -0.01724484 0.53698278] [-0.01279089 0.9999096 -0.00414595 0.15390345] [ 0.01719055 0.00436557 0.9998427 -0.03894138] [ 0. 0. 0. 1. ]] SLAMing on 3.422414037 meters Centerline goodness [0,1] 0.805247398389947 Centerline is valid? [False, False] Translation: X:0.54, Y:0.15, Z:-0.04 [[ 0.99979924 0.00973661 -0.01751246 0.53865 ] [-0.00984956 0.99993117 -0.00637476 0.14942237] [ 0.01744918 0.00654597 0.99982632 -0.04064368] [ 0. 0. 0. 1. ]] SLAMing on 3.4524140369999996 meters Centerline goodness [0,1] 0.7846603360116874 Centerline is valid? [False, False] Translation: X:0.54, Y:0.15, Z:-0.04 [[ 0.99980004 0.00980781 -0.01742641 0.53867593] [-0.00990077 0.99993717 -0.00525634 0.14600459] [ 0.01737376 0.00542783 0.99983433 -0.04145177] [ 0. 0. 0. 1. ]] SLAMing on 3.482414037 meters Centerline goodness [0,1] 0.784032430333042 Centerline is valid? [False, False] Translation: X:0.54, Y:0.14, Z:-0.04 [[ 0.99981304 0.00903919 -0.01709335 0.53711903] [-0.00912492 0.99994615 -0.00494392 0.14291126] [ 0.01704774 0.00509897 0.99984167 -0.04097988] [ 0. 0. 0. 1. ]] SLAMing on 3.5124140369999997 meters Centerline goodness [0,1] 0.7700040787926774 Centerline is valid? [False, False] Translation: X:0.54, Y:0.14, Z:-0.04 [[ 0.99984009 0.00480303 -0.01722583 0.5369914 ] [-0.00493013 0.99996088 -0.00734341 0.13613719] [ 0.01718988 0.00742716 0.99982466 -0.04144611] [ 0. 0. 0. 1. ]] SLAMing on 3.542414037 meters Centerline goodness [0,1] 0.7420272531675831 Centerline is valid? [False, False] Translation: X:0.54, Y:0.13, Z:-0.04 [[ 0.99984611 0.00431364 -0.01700453 0.53623849] [-0.00442176 0.99997021 -0.00632607 0.13151261] [ 0.01697674 0.00640029 0.9998354 -0.0419627 ] [ 0. 0. 0. 1. ]] SLAMing on 3.5724140369999997 meters Centerline goodness [0,1] 0.7426591022384694 Centerline is valid? [False, False] Translation: X:0.54, Y:0.13, Z:-0.04 [[ 0.99985334 0.00390845 -0.01667374 0.53530267] [-0.00400127 0.99997666 -0.00553715 0.12791187] [ 0.01665171 0.00560305 0.99984565 -0.04225329] [ 0. 0. 0. 1. ]] SLAMing on 3.6024140369999995 meters Centerline goodness [0,1] 0.717735083081571 Centerline is valid? [False, False] Translation: X:0.53, Y:0.12, Z:-0.04 [[ 0.9998581 0.00309981 -0.01655823 0.53413489] [-0.00318042 0.99998321 -0.0048443 0.12273 ] [ 0.01654293 0.00489627 0.99985117 -0.04189104] [ 0. 0. 0. 1. ]] SLAMing on 3.6324140369999998 meters Centerline goodness [0,1] 0.7030392570704939 Centerline is valid? [False, False] Translation: X:0.53, Y:0.12, Z:-0.04 [[ 0.9998623 0.002751 -0.01636488 0.53337364] [-0.00281753 0.99998785 -0.00404418 0.11951372] [ 0.01635356 0.00408974 0.99985791 -0.04200947] [ 0. 0. 0. 1. ]] SLAMing on 3.6624140369999996 meters Centerline goodness [0,1] 0.7241099573521231 Centerline is valid? [False, False] Translation: X:0.53, Y:0.11, Z:-0.04 [[ 9.99866623e-01 -1.07805659e-03 -1.62964579e-02 5.33017389e-01] [ 9.70951295e-04 9.99977888e-01 -6.57878899e-03 1.13956055e-01] [ 1.63031898e-02 6.56208846e-03 9.99845561e-01 -4.20611615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.692414037 meters Centerline goodness [0,1] 0.7102027634887316 Centerline is valid? [False, False] Translation: X:0.53, Y:0.11, Z:-0.04 [[ 0.99987211 -0.00136478 -0.01593453 0.53195567] [ 0.00127265 0.99998242 -0.00579052 0.10990943] [ 0.01594215 0.0057695 0.99985627 -0.04213544] [ 0. 0. 0. 1. ]] SLAMing on 3.7224140369999996 meters Centerline goodness [0,1] 0.707510606581814 Centerline is valid? [False, False] Translation: X:0.53, Y:0.11, Z:-0.04 [[ 0.99987823 -0.0015204 -0.01553109 0.53099139] [ 0.00144352 0.99998666 -0.00495952 0.10595803] [ 0.01553842 0.00493649 0.99986709 -0.0423573 ] [ 0. 0. 0. 1. ]] SLAMing on 3.752414037 meters Centerline goodness [0,1] 0.719847380566154 Centerline is valid? [False, False] Translation: X:0.53, Y:0.10, Z:-0.04 [[ 0.99988439 -0.00170528 -0.0151098 0.52983865] [ 0.00164426 0.99999045 -0.00405005 0.1017286 ] [ 0.01511656 0.00402474 0.99987764 -0.04246291] [ 0. 0. 0. 1. ]] SLAMing on 3.7824140369999997 meters Centerline goodness [0,1] 0.6857258901574981 Centerline is valid? [False, False] Translation: X:0.53, Y:0.10, Z:-0.04 [[ 0.99987521 -0.00470338 -0.01508141 0.52966204] [ 0.0046074 0.99996895 -0.00639286 0.09692776] [ 0.01511101 0.00632257 0.99986583 -0.04214159] [ 0. 0. 0. 1. ]] SLAMing on 3.812414037 meters Centerline goodness [0,1] 0.6716233518273097 Centerline is valid? [False, False] Translation: X:0.53, Y:0.09, Z:-0.04 [[ 0.99987781 -0.00420697 -0.01505534 0.52914405] [ 0.00413157 0.99997878 -0.00503617 0.09281098] [ 0.01507621 0.00497335 0.99987398 -0.04171729] [ 0. 0. 0. 1. ]] SLAMing on 3.8424140369999997 meters Centerline goodness [0,1] 0.6805755072724008 Centerline is valid? [False, False] Translation: X:0.53, Y:0.09, Z:-0.04 [[ 0.99987786 -0.00349156 -0.015234 0.52995118] [ 0.00343393 0.99998686 -0.00380749 0.08982318] [ 0.01524709 0.00375471 0.99987671 -0.04238705] [ 0. 0. 0. 1. ]] SLAMing on 3.8724140369999995 meters Centerline goodness [0,1] 0.6735090896894076 Centerline is valid? [False, False] Translation: X:0.53, Y:0.09, Z:-0.04 [[ 0.99987879 -0.00276954 -0.01532105 0.53082779] [ 0.00273363 0.99999347 -0.0023643 0.08597261] [ 0.0153275 0.00232213 0.99987983 -0.04351677] [ 0. 0. 0. 1. ]] SLAMing on 3.902414037 meters Centerline goodness [0,1] 0.6665263344486052 Centerline is valid? [False, False] Translation: X:0.53, Y:0.08, Z:-0.05 [[ 9.99876641e-01 -1.70692763e-03 -1.56137811e-02 5.32623703e-01] [ 1.70426554e-03 9.99998531e-01 -1.83800354e-04 7.90218456e-02] [ 1.56140719e-02 1.57167651e-04 9.99878081e-01 -4.54087048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9324140369999996 meters Centerline goodness [0,1] 0.6624958476359207 Centerline is valid? [False, False] Translation: X:0.53, Y:0.08, Z:-0.05 [[ 9.99877061e-01 -1.25386903e-03 -1.56297925e-02 5.32918856e-01] [ 1.26414982e-03 9.99998991e-01 6.47906069e-04 7.67339350e-02] [ 1.56289643e-02 -6.67584816e-04 9.99877637e-01 -4.58046054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.962414037 meters Centerline goodness [0,1] 0.6574827525207854 Centerline is valid? [False, False] Translation: X:0.53, Y:0.07, Z:-0.05 [[ 9.99878495e-01 -5.33990322e-04 -1.55791870e-02 5.33043348e-01] [ 5.63565977e-04 9.99998047e-01 1.89407968e-03 7.33081411e-02] [ 1.55781452e-02 -1.90262944e-03 9.99876843e-01 -4.61180700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9924140369999996 meters Centerline goodness [0,1] 0.6536152555840029 Centerline is valid? [False, False] Translation: X:0.53, Y:0.07, Z:-0.05 [[ 9.99876469e-01 -2.03141265e-05 -1.57177391e-02 5.33579008e-01] [ 6.10828262e-05 9.99996635e-01 2.59332605e-03 7.11742763e-02] [ 1.57176336e-02 -2.59396578e-03 9.99873106e-01 -4.64039321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.022414037 meters Centerline goodness [0,1] 0.6884048404840484 Centerline is valid? [False, False] Translation: X:0.53, Y:0.07, Z:-0.05 [[ 9.99872428e-01 1.01943795e-03 -1.59401752e-02 5.34671850e-01] [-9.55210367e-04 9.99991398e-01 4.03638433e-03 6.66302297e-02] [ 1.59441529e-02 -4.02064318e-03 9.99864800e-01 -4.72160873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.052414037 meters Centerline goodness [0,1] 0.656812791004129 Centerline is valid? [False, False] Translation: X:0.54, Y:0.06, Z:-0.05 [[ 0.99986862 0.00148419 -0.01614117 0.53526257] [-0.00141065 0.99998858 0.00456655 0.06474927] [ 0.01614777 -0.00454318 0.99985929 -0.04739363] [ 0. 0. 0. 1. ]] SLAMing on 4.082414037 meters Centerline goodness [0,1] 0.7062223882893377 Centerline is valid? [False, False] Translation: X:0.54, Y:0.06, Z:-0.05 [[ 0.99986353 0.00233059 -0.01635515 0.53625822] [-0.00224386 0.99998333 0.00531931 0.06336348] [ 0.01636727 -0.00528189 0.9998521 -0.04790148] [ 0. 0. 0. 1. ]] SLAMing on 4.112414037 meters Centerline goodness [0,1] 0.6424165258051062 Centerline is valid? [False, False] Translation: X:0.54, Y:0.06, Z:-0.05 [[ 0.99986062 0.00243879 -0.01651627 0.53662429] [-0.00235457 0.99998414 0.0051167 0.06410454] [ 0.01652849 -0.00507709 0.9998505 -0.04770664] [ 0. 0. 0. 1. ]] SLAMing on 4.142414037 meters Centerline goodness [0,1] 0.7023442997888811 Centerline is valid? [False, False] Translation: X:0.54, Y:0.07, Z:-0.05 [[ 0.99985919 0.0022922 -0.01662352 0.53654001] [-0.00221524 0.99998675 0.00464656 0.06531294] [ 0.01663395 -0.00460908 0.99985102 -0.0471198 ] [ 0. 0. 0. 1. ]] SLAMing on 4.172414037 meters Centerline goodness [0,1] 0.6951509284519933 Centerline is valid? [False, False] Translation: X:0.54, Y:0.07, Z:-0.05 [[ 0.99985559 0.00234447 -0.01683157 0.53668059] [-0.00226793 0.99998701 0.0045652 0.06540674] [ 0.01684205 -0.00452637 0.99984792 -0.04662607] [ 0. 0. 0. 1. ]] SLAMing on 4.2024140370000005 meters Centerline goodness [0,1] 0.6755127189507966 Centerline is valid? [False, False] Translation: X:0.54, Y:0.06, Z:-0.05 [[ 9.99849777e-01 -4.88201454e-04 -1.73258514e-02 5.38611992e-01] [ 5.15391895e-04 9.99998643e-01 1.56492625e-03 6.34862538e-02] [ 1.73250639e-02 -1.57362077e-03 9.99848671e-01 -4.75053800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.232414037 meters Centerline goodness [0,1] 0.6806173678556552 Centerline is valid? [False, False] Translation: X:0.54, Y:0.06, Z:-0.05 [[ 0.99983419 -0.00304958 -0.0179523 0.54128199] [ 0.00302807 0.99999466 -0.00122509 0.06250662] [ 0.01795594 0.00117053 0.99983809 -0.04894781] [ 0. 0. 0. 1. ]] SLAMing on 4.262414037 meters Centerline goodness [0,1] 0.681966853254308 Centerline is valid? [False, False] Translation: X:0.54, Y:0.06, Z:-0.05 [[ 9.99836788e-01 -3.09364540e-03 -1.77996512e-02 5.41241055e-01] [ 3.07973722e-03 9.99994931e-01 -8.08732527e-04 6.10112949e-02] [ 1.78020629e-02 7.53782283e-04 9.99841247e-01 -4.94204379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.292414037 meters Centerline goodness [0,1] 0.686470820708734 Centerline is valid? [False, False] Translation: X:0.54, Y:0.06, Z:-0.05 [[ 9.99840051e-01 -3.56063046e-03 -1.75269833e-02 5.40616806e-01] [ 3.54872310e-03 9.99993451e-01 -7.10427859e-04 6.04490940e-02] [ 1.75293981e-02 6.48115816e-04 9.99846138e-01 -4.94804678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.322414037000001 meters Centerline goodness [0,1] 0.6861064216965206 Centerline is valid? [False, False] Translation: X:0.54, Y:0.06, Z:-0.05 [[ 9.99838578e-01 -3.56298191e-03 -1.76103398e-02 5.40935496e-01] [ 3.55525733e-03 9.99993570e-01 -4.69926692e-04 5.99271932e-02] [ 1.76119009e-02 4.07241545e-04 9.99844816e-01 -4.96510738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.352414037 meters Centerline goodness [0,1] 0.6597421360243416 Centerline is valid? [False, False] Translation: X:0.54, Y:0.06, Z:-0.05 [[ 9.99837500e-01 -3.84763848e-03 -1.76116015e-02 5.40911000e-01] [ 3.84409469e-03 9.99992584e-01 -2.35067577e-04 5.85322918e-02] [ 1.76123753e-02 1.67328714e-04 9.99844876e-01 -4.97725848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.382414037 meters Centerline goodness [0,1] 0.6697960434173669 Centerline is valid? [False, False] Translation: X:0.54, Y:0.06, Z:-0.05 [[ 9.99835235e-01 -3.45529375e-03 -1.78203308e-02 5.42163381e-01] [ 3.46469504e-03 9.99993875e-01 4.96713433e-04 5.69773848e-02] [ 1.78185053e-02 -5.58373604e-04 9.99841082e-01 -5.09499490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4124140370000005 meters Centerline goodness [0,1] 0.6642318206670312 Centerline is valid? [False, False] Translation: X:0.54, Y:0.06, Z:-0.05 [[ 9.99834997e-01 -3.32159895e-03 -1.78590641e-02 5.42880018e-01] [ 3.33886445e-03 9.99993987e-01 9.37033890e-04 5.56619499e-02] [ 1.78558443e-02 -9.96508271e-04 9.99840075e-01 -5.19046133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.442414037 meters Centerline goodness [0,1] 0.6495743287491814 Centerline is valid? [False, False] Translation: X:0.54, Y:0.05, Z:-0.05 [[ 0.99983423 -0.0031037 -0.01794086 0.54366908] [ 0.00313009 0.99999406 0.00144318 0.05460404] [ 0.01793627 -0.0014991 0.99983801 -0.05278642] [ 0. 0. 0. 1. ]] SLAMing on 4.472414037 meters Centerline goodness [0,1] 0.6609469266416018 Centerline is valid? [False, False] Translation: X:0.54, Y:0.06, Z:-0.05 [[ 0.99983384 -0.00313995 -0.01795642 0.5434956 ] [ 0.0031626 0.99999424 0.00123293 0.05530375] [ 0.01795245 -0.00128951 0.99983801 -0.05236361] [ 0. 0. 0. 1. ]] SLAMing on 4.502414037 meters Centerline goodness [0,1] 0.6548651252408477 Centerline is valid? [False, False] Translation: X:0.54, Y:0.06, Z:-0.05 [[ 0.99983537 -0.00275851 -0.01793389 0.54331145] [ 0.0027808 0.99999539 0.00121787 0.05588192] [ 0.01793044 -0.00126754 0.99983843 -0.05172499] [ 0. 0. 0. 1. ]] SLAMing on 4.532414037000001 meters Centerline goodness [0,1] 0.6548651252408477 Centerline is valid? [False, False] Translation: X:0.54, Y:0.06, Z:-0.05 [[ 0.99983537 -0.00275851 -0.01793389 0.54331145] [ 0.0027808 0.99999539 0.00121787 0.05588192] [ 0.01793044 -0.00126754 0.99983843 -0.05172499] [ 0. 0. 0. 1. ]] SLAMing on 4.562414037 meters Centerline goodness [0,1] 0.6903101707141139 Centerline is valid? [False, False] Translation: X:0.54, Y:0.06, Z:-0.05 [[ 0.99983379 -0.00209466 -0.01811106 0.54413846] [ 0.00212297 0.99999655 0.00154387 0.05582911] [ 0.01810776 -0.00158206 0.99983479 -0.05200348] [ 0. 0. 0. 1. ]] SLAMing on 4.592414037 meters Centerline goodness [0,1] 0.68415982484948 Centerline is valid? [False, False] Translation: X:0.55, Y:0.06, Z:-0.05 [[ 9.99827961e-01 -9.07678782e-04 -1.85263240e-02 5.46459969e-01] [ 9.49256638e-04 9.99997051e-01 2.23558779e-03 5.61541792e-02] [ 1.85242401e-02 -2.25278941e-03 9.99825874e-01 -5.35797720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.622414037 meters Centerline goodness [0,1] 0.6909031270500765 Centerline is valid? [False, False] Translation: X:0.55, Y:0.06, Z:-0.05 [[ 9.99822084e-01 -5.35473178e-04 -1.88550548e-02 5.47584645e-01] [ 5.78918767e-04 9.99997190e-01 2.29880506e-03 5.67352626e-02] [ 1.88537708e-02 -2.30931161e-03 9.99819585e-01 -5.39456414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.652414037 meters Centerline goodness [0,1] 0.6879476116428305 Centerline is valid? [False, False] Translation: X:0.55, Y:0.06, Z:-0.05 [[ 9.99818780e-01 -4.16881085e-04 -1.90324225e-02 5.47868597e-01] [ 4.55584415e-04 9.99997837e-01 2.02925669e-03 5.78297092e-02] [ 1.90315354e-02 -2.03755982e-03 9.99816808e-01 -5.35988948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.682414037 meters Centerline goodness [0,1] 0.6876778911415685 Centerline is valid? [False, False] Translation: X:0.55, Y:0.06, Z:-0.05 [[ 9.99810360e-01 9.05512025e-05 -1.94740003e-02 5.49209718e-01] [-4.51065057e-05 9.99997275e-01 2.33403530e-03 5.76365516e-02] [ 1.94741586e-02 -2.33271427e-03 9.99807639e-01 -5.39937881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.712414037 meters Centerline goodness [0,1] 0.6888097371238774 Centerline is valid? [False, False] Translation: X:0.55, Y:0.06, Z:-0.06 [[ 9.99805243e-01 6.71559952e-04 -1.97236991e-02 5.50685309e-01] [-6.13404113e-04 9.99995448e-01 2.95442783e-03 5.55683269e-02] [ 1.97255934e-02 -2.94175384e-03 9.99801104e-01 -5.51667429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7424140370000005 meters Centerline goodness [0,1] 0.6831361075935549 Centerline is valid? [False, False] Translation: X:0.55, Y:0.06, Z:-0.06 [[ 9.99799581e-01 7.98145373e-04 -2.00040362e-02 5.51702097e-01] [-7.37786744e-04 9.99995154e-01 3.02452100e-03 5.54325323e-02] [ 2.00063533e-02 -3.00915611e-03 9.99795324e-01 -5.56665837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.772414037 meters Centerline goodness [0,1] 0.6779297046191604 Centerline is valid? [False, False] Translation: X:0.55, Y:0.06, Z:-0.06 [[ 9.99797064e-01 6.99943449e-04 -2.01330792e-02 5.51982869e-01] [-6.52156108e-04 9.99996955e-01 2.38004108e-03 5.84568824e-02] [ 2.01346838e-02 -2.36642818e-03 9.99794476e-01 -5.53966936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.802414037 meters Centerline goodness [0,1] 0.6754389815627744 Centerline is valid? [False, False] Translation: X:0.55, Y:0.06, Z:-0.06 [[ 9.99790405e-01 9.03449120e-04 -2.04530917e-02 5.53144661e-01] [-8.56768799e-04 9.99997009e-01 2.29095894e-03 5.96620341e-02] [ 2.04551003e-02 -2.27295519e-03 9.99788189e-01 -5.58728359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.832414037 meters Centerline goodness [0,1] 0.6747479175800088 Centerline is valid? [False, False] Translation: X:0.55, Y:0.06, Z:-0.06 [[ 0.99978335 0.00117738 -0.02078154 0.55439031] [-0.00112867 0.99999659 0.00235533 0.05996747] [ 0.02078425 -0.00233137 0.99978127 -0.05646987] [ 0. 0. 0. 1. ]] SLAMing on 4.862414037 meters Centerline goodness [0,1] 0.6702870781965096 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:-0.06 [[ 0.99977823 0.00157316 -0.02100017 0.5556064 ] [-0.00151593 0.9999951 0.00274072 0.05838966] [ 0.02100438 -0.00270828 0.99977572 -0.05743839] [ 0. 0. 0. 1. ]] SLAMing on 4.892414037 meters Centerline goodness [0,1] 0.6709783322390019 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:-0.06 [[ 0.99977488 0.00166561 -0.0211521 0.55615511] [-0.00160667 0.99999478 0.00280337 0.05757761] [ 0.02115666 -0.00276875 0.99977234 -0.05772836] [ 0. 0. 0. 1. ]] SLAMing on 4.922414037 meters Centerline goodness [0,1] 0.6783638556859305 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:-0.06 [[ 0.99976435 0.00213965 -0.02160241 0.55823674] [-0.00208359 0.9999944 0.00261706 0.06072539] [ 0.02160789 -0.00257143 0.99976322 -0.05887017] [ 0. 0. 0. 1. ]] SLAMing on 4.9524140370000005 meters Centerline goodness [0,1] 0.6783638556859305 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:-0.06 [[ 0.99976435 0.00213965 -0.02160241 0.55823674] [-0.00208359 0.9999944 0.00261706 0.06072539] [ 0.02160789 -0.00257143 0.99976322 -0.05887017] [ 0. 0. 0. 1. ]] SLAMing on 4.982414037 meters Centerline goodness [0,1] 0.6760888186071028 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:-0.06 [[ 0.99975388 0.00236672 -0.02205845 0.55955548] [-0.00231793 0.99999481 0.00223718 0.06400111] [ 0.02206363 -0.0021855 0.99975418 -0.05905483] [ 0. 0. 0. 1. ]] SLAMing on 5.012414037 meters Centerline goodness [0,1] 0.700305541511881 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:-0.06 [[ 0.99974469 0.00240388 -0.02246729 0.56042122] [-0.00236504 0.99999566 0.00175525 0.06652718] [ 0.02247142 -0.00170167 0.99974604 -0.05883875] [ 0. 0. 0. 1. ]] SLAMing on 5.042414037 meters Centerline goodness [0,1] 0.6879861141626753 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:-0.06 [[ 0.99995363 0.00212838 -0.00939171 0.56005412] [-0.00213989 0.99999697 -0.00121524 0.06623298] [ 0.00938909 0.00123528 0.99995516 -0.06293693] [ 0. 0. 0. 1. ]] SLAMing on 5.072414037 meters Centerline goodness [0,1] 0.685000109824939 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:-0.06 [[ 9.99954888e-01 2.05163818e-03 -9.27426334e-03 5.59987530e-01] [-2.06018219e-03 9.99997462e-01 -9.11800685e-04 6.42949068e-02] [ 9.27236912e-03 9.30866224e-04 9.99956577e-01 -6.32541915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.102414037 meters Centerline goodness [0,1] 0.677262954675091 Centerline is valid? [False, False] Translation: X:0.56, Y:0.06, Z:-0.06 [[ 0.99995599 0.00164954 -0.0092361 0.55969225] [-0.00165934 0.99999807 -0.00105272 0.06384144] [ 0.00923435 0.001068 0.99995679 -0.06307075] [ 0. 0. 0. 1. ]] SLAMing on 5.132414037 meters Centerline goodness [0,1] 0.6848190973517344 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:-0.06 [[ 0.99995501 0.00143587 -0.00937658 0.55993819] [-0.00145057 0.99999773 -0.00156088 0.06609224] [ 0.00937431 0.00157441 0.99995482 -0.06287906] [ 0. 0. 0. 1. ]] SLAMing on 5.1624140370000005 meters Centerline goodness [0,1] 0.692126001633518 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:-0.06 [[ 9.99950369e-01 4.07380781e-03 -9.09198104e-03 5.58443760e-01] [-4.06597601e-03 9.99991347e-01 8.79714562e-04 7.00051998e-02] [ 9.09548616e-03 -8.42703124e-04 9.99958280e-01 -6.17384487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.192414037 meters Centerline goodness [0,1] 0.6849052446011459 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:-0.06 [[ 9.99947233e-01 4.20683822e-03 -9.37198621e-03 5.59357121e-01] [-4.20001556e-03 9.99990900e-01 7.47547764e-04 7.11157556e-02] [ 9.37504574e-03 -7.08145831e-04 9.99955803e-01 -6.20447954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.222414037 meters Centerline goodness [0,1] 0.6879264052114971 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:-0.06 [[ 9.99944988e-01 4.33024704e-03 -9.55353714e-03 5.60376605e-01] [-4.32177171e-03 9.99990249e-01 9.07607558e-04 7.06929030e-02] [ 9.55737415e-03 -8.66269422e-04 9.99953952e-01 -6.29273466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.252414037 meters Centerline goodness [0,1] 0.6961768851303736 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:-0.06 [[ 9.99944983e-01 4.21079941e-03 -9.60733221e-03 5.61409924e-01] [-4.20146194e-03 9.99990682e-01 9.91887026e-04 6.92877336e-02] [ 9.61141932e-03 -9.51467614e-04 9.99953357e-01 -6.43784799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.282414037 meters Centerline goodness [0,1] 0.6847548068442406 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:-0.06 [[ 9.99946525e-01 3.88836006e-03 -9.58265850e-03 5.61343630e-01] [-3.88314572e-03 9.99992302e-01 5.62689475e-04 7.00202314e-02] [ 9.58477268e-03 -5.25448526e-04 9.99953927e-01 -6.43158458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.312414037 meters Centerline goodness [0,1] 0.690623072177668 Centerline is valid? [False, False] Translation: X:0.56, Y:0.07, Z:-0.06 [[ 9.99947965e-01 3.36922580e-03 -9.62893681e-03 5.61210022e-01] [-3.37355749e-03 9.99994216e-01 -4.33655517e-04 7.38497357e-02] [ 9.62742002e-03 4.66116724e-04 9.99953547e-01 -6.37365497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.342414037 meters Centerline goodness [0,1] 0.6863524888977266 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:-0.06 [[ 0.9999495 0.00278226 -0.0096566 0.56082542] [-0.00279498 0.99999524 -0.00130446 0.07610549] [ 0.00965293 0.00133138 0.99995252 -0.06308881] [ 0. 0. 0. 1. ]] SLAMing on 5.372414037 meters Centerline goodness [0,1] 0.6883585126855272 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:-0.06 [[ 0.99994999 0.00253452 -0.00967418 0.56094928] [-0.00254911 0.99999563 -0.00149535 0.07700187] [ 0.00967034 0.00151994 0.99995209 -0.06324749] [ 0. 0. 0. 1. ]] SLAMing on 5.402414037 meters Centerline goodness [0,1] 0.6673899085615604 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:-0.06 [[ 0.99995554 0.00163035 -0.00928731 0.56023995] [-0.00164667 0.99999711 -0.00175036 0.07647318] [ 0.00928443 0.00176558 0.99995534 -0.06379102] [ 0. 0. 0. 1. ]] SLAMing on 5.432414037 meters Centerline goodness [0,1] 0.671247054678382 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:-0.07 [[ 9.99950008e-01 -1.02079907e-03 -9.94679856e-03 5.63074683e-01] [ 9.73109523e-04 9.99988015e-01 -4.79812318e-03 7.67753687e-02] [ 9.95157727e-03 4.78820399e-03 9.99939018e-01 -6.53059789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.462414037 meters Centerline goodness [0,1] 0.6569136593666438 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:-0.07 [[ 0.99995107 -0.00152381 -0.0097739 0.56278865] [ 0.00147678 0.99998731 -0.00481665 0.07576429] [ 0.00978111 0.00480198 0.99994063 -0.0656939 ] [ 0. 0. 0. 1. ]] SLAMing on 5.4924140370000005 meters Centerline goodness [0,1] 0.662502753910553 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:-0.07 [[ 0.99994927 -0.00149871 -0.00996006 0.56334005] [ 0.00145118 0.99998754 -0.00477709 0.07624587] [ 0.0099671 0.0047624 0.99993899 -0.06590325] [ 0. 0. 0. 1. ]] SLAMing on 5.522414037 meters Centerline goodness [0,1] 0.6583642465995407 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:-0.07 [[ 9.99950879e-01 8.23751573e-04 -9.87734060e-03 5.62352918e-01] [-8.42312302e-04 9.99997887e-01 -1.87510937e-03 7.75182368e-02] [ 9.87577511e-03 1.88333707e-03 9.99949460e-01 -6.54200826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.552414037 meters Centerline goodness [0,1] 0.6594674818359029 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:-0.07 [[ 0.99994857 0.0010959 -0.01008232 0.56378086] [-0.00111541 0.99999752 -0.00193014 0.07943202] [ 0.01008018 0.00194129 0.99994731 -0.06658349] [ 0. 0. 0. 1. ]] SLAMing on 5.582414037 meters Centerline goodness [0,1] 0.6594674818359029 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:-0.07 [[ 0.99994857 0.0010959 -0.01008232 0.56378086] [-0.00111541 0.99999752 -0.00193014 0.07943202] [ 0.01008018 0.00194129 0.99994731 -0.06658349] [ 0. 0. 0. 1. ]] SLAMing on 5.612414037 meters Centerline goodness [0,1] 0.6549337946636502 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:-0.07 [[ 0.99994706 0.0014335 -0.01018907 0.56454965] [-0.00145276 0.99999717 -0.00188316 0.07985071] [ 0.01018635 0.00189786 0.99994632 -0.06711037] [ 0. 0. 0. 1. ]] SLAMing on 5.642414037 meters Centerline goodness [0,1] 0.654036316874709 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:-0.07 [[ 0.99994575 0.00156325 -0.01029792 0.56455317] [-0.00158462 0.99999661 -0.00206751 0.08056637] [ 0.01029465 0.00208371 0.99994484 -0.06657373] [ 0. 0. 0. 1. ]] SLAMing on 5.672414037 meters Centerline goodness [0,1] 0.6752760164944797 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:-0.07 [[ 0.99994556 0.00207029 -0.01022731 0.56441442] [-0.00209777 0.99999422 -0.00267688 0.08339888] [ 0.01022171 0.00269818 0.99994412 -0.06574574] [ 0. 0. 0. 1. ]] SLAMing on 5.7024140370000005 meters Centerline goodness [0,1] 0.6855905861456484 Centerline is valid? [False, False] Translation: X:0.57, Y:0.08, Z:-0.07 [[ 0.99994092 0.00259359 -0.01055563 0.56556594] [-0.00262196 0.99999299 -0.0026746 0.08486783] [ 0.01054862 0.00270212 0.99994071 -0.06607458] [ 0. 0. 0. 1. ]] SLAMing on 5.732414037 meters Centerline goodness [0,1] 0.6774423368064832 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:-0.07 [[ 0.99993663 0.00354031 -0.01068631 0.5667439 ] [-0.00356953 0.99998994 -0.00271653 0.08767705] [ 0.01067659 0.00275451 0.99993921 -0.06654257] [ 0. 0. 0. 1. ]] SLAMing on 5.762414037 meters Centerline goodness [0,1] 0.6811771782475995 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:-0.07 [[ 0.99993338 0.00382934 -0.01088882 0.56737161] [-0.00385813 0.99998911 -0.00262433 0.0881302 ] [ 0.01087865 0.00266617 0.99993727 -0.06668246] [ 0. 0. 0. 1. ]] SLAMing on 5.792414037 meters Centerline goodness [0,1] 0.6811871495950876 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:-0.07 [[ 0.99993095 0.00409582 -0.01101493 0.56779568] [-0.00412362 0.99998837 -0.00250264 0.08831061] [ 0.01100456 0.00254789 0.9999362 -0.06670864] [ 0. 0. 0. 1. ]] SLAMing on 5.822414037 meters Centerline goodness [0,1] 0.6856881430069852 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:-0.07 [[ 0.99992974 0.00402575 -0.01114902 0.56771666] [-0.00405915 0.99998734 -0.00297427 0.08958761] [ 0.0111369 0.00301932 0.99993342 -0.06598709] [ 0. 0. 0. 1. ]] SLAMing on 5.852414037 meters Centerline goodness [0,1] 0.6776914986461386 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:-0.07 [[ 0.99992513 0.00459967 -0.01133936 0.56888877] [-0.00463563 0.9999843 -0.00314741 0.09332446] [ 0.01132471 0.00319974 0.99993075 -0.06651556] [ 0. 0. 0. 1. ]] SLAMing on 5.882414037 meters Centerline goodness [0,1] 0.6823555754590238 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:-0.07 [[ 0.99992038 0.00496638 -0.01160015 0.57021613] [-0.0049999 0.9999834 -0.00286251 0.09361677] [ 0.01158574 0.00292028 0.99992862 -0.06749161] [ 0. 0. 0. 1. ]] SLAMing on 5.9124140370000005 meters Centerline goodness [0,1] 0.685045385099308 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:-0.07 [[ 0.99992574 0.00466564 -0.01125847 0.56979331] [-0.00469564 0.99998549 -0.00263905 0.0911761 ] [ 0.01124599 0.00269172 0.99993314 -0.06822267] [ 0. 0. 0. 1. ]] SLAMing on 5.942414037 meters Centerline goodness [0,1] 0.6772421524663677 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:-0.07 [[ 0.99993123 0.00432689 -0.01090038 0.56892525] [-0.00435606 0.99998699 -0.00265413 0.09016011] [ 0.01088875 0.00270143 0.99993707 -0.06815386] [ 0. 0. 0. 1. ]] SLAMing on 5.972414037 meters Centerline goodness [0,1] 0.6843297812675266 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:-0.07 [[ 0.99993399 0.00409297 -0.01073611 0.5683176 ] [-0.00412338 0.99998754 -0.00281208 0.09035257] [ 0.01072447 0.00285616 0.99993841 -0.06777114] [ 0. 0. 0. 1. ]] SLAMing on 6.002414037 meters Centerline goodness [0,1] 0.6809931853451184 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:-0.07 [[ 0.99993272 0.00402736 -0.01087831 0.56855079] [-0.00406396 0.99998615 -0.00334507 0.09348461] [ 0.01086469 0.00338905 0.99993523 -0.06735823] [ 0. 0. 0. 1. ]] SLAMing on 6.032414037 meters Centerline goodness [0,1] 0.6787688159964054 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:-0.07 [[ 0.99992861 0.00428851 -0.01115238 0.56970912] [-0.00432472 0.99998545 -0.00322478 0.09461161] [ 0.01113839 0.00327278 0.99993261 -0.06804519] [ 0. 0. 0. 1. ]] SLAMing on 6.062414037 meters Centerline goodness [0,1] 0.6800924471570255 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:-0.07 [[ 0.99992297 0.00459341 -0.01153072 0.57104735] [-0.00462842 0.99998475 -0.00301148 0.09482122] [ 0.01151671 0.00306462 0.99992898 -0.06872859] [ 0. 0. 0. 1. ]] SLAMing on 6.092414037 meters Centerline goodness [0,1] 0.668477163056896 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:-0.07 [[ 0.9999258 0.00445476 -0.0113378 0.57053677] [-0.00448576 0.99998626 -0.00271068 0.09218768] [ 0.01132557 0.00276134 0.99993205 -0.06878679] [ 0. 0. 0. 1. ]] SLAMing on 6.122414037 meters Centerline goodness [0,1] 0.6728283031973292 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:-0.07 [[ 0.99992953 0.00409108 -0.01114471 0.56947882] [-0.00412326 0.99998739 -0.00286627 0.09114069] [ 0.01113284 0.00291202 0.99993379 -0.06795988] [ 0. 0. 0. 1. ]] SLAMing on 6.152414037 meters Centerline goodness [0,1] 0.6767796724103161 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:-0.07 [[ 0.9999324 0.00374934 -0.01100669 0.56844505] [-0.00378568 0.99998744 -0.00328307 0.09165682] [ 0.01099425 0.00332452 0.99993403 -0.06684994] [ 0. 0. 0. 1. ]] SLAMing on 6.182414037 meters Centerline goodness [0,1] 0.6763452914798207 Centerline is valid? [False, False] Translation: X:0.57, Y:0.09, Z:-0.07 [[ 9.99919236e-01 6.68800846e-03 -1.08070653e-02 5.66993657e-01] [-6.69466681e-03 9.99977422e-01 -5.80052476e-04 9.49106021e-02] [ 1.08029419e-02 6.52355330e-04 9.99941434e-01 -6.54250062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.212414037 meters Centerline goodness [0,1] 0.6797579683739343 Centerline is valid? [False, False] Translation: X:0.57, Y:0.10, Z:-0.07 [[ 0.99991596 0.00676272 -0.01106062 0.56764255] [-0.00677596 0.99997637 -0.0011601 0.09759478] [ 0.01105252 0.00123495 0.99993816 -0.0652347 ] [ 0. 0. 0. 1. ]] SLAMing on 6.2424140370000005 meters Centerline goodness [0,1] 0.6750269929818247 Centerline is valid? [False, False] Translation: X:0.57, Y:0.10, Z:-0.07 [[ 0.9999086 0.00741708 -0.01130431 0.56920912] [-0.00743023 0.99997177 -0.00112231 0.09855199] [ 0.01129566 0.0012062 0.99993547 -0.06632378] [ 0. 0. 0. 1. ]] SLAMing on 6.272414037 meters Centerline goodness [0,1] 0.6767122054421463 Centerline is valid? [False, False] Translation: X:0.57, Y:0.10, Z:-0.07 [[ 9.99902429e-01 7.88860859e-03 -1.15283407e-02 5.70336936e-01] [-7.89882019e-03 9.99968451e-01 -8.40518342e-04 9.74603640e-02] [ 1.15213464e-02 9.31496622e-04 9.99933193e-01 -6.70886956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.302414037 meters Centerline goodness [0,1] 0.6825592885375493 Centerline is valid? [False, False] Translation: X:0.57, Y:0.10, Z:-0.07 [[ 9.99894903e-01 8.46769194e-03 -1.17678308e-02 5.71554940e-01] [-8.47363603e-03 9.99963994e-01 -4.55344307e-04 9.63824842e-02] [ 1.17635514e-02 5.55012767e-04 9.99930653e-01 -6.79117565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.332414037 meters Centerline goodness [0,1] 0.723708424974191 Centerline is valid? [False, False] Translation: X:0.57, Y:0.10, Z:-0.07 [[ 9.99882196e-01 9.88766443e-03 -1.17400053e-02 5.71916649e-01] [-9.89546959e-03 9.99950854e-01 -6.06930792e-04 9.82713047e-02] [ 1.17334272e-02 7.23032159e-04 9.99930900e-01 -6.71463288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.362414037 meters Centerline goodness [0,1] 0.7384916527921523 Centerline is valid? [False, False] Translation: X:0.57, Y:0.10, Z:-0.07 [[ 0.99987353 0.01054935 -0.01190103 0.57206781] [-0.01056468 0.99994344 -0.00122615 0.10118808] [ 0.01188742 0.00135172 0.99992843 -0.06595832] [ 0. 0. 0. 1. ]] SLAMing on 6.392414037 meters Centerline goodness [0,1] 0.7631347424936272 Centerline is valid? [False, False] Translation: X:0.57, Y:0.11, Z:-0.06 [[ 0.999808 0.01550943 -0.01197602 0.5721174 ] [-0.0154861 0.999878 0.00203863 0.10557532] [ 0.01200618 -0.00185278 0.99992621 -0.06436389] [ 0. 0. 0. 1. ]] SLAMing on 6.422414037 meters Centerline goodness [0,1] 0.7599224683900921 Centerline is valid? [False, False] Translation: X:0.57, Y:0.11, Z:-0.06 [[ 0.99978979 0.01635483 -0.01236483 0.5734901 ] [-0.01633256 0.99986481 0.00189982 0.10746248] [ 0.01239423 -0.00169747 0.99992175 -0.06447794] [ 0. 0. 0. 1. ]] SLAMing on 6.4524140370000005 meters Centerline goodness [0,1] 0.7630990812018873 Centerline is valid? [False, False] Translation: X:0.58, Y:0.11, Z:-0.07 [[ 0.99977072 0.01717221 -0.01279117 0.5751604 ] [-0.01714602 0.99985067 0.00215456 0.10761838] [ 0.01282625 -0.00193475 0.99991587 -0.06519932] [ 0. 0. 0. 1. ]] SLAMing on 6.482414037 meters Centerline goodness [0,1] 0.7689679203291144 Centerline is valid? [False, False] Translation: X:0.58, Y:0.11, Z:-0.07 [[ 9.99773257e-01 1.65589743e-02 -1.33878440e-02 5.78900373e-01] [-1.65601907e-02 9.99862870e-01 1.99999825e-05 1.05379225e-01] [ 1.33863393e-02 2.01709801e-04 9.99910379e-01 -6.71327374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.512414037 meters Centerline goodness [0,1] 0.7755643493119885 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:-0.07 [[ 9.99764909e-01 1.69505908e-02 -1.35205063e-02 5.79269008e-01] [-1.69494842e-02 9.99856328e-01 1.96436689e-04 1.04205063e-01] [ 1.35218935e-02 3.27750995e-05 9.99908574e-01 -6.70869185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.542414037 meters Centerline goodness [0,1] 0.7760226176318801 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:-0.07 [[ 9.99753696e-01 1.73483111e-02 -1.38413950e-02 5.80057489e-01] [-1.73480387e-02 9.99849502e-01 1.39760383e-04 1.04682028e-01] [ 1.38417365e-02 1.00395097e-04 9.99904194e-01 -6.69049830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.572414037 meters Centerline goodness [0,1] 0.7788405275239682 Centerline is valid? [False, False] Translation: X:0.58, Y:0.11, Z:-0.07 [[ 0.99967206 0.02147352 -0.01395219 0.58046469] [-0.0214181 0.99976216 0.00410974 0.10594493] [ 0.01403713 -0.00380956 0.99989422 -0.06692912] [ 0. 0. 0. 1. ]] SLAMing on 6.602414037 meters Centerline goodness [0,1] 0.7816480667343028 Centerline is valid? [False, False] Translation: X:0.58, Y:0.11, Z:-0.07 [[ 0.99965539 0.02193565 -0.0144195 0.58185201] [-0.02187683 0.99975175 0.00422427 0.10659243] [ 0.01450858 -0.00390737 0.99988711 -0.06727021] [ 0. 0. 0. 1. ]] SLAMing on 6.632414037 meters Centerline goodness [0,1] 0.7828467153284672 Centerline is valid? [False, False] Translation: X:0.58, Y:0.11, Z:-0.07 [[ 0.99968415 0.02022783 -0.01491446 0.58476219] [-0.02020603 0.99979454 0.00161116 0.1061254 ] [ 0.01494398 -0.00130929 0.99988748 -0.06890717] [ 0. 0. 0. 1. ]] SLAMing on 6.6624140370000005 meters Centerline goodness [0,1] 0.7794606741573034 Centerline is valid? [False, False] Translation: X:0.59, Y:0.11, Z:-0.07 [[ 0.99973392 0.01730774 -0.01524884 0.58606452] [-0.01734159 0.99984744 -0.00209001 0.10639161] [ 0.01521034 0.0023539 0.99988155 -0.0691 ] [ 0. 0. 0. 1. ]] SLAMing on 6.692414037 meters Centerline goodness [0,1] 0.781005185301578 Centerline is valid? [False, False] Translation: X:0.59, Y:0.10, Z:-0.07 [[ 0.99973804 0.01713394 -0.01517464 0.58545511] [-0.01716655 0.9998506 -0.00202185 0.10453891] [ 0.01513773 0.00228181 0.99988281 -0.06858498] [ 0. 0. 0. 1. ]] SLAMing on 6.722414037 meters Centerline goodness [0,1] 0.7764782180874854 Centerline is valid? [False, False] Translation: X:0.59, Y:0.10, Z:-0.07 [[ 0.99988405 0.01304518 -0.00785569 0.59252189] [-0.01300722 0.99990357 0.00486509 0.09999974] [ 0.0079184 -0.00476235 0.99995731 -0.07109524] [ 0. 0. 0. 1. ]] SLAMing on 6.752414037 meters Centerline goodness [0,1] 0.7772058823529412 Centerline is valid? [False, False] Translation: X:0.59, Y:0.10, Z:-0.07 [[ 9.99922262e-01 9.42470372e-03 -8.16361823e-03 5.93020435e-01] [-9.41993184e-03 9.99955438e-01 6.22785719e-04 1.01164306e-01] [ 8.16912401e-03 -5.45836578e-04 9.99966483e-01 -7.04161361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.782414037 meters Centerline goodness [0,1] 0.7771566028910617 Centerline is valid? [False, False] Translation: X:0.59, Y:0.10, Z:-0.07 [[ 0.99995165 0.00540189 -0.00821697 0.59236439] [-0.00542872 0.99997999 -0.00324718 0.10024619] [ 0.00819926 0.00329163 0.99996097 -0.06924393] [ 0. 0. 0. 1. ]] SLAMing on 6.812414037 meters Centerline goodness [0,1] 0.7775008345387783 Centerline is valid? [False, False] Translation: X:0.59, Y:0.10, Z:-0.07 [[ 0.99995508 0.00501415 -0.00804383 0.59164111] [-0.00503734 0.99998321 -0.0028648 0.09807054] [ 0.00802933 0.00290519 0.99996354 -0.06908123] [ 0. 0. 0. 1. ]] SLAMing on 6.842414037 meters Centerline goodness [0,1] 0.7758949563057268 Centerline is valid? [False, False] Translation: X:0.59, Y:0.10, Z:-0.07 [[ 0.99995743 0.00470858 -0.00793569 0.59132192] [-0.00472741 0.99998605 -0.00235582 0.09562159] [ 0.00792449 0.00239324 0.99996574 -0.06924118] [ 0. 0. 0. 1. ]] SLAMing on 6.872414037 meters Centerline goodness [0,1] 0.7758949563057268 Centerline is valid? [False, False] Translation: X:0.59, Y:0.10, Z:-0.07 [[ 0.99995743 0.00470858 -0.00793569 0.59132192] [-0.00472741 0.99998605 -0.00235582 0.09562159] [ 0.00792449 0.00239324 0.99996574 -0.06924118] [ 0. 0. 0. 1. ]] SLAMing on 6.902414037 meters Centerline goodness [0,1] 0.7726104488855409 Centerline is valid? [False, False] Translation: X:0.59, Y:0.09, Z:-0.07 [[ 0.99995996 0.0043482 -0.00782084 0.59084315] [-0.00436294 0.99998873 -0.00186973 0.0931604 ] [ 0.00781263 0.00190378 0.99996767 -0.06927127] [ 0. 0. 0. 1. ]] SLAMing on 6.932414037 meters Centerline goodness [0,1] 0.7712081694001149 Centerline is valid? [False, False] Translation: X:0.59, Y:0.09, Z:-0.07 [[ 9.99968043e-01 4.52193260e-04 -7.98180151e-03 5.90855618e-01] [-4.93872650e-04 9.99986251e-01 -5.22060391e-03 9.05121598e-02] [ 7.97933104e-03 5.22437907e-03 9.99954517e-01 -6.88461198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.962414037 meters Centerline goodness [0,1] 0.7679971725828897 Centerline is valid? [False, False] Translation: X:0.59, Y:0.09, Z:-0.07 [[ 9.99968625e-01 3.75911941e-04 -7.91254319e-03 5.91005439e-01] [-4.10780645e-04 9.99990211e-01 -4.40559940e-03 8.74389528e-02] [ 7.91080962e-03 4.40871149e-03 9.99958990e-01 -6.96015929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.992414037 meters Centerline goodness [0,1] 0.7642237010268389 Centerline is valid? [False, False] Translation: X:0.59, Y:0.08, Z:-0.07 [[ 0.99996148 -0.0028735 -0.00829355 0.59305229] [ 0.00281678 0.99997262 -0.00684278 0.08392491] [ 0.00831299 0.00681916 0.99994219 -0.07158472] [ 0. 0. 0. 1. ]] SLAMing on 7.022414037 meters Centerline goodness [0,1] 0.757491688134399 Centerline is valid? [False, False] Translation: X:0.59, Y:0.08, Z:-0.07 [[ 0.99996235 -0.00270284 -0.0082456 0.59367994] [ 0.00265412 0.99997899 -0.00591338 0.08175209] [ 0.0082614 0.00589127 0.99994852 -0.07286401] [ 0. 0. 0. 1. ]] SLAMing on 7.052414037 meters Centerline goodness [0,1] 0.7521981886925173 Centerline is valid? [False, False] Translation: X:0.59, Y:0.08, Z:-0.07 [[ 0.99996221 -0.00262195 -0.00828932 0.59433185] [ 0.00257902 0.99998323 -0.00518525 0.08015346] [ 0.00830277 0.00516367 0.9999522 -0.07388454] [ 0. 0. 0. 1. ]] SLAMing on 7.082414037 meters Centerline goodness [0,1] 0.7329096945843137 Centerline is valid? [False, False] Translation: X:0.59, Y:0.08, Z:-0.08 [[ 0.99996175 -0.0027863 -0.00829124 0.59487665] [ 0.00275117 0.9999872 -0.00424549 0.07809042] [ 0.00830296 0.00422252 0.99995661 -0.07516425] [ 0. 0. 0. 1. ]] SLAMing on 7.112414037 meters Centerline goodness [0,1] 0.7351554102963433 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:-0.08 [[ 0.99996141 -0.00258029 -0.00839779 0.59557634] [ 0.00255067 0.99999049 -0.00353611 0.07660247] [ 0.00840684 0.00351455 0.99995849 -0.07598438] [ 0. 0. 0. 1. ]] SLAMing on 7.142414037 meters Centerline goodness [0,1] 0.7162461849241376 Centerline is valid? [False, False] Translation: X:0.59, Y:0.07, Z:-0.08 [[ 0.99996218 -0.0028983 -0.0081994 0.59479155] [ 0.00287135 0.99999044 -0.00329674 0.07475989] [ 0.00820887 0.00327307 0.99996095 -0.07568243] [ 0. 0. 0. 1. ]] SLAMing on 7.172414037 meters Centerline goodness [0,1] 0.7343633410876531 Centerline is valid? [False, False] Translation: X:0.59, Y:0.07, Z:-0.08 [[ 0.99996217 -0.0027993 -0.00823564 0.59487417] [ 0.00277487 0.99999172 -0.00297721 0.0740309 ] [ 0.00824391 0.00295425 0.99996165 -0.07573937] [ 0. 0. 0. 1. ]] SLAMing on 7.202414037 meters Centerline goodness [0,1] 0.7277426137234718 Centerline is valid? [False, False] Translation: X:0.60, Y:0.07, Z:-0.08 [[ 0.99996121 -0.00269768 -0.00838402 0.59514568] [ 0.00267447 0.99999257 -0.00277782 0.07375044] [ 0.00839145 0.00275529 0.999961 -0.07569382] [ 0. 0. 0. 1. ]] SLAMing on 7.232414037 meters Centerline goodness [0,1] 0.7441671426688343 Centerline is valid? [False, False] Translation: X:0.59, Y:0.07, Z:-0.07 [[ 0.99996046 -0.00307435 -0.00834408 0.59445847] [ 0.00304832 0.99999045 -0.00313104 0.07461798] [ 0.00835363 0.00310549 0.99996029 -0.07486879] [ 0. 0. 0. 1. ]] SLAMing on 7.262414037 meters Centerline goodness [0,1] 0.7290125759936791 Centerline is valid? [False, False] Translation: X:0.59, Y:0.08, Z:-0.07 [[ 0.99995951 -0.00322447 -0.00840126 0.59437644] [ 0.00319613 0.99998916 -0.00338516 0.07563786] [ 0.00841208 0.00335817 0.99995898 -0.07454821] [ 0. 0. 0. 1. ]] SLAMing on 7.292414037 meters Centerline goodness [0,1] 0.7357889650325075 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:-0.08 [[ 0.9999569 -0.00299381 -0.00878792 0.59631451] [ 0.00296556 0.9999904 -0.00322585 0.07723536] [ 0.0087975 0.00319965 0.99995618 -0.07615827] [ 0. 0. 0. 1. ]] SLAMing on 7.322414037 meters Centerline goodness [0,1] 0.7226888908435218 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:-0.08 [[ 0.99995634 -0.00275803 -0.00892817 0.59752319] [ 0.0027324 0.99999211 -0.0028822 0.07703468] [ 0.00893605 0.00285768 0.99995599 -0.07749071] [ 0. 0. 0. 1. ]] SLAMing on 7.352414037 meters Centerline goodness [0,1] 0.7144271165563205 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:-0.08 [[ 0.99995644 -0.00241006 -0.00901731 0.59860353] [ 0.00238997 0.99999464 -0.00223705 0.07569163] [ 0.00902266 0.0022154 0.99995684 -0.07880674] [ 0. 0. 0. 1. ]] SLAMing on 7.382414037 meters Centerline goodness [0,1] 0.7125921038161223 Centerline is valid? [False, False] Translation: X:0.60, Y:0.07, Z:-0.08 [[ 0.99995718 -0.00227816 -0.00896902 0.59895899] [ 0.00226221 0.99999584 -0.00178757 0.07455076] [ 0.00897305 0.0017672 0.99995818 -0.07955581] [ 0. 0. 0. 1. ]] SLAMing on 7.4124140370000005 meters Centerline goodness [0,1] 0.7240423331646462 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:-0.08 [[ 0.99995668 -0.00234373 -0.00900846 0.5987446 ] [ 0.00232557 0.99999524 -0.00202635 0.07556043] [ 0.00901317 0.00200531 0.99995737 -0.07899139] [ 0. 0. 0. 1. ]] SLAMing on 7.442414037 meters Centerline goodness [0,1] 0.7103203474656613 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:-0.08 [[ 9.99962384e-01 4.99990414e-04 -8.65916862e-03 5.97016499e-01] [-4.93032440e-04 9.99999554e-01 8.05654420e-04 7.84606877e-02] [ 8.65956758e-03 -8.01354863e-04 9.99962184e-01 -7.77785391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.472414037 meters Centerline goodness [0,1] 0.7200917876527956 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:-0.08 [[ 9.99960954e-01 3.96614451e-04 -8.82801494e-03 5.97366281e-01] [-3.94818737e-04 9.99999901e-01 2.05152715e-04 8.10002837e-02] [ 8.82809543e-03 -2.01659239e-04 9.99961011e-01 -7.75837642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.502414037 meters Centerline goodness [0,1] 0.7177233684583371 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:-0.08 [[ 9.99959359e-01 4.24557950e-04 -9.00559049e-03 5.97881427e-01] [-4.25421768e-04 9.99999905e-01 -9.40047776e-05 8.24593934e-02] [ 9.00554973e-03 9.78321314e-05 9.99959444e-01 -7.76846393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.532414037 meters Centerline goodness [0,1] 0.7134800398097976 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:-0.08 [[ 9.99957904e-01 5.80653299e-04 -9.15717291e-03 5.98682302e-01] [-5.81628787e-04 9.99999825e-01 -1.03864481e-04 8.28170023e-02] [ 9.15711101e-03 1.09186184e-04 9.99958067e-01 -7.82585745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.562414037 meters Centerline goodness [0,1] 0.7296956281128943 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:-0.08 [[ 9.99958071e-01 6.79763785e-04 -9.13207751e-03 5.98948261e-01] [-6.80557179e-04 9.99999765e-01 -8.37726024e-05 8.21915656e-02] [ 9.13201842e-03 8.99839908e-05 9.99958298e-01 -7.86873854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.592414037 meters Centerline goodness [0,1] 0.7288413768630234 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:-0.08 [[ 9.99957830e-01 6.26066733e-04 -9.16220209e-03 5.98964987e-01] [-6.29753987e-04 9.99999722e-01 -3.99562331e-04 8.31129813e-02] [ 9.16194939e-03 4.05315415e-04 9.99957946e-01 -7.84910574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.622414037 meters Centerline goodness [0,1] 0.7370418034969379 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:-0.08 [[ 9.99956367e-01 9.75391994e-04 -9.29044505e-03 5.99747722e-01] [-9.85211223e-04 9.99998961e-01 -1.05239903e-03 8.70941740e-02] [ 9.28940890e-03 1.06150616e-03 9.99956289e-01 -7.86454343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.652414037 meters Centerline goodness [0,1] 0.7353110982812986 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:-0.08 [[ 0.99995229 0.00139793 -0.00966786 0.60129667] [-0.00140992 0.99999824 -0.00123408 0.08947072] [ 0.00966612 0.00124765 0.9999525 -0.07940655] [ 0. 0. 0. 1. ]] SLAMing on 7.682414037 meters Centerline goodness [0,1] 0.7502840972392433 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:-0.08 [[ 0.99994833 0.00187155 -0.0099917 0.6026995 ] [-0.00188521 0.9999973 -0.00135877 0.09157785] [ 0.00998913 0.00137754 0.99994916 -0.08011966] [ 0. 0. 0. 1. ]] SLAMing on 7.712414037 meters Centerline goodness [0,1] 0.7493809258226436 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:-0.08 [[ 0.99994476 0.00300284 -0.01007241 0.60377772] [-0.00301709 0.99999447 -0.0014002 0.09441368] [ 0.01006815 0.00143051 0.99994829 -0.08053983] [ 0. 0. 0. 1. ]] SLAMing on 7.742414037 meters Centerline goodness [0,1] 0.7558747319513939 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:-0.08 [[ 0.99994298 0.00324053 -0.01017508 0.60396168] [-0.00325619 0.99999354 -0.00152309 0.09496653] [ 0.01017008 0.00155614 0.99994707 -0.08027778] [ 0. 0. 0. 1. ]] SLAMing on 7.772414037 meters Centerline goodness [0,1] 0.760120576085743 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:-0.08 [[ 0.99993934 0.00366644 -0.01038609 0.60466324] [-0.00367985 0.99999242 -0.00127229 0.09482266] [ 0.01038134 0.00131043 0.99994525 -0.0804662 ] [ 0. 0. 0. 1. ]] SLAMing on 7.802414037 meters Centerline goodness [0,1] 0.7617324487926913 Centerline is valid? [False, False] Translation: X:0.60, Y:0.10, Z:-0.08 [[ 0.99993923 0.00368331 -0.01039075 0.6044733 ] [-0.00369869 0.99999209 -0.00146142 0.09513359] [ 0.01038528 0.00149976 0.99994495 -0.08005816] [ 0. 0. 0. 1. ]] SLAMing on 7.832414037 meters Centerline goodness [0,1] 0.7635632953784327 Centerline is valid? [False, False] Translation: X:0.60, Y:0.10, Z:-0.08 [[ 0.99993874 0.00388552 -0.01036461 0.60469468] [-0.00390208 0.99999114 -0.00157849 0.09648181] [ 0.01035838 0.00161883 0.99994504 -0.08014164] [ 0. 0. 0. 1. ]] SLAMing on 7.862414037 meters Centerline goodness [0,1] 0.7611477057050352 Centerline is valid? [False, False] Translation: X:0.60, Y:0.10, Z:-0.08 [[ 0.99994099 0.00378268 -0.01018389 0.60453313] [-0.00380252 0.99999091 -0.00192908 0.09790398] [ 0.0101765 0.0019677 0.99994628 -0.08023387] [ 0. 0. 0. 1. ]] SLAMing on 7.892414037 meters Centerline goodness [0,1] 0.753089178379103 Centerline is valid? [False, False] Translation: X:0.60, Y:0.10, Z:-0.08 [[ 0.99994399 0.00356808 -0.00996385 0.60398752] [-0.00358734 0.99999173 -0.00191616 0.09736744] [ 0.00995693 0.00195179 0.99994852 -0.08016762] [ 0. 0. 0. 1. ]] SLAMing on 7.922414037 meters Centerline goodness [0,1] 0.7621151271753681 Centerline is valid? [False, False] Translation: X:0.60, Y:0.10, Z:-0.08 [[ 0.99994542 0.00346158 -0.00985779 0.60366524] [-0.00347748 0.99999268 -0.00159628 0.09566009] [ 0.00985219 0.00163047 0.99995014 -0.08017262] [ 0. 0. 0. 1. ]] SLAMing on 7.952414037 meters Centerline goodness [0,1] 0.7565650501411958 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:-0.08 [[ 0.99995091 0.00289232 -0.00947695 0.60205374] [-0.00290569 0.9999948 -0.00139683 0.09261294] [ 0.00947286 0.0014243 0.99995412 -0.07936578] [ 0. 0. 0. 1. ]] SLAMing on 7.982414037 meters Centerline goodness [0,1] 0.7638552611119749 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:-0.08 [[ 0.99995015 0.00295828 -0.00953608 0.60224922] [-0.00296906 0.99999497 -0.00111672 0.09181859] [ 0.00953273 0.00114498 0.99995391 -0.07946968] [ 0. 0. 0. 1. ]] SLAMing on 8.012414037 meters Centerline goodness [0,1] 0.7673974367517381 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:-0.08 [[ 0.99994967 0.0028836 -0.00960902 0.60249893] [-0.00289417 0.99999522 -0.00108569 0.09196784] [ 0.00960585 0.00111345 0.99995324 -0.07965588] [ 0. 0. 0. 1. ]] SLAMing on 8.042414036999999 meters Centerline goodness [0,1] 0.7642075773745998 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:-0.08 [[ 9.99948941e-01 2.83166021e-03 -9.70033928e-03 6.03101188e-01] [-2.83972963e-03 9.99995633e-01 -8.18197066e-04 9.18756889e-02] [ 9.69798007e-03 8.45701631e-04 9.99952616e-01 -8.03297251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.072414037 meters Centerline goodness [0,1] 0.7588884439104704 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:-0.08 [[ 9.99949025e-01 2.87061249e-03 -9.68027707e-03 6.03383744e-01] [-2.87492099e-03 9.99995774e-01 -4.31194747e-04 9.07547760e-02] [ 9.67899838e-03 4.59002798e-04 9.99953052e-01 -8.08561004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.102414036999999 meters Centerline goodness [0,1] 0.7584493923534108 Centerline is valid? [False, False] Translation: X:0.60, Y:0.09, Z:-0.08 [[ 9.99949887e-01 2.76705406e-03 -9.62119803e-03 6.03371658e-01] [-2.76729374e-03 9.99996171e-01 -1.15996937e-05 8.87592937e-02] [ 9.62112909e-03 3.82237935e-05 9.99953715e-01 -8.12265186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.132414036999998 meters Centerline goodness [0,1] 0.7578805429064062 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:-0.08 [[ 9.99952993e-01 -4.56058298e-04 -9.68526909e-03 6.03788885e-01] [ 4.29668051e-04 9.99996190e-01 -2.72668795e-03 8.42008288e-02] [ 9.68647572e-03 2.72239832e-03 9.99949379e-01 -8.15834912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.162414037 meters Centerline goodness [0,1] 0.7616351088302955 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:-0.08 [[ 9.99957148e-01 -7.69153179e-04 -9.22554787e-03 6.02470071e-01] [ 7.46869199e-04 9.99996796e-01 -2.41866620e-03 8.14640637e-02] [ 9.22737864e-03 2.41167228e-03 9.99954519e-01 -8.12611875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.192414036999999 meters Centerline goodness [0,1] 0.7522915516289344 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:-0.08 [[ 9.99956955e-01 -5.52979291e-04 -9.26188954e-03 6.02667644e-01] [ 5.37534614e-04 9.99998461e-01 -1.66995775e-03 7.94384163e-02] [ 9.26279874e-03 1.66490728e-03 9.99955713e-01 -8.15762426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.222414036999998 meters Centerline goodness [0,1] 0.7484563817588428 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:-0.08 [[ 9.99956377e-01 -7.46898011e-04 -9.31053182e-03 6.02426987e-01] [ 7.32857893e-04 9.99998589e-01 -1.51130291e-03 7.99567128e-02] [ 9.31164747e-03 1.50441368e-03 9.99955514e-01 -8.12251595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.252414037 meters Centerline goodness [0,1] 0.741481905937321 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:-0.08 [[ 9.99953880e-01 -4.36889496e-04 -9.59406835e-03 6.03209891e-01] [ 4.27280188e-04 9.99999405e-01 -1.00361540e-03 7.96263800e-02] [ 9.59450111e-03 9.99469759e-04 9.99953472e-01 -8.15086535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.282414036999999 meters Centerline goodness [0,1] 0.7327018394096266 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:-0.08 [[ 9.99954522e-01 -4.93920444e-04 -9.52413052e-03 6.02987054e-01] [ 4.92168824e-04 9.99999862e-01 -1.86256861e-04 7.55367023e-02] [ 9.52422120e-03 1.81560910e-04 9.99954627e-01 -8.17082398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.312414037 meters Centerline goodness [0,1] 0.7202932693366213 Centerline is valid? [False, False] Translation: X:0.60, Y:0.07, Z:-0.08 [[ 9.99954926e-01 -4.16446528e-04 -9.48541003e-03 6.03139762e-01] [ 4.21699229e-04 9.99999759e-01 5.51773031e-04 7.14615446e-02] [ 9.48517796e-03 -5.55748150e-04 9.99954860e-01 -8.22494311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.342414037 meters Centerline goodness [0,1] 0.7215920310683019 Centerline is valid? [False, False] Translation: X:0.60, Y:0.07, Z:-0.08 [[ 9.99954951e-01 -3.74347657e-04 -9.48449796e-03 6.03466675e-01] [ 3.86358361e-04 9.99999126e-01 1.26455045e-03 6.77618392e-02] [ 9.48401629e-03 -1.26815790e-03 9.99954222e-01 -8.29238411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.372414036999999 meters Centerline goodness [0,1] 0.7081980163258141 Centerline is valid? [False, False] Translation: X:0.60, Y:0.07, Z:-0.08 [[ 9.99957089e-01 -6.07883983e-04 -9.24399480e-03 6.03023180e-01] [ 6.24574432e-04 9.99998180e-01 1.80276540e-03 6.51071401e-02] [ 9.24288210e-03 -1.80846161e-03 9.99955648e-01 -8.32482731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.402414037 meters Centerline goodness [0,1] 0.7057999255577694 Centerline is valid? [False, False] Translation: X:0.60, Y:0.07, Z:-0.08 [[ 9.99957196e-01 -8.61862645e-04 -9.21218141e-03 6.02732043e-01] [ 8.75645301e-04 9.99998503e-01 1.49220517e-03 6.60381823e-02] [ 9.21088154e-03 -1.50020790e-03 9.99956454e-01 -8.28339938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.432414037 meters Centerline goodness [0,1] 0.7018819034234393 Centerline is valid? [False, False] Translation: X:0.60, Y:0.07, Z:-0.08 [[ 9.99957065e-01 -9.74089727e-04 -9.21513327e-03 6.02596539e-01] [ 9.85624089e-04 9.99998736e-01 1.24721751e-03 6.71826741e-02] [ 9.21390673e-03 -1.25624662e-03 9.99956762e-01 -8.25151126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.462414036999999 meters Centerline goodness [0,1] 0.6968508250969736 Centerline is valid? [False, False] Translation: X:0.60, Y:0.07, Z:-0.08 [[ 9.99957195e-01 -7.62800513e-04 -9.22093419e-03 6.02749561e-01] [ 7.79377901e-04 9.99998086e-01 1.79433949e-03 6.54074697e-02] [ 9.21954783e-03 -1.80144928e-03 9.99955876e-01 -8.27428774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.492414037 meters Centerline goodness [0,1] 0.6928217713309084 Centerline is valid? [False, False] Translation: X:0.60, Y:0.06, Z:-0.08 [[ 9.99957973e-01 -7.47296304e-04 -9.13746787e-03 6.02618253e-01] [ 7.67047149e-04 9.99997377e-01 2.15820943e-03 6.30681616e-02] [ 9.13583108e-03 -2.16512759e-03 9.99955923e-01 -8.28294210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.522414036999999 meters Centerline goodness [0,1] 0.6864651142470182 Centerline is valid? [False, False] Translation: X:0.60, Y:0.06, Z:-0.08 [[ 9.99949368e-01 -3.92235873e-03 -9.26699217e-03 6.03908023e-01] [ 3.91731621e-03 9.99992169e-01 -5.62226573e-04 5.99311797e-02] [ 9.26912485e-03 5.25896368e-04 9.99956902e-01 -8.41507383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.552414036999998 meters Centerline goodness [0,1] 0.6813763947001394 Centerline is valid? [False, False] Translation: X:0.60, Y:0.06, Z:-0.08 [[ 9.99948750e-01 -3.93171470e-03 -9.32942374e-03 6.04323265e-01] [ 3.93298293e-03 9.99992259e-01 1.17596568e-04 5.79472022e-02] [ 9.32888916e-03 -1.54283005e-04 9.99956473e-01 -8.47911480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.582414037 meters Centerline goodness [0,1] 0.6913362125376259 Centerline is valid? [False, False] Translation: X:0.60, Y:0.06, Z:-0.08 [[ 9.99947216e-01 -5.07861708e-03 -8.93158471e-03 6.02378330e-01] [ 5.07943885e-03 9.99987097e-01 6.93250620e-05 5.63966771e-02] [ 8.93111739e-03 -1.14688841e-04 9.99960110e-01 -8.37740518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.612414036999999 meters Centerline goodness [0,1] 0.6816605222399162 Centerline is valid? [False, False] Translation: X:0.60, Y:0.06, Z:-0.08 [[ 9.99947390e-01 -5.21736876e-03 -8.83157414e-03 6.02043935e-01] [ 5.22190204e-03 9.99986246e-01 4.90322647e-04 5.52377304e-02] [ 8.82889447e-03 -5.36414466e-04 9.99960881e-01 -8.37769851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.642414037 meters Centerline goodness [0,1] 0.6790416294910017 Centerline is valid? [False, False] Translation: X:0.60, Y:0.05, Z:-0.08 [[ 0.99994643 -0.00518621 -0.00895745 0.60254882] [ 0.00519561 0.99998598 0.00102619 0.0537549 ] [ 0.008952 -0.00107267 0.99995935 -0.08426209] [ 0. 0. 0. 1. ]] SLAMing on 8.672414037 meters Centerline goodness [0,1] 0.6765205646566748 Centerline is valid? [False, False] Translation: X:0.60, Y:0.05, Z:-0.08 [[ 0.99994693 -0.00519903 -0.00889457 0.6026126 ] [ 0.00521189 0.9999854 0.00142355 0.05253305] [ 0.00888704 -0.00146983 0.99995943 -0.08465098] [ 0. 0. 0. 1. ]] SLAMing on 8.702414036999999 meters Centerline goodness [0,1] 0.6535504885993486 Centerline is valid? [False, False] Translation: X:0.60, Y:0.05, Z:-0.09 [[ 0.99994778 -0.00505926 -0.00887886 0.60305083] [ 0.00507748 0.99998505 0.00203108 0.05073659] [ 0.00886846 -0.00207605 0.99995852 -0.08543761] [ 0. 0. 0. 1. ]] SLAMing on 8.732414037 meters Centerline goodness [0,1] 0.6535504885993486 Centerline is valid? [False, False] Translation: X:0.60, Y:0.05, Z:-0.09 [[ 0.99994778 -0.00505926 -0.00887886 0.60305083] [ 0.00507748 0.99998505 0.00203108 0.05073659] [ 0.00886846 -0.00207605 0.99995852 -0.08543761] [ 0. 0. 0. 1. ]] SLAMing on 8.762414037 meters Centerline goodness [0,1] 0.7039005553627213 Centerline is valid? [False, False] Translation: X:0.60, Y:0.05, Z:-0.09 [[ 0.99994835 -0.00489604 -0.0089065 0.60329508] [ 0.0049161 0.99998542 0.00223213 0.05025761] [ 0.00889544 -0.0022758 0.99995785 -0.08558856] [ 0. 0. 0. 1. ]] SLAMing on 8.792414036999999 meters Centerline goodness [0,1] 0.6931064572425829 Centerline is valid? [False, False] Translation: X:0.60, Y:0.05, Z:-0.08 [[ 0.99994854 -0.00475848 -0.00895982 0.60307881] [ 0.00477543 0.99998685 0.00187137 0.05142867] [ 0.00895079 -0.00191406 0.99995811 -0.08486953] [ 0. 0. 0. 1. ]] SLAMing on 8.822414037 meters Centerline goodness [0,1] 0.6832233187373374 Centerline is valid? [False, False] Translation: X:0.60, Y:0.05, Z:-0.09 [[ 0.99994771 -0.0044798 -0.00919309 0.60389612] [ 0.00449736 0.9999881 0.00189107 0.05232549] [ 0.00918451 -0.00193231 0.99995595 -0.08518563] [ 0. 0. 0. 1. ]] SLAMing on 8.852414036999999 meters Centerline goodness [0,1] 0.7105366663753168 Centerline is valid? [False, False] Translation: X:0.60, Y:0.05, Z:-0.09 [[ 0.99994718 -0.00436053 -0.00930738 0.60432149] [ 0.00437664 0.99998896 0.00171038 0.05349482] [ 0.00929982 -0.00175102 0.99995522 -0.08528357] [ 0. 0. 0. 1. ]] SLAMing on 8.882414036999998 meters Centerline goodness [0,1] 0.6913275880877059 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:-0.09 [[ 0.99994648 -0.0033726 -0.00978089 0.60669071] [ 0.00339517 0.99999161 0.00229127 0.05418759] [ 0.00977308 -0.00232435 0.99994954 -0.08686336] [ 0. 0. 0. 1. ]] SLAMing on 8.912414037 meters Centerline goodness [0,1] 0.7108289149265781 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:-0.09 [[ 0.99994504 -0.00301768 -0.01004069 0.60794684] [ 0.00304207 0.99999246 0.0024149 0.05445559] [ 0.01003332 -0.00244531 0.99994668 -0.08773761] [ 0. 0. 0. 1. ]] SLAMing on 8.942414036999999 meters Centerline goodness [0,1] 0.6891785495582189 Centerline is valid? [False, False] Translation: X:0.61, Y:0.05, Z:-0.09 [[ 0.99994341 -0.0026459 -0.01030435 0.60882946] [ 0.00267134 0.99999342 0.00245586 0.0546845 ] [ 0.01029778 -0.00248324 0.99994389 -0.0880524 ] [ 0. 0. 0. 1. ]] SLAMing on 8.972414036999998 meters Centerline goodness [0,1] 0.7194493763836829 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:-0.09 [[ 9.99948696e-01 8.89621663e-04 -1.00903098e-02 6.07370343e-01] [-8.35904900e-04 9.99985464e-01 5.32656757e-03 5.66512369e-02] [ 1.00949018e-02 -5.31785975e-03 9.99934905e-01 -8.65108247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.002414037 meters Centerline goodness [0,1] 0.7276822006899129 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:-0.09 [[ 0.99994666 0.00131881 -0.01024362 0.60746802] [-0.00127274 0.99998905 0.00450248 0.0602664 ] [ 0.01024945 -0.0044892 0.9999374 -0.08546571] [ 0. 0. 0. 1. ]] SLAMing on 9.032414036999999 meters Centerline goodness [0,1] 0.7462260212265706 Centerline is valid? [False, False] Translation: X:0.61, Y:0.06, Z:-0.08 [[ 0.99992687 0.00582262 -0.01059959 0.60822142] [-0.00574282 0.99995506 0.00754365 0.06429275] [ 0.01064304 -0.00748223 0.99991537 -0.08488697] [ 0. 0. 0. 1. ]] SLAMing on 9.062414037 meters Centerline goodness [0,1] 0.7558618260276084 Centerline is valid? [False, False] Translation: X:0.61, Y:0.07, Z:-0.09 [[ 0.9999169 0.00662341 -0.01105986 0.60996148] [-0.00654244 0.99995165 0.00734119 0.06597959] [ 0.01110795 -0.00726823 0.99991189 -0.08543269] [ 0. 0. 0. 1. ]] SLAMing on 9.092414037 meters Centerline goodness [0,1] 0.7653119633657699 Centerline is valid? [False, False] Translation: X:0.61, Y:0.07, Z:-0.09 [[ 0.9999072 0.00733317 -0.01148073 0.61166379] [-0.00725107 0.99994796 0.00717584 0.06730856] [ 0.01153276 -0.00709193 0.99990835 -0.08616617] [ 0. 0. 0. 1. ]] SLAMing on 9.122414036999999 meters Centerline goodness [0,1] 0.7709118976733929 Centerline is valid? [False, False] Translation: X:0.61, Y:0.07, Z:-0.09 [[ 0.99985852 0.01211483 -0.01166946 0.61238858] [-0.01198554 0.99986671 0.01108613 0.06777346] [ 0.01180221 -0.0109447 0.99987045 -0.08609453] [ 0. 0. 0. 1. ]] SLAMing on 9.152414037 meters Centerline goodness [0,1] 0.7747383759438337 Centerline is valid? [False, False] Translation: X:0.61, Y:0.07, Z:-0.09 [[ 0.99985005 0.01255004 -0.01193175 0.61267736] [-0.01242556 0.99986819 0.01045009 0.06973783] [ 0.01206132 -0.01030026 0.99987421 -0.0851419 ] [ 0. 0. 0. 1. ]] SLAMing on 9.182414037 meters Centerline goodness [0,1] 0.7779226231246824 Centerline is valid? [False, False] Translation: X:0.61, Y:0.07, Z:-0.08 [[ 0.99982246 0.0145095 -0.01202193 0.61349117] [-0.01438008 0.99983847 0.0107822 0.07217791] [ 0.01217643 -0.01060741 0.9998696 -0.08469637] [ 0. 0. 0. 1. ]] SLAMing on 9.212414036999999 meters Centerline goodness [0,1] 0.7764794239137638 Centerline is valid? [False, False] Translation: X:0.61, Y:0.07, Z:-0.08 [[ 0.99981046 0.01498059 -0.01243453 0.61471181] [-0.01484735 0.9998321 0.01073881 0.07323303] [ 0.01259332 -0.01055216 0.99986502 -0.08494644] [ 0. 0. 0. 1. ]] SLAMing on 9.242414037 meters Centerline goodness [0,1] 0.7776721985282744 Centerline is valid? [False, False] Translation: X:0.62, Y:0.07, Z:-0.09 [[ 0.99980046 0.01534516 -0.01278962 0.61592709] [-0.01520856 0.99982698 0.01071045 0.07401909] [ 0.01295176 -0.0105138 0.99986085 -0.0853953 ] [ 0. 0. 0. 1. ]] SLAMing on 9.272414036999999 meters Centerline goodness [0,1] 0.7790514971120013 Centerline is valid? [False, False] Translation: X:0.62, Y:0.07, Z:-0.09 [[ 0.99978679 0.01586922 -0.01321147 0.61734628] [-0.01572404 0.99981563 0.01102123 0.07372805] [ 0.01338393 -0.01081114 0.99985198 -0.08601393] [ 0. 0. 0. 1. ]] SLAMing on 9.302414036999998 meters Centerline goodness [0,1] 0.7800662983425415 Centerline is valid? [False, False] Translation: X:0.62, Y:0.07, Z:-0.09 [[ 0.99976101 0.01710498 -0.01361387 0.61951749] [-0.01694126 0.99978385 0.01205205 0.07195918] [ 0.01381708 -0.01181853 0.99983469 -0.08755373] [ 0. 0. 0. 1. ]] SLAMing on 9.332414037 meters Centerline goodness [0,1] 0.7810371807021796 Centerline is valid? [False, False] Translation: X:0.62, Y:0.07, Z:-0.09 [[ 0.99975193 0.01745714 -0.01383217 0.62034929] [-0.01728841 0.99977581 0.01222497 0.07185623] [ 0.01404249 -0.0119828 0.9998296 -0.08794218] [ 0. 0. 0. 1. ]] SLAMing on 9.362414036999999 meters Centerline goodness [0,1] 0.7798638196602102 Centerline is valid? [False, False] Translation: X:0.62, Y:0.07, Z:-0.09 [[ 0.99974661 0.01764461 -0.01397791 0.6206482 ] [-0.01747516 0.99977343 0.01215342 0.07226833] [ 0.01418919 -0.01190607 0.99982844 -0.08775814] [ 0. 0. 0. 1. ]] SLAMing on 9.392414036999998 meters Centerline goodness [0,1] 0.7815722217326165 Centerline is valid? [False, False] Translation: X:0.62, Y:0.07, Z:-0.09 [[ 0.99974562 0.01767847 -0.01400622 0.61947053] [-0.01751196 0.99977556 0.01192318 0.07163098] [ 0.01421386 -0.01167487 0.99983082 -0.08587908] [ 0. 0. 0. 1. ]] SLAMing on 9.422414037 meters Centerline goodness [0,1] 0.7794379772462205 Centerline is valid? [False, False] Translation: X:0.62, Y:0.07, Z:-0.09 [[ 0.99978853 0.01465102 -0.01443044 0.62068475] [-0.01453492 0.99986141 0.00811812 0.07202617] [ 0.01454738 -0.00790666 0.99986292 -0.08585706] [ 0. 0. 0. 1. ]] SLAMing on 9.452414036999999 meters Centerline goodness [0,1] 0.781811410042941 Centerline is valid? [False, False] Translation: X:0.62, Y:0.07, Z:-0.09 [[ 0.99981622 0.01202405 -0.01493143 0.62278599] [-0.01194731 0.99991501 0.00521788 0.07042003] [ 0.01499291 -0.00503853 0.99987491 -0.08697047] [ 0. 0. 0. 1. ]] SLAMing on 9.482414037 meters Centerline goodness [0,1] 0.781545205479452 Centerline is valid? [False, False] Translation: X:0.62, Y:0.07, Z:-0.09 [[ 0.99983877 0.00938567 -0.01530827 0.62454699] [-0.0093574 0.99995438 0.001917 0.07149903] [ 0.01532556 -0.00177345 0.99988098 -0.08767629] [ 0. 0. 0. 1. ]] SLAMing on 9.512414037 meters Centerline goodness [0,1] 0.7812855020536573 Centerline is valid? [False, False] Translation: X:0.62, Y:0.07, Z:-0.09 [[ 0.99983614 0.00934566 -0.01550319 0.62488936] [-0.00931475 0.99995448 0.00206489 0.07091102] [ 0.01552178 -0.00192014 0.99987769 -0.08762582] [ 0. 0. 0. 1. ]] SLAMing on 9.542414036999999 meters Centerline goodness [0,1] 0.7785999607098422 Centerline is valid? [False, False] Translation: X:0.63, Y:0.07, Z:-0.09 [[ 0.99985659 0.00632394 -0.01571011 0.62585333] [-0.0063415 0.99997932 -0.00106795 0.06977437] [ 0.01570303 0.00116743 0.99987602 -0.08798702] [ 0. 0. 0. 1. ]] SLAMing on 9.572414037 meters Centerline goodness [0,1] 0.7806371480868125 Centerline is valid? [False, False] Translation: X:0.63, Y:0.07, Z:-0.09 [[ 0.99986022 0.00382093 -0.01627682 0.62831169] [-0.00388018 0.99998595 -0.00361029 0.06768006] [ 0.01626279 0.00367294 0.99986101 -0.08947631] [ 0. 0. 0. 1. ]] SLAMing on 9.602414036999999 meters Centerline goodness [0,1] 0.7794762669909236 Centerline is valid? [False, False] Translation: X:0.63, Y:0.06, Z:-0.09 [[ 9.99862504e-01 9.85361888e-04 -1.65529813e-02 6.29911283e-01] [-1.07895127e-03 9.99983479e-01 -5.64595057e-03 6.22881280e-02] [ 1.65471445e-02 5.66303413e-03 9.99847049e-01 -9.08966634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.632414036999998 meters Centerline goodness [0,1] 0.7815740379192155 Centerline is valid? [False, False] Translation: X:0.63, Y:0.06, Z:-0.09 [[ 0.99986202 0.00129272 -0.01656125 0.63038332] [-0.00137052 0.99998808 -0.00468698 0.06003031] [ 0.016555 0.00470904 0.99985187 -0.09165384] [ 0. 0. 0. 1. ]] SLAMing on 9.662414037 meters Centerline goodness [0,1] 0.7836239575435936 Centerline is valid? [False, False] Translation: X:0.63, Y:0.06, Z:-0.09 [[ 0.99986148 0.00146107 -0.01657953 0.63064928] [-0.00152947 0.99999037 -0.00411391 0.05884786] [ 0.01657336 0.0041387 0.99985409 -0.0920291 ] [ 0. 0. 0. 1. ]] SLAMing on 9.692414036999999 meters Centerline goodness [0,1] 0.7806778929188256 Centerline is valid? [False, False] Translation: X:0.64, Y:0.06, Z:-0.09 [[ 0.9999536 -0.00177067 -0.00946948 0.63834709] [ 0.00180448 0.99999202 0.00356304 0.05533489] [ 0.00946309 -0.00357996 0.99994882 -0.09469387] [ 0. 0. 0. 1. ]] SLAMing on 9.722414036999998 meters Centerline goodness [0,1] 0.7810452569896426 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.09 [[ 0.999954 -0.00236476 -0.00929505 0.63698668] [ 0.0023967 0.99999126 0.00342632 0.05327759] [ 0.00928687 -0.00344844 0.99995093 -0.09347734] [ 0. 0. 0. 1. ]] SLAMing on 9.752414037 meters Centerline goodness [0,1] 0.782133287233123 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.09 [[ 0.99995349 -0.00306457 -0.00914513 0.63602339] [ 0.00309554 0.99998952 0.00337441 0.05017357] [ 0.00913469 -0.00340256 0.99995249 -0.09277693] [ 0. 0. 0. 1. ]] SLAMing on 9.782414036999999 meters Centerline goodness [0,1] 0.7816402729496588 Centerline is valid? [False, False] Translation: X:0.64, Y:0.04, Z:-0.09 [[ 0.99993564 -0.00620318 -0.00949888 0.63787775] [ 0.00621711 0.99997964 0.00143745 0.04463148] [ 0.00948977 -0.00149642 0.99995385 -0.09457553] [ 0. 0. 0. 1. ]] SLAMing on 9.812414037 meters Centerline goodness [0,1] 0.7811494745871757 Centerline is valid? [False, False] Translation: X:0.64, Y:0.04, Z:-0.09 [[ 0.99993364 -0.00640745 -0.00957371 0.63796056] [ 0.00642825 0.99997704 0.00214271 0.04185018] [ 0.00955976 -0.00220411 0.99995188 -0.09481027] [ 0. 0. 0. 1. ]] SLAMing on 9.842414037 meters Centerline goodness [0,1] 0.7836608598644126 Centerline is valid? [False, False] Translation: X:0.64, Y:0.04, Z:-0.09 [[ 0.99992533 -0.00784593 -0.00936895 0.63619024] [ 0.00786596 0.99996685 0.00210305 0.0397718 ] [ 0.00935214 -0.00217659 0.9999539 -0.09357923] [ 0. 0. 0. 1. ]] SLAMing on 9.872414036999999 meters Centerline goodness [0,1] 0.7811368457137959 Centerline is valid? [False, False] Translation: X:0.64, Y:0.04, Z:-0.09 [[ 0.99992357 -0.00798039 -0.00944247 0.63631229] [ 0.00800641 0.99996425 0.00272124 0.03780767] [ 0.00942041 -0.00279663 0.99995172 -0.09376436] [ 0. 0. 0. 1. ]] SLAMing on 9.902414037 meters Centerline goodness [0,1] 0.780051041197538 Centerline is valid? [False, False] Translation: X:0.64, Y:0.04, Z:-0.09 [[ 0.99992157 -0.00846743 -0.00922807 0.63579726] [ 0.00849698 0.99995888 0.00316753 0.03517621] [ 0.00920087 -0.00324569 0.9999524 -0.09401913] [ 0. 0. 0. 1. ]] SLAMing on 9.932414037 meters Centerline goodness [0,1] 0.7776162790697674 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.10 [[ 9.99881691e-01 -1.23765400e-02 -9.13370263e-03 6.36427087e-01] [ 1.23831451e-02 9.99923103e-01 6.66955435e-04 3.02142940e-02] [ 9.12474568e-03 -7.79980493e-04 9.99958064e-01 -9.54615301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.962414036999999 meters Centerline goodness [0,1] 0.7715689415785538 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.10 [[ 0.999878 -0.01276286 -0.00900487 0.63611637] [ 0.01277462 0.99991762 0.00124962 0.02740463] [ 0.00898818 -0.0013645 0.99995867 -0.09576211] [ 0. 0. 0. 1. ]] SLAMing on 9.992414037 meters Centerline goodness [0,1] 0.7673877794845536 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.10 [[ 0.99987488 -0.01307364 -0.00890567 0.63600827] [ 0.01308956 0.99991283 0.00173238 0.02564695] [ 0.00888224 -0.00184873 0.99995884 -0.09617146] [ 0. 0. 0. 1. ]] SLAMing on 10.022414036999999 meters Centerline goodness [0,1] 0.7567498618138526 Centerline is valid? [False, False] Translation: X:0.64, Y:0.02, Z:-0.10 [[ 0.99986496 -0.01369103 -0.009089 0.63640577] [ 0.01371314 0.99990315 0.0023748 0.02310836] [ 0.00905561 -0.00249912 0.99995587 -0.09684839] [ 0. 0. 0. 1. ]] SLAMing on 10.052414036999998 meters Centerline goodness [0,1] 0.7675997871208089 Centerline is valid? [False, False] Translation: X:0.64, Y:0.02, Z:-0.10 [[ 0.99986525 -0.01372574 -0.00900435 0.63628252] [ 0.01375119 0.99990161 0.00277104 0.02183171] [ 0.00896543 -0.00289448 0.99995562 -0.09699603] [ 0. 0. 0. 1. ]] SLAMing on 10.082414037 meters Centerline goodness [0,1] 0.7300299017513883 Centerline is valid? [False, False] Translation: X:0.64, Y:0.02, Z:-0.10 [[ 0.99985595 -0.01445595 -0.00889439 0.63531635] [ 0.01447985 0.99989171 0.00262866 0.02084903] [ 0.00885543 -0.00275707 0.99995699 -0.09618187] [ 0. 0. 0. 1. ]] SLAMing on 10.112414036999999 meters Centerline goodness [0,1] 0.7206155026533961 Centerline is valid? [False, False] Translation: X:0.64, Y:0.02, Z:-0.10 [[ 0.99985517 -0.01447148 -0.00895635 0.63551247] [ 0.01449874 0.99989043 0.00298598 0.01981742] [ 0.00891215 -0.00311541 0.99995543 -0.0963577 ] [ 0. 0. 0. 1. ]] SLAMing on 10.142414036999998 meters Centerline goodness [0,1] 0.7164787770091383 Centerline is valid? [False, False] Translation: X:0.64, Y:0.02, Z:-0.10 [[ 0.99985542 -0.01441962 -0.00901196 0.63584824] [ 0.01445082 0.99988978 0.00340711 0.01866524] [ 0.00896184 -0.00353684 0.99995359 -0.0967605 ] [ 0. 0. 0. 1. ]] SLAMing on 10.172414037 meters Centerline goodness [0,1] 0.757970210405019 Centerline is valid? [False, False] Translation: X:0.64, Y:0.02, Z:-0.10 [[ 0.99985147 -0.01468097 -0.00902814 0.63604097] [ 0.01471278 0.99988575 0.00346715 0.0183084 ] [ 0.00897621 -0.00359947 0.99995323 -0.09712798] [ 0. 0. 0. 1. ]] SLAMing on 10.202414036999999 meters Centerline goodness [0,1] 0.7013908116973014 Centerline is valid? [False, False] Translation: X:0.64, Y:0.02, Z:-0.10 [[ 0.9998506 -0.01470889 -0.00907918 0.63640533] [ 0.01474084 0.99988536 0.00346144 0.01887883] [ 0.00902723 -0.00359475 0.99995279 -0.09750254] [ 0. 0. 0. 1. ]] SLAMing on 10.232414037 meters Centerline goodness [0,1] 0.7467417503892835 Centerline is valid? [False, False] Translation: X:0.64, Y:0.02, Z:-0.10 [[ 0.99985015 -0.01473533 -0.00908588 0.63682434] [ 0.01476756 0.99988486 0.00349053 0.01912874] [ 0.0090334 -0.00362418 0.99995263 -0.09809246] [ 0. 0. 0. 1. ]] SLAMing on 10.262414037 meters Centerline goodness [0,1] 0.7446690312379813 Centerline is valid? [False, False] Translation: X:0.64, Y:0.02, Z:-0.10 [[ 0.99985055 -0.0147057 -0.00908934 0.63721521] [ 0.01473948 0.99988467 0.00366104 0.01861985] [ 0.00903445 -0.00379446 0.99995199 -0.09867401] [ 0. 0. 0. 1. ]] SLAMing on 10.292414036999999 meters Centerline goodness [0,1] 0.7135325506937034 Centerline is valid? [False, False] Translation: X:0.64, Y:0.02, Z:-0.10 [[ 0.99984354 -0.01522694 -0.00900149 0.63702628] [ 0.0152577 0.99987795 0.00335896 0.01912591] [ 0.00894924 -0.00349578 0.99995384 -0.09884461] [ 0. 0. 0. 1. ]] SLAMing on 10.322414037 meters Centerline goodness [0,1] 0.7202212530581853 Centerline is valid? [False, False] Translation: X:0.64, Y:0.02, Z:-0.10 [[ 0.99984029 -0.01535236 -0.00914847 0.63741239] [ 0.01538139 0.99987686 0.00311167 0.02073442] [ 0.00909957 -0.00325189 0.99995331 -0.09890373] [ 0. 0. 0. 1. ]] SLAMing on 10.352414036999999 meters Centerline goodness [0,1] 0.7168838393563985 Centerline is valid? [False, False] Translation: X:0.64, Y:0.02, Z:-0.10 [[ 0.99987122 -0.01335345 -0.00890056 0.63586789] [ 0.01340064 0.99989636 0.00526301 0.02373823] [ 0.00882936 -0.0053816 0.99994654 -0.09798801] [ 0. 0. 0. 1. ]] SLAMing on 10.382414036999998 meters Centerline goodness [0,1] 0.7095316615628413 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.10 [[ 0.99986873 -0.01341538 -0.00908578 0.63663626] [ 0.01346101 0.999897 0.00497962 0.02504444] [ 0.00901804 -0.00510127 0.99994632 -0.09850388] [ 0. 0. 0. 1. ]] SLAMing on 10.412414037 meters Centerline goodness [0,1] 0.7067825713672462 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.10 [[ 0.99986638 -0.013496 -0.00922347 0.6372015 ] [ 0.01354005 0.99989714 0.00472947 0.02582616] [ 0.00915869 -0.00485372 0.99994628 -0.0988918 ] [ 0. 0. 0. 1. ]] SLAMing on 10.442414036999999 meters Centerline goodness [0,1] 0.712066520562073 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.10 [[ 0.99986241 -0.01386055 -0.00911337 0.63669772] [ 0.01389639 0.99989591 0.00388107 0.02748276] [ 0.00905863 -0.00400718 0.99995094 -0.09836579] [ 0. 0. 0. 1. ]] SLAMing on 10.472414036999998 meters Centerline goodness [0,1] 0.7176136852058799 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.10 [[ 0.99986042 -0.01401087 -0.00910194 0.63656577] [ 0.01404242 0.99989558 0.00341154 0.02904563] [ 0.0090532 -0.00353887 0.99995276 -0.09811402] [ 0. 0. 0. 1. ]] SLAMing on 10.502414037 meters Centerline goodness [0,1] 0.70392379808208 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.10 [[ 0.999857 -0.0141896 -0.00919985 0.63666927] [ 0.01421683 0.99989473 0.0029012 0.03115728] [ 0.00915771 -0.00303158 0.99995347 -0.09790709] [ 0. 0. 0. 1. ]] SLAMing on 10.532414036999999 meters Centerline goodness [0,1] 0.7081234663567093 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.10 [[ 0.99989581 -0.01125794 -0.00903501 0.63590549] [ 0.01130981 0.99991973 0.00571085 0.03436513] [ 0.00896999 -0.00581244 0.99994288 -0.09763543] [ 0. 0. 0. 1. ]] SLAMing on 10.562414036999998 meters Centerline goodness [0,1] 0.731932320293135 Centerline is valid? [False, False] Translation: X:0.64, Y:0.04, Z:-0.10 [[ 0.99989594 -0.01099473 -0.00933995 0.63681899] [ 0.01104553 0.99992439 0.00540552 0.03637324] [ 0.00927981 -0.00550812 0.99994177 -0.09783062] [ 0. 0. 0. 1. ]] SLAMing on 10.592414037 meters Centerline goodness [0,1] 0.7207482261879166 Centerline is valid? [False, False] Translation: X:0.64, Y:0.04, Z:-0.10 [[ 0.99990912 -0.00948068 -0.00958528 0.63884741] [ 0.00953659 0.99993768 0.00580343 0.0384252 ] [ 0.00952967 -0.00589432 0.99993722 -0.09926913] [ 0. 0. 0. 1. ]] SLAMing on 10.622414036999999 meters Centerline goodness [0,1] 0.7221802156019789 Centerline is valid? [False, False] Translation: X:0.64, Y:0.04, Z:-0.10 [[ 0.99991106 -0.00908044 -0.00976775 0.63978672] [ 0.00913572 0.99994242 0.00562941 0.03968164] [ 0.00971607 -0.00571814 0.99993645 -0.09983277] [ 0. 0. 0. 1. ]] SLAMing on 10.652414037 meters Centerline goodness [0,1] 0.7221802156019789 Centerline is valid? [False, False] Translation: X:0.64, Y:0.04, Z:-0.10 [[ 0.99991106 -0.00908044 -0.00976775 0.63978672] [ 0.00913572 0.99994242 0.00562941 0.03968164] [ 0.00971607 -0.00571814 0.99993645 -0.09983277] [ 0. 0. 0. 1. ]] SLAMing on 10.682414037 meters Centerline goodness [0,1] 0.7274315666860804 Centerline is valid? [False, False] Translation: X:0.64, Y:0.04, Z:-0.10 [[ 0.99991301 -0.00866972 -0.0099398 0.64052686] [ 0.00872321 0.99994763 0.00535146 0.04149917] [ 0.00989288 -0.0054377 0.99993628 -0.1000881 ] [ 0. 0. 0. 1. ]] SLAMing on 10.712414036999999 meters Centerline goodness [0,1] 0.736998353124729 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.10 [[ 0.99993737 -0.00525679 -0.00988037 0.63929456] [ 0.00532859 0.99995948 0.00725529 0.04723166] [ 0.00984183 -0.00730748 0.99992487 -0.09813693] [ 0. 0. 0. 1. ]] SLAMing on 10.742414037 meters Centerline goodness [0,1] 0.7558285392966824 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.10 [[ 0.99993584 -0.00487945 -0.01022249 0.63987482] [ 0.00494349 0.99996826 0.00624821 0.05139061] [ 0.01019168 -0.00629835 0.99992823 -0.09731391] [ 0. 0. 0. 1. ]] SLAMing on 10.772414036999999 meters Centerline goodness [0,1] 0.7599183513930208 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.10 [[ 0.99993628 -0.0042965 -0.01043926 0.64058674] [ 0.00435597 0.99997438 0.00568064 0.0545109 ] [ 0.01041458 -0.00572575 0.99992937 -0.09713266] [ 0. 0. 0. 1. ]] SLAMing on 10.802414036999998 meters Centerline goodness [0,1] 0.7655510700177974 Centerline is valid? [False, False] Translation: X:0.64, Y:0.06, Z:-0.10 [[ 0.99993762 -0.00276728 -0.01082114 0.64278055] [ 0.00282682 0.99998093 0.00549057 0.05791239] [ 0.01080574 -0.00552082 0.99992638 -0.09811944] [ 0. 0. 0. 1. ]] SLAMing on 10.832414037 meters Centerline goodness [0,1] 0.7671477393935436 Centerline is valid? [False, False] Translation: X:0.64, Y:0.06, Z:-0.10 [[ 0.99993561 -0.00248132 -0.0110731 0.64378089] [ 0.00253886 0.99998333 0.00518508 0.05936482] [ 0.01106005 -0.00521286 0.99992525 -0.09855762] [ 0. 0. 0. 1. ]] SLAMing on 10.862414036999999 meters Centerline goodness [0,1] 0.7700518384041646 Centerline is valid? [False, False] Translation: X:0.65, Y:0.06, Z:-0.10 [[ 0.99993688 -0.00103759 -0.01118774 0.64563244] [ 0.00109677 0.99998543 0.00528513 0.06242221] [ 0.01118209 -0.00529707 0.99992345 -0.09999639] [ 0. 0. 0. 1. ]] SLAMing on 10.892414036999998 meters Centerline goodness [0,1] 0.772611966410077 Centerline is valid? [False, False] Translation: X:0.65, Y:0.07, Z:-0.10 [[ 9.99933696e-01 -8.02638821e-04 -1.14873771e-02 6.46738781e-01] [ 8.57099566e-04 9.99988414e-01 4.73678319e-03 6.50685526e-02] [ 1.14834420e-02 -4.74631495e-03 9.99922799e-01 -1.00358931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.922414037 meters Centerline goodness [0,1] 0.7731292963790009 Centerline is valid? [False, False] Translation: X:0.65, Y:0.07, Z:-0.10 [[ 9.99931013e-01 -6.31354702e-04 -1.17290557e-02 6.47552001e-01] [ 6.79942816e-04 9.99991203e-01 4.13901694e-03 6.79764644e-02] [ 1.17263393e-02 -4.14670648e-03 9.99922646e-01 -1.00511882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.952414036999999 meters Centerline goodness [0,1] 0.7757163245142167 Centerline is valid? [False, False] Translation: X:0.65, Y:0.07, Z:-0.10 [[ 9.99929603e-01 6.24430478e-05 -1.18652617e-02 6.48141122e-01] [-2.02862691e-05 9.99993688e-01 3.55304533e-03 7.21547070e-02] [ 1.18654087e-02 -3.55255451e-03 9.99923293e-01 -1.00231801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.982414037 meters Centerline goodness [0,1] 0.7762222417273765 Centerline is valid? [False, False] Translation: X:0.65, Y:0.07, Z:-0.10 [[ 9.99926364e-01 1.37648608e-04 -1.21345247e-02 6.48618651e-01] [-9.96578109e-05 9.99995092e-01 3.13135137e-03 7.33537800e-02] [ 1.21348961e-02 -3.12991149e-03 9.99921471e-01 -9.99217588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.012414037 meters Centerline goodness [0,1] 0.7762309817161398 Centerline is valid? [False, False] Translation: X:0.65, Y:0.07, Z:-0.10 [[ 9.99925374e-01 1.07091241e-04 -1.22162039e-02 6.48680976e-01] [-7.30455046e-05 9.99996113e-01 2.78734470e-03 7.40490637e-02] [ 1.22164550e-02 -2.78624435e-03 9.99921494e-01 -9.96578783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.042414036999999 meters Centerline goodness [0,1] 0.7745894441029244 Centerline is valid? [False, False] Translation: X:0.65, Y:0.07, Z:-0.10 [[ 9.99925647e-01 -1.79144481e-04 -1.21929865e-02 6.48206504e-01] [ 2.06587532e-04 9.99997449e-01 2.24950204e-03 7.45275454e-02] [ 1.21925524e-02 -2.25185370e-03 9.99923132e-01 -9.90092250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.072414037 meters Centerline goodness [0,1] 0.7752353842785198 Centerline is valid? [False, False] Translation: X:0.65, Y:0.07, Z:-0.10 [[ 9.99924548e-01 -2.74872755e-04 -1.22810291e-02 6.48323892e-01] [ 3.02556848e-04 9.99997418e-01 2.25241499e-03 7.43091176e-02] [ 1.22803783e-02 -2.25596075e-03 9.99922048e-01 -9.89081896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.102414036999999 meters Centerline goodness [0,1] 0.7713410632246773 Centerline is valid? [False, False] Translation: X:0.65, Y:0.07, Z:-0.10 [[ 0.99992595 -0.00100831 -0.0121275 0.64688178] [ 0.00103162 0.99999763 0.00191576 0.07369054] [ 0.01212554 -0.00192813 0.99992462 -0.0975286 ] [ 0. 0. 0. 1. ]] SLAMing on 11.132414036999998 meters Centerline goodness [0,1] 0.7723570133869101 Centerline is valid? [False, False] Translation: X:0.65, Y:0.07, Z:-0.10 [[ 0.99992504 -0.00125569 -0.01217924 0.64686369] [ 0.00127917 0.99999734 0.00192054 0.07308813] [ 0.0121768 -0.00193597 0.99992399 -0.09744106] [ 0. 0. 0. 1. ]] SLAMing on 11.162414037 meters Centerline goodness [0,1] 0.7741730697664236 Centerline is valid? [False, False] Translation: X:0.65, Y:0.07, Z:-0.10 [[ 0.9999248 -0.00133491 -0.01219108 0.64716362] [ 0.00136106 0.99999679 0.00213675 0.07221686] [ 0.01218818 -0.00215318 0.9999234 -0.09789665] [ 0. 0. 0. 1. ]] SLAMing on 11.192414036999999 meters Centerline goodness [0,1] 0.7740920414317556 Centerline is valid? [False, False] Translation: X:0.65, Y:0.07, Z:-0.10 [[ 0.99992295 -0.00160668 -0.01230935 0.64787205] [ 0.00163881 0.99999527 0.00260113 0.07016838] [ 0.01230511 -0.00262111 0.99992085 -0.09885754] [ 0. 0. 0. 1. ]] SLAMing on 11.222414036999998 meters Centerline goodness [0,1] 0.7715682850157177 Centerline is valid? [False, False] Translation: X:0.65, Y:0.07, Z:-0.10 [[ 0.99992312 -0.00179772 -0.01226904 0.64791405] [ 0.00183347 0.99999411 0.00290311 0.068959 ] [ 0.01226375 -0.00292538 0.99992052 -0.09923463] [ 0. 0. 0. 1. ]] SLAMing on 11.252414037 meters Centerline goodness [0,1] 0.7723568354126156 Centerline is valid? [False, False] Translation: X:0.65, Y:0.07, Z:-0.10 [[ 0.99992376 -0.00210896 -0.01216634 0.64763926] [ 0.00214581 0.99999315 0.00301605 0.06787619] [ 0.0121599 -0.00304193 0.99992144 -0.0992872 ] [ 0. 0. 0. 1. ]] SLAMing on 11.282414036999999 meters Centerline goodness [0,1] 0.7672823104064119 Centerline is valid? [False, False] Translation: X:0.65, Y:0.07, Z:-0.10 [[ 0.99992234 -0.00341588 -0.01198482 0.64638185] [ 0.00344654 0.99999084 0.00253867 0.06537438] [ 0.01197604 -0.00257978 0.99992496 -0.09851315] [ 0. 0. 0. 1. ]] SLAMing on 11.312414036999998 meters Centerline goodness [0,1] 0.7675032161001243 Centerline is valid? [False, False] Translation: X:0.65, Y:0.06, Z:-0.10 [[ 0.99992455 -0.00380861 -0.01167828 0.64533916] [ 0.00384115 0.9999888 0.00276469 0.06325467] [ 0.01166762 -0.00280934 0.99992798 -0.09808073] [ 0. 0. 0. 1. ]] SLAMing on 11.342414037 meters Centerline goodness [0,1] 0.7652484120769164 Centerline is valid? [False, False] Translation: X:0.64, Y:0.06, Z:-0.10 [[ 0.99992272 -0.00510077 -0.01133778 0.64310931] [ 0.00512939 0.99998373 0.00249664 0.06033442] [ 0.01132486 -0.00255461 0.99993261 -0.09639693] [ 0. 0. 0. 1. ]] SLAMing on 11.372414036999999 meters Centerline goodness [0,1] 0.7643770662954585 Centerline is valid? [False, False] Translation: X:0.64, Y:0.06, Z:-0.10 [[ 0.99992134 -0.00546936 -0.01128697 0.64245203] [ 0.00549693 0.99998198 0.00241343 0.05988074] [ 0.01127357 -0.00247529 0.99993339 -0.09571929] [ 0. 0. 0. 1. ]] SLAMing on 11.402414037 meters Centerline goodness [0,1] 0.7643468439115513 Centerline is valid? [False, False] Translation: X:0.64, Y:0.06, Z:-0.10 [[ 0.99992028 -0.00564408 -0.01129508 0.64218782] [ 0.00567368 0.99998055 0.00259041 0.05910714] [ 0.01128024 -0.00265429 0.99993285 -0.09539464] [ 0. 0. 0. 1. ]] SLAMing on 11.432414037 meters Centerline goodness [0,1] 0.7641894828335506 Centerline is valid? [False, False] Translation: X:0.64, Y:0.06, Z:-0.10 [[ 0.99992009 -0.00603065 -0.01111053 0.64156722] [ 0.00606046 0.99997812 0.00265102 0.0581003 ] [ 0.0110943 -0.00271815 0.99993476 -0.09515863] [ 0. 0. 0. 1. ]] SLAMing on 11.462414036999999 meters Centerline goodness [0,1] 0.7598127397646243 Centerline is valid? [False, False] Translation: X:0.64, Y:0.06, Z:-0.10 [[ 0.9999191 -0.00624365 -0.01108226 0.64165557] [ 0.00627851 0.99997544 0.00311362 0.05623044] [ 0.01106255 -0.00318294 0.99993374 -0.09557842] [ 0. 0. 0. 1. ]] SLAMing on 11.492414037 meters Centerline goodness [0,1] 0.7530802494621787 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.10 [[ 9.99887946e-01 -9.73151530e-03 -1.13750855e-02 6.43643763e-01] [ 9.73413288e-03 9.99952607e-01 1.74771654e-04 5.41555082e-02] [ 1.13728456e-02 -2.85478664e-04 9.99935286e-01 -9.74843182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.522414036999999 meters Centerline goodness [0,1] 0.7405240231454392 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.10 [[ 9.99888303e-01 -9.69154335e-03 -1.13778765e-02 6.44631509e-01] [ 9.70351921e-03 9.99952422e-01 9.97822963e-04 5.21024819e-02] [ 1.13676647e-02 -1.10811695e-03 9.99934772e-01 -9.91535288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.552414036999998 meters Centerline goodness [0,1] 0.7238602415898169 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.10 [[ 9.99874417e-01 -1.11983673e-02 -1.12137260e-02 6.44197539e-01] [ 1.12096508e-02 9.99936724e-01 9.43868995e-04 4.96624063e-02] [ 1.12024466e-02 -1.06945241e-03 9.99936679e-01 -9.97600425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.582414037 meters Centerline goodness [0,1] 0.7108084111137579 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.10 [[ 9.99870458e-01 -1.17799243e-02 -1.09681211e-02 6.43114170e-01] [ 1.17906934e-02 9.99930066e-01 9.17711322e-04 4.86642300e-02] [ 1.09565435e-02 -1.04691419e-03 9.99939427e-01 -9.91320005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.612414036999999 meters Centerline goodness [0,1] 0.6984325748089295 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.10 [[ 9.99863389e-01 -1.25183175e-02 -1.07932517e-02 6.42096634e-01] [ 1.25253370e-02 9.99921385e-01 5.83001194e-04 4.88785684e-02] [ 1.07851050e-02 -7.18110664e-04 9.99941581e-01 -9.83300298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.642414036999998 meters Centerline goodness [0,1] 0.6907674714652512 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.10 [[ 9.99862389e-01 -1.24616201e-02 -1.09503733e-02 6.42540862e-01] [ 1.24701688e-02 9.99921990e-01 7.12738043e-04 4.93100502e-02] [ 1.09406372e-02 -8.49192965e-04 9.99939789e-01 -9.85194465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.672414037 meters Centerline goodness [0,1] 0.6931068066226599 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.10 [[ 9.99862351e-01 -1.24460661e-02 -1.09715530e-02 6.42720421e-01] [ 1.24557791e-02 9.99922090e-01 8.17400657e-04 4.94066562e-02] [ 1.09605247e-02 -9.53947383e-04 9.99939477e-01 -9.87113378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.702414036999999 meters Centerline goodness [0,1] 0.6903540110425463 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.10 [[ 0.99986025 -0.01268971 -0.01088369 0.64281348] [ 0.01270411 0.99991851 0.00125463 0.04756681] [ 0.01086688 -0.00139272 0.99993998 -0.09940456] [ 0. 0. 0. 1. ]] SLAMing on 11.732414037 meters Centerline goodness [0,1] 0.6878536278696699 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.10 [[ 0.99985918 -0.0128594 -0.01078235 0.64288116] [ 0.01287598 0.99991602 0.00146935 0.0466168 ] [ 0.01076255 -0.00160798 0.99994079 -0.0999099 ] [ 0. 0. 0. 1. ]] SLAMing on 11.762414037 meters Centerline goodness [0,1] 0.6820886801843717 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.10 [[ 0.99986023 -0.01282287 -0.01072779 0.64317056] [ 0.01284254 0.99991597 0.00176629 0.04612232] [ 0.01070424 -0.00190381 0.9999409 -0.10056154] [ 0. 0. 0. 1. ]] SLAMing on 11.792414036999999 meters Centerline goodness [0,1] 0.6781586764673996 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.10 [[ 0.99985497 -0.01313321 -0.01084217 0.64361898] [ 0.01314773 0.99991276 0.00126866 0.04855945] [ 0.01082456 -0.00141103 0.99994042 -0.10081057] [ 0. 0. 0. 1. ]] SLAMing on 11.822414037 meters Centerline goodness [0,1] 0.7139497920703695 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.10 [[ 9.99851804e-01 -1.33281050e-02 -1.08964127e-02 6.43648682e-01] [ 1.33381269e-02 9.99910684e-01 8.47592615e-04 5.02086687e-02] [ 1.08841427e-02 -9.92804741e-04 9.99940273e-01 -1.00607309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.852414036999999 meters Centerline goodness [0,1] 0.711077357057611 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.10 [[ 9.99845479e-01 -1.37912596e-02 -1.09003882e-02 6.43097518e-01] [ 1.37962536e-02 9.99904754e-01 3.83077901e-04 5.07968341e-02] [ 1.08940669e-02 -5.33403228e-04 9.99940516e-01 -9.98235583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.882414036999998 meters Centerline goodness [0,1] 0.6992291824991858 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.10 [[ 9.99843901e-01 -1.38930096e-02 -1.09159022e-02 6.43047628e-01] [ 1.39000915e-02 9.99903225e-01 5.73160511e-04 4.95497935e-02] [ 1.09068829e-02 -7.24803081e-04 9.99940255e-01 -9.98033683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.912414037 meters Centerline goodness [0,1] 0.7048361527937632 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.10 [[ 9.99844607e-01 -1.38710064e-02 -1.08791643e-02 6.43415353e-01] [ 1.38816927e-02 9.99903233e-01 9.07376870e-04 4.83163241e-02] [ 1.08655253e-02 -1.05825709e-03 9.99940408e-01 -1.00478026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.942414036999999 meters Centerline goodness [0,1] 0.7003714403631862 Centerline is valid? [False, False] Translation: X:0.64, Y:0.05, Z:-0.10 [[ 0.99984604 -0.01369226 -0.01097386 0.64433343] [ 0.01370767 0.99990516 0.00133053 0.04777062] [ 0.01095461 -0.00148075 0.9999389 -0.1015599 ] [ 0. 0. 0. 1. ]] SLAMing on 11.972414036999998 meters Centerline goodness [0,1] 0.6943124362563201 Centerline is valid? [False, False] Translation: X:0.65, Y:0.05, Z:-0.10 [[ 0.99984794 -0.01326352 -0.01132115 0.64634312] [ 0.01328257 0.99991049 0.00160869 0.04976704] [ 0.0112988 -0.00175882 0.99993462 -0.10328591] [ 0. 0. 0. 1. ]] SLAMing on 12.002414037 meters Centerline goodness [0,1] 0.6829199303742385 Centerline is valid? [False, False] Translation: X:0.65, Y:0.05, Z:-0.10 [[ 0.99988365 -0.01040811 -0.01115179 0.64527619] [ 0.01046281 0.99993346 0.00485848 0.05002363] [ 0.01110048 -0.0049746 0.99992601 -0.10284605] [ 0. 0. 0. 1. ]] SLAMing on 12.032414036999999 meters Centerline goodness [0,1] 0.6925003811888737 Centerline is valid? [False, False] Translation: X:0.65, Y:0.05, Z:-0.10 [[ 0.99988923 -0.00986951 -0.01114063 0.64524921] [ 0.00991719 0.99994186 0.00423286 0.05416325] [ 0.01109821 -0.00434288 0.99992898 -0.10214263] [ 0. 0. 0. 1. ]] SLAMing on 12.062414036999998 meters Centerline goodness [0,1] 0.6826912571291217 Centerline is valid? [False, False] Translation: X:0.65, Y:0.06, Z:-0.10 [[ 0.99988748 -0.00992247 -0.01125085 0.6451715 ] [ 0.00996484 0.99994345 0.00371563 0.05570339] [ 0.01121334 -0.00382732 0.9999298 -0.10154995] [ 0. 0. 0. 1. ]] SLAMing on 12.092414037 meters Centerline goodness [0,1] 0.6866755627502024 Centerline is valid? [False, False] Translation: X:0.65, Y:0.06, Z:-0.10 [[ 0.99988617 -0.01006665 -0.01123917 0.64506247] [ 0.01010424 0.99994353 0.00329256 0.05684124] [ 0.01120539 -0.00340575 0.99993142 -0.10134394] [ 0. 0. 0. 1. ]] SLAMing on 12.122414036999999 meters Centerline goodness [0,1] 0.6807796877740747 Centerline is valid? [False, False] Translation: X:0.65, Y:0.06, Z:-0.10 [[ 0.99988668 -0.00991063 -0.01133204 0.64637417] [ 0.00994775 0.99994532 0.00322418 0.05764611] [ 0.01129947 -0.00333654 0.99993059 -0.10285903] [ 0. 0. 0. 1. ]] SLAMing on 12.152414037 meters Centerline goodness [0,1] 0.6792970292685068 Centerline is valid? [False, False] Translation: X:0.65, Y:0.06, Z:-0.10 [[ 0.99988547 -0.00994439 -0.01140851 0.64711671] [ 0.00998015 0.99994545 0.00308227 0.05878295] [ 0.01137724 -0.00319578 0.99993017 -0.10370746] [ 0. 0. 0. 1. ]] SLAMing on 12.182414037 meters Centerline goodness [0,1] 0.6760126665787043 Centerline is valid? [False, False] Translation: X:0.65, Y:0.06, Z:-0.10 [[ 0.99987682 -0.0109392 -0.01125552 0.64631873] [ 0.01095851 0.99993858 0.00165536 0.06310171] [ 0.01123672 -0.0017785 0.99993528 -0.10295855] [ 0. 0. 0. 1. ]] SLAMing on 12.212414036999999 meters Centerline goodness [0,1] 0.6836476465022115 Centerline is valid? [False, False] Translation: X:0.65, Y:0.06, Z:-0.10 [[ 9.99870278e-01 -1.15355495e-02 -1.12409275e-02 6.45513904e-01] [ 1.15469717e-02 9.99932879e-01 9.51750824e-04 6.49935622e-02] [ 1.12291940e-02 -1.08142603e-03 9.99936366e-01 -1.01905634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.242414037 meters Centerline goodness [0,1] 0.6758772897815052 Centerline is valid? [False, False] Translation: X:0.64, Y:0.07, Z:-0.10 [[ 9.99862934e-01 -1.21330199e-02 -1.12651684e-02 6.44870112e-01] [ 1.21356050e-02 9.99926348e-01 1.61148172e-04 6.68119961e-02] [ 1.12623835e-02 -2.97835719e-04 9.99936533e-01 -1.00923314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.272414036999999 meters Centerline goodness [0,1] 0.6660855364787924 Centerline is valid? [False, False] Translation: X:0.65, Y:0.07, Z:-0.10 [[ 9.99856090e-01 -1.25399291e-02 -1.14258268e-02 6.45533989e-01] [ 1.25368497e-02 9.99921352e-01 -3.41096168e-04 6.85986200e-02] [ 1.14292055e-02 1.97803207e-04 9.99934665e-01 -1.01447032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.302414036999998 meters Centerline goodness [0,1] 0.6676917630921038 Centerline is valid? [False, False] Translation: X:0.65, Y:0.07, Z:-0.10 [[ 9.99853851e-01 -1.25395621e-02 -1.16204776e-02 6.46610058e-01] [ 1.25379691e-02 9.99921375e-01 -2.09924626e-04 6.86071296e-02] [ 1.16221963e-02 6.41967561e-05 9.99932458e-01 -1.02463267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.332414037 meters Centerline goodness [0,1] 0.6646794175661 Centerline is valid? [False, False] Translation: X:0.65, Y:0.07, Z:-0.10 [[ 9.99852102e-01 -1.26653851e-02 -1.16344958e-02 6.48099570e-01] [ 1.26647609e-02 9.99919791e-01 -1.27333786e-04 6.93666872e-02] [ 1.16351754e-02 -2.00331539e-05 9.99932309e-01 -1.04673119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.362414036999999 meters Centerline goodness [0,1] 0.6603560265135561 Centerline is valid? [False, False] Translation: X:0.65, Y:0.07, Z:-0.11 [[ 9.99850863e-01 -1.27391787e-02 -1.16604235e-02 6.48704233e-01] [ 1.27362489e-02 9.99918838e-01 -3.25488478e-04 7.09966053e-02] [ 1.16636235e-02 1.76929880e-04 9.99931962e-01 -1.05422205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.392414036999998 meters Centerline goodness [0,1] 0.6571080602302923 Centerline is valid? [False, False] Translation: X:0.65, Y:0.07, Z:-0.11 [[ 9.99847113e-01 -1.29087326e-02 -1.17947426e-02 6.49062703e-01] [ 1.29003657e-02 9.99916479e-01 -7.85184177e-04 7.32630147e-02] [ 1.18038932e-02 6.32907639e-04 9.99930131e-01 -1.05428714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.422414037 meters Centerline goodness [0,1] 0.6730999866743659 Centerline is valid? [False, False] Translation: X:0.65, Y:0.08, Z:-0.10 [[ 0.99987437 -0.01118778 -0.01122806 0.64546832] [ 0.01120184 0.99993655 0.00119035 0.0757897 ] [ 0.01121404 -0.00131598 0.99993625 -0.10276662] [ 0. 0. 0. 1. ]] SLAMing on 12.452414036999999 meters Centerline goodness [0,1] 0.6590136243415643 Centerline is valid? [False, False] Translation: X:0.65, Y:0.08, Z:-0.10 [[ 9.99873296e-01 -1.12648241e-02 -1.12470047e-02 6.45192698e-01] [ 1.12747086e-02 9.99936106e-01 8.15833372e-04 7.67555979e-02] [ 1.12370959e-02 -9.42536703e-04 9.99936418e-01 -1.02164177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.482414037 meters Centerline goodness [0,1] 0.6697588538885924 Centerline is valid? [False, False] Translation: X:0.65, Y:0.08, Z:-0.10 [[ 9.99873349e-01 -1.09328956e-02 -1.15654041e-02 6.46035181e-01] [ 1.09379269e-02 9.99940110e-01 3.71865100e-04 7.90811254e-02] [ 1.15606459e-02 -4.98319547e-04 9.99933049e-01 -1.02026142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.512414037 meters Centerline goodness [0,1] 0.6587829569473802 Centerline is valid? [False, False] Translation: X:0.65, Y:0.08, Z:-0.10 [[ 9.99873308e-01 -1.06024001e-02 -1.18725423e-02 6.47088898e-01] [ 1.06062685e-02 9.99943717e-01 2.62906791e-04 8.06560231e-02] [ 1.18690866e-02 -3.88796854e-04 9.99929484e-01 -1.02398885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.542414036999999 meters Centerline goodness [0,1] 0.6587829569473802 Centerline is valid? [False, False] Translation: X:0.65, Y:0.08, Z:-0.10 [[ 9.99873308e-01 -1.06024001e-02 -1.18725423e-02 6.47088898e-01] [ 1.06062685e-02 9.99943717e-01 2.62906791e-04 8.06560231e-02] [ 1.18690866e-02 -3.88796854e-04 9.99929484e-01 -1.02398885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.572414037 meters Centerline goodness [0,1] 0.6690074906367041 Centerline is valid? [False, False] Translation: X:0.65, Y:0.08, Z:-0.10 [[ 9.99871028e-01 -1.05500670e-02 -1.21088533e-02 6.47710329e-01] [ 1.05486535e-02 9.99944345e-01 -1.80598454e-04 8.27254481e-02] [ 1.21100847e-02 5.28430642e-05 9.99926669e-01 -1.02390169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.602414036999999 meters Centerline goodness [0,1] 0.6621018824159157 Centerline is valid? [False, False] Translation: X:0.65, Y:0.08, Z:-0.10 [[ 9.99868990e-01 -1.03673348e-02 -1.24306843e-02 6.48733109e-01] [ 1.03625688e-02 9.99946207e-01 -4.47754129e-04 8.44835302e-02] [ 1.24346577e-02 3.18881647e-04 9.99922636e-01 -1.02721417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.632414036999998 meters Centerline goodness [0,1] 0.671021430808465 Centerline is valid? [False, False] Translation: X:0.65, Y:0.09, Z:-0.10 [[ 9.99869332e-01 -9.91203477e-03 -1.27699220e-02 6.50334363e-01] [ 9.90870698e-03 9.99950855e-01 -3.23840705e-04 8.60342339e-02] [ 1.27725044e-02 1.97264974e-04 9.99918409e-01 -1.03806666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.662414037 meters Centerline goodness [0,1] 0.6717812024012185 Centerline is valid? [False, False] Translation: X:0.65, Y:0.09, Z:-0.11 [[ 0.99989891 -0.00695864 -0.01239985 0.65114069] [ 0.0069884 0.9999728 0.00235879 0.08813371] [ 0.0123831 -0.0024452 0.99992034 -0.10562406] [ 0. 0. 0. 1. ]] SLAMing on 12.692414036999999 meters Centerline goodness [0,1] 0.6701658571524498 Centerline is valid? [False, False] Translation: X:0.65, Y:0.09, Z:-0.11 [[ 0.99989731 -0.00662278 -0.01270846 0.65230854] [ 0.00665168 0.99997538 0.00223303 0.08972531] [ 0.01269336 -0.00231733 0.99991675 -0.10615146] [ 0. 0. 0. 1. ]] SLAMing on 12.722414036999998 meters Centerline goodness [0,1] 0.6714749692014783 Centerline is valid? [False, False] Translation: X:0.65, Y:0.09, Z:-0.11 [[ 0.99990097 -0.00598417 -0.01273714 0.6527168 ] [ 0.0060048 0.99998072 0.00158185 0.09340634] [ 0.01272743 -0.00165818 0.99991763 -0.10577034] [ 0. 0. 0. 1. ]] SLAMing on 12.752414037 meters Centerline goodness [0,1] 0.6735941045631221 Centerline is valid? [False, False] Translation: X:0.65, Y:0.10, Z:-0.11 [[ 9.99900079e-01 -6.03644313e-03 -1.27825345e-02 6.52673590e-01] [ 6.04898158e-03 9.99981261e-01 9.42469636e-04 9.55642278e-02] [ 1.27766058e-02 -1.01969678e-03 9.99917856e-01 -1.05311666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.782414036999999 meters Centerline goodness [0,1] 0.6707963012837777 Centerline is valid? [False, False] Translation: X:0.65, Y:0.10, Z:-0.11 [[ 9.99897853e-01 -5.87415256e-03 -1.30298762e-02 6.53481032e-01] [ 5.88482403e-03 9.99982379e-01 7.80809843e-04 9.70123469e-02] [ 1.30250600e-02 -8.57408614e-04 9.99914803e-01 -1.05552744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.812414036999998 meters Centerline goodness [0,1] 0.6745285142008373 Centerline is valid? [False, False] Translation: X:0.65, Y:0.10, Z:-0.11 [[ 9.99896889e-01 -5.91200770e-03 -1.30866434e-02 6.54109689e-01] [ 5.91536094e-03 9.99982480e-01 2.17540606e-04 9.96540692e-02] [ 1.30851281e-02 -2.94930394e-04 9.99914343e-01 -1.06021541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.842414037 meters Centerline goodness [0,1] 0.6666291603843644 Centerline is valid? [False, False] Translation: X:0.65, Y:0.10, Z:-0.11 [[ 9.99895329e-01 -5.90021952e-03 -1.32105513e-02 6.54833721e-01] [ 5.90215999e-03 9.99982576e-01 1.07905599e-04 1.00649575e-01] [ 1.32096844e-02 -1.85865092e-04 9.99912731e-01 -1.06610193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.872414036999999 meters Centerline goodness [0,1] 0.6656591857448968 Centerline is valid? [False, False] Translation: X:0.66, Y:0.10, Z:-0.11 [[ 9.99894253e-01 -5.84842895e-03 -1.33146274e-02 6.55715132e-01] [ 5.85016958e-03 9.99982883e-01 9.17855183e-05 1.01531889e-01] [ 1.33138627e-02 -1.69668640e-04 9.99911352e-01 -1.07509241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.902414037 meters Centerline goodness [0,1] 0.6632625333997555 Centerline is valid? [False, False] Translation: X:0.66, Y:0.10, Z:-0.11 [[ 9.99891899e-01 -5.74377908e-03 -1.35350934e-02 6.57586064e-01] [ 5.74523023e-03 9.99983494e-01 6.83334507e-05 1.03623175e-01] [ 1.35344775e-02 -1.46088292e-04 9.99908394e-01 -1.09448263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.932414037 meters Centerline goodness [0,1] 0.6780584110558922 Centerline is valid? [False, False] Translation: X:0.66, Y:0.11, Z:-0.11 [[ 9.99888788e-01 -5.80407468e-03 -1.37377186e-02 6.58313862e-01] [ 5.80104250e-03 9.99983140e-01 -2.60557305e-04 1.05435320e-01] [ 1.37389993e-02 1.80835238e-04 9.99905599e-01 -1.09807471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.962414036999999 meters Centerline goodness [0,1] 0.6784087803989434 Centerline is valid? [False, False] Translation: X:0.66, Y:0.11, Z:-0.11 [[ 9.99885003e-01 -6.00055802e-03 -1.39274618e-02 6.58720039e-01] [ 5.98703984e-03 9.99981565e-01 -1.01210457e-03 1.08511019e-01] [ 1.39332782e-02 9.28603909e-04 9.99902496e-01 -1.09632902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.992414037 meters Centerline goodness [0,1] 0.6738205280739487 Centerline is valid? [False, False] Translation: X:0.66, Y:0.11, Z:-0.11 [[ 0.99989997 -0.00282955 -0.01385782 0.65836499] [ 0.00285364 0.99999445 0.00171865 0.11219006] [ 0.01385288 -0.00175802 0.9999025 -0.10945185] [ 0. 0. 0. 1. ]] SLAMing on 13.022414036999999 meters Centerline goodness [0,1] 0.6889266522757544 Centerline is valid? [False, False] Translation: X:0.66, Y:0.11, Z:-0.11 [[ 0.99989781 -0.00263579 -0.01405104 0.65922907] [ 0.00265672 0.99999539 0.00147105 0.11351609] [ 0.01404709 -0.00150823 0.9999002 -0.10986125] [ 0. 0. 0. 1. ]] SLAMing on 13.052414036999998 meters Centerline goodness [0,1] 0.6924665076160763 Centerline is valid? [False, False] Translation: X:0.66, Y:0.12, Z:-0.11 [[ 9.99897484e-01 -2.47823889e-03 -1.41024791e-02 6.59862752e-01] [ 2.49107987e-03 9.99996498e-01 8.93054801e-04 1.15518824e-01] [ 1.41002165e-02 -9.28093651e-04 9.99900156e-01 -1.10210098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.082414037 meters Centerline goodness [0,1] 0.6942569513234582 Centerline is valid? [False, False] Translation: X:0.66, Y:0.12, Z:-0.11 [[ 9.99895045e-01 -2.32108492e-03 -1.43007234e-02 6.60533099e-01] [ 2.32556790e-03 9.99997252e-01 2.96858160e-04 1.18153633e-01] [ 1.42999950e-02 -3.30084307e-04 9.99897695e-01 -1.10164086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.112414036999999 meters Centerline goodness [0,1] 0.6933708668866378 Centerline is valid? [False, False] Translation: X:0.66, Y:0.12, Z:-0.11 [[ 9.99892331e-01 -1.59488772e-03 -1.45870793e-02 6.61941910e-01] [ 1.59723530e-03 9.99998713e-01 1.49286861e-04 1.21444409e-01] [ 1.45868224e-02 -1.72569785e-04 9.99893592e-01 -1.10667665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.142414036999998 meters Centerline goodness [0,1] 0.7031584831827076 Centerline is valid? [False, False] Translation: X:0.66, Y:0.13, Z:-0.11 [[ 0.99988429 0.00273155 -0.01496449 0.66292523] [-0.00268591 0.99999168 0.00306893 0.12723939] [ 0.01497275 -0.00302839 0.99988332 -0.1102883 ] [ 0. 0. 0. 1. ]] SLAMing on 13.172414037 meters Centerline goodness [0,1] 0.7100100544812589 Centerline is valid? [False, False] Translation: X:0.66, Y:0.13, Z:-0.11 [[ 0.99987887 0.00301589 -0.01526942 0.66375642] [-0.00298096 0.99999289 0.00230977 0.1302408 ] [ 0.01527628 -0.00226397 0.99988075 -0.10996502] [ 0. 0. 0. 1. ]] SLAMing on 13.202414036999999 meters Centerline goodness [0,1] 0.7134872190649921 Centerline is valid? [False, False] Translation: X:0.66, Y:0.13, Z:-0.11 [[ 0.99987189 0.00337787 -0.01564617 0.66496028] [-0.00334634 0.99999232 0.00204143 0.13132884] [ 0.01565295 -0.00198881 0.99987551 -0.1101416 ] [ 0. 0. 0. 1. ]] SLAMing on 13.232414036999998 meters Centerline goodness [0,1] 0.7420828258221681 Centerline is valid? [False, False] Translation: X:0.67, Y:0.13, Z:-0.11 [[ 0.99986627 0.00394056 -0.01587168 0.6664216 ] [-0.00391401 0.99999089 0.00170347 0.1329532 ] [ 0.01587825 -0.00164112 0.99987259 -0.11089317] [ 0. 0. 0. 1. ]] SLAMing on 13.262414037 meters Centerline goodness [0,1] 0.7233733358334896 Centerline is valid? [False, False] Translation: X:0.67, Y:0.13, Z:-0.11 [[ 0.99986011 0.00413518 -0.01620695 0.66734644] [-0.00411466 0.99999069 0.00129951 0.13495326] [ 0.01621217 -0.00123265 0.99986781 -0.11083219] [ 0. 0. 0. 1. ]] SLAMing on 13.292414036999999 meters Centerline goodness [0,1] 0.7446012502367872 Centerline is valid? [False, False] Translation: X:0.67, Y:0.14, Z:-0.11 [[ 0.99984193 0.00751532 -0.01611348 0.66699872] [-0.00744685 0.99996301 0.00430495 0.13836394] [ 0.01614523 -0.00418427 0.9998609 -0.11063123] [ 0. 0. 0. 1. ]] SLAMing on 13.322414037 meters Centerline goodness [0,1] 0.741845116566165 Centerline is valid? [False, False] Translation: X:0.67, Y:0.14, Z:-0.11 [[ 0.99983426 0.00765818 -0.01651694 0.66804477] [-0.00759639 0.99996392 0.00380073 0.14032328] [ 0.01654545 -0.00367463 0.99985636 -0.11054201] [ 0. 0. 0. 1. ]] SLAMing on 13.352414036999999 meters Centerline goodness [0,1] 0.7447657976662944 Centerline is valid? [False, False] Translation: X:0.67, Y:0.14, Z:-0.11 [[ 0.99982609 0.00791472 -0.01688601 0.66938524] [-0.00785505 0.99996268 0.00359733 0.14143269] [ 0.01691385 -0.00346406 0.99985095 -0.11102207] [ 0. 0. 0. 1. ]] SLAMing on 13.382414036999998 meters Centerline goodness [0,1] 0.7360859188544153 Centerline is valid? [False, False] Translation: X:0.67, Y:0.14, Z:-0.11 [[ 0.99981695 0.00843042 -0.01717528 0.67025884] [-0.00838142 0.9999606 0.00292291 0.1433423 ] [ 0.01719925 -0.00277842 0.99984822 -0.11055715] [ 0. 0. 0. 1. ]] SLAMing on 13.412414037 meters Centerline goodness [0,1] 0.7601750442393228 Centerline is valid? [False, False] Translation: X:0.67, Y:0.15, Z:-0.11 [[ 0.99980456 0.00889694 -0.01765479 0.67182875] [-0.00885187 0.99995736 0.00262962 0.14501428] [ 0.01767743 -0.00247283 0.99984068 -0.1108225 ] [ 0. 0. 0. 1. ]] SLAMing on 13.442414036999999 meters Centerline goodness [0,1] 0.76731972854368 Centerline is valid? [False, False] Translation: X:0.67, Y:0.15, Z:-0.11 [[ 0.99979431 0.00923984 -0.01805427 0.67312742] [-0.00920465 0.99995557 0.00203162 0.14773238] [ 0.01807224 -0.00186502 0.99983494 -0.11086319] [ 0. 0. 0. 1. ]] SLAMing on 13.472414036999998 meters Centerline goodness [0,1] 0.7720713993206947 Centerline is valid? [False, False] Translation: X:0.67, Y:0.15, Z:-0.11 [[ 0.99978199 0.00969911 -0.01849042 0.67474311] [-0.00966991 0.99995185 0.00166821 0.15063246] [ 0.01850571 -0.00148905 0.99982765 -0.11127568] [ 0. 0. 0. 1. ]] SLAMing on 13.502414037 meters Centerline goodness [0,1] 0.7720776216795305 Centerline is valid? [False, False] Translation: X:0.68, Y:0.16, Z:-0.11 [[ 0.99976921 0.0109871 -0.01846086 0.67606342] [-0.01096158 0.99993882 0.00148333 0.15504694] [ 0.01847603 -0.00128062 0.99982848 -0.11183433] [ 0. 0. 0. 1. ]] SLAMing on 13.532414036999999 meters Centerline goodness [0,1] 0.7756439938586016 Centerline is valid? [False, False] Translation: X:0.68, Y:0.16, Z:-0.11 [[ 9.99761359e-01 1.11490307e-02 -1.87862712e-02 6.76994694e-01] [-1.11289651e-02 9.99937384e-01 1.17231073e-03 1.56227316e-01] [ 1.87981650e-02 -9.62959212e-04 9.99822835e-01 -1.11904599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.562414036999998 meters Centerline goodness [0,1] 0.7041084520680592 Centerline is valid? [False, False] Translation: X:0.73, Y:0.16, Z:-0.11 [[ 0.99978471 0.00918085 -0.01860776 0.72570653] [-0.00921099 0.9999564 -0.00153441 0.15782275] [ 0.01859286 0.00170548 0.99982568 -0.10926108] [ 0. 0. 0. 1. ]] SLAMing on 13.592414037 meters Centerline goodness [0,1] 0.7779897285399853 Centerline is valid? [False, False] Translation: X:0.67, Y:0.16, Z:-0.11 [[ 9.99798056e-01 1.17229595e-02 -1.63223438e-02 6.73459235e-01] [-1.17237250e-02 9.99931274e-01 4.87928492e-05 1.59056929e-01] [ 1.63217940e-02 1.42575674e-04 9.99866780e-01 -1.11874621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.622414036999999 meters Centerline goodness [0,1] 0.779276186739898 Centerline is valid? [False, False] Translation: X:0.67, Y:0.16, Z:-0.11 [[ 9.99801604e-01 1.14252536e-02 -1.63161432e-02 6.73084159e-01] [-1.14336958e-02 9.99934543e-01 -4.24219827e-04 1.59941121e-01] [ 1.63102284e-02 6.10689481e-04 9.99866793e-01 -1.11282753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.652414037 meters Centerline goodness [0,1] 0.7795233069049314 Centerline is valid? [False, False] Translation: X:0.67, Y:0.16, Z:-0.11 [[ 9.99800660e-01 1.13129592e-02 -1.64516696e-02 6.73354754e-01] [-1.13254313e-02 9.99935644e-01 -6.65133724e-04 1.61002571e-01] [ 1.64430862e-02 8.51323391e-04 9.99864441e-01 -1.11182104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.682414037 meters Centerline goodness [0,1] 0.7791647252127425 Centerline is valid? [False, False] Translation: X:0.67, Y:0.16, Z:-0.11 [[ 9.99799540e-01 1.12841959e-02 -1.65392672e-02 6.73716741e-01] [-1.12957687e-02 9.99936017e-01 -6.06467074e-04 1.60814045e-01] [ 1.65313654e-02 7.93169238e-04 9.99863033e-01 -1.11457785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.712414036999999 meters Centerline goodness [0,1] 0.7801432355538114 Centerline is valid? [False, False] Translation: X:0.67, Y:0.16, Z:-0.11 [[ 9.99801508e-01 1.11403268e-02 -1.65177772e-02 6.73907288e-01] [-1.11512993e-02 9.99937659e-01 -5.72326865e-04 1.60271255e-01] [ 1.65103715e-02 7.56407941e-04 9.99863408e-01 -1.11882959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.742414037 meters Centerline goodness [0,1] 0.7793247391037447 Centerline is valid? [False, False] Translation: X:0.67, Y:0.16, Z:-0.11 [[ 9.99800276e-01 1.11834187e-02 -1.65632194e-02 6.74551216e-01] [-1.11907575e-02 9.99937320e-01 -3.50462164e-04 1.59505001e-01] [ 1.65582618e-02 5.35747140e-04 9.99862759e-01 -1.12690861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.772414036999999 meters Centerline goodness [0,1] 0.7790842948482399 Centerline is valid? [False, False] Translation: X:0.68, Y:0.16, Z:-0.12 [[ 9.99910924e-01 1.25306215e-02 -4.59643619e-03 6.76274182e-01] [-1.25277199e-02 9.99921308e-01 6.59509291e-04 1.58545585e-01] [ 4.60433854e-03 -6.01867679e-04 9.99989219e-01 -1.19983053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.802414036999998 meters Centerline goodness [0,1] 0.7823820180508079 Centerline is valid? [False, False] Translation: X:0.68, Y:0.16, Z:-0.12 [[ 9.99913174e-01 1.22791131e-02 -4.78193828e-03 6.75499392e-01] [-1.22801774e-02 9.99924577e-01 -1.93265892e-04 1.59350824e-01] [ 4.77920448e-03 2.51972162e-04 9.99988548e-01 -1.17843710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.832414037 meters Centerline goodness [0,1] 0.7770608439646712 Centerline is valid? [False, False] Translation: X:0.68, Y:0.16, Z:-0.12 [[ 0.99994068 0.00949731 -0.00533249 0.67721121] [-0.00951986 0.99994578 -0.00421964 0.16067523] [ 0.00529213 0.00427016 0.99997688 -0.11748119] [ 0. 0. 0. 1. ]] SLAMing on 13.862414036999999 meters Centerline goodness [0,1] 0.7758147512864494 Centerline is valid? [False, False] Translation: X:0.68, Y:0.16, Z:-0.12 [[ 0.9999386 0.00961155 -0.00551552 0.67753415] [-0.00963375 0.99994554 -0.00401224 0.15953864] [ 0.00547666 0.00406513 0.99997674 -0.11740779] [ 0. 0. 0. 1. ]] SLAMing on 13.892414036999998 meters Centerline goodness [0,1] 0.7804913860610807 Centerline is valid? [False, False] Translation: X:0.68, Y:0.16, Z:-0.12 [[ 0.99993604 0.0097475 -0.00573659 0.67761386] [-0.00977044 0.99994433 -0.0039837 0.15895947] [ 0.00569744 0.0040395 0.99997561 -0.11671094] [ 0. 0. 0. 1. ]] SLAMing on 13.922414037 meters Centerline goodness [0,1] 0.7815148694331489 Centerline is valid? [False, False] Translation: X:0.68, Y:0.16, Z:-0.12 [[ 0.99993498 0.00982202 -0.00579343 0.67744873] [-0.00984614 0.99994292 -0.00414942 0.15940001] [ 0.00575234 0.00420619 0.99997461 -0.11606823] [ 0. 0. 0. 1. ]] SLAMing on 13.952414036999999 meters Centerline goodness [0,1] 0.7853582250024436 Centerline is valid? [False, False] Translation: X:0.68, Y:0.16, Z:-0.12 [[ 0.99992749 0.0102577 -0.00630773 0.67853203] [-0.01028391 0.99993856 -0.00413816 0.15959274] [ 0.0062649 0.00420273 0.99997154 -0.11569303] [ 0. 0. 0. 1. ]] SLAMing on 13.982414036999998 meters Centerline goodness [0,1] 0.7806265012990833 Centerline is valid? [False, False] Translation: X:0.68, Y:0.16, Z:-0.12 [[ 0.99991544 0.01117487 -0.00665127 0.67990791] [-0.0111994 0.99993058 -0.00366227 0.15862421] [ 0.00660988 0.00373645 0.99997117 -0.11606155] [ 0. 0. 0. 1. ]] SLAMing on 14.012414037 meters Centerline goodness [0,1] 0.7825417013158539 Centerline is valid? [False, False] Translation: X:0.68, Y:0.16, Z:-0.12 [[ 0.9999073 0.01167989 -0.00699765 0.68117448] [-0.01170267 0.99992632 -0.00322457 0.15748213] [ 0.00695947 0.00330616 0.99997032 -0.11666822] [ 0. 0. 0. 1. ]] SLAMing on 14.042414036999999 meters Centerline goodness [0,1] 0.7856219039019986 Centerline is valid? [False, False] Translation: X:0.68, Y:0.16, Z:-0.12 [[ 0.9998995 0.01214436 -0.00731416 0.68243139] [-0.01216543 0.99992196 -0.00284328 0.1566214 ] [ 0.00727906 0.00293197 0.99996921 -0.11734556] [ 0. 0. 0. 1. ]] SLAMing on 14.072414037 meters Centerline goodness [0,1] 0.7859134262655906 Centerline is valid? [False, False] Translation: X:0.68, Y:0.16, Z:-0.12 [[ 0.99988451 0.01310839 -0.00768974 0.68416161] [-0.01312792 0.99991071 -0.00249591 0.15703065] [ 0.00765633 0.00259657 0.99996732 -0.11801025] [ 0. 0. 0. 1. ]] SLAMing on 14.102414036999999 meters Centerline goodness [0,1] 0.784898819148415 Centerline is valid? [False, False] Translation: X:0.68, Y:0.16, Z:-0.12 [[ 0.99988134 0.01319807 -0.00794503 0.68446075] [-0.01322108 0.99990854 -0.00285032 0.15796367] [ 0.00790669 0.00295502 0.99996438 -0.11731974] [ 0. 0. 0. 1. ]] SLAMing on 14.132414036999998 meters Centerline goodness [0,1] 0.7850376013282547 Centerline is valid? [False, False] Translation: X:0.68, Y:0.16, Z:-0.12 [[ 0.99987608 0.01349056 -0.00811377 0.68449871] [-0.01351347 0.99990483 -0.00277616 0.15676201] [ 0.00807554 0.00288546 0.99996323 -0.11653701] [ 0. 0. 0. 1. ]] SLAMing on 14.162414037 meters Centerline goodness [0,1] 0.7837739155834672 Centerline is valid? [False, False] Translation: X:0.68, Y:0.16, Z:-0.12 [[ 0.99987567 0.01347531 -0.00818964 0.68453867] [-0.01349753 0.99990536 -0.00266409 0.1551492 ] [ 0.00815296 0.0027743 0.99996292 -0.11638083] [ 0. 0. 0. 1. ]] SLAMing on 14.192414036999999 meters Centerline goodness [0,1] 0.7821502496042859 Centerline is valid? [False, False] Translation: X:0.68, Y:0.15, Z:-0.12 [[ 0.99988166 0.01310392 -0.00805995 0.68383196] [-0.01312662 0.99991001 -0.00276988 0.15396463] [ 0.00802292 0.00287535 0.99996368 -0.11595431] [ 0. 0. 0. 1. ]] SLAMing on 14.222414036999998 meters Centerline goodness [0,1] 0.7821237178399089 Centerline is valid? [False, False] Translation: X:0.68, Y:0.15, Z:-0.12 [[ 0.99988551 0.01278139 -0.00810011 0.68331381] [-0.01280518 0.99991383 -0.00289254 0.15321565] [ 0.00806244 0.00299593 0.99996301 -0.11520457] [ 0. 0. 0. 1. ]] SLAMing on 14.252414037 meters Centerline goodness [0,1] 0.7809982338567246 Centerline is valid? [False, False] Translation: X:0.68, Y:0.15, Z:-0.11 [[ 0.99989388 0.01199312 -0.00827007 0.68201138] [-0.01202181 0.99992185 -0.00342929 0.15296718] [ 0.0082283 0.00352835 0.99995992 -0.11308163] [ 0. 0. 0. 1. ]] SLAMing on 14.282414036999999 meters Centerline goodness [0,1] 0.7813216795035856 Centerline is valid? [False, False] Translation: X:0.68, Y:0.15, Z:-0.11 [[ 0.99989862 0.01160281 -0.00825343 0.68132942] [-0.01163244 0.99992604 -0.00355076 0.15213183] [ 0.00821162 0.00364641 0.99995964 -0.11233058] [ 0. 0. 0. 1. ]] SLAMing on 14.312414036999998 meters Centerline goodness [0,1] 0.779446563963877 Centerline is valid? [False, False] Translation: X:0.68, Y:0.15, Z:-0.11 [[ 0.99990681 0.01099872 -0.00808753 0.68022156] [-0.01102883 0.99993238 -0.00368748 0.1505703 ] [ 0.00804643 0.00377634 0.9999605 -0.11158651] [ 0. 0. 0. 1. ]] SLAMing on 14.342414037 meters Centerline goodness [0,1] 0.7741364038972542 Centerline is valid? [False, False] Translation: X:0.68, Y:0.15, Z:-0.11 [[ 0.99993658 0.0073871 -0.00850061 0.68142343] [-0.00744633 0.99994807 -0.00695764 0.1476047 ] [ 0.00844877 0.0070205 0.99993966 -0.11216167] [ 0. 0. 0. 1. ]] SLAMing on 14.372414036999999 meters Centerline goodness [0,1] 0.776223942823109 Centerline is valid? [False, False] Translation: X:0.68, Y:0.14, Z:-0.11 [[ 0.99993582 0.00751786 -0.00847583 0.68205257] [-0.00756909 0.99995318 -0.00602814 0.14472049] [ 0.00843011 0.00609191 0.99994591 -0.1134829 ] [ 0. 0. 0. 1. ]] SLAMing on 14.402414036999998 meters Centerline goodness [0,1] 0.7760038013779995 Centerline is valid? [False, False] Translation: X:0.68, Y:0.14, Z:-0.11 [[ 0.99993626 0.0075851 -0.00836278 0.68248032] [-0.00762836 0.99995763 -0.00515266 0.14243063] [ 0.00832334 0.00521612 0.99995176 -0.11478264] [ 0. 0. 0. 1. ]] SLAMing on 14.432414037 meters Centerline goodness [0,1] 0.7770604233179614 Centerline is valid? [False, False] Translation: X:0.68, Y:0.14, Z:-0.12 [[ 0.99994318 0.00697839 -0.00805899 0.68153977] [-0.00701593 0.99996462 -0.00464028 0.13975204] [ 0.00802632 0.00469656 0.99995676 -0.11503589] [ 0. 0. 0. 1. ]] SLAMing on 14.462414036999999 meters Centerline goodness [0,1] 0.7770604233179614 Centerline is valid? [False, False] Translation: X:0.68, Y:0.14, Z:-0.12 [[ 0.99994318 0.00697839 -0.00805899 0.68153977] [-0.00701593 0.99996462 -0.00464028 0.13975204] [ 0.00802632 0.00469656 0.99995676 -0.11503589] [ 0. 0. 0. 1. ]] SLAMing on 14.492414037 meters Centerline goodness [0,1] 0.7758319152958971 Centerline is valid? [False, False] Translation: X:0.68, Y:0.14, Z:-0.11 [[ 0.99994613 0.00677498 -0.00786338 0.68088864] [-0.00681014 0.99996689 -0.00445369 0.13871625] [ 0.00783294 0.004507 0.99995917 -0.11485074] [ 0. 0. 0. 1. ]] SLAMing on 14.522414036999999 meters Centerline goodness [0,1] 0.7732315737403717 Centerline is valid? [False, False] Translation: X:0.68, Y:0.14, Z:-0.11 [[ 0.99994753 0.00672476 -0.00772809 0.68050162] [-0.0067576 0.99996822 -0.00423015 0.13773042] [ 0.0076994 0.00428215 0.99996119 -0.11476834] [ 0. 0. 0. 1. ]] SLAMing on 14.552414036999998 meters Centerline goodness [0,1] 0.7753192683725499 Centerline is valid? [False, False] Translation: X:0.68, Y:0.14, Z:-0.11 [[ 0.99995013 0.00656751 -0.00752393 0.67935671] [-0.00659897 0.99996956 -0.00416348 0.1357142 ] [ 0.00749635 0.00421292 0.99996303 -0.11380072] [ 0. 0. 0. 1. ]] SLAMing on 14.582414037 meters Centerline goodness [0,1] 0.7784267457888465 Centerline is valid? [False, False] Translation: X:0.68, Y:0.13, Z:-0.11 [[ 0.99995194 0.00645611 -0.00737829 0.6784713 ] [-0.00648737 0.99997005 -0.0042196 0.13475842] [ 0.00735083 0.00426726 0.99996388 -0.11288051] [ 0. 0. 0. 1. ]] SLAMing on 14.612414036999999 meters Centerline goodness [0,1] 0.7705407549106518 Centerline is valid? [False, False] Translation: X:0.68, Y:0.13, Z:-0.11 [[ 0.99995259 0.00634673 -0.00738441 0.67799522] [-0.00637765 0.99997096 -0.00417104 0.13392702] [ 0.00735773 0.00421794 0.99996404 -0.11223309] [ 0. 0. 0. 1. ]] SLAMing on 14.642414036999998 meters Centerline goodness [0,1] 0.7680997320284283 Centerline is valid? [False, False] Translation: X:0.68, Y:0.13, Z:-0.11 [[ 0.99995562 0.00597461 -0.00728488 0.67688137] [-0.00600535 0.99997312 -0.00420546 0.13254994] [ 0.00725956 0.00424902 0.99996462 -0.11111978] [ 0. 0. 0. 1. ]] SLAMing on 14.672414037 meters Centerline goodness [0,1] 0.7763023255813953 Centerline is valid? [False, False] Translation: X:0.68, Y:0.13, Z:-0.11 [[ 0.99995581 0.00585835 -0.00735188 0.6767702 ] [-0.00588913 0.99997396 -0.00417196 0.13176062] [ 0.00732725 0.00421508 0.99996427 -0.11079523] [ 0. 0. 0. 1. ]] SLAMing on 14.702414036999999 meters Centerline goodness [0,1] 0.776517352797601 Centerline is valid? [False, False] Translation: X:0.68, Y:0.13, Z:-0.11 [[ 0.99995402 0.005971 -0.00750405 0.67710804] [-0.00599944 0.99997488 -0.00377366 0.13011835] [ 0.00748133 0.00381851 0.99996472 -0.1108939 ] [ 0. 0. 0. 1. ]] SLAMing on 14.732414036999998 meters Centerline goodness [0,1] 0.7746321993781037 Centerline is valid? [False, False] Translation: X:0.68, Y:0.13, Z:-0.11 [[ 0.99994772 0.00654683 -0.00785502 0.67865749] [-0.00656675 0.99997528 -0.00251253 0.12608922] [ 0.00783838 0.00256398 0.99996599 -0.112352 ] [ 0. 0. 0. 1. ]] SLAMing on 14.762414037 meters Centerline goodness [0,1] 0.7786358681787611 Centerline is valid? [False, False] Translation: X:0.68, Y:0.12, Z:-0.11 [[ 0.99994338 0.00692585 -0.0080794 0.67990917] [-0.00694117 0.99997416 -0.00186974 0.12472895] [ 0.00806624 0.00192571 0.99996561 -0.11350944] [ 0. 0. 0. 1. ]] SLAMing on 14.792414036999999 meters Centerline goodness [0,1] 0.7780841597923811 Centerline is valid? [False, False] Translation: X:0.68, Y:0.12, Z:-0.11 [[ 0.99993773 0.00738151 -0.00836922 0.68108434] [-0.0073941 0.99997158 -0.00147393 0.12410642] [ 0.0083581 0.00153572 0.99996389 -0.11415031] [ 0. 0. 0. 1. ]] SLAMing on 14.822414037 meters Centerline goodness [0,1] 0.7801002378917707 Centerline is valid? [False, False] Translation: X:0.68, Y:0.12, Z:-0.11 [[ 0.99992886 0.00809093 -0.00876403 0.68255602] [-0.00810011 0.99996668 -0.00101251 0.12378899] [ 0.00875555 0.00108342 0.99996108 -0.11472261] [ 0. 0. 0. 1. ]] SLAMing on 14.852414036999999 meters Centerline goodness [0,1] 0.7788923816568047 Centerline is valid? [False, False] Translation: X:0.68, Y:0.12, Z:-0.11 [[ 9.99915627e-01 9.47689678e-03 -8.88406127e-03 6.83189863e-01] [-9.48445860e-03 9.99954694e-01 -8.09421892e-04 1.24761016e-01] [ 8.87598796e-03 8.93614110e-04 9.99960208e-01 -1.14090448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.882414036999998 meters Centerline goodness [0,1] 0.7805493792847878 Centerline is valid? [False, False] Translation: X:0.68, Y:0.13, Z:-0.11 [[ 9.99907700e-01 1.00533019e-02 -9.13904755e-03 6.83800494e-01] [-1.00615786e-02 9.99949011e-01 -8.60117040e-04 1.25435456e-01] [ 9.12993454e-03 9.51990896e-04 9.99957868e-01 -1.13702151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.912414037 meters Centerline goodness [0,1] 0.7819940304032948 Centerline is valid? [False, False] Translation: X:0.68, Y:0.13, Z:-0.11 [[ 9.99896852e-01 1.07171727e-02 -9.56179327e-03 6.84638047e-01] [-1.07266010e-02 9.99942031e-01 -9.35299208e-04 1.26093699e-01] [ 9.55121522e-03 1.03776827e-03 9.99953848e-01 -1.13130321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.942414036999999 meters Centerline goodness [0,1] 0.7792791748754201 Centerline is valid? [False, False] Translation: X:0.69, Y:0.13, Z:-0.11 [[ 9.99873743e-01 1.27105357e-02 -9.53625205e-03 6.85266122e-01] [-1.27169124e-02 9.99918952e-01 -6.08339430e-04 1.26371084e-01] [ 9.52774683e-03 7.29534305e-04 9.99954344e-01 -1.12430324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.972414036999998 meters Centerline goodness [0,1] 0.7778962248847072 Centerline is valid? [False, False] Translation: X:0.69, Y:0.13, Z:-0.11 [[ 9.99860393e-01 1.34068003e-02 -9.97262268e-03 6.86531389e-01] [-1.34122799e-02 9.99909935e-01 -4.82782286e-04 1.26188071e-01] [ 9.96525193e-03 6.16470493e-04 9.99950156e-01 -1.12521266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.002414037 meters Centerline goodness [0,1] 0.7784184323260391 Centerline is valid? [False, False] Translation: X:0.69, Y:0.13, Z:-0.11 [[ 9.99847048e-01 1.40566852e-02 -1.04062740e-02 6.87718676e-01] [-1.40603949e-02 9.99901108e-01 -2.83408818e-04 1.25768329e-01] [ 1.04012611e-02 4.29681792e-04 9.99945813e-01 -1.12612858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.032414036999999 meters Centerline goodness [0,1] 0.7806651127368397 Centerline is valid? [False, False] Translation: X:0.69, Y:0.13, Z:-0.11 [[ 9.99824688e-01 1.51863313e-02 -1.09530286e-02 6.88885415e-01] [-1.51864139e-02 9.99884677e-01 7.56299609e-05 1.25533830e-01] [ 1.09529140e-02 9.07205232e-05 9.99940011e-01 -1.11936868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.062414036999998 meters Centerline goodness [0,1] 0.7802937717619388 Centerline is valid? [False, False] Translation: X:0.69, Y:0.13, Z:-0.11 [[ 9.99816865e-01 1.54367828e-02 -1.13111282e-02 6.89504052e-01] [-1.54369480e-02 9.99880841e-01 7.27078527e-05 1.25601290e-01] [ 1.13109028e-02 1.01914761e-04 9.99936024e-01 -1.11581298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.092414037 meters Centerline goodness [0,1] 0.7804681194511703 Centerline is valid? [False, False] Translation: X:0.69, Y:0.13, Z:-0.11 [[ 9.99809923e-01 1.56983203e-02 -1.15620512e-02 6.90137386e-01] [-1.56974639e-02 9.99876774e-01 1.64830356e-04 1.25371861e-01] [ 1.15632140e-02 1.66958555e-05 9.99933144e-01 -1.11586438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.122414036999999 meters Centerline goodness [0,1] 0.7802275960170697 Centerline is valid? [False, False] Translation: X:0.69, Y:0.12, Z:-0.11 [[ 0.99983643 0.01351086 -0.01202335 0.6923555 ] [-0.01354419 0.99990464 -0.00269487 0.12473828] [ 0.01198579 0.00285728 0.99992409 -0.11252448] [ 0. 0. 0. 1. ]] SLAMing on 15.152414036999998 meters Centerline goodness [0,1] 0.7823584496265674 Centerline is valid? [False, False] Translation: X:0.69, Y:0.12, Z:-0.11 [[ 0.99983193 0.01358932 -0.01230608 0.69310484] [-0.01361683 0.99990497 -0.00215442 0.12264884] [ 0.01227563 0.00232163 0.99992196 -0.1129951 ] [ 0. 0. 0. 1. ]] SLAMing on 15.182414037 meters Centerline goodness [0,1] 0.7810904449307075 Centerline is valid? [False, False] Translation: X:0.69, Y:0.12, Z:-0.11 [[ 0.99987927 0.00943941 -0.01234267 0.69279384] [-0.00950963 0.99993886 -0.00564274 0.11977368] [ 0.01228866 0.00575943 0.9999079 -0.11272842] [ 0. 0. 0. 1. ]] SLAMing on 15.212414036999999 meters Centerline goodness [0,1] 0.7815492126877523 Centerline is valid? [False, False] Translation: X:0.70, Y:0.12, Z:-0.12 [[ 0.99997353 0.00395753 -0.00610556 0.69966679] [-0.00394819 0.99999102 0.00153987 0.11601176] [ 0.0061116 -0.00151572 0.99998018 -0.11578711] [ 0. 0. 0. 1. ]] SLAMing on 15.242414037 meters Centerline goodness [0,1] 0.7775114748909038 Centerline is valid? [False, False] Translation: X:0.70, Y:0.11, Z:-0.12 [[ 9.99980921e-01 5.34919136e-05 -6.17690494e-03 6.99687156e-01] [-6.65428950e-05 9.99997766e-01 -2.11268127e-03 1.14560036e-01] [ 6.17677813e-03 2.11305199e-03 9.99978691e-01 -1.15493440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.272414036999999 meters Centerline goodness [0,1] 0.7762709569691089 Centerline is valid? [False, False] Translation: X:0.70, Y:0.11, Z:-0.12 [[ 9.99981386e-01 -9.75627476e-04 -6.02292608e-03 6.98470199e-01] [ 9.64686614e-04 9.99997880e-01 -1.81917396e-03 1.11233318e-01] [ 6.02468815e-03 1.81332986e-03 9.99980207e-01 -1.15007902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.302414036999998 meters Centerline goodness [0,1] 0.7762303735483727 Centerline is valid? [False, False] Translation: X:0.70, Y:0.11, Z:-0.11 [[ 0.99996508 -0.00586688 -0.00595191 0.69679522] [ 0.00583262 0.99996641 -0.00575797 0.10935172] [ 0.00598549 0.00572305 0.99996571 -0.11317503] [ 0. 0. 0. 1. ]] SLAMing on 15.332414037 meters Centerline goodness [0,1] 0.7745945703789983 Centerline is valid? [False, False] Translation: X:0.70, Y:0.11, Z:-0.11 [[ 0.99996202 -0.00623406 -0.00609059 0.69684145] [ 0.00620327 0.99996795 -0.00506233 0.1065883 ] [ 0.00612195 0.00502436 0.99996864 -0.11339415] [ 0. 0. 0. 1. ]] SLAMing on 15.362414036999999 meters Centerline goodness [0,1] 0.77517559164318 Centerline is valid? [False, False] Translation: X:0.70, Y:0.10, Z:-0.11 [[ 0.99995804 -0.00664259 -0.00630851 0.69690631] [ 0.00661515 0.99996861 -0.00436138 0.1030386 ] [ 0.00633729 0.00431946 0.99997059 -0.11344714] [ 0. 0. 0. 1. ]] SLAMing on 15.392414036999998 meters Centerline goodness [0,1] 0.7736261286367183 Centerline is valid? [False, False] Translation: X:0.70, Y:0.10, Z:-0.11 [[ 0.99992377 -0.01053298 -0.00644337 0.6972581 ] [ 0.01048858 0.99992128 -0.00688675 0.09778146] [ 0.0065154 0.00681865 0.99995553 -0.1139702 ] [ 0. 0. 0. 1. ]] SLAMing on 15.422414037 meters Centerline goodness [0,1] 0.774283235837096 Centerline is valid? [False, False] Translation: X:0.70, Y:0.09, Z:-0.11 [[ 0.99992021 -0.01078129 -0.00658367 0.69738387] [ 0.01074136 0.99992389 -0.00606986 0.09474715] [ 0.00664861 0.00599865 0.99995991 -0.11428625] [ 0. 0. 0. 1. ]] SLAMing on 15.452414036999999 meters Centerline goodness [0,1] 0.7719465648854962 Centerline is valid? [False, False] Translation: X:0.70, Y:0.09, Z:-0.11 [[ 0.99991709 -0.0110538 -0.00660532 0.69732363] [ 0.01101736 0.99992403 -0.00552829 0.09275798] [ 0.00666592 0.00545506 0.9999629 -0.11449367] [ 0. 0. 0. 1. ]] SLAMing on 15.482414036999998 meters Centerline goodness [0,1] 0.7693894755524004 Centerline is valid? [False, False] Translation: X:0.70, Y:0.09, Z:-0.11 [[ 0.99991238 -0.01152208 -0.00651795 0.69685279] [ 0.01149068 0.99992229 -0.00483437 0.09012912] [ 0.00657314 0.00475905 0.99996707 -0.11464371] [ 0. 0. 0. 1. ]] SLAMing on 15.512414037 meters Centerline goodness [0,1] 0.7668402970187299 Centerline is valid? [False, False] Translation: X:0.70, Y:0.09, Z:-0.11 [[ 0.99991105 -0.0116011 -0.00658127 0.69667549] [ 0.01157187 0.99992309 -0.00446152 0.08879444] [ 0.00663253 0.00438496 0.99996839 -0.1143983 ] [ 0. 0. 0. 1. ]] SLAMing on 15.542414036999999 meters Centerline goodness [0,1] 0.7649252084896087 Centerline is valid? [False, False] Translation: X:0.70, Y:0.09, Z:-0.11 [[ 0.99991031 -0.01167293 -0.00656637 0.69642005] [ 0.01164685 0.99992418 -0.00399707 0.08696441] [ 0.00661252 0.00392024 0.99997045 -0.11430715] [ 0. 0. 0. 1. ]] SLAMing on 15.572414037 meters Centerline goodness [0,1] 0.7552888122554546 Centerline is valid? [False, False] Translation: X:0.70, Y:0.08, Z:-0.11 [[ 0.99986361 -0.01514264 -0.00659185 0.69661073] [ 0.01509601 0.99986107 -0.00706755 0.08356518] [ 0.00669796 0.00696708 0.9999533 -0.11418586] [ 0. 0. 0. 1. ]] SLAMing on 15.602414036999999 meters Centerline goodness [0,1] 0.7576112153659345 Centerline is valid? [False, False] Translation: X:0.70, Y:0.08, Z:-0.12 [[ 0.99986584 -0.01493919 -0.00671769 0.69740756] [ 0.01489896 0.99987101 -0.00599891 0.08007003] [ 0.00680645 0.00589801 0.99995944 -0.11524979] [ 0. 0. 0. 1. ]] SLAMing on 15.632414036999998 meters Centerline goodness [0,1] 0.7548203909138933 Centerline is valid? [False, False] Translation: X:0.70, Y:0.08, Z:-0.12 [[ 0.99986766 -0.01469623 -0.00697769 0.69858345] [ 0.01466104 0.99987968 -0.00506749 0.07765272] [ 0.00705132 0.00496452 0.99996282 -0.11641764] [ 0. 0. 0. 1. ]] SLAMing on 15.662414037 meters Centerline goodness [0,1] 0.7487144402021584 Centerline is valid? [False, False] Translation: X:0.70, Y:0.08, Z:-0.12 [[ 0.99986809 -0.01459931 -0.00711762 0.69937163] [ 0.01456817 0.99988417 -0.00440701 0.07707264] [ 0.00718114 0.00430273 0.99996496 -0.11736015] [ 0. 0. 0. 1. ]] SLAMing on 15.692414036999999 meters Centerline goodness [0,1] 0.7508772704199863 Centerline is valid? [False, False] Translation: X:0.70, Y:0.07, Z:-0.12 [[ 9.99902401e-01 -1.19711806e-02 -7.20274197e-03 6.98685971e-01] [ 1.19674432e-02 9.99928230e-01 -5.61771827e-04 7.49370805e-02] [ 7.20895010e-03 4.75518593e-04 9.99973902e-01 -1.17208218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.722414036999998 meters Centerline goodness [0,1] 0.733196793516561 Centerline is valid? [False, False] Translation: X:0.70, Y:0.07, Z:-0.12 [[ 9.99903505e-01 -1.18346434e-02 -7.27473354e-03 6.99107132e-01] [ 1.18347429e-02 9.99929967e-01 -2.93645503e-05 7.37705766e-02] [ 7.27457158e-03 -5.67328845e-05 9.99973538e-01 -1.17724870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.752414037 meters Centerline goodness [0,1] 0.7495336127998595 Centerline is valid? [False, False] Translation: X:0.70, Y:0.07, Z:-0.12 [[ 9.99903713e-01 -1.17214842e-02 -7.42776995e-03 6.99558559e-01] [ 1.17249233e-02 9.99931173e-01 4.19622834e-04 7.23001599e-02] [ 7.42234011e-03 -5.06672463e-04 9.99972326e-01 -1.18019549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.782414036999999 meters Centerline goodness [0,1] 0.7212600153660411 Centerline is valid? [False, False] Translation: X:0.70, Y:0.07, Z:-0.12 [[ 9.99903417e-01 -1.19188680e-02 -7.14827619e-03 6.99015338e-01] [ 1.19251996e-02 9.99928536e-01 8.43785474e-04 7.03127888e-02] [ 7.13770838e-03 -9.28948599e-04 9.99974095e-01 -1.18343163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.812414036999998 meters Centerline goodness [0,1] 0.7493704701219646 Centerline is valid? [False, False] Translation: X:0.70, Y:0.07, Z:-0.12 [[ 9.99902101e-01 -1.20423092e-02 -7.12544324e-03 6.98990509e-01] [ 1.20490137e-02 9.99927004e-01 8.98739809e-04 7.00781898e-02] [ 7.11410021e-03 -9.84506386e-04 9.99974210e-01 -1.18416091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.842414037 meters Centerline goodness [0,1] 0.7127404638891943 Centerline is valid? [False, False] Translation: X:0.70, Y:0.07, Z:-0.12 [[ 9.99898844e-01 -1.23610933e-02 -7.03603925e-03 6.98450976e-01] [ 1.23667378e-02 9.99923241e-01 7.59280100e-04 7.00998315e-02] [ 7.02611364e-03 -8.46216147e-04 9.99974959e-01 -1.18009686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.872414036999999 meters Centerline goodness [0,1] 0.734727886681577 Centerline is valid? [False, False] Translation: X:0.70, Y:0.07, Z:-0.12 [[ 9.99896752e-01 -1.25010860e-02 -7.08580401e-03 6.98487420e-01] [ 1.25075679e-02 9.99921398e-01 8.71194036e-04 6.98791910e-02] [ 7.07435618e-03 -9.59730261e-04 9.99974516e-01 -1.18002157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.902414036999998 meters Centerline goodness [0,1] 0.7328416847742587 Centerline is valid? [False, False] Translation: X:0.70, Y:0.07, Z:-0.12 [[ 9.99884400e-01 -1.34649187e-02 -7.06270356e-03 6.98068619e-01] [ 1.34698917e-02 9.99909061e-01 6.57025501e-04 6.94002570e-02] [ 7.05321449e-03 -7.52083401e-04 9.99974843e-01 -1.17959824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.932414037 meters Centerline goodness [0,1] 0.7083059246590361 Centerline is valid? [False, False] Translation: X:0.70, Y:0.07, Z:-0.12 [[ 9.99882089e-01 -1.36619665e-02 -7.01126623e-03 6.98283834e-01] [ 1.36686263e-02 9.99906172e-01 9.02835196e-04 6.84303945e-02] [ 6.99827388e-03 -9.98563120e-04 9.99975013e-01 -1.18543528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.962414036999999 meters Centerline goodness [0,1] 0.6935190262090141 Centerline is valid? [False, False] Translation: X:0.70, Y:0.07, Z:-0.12 [[ 0.99987869 -0.01384211 -0.00714204 0.69888752] [ 0.01385146 0.99990327 0.00126108 0.06703728] [ 0.00712389 -0.00135985 0.9999737 -0.11925414] [ 0. 0. 0. 1. ]] SLAMing on 15.992414037 meters Centerline goodness [0,1] 0.6847267939433839 Centerline is valid? [False, False] Translation: X:0.70, Y:0.07, Z:-0.12 [[ 0.99986837 -0.01472587 -0.00681129 0.69818162] [ 0.01473434 0.99989073 0.00119513 0.06574308] [ 0.00679295 -0.00129533 0.99997609 -0.11966613] [ 0. 0. 0. 1. ]] SLAMing on 16.022414037 meters Centerline goodness [0,1] 0.690444293150023 Centerline is valid? [False, False] Translation: X:0.70, Y:0.07, Z:-0.12 [[ 0.99986446 -0.01498371 -0.0068222 0.69815704] [ 0.01499164 0.999887 0.00111375 0.06603912] [ 0.00680474 -0.00121588 0.99997611 -0.11968857] [ 0. 0. 0. 1. ]] SLAMing on 16.052414037000002 meters Centerline goodness [0,1] 0.6974588741736399 Centerline is valid? [False, False] Translation: X:0.70, Y:0.07, Z:-0.12 [[ 9.99860614e-01 -1.52702154e-02 -6.75081449e-03 6.97978986e-01] [ 1.52766021e-02 9.99882905e-01 8.95509354e-04 6.70621308e-02] [ 6.73634938e-03 -9.98514039e-04 9.99976812e-01 -1.19665621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.082414037 meters Centerline goodness [0,1] 0.6817001804021648 Centerline is valid? [False, False] Translation: X:0.70, Y:0.07, Z:-0.12 [[ 9.99848005e-01 -1.61273520e-02 -6.62383812e-03 6.97303241e-01] [ 1.61270390e-02 9.99869946e-01 -1.00663610e-04 7.01510700e-02] [ 6.62460010e-03 -6.17458611e-06 9.99978057e-01 -1.19150228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.112414037 meters Centerline goodness [0,1] 0.6731078196183726 Centerline is valid? [False, False] Translation: X:0.70, Y:0.07, Z:-0.12 [[ 9.99846140e-01 -1.62249155e-02 -6.66692553e-03 6.97445898e-01] [ 1.62238861e-02 9.99868362e-01 -2.08461159e-04 7.06675732e-02] [ 6.66943017e-03 1.00265645e-04 9.99977754e-01 -1.19269498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.142414037 meters Centerline goodness [0,1] 0.6713974039711748 Centerline is valid? [False, False] Translation: X:0.70, Y:0.07, Z:-0.12 [[ 9.99845049e-01 -1.62599280e-02 -6.74490058e-03 6.97990660e-01] [ 1.62590660e-02 9.99867796e-01 -1.82622775e-04 7.03388251e-02] [ 6.74697831e-03 7.29286933e-05 9.99977236e-01 -1.19852554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.172414037 meters Centerline goodness [0,1] 0.671855020062613 Centerline is valid? [False, False] Translation: X:0.70, Y:0.07, Z:-0.12 [[ 9.99846076e-01 -1.61334545e-02 -6.89457024e-03 6.98577933e-01] [ 1.61328841e-02 9.99869847e-01 -1.38345510e-04 7.08742054e-02] [ 6.89590488e-03 2.70949130e-05 9.99976223e-01 -1.20206897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.202414037 meters Centerline goodness [0,1] 0.6637020077492075 Centerline is valid? [False, False] Translation: X:0.70, Y:0.07, Z:-0.12 [[ 9.99845035e-01 -1.60662881e-02 -7.19580368e-03 6.99468384e-01] [ 1.60639784e-02 9.99870894e-01 -3.78667350e-04 7.23700441e-02] [ 7.20095844e-03 2.63015435e-04 9.99974038e-01 -1.20433469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.232414037 meters Centerline goodness [0,1] 0.6714475138121547 Centerline is valid? [False, False] Translation: X:0.70, Y:0.08, Z:-0.12 [[ 0.9998906 -0.01307645 -0.00691319 0.69855881] [ 0.01309428 0.99991104 0.00253973 0.07542302] [ 0.00687936 -0.00262998 0.99997288 -0.12033583] [ 0. 0. 0. 1. ]] SLAMing on 16.262414037 meters Centerline goodness [0,1] 0.6608379999557317 Centerline is valid? [False, False] Translation: X:0.70, Y:0.08, Z:-0.12 [[ 0.99989204 -0.01277179 -0.00726631 0.69995472] [ 0.01279051 0.99991498 0.00253604 0.07702756] [ 0.0072333 -0.00262871 0.99997038 -0.1211381 ] [ 0. 0. 0. 1. ]] SLAMing on 16.292414037 meters Centerline goodness [0,1] 0.6665631378116958 Centerline is valid? [False, False] Translation: X:0.70, Y:0.08, Z:-0.12 [[ 0.99989048 -0.01289295 -0.00726659 0.70010735] [ 0.01290934 0.99991422 0.00221429 0.07812489] [ 0.00723742 -0.00230785 0.99997115 -0.12127879] [ 0. 0. 0. 1. ]] SLAMing on 16.322414037 meters Centerline goodness [0,1] 0.6677692922475802 Centerline is valid? [False, False] Translation: X:0.70, Y:0.08, Z:-0.12 [[ 0.9998903 -0.01286358 -0.00734303 0.70066046] [ 0.01288069 0.99991442 0.00228811 0.07831327] [ 0.00731297 -0.00238244 0.99997042 -0.12182942] [ 0. 0. 0. 1. ]] SLAMing on 16.352414037 meters Centerline goodness [0,1] 0.6677692922475802 Centerline is valid? [False, False] Translation: X:0.70, Y:0.08, Z:-0.12 [[ 0.9998903 -0.01286358 -0.00734303 0.70066046] [ 0.01288069 0.99991442 0.00228811 0.07831327] [ 0.00731297 -0.00238244 0.99997042 -0.12182942] [ 0. 0. 0. 1. ]] SLAMing on 16.382414037 meters Centerline goodness [0,1] 0.6508566235953811 Centerline is valid? [False, False] Translation: X:0.70, Y:0.08, Z:-0.12 [[ 0.99988246 -0.01356606 -0.0071428 0.69980398] [ 0.01357788 0.99990652 0.0016083 0.07911584] [ 0.00712031 -0.0017051 0.9999732 -0.12130129] [ 0. 0. 0. 1. ]] SLAMing on 16.412414037 meters Centerline goodness [0,1] 0.6521371890906666 Centerline is valid? [False, False] Translation: X:0.70, Y:0.08, Z:-0.12 [[ 0.9998788 -0.01386652 -0.00707885 0.69950602] [ 0.01387551 0.99990298 0.00122232 0.08002359] [ 0.00706121 -0.00132039 0.9999742 -0.12109584] [ 0. 0. 0. 1. ]] SLAMing on 16.442414037 meters Centerline goodness [0,1] 0.6432722495602414 Centerline is valid? [False, False] Translation: X:0.70, Y:0.08, Z:-0.12 [[ 9.99880135e-01 -1.36037978e-02 -7.39274403e-03 7.00827670e-01] [ 1.36111894e-02 9.99906912e-01 9.50459268e-04 8.29300835e-02] [ 7.37912600e-03 -1.05096938e-03 9.99972222e-01 -1.21821238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.472414037 meters Centerline goodness [0,1] 0.6440553364966919 Centerline is valid? [False, False] Translation: X:0.70, Y:0.08, Z:-0.12 [[ 9.99882031e-01 -1.32700550e-02 -7.73490827e-03 7.02311179e-01] [ 1.32780568e-02 9.99911358e-01 9.84057182e-04 8.44321900e-02] [ 7.72116414e-03 -1.08664565e-03 9.99969601e-01 -1.22775952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.502414037 meters Centerline goodness [0,1] 0.6441074813245624 Centerline is valid? [False, False] Translation: X:0.70, Y:0.09, Z:-0.12 [[ 0.99988545 -0.01277323 -0.00811921 0.70408647] [ 0.01278316 0.99991761 0.00117141 0.08598213] [ 0.00810358 -0.00127506 0.99996635 -0.12399521] [ 0. 0. 0. 1. ]] SLAMing on 16.532414037000002 meters Centerline goodness [0,1] 0.6497389121713991 Centerline is valid? [False, False] Translation: X:0.70, Y:0.09, Z:-0.12 [[ 0.99992148 -0.00983903 -0.00776035 0.70326185] [ 0.00986985 0.99994352 0.00394314 0.0888243 ] [ 0.00772111 -0.00401943 0.99996211 -0.12417764] [ 0. 0. 0. 1. ]] SLAMing on 16.562414037 meters Centerline goodness [0,1] 0.6647717099373321 Centerline is valid? [False, False] Translation: X:0.70, Y:0.09, Z:-0.12 [[ 0.99992121 -0.00961006 -0.00807592 0.70438733] [ 0.00964036 0.99994661 0.00372087 0.0904032 ] [ 0.00803973 -0.00379844 0.99996047 -0.12464575] [ 0. 0. 0. 1. ]] SLAMing on 16.592414037 meters Centerline goodness [0,1] 0.6657556342130024 Centerline is valid? [False, False] Translation: X:0.70, Y:0.09, Z:-0.12 [[ 0.99992059 -0.00962203 -0.00813882 0.70481474] [ 0.00964943 0.99994788 0.00333463 0.09185521] [ 0.00810631 -0.0034129 0.99996132 -0.12488917] [ 0. 0. 0. 1. ]] SLAMing on 16.622414037000002 meters Centerline goodness [0,1] 0.677491173229586 Centerline is valid? [False, False] Translation: X:0.71, Y:0.09, Z:-0.13 [[ 0.99992015 -0.00963896 -0.00817247 0.70529349] [ 0.00966442 0.99994855 0.00308265 0.09307858] [ 0.00814233 -0.00316138 0.99996185 -0.12537185] [ 0. 0. 0. 1. ]] SLAMing on 16.652414037 meters Centerline goodness [0,1] 0.6439158444834887 Centerline is valid? [False, False] Translation: X:0.70, Y:0.10, Z:-0.13 [[ 0.99991525 -0.01030885 -0.00795097 0.70476178] [ 0.01032471 0.99994479 0.00195606 0.09629817] [ 0.00793036 -0.00203799 0.99996648 -0.12514488] [ 0. 0. 0. 1. ]] SLAMing on 16.682414037 meters Centerline goodness [0,1] 0.6596046150732069 Centerline is valid? [False, False] Translation: X:0.70, Y:0.10, Z:-0.13 [[ 0.99991342 -0.01041349 -0.00804446 0.70499848] [ 0.01042802 0.99994407 0.00176641 0.09723177] [ 0.00802561 -0.00185014 0.99996608 -0.12515528] [ 0. 0. 0. 1. ]] SLAMing on 16.712414037000002 meters Centerline goodness [0,1] 0.6522455056053054 Centerline is valid? [False, False] Translation: X:0.70, Y:0.10, Z:-0.12 [[ 0.99990898 -0.01089584 -0.00795628 0.70454689] [ 0.01090521 0.99993989 0.00113495 0.09883392] [ 0.00794344 -0.00122161 0.9999677 -0.12478796] [ 0. 0. 0. 1. ]] SLAMing on 16.742414037 meters Centerline goodness [0,1] 0.6554811866859624 Centerline is valid? [False, False] Translation: X:0.70, Y:0.10, Z:-0.12 [[ 9.99903681e-01 -1.12999843e-02 -8.05847571e-03 7.04998842e-01] [ 1.13027948e-02 9.99936075e-01 3.03299970e-04 1.02204516e-01] [ 8.05453329e-03 -3.94354054e-04 9.99967484e-01 -1.24974437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.772414037 meters Centerline goodness [0,1] 0.652511229073091 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.13 [[ 9.99902972e-01 -1.12382068e-02 -8.23098289e-03 7.05752740e-01] [ 1.12405449e-02 9.99936795e-01 2.37852464e-04 1.03342396e-01] [ 8.22778961e-03 -3.30350118e-04 9.99966097e-01 -1.25480888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.802414037000002 meters Centerline goodness [0,1] 0.6499445864338542 Centerline is valid? [False, False] Translation: X:0.71, Y:0.10, Z:-0.13 [[ 9.99903487e-01 -1.09981204e-02 -8.48872063e-03 7.07054474e-01] [ 1.10016323e-02 9.99939413e-01 3.67129765e-04 1.04008588e-01] [ 8.48416859e-03 -4.60484115e-04 9.99963903e-01 -1.26477218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.832414037 meters Centerline goodness [0,1] 0.6509018767245114 Centerline is valid? [False, False] Translation: X:0.71, Y:0.11, Z:-0.13 [[ 9.99902521e-01 -1.10598174e-02 -8.52230817e-03 7.08054907e-01] [ 1.10628587e-02 9.99938757e-01 3.09805098e-04 1.05057226e-01] [ 8.51835984e-03 -4.04055990e-04 9.99963636e-01 -1.27882137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.862414037 meters Centerline goodness [0,1] 0.6482739751014639 Centerline is valid? [False, False] Translation: X:0.71, Y:0.11, Z:-0.13 [[ 9.99902189e-01 -1.10123634e-02 -8.62212973e-03 7.08760179e-01] [ 1.10160612e-02 9.99939249e-01 3.81502161e-04 1.05591763e-01] [ 8.61740468e-03 -4.76446755e-04 9.99962756e-01 -1.28589383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.892414037 meters Centerline goodness [0,1] 0.650043384938576 Centerline is valid? [False, False] Translation: X:0.71, Y:0.11, Z:-0.13 [[ 9.99902240e-01 -1.09646268e-02 -8.67678691e-03 7.09167236e-01] [ 1.09676396e-02 9.99939809e-01 2.99718474e-04 1.06774430e-01] [ 8.67297834e-03 -3.94853045e-04 9.99962311e-01 -1.28922240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.922414037 meters Centerline goodness [0,1] 0.645576848404559 Centerline is valid? [False, False] Translation: X:0.71, Y:0.11, Z:-0.13 [[ 9.99899970e-01 -1.10351392e-02 -8.84731393e-03 7.09511660e-01] [ 1.10348156e-02 9.99939111e-01 -8.53947988e-05 1.08657651e-01] [ 8.84771757e-03 -1.22422205e-05 9.99960858e-01 -1.28752900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.952414037 meters Centerline goodness [0,1] 0.6416113527122911 Centerline is valid? [False, False] Translation: X:0.71, Y:0.11, Z:-0.13 [[ 0.99992514 -0.00868106 -0.00862302 0.70771132] [ 0.00870588 0.99995806 0.00284438 0.10883502] [ 0.00859797 -0.00291923 0.99995878 -0.12768391] [ 0. 0. 0. 1. ]] SLAMing on 16.982414037 meters Centerline goodness [0,1] 0.6536067374588064 Centerline is valid? [False, False] Translation: X:0.71, Y:0.11, Z:-0.13 [[ 0.99992372 -0.00865694 -0.00881021 0.70833658] [ 0.00867906 0.99995927 0.00247513 0.11103238] [ 0.00878842 -0.00255141 0.99995813 -0.12782005] [ 0. 0. 0. 1. ]] SLAMing on 17.012414037 meters Centerline goodness [0,1] 0.6400376371230551 Centerline is valid? [False, False] Translation: X:0.71, Y:0.11, Z:-0.13 [[ 0.99992421 -0.00845007 -0.00895379 0.70905006] [ 0.00847388 0.99996065 0.00262529 0.11120035] [ 0.00893125 -0.00270096 0.99995647 -0.12828142] [ 0. 0. 0. 1. ]] SLAMing on 17.042414037 meters Centerline goodness [0,1] 0.6460731056072184 Centerline is valid? [False, False] Translation: X:0.71, Y:0.11, Z:-0.13 [[ 0.99992353 -0.00839416 -0.00908131 0.709498 ] [ 0.00841627 0.9999617 0.00239957 0.11196926] [ 0.00906082 -0.00247582 0.99995588 -0.12842599] [ 0. 0. 0. 1. ]] SLAMing on 17.072414037 meters Centerline goodness [0,1] 0.6362151467746389 Centerline is valid? [False, False] Translation: X:0.71, Y:0.11, Z:-0.13 [[ 0.99992371 -0.00811754 -0.00930968 0.71065087] [ 0.00814144 0.99996365 0.00253242 0.1126565 ] [ 0.00928878 -0.00260802 0.99995346 -0.12929775] [ 0. 0. 0. 1. ]] SLAMing on 17.102414037 meters Centerline goodness [0,1] 0.6475914023083835 Centerline is valid? [False, False] Translation: X:0.71, Y:0.11, Z:-0.13 [[ 0.99992333 -0.00789518 -0.00953976 0.71186849] [ 0.00791983 0.99996539 0.00254899 0.11406306] [ 0.00951931 -0.00262434 0.99995125 -0.13022188] [ 0. 0. 0. 1. ]] SLAMing on 17.132414037 meters Centerline goodness [0,1] 0.6380873295965677 Centerline is valid? [False, False] Translation: X:0.71, Y:0.12, Z:-0.13 [[ 0.99992292 -0.00750362 -0.00989176 0.71364202] [ 0.00753218 0.99996756 0.00285327 0.11509687] [ 0.00987003 -0.00292756 0.999947 -0.1316117 ] [ 0. 0. 0. 1. ]] SLAMing on 17.162414037 meters Centerline goodness [0,1] 0.6528070867054704 Centerline is valid? [False, False] Translation: X:0.71, Y:0.12, Z:-0.13 [[ 0.99992236 -0.00733207 -0.01007555 0.71497552] [ 0.00736148 0.99996874 0.00288512 0.11678991] [ 0.01005408 -0.00295907 0.99994508 -0.13291182] [ 0. 0. 0. 1. ]] SLAMing on 17.192414037 meters Centerline goodness [0,1] 0.6456318560263457 Centerline is valid? [False, False] Translation: X:0.71, Y:0.12, Z:-0.13 [[ 0.99992158 -0.00745843 -0.01006009 0.71491864] [ 0.00748493 0.99996861 0.00259949 0.11731621] [ 0.01004039 -0.00267459 0.99994602 -0.13277403] [ 0. 0. 0. 1. ]] SLAMing on 17.222414037 meters Centerline goodness [0,1] 0.6436277580566576 Centerline is valid? [False, False] Translation: X:0.72, Y:0.12, Z:-0.13 [[ 0.99992326 -0.00711898 -0.01013844 0.71554205] [ 0.00714653 0.99997086 0.00268345 0.11770149] [ 0.01011905 -0.0027557 0.999945 -0.13316346] [ 0. 0. 0. 1. ]] SLAMing on 17.252414037 meters Centerline goodness [0,1] 0.6446619093001092 Centerline is valid? [False, False] Translation: X:0.72, Y:0.12, Z:-0.13 [[ 0.99992145 -0.00705291 -0.01036128 0.71583625] [ 0.00707608 0.99997254 0.00220131 0.11936177] [ 0.01034547 -0.00227446 0.9999439 -0.13263092] [ 0. 0. 0. 1. ]] SLAMing on 17.282414037000002 meters Centerline goodness [0,1] 0.6565921212688313 Centerline is valid? [False, False] Translation: X:0.72, Y:0.12, Z:-0.13 [[ 0.99994171 -0.00350552 -0.01021172 0.71510405] [ 0.00355866 0.9999802 0.00518994 0.12192742] [ 0.01019332 -0.00522598 0.99993439 -0.13193491] [ 0. 0. 0. 1. ]] SLAMing on 17.312414037 meters Centerline goodness [0,1] 0.6585268590194698 Centerline is valid? [False, False] Translation: X:0.72, Y:0.12, Z:-0.13 [[ 0.99993872 -0.003204 -0.01059631 0.7160013 ] [ 0.00325405 0.99998362 0.0047094 0.12406762] [ 0.01058105 -0.00474359 0.99993277 -0.13165213] [ 0. 0. 0. 1. ]] SLAMing on 17.342414037 meters Centerline goodness [0,1] 0.673263375355072 Centerline is valid? [False, False] Translation: X:0.72, Y:0.13, Z:-0.13 [[ 0.9999375 -0.00310624 -0.01074018 0.71638898] [ 0.0031511 0.99998637 0.00416254 0.12586851] [ 0.01072711 -0.00419612 0.99993366 -0.13138944] [ 0. 0. 0. 1. ]] SLAMing on 17.372414037000002 meters Centerline goodness [0,1] 0.6736975917512182 Centerline is valid? [False, False] Translation: X:0.72, Y:0.13, Z:-0.13 [[ 0.99993567 -0.00275183 -0.01100349 0.71730807] [ 0.00279242 0.99998935 0.00367532 0.12783812] [ 0.01099326 -0.00370581 0.99993271 -0.131387 ] [ 0. 0. 0. 1. ]] SLAMing on 17.402414037 meters Centerline goodness [0,1] 0.6808068892296804 Centerline is valid? [False, False] Translation: X:0.72, Y:0.13, Z:-0.13 [[ 0.99993401 -0.0025853 -0.01119325 0.71812991] [ 0.00262514 0.99999027 0.00354594 0.12874747] [ 0.01118397 -0.00357509 0.99993107 -0.13180274] [ 0. 0. 0. 1. ]] SLAMing on 17.432414037 meters Centerline goodness [0,1] 0.6552895388607147 Centerline is valid? [False, False] Translation: X:0.72, Y:0.13, Z:-0.13 [[ 0.99993188 -0.0023879 -0.01142527 0.71913269] [ 0.00242662 0.99999136 0.00337613 0.13012466] [ 0.01141711 -0.00340362 0.99992903 -0.13228626] [ 0. 0. 0. 1. ]] SLAMing on 17.462414037000002 meters Centerline goodness [0,1] 0.6757593665051412 Centerline is valid? [False, False] Translation: X:0.72, Y:0.13, Z:-0.13 [[ 0.99992925 -0.00198804 -0.01172757 0.72038835] [ 0.00202253 0.99999366 0.00293035 0.13350243] [ 0.01172167 -0.00295386 0.99992694 -0.13254048] [ 0. 0. 0. 1. ]] SLAMing on 17.492414037 meters Centerline goodness [0,1] 0.6833077014077842 Centerline is valid? [False, False] Translation: X:0.72, Y:0.13, Z:-0.13 [[ 0.99992736 -0.00189548 -0.01190312 0.7210078 ] [ 0.00192923 0.99999415 0.0028249 0.13422234] [ 0.0118977 -0.00284766 0.99992517 -0.132753 ] [ 0. 0. 0. 1. ]] SLAMing on 17.522414037 meters Centerline goodness [0,1] 0.6860690633869442 Centerline is valid? [False, False] Translation: X:0.72, Y:0.13, Z:-0.13 [[ 0.99992679 -0.00173389 -0.01197556 0.72177007] [ 0.00176938 0.99999407 0.00295325 0.13363147] [ 0.01197036 -0.00297422 0.99992393 -0.13351136] [ 0. 0. 0. 1. ]] SLAMing on 17.552414037000002 meters Centerline goodness [0,1] 0.6822018869262964 Centerline is valid? [False, False] Translation: X:0.72, Y:0.13, Z:-0.13 [[ 0.99992716 -0.00182025 -0.01193112 0.72180381] [ 0.0018546 0.99999417 0.00286852 0.13356784] [ 0.01192583 -0.00289044 0.99992471 -0.13364641] [ 0. 0. 0. 1. ]] SLAMing on 17.582414037 meters Centerline goodness [0,1] 0.6833695754939964 Centerline is valid? [False, False] Translation: X:0.72, Y:0.13, Z:-0.13 [[ 0.99992718 -0.00194575 -0.01191031 0.72170848] [ 0.00197705 0.99999462 0.00261667 0.13424413] [ 0.01190516 -0.00264002 0.99992565 -0.13350648] [ 0. 0. 0. 1. ]] SLAMing on 17.612414037 meters Centerline goodness [0,1] 0.6736583522297808 Centerline is valid? [False, False] Translation: X:0.72, Y:0.14, Z:-0.13 [[ 0.99992726 -0.00195549 -0.01190177 0.72179571] [ 0.0019841 0.99999517 0.00239235 0.13541774] [ 0.01189703 -0.00241579 0.99992631 -0.13346456] [ 0. 0. 0. 1. ]] SLAMing on 17.642414037 meters Centerline goodness [0,1] 0.6703091369237684 Centerline is valid? [False, False] Translation: X:0.72, Y:0.14, Z:-0.13 [[ 0.99992684 -0.00173802 -0.01197039 0.72232745] [ 0.0017649 0.99999595 0.00223483 0.13701225] [ 0.01196646 -0.00225579 0.99992585 -0.1336483 ] [ 0. 0. 0. 1. ]] SLAMing on 17.672414037 meters Centerline goodness [0,1] 0.6872155858930603 Centerline is valid? [False, False] Translation: X:0.72, Y:0.14, Z:-0.13 [[ 0.99992604 -0.00178875 -0.01202944 0.72240879] [ 0.0018138 0.99999621 0.00207175 0.13701533] [ 0.01202569 -0.00209341 0.9999255 -0.1335074 ] [ 0. 0. 0. 1. ]] SLAMing on 17.702414037 meters Centerline goodness [0,1] 0.6842974426724544 Centerline is valid? [False, False] Translation: X:0.72, Y:0.14, Z:-0.13 [[ 0.99992476 -0.00176072 -0.01214002 0.72275226] [ 0.0017857 0.99999631 0.00204724 0.13654113] [ 0.01213638 -0.00206877 0.99992421 -0.13356123] [ 0. 0. 0. 1. ]] SLAMing on 17.732414037 meters Centerline goodness [0,1] 0.6680353982300885 Centerline is valid? [False, False] Translation: X:0.72, Y:0.14, Z:-0.13 [[ 0.99992284 -0.00151354 -0.01232991 0.72346326] [ 0.00154109 0.99999634 0.0022248 0.13626772] [ 0.0123265 -0.00224363 0.99992151 -0.13388071] [ 0. 0. 0. 1. ]] SLAMing on 17.762414037 meters Centerline goodness [0,1] 0.6695219217518524 Centerline is valid? [False, False] Translation: X:0.72, Y:0.14, Z:-0.13 [[ 0.99992087 -0.00126653 -0.01251632 0.72425425] [ 0.00129096 0.99999728 0.00194389 0.13786938] [ 0.01251382 -0.0019599 0.99991978 -0.13410574] [ 0. 0. 0. 1. ]] SLAMing on 17.792414037 meters Centerline goodness [0,1] 0.6681469233494745 Centerline is valid? [False, False] Translation: X:0.73, Y:0.14, Z:-0.13 [[ 0.99991879 -0.00101942 -0.01270309 0.72505201] [ 0.00104448 0.99999752 0.00196589 0.13867588] [ 0.01270106 -0.001979 0.99991738 -0.1345033 ] [ 0. 0. 0. 1. ]] SLAMing on 17.822414037 meters Centerline goodness [0,1] 0.6962609086394059 Centerline is valid? [False, False] Translation: X:0.73, Y:0.14, Z:-0.13 [[ 9.99918272e-01 -7.91332946e-04 -1.27602087e-02 7.25657699e-01] [ 8.12158802e-04 9.99998347e-01 1.62699438e-03 1.40732223e-01] [ 1.27589002e-02 -1.63722472e-03 9.99917262e-01 -1.34788477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.852414037 meters Centerline goodness [0,1] 0.6975977613886979 Centerline is valid? [False, False] Translation: X:0.73, Y:0.14, Z:-0.14 [[ 9.99917445e-01 -8.03423650e-04 -1.28241041e-02 7.26034324e-01] [ 8.22001345e-04 9.99998620e-01 1.44344920e-03 1.41828502e-01] [ 1.28229267e-02 -1.45387147e-03 9.99916726e-01 -1.35077903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.882414037 meters Centerline goodness [0,1] 0.6917175364005606 Centerline is valid? [False, False] Translation: X:0.73, Y:0.14, Z:-0.13 [[ 9.99916774e-01 -7.61436925e-04 -1.28788983e-02 7.26209952e-01] [ 7.77604383e-04 9.99998916e-01 1.25038380e-03 1.42494435e-01] [ 1.28779323e-02 -1.26029442e-03 9.99916282e-01 -1.34985477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.912414037 meters Centerline goodness [0,1] 0.7099608215600142 Centerline is valid? [False, False] Translation: X:0.73, Y:0.14, Z:-0.14 [[ 9.99916628e-01 -5.84252003e-04 -1.28994757e-02 7.26433555e-01] [ 5.99932369e-04 9.99999086e-01 1.21174551e-03 1.42674320e-01] [ 1.28987559e-02 -1.21938330e-03 9.99916064e-01 -1.35027489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.942414037 meters Centerline goodness [0,1] 0.7126117132534702 Centerline is valid? [False, False] Translation: X:0.73, Y:0.14, Z:-0.13 [[ 9.99917018e-01 -2.97518435e-04 -1.28790345e-02 7.26186617e-01] [ 3.07006396e-04 9.99999683e-01 7.34727342e-04 1.43863419e-01] [ 1.28788118e-02 -7.38620318e-04 9.99916792e-01 -1.34180579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.972414037 meters Centerline goodness [0,1] 0.6881993775391414 Centerline is valid? [False, False] Translation: X:0.73, Y:0.14, Z:-0.13 [[ 9.99916053e-01 -4.66062054e-05 -1.29570487e-02 7.26846939e-01] [ 5.78165777e-05 9.99999624e-01 8.64821656e-04 1.44199515e-01] [ 1.29570035e-02 -8.65498189e-04 9.99915680e-01 -1.34684917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.002414037 meters Centerline goodness [0,1] 0.7122501012700455 Centerline is valid? [False, False] Translation: X:0.73, Y:0.14, Z:-0.14 [[ 9.99912790e-01 1.62672815e-04 -1.32055551e-02 7.27668887e-01] [-1.49717333e-04 9.99999507e-01 9.82045722e-04 1.44368394e-01] [ 1.32057083e-02 -9.79982977e-04 9.99912321e-01 -1.35039418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.032414037 meters Centerline goodness [0,1] 0.7104398743216224 Centerline is valid? [False, False] Translation: X:0.73, Y:0.14, Z:-0.14 [[ 9.99910869e-01 3.04246561e-04 -1.33477381e-02 7.28270420e-01] [-2.89840719e-04 9.99999374e-01 1.08119337e-03 1.44195888e-01] [ 1.33480586e-02 -1.07722829e-03 9.99910330e-01 -1.35367542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.062414037 meters Centerline goodness [0,1] 0.704401918419678 Centerline is valid? [False, False] Translation: X:0.73, Y:0.14, Z:-0.14 [[ 9.99909379e-01 3.35405155e-04 -1.34581308e-02 7.28311644e-01] [-3.19591988e-04 9.99999256e-01 1.17712330e-03 1.43236648e-01] [ 1.34585156e-02 -1.17271552e-03 9.99908742e-01 -1.35064806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.092414037 meters Centerline goodness [0,1] 0.7033496228115956 Centerline is valid? [False, False] Translation: X:0.73, Y:0.14, Z:-0.14 [[ 9.99908592e-01 3.94512885e-04 -1.35148553e-02 7.28513603e-01] [-3.76940949e-04 9.99999080e-01 1.30271679e-03 1.42819419e-01] [ 1.35153569e-02 -1.29750341e-03 9.99907822e-01 -1.35154943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.122414037000002 meters Centerline goodness [0,1] 0.6999478623566215 Centerline is valid? [False, False] Translation: X:0.73, Y:0.14, Z:-0.13 [[ 9.99907528e-01 3.97600779e-04 -1.35933076e-02 7.28589711e-01] [-3.80147868e-04 9.99999100e-01 1.28649385e-03 1.42624110e-01] [ 1.35938068e-02 -1.28120742e-03 9.99906779e-01 -1.34982562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.152414037 meters Centerline goodness [0,1] 0.7018226694513006 Centerline is valid? [False, False] Translation: X:0.73, Y:0.14, Z:-0.13 [[ 9.99904064e-01 5.35572333e-04 -1.38410894e-02 7.28840705e-01] [-5.19192778e-04 9.99999161e-01 1.18696686e-03 1.42622230e-01] [ 1.38417135e-02 -1.17966679e-03 9.99903503e-01 -1.34432115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.182414037 meters Centerline goodness [0,1] 0.7043789563526874 Centerline is valid? [False, False] Translation: X:0.73, Y:0.14, Z:-0.13 [[ 9.99900206e-01 1.17031903e-03 -1.40786736e-02 7.29351596e-01] [-1.15615068e-03 9.99998817e-01 1.01446617e-03 1.43856496e-01] [ 1.40798442e-02 -9.98087865e-04 9.99900376e-01 -1.33686002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.212414037000002 meters Centerline goodness [0,1] 0.7112184903953727 Centerline is valid? [False, False] Translation: X:0.73, Y:0.14, Z:-0.13 [[ 9.99896435e-01 1.45255933e-03 -1.43181773e-02 7.29887926e-01] [-1.44146944e-03 9.99998653e-01 7.84821827e-04 1.44898583e-01] [ 1.43192980e-02 -7.64101331e-04 9.99897182e-01 -1.33361975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.242414037 meters Centerline goodness [0,1] 0.7125765628351486 Centerline is valid? [False, False] Translation: X:0.73, Y:0.15, Z:-0.13 [[ 9.99891646e-01 1.85446220e-03 -1.46032978e-02 7.30798218e-01] [-1.84341158e-03 9.99998004e-01 7.70145423e-04 1.45529707e-01] [ 1.46046969e-02 -7.43142086e-04 9.99893070e-01 -1.33485212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.272414037 meters Centerline goodness [0,1] 0.7125765628351486 Centerline is valid? [False, False] Translation: X:0.73, Y:0.15, Z:-0.13 [[ 9.99891646e-01 1.85446220e-03 -1.46032978e-02 7.30798218e-01] [-1.84341158e-03 9.99998004e-01 7.70145423e-04 1.45529707e-01] [ 1.46046969e-02 -7.43142086e-04 9.99893070e-01 -1.33485212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.302414037000002 meters Centerline goodness [0,1] 0.7177067696046894 Centerline is valid? [False, False] Translation: X:0.73, Y:0.14, Z:-0.13 [[ 0.99987897 0.00298473 -0.01526865 0.73344665] [-0.00296203 0.99999447 0.00150918 0.14467406] [ 0.01527307 -0.00146377 0.99988229 -0.13479667] [ 0. 0. 0. 1. ]] SLAMing on 18.332414037 meters Centerline goodness [0,1] 0.7226826530368531 Centerline is valid? [False, False] Translation: X:0.73, Y:0.14, Z:-0.14 [[ 0.99987393 0.00339673 -0.01551057 0.73444961] [-0.00336914 0.9999927 0.00180497 0.14387448] [ 0.01551658 -0.00175248 0.99987807 -0.13529849] [ 0. 0. 0. 1. ]] SLAMing on 18.362414037 meters Centerline goodness [0,1] 0.7259750799637179 Centerline is valid? [False, False] Translation: X:0.74, Y:0.14, Z:-0.14 [[ 0.99986824 0.0036793 -0.01581021 0.73524644] [-0.00365017 0.99999159 0.00187142 0.14346365] [ 0.01581696 -0.00181346 0.99987326 -0.13535634] [ 0. 0. 0. 1. ]] SLAMing on 18.392414037 meters Centerline goodness [0,1] 0.7337104396391236 Centerline is valid? [False, False] Translation: X:0.74, Y:0.14, Z:-0.13 [[ 0.99986265 0.00425145 -0.01601898 0.73584361] [-0.00422427 0.99998958 0.00173028 0.14438404] [ 0.01602617 -0.00166237 0.99987019 -0.13494215] [ 0. 0. 0. 1. ]] SLAMing on 18.422414037 meters Centerline goodness [0,1] 0.7383841514291845 Centerline is valid? [False, False] Translation: X:0.74, Y:0.15, Z:-0.13 [[ 0.99985879 0.00429665 -0.01624622 0.73592628] [-0.00427693 0.99999008 0.00124794 0.14558214] [ 0.01625142 -0.00117828 0.99986724 -0.13405932] [ 0. 0. 0. 1. ]] SLAMing on 18.452414037 meters Centerline goodness [0,1] 0.7382217753519104 Centerline is valid? [False, False] Translation: X:0.74, Y:0.15, Z:-0.13 [[ 9.99855678e-01 4.31810009e-03 -1.64309683e-02 7.36097416e-01] [-4.30444034e-03 9.99990360e-01 8.66616775e-04 1.46823157e-01] [ 1.64345520e-02 -7.95765581e-04 9.99864627e-01 -1.33523304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.482414037 meters Centerline goodness [0,1] 0.7365766196509682 Centerline is valid? [False, False] Translation: X:0.74, Y:0.15, Z:-0.13 [[ 9.99849346e-01 4.57893225e-03 -1.67427088e-02 7.36911754e-01] [-4.56375941e-03 9.99989140e-01 9.44330906e-04 1.47426871e-01] [ 1.67468510e-02 -8.67778944e-04 9.99859385e-01 -1.33588967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.512414037 meters Centerline goodness [0,1] 0.7377453326950694 Centerline is valid? [False, False] Translation: X:0.74, Y:0.15, Z:-0.13 [[ 9.99848206e-01 4.50402839e-03 -1.68308996e-02 7.37023998e-01] [-4.49166256e-03 9.99989614e-01 7.72439799e-04 1.47614340e-01] [ 1.68342039e-02 -6.96723826e-04 9.99858052e-01 -1.33405120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.542414037 meters Centerline goodness [0,1] 0.729490444343956 Centerline is valid? [False, False] Translation: X:0.74, Y:0.15, Z:-0.13 [[ 0.99985114 0.00190472 -0.01714855 0.73897115] [-0.00194325 0.99999562 -0.00223075 0.14631092] [ 0.01714422 0.00226374 0.99985046 -0.13436424] [ 0. 0. 0. 1. ]] SLAMing on 18.572414037 meters Centerline goodness [0,1] 0.7609884882504043 Centerline is valid? [False, False] Translation: X:0.74, Y:0.14, Z:-0.13 [[ 0.99985117 0.0019383 -0.01714309 0.73900905] [-0.0019721 0.99999614 -0.00195493 0.14476066] [ 0.01713923 0.00198844 0.99985114 -0.13450832] [ 0. 0. 0. 1. ]] SLAMing on 18.602414037 meters Centerline goodness [0,1] 0.7673517880479981 Centerline is valid? [False, False] Translation: X:0.74, Y:0.14, Z:-0.14 [[ 0.99985007 0.00209601 -0.01718826 0.73953253] [-0.00212393 0.99999645 -0.00160658 0.14440848] [ 0.01718483 0.00164285 0.99985098 -0.13515139] [ 0. 0. 0. 1. ]] SLAMing on 18.632414037 meters Centerline goodness [0,1] 0.764880810772232 Centerline is valid? [False, False] Translation: X:0.74, Y:0.14, Z:-0.14 [[ 0.99984571 0.00252363 -0.01738358 0.74034508] [-0.00254526 0.99999601 -0.00122193 0.14430822] [ 0.01738043 0.00126599 0.99984815 -0.13557314] [ 0. 0. 0. 1. ]] SLAMing on 18.662414037 meters Centerline goodness [0,1] 0.7629275486418343 Centerline is valid? [False, False] Translation: X:0.74, Y:0.14, Z:-0.14 [[ 0.99984187 0.00274219 -0.01757038 0.7406393 ] [-0.00276274 0.99999553 -0.00114552 0.1439765 ] [ 0.01756716 0.00119388 0.99984497 -0.13530495] [ 0. 0. 0. 1. ]] SLAMing on 18.692414037 meters Centerline goodness [0,1] 0.7695888654015153 Centerline is valid? [False, False] Translation: X:0.74, Y:0.14, Z:-0.14 [[ 9.99836669e-01 3.18549757e-03 -1.77900933e-02 7.41397882e-01] [-3.20024910e-03 9.99994559e-01 -8.00792266e-04 1.43340659e-01] [ 1.77874455e-02 8.57594202e-04 9.99841423e-01 -1.35498870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.722414037 meters Centerline goodness [0,1] 0.7744437591916125 Centerline is valid? [False, False] Translation: X:0.74, Y:0.14, Z:-0.14 [[ 9.99824198e-01 4.12710546e-03 -1.82904370e-02 7.43028433e-01] [-4.12991010e-03 9.99991465e-01 -1.15569323e-04 1.42141523e-01] [ 1.82898039e-02 1.91086867e-04 9.99832709e-01 -1.35946076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.752414037 meters Centerline goodness [0,1] 0.7747754153926378 Centerline is valid? [False, False] Translation: X:0.74, Y:0.14, Z:-0.14 [[ 9.99817647e-01 4.47986240e-03 -1.85635039e-02 7.43996159e-01] [-4.47672906e-03 9.99989957e-01 2.10342140e-04 1.41129663e-01] [ 1.85642598e-02 -1.27200006e-04 9.99827661e-01 -1.36386011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.782414037 meters Centerline goodness [0,1] 0.7697113109323237 Centerline is valid? [False, False] Translation: X:0.75, Y:0.14, Z:-0.14 [[ 9.99811061e-01 4.98166410e-03 -1.87889417e-02 7.45192813e-01] [-4.96910064e-03 9.99987398e-01 7.15289854e-04 1.39860825e-01] [ 1.87922683e-02 -6.21790566e-04 9.99823216e-01 -1.37238162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.812414037 meters Centerline goodness [0,1] 0.7707507082152975 Centerline is valid? [False, False] Translation: X:0.75, Y:0.14, Z:-0.14 [[ 9.99806200e-01 5.35139455e-03 -1.89453332e-02 7.46100843e-01] [-5.33180975e-03 9.99985198e-01 1.08411389e-03 1.39035808e-01] [ 1.89508543e-02 -9.82890873e-04 9.99819933e-01 -1.37892378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.842414037 meters Centerline goodness [0,1] 0.7742803844246617 Centerline is valid? [False, False] Translation: X:0.75, Y:0.14, Z:-0.14 [[ 0.99980072 0.00573847 -0.01912025 0.74659702] [-0.00571572 0.99998289 0.00124463 0.13902549] [ 0.01912706 -0.00113509 0.99981642 -0.13786107] [ 0. 0. 0. 1. ]] SLAMing on 18.872414037000002 meters Centerline goodness [0,1] 0.7736619685057959 Centerline is valid? [False, False] Translation: X:0.75, Y:0.14, Z:-0.14 [[ 0.99980043 0.00567056 -0.01915559 0.74647643] [-0.00564949 0.99998338 0.00115374 0.13879207] [ 0.01916181 -0.00104529 0.99981585 -0.13754505] [ 0. 0. 0. 1. ]] SLAMing on 18.902414037 meters Centerline goodness [0,1] 0.7724008006593666 Centerline is valid? [False, False] Translation: X:0.75, Y:0.14, Z:-0.14 [[ 0.99979565 0.00598611 -0.01930842 0.74700334] [-0.00595635 0.99998098 0.00159849 0.13740889] [ 0.01931762 -0.00148316 0.9998123 -0.13772731] [ 0. 0. 0. 1. ]] SLAMing on 18.932414037 meters Centerline goodness [0,1] 0.770857317388342 Centerline is valid? [False, False] Translation: X:0.75, Y:0.13, Z:-0.14 [[ 0.9998017 0.00556158 -0.01912125 0.74526662] [-0.00553362 0.99998354 0.00151495 0.13464196] [ 0.01912936 -0.00140884 0.99981602 -0.13597365] [ 0. 0. 0. 1. ]] SLAMing on 18.962414037000002 meters Centerline goodness [0,1] 0.7738164815897136 Centerline is valid? [False, False] Translation: X:0.75, Y:0.13, Z:-0.14 [[ 0.99992135 0.00249889 -0.0122905 0.75424463] [-0.00238771 0.99995617 0.00905262 0.1314865 ] [ 0.01231259 -0.00902257 0.99988349 -0.13925925] [ 0. 0. 0. 1. ]] SLAMing on 18.992414037 meters Centerline goodness [0,1] 0.7722335132104563 Centerline is valid? [False, False] Translation: X:0.75, Y:0.13, Z:-0.14 [[ 0.99992319 0.00196994 -0.01223617 0.75318996] [-0.00186183 0.99995919 0.00883989 0.13013726] [ 0.01225309 -0.00881643 0.99988606 -0.13812278] [ 0. 0. 0. 1. ]] SLAMing on 19.022414037 meters Centerline goodness [0,1] 0.7725782067682289 Centerline is valid? [False, False] Translation: X:0.75, Y:0.13, Z:-0.14 [[ 0.99991966 -0.00161683 -0.01257204 0.7539524 ] [ 0.00167698 0.99998719 0.0047754 0.13070121] [ 0.01256416 -0.0047961 0.99990957 -0.13769173] [ 0. 0. 0. 1. ]] SLAMing on 19.052414037000002 meters Centerline goodness [0,1] 0.7702252648133586 Centerline is valid? [False, False] Translation: X:0.75, Y:0.13, Z:-0.14 [[ 0.99990367 -0.00559448 -0.01270236 0.75420271] [ 0.00561216 0.99998333 0.00135631 0.12835631] [ 0.01269456 -0.00142747 0.9999184 -0.1376821 ] [ 0. 0. 0. 1. ]] SLAMing on 19.082414037 meters Centerline goodness [0,1] 0.7702752462487342 Centerline is valid? [False, False] Translation: X:0.75, Y:0.13, Z:-0.14 [[ 0.99990378 -0.00609291 -0.01246197 0.75365932] [ 0.00611573 0.99997969 0.0017944 0.12550587] [ 0.01245079 -0.00187045 0.99992074 -0.13803978] [ 0. 0. 0. 1. ]] SLAMing on 19.112414037 meters Centerline goodness [0,1] 0.7689893714495144 Centerline is valid? [False, False] Translation: X:0.75, Y:0.12, Z:-0.14 [[ 0.99990243 -0.00657673 -0.01232364 0.75329712] [ 0.0066038 0.99997587 0.00215665 0.12265642] [ 0.01230916 -0.00223782 0.99992174 -0.13831983] [ 0. 0. 0. 1. ]] SLAMing on 19.142414037 meters Centerline goodness [0,1] 0.7647595583538644 Centerline is valid? [False, False] Translation: X:0.75, Y:0.12, Z:-0.14 [[ 0.99990076 -0.00699189 -0.01223045 0.75308983] [ 0.00702252 0.99997231 0.00246281 0.12056039] [ 0.0122129 -0.00254846 0.99992217 -0.13864731] [ 0. 0. 0. 1. ]] SLAMing on 19.172414037 meters Centerline goodness [0,1] 0.7477591958065761 Centerline is valid? [False, False] Translation: X:0.75, Y:0.12, Z:-0.14 [[ 0.99989797 -0.00745895 -0.01218251 0.75302937] [ 0.00749685 0.99996719 0.00306821 0.11779666] [ 0.01215922 -0.00315923 0.99992108 -0.13925255] [ 0. 0. 0. 1. ]] SLAMing on 19.202414037 meters Centerline goodness [0,1] 0.760935725641608 Centerline is valid? [False, False] Translation: X:0.75, Y:0.12, Z:-0.14 [[ 0.99989751 -0.00752492 -0.01217977 0.75298908] [ 0.007565 0.99996611 0.00324812 0.11709285] [ 0.01215492 -0.00333992 0.99992055 -0.13926093] [ 0. 0. 0. 1. ]] SLAMing on 19.232414037 meters Centerline goodness [0,1] 0.7620502376103191 Centerline is valid? [False, False] Translation: X:0.75, Y:0.12, Z:-0.14 [[ 0.99989787 -0.00741595 -0.01221706 0.75317371] [ 0.00746111 0.99996548 0.00365541 0.11529862] [ 0.01218953 -0.00374619 0.99991869 -0.13944175] [ 0. 0. 0. 1. ]] SLAMing on 19.262414037 meters Centerline goodness [0,1] 0.7483305792607013 Centerline is valid? [False, False] Translation: X:0.75, Y:0.11, Z:-0.14 [[ 0.99989844 -0.00736815 -0.01219888 0.75299284] [ 0.00741593 0.99996499 0.00387665 0.11389158] [ 0.01216989 -0.00396672 0.99991808 -0.13923843] [ 0. 0. 0. 1. ]] SLAMing on 19.292414037 meters Centerline goodness [0,1] 0.7620943118851069 Centerline is valid? [False, False] Translation: X:0.75, Y:0.11, Z:-0.14 [[ 0.99989895 -0.00736231 -0.01216053 0.7527448 ] [ 0.00741158 0.99996449 0.00401111 0.11278038] [ 0.01213057 -0.00410084 0.99991801 -0.13893374] [ 0. 0. 0. 1. ]] SLAMing on 19.322414037 meters Centerline goodness [0,1] 0.7643630119964756 Centerline is valid? [False, False] Translation: X:0.75, Y:0.11, Z:-0.14 [[ 0.99989845 -0.00737035 -0.01219715 0.75252399] [ 0.00741813 0.99996497 0.00387681 0.11259141] [ 0.01216815 -0.00396689 0.9999181 -0.13839093] [ 0. 0. 0. 1. ]] SLAMing on 19.352414037 meters Centerline goodness [0,1] 0.7669781790137459 Centerline is valid? [False, False] Translation: X:0.75, Y:0.11, Z:-0.14 [[ 0.99989995 -0.00646462 -0.01258181 0.75375811] [ 0.00651617 0.99997053 0.00406022 0.11382784] [ 0.01255519 -0.0041418 0.9999126 -0.13848157] [ 0. 0. 0. 1. ]] SLAMing on 19.382414037 meters Centerline goodness [0,1] 0.77061744631641 Centerline is valid? [False, False] Translation: X:0.75, Y:0.11, Z:-0.14 [[ 0.99989886 -0.00591679 -0.01293265 0.75480191] [ 0.00597058 0.99997367 0.00412474 0.11464087] [ 0.0129079 -0.00420154 0.99990786 -0.138583 ] [ 0. 0. 0. 1. ]] SLAMing on 19.412414037 meters Centerline goodness [0,1] 0.773268877238374 Centerline is valid? [False, False] Translation: X:0.76, Y:0.12, Z:-0.14 [[ 0.99989642 -0.00529253 -0.01338399 0.7562617 ] [ 0.00534998 0.99997661 0.00425999 0.11524181] [ 0.01336113 -0.00433115 0.99990136 -0.13898185] [ 0. 0. 0. 1. ]] SLAMing on 19.442414037 meters Centerline goodness [0,1] 0.7761275502081106 Centerline is valid? [False, False] Translation: X:0.76, Y:0.12, Z:-0.14 [[ 0.9998947 -0.00448098 -0.01380281 0.75785233] [ 0.00454524 0.99997896 0.00462806 0.11539234] [ 0.01378178 -0.00469031 0.99989403 -0.13965966] [ 0. 0. 0. 1. ]] SLAMing on 19.472414037 meters Centerline goodness [0,1] 0.7830162919814326 Centerline is valid? [False, False] Translation: X:0.76, Y:0.12, Z:-0.14 [[ 0.99989663 -0.00216647 -0.0142138 0.76093442] [ 0.00225085 0.99997993 0.00592283 0.11542179] [ 0.01420068 -0.00595421 0.99988144 -0.14176207] [ 0. 0. 0. 1. ]] SLAMing on 19.502414037 meters Centerline goodness [0,1] 0.7828095487335867 Centerline is valid? [False, False] Translation: X:0.76, Y:0.12, Z:-0.14 [[ 0.99989368 -0.00175211 -0.01447592 0.76181774] [ 0.00183673 0.99998129 0.00583447 0.11630799] [ 0.01446543 -0.00586044 0.9998782 -0.14191236] [ 0. 0. 0. 1. ]] SLAMing on 19.532414037 meters Centerline goodness [0,1] 0.7846604987383783 Centerline is valid? [False, False] Translation: X:0.76, Y:0.12, Z:-0.14 [[ 0.99989284 -0.00163453 -0.01454767 0.76181182] [ 0.00171351 0.99998385 0.00541829 0.11751093] [ 0.01453858 -0.00544264 0.9998795 -0.14130831] [ 0. 0. 0. 1. ]] SLAMing on 19.562414037 meters Centerline goodness [0,1] 0.7820066844007912 Centerline is valid? [False, False] Translation: X:0.76, Y:0.12, Z:-0.14 [[ 0.99989795 -0.0018927 -0.01416029 0.75934731] [ 0.00195379 0.99998884 0.00430181 0.11891795] [ 0.01415199 -0.00432904 0.99989048 -0.13813747] [ 0. 0. 0. 1. ]] SLAMing on 19.592414037 meters Centerline goodness [0,1] 0.7805093979842005 Centerline is valid? [False, False] Translation: X:0.76, Y:0.12, Z:-0.14 [[ 0.9998995 -0.00219354 -0.01400628 0.75799458] [ 0.00224688 0.99999028 0.00379359 0.11864252] [ 0.01399782 -0.00382468 0.99989471 -0.13648783] [ 0. 0. 0. 1. ]] SLAMing on 19.622414037000002 meters Centerline goodness [0,1] 0.7823702696578292 Centerline is valid? [False, False] Translation: X:0.76, Y:0.12, Z:-0.14 [[ 0.99989991 -0.00235973 -0.01395012 0.757243 ] [ 0.00241127 0.99999032 0.00367914 0.11761259] [ 0.0139413 -0.00371241 0.99989592 -0.13553098] [ 0. 0. 0. 1. ]] SLAMing on 19.652414037 meters Centerline goodness [0,1] 0.7822737776972224 Centerline is valid? [False, False] Translation: X:0.76, Y:0.12, Z:-0.13 [[ 0.9999002 -0.00249234 -0.01390598 0.75676875] [ 0.00254482 0.9999897 0.00375759 0.11588303] [ 0.01389647 -0.0037926 0.99989625 -0.13498081] [ 0. 0. 0. 1. ]] SLAMing on 19.682414037 meters Centerline goodness [0,1] 0.7810963230318069 Centerline is valid? [False, False] Translation: X:0.76, Y:0.11, Z:-0.14 [[ 0.99987935 -0.00565196 -0.01446885 0.75872624] [ 0.00566729 0.99998342 0.00101873 0.11313544] [ 0.01446285 -0.00110061 0.9998948 -0.13593934] [ 0. 0. 0. 1. ]] SLAMing on 19.712414037000002 meters Centerline goodness [0,1] 0.7821855614492493 Centerline is valid? [False, False] Translation: X:0.76, Y:0.11, Z:-0.14 [[ 0.99987781 -0.00572311 -0.01454692 0.75934791] [ 0.00574924 0.99998193 0.00175546 0.11060329] [ 0.01453661 -0.00183888 0.99989265 -0.13688309] [ 0. 0. 0. 1. ]] SLAMing on 19.742414037 meters Centerline goodness [0,1] 0.7831152214415588 Centerline is valid? [False, False] Translation: X:0.76, Y:0.11, Z:-0.14 [[ 0.99987649 -0.00590121 -0.01456664 0.75968 ] [ 0.00593879 0.99997914 0.00253804 0.1077516 ] [ 0.01455136 -0.00262423 0.99989068 -0.13767159] [ 0. 0. 0. 1. ]] SLAMing on 19.772414037 meters Centerline goodness [0,1] 0.77882058501486 Centerline is valid? [False, False] Translation: X:0.76, Y:0.10, Z:-0.14 [[ 9.99846688e-01 -9.52423652e-03 -1.46932029e-02 7.60842817e-01] [ 9.52804945e-03 9.99954589e-01 1.89520479e-04 1.03541692e-01] [ 1.46907306e-02 -3.29488987e-04 9.99892031e-01 -1.39168727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.802414037000002 meters Centerline goodness [0,1] 0.7787555277616474 Centerline is valid? [False, False] Translation: X:0.76, Y:0.10, Z:-0.14 [[ 9.99845831e-01 -1.01530689e-02 -1.43258237e-02 7.59830506e-01] [ 1.01619674e-02 9.99948215e-01 5.48486743e-04 1.00695739e-01] [ 1.43195130e-02 -6.93980736e-04 9.99897230e-01 -1.39170956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.832414037 meters Centerline goodness [0,1] 0.7764629996218777 Centerline is valid? [False, False] Translation: X:0.76, Y:0.10, Z:-0.14 [[ 0.99984248 -0.01053007 -0.01428724 0.75959308] [ 0.01054701 0.99994376 0.00111118 0.09783945] [ 0.01427474 -0.00126169 0.99989731 -0.1393601 ] [ 0. 0. 0. 1. ]] SLAMing on 19.862414037 meters Centerline goodness [0,1] 0.7735429499010473 Centerline is valid? [False, False] Translation: X:0.76, Y:0.10, Z:-0.14 [[ 0.99983973 -0.01118755 -0.0139767 0.75826454] [ 0.01120579 0.99993646 0.00122741 0.09543604] [ 0.01396208 -0.00138383 0.99990157 -0.138718 ] [ 0. 0. 0. 1. ]] SLAMing on 19.892414037 meters Centerline goodness [0,1] 0.765576203238167 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.14 [[ 0.99978829 -0.01506678 -0.01401302 0.75825207] [ 0.01503756 0.99988454 -0.00218786 0.0930183 ] [ 0.01404436 0.00197668 0.99989942 -0.13833774] [ 0. 0. 0. 1. ]] SLAMing on 19.922414037 meters Centerline goodness [0,1] 0.7621163880781816 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.14 [[ 0.99978967 -0.014887 -0.01410667 0.75888388] [ 0.01486819 0.99988843 -0.00143734 0.09095715] [ 0.0141265 0.00122729 0.99989946 -0.13909886] [ 0. 0. 0. 1. ]] SLAMing on 19.952414037 meters Centerline goodness [0,1] 0.7716334978859053 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.14 [[ 9.99791879e-01 -1.48176957e-02 -1.40226112e-02 7.59151214e-01] [ 1.48083766e-02 9.99890055e-01 -7.68178111e-04 8.91799707e-02] [ 1.40324522e-02 5.60366128e-04 9.99901383e-01 -1.39892092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.982414037 meters Centerline goodness [0,1] 0.7720648219600926 Centerline is valid? [False, False] Translation: X:0.76, Y:0.09, Z:-0.14 [[ 9.99792481e-01 -1.46163158e-02 -1.41900686e-02 7.60061616e-01] [ 1.46186179e-02 9.99893141e-01 5.85164654e-05 8.70074309e-02] [ 1.41876970e-02 -2.65943513e-04 9.99899314e-01 -1.40910678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.012414037 meters Centerline goodness [0,1] 0.7673453164333348 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.14 [[ 9.99785382e-01 -1.52955696e-02 -1.39726727e-02 7.58978130e-01] [ 1.53021059e-02 9.99882851e-01 3.60998927e-04 8.28665358e-02] [ 1.39655141e-02 -5.74732768e-04 9.99902312e-01 -1.40407864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042414037 meters Centerline goodness [0,1] 0.7695735621787376 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.14 [[ 9.99787893e-01 -1.52687388e-02 -1.38214938e-02 7.58632849e-01] [ 1.52839053e-02 9.99882702e-01 9.92344155e-04 8.04672650e-02] [ 1.38047207e-02 -1.20338008e-03 9.99903986e-01 -1.40464668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.072414037 meters Centerline goodness [0,1] 0.7667070351205549 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.14 [[ 0.99978939 -0.0152949 -0.0136836 0.75806454] [ 0.01531584 0.99988169 0.00142626 0.0785671 ] [ 0.01366017 -0.00163554 0.99990536 -0.14010212] [ 0. 0. 0. 1. ]] SLAMing on 20.102414037 meters Centerline goodness [0,1] 0.7658323978075678 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.14 [[ 0.99978889 -0.01546066 -0.01353335 0.75657445] [ 0.01548397 0.9998788 0.00162005 0.07701978] [ 0.01350666 -0.00182925 0.99990711 -0.13843129] [ 0. 0. 0. 1. ]] SLAMing on 20.132414037 meters Centerline goodness [0,1] 0.7666483817882611 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.14 [[ 0.99979323 -0.0150625 -0.01366094 0.75690389] [ 0.01509233 0.99988393 0.00208342 0.07626224] [ 0.01362797 -0.00228916 0.99990451 -0.13835383] [ 0. 0. 0. 1. ]] SLAMing on 20.162414037 meters Centerline goodness [0,1] 0.7666483817882611 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.14 [[ 0.99979323 -0.0150625 -0.01366094 0.75690389] [ 0.01509233 0.99988393 0.00208342 0.07626224] [ 0.01362797 -0.00228916 0.99990451 -0.13835383] [ 0. 0. 0. 1. ]] SLAMing on 20.192414037 meters Centerline goodness [0,1] 0.7683348657997285 Centerline is valid? [False, False] Translation: X:0.76, Y:0.08, Z:-0.14 [[ 0.99979767 -0.0146413 -0.01379317 0.75729898] [ 0.01467809 0.99988897 0.00257013 0.0752997 ] [ 0.01375401 -0.00277207 0.99990157 -0.13844108] [ 0. 0. 0. 1. ]] SLAMing on 20.222414037 meters Centerline goodness [0,1] 0.7683838849047087 Centerline is valid? [False, False] Translation: X:0.76, Y:0.07, Z:-0.14 [[ 0.99980206 -0.01409518 -0.01404154 0.75816987] [ 0.01414079 0.99989504 0.00315443 0.07401926] [ 0.01399561 -0.00335237 0.99989644 -0.1388083 ] [ 0. 0. 0. 1. ]] SLAMing on 20.252414037 meters Centerline goodness [0,1] 0.7697224411172402 Centerline is valid? [False, False] Translation: X:0.76, Y:0.07, Z:-0.14 [[ 0.99981223 -0.01303813 -0.01433574 0.75953257] [ 0.01310107 0.99990491 0.00430482 0.07140771] [ 0.01427825 -0.00449183 0.99988797 -0.13967533] [ 0. 0. 0. 1. ]] SLAMing on 20.282414037 meters Centerline goodness [0,1] 0.7731085095229775 Centerline is valid? [False, False] Translation: X:0.76, Y:0.07, Z:-0.14 [[ 0.9998162 -0.01258036 -0.01446735 0.76035538] [ 0.01265331 0.99990763 0.00496214 0.06990481] [ 0.01440359 -0.00514429 0.99988303 -0.14035372] [ 0. 0. 0. 1. ]] SLAMing on 20.312414037 meters Centerline goodness [0,1] 0.7721408265908594 Centerline is valid? [False, False] Translation: X:0.76, Y:0.07, Z:-0.14 [[ 0.99981872 -0.01231166 -0.01452384 0.76076131] [ 0.01239123 0.99990864 0.00540101 0.0685638 ] [ 0.01445602 -0.00558 0.99987994 -0.14072359] [ 0. 0. 0. 1. ]] SLAMing on 20.342414037 meters Centerline goodness [0,1] 0.7706742308531529 Centerline is valid? [False, False] Translation: X:0.76, Y:0.07, Z:-0.14 [[ 0.99982256 -0.01189861 -0.01460403 0.76143423] [ 0.0119894 0.99990924 0.00614538 0.06644821] [ 0.01452958 -0.00631938 0.99987447 -0.14138323] [ 0. 0. 0. 1. ]] SLAMing on 20.372414037000002 meters Centerline goodness [0,1] 0.7786086463624671 Centerline is valid? [False, False] Translation: X:0.76, Y:0.07, Z:-0.14 [[ 0.99982519 -0.01161409 -0.0146524 0.76201544] [ 0.01171138 0.99990983 0.00657143 0.06550204] [ 0.01457476 -0.00674188 0.99987105 -0.14201867] [ 0. 0. 0. 1. ]] SLAMing on 20.402414037 meters Centerline goodness [0,1] 0.7781432430077546 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.14 [[ 0.99982701 -0.01124674 -0.01481424 0.76288162] [ 0.01135215 0.99991071 0.00705051 0.06443167] [ 0.01473362 -0.00721747 0.99986541 -0.14267903] [ 0. 0. 0. 1. ]] SLAMing on 20.432414037 meters Centerline goodness [0,1] 0.7815389301020297 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.14 [[ 0.99982851 -0.01103373 -0.0148728 0.76332966] [ 0.01114488 0.99991043 0.0074113 0.0632772 ] [ 0.01478969 -0.00757579 0.99986193 -0.14307355] [ 0. 0. 0. 1. ]] SLAMing on 20.462414037000002 meters Centerline goodness [0,1] 0.7807826086956522 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.14 [[ 0.99983062 -0.0108033 -0.01490051 0.76328509] [ 0.01092263 0.99990874 0.00795043 0.06149023] [ 0.01481326 -0.00811183 0.99985737 -0.14289352] [ 0. 0. 0. 1. ]] SLAMing on 20.492414037 meters Centerline goodness [0,1] 0.7810567429749377 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.14 [[ 0.9998284 -0.01095926 -0.01493534 0.76319463] [ 0.01107774 0.99990765 0.00787285 0.06127112] [ 0.01484768 -0.00803695 0.99985747 -0.14260282] [ 0. 0. 0. 1. ]] SLAMing on 20.522414037 meters Centerline goodness [0,1] 0.7829563479130001 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.14 [[ 0.99982664 -0.01105026 -0.01498637 0.76307712] [ 0.01116817 0.99990716 0.00780666 0.06117936] [ 0.01489872 -0.00797268 0.99985722 -0.14228105] [ 0. 0. 0. 1. ]] SLAMing on 20.552414037000002 meters Centerline goodness [0,1] 0.7840820397190182 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.14 [[ 0.99982499 -0.01106738 -0.01508292 0.7631969 ] [ 0.01118664 0.99990665 0.00784529 0.06069767] [ 0.01499468 -0.00801264 0.99985547 -0.14206929] [ 0. 0. 0. 1. ]] SLAMing on 20.582414037 meters Centerline goodness [0,1] 0.7834709669029196 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.14 [[ 0.99981842 -0.01180423 -0.01495955 0.76170201] [ 0.01191491 0.99990214 0.0073312 0.05838957] [ 0.01487154 -0.00750812 0.99986122 -0.14042795] [ 0. 0. 0. 1. ]] SLAMing on 20.612414037 meters Centerline goodness [0,1] 0.784019569641079 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.14 [[ 0.99981588 -0.01208683 -0.01490325 0.76117666] [ 0.0121964 0.9998991 0.00728312 0.05677473] [ 0.01481372 -0.00746354 0.99986242 -0.13982954] [ 0. 0. 0. 1. ]] SLAMing on 20.642414037 meters Centerline goodness [0,1] 0.7823335644937587 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.14 [[ 0.99981461 -0.0123045 -0.01480999 0.76084379] [ 0.01241286 0.99989669 0.00724714 0.05598279] [ 0.01471928 -0.00742963 0.99986406 -0.13967383] [ 0. 0. 0. 1. ]] SLAMing on 20.672414037 meters Centerline goodness [0,1] 0.781673496823435 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.14 [[ 0.99981331 -0.01234166 -0.01486717 0.761386 ] [ 0.0124495 0.9998967 0.00718285 0.05659091] [ 0.01477699 -0.0073666 0.99986368 -0.14017672] [ 0. 0. 0. 1. ]] SLAMing on 20.702414037 meters Centerline goodness [0,1] 0.7820843726276976 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.14 [[ 0.99981384 -0.01230438 -0.01486217 0.76176648] [ 0.01241285 0.99989683 0.00722876 0.0568867 ] [ 0.01477169 -0.00741189 0.99986342 -0.14062988] [ 0. 0. 0. 1. ]] SLAMing on 20.732414037 meters Centerline goodness [0,1] 0.7797136712215681 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.14 [[ 0.99981392 -0.01234708 -0.01482156 0.76169415] [ 0.01245583 0.99989601 0.00726728 0.05649222] [ 0.01473029 -0.00745054 0.99986374 -0.14062089] [ 0. 0. 0. 1. ]] SLAMing on 20.762414037 meters Centerline goodness [0,1] 0.779102536310427 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.14 [[ 0.99981565 -0.01206196 -0.01493909 0.76246031] [ 0.01217726 0.99989658 0.00765123 0.05548842] [ 0.01484525 -0.00783174 0.99985913 -0.14130377] [ 0. 0. 0. 1. ]] SLAMing on 20.792414037 meters Centerline goodness [0,1] 0.7798141288100344 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:-0.14 [[ 0.99982169 -0.0114321 -0.01502975 0.7637326 ] [ 0.01155894 0.99989808 0.00838014 0.05362877] [ 0.01493241 -0.00855237 0.99985193 -0.14269051] [ 0. 0. 0. 1. ]] SLAMing on 20.822414037 meters Centerline goodness [0,1] 0.7809882475163951 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:-0.14 [[ 0.99982168 -0.01130582 -0.01512548 0.76418358] [ 0.01143564 0.99989828 0.00852397 0.05330541] [ 0.01502757 -0.00869542 0.99984927 -0.14296803] [ 0. 0. 0. 1. ]] SLAMing on 20.852414037 meters Centerline goodness [0,1] 0.7856540996003025 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:-0.14 [[ 0.99982009 -0.01151354 -0.01507386 0.76378115] [ 0.01163789 0.99989875 0.00818776 0.05389078] [ 0.01497806 -0.00836171 0.99985286 -0.14244534] [ 0. 0. 0. 1. ]] SLAMing on 20.882414037 meters Centerline goodness [0,1] 0.7840538732166368 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.14 [[ 0.99981548 -0.01201498 -0.0149882 0.76253388] [ 0.01212681 0.99989914 0.00739307 0.05550823] [ 0.01489786 -0.00757346 0.99986034 -0.14073233] [ 0. 0. 0. 1. ]] SLAMing on 20.912414037 meters Centerline goodness [0,1] 0.7835176226675882 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.14 [[ 0.9998129 -0.01223075 -0.01498599 0.76215731] [ 0.01234028 0.99989766 0.00723828 0.0552136 ] [ 0.01489593 -0.00742185 0.9998615 -0.14018248] [ 0. 0. 0. 1. ]] SLAMing on 20.942414037 meters Centerline goodness [0,1] 0.7837458425122025 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:-0.14 [[ 0.99980996 -0.0124702 -0.01498443 0.76189417] [ 0.01258003 0.99989453 0.00725764 0.05402713] [ 0.01489235 -0.00744476 0.99986139 -0.13990196] [ 0. 0. 0. 1. ]] SLAMing on 20.972414037 meters Centerline goodness [0,1] 0.7808955997667034 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:-0.14 [[ 0.99975721 -0.01608838 -0.01505588 0.76244753] [ 0.01614732 0.9998624 0.00380131 0.05250563] [ 0.01499266 -0.0040435 0.99987943 -0.14007733] [ 0. 0. 0. 1. ]] SLAMing on 21.002414037 meters Centerline goodness [0,1] 0.780740804771578 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:-0.14 [[ 0.99975435 -0.01626217 -0.01505936 0.76255552] [ 0.01632406 0.99985877 0.0039964 0.05142473] [ 0.01499225 -0.00424125 0.99987861 -0.14032611] [ 0. 0. 0. 1. ]] SLAMing on 21.032414037 meters Centerline goodness [0,1] 0.7821289251923533 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:-0.14 [[ 0.99975506 -0.01613297 -0.01515114 0.76335663] [ 0.01620028 0.99985939 0.00433062 0.05109157] [ 0.01507915 -0.00457501 0.99987584 -0.14117369] [ 0. 0. 0. 1. ]] SLAMing on 21.062414037 meters Centerline goodness [0,1] 0.77488550937527 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:-0.14 [[ 0.99975525 -0.01600928 -0.01526882 0.76413054] [ 0.01607885 0.99986085 0.00444448 0.05174896] [ 0.01519554 -0.00468889 0.99987355 -0.14188215] [ 0. 0. 0. 1. ]] SLAMing on 21.092414037 meters Centerline goodness [0,1] 0.7780994771185342 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:-0.14 [[ 0.99975692 -0.01584439 -0.01533133 0.76494077] [ 0.01591197 0.99986417 0.00429582 0.05391861] [ 0.01526118 -0.00453873 0.99987324 -0.14269111] [ 0. 0. 0. 1. ]] SLAMing on 21.122414037 meters Centerline goodness [0,1] 0.7761814090358318 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99975899 -0.01565981 -0.01538598 0.76532606] [ 0.01572902 0.99986666 0.00438793 0.0540856 ] [ 0.01531522 -0.00462888 0.999872 -0.14296049] [ 0. 0. 0. 1. ]] SLAMing on 21.152414037 meters Centerline goodness [0,1] 0.7767588075880759 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99976172 -0.01548427 -0.01538666 0.76567392] [ 0.01555527 0.99986886 0.00450502 0.05374887] [ 0.01531489 -0.00474329 0.99987147 -0.14335095] [ 0. 0. 0. 1. ]] SLAMing on 21.182414037 meters Centerline goodness [0,1] 0.7751820388349515 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:-0.14 [[ 0.99976521 -0.01551333 -0.01512835 0.7649792 ] [ 0.01557885 0.99986973 0.00422227 0.05348977] [ 0.01506088 -0.00445696 0.99987665 -0.14284283] [ 0. 0. 0. 1. ]] SLAMing on 21.212414037000002 meters Centerline goodness [0,1] 0.7731465442577516 Centerline is valid? [False, False] Translation: X:0.76, Y:0.05, Z:-0.14 [[ 0.99976242 -0.01583678 -0.01497637 0.7640222 ] [ 0.01589348 0.99986694 0.00367488 0.05446941] [ 0.01491618 -0.00391204 0.99988109 -0.14180828] [ 0. 0. 0. 1. ]] SLAMing on 21.242414037 meters Centerline goodness [0,1] 0.7785108592195207 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.14 [[ 0.9997587 -0.01603528 -0.01501358 0.76356467] [ 0.01608458 0.99986561 0.00316916 0.05583622] [ 0.01496075 -0.00340988 0.99988227 -0.14089163] [ 0. 0. 0. 1. ]] SLAMing on 21.272414037 meters Centerline goodness [0,1] 0.778066866137635 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.14 [[ 0.9997557 -0.01627176 -0.014959 0.76303224] [ 0.01631473 0.99986311 0.00275472 0.05724669] [ 0.01491213 -0.0029981 0.99988431 -0.14022453] [ 0. 0. 0. 1. ]] SLAMing on 21.302414037000002 meters Centerline goodness [0,1] 0.776658999175383 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.14 [[ 0.99974814 -0.0166191 -0.01508174 0.76342159] [ 0.01666052 0.99985776 0.00262521 0.05804913] [ 0.01503596 -0.00287582 0.99988282 -0.14048756] [ 0. 0. 0. 1. ]] SLAMing on 21.332414037 meters Centerline goodness [0,1] 0.7749316791740771 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.14 [[ 0.99974828 -0.01647093 -0.01523419 0.76444333] [ 0.01652028 0.99985866 0.00311949 0.05715064] [ 0.01518066 -0.00337038 0.99987909 -0.14159858] [ 0. 0. 0. 1. ]] SLAMing on 21.362414037 meters Centerline goodness [0,1] 0.7668355636395132 Centerline is valid? [False, False] Translation: X:0.77, Y:0.06, Z:-0.14 [[ 0.99974986 -0.01624813 -0.01536904 0.76550959] [ 0.01630581 0.99986045 0.00363472 0.05583118] [ 0.01530784 -0.00388442 0.99987528 -0.14266323] [ 0. 0. 0. 1. ]] SLAMing on 21.392414037 meters Centerline goodness [0,1] 0.7700353724962565 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99975054 -0.01623447 -0.01533951 0.76597813] [ 0.01629606 0.99985961 0.00389869 0.05461048] [ 0.01527406 -0.00414769 0.99987474 -0.14340108] [ 0. 0. 0. 1. ]] SLAMing on 21.422414037 meters Centerline goodness [0,1] 0.7659758952570883 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99975216 -0.01629419 -0.01516943 0.76594028] [ 0.01635525 0.9998586 0.00390969 0.05453834] [ 0.01510358 -0.00415682 0.99987729 -0.1437524 ] [ 0. 0. 0. 1. ]] SLAMing on 21.452414037 meters Centerline goodness [0,1] 0.7626108888502348 Centerline is valid? [False, False] Translation: X:0.77, Y:0.06, Z:-0.14 [[ 0.99975305 -0.01616976 -0.01524423 0.76608402] [ 0.01622743 0.9998616 0.00366694 0.0561917 ] [ 0.01518283 -0.00391341 0.99987708 -0.1435913 ] [ 0. 0. 0. 1. ]] SLAMing on 21.482414037 meters Centerline goodness [0,1] 0.767776211644801 Centerline is valid? [False, False] Translation: X:0.77, Y:0.06, Z:-0.14 [[ 0.99976833 -0.01538031 -0.01505789 0.76592411] [ 0.01542989 0.99987589 0.00318144 0.06020061] [ 0.01500709 -0.00341305 0.99988156 -0.14297081] [ 0. 0. 0. 1. ]] SLAMing on 21.512414037 meters Centerline goodness [0,1] 0.7746626033957336 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.14 [[ 0.99980992 -0.01257886 -0.01489596 0.76400409] [ 0.01267082 0.99990115 0.00609494 0.05995767] [ 0.01481782 -0.00628252 0.99987047 -0.14124407] [ 0. 0. 0. 1. ]] SLAMing on 21.542414037 meters Centerline goodness [0,1] 0.7704054994778977 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.14 [[ 0.99981156 -0.01233185 -0.01499228 0.76422127] [ 0.01242043 0.99990587 0.00582991 0.06122554] [ 0.01491898 -0.00601502 0.99987061 -0.1410106 ] [ 0. 0. 0. 1. ]] SLAMing on 21.572414037 meters Centerline goodness [0,1] 0.770325557103064 Centerline is valid? [False, False] Translation: X:0.76, Y:0.06, Z:-0.14 [[ 0.99981312 -0.01198913 -0.01516531 0.76478075] [ 0.01207806 0.99991032 0.0057862 0.06187726] [ 0.01509458 -0.00596828 0.99986826 -0.14108957] [ 0. 0. 0. 1. ]] SLAMing on 21.602414037 meters Centerline goodness [0,1] 0.7783141962421711 Centerline is valid? [False, False] Translation: X:0.77, Y:0.06, Z:-0.14 [[ 0.9998197 -0.01121666 -0.01532198 0.76592116] [ 0.01130726 0.99991902 0.00583922 0.06300811] [ 0.01525524 -0.00601141 0.99986556 -0.14174981] [ 0. 0. 0. 1. ]] SLAMing on 21.632414037 meters Centerline goodness [0,1] 0.776786295837947 Centerline is valid? [False, False] Translation: X:0.77, Y:0.06, Z:-0.14 [[ 0.99982012 -0.01087643 -0.01553783 0.76685057] [ 0.01096699 0.9999233 0.00575516 0.06397476] [ 0.01547404 -0.00592453 0.99986272 -0.14216384] [ 0. 0. 0. 1. ]] SLAMing on 21.662414037 meters Centerline goodness [0,1] 0.7756928155677179 Centerline is valid? [False, False] Translation: X:0.77, Y:0.07, Z:-0.14 [[ 0.99982028 -0.01054196 -0.01575645 0.76771748] [ 0.01063198 0.99992757 0.00564031 0.06536694] [ 0.01569585 -0.00580682 0.99985995 -0.14248904] [ 0. 0. 0. 1. ]] SLAMing on 21.692414037 meters Centerline goodness [0,1] 0.7820437222913801 Centerline is valid? [False, False] Translation: X:0.77, Y:0.07, Z:-0.14 [[ 0.99981979 -0.01030494 -0.0159434 0.7683219 ] [ 0.01039247 0.99993132 0.0054172 0.06676578] [ 0.01588648 -0.00558192 0.99985822 -0.14259365] [ 0. 0. 0. 1. ]] SLAMing on 21.722414037 meters Centerline goodness [0,1] 0.7834655969303218 Centerline is valid? [False, False] Translation: X:0.77, Y:0.07, Z:-0.14 [[ 0.99982021 -0.00994091 -0.0161472 0.76897617] [ 0.01003008 0.99993484 0.00545029 0.06717981] [ 0.01609197 -0.00561127 0.99985477 -0.14268206] [ 0. 0. 0. 1. ]] SLAMing on 21.752414037 meters Centerline goodness [0,1] 0.7817845081163526 Centerline is valid? [False, False] Translation: X:0.77, Y:0.07, Z:-0.14 [[ 0.99982137 -0.01011277 -0.01596726 0.76850855] [ 0.01019917 0.99993373 0.00533933 0.06721536] [ 0.0159122 -0.00550123 0.99985826 -0.14250202] [ 0. 0. 0. 1. ]] SLAMing on 21.782414037 meters Centerline goodness [0,1] 0.7816855400696864 Centerline is valid? [False, False] Translation: X:0.77, Y:0.07, Z:-0.14 [[ 0.99982 -0.01023833 -0.0159735 0.76853472] [ 0.01032343 0.99993291 0.00525444 0.06722656] [ 0.01591863 -0.0054184 0.99985861 -0.14247607] [ 0. 0. 0. 1. ]] SLAMing on 21.812414037 meters Centerline goodness [0,1] 0.7776396160558464 Centerline is valid? [False, False] Translation: X:0.77, Y:0.07, Z:-0.14 [[ 0.99981876 -0.01045742 -0.01590902 0.76833113] [ 0.01054014 0.99993132 0.00512485 0.06694032] [ 0.01585434 -0.00529161 0.99986031 -0.14236958] [ 0. 0. 0. 1. ]] SLAMing on 21.842414037 meters Centerline goodness [0,1] 0.7791109661993262 Centerline is valid? [False, False] Translation: X:0.77, Y:0.07, Z:-0.14 [[ 0.99981865 -0.01025489 -0.01604705 0.7691081 ] [ 0.01034164 0.9999323 0.00533266 0.06671066] [ 0.01599127 -0.00549765 0.99985702 -0.14292997] [ 0. 0. 0. 1. ]] SLAMing on 21.872414037 meters Centerline goodness [0,1] 0.7789892922434056 Centerline is valid? [False, False] Translation: X:0.77, Y:0.07, Z:-0.14 [[ 0.99981901 -0.0101589 -0.01608547 0.76960645] [ 0.01024663 0.99993302 0.0053811 0.06674864] [ 0.01602973 -0.00554495 0.99985614 -0.14338876] [ 0. 0. 0. 1. ]] SLAMing on 21.902414037 meters Centerline goodness [0,1] 0.7811704280833097 Centerline is valid? [False, False] Translation: X:0.77, Y:0.07, Z:-0.14 [[ 0.99982112 -0.01012955 -0.01597217 0.76969001] [ 0.01021646 0.9999334 0.00536879 0.06659491] [ 0.01591672 -0.00553101 0.99985802 -0.14367317] [ 0. 0. 0. 1. ]] SLAMing on 21.932414037 meters Centerline goodness [0,1] 0.7784613377970044 Centerline is valid? [False, False] Translation: X:0.77, Y:0.07, Z:-0.14 [[ 0.99982009 -0.01026965 -0.01594726 0.76966631] [ 0.01035533 0.99993234 0.00529988 0.06635753] [ 0.01589175 -0.00546406 0.99985879 -0.14367833] [ 0. 0. 0. 1. ]] SLAMing on 21.962414037000002 meters Centerline goodness [0,1] 0.7811806190414 Centerline is valid? [False, False] Translation: X:0.77, Y:0.07, Z:-0.14 [[ 0.9998199 -0.01034565 -0.01591051 0.76983408] [ 0.01043216 0.9999312 0.00536422 0.06595771] [ 0.01585392 -0.00552924 0.99985903 -0.14400644] [ 0. 0. 0. 1. ]] SLAMing on 21.992414037 meters Centerline goodness [0,1] 0.7809759485977251 Centerline is valid? [False, False] Translation: X:0.77, Y:0.07, Z:-0.14 [[ 0.99981825 -0.01027263 -0.01606066 0.77042383] [ 0.01036504 0.99993014 0.00568151 0.06524573] [ 0.01600118 -0.00584695 0.99985488 -0.14444058] [ 0. 0. 0. 1. ]] SLAMing on 22.022414037 meters Centerline goodness [0,1] 0.7791973578428177 Centerline is valid? [False, False] Translation: X:0.77, Y:0.06, Z:-0.14 [[ 0.99981405 -0.01118409 -0.0157091 0.76896177] [ 0.01126946 0.99992215 0.00535665 0.06404173] [ 0.01564797 -0.00553269 0.99986226 -0.14368853] [ 0. 0. 0. 1. ]] SLAMing on 22.052414037000002 meters Centerline goodness [0,1] 0.7807857235673756 Centerline is valid? [False, False] Translation: X:0.77, Y:0.06, Z:-0.14 [[ 0.99981115 -0.01136582 -0.01576312 0.7690344 ] [ 0.01145289 0.99991959 0.00544428 0.06275937] [ 0.01569998 -0.00562379 0.99986093 -0.14364219] [ 0. 0. 0. 1. ]] SLAMing on 22.082414037 meters Centerline goodness [0,1] 0.7807857235673756 Centerline is valid? [False, False] Translation: X:0.77, Y:0.06, Z:-0.14 [[ 0.99981115 -0.01136582 -0.01576312 0.7690344 ] [ 0.01145289 0.99991959 0.00544428 0.06275937] [ 0.01569998 -0.00562379 0.99986093 -0.14364219] [ 0. 0. 0. 1. ]] SLAMing on 22.112414037 meters Centerline goodness [0,1] 0.7788628472222222 Centerline is valid? [False, False] Translation: X:0.77, Y:0.06, Z:-0.14 [[ 0.99980987 -0.01160686 -0.01566876 0.76863422] [ 0.01169497 0.99991624 0.0055437 0.06146089] [ 0.0156031 -0.00572589 0.99986187 -0.14347344] [ 0. 0. 0. 1. ]] SLAMing on 22.142414037 meters Centerline goodness [0,1] 0.7773001606530329 Centerline is valid? [False, False] Translation: X:0.77, Y:0.06, Z:-0.14 [[ 0.99980941 -0.01182159 -0.01553698 0.76830105] [ 0.01191028 0.99991323 0.00562833 0.06038033] [ 0.0154691 -0.00581231 0.99986345 -0.14339825] [ 0. 0. 0. 1. ]] SLAMing on 22.172414037 meters Centerline goodness [0,1] 0.770243396307985 Centerline is valid? [False, False] Translation: X:0.77, Y:0.06, Z:-0.14 [[ 0.99980451 -0.01244188 -0.01536692 0.76750238] [ 0.01252787 0.99990633 0.00551219 0.05920722] [ 0.0152969 -0.00570363 0.99986673 -0.14294508] [ 0. 0. 0. 1. ]] SLAMing on 22.202414037 meters Centerline goodness [0,1] 0.7751746814632141 Centerline is valid? [False, False] Translation: X:0.77, Y:0.06, Z:-0.14 [[ 0.99980473 -0.0126602 -0.0151732 0.76696169] [ 0.01274435 0.99990387 0.00546211 0.05896075] [ 0.01510259 -0.00565442 0.99986996 -0.14271681] [ 0. 0. 0. 1. ]] SLAMing on 22.232414037 meters Centerline goodness [0,1] 0.7771116930335231 Centerline is valid? [False, False] Translation: X:0.77, Y:0.06, Z:-0.14 [[ 0.99980459 -0.01268931 -0.01515776 0.76701497] [ 0.01277472 0.99990299 0.00555109 0.05852883] [ 0.01508585 -0.00574365 0.99986971 -0.14279253] [ 0. 0. 0. 1. ]] SLAMing on 22.262414037 meters Centerline goodness [0,1] 0.7764945504972807 Centerline is valid? [False, False] Translation: X:0.77, Y:0.06, Z:-0.14 [[ 0.9998047 -0.012665 -0.01517134 0.76714602] [ 0.01275328 0.99990222 0.00573616 0.05754 ] [ 0.01509721 -0.00592853 0.99986845 -0.1428973 ] [ 0. 0. 0. 1. ]] SLAMing on 22.292414037 meters Centerline goodness [0,1] 0.7731744312026002 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99980596 -0.01259528 -0.01514607 0.76770071] [ 0.01269229 0.99989944 0.00632588 0.05439828] [ 0.01506487 -0.00651689 0.99986528 -0.14379729] [ 0. 0. 0. 1. ]] SLAMing on 22.322414037 meters Centerline goodness [0,1] 0.7736720554272517 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99980452 -0.01263664 -0.01520652 0.76806228] [ 0.01273759 0.99989735 0.00656016 0.05332509] [ 0.01512206 -0.00675257 0.99986285 -0.14417245] [ 0. 0. 0. 1. ]] SLAMing on 22.352414037 meters Centerline goodness [0,1] 0.772913018096906 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.9998027 -0.01278501 -0.01520213 0.76795173] [ 0.01288599 0.99989543 0.00656342 0.05309756] [ 0.01511662 -0.00675802 0.9998629 -0.14403732] [ 0. 0. 0. 1. ]] SLAMing on 22.382414037 meters Centerline goodness [0,1] 0.765490077261021 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99980066 -0.01294131 -0.01520395 0.76772544] [ 0.01304201 0.99989354 0.00654327 0.05291129] [ 0.01511765 -0.00674026 0.999863 -0.14373736] [ 0. 0. 0. 1. ]] SLAMing on 22.412414037 meters Centerline goodness [0,1] 0.775907940559365 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99979768 -0.01341503 -0.01498754 0.76685084] [ 0.01351247 0.9998881 0.00641892 0.05252072] [ 0.01489975 -0.00662014 0.99986708 -0.14318897] [ 0. 0. 0. 1. ]] SLAMing on 22.442414037 meters Centerline goodness [0,1] 0.7732881004343223 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.9997969 -0.01353749 -0.0149295 0.76702567] [ 0.01363684 0.99988541 0.00657301 0.05145591] [ 0.01483881 -0.00677526 0.99986694 -0.14360831] [ 0. 0. 0. 1. ]] SLAMing on 22.472414037 meters Centerline goodness [0,1] 0.7741977281561785 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99979643 -0.01353845 -0.01496045 0.76753978] [ 0.013643 0.99988307 0.00690816 0.04997987] [ 0.01486518 -0.00711085 0.99986422 -0.14429821] [ 0. 0. 0. 1. ]] SLAMing on 22.502414037 meters Centerline goodness [0,1] 0.770697061934676 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.15 [[ 0.99979333 -0.01391271 -0.01482313 0.76779822] [ 0.01402002 0.99987608 0.00716022 0.04766283] [ 0.01472168 -0.00736656 0.99986449 -0.14518901] [ 0. 0. 0. 1. ]] SLAMing on 22.532414037 meters Centerline goodness [0,1] 0.7696552913531809 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.15 [[ 0.99979193 -0.01407824 -0.01476111 0.76759672] [ 0.01418365 0.99987448 0.00706092 0.04757446] [ 0.01465985 -0.00726881 0.99986612 -0.14502633] [ 0. 0. 0. 1. ]] SLAMing on 22.562414037 meters Centerline goodness [0,1] 0.7739091065884788 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99978948 -0.01428262 -0.01473072 0.76702518] [ 0.01438335 0.99987374 0.00675498 0.04803667] [ 0.01463239 -0.00696544 0.99986868 -0.14421242] [ 0. 0. 0. 1. ]] SLAMing on 22.592414037 meters Centerline goodness [0,1] 0.7801038099545562 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99979363 -0.01395348 -0.0147645 0.76656046] [ 0.01405135 0.99987985 0.0065461 0.04910469] [ 0.01467139 -0.00675222 0.99986957 -0.14304799] [ 0. 0. 0. 1. ]] SLAMing on 22.622414037 meters Centerline goodness [0,1] 0.781243936617441 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99979474 -0.0135317 -0.0150785 0.76749335] [ 0.01363385 0.99988466 0.00669202 0.04935135] [ 0.01498621 -0.00689623 0.99986392 -0.14329476] [ 0. 0. 0. 1. ]] SLAMing on 22.652414037 meters Centerline goodness [0,1] 0.780090595340811 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99979741 -0.01303202 -0.01533938 0.76860442] [ 0.01313974 0.99988956 0.0069432 0.04947862] [ 0.0152472 -0.00714334 0.99985824 -0.14392715] [ 0. 0. 0. 1. ]] SLAMing on 22.682414037 meters Centerline goodness [0,1] 0.7805678505883623 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99980143 -0.0125831 -0.01545234 0.76957022] [ 0.01269549 0.99989351 0.00719682 0.0498292 ] [ 0.01536013 -0.00739157 0.9998547 -0.14479447] [ 0. 0. 0. 1. ]] SLAMing on 22.712414037000002 meters Centerline goodness [0,1] 0.7810491350675122 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99980587 -0.01216636 -0.01549836 0.77002053] [ 0.01227561 0.99990034 0.00697344 0.05172235] [ 0.01541197 -0.00716234 0.99985558 -0.14488029] [ 0. 0. 0. 1. ]] SLAMing on 22.742414037 meters Centerline goodness [0,1] 0.7805964661865525 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99980494 -0.01210384 -0.0156072 0.77028118] [ 0.012212 0.99990194 0.00685361 0.05222583] [ 0.01552272 -0.00704287 0.99985471 -0.14482809] [ 0. 0. 0. 1. ]] SLAMing on 22.772414037 meters Centerline goodness [0,1] 0.7799978469157067 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99980312 -0.0121309 -0.01570206 0.77052799] [ 0.01223902 0.99990193 0.00680748 0.0519181 ] [ 0.01561794 -0.00699832 0.99985354 -0.14484144] [ 0. 0. 0. 1. ]] SLAMing on 22.802414037000002 meters Centerline goodness [0,1] 0.7801192500591945 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99980024 -0.01240891 -0.01566856 0.76996789] [ 0.01251621 0.99989876 0.00676859 0.05027069] [ 0.01558299 -0.00696335 0.99985433 -0.14419528] [ 0. 0. 0. 1. ]] SLAMing on 22.832414037 meters Centerline goodness [0,1] 0.782336757941796 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99979969 -0.01257264 -0.01557295 0.76968267] [ 0.0126776 0.99989746 0.00665944 0.0497649 ] [ 0.01548763 -0.00685553 0.99985656 -0.14397467] [ 0. 0. 0. 1. ]] SLAMing on 22.862414037 meters Centerline goodness [0,1] 0.7797448749112655 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99979912 -0.01250639 -0.01566237 0.76997199] [ 0.01261177 0.99989837 0.00664751 0.0502082 ] [ 0.01557765 -0.0068437 0.99985524 -0.14405157] [ 0. 0. 0. 1. ]] SLAMing on 22.892414037 meters Centerline goodness [0,1] 0.7817054530580612 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99979959 -0.01217974 -0.01588833 0.77105318] [ 0.01228647 0.99990249 0.00663739 0.05163886] [ 0.01580593 -0.00683128 0.99985174 -0.14472945] [ 0. 0. 0. 1. ]] SLAMing on 22.922414037 meters Centerline goodness [0,1] 0.7825534024529562 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.15 [[ 0.99980478 -0.01119565 -0.01628072 0.77316265] [ 0.01131111 0.9999114 0.00701744 0.05358204] [ 0.01620071 -0.00720022 0.99984283 -0.14619869] [ 0. 0. 0. 1. ]] SLAMing on 22.952414037 meters Centerline goodness [0,1] 0.7817349824084266 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.15 [[ 0.9998052 -0.0111661 -0.01627542 0.77326474] [ 0.01128153 0.99991173 0.00701795 0.05319712] [ 0.01619562 -0.00720019 0.99984292 -0.14623448] [ 0. 0. 0. 1. ]] SLAMing on 22.982414037 meters Centerline goodness [0,1] 0.7810712203967962 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.15 [[ 0.99980337 -0.01149701 -0.01615697 0.77259762] [ 0.01160797 0.99990957 0.00679093 0.0524776 ] [ 0.01607743 -0.00697714 0.99984641 -0.14566289] [ 0. 0. 0. 1. ]] SLAMing on 23.012414037 meters Centerline goodness [0,1] 0.7794649780304989 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.15 [[ 0.99980144 -0.01170948 -0.01612329 0.77230988] [ 0.01181939 0.99990744 0.00673899 0.05146269] [ 0.01604289 -0.00692822 0.9998473 -0.14533215] [ 0. 0. 0. 1. ]] SLAMing on 23.042414037 meters Centerline goodness [0,1] 0.7791851883820293 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99979812 -0.01225795 -0.01592056 0.77141613] [ 0.01236131 0.99990305 0.00641011 0.05112213] [ 0.01584044 -0.00660561 0.99985271 -0.14469804] [ 0. 0. 0. 1. ]] SLAMing on 23.072414037 meters Centerline goodness [0,1] 0.7789314950452391 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99979572 -0.01256023 -0.01583529 0.7711819 ] [ 0.01265913 0.99990089 0.00616103 0.05135516] [ 0.01575634 -0.00636023 0.99985563 -0.14452882] [ 0. 0. 0. 1. ]] SLAMing on 23.102414037 meters Centerline goodness [0,1] 0.7781093672842819 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99979123 -0.01290393 -0.01584249 0.77102361] [ 0.01300103 0.99989723 0.00604135 0.05105312] [ 0.01576291 -0.00624606 0.99985625 -0.14429039] [ 0. 0. 0. 1. ]] SLAMing on 23.132414037 meters Centerline goodness [0,1] 0.7755506275970461 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99978766 -0.01354543 -0.01552932 0.7699158 ] [ 0.01363716 0.99989009 0.00581659 0.05019506] [ 0.01544883 -0.00602713 0.99986249 -0.14372943] [ 0. 0. 0. 1. ]] SLAMing on 23.162414037 meters Centerline goodness [0,1] 0.7744435355405347 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99972623 -0.01733795 -0.0157118 0.77067678] [ 0.01738032 0.99984566 0.00256436 0.04798108] [ 0.01566492 -0.00283673 0.99987327 -0.14406282] [ 0. 0. 0. 1. ]] SLAMing on 23.192414037 meters Centerline goodness [0,1] 0.7690290406483093 Centerline is valid? [False, False] Translation: X:0.77, Y:0.05, Z:-0.14 [[ 0.99972373 -0.01750191 -0.01568882 0.77100758] [ 0.0175526 0.99984114 0.0030992 0.04605402] [ 0.01563208 -0.00337373 0.99987212 -0.14479201] [ 0. 0. 0. 1. ]] SLAMing on 23.222414037 meters Centerline goodness [0,1] 0.7577411522014741 Centerline is valid? [False, False] Translation: X:0.77, Y:0.04, Z:-0.15 [[ 0.99971229 -0.01831921 -0.01548364 0.77054631] [ 0.01837445 0.99982528 0.00343244 0.04385984] [ 0.01541806 -0.00371596 0.99987423 -0.14515477] [ 0. 0. 0. 1. ]] SLAMing on 23.252414037 meters Centerline goodness [0,1] 0.764545259084068 Centerline is valid? [False, False] Translation: X:0.77, Y:0.04, Z:-0.15 [[ 0.99971233 -0.01842381 -0.01535659 0.77045216] [ 0.01848586 0.99982148 0.00390822 0.04170123] [ 0.01528185 -0.00419098 0.99987444 -0.14548233] [ 0. 0. 0. 1. ]] SLAMing on 23.282414037 meters Centerline goodness [0,1] 0.7599793752416963 Centerline is valid? [False, False] Translation: X:0.77, Y:0.04, Z:-0.15 [[ 0.99971212 -0.01844996 -0.01533887 0.77072743] [ 0.01852003 0.99981864 0.004439 0.0396046 ] [ 0.01525419 -0.0047218 0.9998725 -0.14601189] [ 0. 0. 0. 1. ]] SLAMing on 23.312414037 meters Centerline goodness [0,1] 0.7483636987918196 Centerline is valid? [False, False] Translation: X:0.77, Y:0.04, Z:-0.15 [[ 0.99970912 -0.01864779 -0.01529473 0.77060969] [ 0.01871854 0.99981469 0.00449567 0.03892427] [ 0.01520806 -0.00478065 0.99987292 -0.14598725] [ 0. 0. 0. 1. ]] SLAMing on 23.342414037 meters Centerline goodness [0,1] 0.7551721177783501 Centerline is valid? [False, False] Translation: X:0.77, Y:0.04, Z:-0.15 [[ 0.99970671 -0.01884378 -0.01521204 0.76997484] [ 0.01891076 0.99981205 0.00427077 0.04027267] [ 0.01512871 -0.00455719 0.99987517 -0.14522566] [ 0. 0. 0. 1. ]] SLAMing on 23.372414037 meters Centerline goodness [0,1] 0.7501449399841102 Centerline is valid? [False, False] Translation: X:0.77, Y:0.04, Z:-0.14 [[ 0.99970165 -0.01909 -0.01523724 0.76959594] [ 0.0191524 0.99980874 0.00395953 0.04108063] [ 0.01515874 -0.00425018 0.99987607 -0.14458665] [ 0. 0. 0. 1. ]] SLAMing on 23.402414037 meters Centerline goodness [0,1] 0.7514811952601752 Centerline is valid? [False, False] Translation: X:0.77, Y:0.04, Z:-0.14 [[ 0.99970221 -0.01897395 -0.01534564 0.76996689] [ 0.01903874 0.99981039 0.00408712 0.04079364] [ 0.01526518 -0.00437807 0.9998739 -0.14471717] [ 0. 0. 0. 1. ]] SLAMing on 23.432414037 meters Centerline goodness [0,1] 0.747444442063305 Centerline is valid? [False, False] Translation: X:0.77, Y:0.04, Z:-0.15 [[ 0.99970358 -0.01869479 -0.01559642 0.77100715] [ 0.0187676 0.99981359 0.00453555 0.03947547] [ 0.01550872 -0.00482692 0.99986808 -0.14545028] [ 0. 0. 0. 1. ]] SLAMing on 23.462414037000002 meters Centerline goodness [0,1] 0.7501717475311293 Centerline is valid? [False, False] Translation: X:0.77, Y:0.04, Z:-0.15 [[ 0.99971542 -0.01773642 -0.01595269 0.77351785] [ 0.01782682 0.99982573 0.00554225 0.03651798] [ 0.01585161 -0.00582505 0.99985739 -0.14767618] [ 0. 0. 0. 1. ]] SLAMing on 23.492414037 meters Centerline goodness [0,1] 0.7525197171899513 Centerline is valid? [False, False] Translation: X:0.77, Y:0.04, Z:-0.15 [[ 0.99971938 -0.01733061 -0.01614952 0.77438788] [ 0.01742525 0.9998317 0.00573829 0.03679108] [ 0.01604735 -0.00601809 0.99985312 -0.14821185] [ 0. 0. 0. 1. ]] SLAMing on 23.522414037 meters Centerline goodness [0,1] 0.757197408503883 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.15 [[ 0.99972903 -0.01667101 -0.0162464 0.77511434] [ 0.01676747 0.99984248 0.00581927 0.03854865] [ 0.01614683 -0.0060901 0.99985108 -0.14854516] [ 0. 0. 0. 1. ]] SLAMing on 23.552414037000002 meters Centerline goodness [0,1] 0.7649701242316125 Centerline is valid? [False, False] Translation: X:0.77, Y:0.04, Z:-0.15 [[ 0.99979169 -0.01220279 -0.01636058 0.77486686] [ 0.01235065 0.99988352 0.00896731 0.04295609] [ 0.01624924 -0.00916751 0.99982594 -0.14747558] [ 0. 0. 0. 1. ]] SLAMing on 23.582414037 meters Centerline goodness [0,1] 0.7781283537239752 Centerline is valid? [False, False] Translation: X:0.78, Y:0.05, Z:-0.15 [[ 0.99979995 -0.01126076 -0.01653061 0.77552953] [ 0.01140766 0.99989604 0.00881896 0.04524585] [ 0.01642959 -0.00900577 0.99982447 -0.14729949] [ 0. 0. 0. 1. ]] SLAMing on 23.612414037 meters Centerline goodness [0,1] 0.7794547015886647 Centerline is valid? [False, False] Translation: X:0.78, Y:0.05, Z:-0.15 [[ 0.99980261 -0.01062863 -0.01678584 0.77625054] [ 0.01077647 0.99990372 0.00874128 0.04606652] [ 0.01669131 -0.00892045 0.9998209 -0.14721178] [ 0. 0. 0. 1. ]] SLAMing on 23.642414037 meters Centerline goodness [0,1] 0.7832438238453276 Centerline is valid? [False, False] Translation: X:0.78, Y:0.05, Z:-0.15 [[ 0.99980461 -0.01027747 -0.0168855 0.7766213 ] [ 0.0104246 0.99990826 0.00864873 0.04594196] [ 0.01679506 -0.00882306 0.99982002 -0.14714488] [ 0. 0. 0. 1. ]] SLAMing on 23.672414037 meters Centerline goodness [0,1] 0.7832550357165841 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.15 [[ 0.99981294 -0.00932268 -0.01694588 0.77746395] [ 0.00947732 0.99991397 0.00906812 0.04476503] [ 0.01685988 -0.00922702 0.99981529 -0.14760845] [ 0. 0. 0. 1. ]] SLAMing on 23.702414037 meters Centerline goodness [0,1] 0.7843570861154647 Centerline is valid? [False, False] Translation: X:0.78, Y:0.05, Z:-0.15 [[ 0.99981158 -0.00904181 -0.01717725 0.77814902] [ 0.00919595 0.99991797 0.00891552 0.04592868] [ 0.01709523 -0.0090718 0.99981271 -0.14766982] [ 0. 0. 0. 1. ]] SLAMing on 23.732414037 meters Centerline goodness [0,1] 0.7848868447634808 Centerline is valid? [False, False] Translation: X:0.78, Y:0.05, Z:-0.15 [[ 0.99980974 -0.00879492 -0.01741085 0.77885685] [ 0.00894696 0.99992235 0.00867411 0.04780699] [ 0.01733321 -0.00882823 0.99981079 -0.14778046] [ 0. 0. 0. 1. ]] SLAMing on 23.762414037 meters Centerline goodness [0,1] 0.7858905844225528 Centerline is valid? [False, False] Translation: X:0.78, Y:0.05, Z:-0.15 [[ 0.99980563 -0.00860364 -0.0177391 0.77978826] [ 0.00875316 0.99992667 0.00836881 0.04979981] [ 0.0176658 -0.00852245 0.99980763 -0.14794074] [ 0. 0. 0. 1. ]] SLAMing on 23.792414037 meters Centerline goodness [0,1] 0.7844411556527894 Centerline is valid? [False, False] Translation: X:0.78, Y:0.05, Z:-0.15 [[ 0.99980234 -0.00850884 -0.01796868 0.78023934] [ 0.00865443 0.99993022 0.0080405 0.0515027 ] [ 0.01789901 -0.00819442 0.99980622 -0.14761005] [ 0. 0. 0. 1. ]] SLAMing on 23.822414037 meters Centerline goodness [0,1] 0.7864968207595807 Centerline is valid? [False, False] Translation: X:0.78, Y:0.05, Z:-0.15 [[ 0.9997998 -0.00884799 -0.01794662 0.77983823] [ 0.00898888 0.9999293 0.00778472 0.05081395] [ 0.01787647 -0.00794448 0.99980864 -0.14712088] [ 0. 0. 0. 1. ]] SLAMing on 23.852414037 meters Centerline goodness [0,1] 0.7868334515442647 Centerline is valid? [False, False] Translation: X:0.78, Y:0.05, Z:-0.15 [[ 0.99979575 -0.00927424 -0.01795698 0.77947354] [ 0.00941256 0.99992656 0.00763407 0.04907456] [ 0.01788486 -0.00780154 0.99980962 -0.14666466] [ 0. 0. 0. 1. ]] SLAMing on 23.882414037 meters Centerline goodness [0,1] 0.7850609429556799 Centerline is valid? [False, False] Translation: X:0.78, Y:0.05, Z:-0.15 [[ 0.99975571 -0.01275652 -0.01804987 0.78041809] [ 0.01283456 0.99990875 0.00421411 0.04748194] [ 0.01799447 -0.00444474 0.99982821 -0.14726934] [ 0. 0. 0. 1. ]] SLAMing on 23.912414037 meters Centerline goodness [0,1] 0.7842666780924632 Centerline is valid? [False, False] Translation: X:0.78, Y:0.05, Z:-0.15 [[ 0.99975424 -0.01304154 -0.017927 0.78031204] [ 0.01311862 0.99990517 0.00418905 0.04705288] [ 0.01787067 -0.0044232 0.99983052 -0.14748715] [ 0. 0. 0. 1. ]] SLAMing on 23.942414037 meters Centerline goodness [0,1] 0.7844158628081458 Centerline is valid? [False, False] Translation: X:0.78, Y:0.05, Z:-0.15 [[ 0.99975302 -0.01329377 -0.01780936 0.78026984] [ 0.01337194 0.99990144 0.00427712 0.04687818] [ 0.01775075 -0.00451421 0.99983225 -0.1478201 ] [ 0. 0. 0. 1. ]] SLAMing on 23.972414037 meters Centerline goodness [0,1] 0.7844158628081458 Centerline is valid? [False, False] Translation: X:0.78, Y:0.05, Z:-0.15 [[ 0.99975302 -0.01329377 -0.01780936 0.78026984] [ 0.01337194 0.99990144 0.00427712 0.04687818] [ 0.01775075 -0.00451421 0.99983225 -0.1478201 ] [ 0. 0. 0. 1. ]] SLAMing on 24.002414037 meters Centerline goodness [0,1] 0.7813506895218456 Centerline is valid? [False, False] Translation: X:0.78, Y:0.05, Z:-0.15 [[ 0.99973788 -0.01454849 -0.01767793 0.7794581 ] [ 0.01462115 0.99988515 0.00398801 0.04647843] [ 0.01761788 -0.00424543 0.99983578 -0.14760143] [ 0. 0. 0. 1. ]] SLAMing on 24.032414037 meters Centerline goodness [0,1] 0.7782610558793281 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.15 [[ 0.99972762 -0.01523379 -0.01768116 0.77917172] [ 0.01530702 0.99987478 0.00401406 0.04492308] [ 0.0176178 -0.00428361 0.99983562 -0.1474055 ] [ 0. 0. 0. 1. ]] SLAMing on 24.062414037 meters Centerline goodness [0,1] 0.7763719414123651 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.15 [[ 0.99971461 -0.01614245 -0.01760999 0.77863888] [ 0.01621329 0.999861 0.00388742 0.04298351] [ 0.01754479 -0.00417183 0.99983737 -0.14715498] [ 0. 0. 0. 1. ]] SLAMing on 24.092414037 meters Centerline goodness [0,1] 0.7700075196046836 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.15 [[ 0.99970078 -0.01719507 -0.01739753 0.77764509] [ 0.01725893 0.99984483 0.00352755 0.0407445 ] [ 0.01733418 -0.00382676 0.99984243 -0.1466063 ] [ 0. 0. 0. 1. ]] SLAMing on 24.122414037 meters Centerline goodness [0,1] 0.7658520900321544 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.15 [[ 9.99635161e-01 -2.02761884e-02 -1.78443839e-02 7.79833978e-01] [ 2.02863547e-02 9.99794135e-01 3.88874421e-04 4.02289270e-02] [ 1.78328255e-02 -7.50730045e-04 9.99840701e-01 -1.47834087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.152414037 meters Centerline goodness [0,1] 0.7538283361214773 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.15 [[ 9.99626391e-01 -2.09337194e-02 -1.75743329e-02 7.79352746e-01] [ 2.09445780e-02 9.99780544e-01 4.34016336e-04 3.88081545e-02] [ 1.75613905e-02 -8.01941171e-04 9.99845465e-01 -1.48162091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.182414037 meters Centerline goodness [0,1] 0.7534461287413579 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.15 [[ 9.99625803e-01 -2.09248146e-02 -1.76183646e-02 7.79524018e-01] [ 2.09344807e-02 9.99780783e-01 3.64365785e-04 3.95629980e-02] [ 1.76068780e-02 -7.33060753e-04 9.99844718e-01 -1.48152421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.212414037000002 meters Centerline goodness [0,1] 0.7633081480209496 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.15 [[ 9.99628387e-01 -2.06866517e-02 -1.77524885e-02 7.79867761e-01] [ 2.06949602e-02 9.99785796e-01 2.84419578e-04 4.11041561e-02] [ 1.77428021e-02 -6.51700925e-04 9.99842372e-01 -1.48078821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.242414037 meters Centerline goodness [0,1] 0.7646881720430108 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.15 [[ 0.99969249 -0.01749687 -0.01757222 0.77866034] [ 0.01756046 0.99983978 0.00347095 0.04196281] [ 0.01750867 -0.00377846 0.99983957 -0.14726601] [ 0. 0. 0. 1. ]] SLAMing on 24.272414037 meters Centerline goodness [0,1] 0.7630505709624796 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.15 [[ 0.99969899 -0.01687166 -0.01781212 0.78011506] [ 0.01694336 0.99984891 0.00388227 0.04197022] [ 0.01774393 -0.0041829 0.99983381 -0.14840186] [ 0. 0. 0. 1. ]] SLAMing on 24.302414037000002 meters Centerline goodness [0,1] 0.7657015207492053 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.15 [[ 0.99970176 -0.0164827 -0.01801969 0.78123067] [ 0.0165578 0.9998548 0.00402625 0.04204354] [ 0.01795071 -0.00432341 0.99982953 -0.14921046] [ 0. 0. 0. 1. ]] SLAMing on 24.332414037 meters Centerline goodness [0,1] 0.766470411276806 Centerline is valid? [False, False] Translation: X:0.78, Y:0.04, Z:-0.15 [[ 0.99970598 -0.0160643 -0.01816297 0.78224062] [ 0.01614331 0.99986082 0.00421221 0.04224329] [ 0.01809278 -0.00450418 0.99982617 -0.15006041] [ 0. 0. 0. 1. ]] SLAMing on 24.362414037 meters Centerline goodness [0,1] 0.7719117299469263 Centerline is valid? [False, False] Translation: X:0.78, Y:0.05, Z:-0.15 [[ 0.99972045 -0.01507823 -0.01821185 0.78290552] [ 0.01515469 0.99987689 0.00406795 0.04503693] [ 0.01814828 -0.00434281 0.99982587 -0.15014246] [ 0. 0. 0. 1. ]] SLAMing on 24.392414037 meters Centerline goodness [0,1] 0.7758509402297862 Centerline is valid? [False, False] Translation: X:0.78, Y:0.05, Z:-0.15 [[ 0.99972442 -0.01483245 -0.0181957 0.78287482] [ 0.01490034 0.9998825 0.0036012 0.04751354] [ 0.01814015 -0.00387133 0.99982796 -0.14973244] [ 0. 0. 0. 1. ]] SLAMing on 24.422414037 meters Centerline goodness [0,1] 0.7747988697884088 Centerline is valid? [False, False] Translation: X:0.78, Y:0.05, Z:-0.15 [[ 0.99972585 -0.01461158 -0.01829529 0.7830266 ] [ 0.01467196 0.99988733 0.00317058 0.04999746] [ 0.0182469 -0.00343814 0.9998276 -0.14932656] [ 0. 0. 0. 1. ]] SLAMing on 24.452414037 meters Centerline goodness [0,1] 0.777144337911376 Centerline is valid? [False, False] Translation: X:0.78, Y:0.05, Z:-0.15 [[ 0.99973274 -0.01397587 -0.01841513 0.78353165] [ 0.01403063 0.99989751 0.00284764 0.05281666] [ 0.01837344 -0.00310525 0.99982637 -0.14913655] [ 0. 0. 0. 1. ]] SLAMing on 24.482414037 meters Centerline goodness [0,1] 0.7716620546523694 Centerline is valid? [False, False] Translation: X:0.78, Y:0.05, Z:-0.15 [[ 0.99973337 -0.01371151 -0.01857922 0.78441023] [ 0.01376861 0.99990086 0.00294878 0.05325574] [ 0.01853694 -0.0032038 0.99982304 -0.14978116] [ 0. 0. 0. 1. ]] SLAMing on 24.512414037 meters Centerline goodness [0,1] 0.776228605961194 Centerline is valid? [False, False] Translation: X:0.79, Y:0.05, Z:-0.15 [[ 0.99973295 -0.01350054 -0.01875528 0.78540311] [ 0.01356057 0.99990332 0.00307727 0.05334242] [ 0.01871192 -0.00333078 0.99981937 -0.15055624] [ 0. 0. 0. 1. ]] SLAMing on 24.542414037 meters Centerline goodness [0,1] 0.7762373671935735 Centerline is valid? [False, False] Translation: X:0.79, Y:0.05, Z:-0.15 [[ 0.99973382 -0.01333425 -0.01882784 0.78613269] [ 0.01339678 0.99990514 0.0031991 0.05335582] [ 0.0187834 -0.00345048 0.99981762 -0.15126549] [ 0. 0. 0. 1. ]] SLAMing on 24.572414037 meters Centerline goodness [0,1] 0.7755128481969337 Centerline is valid? [False, False] Translation: X:0.79, Y:0.05, Z:-0.15 [[ 0.99973043 -0.01346673 -0.01891311 0.78683407] [ 0.0135258 0.99990402 0.00299924 0.05452175] [ 0.0188709 -0.00325425 0.99981663 -0.15201338] [ 0. 0. 0. 1. ]] SLAMing on 24.602414037 meters Centerline goodness [0,1] 0.7670797378836047 Centerline is valid? [False, False] Translation: X:0.79, Y:0.06, Z:-0.15 [[ 0.99972891 -0.0135456 -0.01893752 0.78714865] [ 0.01360349 0.99990317 0.00293116 0.05525351] [ 0.01889598 -0.00318799 0.99981637 -0.15238841] [ 0. 0. 0. 1. ]] SLAMing on 24.632414037 meters Centerline goodness [0,1] 0.7754400380573455 Centerline is valid? [False, False] Translation: X:0.79, Y:0.06, Z:-0.15 [[ 0.99972646 -0.01368329 -0.01896765 0.78738716] [ 0.01373883 0.9999017 0.00280052 0.05596626] [ 0.01892747 -0.00306034 0.99981618 -0.15260149] [ 0. 0. 0. 1. ]] SLAMing on 24.662414037 meters Centerline goodness [0,1] 0.772772555983887 Centerline is valid? [False, False] Translation: X:0.79, Y:0.06, Z:-0.15 [[ 0.99972524 -0.01381551 -0.01893623 0.78739254] [ 0.01386876 0.99990022 0.0026839 0.05648303] [ 0.01889726 -0.00294579 0.99981709 -0.15264639] [ 0. 0. 0. 1. ]] SLAMing on 24.692414037 meters Centerline goodness [0,1] 0.7735505676401768 Centerline is valid? [False, False] Translation: X:0.79, Y:0.06, Z:-0.15 [[ 0.99972455 -0.0138094 -0.01897717 0.78774721] [ 0.01386195 0.99990043 0.00264038 0.05691684] [ 0.01893882 -0.00290272 0.99981643 -0.15294302] [ 0. 0. 0. 1. ]] SLAMing on 24.722414037 meters Centerline goodness [0,1] 0.7717991468722257 Centerline is valid? [False, False] Translation: X:0.79, Y:0.06, Z:-0.15 [[ 0.99972043 -0.01403443 -0.01902884 0.78775277] [ 0.01407772 0.99989861 0.00214272 0.05835892] [ 0.01899684 -0.00241001 0.99981664 -0.15270197] [ 0. 0. 0. 1. ]] SLAMing on 24.752414037 meters Centerline goodness [0,1] 0.7740032105514338 Centerline is valid? [False, False] Translation: X:0.79, Y:0.06, Z:-0.15 [[ 0.9997207 -0.01414143 -0.0189354 0.78753081] [ 0.01418303 0.99989728 0.00206458 0.05855348] [ 0.01890426 -0.00233256 0.99981858 -0.15260639] [ 0. 0. 0. 1. ]] SLAMing on 24.782414037 meters Centerline goodness [0,1] 0.7712929651943998 Centerline is valid? [False, False] Translation: X:0.79, Y:0.06, Z:-0.15 [[ 0.99971968 -0.01410865 -0.01901316 0.78776062] [ 0.01415146 0.99989762 0.00211916 0.05859973] [ 0.01898132 -0.00238763 0.99981699 -0.15263594] [ 0. 0. 0. 1. ]] SLAMing on 24.812414037 meters Centerline goodness [0,1] 0.7704725692558392 Centerline is valid? [False, False] Translation: X:0.79, Y:0.06, Z:-0.15 [[ 0.99971539 -0.01438143 -0.01903456 0.78761465] [ 0.0144139 0.99989488 0.00156975 0.06015917] [ 0.01900998 -0.00184367 0.99981759 -0.15226833] [ 0. 0. 0. 1. ]] SLAMing on 24.842414037 meters Centerline goodness [0,1] 0.7704526194563351 Centerline is valid? [False, False] Translation: X:0.79, Y:0.06, Z:-0.15 [[ 0.99971596 -0.0141712 -0.0191618 0.78848674] [ 0.01420915 0.99989734 0.00184608 0.06042775] [ 0.01913367 -0.00211783 0.99981469 -0.15308842] [ 0. 0. 0. 1. ]] SLAMing on 24.872414037 meters Centerline goodness [0,1] 0.7702303346371143 Centerline is valid? [False, False] Translation: X:0.79, Y:0.06, Z:-0.15 [[ 0.99971614 -0.01395584 -0.01930969 0.78953485] [ 0.01400063 0.9998996 0.00218643 0.06054636] [ 0.01927724 -0.00245616 0.99981116 -0.15412642] [ 0. 0. 0. 1. ]] SLAMing on 24.902414037 meters Centerline goodness [0,1] 0.7691153770898103 Centerline is valid? [False, False] Translation: X:0.79, Y:0.06, Z:-0.15 [[ 0.99971598 -0.01385296 -0.01939224 0.79024925] [ 0.01390092 0.99990064 0.0023408 0.06056606] [ 0.01935788 -0.0026097 0.99980921 -0.15482998] [ 0. 0. 0. 1. ]] SLAMing on 24.932414037 meters Centerline goodness [0,1] 0.7671473871682377 Centerline is valid? [False, False] Translation: X:0.79, Y:0.06, Z:-0.16 [[ 0.99971754 -0.01375732 -0.01938001 0.79076799] [ 0.01380607 0.99990185 0.00238368 0.06048877] [ 0.01934532 -0.00265057 0.99980935 -0.15540441] [ 0. 0. 0. 1. ]] SLAMing on 24.962414037000002 meters Centerline goodness [0,1] 0.7674004215650058 Centerline is valid? [False, False] Translation: X:0.79, Y:0.06, Z:-0.16 [[ 0.9997171 -0.01361302 -0.01950379 0.79100775] [ 0.01366229 0.9999038 0.0023949 0.06062943] [ 0.01946931 -0.00266069 0.99980691 -0.15531993] [ 0. 0. 0. 1. ]] SLAMing on 24.992414037 meters Centerline goodness [0,1] 0.7701079387186629 Centerline is valid? [False, False] Translation: X:0.79, Y:0.06, Z:-0.16 [[ 0.99971694 -0.01349595 -0.01959353 0.79123357] [ 0.01354419 0.99990556 0.00233138 0.06107349] [ 0.01956022 -0.00259609 0.99980531 -0.15522393] [ 0. 0. 0. 1. ]] SLAMing on 25.022414037 meters Centerline goodness [0,1] 0.768761400156345 Centerline is valid? [False, False] Translation: X:0.79, Y:0.06, Z:-0.16 [[ 0.99971545 -0.013184 -0.0198796 0.79194974] [ 0.01323271 0.99990975 0.0023211 0.06181351] [ 0.01984721 -0.0025835 0.99979969 -0.15517408] [ 0. 0. 0. 1. ]] SLAMing on 25.052414037000002 meters Centerline goodness [0,1] 0.7751279538277251 Centerline is valid? [False, False] Translation: X:0.79, Y:0.06, Z:-0.15 [[ 0.99971475 -0.01292001 -0.02008692 0.79234098] [ 0.01296487 0.99991374 0.00210452 0.06345667] [ 0.020058 -0.00236435 0.99979602 -0.15488869] [ 0. 0. 0. 1. ]] SLAMing on 25.082414037 meters Centerline goodness [0,1] 0.7765709175772645 Centerline is valid? [False, False] Translation: X:0.79, Y:0.06, Z:-0.15 [[ 0.99975387 -0.00913286 -0.0202187 0.79213345] [ 0.00924604 0.99994207 0.00551144 0.06468685] [ 0.02016719 -0.00569703 0.99978039 -0.15437866] [ 0. 0. 0. 1. ]] SLAMing on 25.112414037 meters Centerline goodness [0,1] 0.778960223307746 Centerline is valid? [False, False] Translation: X:0.79, Y:0.07, Z:-0.15 [[ 0.99975282 -0.0087471 -0.02043973 0.79309932] [ 0.00886234 0.9999453 0.00555397 0.06533664] [ 0.02039003 -0.00573374 0.99977566 -0.15487905] [ 0. 0. 0. 1. ]] SLAMing on 25.142414037 meters Centerline goodness [0,1] 0.775715626978755 Centerline is valid? [False, False] Translation: X:0.79, Y:0.07, Z:-0.16 [[ 0.99975441 -0.00798792 -0.02067161 0.79431789] [ 0.00811227 0.99994946 0.00593863 0.06512507] [ 0.02062313 -0.00610487 0.99976868 -0.15564532] [ 0. 0. 0. 1. ]] SLAMing on 25.172414037 meters Centerline goodness [0,1] 0.7795057473771457 Centerline is valid? [False, False] Translation: X:0.79, Y:0.07, Z:-0.16 [[ 0.99975358 -0.007747 -0.02080281 0.79491907] [ 0.00787012 0.99995196 0.00584339 0.06559302] [ 0.02075655 -0.00600567 0.99976652 -0.15587593] [ 0. 0. 0. 1. ]] SLAMing on 25.202414037 meters Centerline goodness [0,1] 0.7805447131424584 Centerline is valid? [False, False] Translation: X:0.80, Y:0.07, Z:-0.16 [[ 0.99975102 -0.00733828 -0.02107259 0.79565346] [ 0.00746032 0.99995582 0.00571885 0.06660347] [ 0.0210297 -0.00587464 0.99976159 -0.1557942 ] [ 0. 0. 0. 1. ]] SLAMing on 25.232414037 meters Centerline goodness [0,1] 0.783125177096275 Centerline is valid? [False, False] Translation: X:0.80, Y:0.07, Z:-0.16 [[ 0.99974861 -0.0069462 -0.02131805 0.79640763] [ 0.00706494 0.99995992 0.00549982 0.06827921] [ 0.02127899 -0.00564905 0.99975762 -0.15582118] [ 0. 0. 0. 1. ]] SLAMing on 25.262414037 meters Centerline goodness [0,1] 0.7807189970733412 Centerline is valid? [False, False] Translation: X:0.80, Y:0.07, Z:-0.16 [[ 0.99974594 -0.0064347 -0.02160216 0.797304 ] [ 0.00655448 0.99996351 0.0054786 0.06953058] [ 0.02156612 -0.0056188 0.99975163 -0.15597427] [ 0. 0. 0. 1. ]] SLAMing on 25.292414037 meters Centerline goodness [0,1] 0.7812043357832981 Centerline is valid? [False, False] Translation: X:0.80, Y:0.07, Z:-0.16 [[ 0.99974309 -0.00617749 -0.02180793 0.79790135] [ 0.00629382 0.99996631 0.00526953 0.07057521] [ 0.02177464 -0.00540543 0.99974829 -0.15594232] [ 0. 0. 0. 1. ]] SLAMing on 25.322414037 meters Centerline goodness [0,1] 0.7829148138460197 Centerline is valid? [False, False] Translation: X:0.80, Y:0.07, Z:-0.16 [[ 0.99974268 -0.0058597 -0.02191445 0.7980276 ] [ 0.00597161 0.99996945 0.00504437 0.07132413] [ 0.02188422 -0.00517394 0.99974712 -0.15541446] [ 0. 0. 0. 1. ]] SLAMing on 25.352414037 meters Centerline goodness [0,1] 0.7837943803093008 Centerline is valid? [False, False] Translation: X:0.80, Y:0.07, Z:-0.16 [[ 0.99974096 -0.00580856 -0.02200639 0.79841761] [ 0.00592027 0.9999699 0.00501481 0.07130909] [ 0.0219766 -0.0051438 0.99974525 -0.15556496] [ 0. 0. 0. 1. ]] SLAMing on 25.382414037 meters Centerline goodness [0,1] 0.7790842259113021 Centerline is valid? [False, False] Translation: X:0.80, Y:0.07, Z:-0.16 [[ 0.99974015 -0.00598834 -0.02199476 0.79839212] [ 0.00609861 0.99996915 0.00494981 0.0707689 ] [ 0.02196444 -0.00508266 0.99974583 -0.15554308] [ 0. 0. 0. 1. ]] SLAMing on 25.412414037 meters Centerline goodness [0,1] 0.7806469920544835 Centerline is valid? [False, False] Translation: X:0.80, Y:0.07, Z:-0.16 [[ 0.99973968 -0.0063125 -0.02192535 0.79824352] [ 0.00642092 0.99996749 0.00487829 0.06973169] [ 0.02189384 -0.0050178 0.99974771 -0.15555418] [ 0. 0. 0. 1. ]] SLAMing on 25.442414037 meters Centerline goodness [0,1] 0.7830987141271948 Centerline is valid? [False, False] Translation: X:0.80, Y:0.07, Z:-0.16 [[ 0.99970719 -0.00941924 -0.02228907 0.80016132] [ 0.00946723 0.99995309 0.00204834 0.06761702] [ 0.02226874 -0.00225875 0.99974947 -0.1567951 ] [ 0. 0. 0. 1. ]] SLAMing on 25.472414037 meters Centerline goodness [0,1] 0.779876403516407 Centerline is valid? [False, False] Translation: X:0.80, Y:0.07, Z:-0.16 [[ 0.99970575 -0.00984819 -0.02216831 0.79986106] [ 0.00989872 0.99994865 0.00217066 0.06566713] [ 0.02214579 -0.00238946 0.9997519 -0.15687092] [ 0. 0. 0. 1. ]] SLAMing on 25.502414037 meters Centerline goodness [0,1] 0.7812493214929327 Centerline is valid? [False, False] Translation: X:0.80, Y:0.07, Z:-0.16 [[ 9.99685840e-01 -1.11698392e-02 -2.24378307e-02 8.02170970e-01] [ 1.11945735e-02 9.99936861e-01 9.77041793e-04 6.50348932e-02] [ 2.24255006e-02 -1.22791679e-03 9.99747763e-01 -1.58699169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.532414037 meters Centerline goodness [0,1] 0.7805158962991938 Centerline is valid? [False, False] Translation: X:0.80, Y:0.06, Z:-0.16 [[ 0.99968681 -0.0111573 -0.02240063 0.80274063] [ 0.01119167 0.99993638 0.00140924 0.06426833] [ 0.02238348 -0.0016595 0.99974808 -0.15964554] [ 0. 0. 0. 1. ]] SLAMing on 25.562414037 meters Centerline goodness [0,1] 0.7798388852601785 Centerline is valid? [False, False] Translation: X:0.80, Y:0.06, Z:-0.16 [[ 0.99968634 -0.011346 -0.02232701 0.80263475] [ 0.0113835 0.999934 0.00155332 0.06407432] [ 0.02230791 -0.00180699 0.99974951 -0.15982676] [ 0. 0. 0. 1. ]] SLAMing on 25.592414037 meters Centerline goodness [0,1] 0.7811734085240213 Centerline is valid? [False, False] Translation: X:0.80, Y:0.06, Z:-0.16 [[ 0.99968351 -0.0113817 -0.02243498 0.80289288] [ 0.01142075 0.99993348 0.00161353 0.06349929] [ 0.02241513 -0.00186924 0.999747 -0.15983578] [ 0. 0. 0. 1. ]] SLAMing on 25.622414037 meters Centerline goodness [0,1] 0.7792898380865564 Centerline is valid? [False, False] Translation: X:0.80, Y:0.06, Z:-0.16 [[ 0.99968603 -0.01148903 -0.02226775 0.80248838] [ 0.0115296 0.9999321 0.00169416 0.06239911] [ 0.02224677 -0.00195036 0.99975061 -0.1596858 ] [ 0. 0. 0. 1. ]] SLAMing on 25.652414037 meters Centerline goodness [0,1] 0.7772778402699663 Centerline is valid? [False, False] Translation: X:0.80, Y:0.06, Z:-0.16 [[ 0.99964819 -0.0141184 -0.02245363 0.80332787] [ 0.0140841 0.99989939 -0.00168511 0.06205497] [ 0.02247516 0.00136827 0.99974647 -0.1592121 ] [ 0. 0. 0. 1. ]] SLAMing on 25.682414037 meters Centerline goodness [0,1] 0.7779341706366393 Centerline is valid? [False, False] Translation: X:0.80, Y:0.06, Z:-0.16 [[ 9.99651933e-01 -1.37762933e-02 -2.24994587e-02 8.03611747e-01] [ 1.37519014e-02 9.99904671e-01 -1.23848221e-03 6.08445520e-02] [ 2.25143755e-02 9.28640802e-04 9.99746088e-01 -1.59354346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.712414037 meters Centerline goodness [0,1] 0.7789774944711851 Centerline is valid? [False, False] Translation: X:0.80, Y:0.06, Z:-0.16 [[ 9.99655357e-01 -1.34837477e-02 -2.25245471e-02 8.03690512e-01] [ 1.34681483e-02 9.99908944e-01 -8.44114094e-04 6.01426866e-02] [ 2.25338779e-02 5.40459234e-04 9.99745934e-01 -1.59327373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.742414037 meters Centerline goodness [0,1] 0.7803695849742502 Centerline is valid? [False, False] Translation: X:0.80, Y:0.06, Z:-0.16 [[ 9.99655499e-01 -1.30006293e-02 -2.28005700e-02 8.04473977e-01] [ 1.29948505e-02 9.99915483e-01 -4.01602790e-04 5.97359546e-02] [ 2.28038640e-02 1.05174439e-04 9.99739953e-01 -1.59445108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.772414037 meters Centerline goodness [0,1] 0.7812878394741394 Centerline is valid? [False, False] Translation: X:0.81, Y:0.06, Z:-0.16 [[ 9.99663993e-01 -1.17622525e-02 -2.30987263e-02 8.05758896e-01] [ 1.17811128e-02 9.99930369e-01 6.80589503e-04 5.92277220e-02] [ 2.30891126e-02 -9.52489519e-04 9.99732957e-01 -1.60070866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.802414037000002 meters Centerline goodness [0,1] 0.7824846546209043 Centerline is valid? [False, False] Translation: X:0.81, Y:0.06, Z:-0.16 [[ 0.99966831 -0.01107324 -0.02325186 0.80698096] [ 0.01110953 0.99993726 0.00143212 0.05836844] [ 0.02323454 -0.00168996 0.99972861 -0.16114788] [ 0. 0. 0. 1. ]] SLAMing on 25.832414037 meters Centerline goodness [0,1] 0.7827426478509103 Centerline is valid? [False, False] Translation: X:0.81, Y:0.06, Z:-0.16 [[ 0.99966916 -0.01040608 -0.02352187 0.80852749] [ 0.01046212 0.99994271 0.00226079 0.05687851] [ 0.023497 -0.00250613 0.99972077 -0.16235697] [ 0. 0. 0. 1. ]] SLAMing on 25.862414037 meters Centerline goodness [0,1] 0.7809178117708063 Centerline is valid? [False, False] Translation: X:0.81, Y:0.06, Z:-0.16 [[ 0.99967178 -0.01007302 -0.02355547 0.80900645] [ 0.01014234 0.99994457 0.00282538 0.05509504] [ 0.02352571 -0.00306336 0.99971854 -0.16287417] [ 0. 0. 0. 1. ]] SLAMing on 25.892414037 meters Centerline goodness [0,1] 0.7821182234255141 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:-0.16 [[ 9.99640131e-01 -1.22690165e-02 -2.38553889e-02 8.10971737e-01] [ 1.22851174e-02 9.99924395e-01 5.28496715e-04 5.26252035e-02] [ 2.38471012e-02 -8.21372779e-04 9.99715280e-01 -1.63940448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.922414037 meters Centerline goodness [0,1] 0.7821182234255141 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:-0.16 [[ 9.99640131e-01 -1.22690165e-02 -2.38553889e-02 8.10971737e-01] [ 1.22851174e-02 9.99924395e-01 5.28496715e-04 5.26252035e-02] [ 2.38471012e-02 -8.21372779e-04 9.99715280e-01 -1.63940448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.952414037 meters Centerline goodness [0,1] 0.7828120621645507 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:-0.16 [[ 9.99640887e-01 -1.23116496e-02 -2.38017039e-02 8.10505882e-01] [ 1.23326744e-02 9.99923678e-01 7.36738881e-04 5.13735033e-02] [ 2.37908168e-02 -1.03001297e-03 9.99716428e-01 -1.63497632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.982414037 meters Centerline goodness [0,1] 0.7840747904577692 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:-0.17 [[ 0.99987224 -0.01210605 -0.01043788 0.81152219] [ 0.0121212 0.99992557 0.00138901 0.05049354] [ 0.01042029 -0.00151536 0.99994456 -0.16919002] [ 0. 0. 0. 1. ]] SLAMing on 26.012414037 meters Centerline goodness [0,1] 0.7827459570903936 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:-0.17 [[ 0.99987447 -0.01179752 -0.01057655 0.81186208] [ 0.01181677 0.99992863 0.00176023 0.05019294] [ 0.01055503 -0.00188499 0.99994252 -0.16919131] [ 0. 0. 0. 1. ]] SLAMing on 26.042414037 meters Centerline goodness [0,1] 0.7845326449392277 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:-0.17 [[ 0.99987871 -0.01130971 -0.01070775 0.81241487] [ 0.01133788 0.99993241 0.0025738 0.04800559] [ 0.01067792 -0.00269489 0.99993936 -0.16954348] [ 0. 0. 0. 1. ]] SLAMing on 26.072414037 meters Centerline goodness [0,1] 0.7850615642026685 Centerline is valid? [False, False] Translation: X:0.81, Y:0.05, Z:-0.17 [[ 0.99988029 -0.01102656 -0.01085431 0.81329836] [ 0.01106376 0.9999331 0.00337337 0.04558275] [ 0.01081639 -0.00349305 0.9999354 -0.17043152] [ 0. 0. 0. 1. ]] SLAMing on 26.102414037 meters Centerline goodness [0,1] 0.7842121107861689 Centerline is valid? [False, False] Translation: X:0.81, Y:0.04, Z:-0.17 [[ 0.99988101 -0.01105713 -0.01075685 0.81335075] [ 0.01109951 0.99993084 0.00388789 0.04346431] [ 0.01071312 -0.00400682 0.99993459 -0.17087295] [ 0. 0. 0. 1. ]] SLAMing on 26.132414037 meters Centerline goodness [0,1] 0.7859614434008898 Centerline is valid? [False, False] Translation: X:0.81, Y:0.04, Z:-0.17 [[ 0.99988151 -0.01104472 -0.01072305 0.81356959] [ 0.011092 0.99992898 0.00435981 0.04171911] [ 0.01067414 -0.00447823 0.999933 -0.17133258] [ 0. 0. 0. 1. ]] SLAMing on 26.162414037 meters Centerline goodness [0,1] 0.7889482836349584 Centerline is valid? [False, False] Translation: X:0.81, Y:0.04, Z:-0.17 [[ 0.9998795 -0.01141462 -0.01052124 0.8126018 ] [ 0.01146581 0.99992266 0.0048178 0.03894785] [ 0.01046543 -0.00493785 0.99993304 -0.17068137] [ 0. 0. 0. 1. ]] SLAMing on 26.192414037 meters Centerline goodness [0,1] 0.7866329417817028 Centerline is valid? [False, False] Translation: X:0.81, Y:0.04, Z:-0.17 [[ 0.99987849 -0.01161788 -0.01039392 0.81198001] [ 0.01167067 0.99991923 0.0050328 0.03737135] [ 0.01033461 -0.00515349 0.99993332 -0.17019224] [ 0. 0. 0. 1. ]] SLAMing on 26.222414037 meters Centerline goodness [0,1] 0.78455860263508 Centerline is valid? [False, False] Translation: X:0.81, Y:0.04, Z:-0.17 [[ 0.99987699 -0.01175243 -0.01038664 0.81168223] [ 0.01180923 0.99991556 0.00542434 0.03519578] [ 0.01032201 -0.00554633 0.99993134 -0.1698872 ] [ 0. 0. 0. 1. ]] SLAMing on 26.252414037 meters Centerline goodness [0,1] 0.7861041546265973 Centerline is valid? [False, False] Translation: X:0.81, Y:0.03, Z:-0.17 [[ 0.99987492 -0.01200712 -0.01029436 0.8114117 ] [ 0.01206736 0.99991031 0.00580896 0.03258697] [ 0.01022369 -0.00593246 0.99993014 -0.16987297] [ 0. 0. 0. 1. ]] SLAMing on 26.282414037 meters Centerline goodness [0,1] 0.7871148459383753 Centerline is valid? [False, False] Translation: X:0.81, Y:0.03, Z:-0.17 [[ 0.99982635 -0.01541872 -0.01046556 0.8125351 ] [ 0.01545099 0.9998761 0.00300898 0.02969785] [ 0.01041787 -0.00317016 0.99994071 -0.17073957] [ 0. 0. 0. 1. ]] SLAMing on 26.312414037 meters Centerline goodness [0,1] 0.7857340749738934 Centerline is valid? [False, False] Translation: X:0.81, Y:0.03, Z:-0.17 [[ 0.99982647 -0.01537171 -0.01052316 0.81311626] [ 0.01541192 0.9998742 0.00375028 0.0276421 ] [ 0.01046419 -0.00391181 0.9999376 -0.1715371 ] [ 0. 0. 0. 1. ]] SLAMing on 26.342414037 meters Centerline goodness [0,1] 0.785068501934298 Centerline is valid? [False, False] Translation: X:0.81, Y:0.03, Z:-0.17 [[ 0.99982664 -0.01543544 -0.01041335 0.81306365] [ 0.01547962 0.99987146 0.00417551 0.02647979] [ 0.01034756 -0.00433598 0.99993706 -0.17187155] [ 0. 0. 0. 1. ]] SLAMing on 26.372414037 meters Centerline goodness [0,1] 0.7842013296965564 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.17 [[ 0.99982961 -0.01530345 -0.01032263 0.81315303] [ 0.01535411 0.99987037 0.00484621 0.0246067 ] [ 0.01024713 -0.00500388 0.99993498 -0.17224474] [ 0. 0. 0. 1. ]] SLAMing on 26.402414037 meters Centerline goodness [0,1] 0.7856610998829912 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.17 [[ 0.99983142 -0.01517047 -0.01034329 0.8132925 ] [ 0.01522686 0.99986951 0.00539522 0.02242956] [ 0.01026009 -0.00555181 0.99993195 -0.17239912] [ 0. 0. 0. 1. ]] SLAMing on 26.432414037 meters Centerline goodness [0,1] 0.785620136910583 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.17 [[ 0.99983137 -0.01518241 -0.01033041 0.81316311] [ 0.01524362 0.99986657 0.00587224 0.01971471] [ 0.01023988 -0.00602872 0.9999294 -0.17229748] [ 0. 0. 0. 1. ]] SLAMing on 26.462414037 meters Centerline goodness [0,1] 0.7861238532110092 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.17 [[ 0.99983456 -0.01495328 -0.01035664 0.81347122] [ 0.0150225 0.99986512 0.00663835 0.01672818] [ 0.01025598 -0.00679283 0.99992433 -0.17263177] [ 0. 0. 0. 1. ]] SLAMing on 26.492414037 meters Centerline goodness [0,1] 0.7865605095541401 Centerline is valid? [False, False] Translation: X:0.81, Y:0.01, Z:-0.17 [[ 0.99983827 -0.01473814 -0.010306 0.81369871] [ 0.014813 0.99986417 0.00722574 0.01456789] [ 0.0101981 -0.00737724 0.99992078 -0.17304281] [ 0. 0. 0. 1. ]] SLAMing on 26.522414037 meters Centerline goodness [0,1] 0.7889060745386359 Centerline is valid? [False, False] Translation: X:0.81, Y:0.01, Z:-0.17 [[ 0.99984664 -0.01407144 -0.01042535 0.81417999] [ 0.01415443 0.99986837 0.00793041 0.01351378] [ 0.01031238 -0.00807676 0.99991421 -0.1731843 ] [ 0. 0. 0. 1. ]] SLAMing on 26.552414037000002 meters Centerline goodness [0,1] 0.7900719729043184 Centerline is valid? [False, False] Translation: X:0.81, Y:0.01, Z:-0.17 [[ 0.99984916 -0.01384547 -0.01048596 0.81419187] [ 0.01393026 0.99987051 0.00805663 0.01380623] [ 0.01037306 -0.00820148 0.99991256 -0.17290498] [ 0. 0. 0. 1. ]] SLAMing on 26.582414037 meters Centerline goodness [0,1] 0.7891144928150566 Centerline is valid? [False, False] Translation: X:0.81, Y:0.01, Z:-0.17 [[ 0.99985236 -0.01361422 -0.01048364 0.81413371] [ 0.01370166 0.99987156 0.00831484 0.01342731] [ 0.0103691 -0.00845725 0.99991047 -0.17272504] [ 0. 0. 0. 1. ]] SLAMing on 26.612414037 meters Centerline goodness [0,1] 0.7881742079050545 Centerline is valid? [False, False] Translation: X:0.81, Y:0.01, Z:-0.17 [[ 0.9998546 -0.01338833 -0.01056107 0.81421375] [ 0.01347969 0.99987193 0.00862691 0.01232559] [ 0.01044422 -0.00876802 0.99990702 -0.17254011] [ 0. 0. 0. 1. ]] SLAMing on 26.642414037 meters Centerline goodness [0,1] 0.789509291951204 Centerline is valid? [False, False] Translation: X:0.81, Y:0.01, Z:-0.17 [[ 0.99985803 -0.01308645 -0.0106148 0.81406751] [ 0.01318503 0.9998701 0.00927078 0.00915699] [ 0.0104921 -0.00940942 0.99990068 -0.17206899] [ 0. 0. 0. 1. ]] SLAMing on 26.672414037 meters Centerline goodness [0,1] 0.7906721304549871 Centerline is valid? [False, False] Translation: X:0.81, Y:0.01, Z:-0.17 [[ 0.99985931 -0.01292104 -0.01069583 0.81451401] [ 0.01302346 0.99986947 0.00956164 0.00803132] [ 0.01057089 -0.00969959 0.99989708 -0.17237689] [ 0. 0. 0. 1. ]] SLAMing on 26.702414037 meters Centerline goodness [0,1] 0.7880468138240461 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.17 [[ 0.99985851 -0.01288161 -0.01081746 0.81500176] [ 0.01298659 0.9998687 0.00969141 0.00763673] [ 0.0106912 -0.00983052 0.99989452 -0.17271809] [ 0. 0. 0. 1. ]] SLAMing on 26.732414037 meters Centerline goodness [0,1] 0.7907783417935702 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.17 [[ 0.99985897 -0.0126859 -0.01100509 0.81600329] [ 0.01279603 0.99986817 0.00999545 0.00709048] [ 0.01087684 -0.01013486 0.99988948 -0.1735454 ] [ 0. 0. 0. 1. ]] SLAMing on 26.762414037 meters Centerline goodness [0,1] 0.789814697564476 Centerline is valid? [False, False] Translation: X:0.82, Y:0.01, Z:-0.17 [[ 0.99985862 -0.01265195 -0.01107556 0.81651557] [ 0.01276524 0.99986631 0.01021846 0.00590323] [ 0.0109448 -0.0103584 0.99988645 -0.174031 ] [ 0. 0. 0. 1. ]] SLAMing on 26.792414037 meters Centerline goodness [0,1] 0.7884509779073205 Centerline is valid? [False, False] Translation: X:0.82, Y:0.00, Z:-0.17 [[ 0.99985596 -0.01287046 -0.01106396 0.81647277] [ 0.01298382 0.99986332 0.01023538 0.00495052] [ 0.01093071 -0.01037755 0.99988641 -0.17403798] [ 0. 0. 0. 1. ]] SLAMing on 26.822414037 meters Centerline goodness [0,1] 0.7879152167035748 Centerline is valid? [False, False] Translation: X:0.82, Y:0.00, Z:-0.17 [[ 0.99985289 -0.01318401 -0.01097187 0.81621283] [ 0.01329717 0.99985848 0.01030539 0.00348926] [ 0.01083445 -0.01044977 0.9998867 -0.17393562] [ 0. 0. 0. 1. ]] SLAMing on 26.852414037 meters Centerline goodness [0,1] 0.7884704985386929 Centerline is valid? [False, False] Translation: X:0.82, Y:0.00, Z:-0.17 [[ 0.99984697 -0.0137942 -0.01075911 0.81541781] [ 0.01390398 0.99985136 0.01019544 0.0021202 ] [ 0.01061687 -0.01034347 0.99989014 -0.17358046] [ 0. 0. 0. 1. ]] SLAMing on 26.882414037 meters Centerline goodness [0,1] 0.7845910290237467 Centerline is valid? [False, False] Translation: X:0.82, Y:0.00, Z:-0.17 [[ 0.99978509 -0.01769906 -0.01079419 0.81570617] [ 0.01777211 0.99981955 0.00670999 0.00112166] [ 0.01067348 -0.00690038 0.99991923 -0.17357648] [ 0. 0. 0. 1. ]] SLAMing on 26.912414037 meters Centerline goodness [0,1] 0.7850408150351199 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.00, Z:-0.17 [[ 9.99776318e-01 -1.82554365e-02 -1.06795601e-02 8.15223690e-01] [ 1.83288269e-02 9.99808787e-01 6.81500522e-03 -3.28341690e-04] [ 1.05531071e-02 -7.00922464e-03 9.99919748e-01 -1.73381382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.942414037 meters Centerline goodness [0,1] 0.7827944767197104 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.00, Z:-0.17 [[ 0.99976803 -0.01865549 -0.0107639 0.81534594] [ 0.01873272 0.99979918 0.00711879 -0.00215336] [ 0.01062893 -0.00731877 0.99991673 -0.17346109] [ 0. 0. 0. 1. ]] SLAMing on 26.972414037 meters Centerline goodness [0,1] 0.7757508014172432 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.00, Z:-0.17 [[ 0.99975693 -0.01930978 -0.0106402 0.81484433] [ 0.01938648 0.99978647 0.00715326 -0.00374249] [ 0.0104998 -0.0073578 0.99991781 -0.17327637] [ 0. 0. 0. 1. ]] SLAMing on 27.002414037 meters Centerline goodness [0,1] 0.7607177415961968 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.00, Z:-0.17 [[ 0.99966715 -0.02352033 -0.01060126 0.81475712] [ 0.02355777 0.99971663 0.00342063 -0.00436575] [ 0.0105178 -0.00366923 0.99993795 -0.1730074 ] [ 0. 0. 0. 1. ]] SLAMing on 27.032414037 meters Centerline goodness [0,1] 0.7713907117617365 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.17 [[ 0.99965569 -0.02406297 -0.01046255 0.81424696] [ 0.02410126 0.99970322 0.00354857 -0.00587067] [ 0.01037406 -0.00379951 0.99993897 -0.1728811 ] [ 0. 0. 0. 1. ]] SLAMing on 27.062414037 meters Centerline goodness [0,1] 0.7597024647517387 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.17 [[ 0.99964436 -0.02454232 -0.01043244 0.81417676] [ 0.02458302 0.9996906 0.00379164 -0.00776893] [ 0.01033616 -0.00404675 0.99993839 -0.17303684] [ 0. 0. 0. 1. ]] SLAMing on 27.092414037 meters Centerline goodness [0,1] 0.7407282748175106 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.17 [[ 9.99540033e-01 -2.84641586e-02 -1.04648822e-02 8.15323337e-01] [ 2.84701484e-02 9.99594553e-01 4.23822949e-04 -9.09235667e-03] [ 1.04485755e-02 -7.21564753e-04 9.99945152e-01 -1.74255341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.122414037 meters Centerline goodness [0,1] 0.7435400652837738 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.17 [[ 9.99534436e-01 -2.87071919e-02 -1.03348196e-02 8.15170131e-01] [ 2.87156150e-02 9.99587399e-01 6.67518865e-04 -1.00870650e-02] [ 1.03113928e-02 -9.63978793e-04 9.99946372e-01 -1.74508147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.152414037 meters Centerline goodness [0,1] 0.7418275905591316 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.17 [[ 9.99528071e-01 -2.89454116e-02 -1.02858263e-02 8.15106189e-01] [ 2.89544601e-02 9.99580464e-01 7.31853075e-04 -1.01993381e-02] [ 1.02603272e-02 -1.02932824e-03 9.99946832e-01 -1.74573009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182414037 meters Centerline goodness [0,1] 0.7156480916191238 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.17 [[ 9.99517766e-01 -2.93088897e-02 -1.02578664e-02 8.14948797e-01] [ 2.93160074e-02 9.99570045e-01 5.44165098e-04 -9.45569701e-03] [ 1.02375071e-02 -8.44622371e-04 9.99947239e-01 -1.74495089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.212414037 meters Centerline goodness [0,1] 0.732657619689818 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.17 [[ 9.99510198e-01 -2.95369065e-02 -1.03409516e-02 8.15083267e-01] [ 2.95426867e-02 9.99563437e-01 4.06625718e-04 -8.62484119e-03] [ 1.03244267e-02 -7.11926046e-04 9.99946448e-01 -1.74496560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.242414037 meters Centerline goodness [0,1] 0.7223404031255924 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.18 [[ 9.99492580e-01 -3.01152061e-02 -1.03757644e-02 8.15451969e-01] [ 3.01196368e-02 9.99546264e-01 2.70996657e-04 -8.29839481e-03] [ 1.03628954e-02 -5.83373403e-04 9.99946134e-01 -1.75151961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.272414037 meters Centerline goodness [0,1] 0.6969920222283033 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.18 [[ 9.99487587e-01 -3.02889206e-02 -1.03510402e-02 8.15658107e-01] [ 3.02961304e-02 9.99540821e-01 5.40403988e-04 -9.38235757e-03] [ 1.03299190e-02 -8.53723541e-04 9.99946281e-01 -1.75622094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.302414037000002 meters Centerline goodness [0,1] 0.7000063116702784 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.18 [[ 9.99478057e-01 -3.06375484e-02 -1.02447640e-02 8.15386526e-01] [ 3.06452607e-02 9.99530146e-01 5.96643900e-04 -1.04392888e-02] [ 1.02216708e-02 -9.10285951e-04 9.99947343e-01 -1.75636531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.332414037 meters Centerline goodness [0,1] 0.6839588862209866 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.18 [[ 9.99447260e-01 -3.17072881e-02 -9.99111158e-03 8.14411722e-01] [ 3.17100677e-02 9.99497102e-01 1.19880476e-04 -1.08495972e-02] [ 9.98228598e-03 -4.36633038e-04 9.99950080e-01 -1.75205339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362414037 meters Centerline goodness [0,1] 0.6785767016093311 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.18 [[ 9.99437293e-01 -3.20055656e-02 -1.00369728e-02 8.14543679e-01] [ 3.20053670e-02 9.99487681e-01 -1.80450436e-04 -9.64463390e-03] [ 1.00376060e-02 -1.40888102e-04 9.99949612e-01 -1.75275612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.392414037 meters Centerline goodness [0,1] 0.6910390788113967 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.17 [[ 0.99951943 -0.02937373 -0.00990375 0.81350561] [ 0.02940553 0.99956282 0.00308025 -0.00921169] [ 0.00980895 -0.00336999 0.99994621 -0.17494465] [ 0. 0. 0. 1. ]] SLAMing on 27.422414037 meters Centerline goodness [0,1] 0.6964512040557668 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.17 [[ 0.99959546 -0.02674512 -0.00967519 0.81245591] [ 0.02680139 0.99962434 0.00573323 -0.0066941 ] [ 0.00951822 -0.00599022 0.99993676 -0.17467839] [ 0. 0. 0. 1. ]] SLAMing on 27.452414037 meters Centerline goodness [0,1] 0.6905862731437499 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.18 [[ 0.9995962 -0.02666724 -0.00981287 0.81312696] [ 0.02672314 0.99962713 0.00560953 -0.00610594] [ 0.00965962 -0.0058695 0.99993612 -0.17511771] [ 0. 0. 0. 1. ]] SLAMing on 27.482414037 meters Centerline goodness [0,1] 0.6885484585680826 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.18 [[ 0.99959478 -0.02670615 -0.00985173 0.81356127] [ 0.02676095 0.99962688 0.00547299 -0.00575175] [ 0.0097019 -0.00573441 0.99993649 -0.1756104 ] [ 0. 0. 0. 1. ]] SLAMing on 27.512414037 meters Centerline goodness [0,1] 0.6960118168389955 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.00, Z:-0.18 [[ 0.99959361 -0.02673611 -0.00988945 0.81410287] [ 0.02678876 0.99962744 0.00522991 -0.00453289] [ 0.00974594 -0.00549271 0.99993742 -0.17620779] [ 0. 0. 0. 1. ]] SLAMing on 27.542414037 meters Centerline goodness [0,1] 0.6918150975402884 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.00, Z:-0.18 [[ 9.99653890e-01 -2.44969206e-02 -9.59170322e-03 8.13758532e-01] [ 2.45670357e-02 9.99671811e-01 7.26167274e-03 -4.83294255e-04] [ 9.41066670e-03 -7.49479912e-03 9.99927631e-01 -1.76876772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.572414037 meters Centerline goodness [0,1] 0.6885718525427681 Centerline is valid? [False, False] Translation: X:0.81, Y:0.00, Z:-0.18 [[ 0.99965216 -0.02451089 -0.00973483 0.81451422] [ 0.02457783 0.99967468 0.00681635 0.00244364] [ 0.00956459 -0.00705324 0.99992938 -0.17742326] [ 0. 0. 0. 1. ]] SLAMing on 27.602414037 meters Centerline goodness [0,1] 0.6921282056721041 Centerline is valid? [False, False] Translation: X:0.81, Y:0.01, Z:-0.18 [[ 0.99964424 -0.02481698 -0.00977308 0.81450788] [ 0.02487673 0.99967228 0.00604056 0.0051708 ] [ 0.00961997 -0.00628153 0.999934 -0.17721887] [ 0. 0. 0. 1. ]] SLAMing on 27.632414037 meters Centerline goodness [0,1] 0.6849402458214604 Centerline is valid? [False, False] Translation: X:0.81, Y:0.01, Z:-0.18 [[ 0.9996353 -0.02519996 -0.009707 0.81402872] [ 0.02525209 0.99966714 0.00528565 0.00723461] [ 0.00957058 -0.00552884 0.99993892 -0.17667713] [ 0. 0. 0. 1. ]] SLAMing on 27.662414037 meters Centerline goodness [0,1] 0.6912963002361552 Centerline is valid? [False, False] Translation: X:0.81, Y:0.01, Z:-0.18 [[ 0.99961419 -0.02610866 -0.00947727 0.81289376] [ 0.02614622 0.99965067 0.00386138 0.010342 ] [ 0.00937315 -0.00410769 0.99994763 -0.1756254 ] [ 0. 0. 0. 1. ]] SLAMing on 27.692414037 meters Centerline goodness [0,1] 0.6615302642796249 Centerline is valid? [False, False] Translation: X:0.81, Y:0.01, Z:-0.18 [[ 0.99960869 -0.02634951 -0.00938957 0.81271933] [ 0.02638254 0.9996461 0.00341163 0.01182634] [ 0.00929636 -0.00365801 0.9999501 -0.17555163] [ 0. 0. 0. 1. ]] SLAMing on 27.722414037 meters Centerline goodness [0,1] 0.6690936265613323 Centerline is valid? [False, False] Translation: X:0.81, Y:0.01, Z:-0.18 [[ 0.99959899 -0.02670847 -0.00940813 0.81262864] [ 0.02673552 0.99963873 0.00276114 0.01390699] [ 0.00933098 -0.00301156 0.99995193 -0.17532872] [ 0. 0. 0. 1. ]] SLAMing on 27.752414037 meters Centerline goodness [0,1] 0.6632355135008419 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.18 [[ 0.99959713 -0.02672314 -0.00956299 0.81315284] [ 0.02674817 0.99963908 0.00249917 0.01571266] [ 0.00949275 -0.00275395 0.99995115 -0.17555395] [ 0. 0. 0. 1. ]] SLAMing on 27.782414037 meters Centerline goodness [0,1] 0.6632355135008419 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.18 [[ 0.99959713 -0.02672314 -0.00956299 0.81315284] [ 0.02674817 0.99963908 0.00249917 0.01571266] [ 0.00949275 -0.00275395 0.99995115 -0.17555395] [ 0. 0. 0. 1. ]] SLAMing on 27.812414037 meters Centerline goodness [0,1] 0.6707689026341047 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.18 [[ 0.99958725 -0.02702411 -0.00974844 0.81370669] [ 0.02704295 0.99963264 0.00180577 0.01899155] [ 0.00969606 -0.00206865 0.99995085 -0.17577352] [ 0. 0. 0. 1. ]] SLAMing on 27.842414037 meters Centerline goodness [0,1] 0.6687017994858612 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.18 [[ 0.99958253 -0.02718259 -0.0097918 0.81378009] [ 0.02719834 0.99962896 0.00147854 0.02031152] [ 0.00974798 -0.00174424 0.99995097 -0.17570636] [ 0. 0. 0. 1. ]] SLAMing on 27.872414037 meters Centerline goodness [0,1] 0.6638662666095156 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.18 [[ 0.99957957 -0.02723395 -0.00994971 0.81413226] [ 0.02724728 0.999628 0.00120712 0.02154623] [ 0.00991314 -0.00147772 0.99994977 -0.17567155] [ 0. 0. 0. 1. ]] SLAMing on 27.902414037 meters Centerline goodness [0,1] 0.6620127857005409 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.18 [[ 0.99957999 -0.02712967 -0.01018906 0.8148965 ] [ 0.02714205 0.999631 0.00107914 0.02251776] [ 0.01015603 -0.00135524 0.99994751 -0.17596028] [ 0. 0. 0. 1. ]] SLAMing on 27.932414037 meters Centerline goodness [0,1] 0.6776804642497698 Centerline is valid? [False, False] Translation: X:0.82, Y:0.02, Z:-0.18 [[ 9.99582514e-01 -2.69576602e-02 -1.03962555e-02 8.15538988e-01] [ 2.69674091e-02 9.99635994e-01 7.98664792e-04 2.40317795e-02] [ 1.03709410e-02 -1.07869143e-03 9.99945639e-01 -1.76086762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.962414037 meters Centerline goodness [0,1] 0.6824717893605589 Centerline is valid? [False, False] Translation: X:0.81, Y:0.03, Z:-0.18 [[ 0.99966978 -0.02350088 -0.0103946 0.81497211] [ 0.0235411 0.99971578 0.00376395 0.02656372] [ 0.01030319 -0.0040074 0.99993889 -0.17557228] [ 0. 0. 0. 1. ]] SLAMing on 27.992414037 meters Centerline goodness [0,1] 0.6659358610609578 Centerline is valid? [False, False] Translation: X:0.81, Y:0.03, Z:-0.18 [[ 0.99974059 -0.02031432 -0.01029957 0.81422672] [ 0.02038612 0.99976827 0.00691519 0.02775 ] [ 0.01015671 -0.00712336 0.99992305 -0.17521332] [ 0. 0. 0. 1. ]] SLAMing on 28.022414037 meters Centerline goodness [0,1] 0.6850551438910908 Centerline is valid? [False, False] Translation: X:0.82, Y:0.03, Z:-0.18 [[ 0.99974429 -0.01998436 -0.01058221 0.81506402] [ 0.02005283 0.99977841 0.00640403 0.03060085] [ 0.01045188 -0.00661459 0.9999235 -0.1753068 ] [ 0. 0. 0. 1. ]] SLAMing on 28.052414037000002 meters Centerline goodness [0,1] 0.6953834183452927 Centerline is valid? [False, False] Translation: X:0.82, Y:0.03, Z:-0.18 [[ 0.99981355 -0.01611391 -0.0106401 0.81533524] [ 0.01621443 0.99982407 0.00943013 0.03337947] [ 0.01048627 -0.0096009 0.99989893 -0.175517 ] [ 0. 0. 0. 1. ]] SLAMing on 28.082414037 meters Centerline goodness [0,1] 0.6951697690451568 Centerline is valid? [False, False] Translation: X:0.82, Y:0.04, Z:-0.18 [[ 0.9998208 -0.01540496 -0.01100291 0.81690434] [ 0.01550682 0.99983713 0.00923298 0.03567477] [ 0.01085888 -0.00940195 0.99989684 -0.1762338 ] [ 0. 0. 0. 1. ]] SLAMing on 28.112414037 meters Centerline goodness [0,1] 0.7159755650052885 Centerline is valid? [False, False] Translation: X:0.82, Y:0.04, Z:-0.18 [[ 0.99982883 -0.01464079 -0.01131223 0.81819456] [ 0.01474338 0.99985045 0.00903925 0.03812663] [ 0.01117819 -0.00920449 0.99989516 -0.17669975] [ 0. 0. 0. 1. ]] SLAMing on 28.142414037 meters Centerline goodness [0,1] 0.7425594593423732 Centerline is valid? [False, False] Translation: X:0.82, Y:0.04, Z:-0.18 [[ 0.99987448 -0.01099635 -0.01140643 0.81783849] [ 0.01112682 0.99987266 0.01143918 0.04266843] [ 0.01127919 -0.01156466 0.99986951 -0.17578606] [ 0. 0. 0. 1. ]] SLAMing on 28.172414037 meters Centerline goodness [0,1] 0.7255212858384014 Centerline is valid? [False, False] Translation: X:0.82, Y:0.05, Z:-0.18 [[ 0.99987531 -0.01078749 -0.01153276 0.81800597] [ 0.01091113 0.99988309 0.01071239 0.04554113] [ 0.01141585 -0.01083689 0.99987611 -0.17525955] [ 0. 0. 0. 1. ]] SLAMing on 28.202414037 meters Centerline goodness [0,1] 0.7318515941020399 Centerline is valid? [False, False] Translation: X:0.82, Y:0.05, Z:-0.17 [[ 0.99987492 -0.01074016 -0.01161036 0.81791522] [ 0.01085587 0.99989157 0.00994988 0.04815714] [ 0.01150224 -0.01007467 0.99988309 -0.17459988] [ 0. 0. 0. 1. ]] SLAMing on 28.232414037 meters Centerline goodness [0,1] 0.7397581977907279 Centerline is valid? [False, False] Translation: X:0.82, Y:0.05, Z:-0.17 [[ 0.99987359 -0.01080056 -0.01166851 0.81794039] [ 0.01090754 0.9998987 0.00914407 0.05081823] [ 0.01156856 -0.00927018 0.99989011 -0.17417388] [ 0. 0. 0. 1. ]] SLAMing on 28.262414037 meters Centerline goodness [0,1] 0.741196760320475 Centerline is valid? [False, False] Translation: X:0.82, Y:0.06, Z:-0.17 [[ 0.99987741 -0.01058593 -0.01153689 0.81787429] [ 0.01067961 0.99991025 0.00808882 0.05595972] [ 0.01145022 -0.00821104 0.99990073 -0.17387662] [ 0. 0. 0. 1. ]] SLAMing on 28.292414037 meters Centerline goodness [0,1] 0.738984820147014 Centerline is valid? [False, False] Translation: X:0.82, Y:0.06, Z:-0.17 [[ 0.99987557 -0.01049567 -0.01177608 0.81884143] [ 0.01058712 0.99991407 0.00773048 0.05766555] [ 0.01169393 -0.00785419 0.99990078 -0.17430391] [ 0. 0. 0. 1. ]] SLAMing on 28.322414037 meters Centerline goodness [0,1] 0.7374256473058083 Centerline is valid? [False, False] Translation: X:0.82, Y:0.06, Z:-0.17 [[ 0.99987316 -0.01064184 -0.0118495 0.81900939] [ 0.01072845 0.99991602 0.00726982 0.05895643] [ 0.01177114 -0.00739603 0.99990336 -0.17426825] [ 0. 0. 0. 1. ]] SLAMing on 28.352414037 meters Centerline goodness [0,1] 0.7344565837391953 Centerline is valid? [False, False] Translation: X:0.82, Y:0.06, Z:-0.17 [[ 0.99987118 -0.01094617 -0.01173915 0.8187009 ] [ 0.01102547 0.99991669 0.00671184 0.06010761] [ 0.0116647 -0.0068404 0.99990857 -0.17405686] [ 0. 0. 0. 1. ]] SLAMing on 28.382414037 meters Centerline goodness [0,1] 0.7329820034549868 Centerline is valid? [False, False] Translation: X:0.82, Y:0.06, Z:-0.17 [[ 0.99986819 -0.01098734 -0.01195369 0.81931841] [ 0.0110639 0.99991858 0.0063574 0.06137622] [ 0.01188286 -0.00648881 0.99990834 -0.17416301] [ 0. 0. 0. 1. ]] SLAMing on 28.412414037 meters Centerline goodness [0,1] 0.7322881133560746 Centerline is valid? [False, False] Translation: X:0.82, Y:0.06, Z:-0.17 [[ 0.99986746 -0.01100046 -0.012002 0.81954097] [ 0.01107199 0.99992124 0.00590991 0.06318288] [ 0.01193604 -0.00604202 0.99991051 -0.17412051] [ 0. 0. 0. 1. ]] SLAMing on 28.442414037 meters Centerline goodness [0,1] 0.7310418998705033 Centerline is valid? [False, False] Translation: X:0.82, Y:0.07, Z:-0.17 [[ 0.99989823 -0.00775837 -0.01197208 0.81926353] [ 0.00786295 0.99993112 0.00871318 0.06648054] [ 0.01190366 -0.00880643 0.99989037 -0.17398145] [ 0. 0. 0. 1. ]] SLAMing on 28.472414037 meters Centerline goodness [0,1] 0.7245183309479246 Centerline is valid? [False, False] Translation: X:0.82, Y:0.07, Z:-0.17 [[ 0.99989703 -0.00771672 -0.01209913 0.81964098] [ 0.00781514 0.99993658 0.00810877 0.06918529] [ 0.01203579 -0.00820249 0.99989392 -0.17389661] [ 0. 0. 0. 1. ]] SLAMing on 28.502414037 meters Centerline goodness [0,1] 0.7521375074564214 Centerline is valid? [False, False] Translation: X:0.82, Y:0.07, Z:-0.17 [[ 0.99989447 -0.00781804 -0.01224457 0.81982574] [ 0.00790966 0.99994095 0.00745161 0.07126959] [ 0.01218559 -0.00754767 0.99989727 -0.17354031] [ 0. 0. 0. 1. ]] SLAMing on 28.532414037 meters Centerline goodness [0,1] 0.7583395926302302 Centerline is valid? [False, False] Translation: X:0.82, Y:0.07, Z:-0.17 [[ 0.99989282 -0.00792227 -0.0123117 0.82003462] [ 0.00800754 0.99994419 0.00689215 0.07248761] [ 0.01225641 -0.00699 0.99990046 -0.17340385] [ 0. 0. 0. 1. ]] SLAMing on 28.562414037 meters Centerline goodness [0,1] 0.7507294429708222 Centerline is valid? [False, False] Translation: X:0.82, Y:0.07, Z:-0.17 [[ 0.99989124 -0.0081062 -0.01232024 0.81998722] [ 0.00818677 0.99994534 0.0065036 0.07305348] [ 0.01226685 -0.00660375 0.99990295 -0.17321802] [ 0. 0. 0. 1. ]] SLAMing on 28.592414037 meters Centerline goodness [0,1] 0.759526648121164 Centerline is valid? [False, False] Translation: X:0.82, Y:0.07, Z:-0.17 [[ 0.99988971 -0.00830515 -0.01231245 0.81978497] [ 0.00837993 0.99994668 0.0060341 0.07392434] [ 0.01226168 -0.00613661 0.99990599 -0.17283395] [ 0. 0. 0. 1. ]] SLAMing on 28.622414037 meters Centerline goodness [0,1] 0.7544511534293235 Centerline is valid? [False, False] Translation: X:0.82, Y:0.08, Z:-0.17 [[ 0.99988737 -0.00848721 -0.01237781 0.81958095] [ 0.00855526 0.99994852 0.00545514 0.07573268] [ 0.01233087 -0.00556042 0.99990851 -0.17226284] [ 0. 0. 0. 1. ]] SLAMing on 28.652414037 meters Centerline goodness [0,1] 0.7547098802328928 Centerline is valid? [False, False] Translation: X:0.82, Y:0.08, Z:-0.17 [[ 0.99989422 -0.00746569 -0.01248258 0.82002133] [ 0.00753243 0.99995754 0.00530875 0.08056765] [ 0.01244242 -0.00540221 0.999908 -0.17182892] [ 0. 0. 0. 1. ]] SLAMing on 28.682414037 meters Centerline goodness [0,1] 0.7530051009092925 Centerline is valid? [False, False] Translation: X:0.82, Y:0.08, Z:-0.17 [[ 0.99989271 -0.00721296 -0.01274919 0.82083667] [ 0.00727795 0.99996072 0.00505835 0.08223727] [ 0.0127122 -0.00515059 0.99990593 -0.17198847] [ 0. 0. 0. 1. ]] SLAMing on 28.712414037 meters Centerline goodness [0,1] 0.752924203750971 Centerline is valid? [False, False] Translation: X:0.82, Y:0.08, Z:-0.17 [[ 0.99989274 -0.00706569 -0.01282895 0.82136095] [ 0.00712897 0.99996261 0.00489354 0.08291796] [ 0.0127939 -0.00498448 0.99990573 -0.17231258] [ 0. 0. 0. 1. ]] SLAMing on 28.742414037 meters Centerline goodness [0,1] 0.759265412817616 Centerline is valid? [False, False] Translation: X:0.82, Y:0.08, Z:-0.17 [[ 0.9998932 -0.00695316 -0.01285452 0.82178742] [ 0.00701477 0.9999641 0.00475338 0.08264644] [ 0.01282101 -0.00484305 0.99990608 -0.17257141] [ 0. 0. 0. 1. ]] SLAMing on 28.772414037 meters Centerline goodness [0,1] 0.7556438544695776 Centerline is valid? [False, False] Translation: X:0.82, Y:0.08, Z:-0.17 [[ 0.99989373 -0.00704043 -0.01276573 0.82147423] [ 0.00709922 0.99996438 0.00456608 0.0829486 ] [ 0.01273313 -0.00465622 0.99990809 -0.17234998] [ 0. 0. 0. 1. ]] SLAMing on 28.802414037 meters Centerline goodness [0,1] 0.7602310597644968 Centerline is valid? [False, False] Translation: X:0.82, Y:0.08, Z:-0.17 [[ 0.99989356 -0.00707665 -0.01275858 0.82150821] [ 0.00713236 0.99996521 0.004326 0.0837437 ] [ 0.01272752 -0.00441654 0.99990925 -0.17229091] [ 0. 0. 0. 1. ]] SLAMing on 28.832414037 meters Centerline goodness [0,1] 0.7628551721068909 Centerline is valid? [False, False] Translation: X:0.82, Y:0.09, Z:-0.17 [[ 0.99989224 -0.00729336 -0.01273994 0.82137364] [ 0.00734361 0.99996542 0.00390184 0.08550342] [ 0.01271104 -0.00399497 0.99991123 -0.17205326] [ 0. 0. 0. 1. ]] SLAMing on 28.862414037 meters Centerline goodness [0,1] 0.759727129302491 Centerline is valid? [False, False] Translation: X:0.82, Y:0.09, Z:-0.17 [[ 0.99989059 -0.00738485 -0.01281693 0.82161788] [ 0.00743627 0.99996447 0.00396873 0.08536316] [ 0.01278716 -0.00406361 0.99990998 -0.1721947 ] [ 0. 0. 0. 1. ]] SLAMing on 28.892414037 meters Centerline goodness [0,1] 0.7515616316549961 Centerline is valid? [False, False] Translation: X:0.82, Y:0.08, Z:-0.17 [[ 0.99988956 -0.00769141 -0.01271615 0.82132547] [ 0.0077427 0.99996207 0.00398854 0.08454447] [ 0.01268499 -0.00408656 0.99991119 -0.17215794] [ 0. 0. 0. 1. ]] SLAMing on 28.922414037 meters Centerline goodness [0,1] 0.7566249029825923 Centerline is valid? [False, False] Translation: X:0.82, Y:0.08, Z:-0.17 [[ 0.99988944 -0.00778884 -0.01266683 0.82161924] [ 0.00784414 0.99995989 0.00432208 0.08272686] [ 0.01263266 -0.00442096 0.99991043 -0.17276 ] [ 0. 0. 0. 1. ]] SLAMing on 28.952414037 meters Centerline goodness [0,1] 0.7508373444535634 Centerline is valid? [False, False] Translation: X:0.82, Y:0.08, Z:-0.17 [[ 0.99988961 -0.00792715 -0.01256733 0.82157011] [ 0.00798624 0.99995726 0.00465897 0.08066898] [ 0.01252986 -0.00475882 0.99991017 -0.17308245] [ 0. 0. 0. 1. ]] SLAMing on 28.982414037 meters Centerline goodness [0,1] 0.7275892659126192 Centerline is valid? [False, False] Translation: X:0.82, Y:0.08, Z:-0.17 [[ 0.9998891 -0.00821349 -0.01242274 0.82113847] [ 0.00827311 0.99995447 0.004756 0.07923567] [ 0.01238311 -0.00485825 0.99991152 -0.17300767] [ 0. 0. 0. 1. ]] SLAMing on 29.012414037 meters Centerline goodness [0,1] 0.7575595991912729 Centerline is valid? [False, False] Translation: X:0.82, Y:0.08, Z:-0.17 [[ 0.99988848 -0.00825271 -0.01244658 0.82117821] [ 0.00831064 0.99995484 0.00461017 0.07979059] [ 0.01240797 -0.00471309 0.99991191 -0.17291132] [ 0. 0. 0. 1. ]] SLAMing on 29.042414037 meters Centerline goodness [0,1] 0.7537046499744506 Centerline is valid? [False, False] Translation: X:0.82, Y:0.08, Z:-0.17 [[ 0.9998893 -0.00794157 -0.01258286 0.82165369] [ 0.00799851 0.99995797 0.00448132 0.08159821] [ 0.01254674 -0.00458146 0.99991079 -0.17286911] [ 0. 0. 0. 1. ]] SLAMing on 29.072414037 meters Centerline goodness [0,1] 0.750249794613318 Centerline is valid? [False, False] Translation: X:0.82, Y:0.08, Z:-0.17 [[ 0.99988954 -0.00775819 -0.01267786 0.82214495] [ 0.00781372 0.99996007 0.0043368 0.08266257] [ 0.01264371 -0.00443538 0.99991023 -0.17309573] [ 0. 0. 0. 1. ]] SLAMing on 29.102414037 meters Centerline goodness [0,1] 0.7556296543292209 Centerline is valid? [False, False] Translation: X:0.82, Y:0.08, Z:-0.17 [[ 0.99988982 -0.00733291 -0.01290675 0.8230284 ] [ 0.00739093 0.99996277 0.00445317 0.0831802 ] [ 0.01287362 -0.00454807 0.99990679 -0.17350344] [ 0. 0. 0. 1. ]] SLAMing on 29.132414037 meters Centerline goodness [0,1] 0.7605877652490456 Centerline is valid? [False, False] Translation: X:0.82, Y:0.08, Z:-0.17 [[ 0.99989157 -0.00699253 -0.01295945 0.82349372] [ 0.007051 0.99996514 0.00447166 0.08311848] [ 0.01292773 -0.00456255 0.99990602 -0.17374428] [ 0. 0. 0. 1. ]] SLAMing on 29.162414037 meters Centerline goodness [0,1] 0.7634558709477276 Centerline is valid? [False, False] Translation: X:0.82, Y:0.08, Z:-0.17 [[ 0.99990071 -0.00569943 -0.01288747 0.82403812] [ 0.00576453 0.99997079 0.00501963 0.08214109] [ 0.01285848 -0.00509342 0.99990435 -0.173966 ] [ 0. 0. 0. 1. ]] SLAMing on 29.192414037 meters Centerline goodness [0,1] 0.7654304577074749 Centerline is valid? [False, False] Translation: X:0.82, Y:0.08, Z:-0.17 [[ 0.99990112 -0.00502253 -0.01313474 0.82486134] [ 0.00509075 0.9999737 0.00516545 0.0825827 ] [ 0.01310846 -0.00523181 0.99990039 -0.17404327] [ 0. 0. 0. 1. ]] SLAMing on 29.222414037 meters Centerline goodness [0,1] 0.7673140019508735 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.17 [[ 0.99990265 -0.00418484 -0.01331091 0.82581302] [ 0.00425461 0.99997734 0.00521737 0.08403147] [ 0.01328878 -0.00527349 0.99989779 -0.1743486 ] [ 0. 0. 0. 1. ]] SLAMing on 29.252414037 meters Centerline goodness [0,1] 0.7685265426749328 Centerline is valid? [False, False] Translation: X:0.83, Y:0.09, Z:-0.17 [[ 0.999903 -0.00300677 -0.01359967 0.82722262] [ 0.00308123 0.99998036 0.00545772 0.08598894] [ 0.01358299 -0.00549909 0.99989263 -0.174829 ] [ 0. 0. 0. 1. ]] SLAMing on 29.282414037 meters Centerline goodness [0,1] 0.768566916523944 Centerline is valid? [False, False] Translation: X:0.83, Y:0.09, Z:-0.17 [[ 0.99990457 0.00155341 -0.01372743 0.82720827] [-0.0014268 0.9999564 0.00922864 0.08756287] [ 0.01374117 -0.00920818 0.99986319 -0.17407664] [ 0. 0. 0. 1. ]] SLAMing on 29.312414037 meters Centerline goodness [0,1] 0.7720977868815959 Centerline is valid? [False, False] Translation: X:0.83, Y:0.09, Z:-0.17 [[ 0.99990175 0.00186716 -0.01389261 0.82737033] [-0.00173951 0.99995621 0.00919493 0.08738774] [ 0.01390917 -0.00916986 0.99986121 -0.17358171] [ 0. 0. 0. 1. ]] SLAMing on 29.342414037 meters Centerline goodness [0,1] 0.7708856539615513 Centerline is valid? [False, False] Translation: X:0.83, Y:0.09, Z:-0.17 [[ 9.99900318e-01 -6.23656360e-04 -1.41055126e-02 8.28485688e-01] [ 7.05400808e-04 9.99982983e-01 5.79098022e-03 8.74294317e-02] [ 1.41016610e-02 -5.80035300e-03 9.99883743e-01 -1.73580430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.372414037 meters Centerline goodness [0,1] 0.7703238086806401 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.17 [[ 0.99990756 -0.00210165 -0.01343322 0.82784234] [ 0.00215596 0.99998956 0.00402948 0.08390588] [ 0.01342462 -0.00405807 0.99990165 -0.17365409] [ 0. 0. 0. 1. ]] SLAMing on 29.402414037 meters Centerline goodness [0,1] 0.7719220647101754 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.17 [[ 0.99990782 -0.00232644 -0.01337709 0.8275378 ] [ 0.00238336 0.99998817 0.00424113 0.08210718] [ 0.01336706 -0.00427262 0.99990153 -0.17354381] [ 0. 0. 0. 1. ]] SLAMing on 29.432414037 meters Centerline goodness [0,1] 0.7698424936667034 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.17 [[ 0.99989193 -0.00503446 -0.01381266 0.82974211] [ 0.00505517 0.99998615 0.00146443 0.08144202] [ 0.01380509 -0.0015341 0.99990353 -0.17489856] [ 0. 0. 0. 1. ]] SLAMing on 29.462414037 meters Centerline goodness [0,1] 0.77 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.18 [[ 0.99989139 -0.005407 -0.01371037 0.82935608] [ 0.00543378 0.9999834 0.00191679 0.07919847] [ 0.01369978 -0.00199108 0.99990417 -0.17502766] [ 0. 0. 0. 1. ]] SLAMing on 29.492414037 meters Centerline goodness [0,1] 0.7695618754803997 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.18 [[ 9.99860280e-01 -9.44337723e-03 -1.37928573e-02 8.29612332e-01] [ 9.43232781e-03 9.99955140e-01 -8.65931504e-04 7.58823327e-02] [ 1.38004158e-02 7.35711765e-04 9.99904499e-01 -1.75365576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.522414037 meters Centerline goodness [0,1] 0.7668841976173791 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:-0.18 [[ 9.99854096e-01 -1.03652879e-02 -1.35774344e-02 8.28759356e-01] [ 1.03599815e-02 9.99946228e-01 -4.61102950e-04 7.24601675e-02] [ 1.35814838e-02 3.20373703e-04 9.99907716e-01 -1.75390449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.552414037 meters Centerline goodness [0,1] 0.7627844946325892 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:-0.18 [[ 9.99844377e-01 -1.12193265e-02 -1.36142608e-02 8.28702115e-01] [ 1.12226793e-02 9.99937009e-01 1.69893400e-04 6.83655499e-02] [ 1.36114971e-02 -3.22655443e-04 9.99907307e-01 -1.75920764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.582414037 meters Centerline goodness [0,1] 0.7614203202940404 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:-0.18 [[ 9.99835028e-01 -1.23165587e-02 -1.33498854e-02 8.27875196e-01] [ 1.23212926e-02 9.99924053e-01 2.72407184e-04 6.40460095e-02] [ 1.33455164e-02 -4.36850089e-04 9.99910849e-01 -1.75987450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.612414037 meters Centerline goodness [0,1] 0.751894434282728 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:-0.18 [[ 0.99977092 -0.01672208 -0.01335965 0.82821691] [ 0.01669507 0.99985836 -0.00213067 0.05788961] [ 0.01339339 0.00190714 0.99990849 -0.17711358] [ 0. 0. 0. 1. ]] SLAMing on 29.642414037 meters Centerline goodness [0,1] 0.7492118023091474 Centerline is valid? [False, False] Translation: X:0.83, Y:0.05, Z:-0.18 [[ 0.99976486 -0.01723415 -0.0131611 0.82769139] [ 0.01721582 0.99985066 -0.00150454 0.05485257] [ 0.01318506 0.00127761 0.99991226 -0.17734664] [ 0. 0. 0. 1. ]] SLAMing on 29.672414037 meters Centerline goodness [0,1] 0.7381344902386118 Centerline is valid? [False, False] Translation: X:0.83, Y:0.05, Z:-0.18 [[ 9.99760458e-01 -1.75370354e-02 -1.30949913e-02 8.27473097e-01] [ 1.75257627e-02 9.99845937e-01 -9.75111189e-04 5.30212348e-02] [ 1.31100744e-02 7.45377898e-04 9.99913781e-01 -1.77510897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702414037 meters Centerline goodness [0,1] 0.7381344902386118 Centerline is valid? [False, False] Translation: X:0.83, Y:0.05, Z:-0.18 [[ 9.99760458e-01 -1.75370354e-02 -1.30949913e-02 8.27473097e-01] [ 1.75257627e-02 9.99845937e-01 -9.75111189e-04 5.30212348e-02] [ 1.31100744e-02 7.45377898e-04 9.99913781e-01 -1.77510897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.732414037 meters Centerline goodness [0,1] 0.707502271448968 Centerline is valid? [False, False] Translation: X:0.83, Y:0.05, Z:-0.18 [[ 9.99756347e-01 -1.78019126e-02 -1.30513431e-02 8.27070317e-01] [ 1.77938162e-02 9.99841406e-01 -7.36213017e-04 5.24320533e-02] [ 1.30623792e-02 5.03800436e-04 9.99914557e-01 -1.77222444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.762414037 meters Centerline goodness [0,1] 0.74250032466127 Centerline is valid? [False, False] Translation: X:0.82, Y:0.05, Z:-0.18 [[ 9.99743911e-01 -1.87463272e-02 -1.26762458e-02 8.24676468e-01] [ 1.87333912e-02 9.99823866e-01 -1.13847163e-03 5.20093003e-02] [ 1.26953553e-02 9.00711009e-04 9.99919005e-01 -1.75171034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.792414037 meters Centerline goodness [0,1] 0.7389480058828619 Centerline is valid? [False, False] Translation: X:0.82, Y:0.05, Z:-0.17 [[ 9.99743425e-01 -1.87603261e-02 -1.26938993e-02 8.24503572e-01] [ 1.87530394e-02 9.99823906e-01 -6.92833887e-04 5.01424294e-02] [ 1.27046618e-02 4.54606930e-04 9.99919189e-01 -1.74996282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.822414037 meters Centerline goodness [0,1] 0.7350576948009854 Centerline is valid? [False, False] Translation: X:0.83, Y:0.05, Z:-0.18 [[ 9.99746341e-01 -1.85787482e-02 -1.27312401e-02 8.25017990e-01] [ 1.85806828e-02 9.99827364e-01 3.36881206e-05 4.76741057e-02] [ 1.27284163e-02 -2.70234710e-04 9.99918954e-01 -1.75712845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.852414037 meters Centerline goodness [0,1] 0.7252103202923939 Centerline is valid? [False, False] Translation: X:0.83, Y:0.05, Z:-0.18 [[ 9.99747374e-01 -1.85362960e-02 -1.27119795e-02 8.25364565e-01] [ 1.85450738e-02 9.99827861e-01 5.72974276e-04 4.55267013e-02] [ 1.26991705e-02 -8.08574126e-04 9.99919035e-01 -1.76361196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.882414037 meters Centerline goodness [0,1] 0.7369309695434769 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.18 [[ 0.99974839 -0.01861848 -0.01251051 0.82597895] [ 0.01863709 0.99982537 0.00137307 0.04290636] [ 0.01248276 -0.00160589 0.9999208 -0.17808977] [ 0. 0. 0. 1. ]] SLAMing on 29.912414037 meters Centerline goodness [0,1] 0.707002244862718 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.18 [[ 0.99974878 -0.01861547 -0.01248373 0.8264403 ] [ 0.01863892 0.99982472 0.0017653 0.04214704] [ 0.01244868 -0.00199754 0.99992052 -0.17890592] [ 0. 0. 0. 1. ]] SLAMing on 29.942414037 meters Centerline goodness [0,1] 0.7101674434662524 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.18 [[ 0.99974961 -0.01866957 -0.01233541 0.82632576] [ 0.0186969 0.99982298 0.00210378 0.04132442] [ 0.01229395 -0.00233389 0.9999217 -0.17924429] [ 0. 0. 0. 1. ]] SLAMing on 29.972414037 meters Centerline goodness [0,1] 0.7244417570077312 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.18 [[ 0.99974771 -0.01881766 -0.01226401 0.82602247] [ 0.01884701 0.99981978 0.00228145 0.04055804] [ 0.01221887 -0.00251202 0.99992219 -0.17912732] [ 0. 0. 0. 1. ]] SLAMing on 30.002414037 meters Centerline goodness [0,1] 0.7178956446744287 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.18 [[ 0.999744 -0.01909941 -0.01213024 0.82573306] [ 0.01913085 0.99981391 0.00248098 0.03986533] [ 0.0120806 -0.00271241 0.99992335 -0.17922751] [ 0. 0. 0. 1. ]] SLAMing on 30.032414037 meters Centerline goodness [0,1] 0.7145288832388874 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.18 [[ 0.99974511 -0.01903748 -0.01213597 0.8259633 ] [ 0.01907155 0.99981448 0.00269777 0.03969089] [ 0.01208236 -0.00292853 0.99992272 -0.17952611] [ 0. 0. 0. 1. ]] SLAMing on 30.062414037 meters Centerline goodness [0,1] 0.6734544199490918 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.18 [[ 0.99974587 -0.01902288 -0.01209684 0.82597767] [ 0.01905903 0.99981421 0.00288016 0.03932003] [ 0.0120398 -0.00310998 0.99992268 -0.1796647 ] [ 0. 0. 0. 1. ]] SLAMing on 30.092414037 meters Centerline goodness [0,1] 0.7176886894230354 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.18 [[ 0.99974469 -0.01911561 -0.01204796 0.82584931] [ 0.01915375 0.99981187 0.00305818 0.03841556] [ 0.01198724 -0.00328816 0.99992274 -0.17969772] [ 0. 0. 0. 1. ]] SLAMing on 30.122414037 meters Centerline goodness [0,1] 0.6835830548668751 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.18 [[ 0.99973859 -0.01958566 -0.01179634 0.82524107] [ 0.01962736 0.99980148 0.00342963 0.03518728] [ 0.01172683 -0.00366026 0.99992454 -0.17978081] [ 0. 0. 0. 1. ]] SLAMing on 30.152414037 meters Centerline goodness [0,1] 0.6819319211355106 Centerline is valid? [False, False] Translation: X:0.83, Y:0.03, Z:-0.18 [[ 0.99973815 -0.01959287 -0.01182137 0.82541222] [ 0.01963766 0.99980037 0.00368492 0.03424357] [ 0.01174681 -0.00391609 0.99992334 -0.17999853] [ 0. 0. 0. 1. ]] SLAMing on 30.182414037 meters Centerline goodness [0,1] 0.6779086828931469 Centerline is valid? [False, False] Translation: X:0.83, Y:0.03, Z:-0.18 [[ 0.99973746 -0.01961512 -0.01184282 0.82562051] [ 0.0196608 0.99979966 0.00375358 0.03462131] [ 0.01176682 -0.00398543 0.99992283 -0.18025143] [ 0. 0. 0. 1. ]] SLAMing on 30.212414037 meters Centerline goodness [0,1] 0.6763372620126926 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.18 [[ 0.99973461 -0.01969317 -0.01195382 0.8258548 ] [ 0.01973675 0.99979895 0.00353927 0.0359548 ] [ 0.01188172 -0.00377426 0.99992229 -0.18020983] [ 0. 0. 0. 1. ]] SLAMing on 30.242414037 meters Centerline goodness [0,1] 0.6973715470508197 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.18 [[ 0.99979072 -0.01667482 -0.01185162 0.8253176 ] [ 0.01675535 0.99983698 0.00672814 0.03714973] [ 0.01173749 -0.00692531 0.99990713 -0.18023215] [ 0. 0. 0. 1. ]] SLAMing on 30.272414037 meters Centerline goodness [0,1] 0.710450664649303 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.18 [[ 0.99979329 -0.01637785 -0.01204753 0.8263835 ] [ 0.01646021 0.99984161 0.00676918 0.03781796] [ 0.01193476 -0.00696609 0.99990451 -0.1810519 ] [ 0. 0. 0. 1. ]] SLAMing on 30.302414037 meters Centerline goodness [0,1] 0.6845002914696547 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.18 [[ 0.99979551 -0.01611003 -0.01222327 0.82748459] [ 0.01619495 0.99984518 0.00688007 0.03800264] [ 0.01211054 -0.00707662 0.99990162 -0.18205283] [ 0. 0. 0. 1. ]] SLAMing on 30.332414037 meters Centerline goodness [0,1] 0.6882622610500821 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.18 [[ 0.99979557 -0.01620273 -0.0120949 0.82714436] [ 0.01627936 0.99984786 0.00626466 0.03958293] [ 0.01199156 -0.00646028 0.99990723 -0.18176635] [ 0. 0. 0. 1. ]] SLAMing on 30.362414037 meters Centerline goodness [0,1] 0.7039081953015048 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.18 [[ 0.99979385 -0.01630342 -0.01210184 0.82686638] [ 0.01637285 0.99984993 0.00566016 0.04161047] [ 0.01200774 -0.00585713 0.99991075 -0.18116269] [ 0. 0. 0. 1. ]] SLAMing on 30.392414037 meters Centerline goodness [0,1] 0.6931403262396025 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.18 [[ 0.99979235 -0.01626453 -0.01227687 0.82720753] [ 0.01632897 0.99985333 0.00516649 0.04416985] [ 0.01219104 -0.00536589 0.99991129 -0.18099115] [ 0. 0. 0. 1. ]] SLAMing on 30.422414037 meters Centerline goodness [0,1] 0.6752943213296398 Centerline is valid? [False, False] Translation: X:0.83, Y:0.05, Z:-0.18 [[ 0.99979033 -0.01625182 -0.01245722 0.8276951 ] [ 0.01631049 0.99985629 0.00462236 0.04685147] [ 0.01238031 -0.00482458 0.99991172 -0.18099645] [ 0. 0. 0. 1. ]] SLAMing on 30.452414037 meters Centerline goodness [0,1] 0.714967151622905 Centerline is valid? [False, False] Translation: X:0.83, Y:0.05, Z:-0.18 [[ 0.99978588 -0.01632083 -0.01272118 0.82836101] [ 0.01637111 0.99985854 0.00385866 0.0504157 ] [ 0.0126564 -0.0040661 0.99991164 -0.18098101] [ 0. 0. 0. 1. ]] SLAMing on 30.482414037 meters Centerline goodness [0,1] 0.7077915029416234 Centerline is valid? [False, False] Translation: X:0.83, Y:0.05, Z:-0.18 [[ 0.99978258 -0.01647146 -0.01278615 0.82844817] [ 0.016518 0.99985729 0.00354268 0.05127229] [ 0.01272597 -0.00375311 0.99991198 -0.18090408] [ 0. 0. 0. 1. ]] SLAMing on 30.512414037 meters Centerline goodness [0,1] 0.7194168006605537 Centerline is valid? [False, False] Translation: X:0.83, Y:0.05, Z:-0.18 [[ 0.99978177 -0.01657814 -0.01271129 0.82857519] [ 0.0166226 0.99985605 0.00339994 0.0517098 ] [ 0.01265309 -0.00361049 0.99991343 -0.18126924] [ 0. 0. 0. 1. ]] SLAMing on 30.542414037 meters Centerline goodness [0,1] 0.7039456493336818 Centerline is valid? [False, False] Translation: X:0.83, Y:0.05, Z:-0.18 [[ 0.99977785 -0.01680641 -0.01271971 0.82880405] [ 0.01684674 0.99985337 0.00307063 0.05254405] [ 0.01266624 -0.00328423 0.99991439 -0.18154458] [ 0. 0. 0. 1. ]] SLAMing on 30.572414037 meters Centerline goodness [0,1] 0.6895935490901166 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:-0.18 [[ 0.99977013 -0.01716927 -0.01284154 0.82947835] [ 0.01720098 0.99984926 0.00236291 0.05525853] [ 0.01279904 -0.00258325 0.99991475 -0.18208204] [ 0. 0. 0. 1. ]] SLAMing on 30.602414037 meters Centerline goodness [0,1] 0.6767820106975221 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:-0.18 [[ 0.9997655 -0.01736303 -0.01294128 0.82988274] [ 0.01738975 0.99984687 0.00195539 0.05700309] [ 0.01290535 -0.00217997 0.99991435 -0.18233707] [ 0. 0. 0. 1. ]] SLAMing on 30.632414037 meters Centerline goodness [0,1] 0.69277676632521 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:-0.18 [[ 9.99754833e-01 -1.79877086e-02 -1.29118303e-02 8.30021277e-01] [ 1.80006754e-02 9.99837580e-01 8.88730445e-04 6.11539122e-02] [ 1.28937469e-02 -1.12093422e-03 9.99916244e-01 -1.82612176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.662414037 meters Centerline goodness [0,1] 0.6790457343887424 Centerline is valid? [False, False] Translation: X:0.83, Y:0.06, Z:-0.18 [[ 9.99751979e-01 -1.81137498e-02 -1.29565365e-02 8.30333222e-01] [ 1.81223802e-02 9.99835625e-01 5.48993088e-04 6.29494306e-02] [ 1.29444624e-02 -7.83660206e-04 9.99915910e-01 -1.82870660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.692414037 meters Centerline goodness [0,1] 0.676506196482423 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:-0.18 [[ 9.99747991e-01 -1.83045255e-02 -1.29960998e-02 8.30474017e-01] [ 1.83057229e-02 9.99832436e-01 -2.68245634e-05 6.50064116e-02] [ 1.29944132e-02 -2.11085199e-04 9.99915547e-01 -1.82850290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.722414037 meters Centerline goodness [0,1] 0.6691338443915764 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:-0.18 [[ 9.99745008e-01 -1.83900235e-02 -1.31043977e-02 8.30773272e-01] [ 1.83848011e-02 9.99830851e-01 -5.18888832e-04 6.70639245e-02] [ 1.31117235e-02 2.77834774e-04 9.99913999e-01 -1.82849668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.752414037 meters Centerline goodness [0,1] 0.6681403214040982 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:-0.18 [[ 0.99979581 -0.01574468 -0.0126665 0.82925789] [ 0.01577236 0.99987343 0.00208798 0.06927394] [ 0.01263202 -0.00228733 0.9999176 -0.1824323 ] [ 0. 0. 0. 1. ]] SLAMing on 30.782414037 meters Centerline goodness [0,1] 0.6694245874150561 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:-0.18 [[ 0.99979431 -0.01570002 -0.01283957 0.82996004] [ 0.01572367 0.99987486 0.0017426 0.07124578] [ 0.0128106 -0.00194413 0.99991605 -0.18276796] [ 0. 0. 0. 1. ]] SLAMing on 30.812414037 meters Centerline goodness [0,1] 0.6741712187893933 Centerline is valid? [False, False] Translation: X:0.83, Y:0.07, Z:-0.18 [[ 0.99978944 -0.01594658 -0.01291439 0.83015854] [ 0.01596271 0.99987193 0.0011466 0.07351625] [ 0.01289445 -0.00135251 0.99991595 -0.18276145] [ 0. 0. 0. 1. ]] SLAMing on 30.842414037 meters Centerline goodness [0,1] 0.6615204523367788 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.18 [[ 9.99785888e-01 -1.61434022e-02 -1.29448270e-02 8.30381066e-01] [ 1.61543514e-02 9.99869235e-01 7.41715030e-04 7.54490696e-02] [ 1.29311604e-02 -9.50671503e-04 9.99915937e-01 -1.82935259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.872414037 meters Centerline goodness [0,1] 0.6463055278608618 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.18 [[ 9.99776280e-01 -1.66835601e-02 -1.30018690e-02 8.30608160e-01] [ 1.66832940e-02 9.99860816e-01 -1.28936156e-04 7.88710223e-02] [ 1.30022104e-02 -8.80066920e-05 9.99915464e-01 -1.83119877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.902414037 meters Centerline goodness [0,1] 0.6571041888533902 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.18 [[ 9.99773972e-01 -1.67706393e-02 -1.30671469e-02 8.31263889e-01] [ 1.67685480e-02 9.99859362e-01 -2.69599478e-04 7.98561984e-02] [ 1.30698305e-02 5.04214608e-05 9.99914585e-01 -1.83886196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.932414037 meters Centerline goodness [0,1] 0.6702035561277719 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.18 [[ 9.99771695e-01 -1.68092119e-02 -1.31912527e-02 8.32051027e-01] [ 1.68058751e-02 9.99858705e-01 -3.63774333e-04 8.06848135e-02] [ 1.31955036e-02 1.42000735e-04 9.99912925e-01 -1.84657502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.962414037 meters Centerline goodness [0,1] 0.664430577223089 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.19 [[ 9.99765330e-01 -1.73843853e-02 -1.29255019e-02 8.32060266e-01] [ 1.73716555e-02 9.99848500e-01 -1.09649093e-03 8.33630497e-02] [ 1.29426055e-02 8.71696249e-04 9.99915861e-01 -1.85519641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.992414037 meters Centerline goodness [0,1] 0.6568296984173048 Centerline is valid? [False, False] Translation: X:0.83, Y:0.09, Z:-0.19 [[ 0.99975945 -0.01768652 -0.01297032 0.83213758] [ 0.01766753 0.99984267 -0.00157741 0.08533135] [ 0.01299618 0.00134788 0.99991464 -0.18549507] [ 0. 0. 0. 1. ]] SLAMing on 31.022414037 meters Centerline goodness [0,1] 0.6532632990612428 Centerline is valid? [False, False] Translation: X:0.83, Y:0.09, Z:-0.18 [[ 0.99980604 -0.01516132 -0.01257031 0.83038809] [ 0.01518167 0.99988359 0.00152485 0.08619768] [ 0.01254573 -0.00171539 0.99991983 -0.18494696] [ 0. 0. 0. 1. ]] SLAMing on 31.052414037 meters Centerline goodness [0,1] 0.6561749859786876 Centerline is valid? [False, False] Translation: X:0.83, Y:0.09, Z:-0.18 [[ 9.99800255e-01 -1.54211261e-02 -1.27137556e-02 8.30630560e-01] [ 1.54324713e-02 9.99880596e-01 7.94721793e-04 8.91327762e-02] [ 1.26999820e-02 -9.90767719e-04 9.99918861e-01 -1.84755095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.082414037 meters Centerline goodness [0,1] 0.6461985668574519 Centerline is valid? [False, False] Translation: X:0.83, Y:0.09, Z:-0.19 [[ 9.99795723e-01 -1.55651417e-02 -1.28933826e-02 8.31705735e-01] [ 1.55664095e-02 9.99878836e-01 -2.03170074e-06 9.28774402e-02] [ 1.28918520e-02 -1.98672387e-04 9.99916877e-01 -1.85601727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.112414037 meters Centerline goodness [0,1] 0.6496775066528349 Centerline is valid? [False, False] Translation: X:0.83, Y:0.09, Z:-0.19 [[ 9.99798304e-01 -1.53575345e-02 -1.29420564e-02 8.32604390e-01] [ 1.53607157e-02 9.99882007e-01 1.46425621e-04 9.30467222e-02] [ 1.29382806e-02 -3.45195337e-04 9.99916237e-01 -1.86693799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.142414037 meters Centerline goodness [0,1] 0.6628211495913667 Centerline is valid? [False, False] Translation: X:0.83, Y:0.09, Z:-0.19 [[ 9.99797504e-01 -1.53838643e-02 -1.29725664e-02 8.33079766e-01] [ 1.53850246e-02 9.99881643e-01 -1.03508375e-05 9.38910983e-02] [ 1.29711902e-02 -1.89234511e-04 9.99915853e-01 -1.87242473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.172414037 meters Centerline goodness [0,1] 0.6465951439864484 Centerline is valid? [False, False] Translation: X:0.83, Y:0.10, Z:-0.19 [[ 9.99792372e-01 -1.56902417e-02 -1.30011416e-02 8.32811777e-01] [ 1.56808768e-02 9.99876710e-01 -8.21952546e-04 9.65252039e-02] [ 1.30124353e-02 6.17912586e-04 9.99915144e-01 -1.86619615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.202414037 meters Centerline goodness [0,1] 0.658037559325113 Centerline is valid? [False, False] Translation: X:0.83, Y:0.10, Z:-0.19 [[ 0.99983137 -0.01315665 -0.01281155 0.83112618] [ 0.01317163 0.99991266 0.00108499 0.1030778 ] [ 0.01279615 -0.00125356 0.99991734 -0.18511335] [ 0. 0. 0. 1. ]] SLAMing on 31.232414037 meters Centerline goodness [0,1] 0.6563020037841658 Centerline is valid? [False, False] Translation: X:0.83, Y:0.11, Z:-0.19 [[ 9.99830246e-01 -1.26951859e-02 -1.33533383e-02 8.32976382e-01] [ 1.27084781e-02 9.99918829e-01 9.11037138e-04 1.05949446e-01] [ 1.33406886e-02 -1.08058309e-03 9.99910425e-01 -1.85849580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.262414037 meters Centerline goodness [0,1] 0.6526243567753002 Centerline is valid? [False, False] Translation: X:0.83, Y:0.11, Z:-0.19 [[ 9.99830262e-01 -1.23450573e-02 -1.36765232e-02 8.34483792e-01] [ 1.23573916e-02 9.99923310e-01 8.17718144e-04 1.07573042e-01] [ 1.36653795e-02 -9.86585498e-04 9.99906138e-01 -1.86830715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.292414037 meters Centerline goodness [0,1] 0.6648307515777395 Centerline is valid? [False, False] Translation: X:0.84, Y:0.11, Z:-0.19 [[ 9.99834920e-01 -1.17090593e-02 -1.38935594e-02 8.36578341e-01] [ 1.17220426e-02 9.99930930e-01 8.53415295e-04 1.09262159e-01] [ 1.38826071e-02 -1.01613531e-03 9.99903116e-01 -1.88819837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.322414037 meters Centerline goodness [0,1] 0.6536537225741301 Centerline is valid? [False, False] Translation: X:0.84, Y:0.11, Z:-0.19 [[ 9.99834172e-01 -1.15896114e-02 -1.40467058e-02 8.37258847e-01] [ 1.15976977e-02 9.99932622e-01 4.94349437e-04 1.11094987e-01] [ 1.40400301e-02 -6.57176908e-04 9.99901218e-01 -1.89125548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.352414037 meters Centerline goodness [0,1] 0.6633704351025664 Centerline is valid? [False, False] Translation: X:0.84, Y:0.11, Z:-0.19 [[ 9.99833565e-01 -1.13992744e-02 -1.42442218e-02 8.38155197e-01] [ 1.14019129e-02 9.99934991e-01 1.04037338e-04 1.13747195e-01] [ 1.42421098e-02 -2.66431399e-04 9.99898541e-01 -1.89547967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.382414037 meters Centerline goodness [0,1] 0.6529444341886653 Centerline is valid? [False, False] Translation: X:0.84, Y:0.12, Z:-0.19 [[ 0.99987004 -0.00831082 -0.01381444 0.83678044] [ 0.00835864 0.99995926 0.00340766 0.11520258] [ 0.01378556 -0.00352268 0.99989877 -0.1893906 ] [ 0. 0. 0. 1. ]] SLAMing on 31.412414037 meters Centerline goodness [0,1] 0.6578849462865647 Centerline is valid? [False, False] Translation: X:0.83, Y:0.12, Z:-0.19 [[ 0.99989486 -0.00557309 -0.01338712 0.83475727] [ 0.00564909 0.9999681 0.0056462 0.11962194] [ 0.01335523 -0.00572123 0.99989445 -0.18799052] [ 0. 0. 0. 1. ]] SLAMing on 31.442414037 meters Centerline goodness [0,1] 0.6578246859384487 Centerline is valid? [False, False] Translation: X:0.83, Y:0.12, Z:-0.19 [[ 0.99989323 -0.00584548 -0.01339251 0.83457433] [ 0.00591243 0.9999702 0.00496506 0.12168897] [ 0.01336309 -0.00504371 0.99989799 -0.18758218] [ 0. 0. 0. 1. ]] SLAMing on 31.472414037 meters Centerline goodness [0,1] 0.6578105666191955 Centerline is valid? [False, False] Translation: X:0.84, Y:0.12, Z:-0.19 [[ 0.99989283 -0.00585019 -0.01341994 0.83517721] [ 0.00591469 0.99997112 0.00477138 0.12261265] [ 0.01339164 -0.00485024 0.99989856 -0.18823355] [ 0. 0. 0. 1. ]] SLAMing on 31.502414037 meters Centerline goodness [0,1] 0.6542570638676726 Centerline is valid? [False, False] Translation: X:0.84, Y:0.12, Z:-0.19 [[ 0.99989125 -0.00599806 -0.01347226 0.83573575] [ 0.00605962 0.99997137 0.00453321 0.12356032] [ 0.01344468 -0.00461436 0.99989897 -0.18889977] [ 0. 0. 0. 1. ]] SLAMing on 31.532414037 meters Centerline goodness [0,1] 0.6492624678061344 Centerline is valid? [False, False] Translation: X:0.84, Y:0.13, Z:-0.19 [[ 0.99989052 -0.00630259 -0.01338727 0.83589449] [ 0.0063579 0.99997141 0.00409264 0.12515373] [ 0.01336109 -0.00417731 0.99990201 -0.1893381 ] [ 0. 0. 0. 1. ]] SLAMing on 31.562414037 meters Centerline goodness [0,1] 0.6531583535565346 Centerline is valid? [False, False] Translation: X:0.84, Y:0.13, Z:-0.19 [[ 0.99988657 -0.00723674 -0.01320882 0.83565154] [ 0.00727764 0.99996886 0.00305081 0.12889064] [ 0.01318633 -0.0031466 0.99990811 -0.18969733] [ 0. 0. 0. 1. ]] SLAMing on 31.592414037 meters Centerline goodness [0,1] 0.6531583535565346 Centerline is valid? [False, False] Translation: X:0.84, Y:0.13, Z:-0.19 [[ 0.99988657 -0.00723674 -0.01320882 0.83565154] [ 0.00727764 0.99996886 0.00305081 0.12889064] [ 0.01318633 -0.0031466 0.99990811 -0.18969733] [ 0. 0. 0. 1. ]] SLAMing on 31.622414037 meters Centerline goodness [0,1] 0.6486212106903391 Centerline is valid? [False, False] Translation: X:0.84, Y:0.13, Z:-0.19 [[ 0.99988406 -0.00782543 -0.01306279 0.83540415] [ 0.00786002 0.99996573 0.00259846 0.13014297] [ 0.01304201 -0.00270083 0.9999113 -0.18996485] [ 0. 0. 0. 1. ]] SLAMing on 31.652414037 meters Centerline goodness [0,1] 0.6472604358719803 Centerline is valid? [False, False] Translation: X:0.84, Y:0.13, Z:-0.19 [[ 0.999883 -0.00833104 -0.0128286 0.83506622] [ 0.00836102 0.99996244 0.00228498 0.13082271] [ 0.01280908 -0.00239197 0.9999151 -0.19034705] [ 0. 0. 0. 1. ]] SLAMing on 31.682414037 meters Centerline goodness [0,1] 0.6366389099167298 Centerline is valid? [False, False] Translation: X:0.83, Y:0.13, Z:-0.19 [[ 0.99988148 -0.00871111 -0.01269432 0.83482474] [ 0.00873841 0.99995962 0.00209714 0.13109399] [ 0.01267554 -0.00220782 0.99991722 -0.19058274] [ 0. 0. 0. 1. ]] SLAMing on 31.712414037 meters Centerline goodness [0,1] 0.643814776076828 Centerline is valid? [False, False] Translation: X:0.83, Y:0.13, Z:-0.19 [[ 0.99987671 -0.00963434 -0.01239933 0.83391741] [ 0.00965106 0.9999526 0.00128952 0.13320753] [ 0.01238632 -0.00140903 0.99992229 -0.19043313] [ 0. 0. 0. 1. ]] SLAMing on 31.742414037 meters Centerline goodness [0,1] 0.642566070109382 Centerline is valid? [False, False] Translation: X:0.83, Y:0.13, Z:-0.19 [[ 9.99874373e-01 -9.82041297e-03 -1.24418113e-02 8.34091329e-01] [ 9.83349126e-03 9.99951160e-01 9.90415771e-04 1.34889941e-01] [ 1.24314773e-02 -1.11263779e-03 9.99922107e-01 -1.90572976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.772414037 meters Centerline goodness [0,1] 0.6431501621827895 Centerline is valid? [False, False] Translation: X:0.83, Y:0.14, Z:-0.19 [[ 9.99870728e-01 -9.98443816e-03 -1.26030747e-02 8.34540092e-01] [ 9.99284137e-03 9.99949888e-01 6.03960097e-04 1.36855797e-01] [ 1.25964129e-02 -7.29822548e-04 9.99920396e-01 -1.90684559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802414037 meters Centerline goodness [0,1] 0.6381258546649713 Centerline is valid? [False, False] Translation: X:0.83, Y:0.14, Z:-0.19 [[ 9.99867144e-01 -1.02381080e-02 -1.26836560e-02 8.34658155e-01] [ 1.02393183e-02 9.99947576e-01 3.04842292e-05 1.39029002e-01] [ 1.26826789e-02 -1.60352170e-04 9.99919559e-01 -1.90539666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.832414037 meters Centerline goodness [0,1] 0.6366235763371618 Centerline is valid? [False, False] Translation: X:0.83, Y:0.14, Z:-0.19 [[ 9.99862819e-01 -1.05246585e-02 -1.27896148e-02 8.34636677e-01] [ 1.05147710e-02 9.99944365e-01 -8.40086590e-04 1.42302285e-01] [ 1.27977449e-02 7.05491475e-04 9.99917857e-01 -1.89988633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862414037 meters Centerline goodness [0,1] 0.6352158828064765 Centerline is valid? [False, False] Translation: X:0.84, Y:0.14, Z:-0.19 [[ 9.99862542e-01 -1.04443257e-02 -1.28768536e-02 8.35028663e-01] [ 1.04322413e-02 9.99945077e-01 -1.00527117e-03 1.43399723e-01] [ 1.28866457e-02 8.70798545e-04 9.99916585e-01 -1.90208558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.892414037 meters Centerline goodness [0,1] 0.6421503719575319 Centerline is valid? [False, False] Translation: X:0.84, Y:0.14, Z:-0.19 [[ 9.99861930e-01 -1.03391876e-02 -1.30085339e-02 8.35614421e-01] [ 1.03265594e-02 9.99946141e-01 -1.03755544e-03 1.44145462e-01] [ 1.30185608e-02 9.03078785e-04 9.99914847e-01 -1.90582856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.922414037 meters Centerline goodness [0,1] 0.6374239227952765 Centerline is valid? [False, False] Translation: X:0.83, Y:0.14, Z:-0.19 [[ 0.99989195 -0.00767253 -0.0125387 0.83350613] [ 0.00770007 0.99996804 0.00214898 0.1448673 ] [ 0.01252181 -0.00224529 0.99991908 -0.18985755] [ 0. 0. 0. 1. ]] SLAMing on 31.952414037 meters Centerline goodness [0,1] 0.6413127975901273 Centerline is valid? [False, False] Translation: X:0.83, Y:0.15, Z:-0.19 [[ 0.9998888 -0.00765369 -0.01279913 0.83402529] [ 0.00767773 0.99996885 0.00183023 0.14647557] [ 0.01278472 -0.00192829 0.99991641 -0.1896898 ] [ 0. 0. 0. 1. ]] SLAMing on 31.982414037 meters Centerline goodness [0,1] 0.6415126500596586 Centerline is valid? [False, False] Translation: X:0.84, Y:0.15, Z:-0.19 [[ 0.99988716 -0.00730171 -0.01312868 0.83520464] [ 0.00732592 0.99997155 0.00179687 0.14768198] [ 0.01311519 -0.00189285 0.9999122 -0.19010497] [ 0. 0. 0. 1. ]] SLAMing on 32.012414037 meters Centerline goodness [0,1] 0.6422712625720144 Centerline is valid? [False, False] Translation: X:0.84, Y:0.15, Z:-0.19 [[ 0.99988567 -0.00704189 -0.01338157 0.83633606] [ 0.00706746 0.99997329 0.00186448 0.14845436] [ 0.01336808 -0.00195884 0.99990872 -0.19082594] [ 0. 0. 0. 1. ]] SLAMing on 32.042414037 meters Centerline goodness [0,1] 0.6509295499021526 Centerline is valid? [False, False] Translation: X:0.84, Y:0.15, Z:-0.19 [[ 0.99988499 -0.00640152 -0.01374863 0.83817338] [ 0.00643389 0.99997663 0.0023114 0.14840205] [ 0.01373351 -0.0023996 0.99990281 -0.19210991] [ 0. 0. 0. 1. ]] SLAMing on 32.072414037 meters Centerline goodness [0,1] 0.6494651492209251 Centerline is valid? [False, False] Translation: X:0.84, Y:0.15, Z:-0.19 [[ 0.99988398 -0.00636264 -0.01383979 0.83823527] [ 0.00639393 0.9999771 0.00221774 0.14845081] [ 0.01382536 -0.00230598 0.99990177 -0.19185179] [ 0. 0. 0. 1. ]] SLAMing on 32.102414037 meters Centerline goodness [0,1] 0.6496784133427893 Centerline is valid? [False, False] Translation: X:0.84, Y:0.15, Z:-0.19 [[ 0.99988306 -0.0064018 -0.01388798 0.83801961] [ 0.00642981 0.99997738 0.00197312 0.14890703] [ 0.01387503 -0.00206219 0.99990161 -0.19127242] [ 0. 0. 0. 1. ]] SLAMing on 32.132414037 meters Centerline goodness [0,1] 0.651178122329386 Centerline is valid? [False, False] Translation: X:0.84, Y:0.15, Z:-0.19 [[ 0.99988158 -0.00629409 -0.0140435 0.8382286 ] [ 0.00631823 0.99997864 0.00167468 0.15009484] [ 0.01403266 -0.00176321 0.99989998 -0.19080886] [ 0. 0. 0. 1. ]] SLAMing on 32.162414037 meters Centerline goodness [0,1] 0.6558432025056279 Centerline is valid? [False, False] Translation: X:0.84, Y:0.15, Z:-0.19 [[ 0.99989841 -0.00268938 -0.01399786 0.83714468] [ 0.00276306 0.99998241 0.00524757 0.15062975] [ 0.0139835 -0.00528572 0.99988826 -0.18968101] [ 0. 0. 0. 1. ]] SLAMing on 32.192414037 meters Centerline goodness [0,1] 0.6576453011339979 Centerline is valid? [False, False] Translation: X:0.84, Y:0.15, Z:-0.19 [[ 0.99989445 -0.00242785 -0.01432439 0.83790855] [ 0.00250047 0.9999841 0.00505355 0.15141543] [ 0.01431189 -0.00508883 0.99988463 -0.18949144] [ 0. 0. 0. 1. ]] SLAMing on 32.222414037 meters Centerline goodness [0,1] 0.6563525895438287 Centerline is valid? [False, False] Translation: X:0.84, Y:0.15, Z:-0.19 [[ 0.99989017 -0.00192923 -0.01469435 0.83931762] [ 0.002005 0.99998476 0.00514331 0.15168271] [ 0.0146842 -0.00517221 0.9998788 -0.19001555] [ 0. 0. 0. 1. ]] SLAMing on 32.252414037 meters Centerline goodness [0,1] 0.6575329060038166 Centerline is valid? [False, False] Translation: X:0.84, Y:0.15, Z:-0.19 [[ 0.99988422 -0.00116881 -0.01517159 0.8412197 ] [ 0.00125121 0.99998451 0.00542296 0.15174062] [ 0.01516502 -0.00544131 0.9998702 -0.19078457] [ 0. 0. 0. 1. ]] SLAMing on 32.282414037 meters Centerline goodness [0,1] 0.6673198451966884 Centerline is valid? [False, False] Translation: X:0.84, Y:0.15, Z:-0.19 [[ 9.99877909e-01 7.86210473e-04 -1.56060391e-02 8.44170480e-01] [-6.91989455e-04 9.99981508e-01 6.04195357e-03 1.53039110e-01] [ 1.56105008e-02 -6.03041669e-03 9.99859963e-01 -1.92238429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.312414037 meters Centerline goodness [0,1] 0.6703455718244917 Centerline is valid? [False, False] Translation: X:0.85, Y:0.15, Z:-0.19 [[ 0.99987155 0.0012519 -0.01597869 0.84505381] [-0.00116093 0.99998308 0.00570069 0.15450047] [ 0.01598555 -0.00568141 0.99985608 -0.19182402] [ 0. 0. 0. 1. ]] SLAMing on 32.342414037 meters Centerline goodness [0,1] 0.6748513002015435 Centerline is valid? [False, False] Translation: X:0.85, Y:0.16, Z:-0.19 [[ 0.99986575 0.00177725 -0.01628873 0.84586184] [-0.00169141 0.99998462 0.0052823 0.15601239] [ 0.01629787 -0.00525404 0.99985338 -0.19132151] [ 0. 0. 0. 1. ]] SLAMing on 32.372414037 meters Centerline goodness [0,1] 0.6797578620995128 Centerline is valid? [False, False] Translation: X:0.85, Y:0.16, Z:-0.19 [[ 0.99985614 0.00251228 -0.01677485 0.84705548] [-0.00242908 0.99998466 0.00497843 0.15745962] [ 0.0167871 -0.00493697 0.9998469 -0.19076491] [ 0. 0. 0. 1. ]] SLAMing on 32.402414037 meters Centerline goodness [0,1] 0.6927672179708714 Centerline is valid? [False, False] Translation: X:0.85, Y:0.16, Z:-0.19 [[ 0.99982594 0.00757379 -0.01705051 0.84812841] [-0.00741806 0.99993036 0.0091786 0.15714884] [ 0.01711884 -0.00905052 0.9998125 -0.19072008] [ 0. 0. 0. 1. ]] SLAMing on 32.432414037 meters Centerline goodness [0,1] 0.7088322612568035 Centerline is valid? [False, False] Translation: X:0.85, Y:0.16, Z:-0.19 [[ 0.99980859 0.00863502 -0.01755609 0.84953224] [-0.00847848 0.99992381 0.00897191 0.15831108] [ 0.01763223 -0.00882134 0.99980563 -0.19010838] [ 0. 0. 0. 1. ]] SLAMing on 32.462414037 meters Centerline goodness [0,1] 0.7223944255709573 Centerline is valid? [False, False] Translation: X:0.85, Y:0.16, Z:-0.19 [[ 0.99978797 0.00996567 -0.01801923 0.85125765] [-0.00980555 0.99991185 0.00895284 0.15985997] [ 0.01810686 -0.00877426 0.99979756 -0.18993151] [ 0. 0. 0. 1. ]] SLAMing on 32.492414037 meters Centerline goodness [0,1] 0.7403365731188943 Centerline is valid? [False, False] Translation: X:0.85, Y:0.16, Z:-0.19 [[ 0.99976085 0.0114648 -0.01862244 0.85346115] [-0.01129837 0.99989551 0.00901793 0.16160573] [ 0.01872389 -0.00880537 0.99978592 -0.18993931] [ 0. 0. 0. 1. ]] SLAMing on 32.522414037 meters Centerline goodness [0,1] 0.7740021034707267 Centerline is valid? [False, False] Translation: X:0.86, Y:0.16, Z:-0.19 [[ 0.99965532 0.0179828 -0.01912753 0.85663482] [-0.01771656 0.99974505 0.01399873 0.1622397 ] [ 0.01937439 -0.01365503 0.99971905 -0.19116063] [ 0. 0. 0. 1. ]] SLAMing on 32.552414037 meters Centerline goodness [0,1] 0.7781834663712135 Centerline is valid? [False, False] Translation: X:0.86, Y:0.16, Z:-0.19 [[ 0.99961861 0.01942888 -0.01962516 0.858719 ] [-0.01915348 0.99971678 0.01412484 0.16358709] [ 0.01989403 -0.01374357 0.99970763 -0.1913526 ] [ 0. 0. 0. 1. ]] SLAMing on 32.582414037 meters Centerline goodness [0,1] 0.7797426841574168 Centerline is valid? [False, False] Translation: X:0.86, Y:0.16, Z:-0.19 [[ 0.99958337 0.02064465 -0.02017124 0.86041724] [-0.02036037 0.99969188 0.01419835 0.16412633] [ 0.02045815 -0.01378174 0.99969572 -0.19110522] [ 0. 0. 0. 1. ]] SLAMing on 32.612414037 meters Centerline goodness [0,1] 0.7788975108334173 Centerline is valid? [False, False] Translation: X:0.86, Y:0.16, Z:-0.19 [[ 0.99955323 0.0215769 -0.02068287 0.86180407] [-0.0212869 0.99967341 0.01414037 0.16430733] [ 0.02098122 -0.01369377 0.99968609 -0.19067557] [ 0. 0. 0. 1. ]] SLAMing on 32.642414037 meters Centerline goodness [0,1] 0.780299408730658 Centerline is valid? [False, False] Translation: X:0.86, Y:0.16, Z:-0.19 [[ 0.99948754 0.02395907 -0.02122767 0.86451317] [-0.02364289 0.99960759 0.01502264 0.163151 ] [ 0.02157927 -0.01451306 0.9996618 -0.1911101 ] [ 0. 0. 0. 1. ]] SLAMing on 32.672414037 meters Centerline goodness [0,1] 0.780598664055045 Centerline is valid? [False, False] Translation: X:0.87, Y:0.16, Z:-0.19 [[ 0.99945996 0.02470705 -0.02166429 0.86592275] [-0.02438088 0.99958729 0.015193 0.16310343] [ 0.02203072 -0.0146566 0.99964985 -0.19118284] [ 0. 0. 0. 1. ]] SLAMing on 32.702414037 meters Centerline goodness [0,1] 0.7785699939746937 Centerline is valid? [False, False] Translation: X:0.87, Y:0.16, Z:-0.19 [[ 0.99944085 0.02516768 -0.02201294 0.86675257] [-0.02483458 0.99957484 0.0152767 0.16299044] [ 0.02238806 -0.01472148 0.99964096 -0.19093028] [ 0. 0. 0. 1. ]] SLAMing on 32.732414037 meters Centerline goodness [0,1] 0.7780667750406403 Centerline is valid? [False, False] Translation: X:0.87, Y:0.16, Z:-0.19 [[ 0.99948406 0.02283412 -0.02258788 0.86809651] [-0.02257016 0.99967476 0.01187297 0.16237412] [ 0.02285164 -0.01135704 0.99967436 -0.18996366] [ 0. 0. 0. 1. ]] SLAMing on 32.762414037 meters Centerline goodness [0,1] 0.7793560606060606 Centerline is valid? [False, False] Translation: X:0.87, Y:0.16, Z:-0.19 [[ 0.9995373 0.01968911 -0.02318456 0.86938188] [-0.01950735 0.99977739 0.00803996 0.16207221] [ 0.02333769 -0.00758397 0.99969887 -0.18939045] [ 0. 0. 0. 1. ]] SLAMing on 32.792414037 meters Centerline goodness [0,1] 0.7763978228599703 Centerline is valid? [False, False] Translation: X:0.87, Y:0.16, Z:-0.19 [[ 0.99958155 0.01639777 -0.02382932 0.87066852] [-0.01630168 0.99985821 0.00422112 0.16135169] [ 0.02389516 -0.0038309 0.99970713 -0.18880614] [ 0. 0. 0. 1. ]] SLAMing on 32.822414037 meters Centerline goodness [0,1] 0.7731501993797076 Centerline is valid? [False, False] Translation: X:0.87, Y:0.16, Z:-0.19 [[ 9.99623151e-01 1.29143191e-02 -2.42234774e-02 8.71506174e-01] [-1.29083977e-02 9.99916603e-01 4.00807237e-04 1.60622457e-01] [ 2.42266333e-02 -8.79699137e-05 9.99706488e-01 -1.88377888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.852414037 meters Centerline goodness [0,1] 0.7728550820313456 Centerline is valid? [False, False] Translation: X:0.87, Y:0.16, Z:-0.19 [[ 0.99966869 0.00869879 -0.02422484 0.87047488] [-0.00877363 0.99995706 -0.0029848 0.15698413] [ 0.02419784 0.00319635 0.99970208 -0.18726515] [ 0. 0. 0. 1. ]] SLAMing on 32.882414037 meters Centerline goodness [0,1] 0.7723765808877386 Centerline is valid? [False, False] Translation: X:0.87, Y:0.15, Z:-0.19 [[ 0.99968232 0.00784245 -0.02395333 0.86909821] [-0.00790874 0.99996515 -0.00267422 0.15380774] [ 0.02393152 0.00286281 0.9997095 -0.18688076] [ 0. 0. 0. 1. ]] SLAMing on 32.912414037 meters Centerline goodness [0,1] 0.7714707948736584 Centerline is valid? [False, False] Translation: X:0.87, Y:0.15, Z:-0.19 [[ 0.99969204 0.00448834 -0.02440653 0.8705879 ] [-0.00462749 0.99997334 -0.00564767 0.15166032] [ 0.02438053 0.00575887 0.99968616 -0.18755136] [ 0. 0. 0. 1. ]] SLAMing on 32.942414037 meters Centerline goodness [0,1] 0.7692326150597495 Centerline is valid? [False, False] Translation: X:0.88, Y:0.15, Z:-0.19 [[ 9.99823126e-01 -6.80766322e-04 -1.87950424e-02 8.80550047e-01] [ 7.09751593e-04 9.99998569e-01 1.53554899e-03 1.46033713e-01] [ 1.87939702e-02 -1.54861720e-03 9.99822178e-01 -1.92206747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.972414037 meters Centerline goodness [0,1] 0.7666840212040893 Centerline is valid? [False, False] Translation: X:0.88, Y:0.14, Z:-0.19 [[ 0.99978257 -0.00806763 -0.01922803 0.8819263 ] [ 0.00797869 0.99995713 -0.00469777 0.13955503] [ 0.0192651 0.00454334 0.99980409 -0.19280887] [ 0. 0. 0. 1. ]] SLAMing on 33.002414037 meters Centerline goodness [0,1] 0.7672705087291158 Centerline is valid? [False, False] Translation: X:0.88, Y:0.13, Z:-0.19 [[ 0.99977866 -0.00854177 -0.01922655 0.88161502] [ 0.00847132 0.99995711 -0.00374261 0.13479883] [ 0.0192577 0.00357891 0.99980815 -0.19317351] [ 0. 0. 0. 1. ]] SLAMing on 33.032414037 meters Centerline goodness [0,1] 0.7675719591457753 Centerline is valid? [False, False] Translation: X:0.88, Y:0.13, Z:-0.19 [[ 0.99976958 -0.00972692 -0.01913585 0.88032503] [ 0.00966573 0.99994788 -0.00328748 0.12873898] [ 0.01916683 0.00310176 0.99981149 -0.19253677] [ 0. 0. 0. 1. ]] SLAMing on 33.062414037 meters Centerline goodness [0,1] 0.7643671515459864 Centerline is valid? [False, False] Translation: X:0.88, Y:0.13, Z:-0.19 [[ 0.99977186 -0.00971704 -0.01902135 0.87972767] [ 0.00966918 0.99994986 -0.00260647 0.12620979] [ 0.01904572 0.00242195 0.99981568 -0.19228077] [ 0. 0. 0. 1. ]] SLAMing on 33.092414037 meters Centerline goodness [0,1] 0.7634208103130755 Centerline is valid? [False, False] Translation: X:0.88, Y:0.12, Z:-0.19 [[ 0.99977263 -0.00959659 -0.01904206 0.87939108] [ 0.00956295 0.99995255 -0.001857 0.12332961] [ 0.01905898 0.00167448 0.99981696 -0.19192009] [ 0. 0. 0. 1. ]] SLAMing on 33.122414037 meters Centerline goodness [0,1] 0.7660121713170284 Centerline is valid? [False, False] Translation: X:0.88, Y:0.12, Z:-0.19 [[ 0.99977381 -0.00962598 -0.0189649 0.87846275] [ 0.009601 0.99995292 -0.0014076 0.12032528] [ 0.01897756 0.0012252 0.99981916 -0.190946 ] [ 0. 0. 0. 1. ]] SLAMing on 33.152414037 meters Centerline goodness [0,1] 0.7652673924407373 Centerline is valid? [False, False] Translation: X:0.88, Y:0.11, Z:-0.19 [[ 9.99777342e-01 -9.70073786e-03 -1.87393030e-02 8.77358341e-01] [ 9.68479751e-03 9.99952658e-01 -9.41203765e-04 1.13454519e-01] [ 1.87475463e-02 7.59507843e-04 9.99823961e-01 -1.89822691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.182414037 meters Centerline goodness [0,1] 0.7672315870780135 Centerline is valid? [False, False] Translation: X:0.88, Y:0.11, Z:-0.19 [[ 9.99779902e-01 -9.24325357e-03 -1.88337216e-02 8.77624534e-01] [ 9.24287068e-03 9.99957278e-01 -1.07377960e-04 1.10657939e-01] [ 1.88339095e-02 -6.67233270e-05 9.99822624e-01 -1.89915747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.212414037 meters Centerline goodness [0,1] 0.7657490135607057 Centerline is valid? [False, False] Translation: X:0.88, Y:0.11, Z:-0.19 [[ 9.99781033e-01 -8.57569732e-03 -1.90877888e-02 8.78447471e-01] [ 8.59165116e-03 9.99962807e-01 7.53964281e-04 1.08476874e-01] [ 1.90806131e-02 -9.17794811e-04 9.99817527e-01 -1.90275688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.242414037 meters Centerline goodness [0,1] 0.76726168901776 Centerline is valid? [False, False] Translation: X:0.88, Y:0.11, Z:-0.19 [[ 0.99978269 -0.00792025 -0.01928298 0.87932962] [ 0.00795071 0.99996726 0.00150335 0.10703952] [ 0.01927045 -0.00165634 0.99981294 -0.19083499] [ 0. 0. 0. 1. ]] SLAMing on 33.272414037 meters Centerline goodness [0,1] 0.7701666404299818 Centerline is valid? [False, False] Translation: X:0.88, Y:0.10, Z:-0.19 [[ 0.99978692 -0.00611231 -0.01971663 0.88125366] [ 0.00617683 0.99997576 0.00321321 0.10353718] [ 0.01969651 -0.00333431 0.99980045 -0.19173898] [ 0. 0. 0. 1. ]] SLAMing on 33.302414037 meters Centerline goodness [0,1] 0.7704921715299773 Centerline is valid? [False, False] Translation: X:0.88, Y:0.10, Z:-0.19 [[ 0.99978793 -0.00516456 -0.01993528 0.88226417] [ 0.00525078 0.99997708 0.00427526 0.10097057] [ 0.01991274 -0.00437903 0.99979213 -0.19233525] [ 0. 0. 0. 1. ]] SLAMing on 33.332414037 meters Centerline goodness [0,1] 0.7710597215985631 Centerline is valid? [False, False] Translation: X:0.88, Y:0.10, Z:-0.19 [[ 0.99978806 -0.00436859 -0.02011855 0.88322078] [ 0.00447556 0.99997607 0.00527501 0.09824085] [ 0.02009503 -0.00536394 0.99978369 -0.19300462] [ 0. 0. 0. 1. ]] SLAMing on 33.362414037 meters Centerline goodness [0,1] 0.7725423577272118 Centerline is valid? [False, False] Translation: X:0.88, Y:0.10, Z:-0.19 [[ 0.99978691 -0.00363869 -0.02031993 0.88390328] [ 0.00376526 0.99997373 0.00619376 0.09554155] [ 0.02029686 -0.00626895 0.99977434 -0.19322457] [ 0. 0. 0. 1. ]] SLAMing on 33.392414037 meters Centerline goodness [0,1] 0.7721592560302237 Centerline is valid? [False, False] Translation: X:0.88, Y:0.09, Z:-0.19 [[ 0.99978605 -0.00322111 -0.02043222 0.88383755] [ 0.00335986 0.9999715 0.00676022 0.09342773] [ 0.02040986 -0.00682742 0.99976839 -0.19269772] [ 0. 0. 0. 1. ]] SLAMing on 33.422414037 meters Centerline goodness [0,1] 0.7758352239868321 Centerline is valid? [False, False] Translation: X:0.88, Y:0.09, Z:-0.19 [[ 0.99978782 -0.00252395 -0.02044388 0.88240456] [ 0.00268227 0.9999666 0.00772034 0.08938799] [ 0.02042372 -0.00777354 0.99976119 -0.19043123] [ 0. 0. 0. 1. ]] SLAMing on 33.452414037 meters Centerline goodness [0,1] 0.7754984364950877 Centerline is valid? [False, False] Translation: X:0.88, Y:0.09, Z:-0.19 [[ 0.9997878 -0.00233093 -0.02046753 0.88196372] [ 0.00249943 0.99996317 0.00821104 0.08701732] [ 0.02044764 -0.00826045 0.9997568 -0.18974609] [ 0. 0. 0. 1. ]] SLAMing on 33.482414037 meters Centerline goodness [0,1] 0.7774555597370111 Centerline is valid? [False, False] Translation: X:0.88, Y:0.08, Z:-0.19 [[ 0.9997873 -0.00194418 -0.02053223 0.88207502] [ 0.00213081 0.99995658 0.00907163 0.08393093] [ 0.02051371 -0.00911345 0.99974803 -0.18973616] [ 0. 0. 0. 1. ]] SLAMing on 33.512414037 meters Centerline goodness [0,1] 0.7774555597370111 Centerline is valid? [False, False] Translation: X:0.88, Y:0.08, Z:-0.19 [[ 0.9997873 -0.00194418 -0.02053223 0.88207502] [ 0.00213081 0.99995658 0.00907163 0.08393093] [ 0.02051371 -0.00911345 0.99974803 -0.18973616] [ 0. 0. 0. 1. ]] SLAMing on 33.542414037 meters Centerline goodness [0,1] 0.7764361748922319 Centerline is valid? [False, False] Translation: X:0.88, Y:0.08, Z:-0.19 [[ 0.99977056 -0.00468156 -0.02090231 0.88335763] [ 0.00482383 0.99996551 0.00676104 0.07972789] [ 0.02086993 -0.00686031 0.99975866 -0.19007646] [ 0. 0. 0. 1. ]] SLAMing on 33.572414037 meters Centerline goodness [0,1] 0.7779414351037637 Centerline is valid? [False, False] Translation: X:0.88, Y:0.08, Z:-0.19 [[ 0.99977134 -0.0048479 -0.0208269 0.8829815 ] [ 0.00500147 0.99996064 0.0073281 0.07641201] [ 0.02079055 -0.00743059 0.99975624 -0.18997901] [ 0. 0. 0. 1. ]] SLAMing on 33.602414037 meters Centerline goodness [0,1] 0.7753240202636023 Centerline is valid? [False, False] Translation: X:0.88, Y:0.07, Z:-0.19 [[ 0.99974549 -0.00789 -0.02113514 0.88419412] [ 0.00798226 0.99995896 0.00428429 0.07463335] [ 0.02110047 -0.0044519 0.99976745 -0.19031974] [ 0. 0. 0. 1. ]] SLAMing on 33.632414037 meters Centerline goodness [0,1] 0.7761288216733762 Centerline is valid? [False, False] Translation: X:0.89, Y:0.07, Z:-0.19 [[ 0.999717 -0.01079016 -0.02120141 0.88533265] [ 0.01084489 0.99993815 0.00246806 0.06792713] [ 0.02117347 -0.00269729 0.99977218 -0.19149497] [ 0. 0. 0. 1. ]] SLAMing on 33.662414037 meters Centerline goodness [0,1] 0.7758126817412438 Centerline is valid? [False, False] Translation: X:0.89, Y:0.06, Z:-0.19 [[ 0.99971755 -0.01080648 -0.02116686 0.88513885] [ 0.01087866 0.99993539 0.00329779 0.06394572] [ 0.02112986 -0.00352713 0.99977052 -0.19152928] [ 0. 0. 0. 1. ]] SLAMing on 33.692414037 meters Centerline goodness [0,1] 0.7754185117183281 Centerline is valid? [False, False] Translation: X:0.88, Y:0.06, Z:-0.19 [[ 0.99969606 -0.01265624 -0.02115693 0.88434374] [ 0.01270786 0.99991659 0.00230714 0.05843433] [ 0.02112597 -0.0025753 0.99977351 -0.19049139] [ 0. 0. 0. 1. ]] SLAMing on 33.722414037 meters Centerline goodness [0,1] 0.7771177685950413 Centerline is valid? [False, False] Translation: X:0.88, Y:0.05, Z:-0.19 [[ 0.99969676 -0.01270232 -0.02109617 0.88364308] [ 0.0127773 0.99991251 0.00342355 0.05372509] [ 0.02105083 -0.00369206 0.99977159 -0.18993507] [ 0. 0. 0. 1. ]] SLAMing on 33.752414037 meters Centerline goodness [0,1] 0.7776105281266128 Centerline is valid? [False, False] Translation: X:0.88, Y:0.05, Z:-0.19 [[ 0.99969862 -0.01269842 -0.02100979 0.88315434] [ 0.01278584 0.99991013 0.00403148 0.0511642 ] [ 0.0209567 -0.00429889 0.99977114 -0.18959358] [ 0. 0. 0. 1. ]] SLAMing on 33.782414037 meters Centerline goodness [0,1] 0.7753676154441482 Centerline is valid? [False, False] Translation: X:0.88, Y:0.05, Z:-0.19 [[ 0.99969845 -0.01301624 -0.02082269 0.88210739] [ 0.01310905 0.99990471 0.00432689 0.04841894] [ 0.02076439 -0.00459855 0.99977382 -0.18881342] [ 0. 0. 0. 1. ]] SLAMing on 33.812414037 meters Centerline goodness [0,1] 0.7753676154441482 Centerline is valid? [False, False] Translation: X:0.88, Y:0.05, Z:-0.19 [[ 0.99969845 -0.01301624 -0.02082269 0.88210739] [ 0.01310905 0.99990471 0.00432689 0.04841894] [ 0.02076439 -0.00459855 0.99977382 -0.18881342] [ 0. 0. 0. 1. ]] SLAMing on 33.842414037 meters Centerline goodness [0,1] 0.7789437541578146 Centerline is valid? [False, False] Translation: X:0.88, Y:0.04, Z:-0.19 [[ 0.99969326 -0.01361547 -0.02068831 0.88114476] [ 0.01370996 0.99989619 0.00443249 0.04473684] [ 0.02062581 -0.00471476 0.99977615 -0.18800021] [ 0. 0. 0. 1. ]] SLAMing on 33.872414037 meters Centerline goodness [0,1] 0.7780679410064859 Centerline is valid? [False, False] Translation: X:0.88, Y:0.04, Z:-0.19 [[ 0.99968401 -0.01476269 -0.0203457 0.88039137] [ 0.01483908 0.99988338 0.00360877 0.04107235] [ 0.02029005 -0.00390954 0.99978649 -0.18764791] [ 0. 0. 0. 1. ]] SLAMing on 33.902414037 meters Centerline goodness [0,1] 0.7789702312507985 Centerline is valid? [False, False] Translation: X:0.88, Y:0.04, Z:-0.19 [[ 0.99963116 -0.01799793 -0.02033769 0.88086502] [ 0.018032 0.9998363 0.00149283 0.0352627 ] [ 0.02030749 -0.00185901 0.99979205 -0.18810145] [ 0. 0. 0. 1. ]] SLAMing on 33.932414037 meters Centerline goodness [0,1] 0.7798801168966915 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.19 [[ 0.99963192 -0.01829616 -0.0200319 0.87974989] [ 0.01834013 0.99982978 0.00201373 0.0322416 ] [ 0.01999165 -0.00238038 0.99979731 -0.18755936] [ 0. 0. 0. 1. ]] SLAMing on 33.962414037 meters Centerline goodness [0,1] 0.7781226746040183 Centerline is valid? [False, False] Translation: X:0.88, Y:0.03, Z:-0.19 [[ 0.99963108 -0.01828754 -0.02008175 0.87963283] [ 0.01834581 0.999828 0.00272121 0.02958281] [ 0.02002854 -0.00308862 0.99979464 -0.18736033] [ 0. 0. 0. 1. ]] SLAMing on 33.992414037 meters Centerline goodness [0,1] 0.7792353902651298 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.19 [[ 0.99963472 -0.01812143 -0.02005096 0.8792893 ] [ 0.01820387 0.99982655 0.00393629 0.02446257] [ 0.01997615 -0.00429986 0.99979121 -0.18710493] [ 0. 0. 0. 1. ]] SLAMing on 34.022414037 meters Centerline goodness [0,1] 0.7831861218783758 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.19 [[ 0.99964161 -0.01764287 -0.02013405 0.88008499] [ 0.01774685 0.99983002 0.00499739 0.02131956] [ 0.02004246 -0.00535291 0.9997848 -0.18793099] [ 0. 0. 0. 1. ]] SLAMing on 34.052414037 meters Centerline goodness [0,1] 0.7830478328075041 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.19 [[ 0.99964588 -0.01726635 -0.02024814 0.880854 ] [ 0.0173898 0.99983116 0.00593681 0.01839229] [ 0.02014222 -0.00628682 0.99977736 -0.18869082] [ 0. 0. 0. 1. ]] SLAMing on 34.082414037 meters Centerline goodness [0,1] 0.778508586414009 Centerline is valid? [False, False] Translation: X:0.88, Y:0.01, Z:-0.19 [[ 0.99965245 -0.01697552 -0.02016934 0.88091083] [ 0.01712258 0.99982789 0.00714132 0.01386246] [ 0.02004464 -0.00748419 0.99977107 -0.189047 ] [ 0. 0. 0. 1. ]] SLAMing on 34.112414037 meters Centerline goodness [0,1] 0.7815856236786469 Centerline is valid? [False, False] Translation: X:0.88, Y:0.01, Z:-0.19 [[ 0.99965478 -0.01693019 -0.02009217 0.88073607] [ 0.01708729 0.99982456 0.00767312 0.01152368] [ 0.01995874 -0.0080138 0.99976869 -0.18905147] [ 0. 0. 0. 1. ]] SLAMing on 34.142414037 meters Centerline goodness [0,1] 0.7802060897841969 Centerline is valid? [False, False] Translation: X:0.88, Y:0.01, Z:-0.19 [[ 0.99965612 -0.01702441 -0.01994502 0.88028628] [ 0.01718898 0.99981938 0.00810879 0.00904398] [ 0.01980337 -0.00844883 0.99976819 -0.18887742] [ 0. 0. 0. 1. ]] SLAMing on 34.172414037 meters Centerline goodness [0,1] 0.7810111389526436 Centerline is valid? [False, False] Translation: X:0.88, Y:0.01, Z:-0.19 [[ 0.99959473 -0.02028974 -0.01996767 0.88062736] [ 0.02039874 0.99977803 0.00527049 0.00614957] [ 0.0198563 -0.00567567 0.99978673 -0.18886751] [ 0. 0. 0. 1. ]] SLAMing on 34.202414037 meters Centerline goodness [0,1] 0.7815735644545665 Centerline is valid? [False, False] Translation: X:0.88, Y:0.00, Z:-0.19 [[ 0.99959435 -0.02045838 -0.01981391 0.88008016] [ 0.02057387 0.99977241 0.00564219 0.00409816] [ 0.01969397 -0.00604755 0.99978776 -0.1885859 ] [ 0. 0. 0. 1. ]] SLAMing on 34.232414037 meters Centerline goodness [0,1] 0.7761875697177615 Centerline is valid? [False, False] Translation: X:0.88, Y:0.00, Z:-0.19 [[ 0.99959277 -0.02057681 -0.01977096 0.87998847] [ 0.02070044 0.9997673 0.0060691 0.0020693 ] [ 0.01964148 -0.0064759 0.99978611 -0.18867841] [ 0. 0. 0. 1. ]] SLAMing on 34.262414037 meters Centerline goodness [0,1] 0.7785131954950412 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.00, Z:-0.19 [[ 0.99957786 -0.02143614 -0.01961085 0.87930531] [ 0.02155693 0.9997498 0.00596907 -0.00135776] [ 0.01947799 -0.0063893 0.99978987 -0.18828851] [ 0. 0. 0. 1. ]] SLAMing on 34.292414037 meters Centerline goodness [0,1] 0.7713409511006554 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.00, Z:-0.19 [[ 0.99957591 -0.02159176 -0.01953941 0.87921901] [ 0.02171514 0.99974544 0.00612437 -0.00249187] [ 0.0194022 -0.00654608 0.99979033 -0.18836249] [ 0. 0. 0. 1. ]] SLAMing on 34.322414037 meters Centerline goodness [0,1] 0.7772924847237679 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.00, Z:-0.19 [[ 0.99957831 -0.02151265 -0.01950396 0.87952758] [ 0.02164379 0.99974437 0.00653797 -0.00368648] [ 0.01935833 -0.00695735 0.9997884 -0.18885599] [ 0. 0. 0. 1. ]] SLAMing on 34.352414037 meters Centerline goodness [0,1] 0.7792619662697162 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.00, Z:-0.19 [[ 0.9995782 -0.02149069 -0.01953406 0.87975526] [ 0.02162648 0.99974322 0.00676696 -0.00447993] [ 0.01938362 -0.00718656 0.99978629 -0.18908802] [ 0. 0. 0. 1. ]] SLAMing on 34.382414037 meters Centerline goodness [0,1] 0.7740837256220578 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.19 [[ 0.99958101 -0.02139147 -0.01949899 0.87990239] [ 0.02153282 0.99974316 0.00706807 -0.00547138] [ 0.01934278 -0.00748498 0.99978489 -0.18935519] [ 0. 0. 0. 1. ]] SLAMing on 34.412414037 meters Centerline goodness [0,1] 0.7783383787420115 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.19 [[ 0.99958198 -0.0213161 -0.01953196 0.8801112 ] [ 0.02145787 0.9997447 0.00707769 -0.00538157] [ 0.01937611 -0.00749385 0.99978418 -0.18942964] [ 0. 0. 0. 1. ]] SLAMing on 34.442414037 meters Centerline goodness [0,1] 0.7769865776041338 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.19 [[ 0.99958358 -0.02118906 -0.01958819 0.88035381] [ 0.02133118 0.99974743 0.00707533 -0.00511629] [ 0.01943332 -0.00749023 0.9997831 -0.18952558] [ 0. 0. 0. 1. ]] SLAMing on 34.472414037 meters Centerline goodness [0,1] 0.7769924906922445 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.00, Z:-0.19 [[ 0.99958554 -0.021006 -0.019685 0.88053043] [ 0.0211478 0.99975169 0.00702327 -0.00467215] [ 0.01953258 -0.00743665 0.99978156 -0.18935887] [ 0. 0. 0. 1. ]] SLAMing on 34.502414037 meters Centerline goodness [0,1] 0.7782374062952775 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.00, Z:-0.19 [[ 0.99958618 -0.0208588 -0.01980871 0.88093712] [ 0.02100007 0.99975531 0.00695068 -0.00425697] [ 0.01965888 -0.00736379 0.99977963 -0.18944485] [ 0. 0. 0. 1. ]] SLAMing on 34.532414037 meters Centerline goodness [0,1] 0.7839401013733779 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.19 [[ 0.999595 -0.02042269 -0.01981795 0.88149653] [ 0.02056987 0.99976212 0.00725143 -0.00502382] [ 0.01966514 -0.00765614 0.99977731 -0.19004106] [ 0. 0. 0. 1. ]] SLAMing on 34.562414037 meters Centerline goodness [0,1] 0.782455255860852 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.19 [[ 0.99959753 -0.02027484 -0.01984204 0.88201845] [ 0.02042611 0.9997636 0.00745114 -0.00586776] [ 0.01968628 -0.00785343 0.99977536 -0.19056578] [ 0. 0. 0. 1. ]] SLAMing on 34.592414037 meters Centerline goodness [0,1] 0.7798286506236614 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.19 [[ 0.99959941 -0.02022228 -0.01980121 0.88220194] [ 0.02037563 0.99976371 0.00757361 -0.00629372] [ 0.01964338 -0.00797404 0.99977525 -0.19090672] [ 0. 0. 0. 1. ]] SLAMing on 34.622414037 meters Centerline goodness [0,1] 0.7786714390988525 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.19 [[ 0.99960197 -0.02023306 -0.01966037 0.88162565] [ 0.02038765 0.99976254 0.00769482 -0.00666832] [ 0.01950002 -0.00809259 0.9997771 -0.19046739] [ 0. 0. 0. 1. ]] SLAMing on 34.652414037 meters Centerline goodness [0,1] 0.7845168067226891 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.19 [[ 0.99960172 -0.02025099 -0.01965451 0.88148644] [ 0.02040633 0.99976184 0.00773545 -0.00712987] [ 0.01949318 -0.00813345 0.99977691 -0.19018807] [ 0. 0. 0. 1. ]] SLAMing on 34.682414037 meters Centerline goodness [0,1] 0.7811876404730397 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.19 [[ 0.99960218 -0.02028762 -0.01959312 0.88109062] [ 0.02044377 0.99976056 0.0078024 -0.00757496] [ 0.01943013 -0.00819986 0.99977759 -0.18981976] [ 0. 0. 0. 1. ]] SLAMing on 34.712414037 meters Centerline goodness [0,1] 0.782018695515177 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.19 [[ 0.99960352 -0.02025297 -0.01956053 0.88113957] [ 0.02041213 0.99975987 0.00797136 -0.00809005] [ 0.01939439 -0.00836747 0.9997769 -0.18993854] [ 0. 0. 0. 1. ]] SLAMing on 34.742414037 meters Centerline goodness [0,1] 0.78201171505952 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.19 [[ 0.99960667 -0.02000116 -0.01965841 0.88226451] [ 0.02017458 0.99975894 0.00866315 -0.01048495] [ 0.0194804 -0.00905634 0.99976922 -0.19120398] [ 0. 0. 0. 1. ]] SLAMing on 34.772414037 meters Centerline goodness [0,1] 0.7831257078142695 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.19 [[ 0.9996067 -0.01996665 -0.01969231 0.88289341] [ 0.0201469 0.99975654 0.00899804 -0.01164441] [ 0.01950785 -0.00939124 0.9997656 -0.19195197] [ 0. 0. 0. 1. ]] SLAMing on 34.802414037 meters Centerline goodness [0,1] 0.781383146185329 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.19 [[ 0.99960601 -0.02025017 -0.01943617 0.88254263] [ 0.02042947 0.99975014 0.00907136 -0.01251256] [ 0.01924762 -0.00946486 0.99976995 -0.19219751] [ 0. 0. 0. 1. ]] SLAMing on 34.832414037 meters Centerline goodness [0,1] 0.7821115353950736 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.19 [[ 0.99959749 -0.02081937 -0.01927221 0.88163405] [ 0.02099178 0.99974103 0.00878776 -0.01297865] [ 0.01908426 -0.00918878 0.99977565 -0.19141084] [ 0. 0. 0. 1. ]] SLAMing on 34.862414037 meters Centerline goodness [0,1] 0.7767468163538874 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.19 [[ 0.99958383 -0.02176341 -0.01893455 0.88004205] [ 0.02192283 0.9997256 0.00825322 -0.01335548] [ 0.01874974 -0.00866488 0.99978666 -0.19025627] [ 0. 0. 0. 1. ]] SLAMing on 34.892414037 meters Centerline goodness [0,1] 0.7648214323030949 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.19 [[ 0.99948616 -0.02590199 -0.01888116 0.87985231] [ 0.02599122 0.99965206 0.0044961 -0.01410153] [ 0.01875813 -0.00498453 0.99981163 -0.18976168] [ 0. 0. 0. 1. ]] SLAMing on 34.922414037 meters Centerline goodness [0,1] 0.7582438249676098 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.02, Z:-0.19 [[ 0.99947453 -0.0265231 -0.01863288 0.87919428] [ 0.02661261 0.99963536 0.00457247 -0.01616197] [ 0.01850481 -0.00506594 0.99981594 -0.18964713] [ 0. 0. 0. 1. ]] SLAMing on 34.952414037 meters Centerline goodness [0,1] 0.7646123260437376 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.02, Z:-0.19 [[ 0.99936313 -0.03041852 -0.01865595 0.87998193] [ 0.03044831 0.99953548 0.00131455 -0.01856164] [ 0.0186073 -0.00188176 0.9998251 -0.19031604] [ 0. 0. 0. 1. ]] SLAMing on 34.982414037 meters Centerline goodness [0,1] 0.7366603892027621 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.02, Z:-0.19 [[ 0.99936013 -0.03056382 -0.01857936 0.88003388] [ 0.03060011 0.99953031 0.0016722 -0.02016453] [ 0.01851953 -0.00223966 0.99982599 -0.19065543] [ 0. 0. 0. 1. ]] SLAMing on 35.012414037 meters Centerline goodness [0,1] 0.7398753242406493 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.02, Z:-0.19 [[ 0.9993639 -0.03045654 -0.01855235 0.88050899] [ 0.03050058 0.99953255 0.00209533 -0.02090471] [ 0.01847986 -0.00265985 0.99982569 -0.19134369] [ 0. 0. 0. 1. ]] SLAMing on 35.042414037 meters Centerline goodness [0,1] 0.7450976293013338 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.02, Z:-0.19 [[ 0.99936775 -0.03020673 -0.01875254 0.88141161] [ 0.0302593 0.99953889 0.00252595 -0.0210946 ] [ 0.01866759 -0.00309179 0.99982096 -0.19206621] [ 0. 0. 0. 1. ]] SLAMing on 35.072414037 meters Centerline goodness [0,1] 0.7388176742435332 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.02, Z:-0.19 [[ 0.99937286 -0.02994187 -0.01890415 0.88220515] [ 0.02999654 0.99954658 0.00261485 -0.01971597] [ 0.01881728 -0.00318027 0.99981788 -0.19269707] [ 0. 0. 0. 1. ]] SLAMing on 35.102414037 meters Centerline goodness [0,1] 0.7635142205386853 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.02, Z:-0.19 [[ 0.99937961 -0.02966778 -0.01897959 0.88251856] [ 0.02972573 0.99955423 0.00277855 -0.01938786] [ 0.0188887 -0.003341 0.99981601 -0.19285373] [ 0. 0. 0. 1. ]] SLAMing on 35.132414037 meters Centerline goodness [0,1] 0.7588931154119467 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.02, Z:-0.19 [[ 0.99938695 -0.02934231 -0.0190985 0.88284393] [ 0.02940354 0.99956332 0.00293294 -0.01932359] [ 0.0190041 -0.00349271 0.99981331 -0.19290726] [ 0. 0. 0. 1. ]] SLAMing on 35.162414037 meters Centerline goodness [0,1] 0.7626493214084683 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.02, Z:-0.19 [[ 0.9994007 -0.0287406 -0.01929309 0.8838416 ] [ 0.02881077 0.99957921 0.00336874 -0.01968338] [ 0.01918815 -0.00392257 0.9998082 -0.19360296] [ 0. 0. 0. 1. ]] SLAMing on 35.192414037 meters Centerline goodness [0,1] 0.7754944181962621 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 0.99943861 -0.02723374 -0.01951361 0.88560645] [ 0.02732154 0.99961767 0.00424704 -0.01957974] [ 0.01939048 -0.0047778 0.99980057 -0.19503954] [ 0. 0. 0. 1. ]] SLAMing on 35.222414037 meters Centerline goodness [0,1] 0.7762483526138527 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 0.99945054 -0.02663311 -0.01973064 0.88632001] [ 0.02672541 0.999633 0.00442951 -0.0190229 ] [ 0.01960543 -0.00495439 0.99979552 -0.19525131] [ 0. 0. 0. 1. ]] SLAMing on 35.252414037 meters Centerline goodness [0,1] 0.7794573318817519 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 0.99945945 -0.02623286 -0.01981523 0.88649156] [ 0.02632665 0.99964332 0.00448711 -0.01830095] [ 0.01969045 -0.00500636 0.99979359 -0.19515508] [ 0. 0. 0. 1. ]] SLAMing on 35.282414037 meters Centerline goodness [0,1] 0.781819705796069 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.19 [[ 0.99955277 -0.02245008 -0.01975503 0.88574679] [ 0.02261428 0.99971122 0.00812819 -0.01827566] [ 0.01956685 -0.0085713 0.99977181 -0.19457905] [ 0. 0. 0. 1. ]] SLAMing on 35.312414036999996 meters Centerline goodness [0,1] 0.7812643726219843 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.19 [[ 0.99955629 -0.02213521 -0.01993133 0.88626687] [ 0.02229908 0.99971904 0.00803722 -0.01698803] [ 0.01974783 -0.00847811 0.99976905 -0.19465684] [ 0. 0. 0. 1. ]] SLAMing on 35.342414037 meters Centerline goodness [0,1] 0.7838550385001674 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.19 [[ 0.99956012 -0.02177809 -0.02013182 0.88673892] [ 0.02194314 0.9997271 0.0080143 -0.01605064] [ 0.01995179 -0.00845253 0.99976521 -0.19460881] [ 0. 0. 0. 1. ]] SLAMing on 35.372414037 meters Centerline goodness [0,1] 0.7854184966746142 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.19 [[ 0.99957305 -0.02109928 -0.02021229 0.88718831] [ 0.02126914 0.99973995 0.00822591 -0.01579005] [ 0.02003348 -0.00865229 0.99976187 -0.19470224] [ 0. 0. 0. 1. ]] SLAMing on 35.402414037 meters Centerline goodness [0,1] 0.7854184966746142 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.19 [[ 0.99957305 -0.02109928 -0.02021229 0.88718831] [ 0.02126914 0.99973995 0.00822591 -0.01579005] [ 0.02003348 -0.00865229 0.99976187 -0.19470224] [ 0. 0. 0. 1. ]] SLAMing on 35.432414037 meters Centerline goodness [0,1] 0.7850680151284034 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.19 [[ 0.9995765 -0.02081363 -0.02033744 0.88768075] [ 0.02098728 0.99974477 0.00836238 -0.01604397] [ 0.0201582 -0.00878566 0.9997582 -0.19492468] [ 0. 0. 0. 1. ]] SLAMing on 35.462414037 meters Centerline goodness [0,1] 0.7861926519371597 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 0.99957989 -0.02050378 -0.02048518 0.88852931] [ 0.02068353 0.99974907 0.00860146 -0.01663655] [ 0.02030368 -0.00902156 0.99975316 -0.1955491 ] [ 0. 0. 0. 1. ]] SLAMing on 35.492414037 meters Centerline goodness [0,1] 0.7876298572354257 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 0.99958255 -0.02030892 -0.02054929 0.88895915] [ 0.02049271 0.99975151 0.00877307 -0.01719388] [ 0.02036602 -0.00919052 0.99975035 -0.19589877] [ 0. 0. 0. 1. ]] SLAMing on 35.522414037 meters Centerline goodness [0,1] 0.7882079618234334 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 0.99958585 -0.02028286 -0.02041386 0.88870835] [ 0.02046729 0.99975121 0.00886645 -0.01710941] [ 0.02022894 -0.00928059 0.9997523 -0.19592455] [ 0. 0. 0. 1. ]] SLAMing on 35.552414037 meters Centerline goodness [0,1] 0.7897651287194918 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 0.99958174 -0.02034576 -0.02055215 0.8891049 ] [ 0.02053031 0.99975042 0.00880879 -0.01647425] [ 0.0203678 -0.00922704 0.99974998 -0.1960856 ] [ 0. 0. 0. 1. ]] SLAMing on 35.582414037 meters Centerline goodness [0,1] 0.786652763295099 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 0.99957765 -0.02039684 -0.02069988 0.88968695] [ 0.0205826 0.99974942 0.00880081 -0.01614753] [ 0.02051519 -0.00922315 0.999747 -0.19646748] [ 0. 0. 0. 1. ]] SLAMing on 35.612414037 meters Centerline goodness [0,1] 0.788328491106327 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 0.99957702 -0.02047709 -0.02065117 0.89013555] [ 0.0206653 0.99974646 0.00894198 -0.01671475] [ 0.02046283 -0.00936496 0.99974675 -0.19718081] [ 0. 0. 0. 1. ]] SLAMing on 35.642414037 meters Centerline goodness [0,1] 0.7864889148922832 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 0.99949417 -0.02401994 -0.02084319 0.89169103] [ 0.02414243 0.99969259 0.00564518 -0.01810639] [ 0.02070119 -0.00614553 0.99976682 -0.1983505 ] [ 0. 0. 0. 1. ]] SLAMing on 35.672414037 meters Centerline goodness [0,1] 0.7841723611894761 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 0.99948205 -0.02473014 -0.02059276 0.89092477] [ 0.02484849 0.99967604 0.00551131 -0.01971259] [ 0.0204498 -0.00602016 0.99977276 -0.19803358] [ 0. 0. 0. 1. ]] SLAMing on 35.702414037 meters Centerline goodness [0,1] 0.7840726101595666 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 0.99946778 -0.02537019 -0.02050655 0.89036195] [ 0.0254852 0.99966079 0.0053668 -0.02073461] [ 0.02036344 -0.00588655 0.99977531 -0.19757918] [ 0. 0. 0. 1. ]] SLAMing on 35.732414037 meters Centerline goodness [0,1] 0.7794911495166758 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 0.99944853 -0.02627756 -0.02030067 0.88919677] [ 0.02638045 0.99964037 0.00481716 -0.02044572] [ 0.02016679 -0.00535005 0.99978232 -0.19665422] [ 0. 0. 0. 1. ]] SLAMing on 35.762414037 meters Centerline goodness [0,1] 0.7598913724670984 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 0.99943287 -0.02688968 -0.02027017 0.88883832] [ 0.02698606 0.9996257 0.00449628 -0.02003726] [ 0.02014168 -0.00504074 0.99978443 -0.19631619] [ 0. 0. 0. 1. ]] SLAMing on 35.792414037 meters Centerline goodness [0,1] 0.7577906052620571 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 0.99939136 -0.02841897 -0.02023036 0.88825123] [ 0.02850298 0.99958619 0.00387678 -0.01979026] [ 0.02011182 -0.00445104 0.99978783 -0.19599514] [ 0. 0. 0. 1. ]] SLAMing on 35.822414037 meters Centerline goodness [0,1] 0.7381161236424394 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 0.99937675 -0.02888829 -0.0202872 0.88881196] [ 0.02897813 0.99957144 0.00414826 -0.02149702] [ 0.02015867 -0.00473356 0.99978559 -0.19677275] [ 0. 0. 0. 1. ]] SLAMing on 35.852414037 meters Centerline goodness [0,1] 0.7148153548145217 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 9.99242713e-01 -3.31825685e-02 -2.03203521e-02 8.90037346e-01] [ 3.32044429e-02 9.99448307e-01 7.39933916e-04 -2.41374441e-02] [ 2.02845886e-02 -1.41409955e-03 9.99793247e-01 -1.98095830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.882414037 meters Centerline goodness [0,1] 0.7241206345225406 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.03, Z:-0.20 [[ 9.99227180e-01 -3.37279440e-02 -2.01858316e-02 8.89726137e-01] [ 3.37494046e-02 9.99430065e-01 7.23333666e-04 -2.52169058e-02] [ 2.01499304e-02 -1.40403446e-03 9.99795984e-01 -1.98129768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.912414037 meters Centerline goodness [0,1] 0.7289064624782946 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 9.99218706e-01 -3.40285493e-02 -2.01006548e-02 8.89656358e-01] [ 3.40490875e-02 9.99419930e-01 6.80317596e-04 -2.48858499e-02] [ 2.00658448e-02 -1.36419502e-03 9.99797730e-01 -1.98357573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.942414037 meters Centerline goodness [0,1] 0.7052209171090582 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 9.99213035e-01 -3.41202178e-02 -2.02267398e-02 8.90229305e-01] [ 3.41388379e-02 9.99416934e-01 5.75887184e-04 -2.35254001e-02] [ 2.01952969e-02 -1.26595137e-03 9.99795253e-01 -1.98788702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.972414037 meters Centerline goodness [0,1] 0.6982520699172032 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 9.99207105e-01 -3.41881073e-02 -2.04043031e-02 8.90879902e-01] [ 3.42056021e-02 9.99414688e-01 5.08916144e-04 -2.21731831e-02] [ 2.03749614e-02 -1.20645410e-03 9.99791681e-01 -1.99257260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.002414037 meters Centerline goodness [0,1] 0.71761582204382 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 9.99194159e-01 -3.46086191e-02 -2.03292140e-02 8.90929626e-01] [ 3.46214955e-02 9.99400457e-01 2.81680039e-04 -2.10610619e-02] [ 2.03072772e-02 -9.85280842e-04 9.99793300e-01 -1.99656755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.032414037 meters Centerline goodness [0,1] 0.6925358791702354 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 9.99188428e-01 -3.47938237e-02 -2.02946881e-02 8.91060453e-01] [ 3.48078889e-02 9.99393964e-01 3.40107890e-04 -2.12872908e-02] [ 2.02705551e-02 -1.04624712e-03 9.99793984e-01 -1.99974473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.062414036999996 meters Centerline goodness [0,1] 0.7114797305777518 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 9.99180885e-01 -3.50732724e-02 -2.01847510e-02 8.90830677e-01] [ 3.50837712e-02 9.99384361e-01 1.66146061e-04 -2.13700359e-02] [ 2.01664972e-02 -8.74167155e-04 9.99796253e-01 -1.99980918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.092414037 meters Centerline goodness [0,1] 0.685649537318757 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 9.99170664e-01 -3.54669926e-02 -2.00019052e-02 8.90158074e-01] [ 3.54704162e-02 9.99370710e-01 -1.83694515e-04 -2.09712167e-02] [ 1.99958333e-02 -5.25933733e-04 9.99799925e-01 -1.99553722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122414037 meters Centerline goodness [0,1] 0.6769704072663346 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 9.99160608e-01 -3.57651273e-02 -1.99733552e-02 8.90027086e-01] [ 3.57620725e-02 9.99360202e-01 -5.10217076e-04 -2.01228323e-02] [ 1.99788243e-02 -2.04499772e-04 9.99800382e-01 -1.99459258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.152414037 meters Centerline goodness [0,1] 0.6885211430493934 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.20 [[ 0.99912262 -0.03687476 -0.01985547 0.88913767] [ 0.0368464 0.99931933 -0.00179268 -0.01659162] [ 0.01990806 0.0010595 0.99980125 -0.19872239] [ 0. 0. 0. 1. ]] SLAMing on 36.182414037 meters Centerline goodness [0,1] 0.6812997180015994 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.01, Z:-0.20 [[ 0.99910742 -0.03720214 -0.02000914 0.88947856] [ 0.03716571 0.99930672 -0.00218932 -0.01483455] [ 0.02007672 0.00144371 0.9997974 -0.19882592] [ 0. 0. 0. 1. ]] SLAMing on 36.212414037 meters Centerline goodness [0,1] 0.6751655281135049 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.01, Z:-0.20 [[ 0.99906762 -0.03818353 -0.02014701 0.89000245] [ 0.03812282 0.99926731 -0.0033893 -0.01065311] [ 0.02026167 0.00261808 0.99979128 -0.19923718] [ 0. 0. 0. 1. ]] SLAMing on 36.242414037 meters Centerline goodness [0,1] 0.6823972876787332 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.01, Z:-0.20 [[ 0.99905511 -0.03843285 -0.02029304 0.89054762] [ 0.0383637 0.99925667 -0.00378617 -0.00920368] [ 0.02042347 0.00300408 0.99978691 -0.19957147] [ 0. 0. 0. 1. ]] SLAMing on 36.272414037 meters Centerline goodness [0,1] 0.6669329073482428 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.01, Z:-0.20 [[ 0.99904635 -0.03858047 -0.0204434 0.89135759] [ 0.03850503 0.99925011 -0.0040711 -0.0081924 ] [ 0.02058513 0.00328005 0.99978272 -0.20024001] [ 0. 0. 0. 1. ]] SLAMing on 36.302414037 meters Centerline goodness [0,1] 0.6759023197994143 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.01, Z:-0.20 [[ 0.99904104 -0.03863481 -0.02059972 0.89232689] [ 0.03855514 0.99924743 -0.00425109 -0.00740178] [ 0.02074845 0.00345279 0.99977877 -0.20107429] [ 0. 0. 0. 1. ]] SLAMing on 36.332414037 meters Centerline goodness [0,1] 0.6686564636650367 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.00, Z:-0.20 [[ 0.99902982 -0.03878505 -0.02085985 0.89391604] [ 0.03868911 0.99923887 -0.00498324 -0.00286162] [ 0.02103725 0.00417136 0.99976999 -0.20252337] [ 0. 0. 0. 1. ]] SLAMing on 36.362414037 meters Centerline goodness [0,1] 0.67424226378328 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.00, Z:-0.20 [[ 9.99137486e-01 -3.59993123e-02 -2.06962301e-02 8.93061523e-01] [ 3.59653430e-02 9.99351014e-01 -2.01132846e-03 -9.76394270e-04] [ 2.07552050e-02 1.26524665e-03 9.99783787e-01 -2.02486637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.392414037 meters Centerline goodness [0,1] 0.6646484747126193 Centerline is valid? [False, False] Translation: X:0.89, Y:0.00, Z:-0.20 [[ 0.99913836 -0.03576261 -0.02106106 0.89441028] [ 0.03572073 0.99935902 -0.0023615 0.00265267] [ 0.02113201 0.00160715 0.9997754 -0.20317862] [ 0. 0. 0. 1. ]] SLAMing on 36.422414037 meters Centerline goodness [0,1] 0.6657881312701921 Centerline is valid? [False, False] Translation: X:0.89, Y:0.00, Z:-0.20 [[ 9.99243560e-01 -3.28595560e-02 -2.07979899e-02 8.93505087e-01] [ 3.28794683e-02 9.99459134e-01 6.16095956e-04 4.36306219e-03] [ 2.07664963e-02 -1.29945676e-03 9.99783509e-01 -2.03240809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.452414037 meters Centerline goodness [0,1] 0.6583648815347314 Centerline is valid? [False, False] Translation: X:0.89, Y:0.01, Z:-0.20 [[ 0.99929498 -0.03119062 -0.02089722 0.89498893] [ 0.031229 0.99951111 0.00151298 0.00973669] [ 0.02083981 -0.00216451 0.99978048 -0.20496833] [ 0. 0. 0. 1. ]] SLAMing on 36.482414037 meters Centerline goodness [0,1] 0.6689222362157663 Centerline is valid? [False, False] Translation: X:0.90, Y:0.01, Z:-0.21 [[ 9.99290145e-01 -3.12490156e-02 -2.10405532e-02 8.95582597e-01] [ 3.12727296e-02 9.99510569e-01 7.98889254e-04 1.24395653e-02] [ 2.10052908e-02 -1.45631769e-03 9.99778304e-01 -2.05207230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.512414037 meters Centerline goodness [0,1] 0.6503042596348885 Centerline is valid? [False, False] Translation: X:0.90, Y:0.02, Z:-0.20 [[ 9.99280358e-01 -3.14764414e-02 -2.11659825e-02 8.95764702e-01] [ 3.14813297e-02 9.99504335e-01 -1.02293668e-04 1.53017579e-02] [ 2.11587111e-02 -5.64113219e-04 9.99775970e-01 -2.04933917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.542414037 meters Centerline goodness [0,1] 0.6531767218366258 Centerline is valid? [False, False] Translation: X:0.90, Y:0.02, Z:-0.21 [[ 9.99507771e-01 -3.04647683e-02 -7.49089009e-03 8.95000282e-01] [ 3.04614711e-02 9.99535788e-01 -5.53888242e-04 2.12812865e-02] [ 7.50428681e-03 3.25432070e-04 9.99971789e-01 -2.08240618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.572414037 meters Centerline goodness [0,1] 0.6511567957723787 Centerline is valid? [False, False] Translation: X:0.89, Y:0.02, Z:-0.21 [[ 0.99958658 -0.02781893 -0.00726532 0.89342879] [ 0.02783579 0.99961002 0.00223019 0.02332686] [ 0.00720045 -0.0024315 0.99997112 -0.20732053] [ 0. 0. 0. 1. ]] SLAMing on 36.602414037 meters Centerline goodness [0,1] 0.6548084777094708 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.21 [[ 0.99966034 -0.0250378 -0.00723212 0.89265977] [ 0.02507531 0.99967234 0.00514271 0.02508855] [ 0.00710099 -0.00532232 0.99996062 -0.20693818] [ 0. 0. 0. 1. ]] SLAMing on 36.632414037 meters Centerline goodness [0,1] 0.6732598520308017 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.21 [[ 0.99965564 -0.02518678 -0.00736417 0.89295751] [ 0.02522003 0.99967199 0.00445749 0.0280566 ] [ 0.00724948 -0.00464168 0.99996295 -0.20688711] [ 0. 0. 0. 1. ]] SLAMing on 36.662414037 meters Centerline goodness [0,1] 0.6450457448644916 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.21 [[ 0.99964541 -0.02554059 -0.00753207 0.89367447] [ 0.02556746 0.999667 0.00349219 0.03191829] [ 0.00744037 -0.00368352 0.99996554 -0.20734459] [ 0. 0. 0. 1. ]] SLAMing on 36.692414037 meters Centerline goodness [0,1] 0.6730244641697337 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.21 [[ 0.99964329 -0.02559054 -0.00764288 0.89439942] [ 0.02561534 0.99966687 0.00316434 0.03356155] [ 0.00755936 -0.00335898 0.99996579 -0.20797974] [ 0. 0. 0. 1. ]] SLAMing on 36.722414037 meters Centerline goodness [0,1] 0.6706419635513614 Centerline is valid? [False, False] Translation: X:0.90, Y:0.03, Z:-0.21 [[ 0.99965135 -0.02519018 -0.00791423 0.89615768] [ 0.02521691 0.99967657 0.00329579 0.03490999] [ 0.00782865 -0.00349421 0.99996325 -0.2095669 ] [ 0. 0. 0. 1. ]] SLAMing on 36.752414037 meters Centerline goodness [0,1] 0.6516614937164934 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.21 [[ 0.99965884 -0.02481222 -0.00815871 0.89804365] [ 0.02483665 0.9996873 0.00290678 0.03905434] [ 0.00808404 -0.00310842 0.99996249 -0.21128457] [ 0. 0. 0. 1. ]] SLAMing on 36.782414037 meters Centerline goodness [0,1] 0.6498301097752222 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.21 [[ 0.99966045 -0.02468526 -0.00834456 0.89881878] [ 0.02470702 0.99969157 0.00251514 0.0415272 ] [ 0.0082799 -0.00272046 0.99996202 -0.21170016] [ 0. 0. 0. 1. ]] SLAMing on 36.812414036999996 meters Centerline goodness [0,1] 0.6485869565217391 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.21 [[ 0.99966353 -0.02444043 -0.00868914 0.89999889] [ 0.02445898 0.99969876 0.00203496 0.04481322] [ 0.00863678 -0.00224681 0.99996018 -0.21213117] [ 0. 0. 0. 1. ]] SLAMing on 36.842414037 meters Centerline goodness [0,1] 0.6552536824877251 Centerline is valid? [False, False] Translation: X:0.90, Y:0.05, Z:-0.21 [[ 0.99973597 -0.02133028 -0.0085445 0.89923145] [ 0.0213751 0.99975806 0.00518885 0.04629099] [ 0.00843175 -0.00537011 0.99995003 -0.21196464] [ 0. 0. 0. 1. ]] SLAMing on 36.872414037 meters Centerline goodness [0,1] 0.6731558501415622 Centerline is valid? [False, False] Translation: X:0.90, Y:0.05, Z:-0.21 [[ 0.9997955 -0.01836297 -0.00847132 0.89891181] [ 0.01842511 0.99980346 0.00731771 0.0507566 ] [ 0.00833528 -0.00747229 0.99993734 -0.21186031] [ 0. 0. 0. 1. ]] SLAMing on 36.902414037 meters Centerline goodness [0,1] 0.6633437266698872 Centerline is valid? [False, False] Translation: X:0.90, Y:0.05, Z:-0.21 [[ 0.99979368 -0.01835561 -0.0086985 0.89954786] [ 0.01841252 0.99980929 0.00650795 0.05356084] [ 0.00857739 -0.00666676 0.99994099 -0.21183847] [ 0. 0. 0. 1. ]] SLAMing on 36.932414037 meters Centerline goodness [0,1] 0.6634223680443926 Centerline is valid? [False, False] Translation: X:0.90, Y:0.06, Z:-0.21 [[ 0.99979487 -0.01817612 -0.00893514 0.90038169] [ 0.01822922 0.99981644 0.00589748 0.05645738] [ 0.00882631 -0.00605915 0.99994269 -0.2120402 ] [ 0. 0. 0. 1. ]] SLAMing on 36.962414037 meters Centerline goodness [0,1] 0.6659095419763159 Centerline is valid? [False, False] Translation: X:0.90, Y:0.06, Z:-0.21 [[ 0.99979775 -0.01782971 -0.00930398 0.90158669] [ 0.01788043 0.99982557 0.00539715 0.05981229] [ 0.00920613 -0.00556242 0.99994215 -0.21237568] [ 0. 0. 0. 1. ]] SLAMing on 36.992414037 meters Centerline goodness [0,1] 0.6692582802052558 Centerline is valid? [False, False] Translation: X:0.90, Y:0.07, Z:-0.21 [[ 0.99984375 -0.01514947 -0.00910842 0.90013865] [ 0.01521235 0.99986065 0.00687449 0.06684695] [ 0.00900301 -0.00701197 0.99993489 -0.21102005] [ 0. 0. 0. 1. ]] SLAMing on 37.022414037 meters Centerline goodness [0,1] 0.6661268855368234 Centerline is valid? [False, False] Translation: X:0.90, Y:0.07, Z:-0.21 [[ 0.99984332 -0.01507431 -0.00927921 0.90084855] [ 0.01513067 0.99986732 0.00603324 0.07088908] [ 0.00918703 -0.0061727 0.99993875 -0.21112415] [ 0. 0. 0. 1. ]] SLAMing on 37.052414037 meters Centerline goodness [0,1] 0.6832660885847395 Centerline is valid? [False, False] Translation: X:0.90, Y:0.08, Z:-0.21 [[ 0.99988191 -0.01238228 -0.00910219 0.90021538] [ 0.01245648 0.99988927 0.00814115 0.07541551] [ 0.00900037 -0.00825357 0.99992543 -0.21097137] [ 0. 0. 0. 1. ]] SLAMing on 37.082414037 meters Centerline goodness [0,1] 0.6747520771911015 Centerline is valid? [False, False] Translation: X:0.90, Y:0.08, Z:-0.21 [[ 0.99987852 -0.01255813 -0.00923285 0.90083174] [ 0.01262816 0.99989164 0.0075655 0.07731879] [ 0.00913684 -0.00768117 0.99992876 -0.21135415] [ 0. 0. 0. 1. ]] SLAMing on 37.112414037 meters Centerline goodness [0,1] 0.6611585051834934 Centerline is valid? [False, False] Translation: X:0.90, Y:0.08, Z:-0.21 [[ 0.9998757 -0.01280678 -0.00919603 0.90116414] [ 0.01287244 0.99989182 0.00711646 0.07852949] [ 0.00910389 -0.00723395 0.99993239 -0.21184432] [ 0. 0. 0. 1. ]] SLAMing on 37.142414037 meters Centerline goodness [0,1] 0.679012068733456 Centerline is valid? [False, False] Translation: X:0.90, Y:0.08, Z:-0.21 [[ 0.99987179 -0.01311593 -0.0091856 0.90137826] [ 0.01317742 0.99989096 0.00666584 0.07974798] [ 0.00909717 -0.00678603 0.99993559 -0.21216097] [ 0. 0. 0. 1. ]] SLAMing on 37.172414037 meters Centerline goodness [0,1] 0.6689269596066192 Centerline is valid? [False, False] Translation: X:0.90, Y:0.08, Z:-0.21 [[ 0.99986829 -0.01346222 -0.00906535 0.90113817] [ 0.01351816 0.99988978 0.00613843 0.08147991] [ 0.00898171 -0.00626017 0.99994007 -0.21214787] [ 0. 0. 0. 1. ]] SLAMing on 37.202414037 meters Centerline goodness [0,1] 0.6626454598553264 Centerline is valid? [False, False] Translation: X:0.90, Y:0.08, Z:-0.21 [[ 0.99986627 -0.01362375 -0.00904658 0.9012202 ] [ 0.01367393 0.99989133 0.0055088 0.08414187] [ 0.00897054 -0.00563176 0.9999439 -0.21212055] [ 0. 0. 0. 1. ]] SLAMing on 37.232414037 meters Centerline goodness [0,1] 0.6668465551358158 Centerline is valid? [False, False] Translation: X:0.90, Y:0.09, Z:-0.21 [[ 0.99990485 -0.01046102 -0.00899212 0.90047352] [ 0.01053251 0.99991301 0.00794016 0.08883202] [ 0.00890828 -0.00803412 0.99992805 -0.2113577 ] [ 0. 0. 0. 1. ]] SLAMing on 37.262414037 meters Centerline goodness [0,1] 0.667801808709772 Centerline is valid? [False, False] Translation: X:0.90, Y:0.09, Z:-0.21 [[ 0.99990471 -0.01024833 -0.00924895 0.90127866] [ 0.01031597 0.99992018 0.0072947 0.09201335] [ 0.00917345 -0.00738942 0.99993062 -0.21135685] [ 0. 0. 0. 1. ]] SLAMing on 37.292414037 meters Centerline goodness [0,1] 0.6690595348626553 Centerline is valid? [False, False] Translation: X:0.90, Y:0.09, Z:-0.21 [[ 0.99990472 -0.01001597 -0.00949878 0.90205089] [ 0.01007971 0.99992684 0.00668664 0.09459225] [ 0.00943111 -0.00678175 0.99993253 -0.21131063] [ 0. 0. 0. 1. ]] SLAMing on 37.322414037 meters Centerline goodness [0,1] 0.6867363161480808 Centerline is valid? [False, False] Translation: X:0.90, Y:0.10, Z:-0.21 [[ 0.99990513 -0.00986629 -0.00961168 0.90259448] [ 0.00992545 0.99993197 0.0061273 0.09694537] [ 0.00955057 -0.00622212 0.99993503 -0.21138243] [ 0. 0. 0. 1. ]] SLAMing on 37.352414037 meters Centerline goodness [0,1] 0.6867363161480808 Centerline is valid? [False, False] Translation: X:0.90, Y:0.10, Z:-0.21 [[ 0.99990513 -0.00986629 -0.00961168 0.90259448] [ 0.00992545 0.99993197 0.0061273 0.09694537] [ 0.00955057 -0.00622212 0.99993503 -0.21138243] [ 0. 0. 0. 1. ]] SLAMing on 37.382414037 meters Centerline goodness [0,1] 0.6886751601066619 Centerline is valid? [False, False] Translation: X:0.90, Y:0.10, Z:-0.21 [[ 0.99990782 -0.00930856 -0.0098848 0.9039845 ] [ 0.00936322 0.99994105 0.00549761 0.10067131] [ 0.00983304 -0.00558965 0.99993603 -0.21188479] [ 0. 0. 0. 1. ]] SLAMing on 37.412414037 meters Centerline goodness [0,1] 0.667961076339714 Centerline is valid? [False, False] Translation: X:0.90, Y:0.10, Z:-0.21 [[ 0.99990812 -0.00919522 -0.00995969 0.90457209] [ 0.00924595 0.99994446 0.00505939 0.10254952] [ 0.00991261 -0.00515101 0.9999376 -0.21218962] [ 0. 0. 0. 1. ]] SLAMing on 37.442414037 meters Centerline goodness [0,1] 0.6784594613149042 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.21 [[ 0.99990739 -0.00900226 -0.01020643 0.9054842 ] [ 0.00905097 0.99994782 0.00473592 0.10457575] [ 0.01016326 -0.00482786 0.9999367 -0.21251064] [ 0. 0. 0. 1. ]] SLAMing on 37.472414037 meters Centerline goodness [0,1] 0.6836718301778543 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.21 [[ 0.99990672 -0.00886459 -0.01039081 0.90604039] [ 0.00890871 0.99995146 0.00420747 0.1073117 ] [ 0.01035301 -0.00429965 0.99993716 -0.21243103] [ 0. 0. 0. 1. ]] SLAMing on 37.502414037 meters Centerline goodness [0,1] 0.6854857300935958 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.21 [[ 0.99993059 -0.00544698 -0.01044742 0.90601785] [ 0.00552081 0.9999599 0.00705061 0.11104201] [ 0.0104086 -0.0071078 0.99992057 -0.21225207] [ 0. 0. 0. 1. ]] SLAMing on 37.532414037 meters Centerline goodness [0,1] 0.6896272285251215 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.21 [[ 0.99992844 -0.00550253 -0.01062255 0.90646518] [ 0.0055708 0.99996395 0.00640818 0.1134077 ] [ 0.0105869 -0.0064669 0.99992305 -0.21214207] [ 0. 0. 0. 1. ]] SLAMing on 37.562414036999996 meters Centerline goodness [0,1] 0.6976593279258401 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.21 [[ 0.99992673 -0.00554007 -0.01076265 0.90693482] [ 0.00560465 0.99996642 0.00597953 0.11486278] [ 0.01072916 -0.00603942 0.9999242 -0.21221006] [ 0. 0. 0. 1. ]] SLAMing on 37.592414037 meters Centerline goodness [0,1] 0.6905426789537373 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:-0.21 [[ 0.99992548 -0.00597781 -0.01064422 0.90607915] [ 0.00602938 0.99997021 0.00481974 0.11760187] [ 0.01061509 -0.00488356 0.99993173 -0.21102646] [ 0. 0. 0. 1. ]] SLAMing on 37.622414037 meters Centerline goodness [0,1] 0.6878877297334975 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:-0.21 [[ 0.99992408 -0.00609734 -0.01070779 0.90614136] [ 0.00614473 0.99997145 0.00439816 0.11843056] [ 0.01068067 -0.00446363 0.999933 -0.21070734] [ 0. 0. 0. 1. ]] SLAMing on 37.652414037 meters Centerline goodness [0,1] 0.6953257955472666 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:-0.21 [[ 0.99992339 -0.0061581 -0.01073739 0.90618295] [ 0.00620268 0.99997226 0.00412358 0.11905688] [ 0.0107117 -0.00418986 0.99993385 -0.21058606] [ 0. 0. 0. 1. ]] SLAMing on 37.682414037 meters Centerline goodness [0,1] 0.7045957982605451 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:-0.21 [[ 0.99992281 -0.0059832 -0.01088948 0.90692059] [ 0.0060286 0.99997325 0.00414091 0.11937034] [ 0.01086441 -0.00420623 0.99993213 -0.2110357 ] [ 0. 0. 0. 1. ]] SLAMing on 37.712414037 meters Centerline goodness [0,1] 0.7055870747822839 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:-0.21 [[ 0.99992569 -0.00506605 -0.01108857 0.90857022] [ 0.00511447 0.99997749 0.00434262 0.12141288] [ 0.01106632 -0.00439901 0.99992909 -0.21213974] [ 0. 0. 0. 1. ]] SLAMing on 37.742414037 meters Centerline goodness [0,1] 0.7021276595744681 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:-0.21 [[ 0.9999248 -0.00485657 -0.0112613 0.90919415] [ 0.00490232 0.99997983 0.00403923 0.12328529] [ 0.01124145 -0.00409413 0.99992843 -0.21220275] [ 0. 0. 0. 1. ]] SLAMing on 37.772414037 meters Centerline goodness [0,1] 0.7066428470687791 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:-0.21 [[ 0.99992461 -0.00482371 -0.01129184 0.90917147] [ 0.00486468 0.99998167 0.00360359 0.12517537] [ 0.01127425 -0.00365825 0.99992975 -0.21184045] [ 0. 0. 0. 1. ]] SLAMing on 37.802414037 meters Centerline goodness [0,1] 0.7081125632874132 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:-0.21 [[ 0.9999241 -0.00482714 -0.01133551 0.90917677] [ 0.0048653 0.99998258 0.00334088 0.12638982] [ 0.01131919 -0.00339578 0.99993017 -0.2115681 ] [ 0. 0. 0. 1. ]] SLAMing on 37.832414037 meters Centerline goodness [0,1] 0.7023010096266729 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:-0.21 [[ 0.99992399 -0.00486173 -0.01133029 0.90870818] [ 0.00489537 0.99998369 0.00294357 0.12656522] [ 0.01131579 -0.00299881 0.99993148 -0.21062411] [ 0. 0. 0. 1. ]] SLAMing on 37.862414037 meters Centerline goodness [0,1] 0.713710816153629 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:-0.21 [[ 0.999923 -0.00495263 -0.01137825 0.90849463] [ 0.00498364 0.99998394 0.00269897 0.12636304] [ 0.0113647 -0.00275547 0.99993162 -0.2100958 ] [ 0. 0. 0. 1. ]] SLAMing on 37.892414037 meters Centerline goodness [0,1] 0.7001882795951988 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:-0.21 [[ 0.99992247 -0.00482469 -0.01147952 0.90907212] [ 0.00485722 0.99998426 0.00280793 0.12627128] [ 0.01146579 -0.00286347 0.99993017 -0.21053819] [ 0. 0. 0. 1. ]] SLAMing on 37.922414037 meters Centerline goodness [0,1] 0.6991146285902163 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:-0.21 [[ 0.99992116 -0.00464562 -0.01166558 0.91008959] [ 0.00468024 0.99998472 0.00294261 0.12640385] [ 0.01165174 -0.00299697 0.99992762 -0.21133338] [ 0. 0. 0. 1. ]] SLAMing on 37.952414037 meters Centerline goodness [0,1] 0.6905440079094183 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:-0.21 [[ 0.99992045 -0.00451138 -0.01177923 0.91118962] [ 0.00454729 0.99998509 0.00302357 0.12764401] [ 0.01176542 -0.00307689 0.99992605 -0.21250526] [ 0. 0. 0. 1. ]] SLAMing on 37.982414037 meters Centerline goodness [0,1] 0.6920546915378472 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:-0.21 [[ 0.99991855 -0.00417952 -0.01205915 0.91237908] [ 0.00421892 0.99998584 0.00324358 0.12788411] [ 0.01204543 -0.0032942 0.99992202 -0.21317529] [ 0. 0. 0. 1. ]] SLAMing on 38.012414037 meters Centerline goodness [0,1] 0.6895453365736262 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:-0.21 [[ 0.99991879 -0.00420579 -0.01203025 0.91238259] [ 0.00424335 0.9999862 0.00309774 0.12834326] [ 0.01201705 -0.00314854 0.99992284 -0.21316505] [ 0. 0. 0. 1. ]] SLAMing on 38.042414037 meters Centerline goodness [0,1] 0.7114229872606965 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:-0.21 [[ 0.99991885 -0.00418177 -0.0120337 0.91230558] [ 0.00421688 0.99998692 0.0028942 0.12852276] [ 0.01202144 -0.00294471 0.9999234 -0.21281971] [ 0. 0. 0. 1. ]] SLAMing on 38.072414037 meters Centerline goodness [0,1] 0.690704145639768 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:-0.21 [[ 0.99991874 -0.004425 -0.01195517 0.91184848] [ 0.00445624 0.99998672 0.00258765 0.12891901] [ 0.01194356 -0.00264072 0.99992519 -0.21237498] [ 0. 0. 0. 1. ]] SLAMing on 38.102414037 meters Centerline goodness [0,1] 0.7178535986012003 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:-0.21 [[ 0.99991848 -0.00459751 -0.01191164 0.91157222] [ 0.0046267 0.99998636 0.00242379 0.12925277] [ 0.01190033 -0.0024787 0.99992612 -0.21210965] [ 0. 0. 0. 1. ]] SLAMing on 38.132414037 meters Centerline goodness [0,1] 0.7031010132023334 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:-0.21 [[ 0.99991869 -0.00477821 -0.01182332 0.91151337] [ 0.00480685 0.99998558 0.00239474 0.12947184] [ 0.0118117 -0.00245138 0.99992723 -0.21234544] [ 0. 0. 0. 1. ]] SLAMing on 38.162414037 meters Centerline goodness [0,1] 0.7089168670721931 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:-0.21 [[ 0.99991953 -0.00489973 -0.01170171 0.91148365] [ 0.00492852 0.9999849 0.00243272 0.12909127] [ 0.01168961 -0.0024902 0.99992857 -0.21265707] [ 0. 0. 0. 1. ]] SLAMing on 38.192414037 meters Centerline goodness [0,1] 0.7037840386655665 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:-0.21 [[ 0.99991915 -0.00597398 -0.01122528 0.90931852] [ 0.00599682 0.99998001 0.00200204 0.12751228] [ 0.0112131 -0.0020692 0.99993499 -0.21147598] [ 0. 0. 0. 1. ]] SLAMing on 38.222414037 meters Centerline goodness [0,1] 0.6954730572753596 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:-0.21 [[ 0.99991771 -0.00641256 -0.01111094 0.90839757] [ 0.00643395 0.99997751 0.00189125 0.12678309] [ 0.01109857 -0.00196258 0.99993648 -0.21070183] [ 0. 0. 0. 1. ]] SLAMing on 38.252414037 meters Centerline goodness [0,1] 0.696075205640423 Centerline is valid? [False, False] Translation: X:0.91, Y:0.13, Z:-0.21 [[ 0.99991713 -0.00665346 -0.0110211 0.90794541] [ 0.00667643 0.99997561 0.0020491 0.12582142] [ 0.0110072 -0.00212251 0.99993717 -0.21048533] [ 0. 0. 0. 1. ]] SLAMing on 38.282414037 meters Centerline goodness [0,1] 0.6831918346228922 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:-0.21 [[ 0.99991291 -0.00733259 -0.01097319 0.90790899] [ 0.00735977 0.99996994 0.00243832 0.12389832] [ 0.01095498 -0.00251887 0.99993682 -0.21125363] [ 0. 0. 0. 1. ]] SLAMing on 38.312414036999996 meters Centerline goodness [0,1] 0.6892555767106222 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:-0.21 [[ 0.9999131 -0.00759238 -0.01077766 0.90785731] [ 0.00762251 0.99996715 0.00275711 0.12259071] [ 0.01075638 -0.00283902 0.99993812 -0.2119703 ] [ 0. 0. 0. 1. ]] SLAMing on 38.342414037 meters Centerline goodness [0,1] 0.6811795112781955 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:-0.21 [[ 0.99991283 -0.00768506 -0.01073689 0.90846198] [ 0.00772059 0.99996485 0.00327105 0.12118082] [ 0.01071137 -0.00335366 0.99993701 -0.21320187] [ 0. 0. 0. 1. ]] SLAMing on 38.372414037 meters Centerline goodness [0,1] 0.6724785281832262 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:-0.21 [[ 9.99877260e-01 -1.12287561e-02 -1.09260977e-02 9.10030989e-01] [ 1.12310792e-02 9.99936918e-01 1.51282693e-04 1.19450204e-01] [ 1.09237097e-02 -2.73975993e-04 9.99940297e-01 -2.14750240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.402414037 meters Centerline goodness [0,1] 0.665823259300909 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:-0.22 [[ 9.99876530e-01 -1.15173013e-02 -1.06900079e-02 9.09468775e-01] [ 1.15248384e-02 9.99933380e-01 6.43721777e-04 1.17223845e-01] [ 1.06818817e-02 -7.66842910e-04 9.99942653e-01 -2.15018182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.432414037 meters Centerline goodness [0,1] 0.659298245614035 Centerline is valid? [False, False] Translation: X:0.91, Y:0.12, Z:-0.21 [[ 9.99872339e-01 -1.20546337e-02 -1.04876910e-02 9.08506855e-01] [ 1.20627113e-02 9.99926993e-01 7.07286201e-04 1.15810003e-01] [ 1.04783992e-02 -8.33705897e-04 9.99944753e-01 -2.14603445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.462414037 meters Centerline goodness [0,1] 0.6522003176679436 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.21 [[ 9.99867106e-01 -1.25331353e-02 -1.04254439e-02 9.07832096e-01] [ 1.25431921e-02 9.99920926e-01 8.99809830e-04 1.14661583e-01] [ 1.04133421e-02 -1.03045860e-03 9.99945249e-01 -2.14195900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.492414037 meters Centerline goodness [0,1] 0.64898064034002 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.21 [[ 9.99865315e-01 -1.26924368e-02 -1.04045376e-02 9.07486964e-01] [ 1.27026985e-02 9.99918894e-01 9.20781200e-04 1.14722485e-01] [ 1.03920068e-02 -1.05282289e-03 9.99945447e-01 -2.13858083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.522414037 meters Centerline goodness [0,1] 0.650864680930406 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.21 [[ 9.99859115e-01 -1.32680231e-02 -1.02814891e-02 9.06366408e-01] [ 1.32766428e-02 9.99911565e-01 7.70568381e-04 1.14068602e-01] [ 1.02703559e-02 -9.06963478e-04 9.99946847e-01 -2.12879459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.552414037 meters Centerline goodness [0,1] 0.646090822335498 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.21 [[ 0.99985893 -0.01331307 -0.01024169 0.90636026] [ 0.01332552 0.99991055 0.0011484 0.11225202] [ 0.01022549 -0.00128471 0.99994689 -0.21311414] [ 0. 0. 0. 1. ]] SLAMing on 38.582414037 meters Centerline goodness [0,1] 0.6459350160368149 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.21 [[ 0.99986094 -0.01320789 -0.01018107 0.90662564] [ 0.01322631 0.99991101 0.00174401 0.10967691] [ 0.01015713 -0.00187843 0.99994665 -0.21375735] [ 0. 0. 0. 1. ]] SLAMing on 38.612414037 meters Centerline goodness [0,1] 0.6452713682157947 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.21 [[ 0.99986245 -0.01315856 -0.01009609 0.90679338] [ 0.01318227 0.9999105 0.00228596 0.10759493] [ 0.0100651 -0.00241874 0.99994642 -0.21438668] [ 0. 0. 0. 1. ]] SLAMing on 38.642414037 meters Centerline goodness [0,1] 0.6429796107506951 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.21 [[ 0.99986416 -0.01302638 -0.01009812 0.90716879] [ 0.01305355 0.99991134 0.00262942 0.10662185] [ 0.01006297 -0.00276088 0.99994556 -0.21490192] [ 0. 0. 0. 1. ]] SLAMing on 38.672414037 meters Centerline goodness [0,1] 0.6440229991653529 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.22 [[ 0.99986522 -0.01286202 -0.01020393 0.90757679] [ 0.01289125 0.99991297 0.00280403 0.10675122] [ 0.01016697 -0.0029352 0.99994401 -0.21512399] [ 0. 0. 0. 1. ]] SLAMing on 38.702414037 meters Centerline goodness [0,1] 0.6417578342295569 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.22 [[ 0.99986733 -0.01246809 -0.01048146 0.90842215] [ 0.01250111 0.99991708 0.00309071 0.10709012] [ 0.01044206 -0.00322133 0.99994029 -0.21533867] [ 0. 0. 0. 1. ]] SLAMing on 38.732414037 meters Centerline goodness [0,1] 0.6538229702786664 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.22 [[ 0.99986948 -0.01214123 -0.01065889 0.90901945] [ 0.01217702 0.99992041 0.00329908 0.10719853] [ 0.01061799 -0.00342844 0.99993775 -0.21551659] [ 0. 0. 0. 1. ]] SLAMing on 38.762414037 meters Centerline goodness [0,1] 0.6515926071569014 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.22 [[ 0.99987276 -0.01159951 -0.0109504 0.90952925] [ 0.01164093 0.9999253 0.00372567 0.10586831] [ 0.01090637 -0.00385267 0.9999331 -0.21514862] [ 0. 0. 0. 1. ]] SLAMing on 38.792414037 meters Centerline goodness [0,1] 0.6553921000810843 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.22 [[ 0.99987555 -0.01125688 -0.01105274 0.91000876] [ 0.01130236 0.99992788 0.00406048 0.10472293] [ 0.01100623 -0.0041849 0.99993067 -0.21539815] [ 0. 0. 0. 1. ]] SLAMing on 38.822414037 meters Centerline goodness [0,1] 0.6575133485888635 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.22 [[ 0.9998834 -0.01030076 -0.01127266 0.91178714] [ 0.0103564 0.99993442 0.00488837 0.10366627] [ 0.01122157 -0.00500455 0.99992451 -0.2168893 ] [ 0. 0. 0. 1. ]] SLAMing on 38.852414037 meters Centerline goodness [0,1] 0.6640634052513268 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.22 [[ 0.99988466 -0.0099914 -0.01143843 0.91256805] [ 0.01004982 0.99993669 0.005061 0.10421248] [ 0.01138714 -0.00517537 0.99992177 -0.21736787] [ 0. 0. 0. 1. ]] SLAMing on 38.882414037 meters Centerline goodness [0,1] 0.6615516363468037 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.22 [[ 0.9998843 -0.00986481 -0.01157903 0.91302198] [ 0.00992347 0.99993816 0.00502023 0.10517421] [ 0.01152879 -0.00513455 0.99992036 -0.21746682] [ 0. 0. 0. 1. ]] SLAMing on 38.912414037 meters Centerline goodness [0,1] 0.658320787492762 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.22 [[ 0.99988256 -0.00993049 -0.01167257 0.91289255] [ 0.00998577 0.99993916 0.0046872 0.10623472] [ 0.01162532 -0.0048032 0.99992089 -0.21690727] [ 0. 0. 0. 1. ]] SLAMing on 38.942414037 meters Centerline goodness [0,1] 0.6668985507246377 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.22 [[ 0.99988217 -0.00997547 -0.01166802 0.91276103] [ 0.01002796 0.99993982 0.00444914 0.10678168] [ 0.01162293 -0.00456562 0.99992203 -0.21654531] [ 0. 0. 0. 1. ]] SLAMing on 38.972414037 meters Centerline goodness [0,1] 0.6629561917104441 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.22 [[ 0.99988139 -0.01018366 -0.01155376 0.91216539] [ 0.01023212 0.99993907 0.00414309 0.10649297] [ 0.01151087 -0.00426081 0.99992467 -0.21596779] [ 0. 0. 0. 1. ]] SLAMing on 39.002414037 meters Centerline goodness [0,1] 0.672062433421333 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.22 [[ 0.99988003 -0.0103706 -0.01150571 0.91179956] [ 0.01041615 0.99993812 0.00390605 0.1062339 ] [ 0.01146449 -0.00402542 0.99992618 -0.21553234] [ 0. 0. 0. 1. ]] SLAMing on 39.032414037 meters Centerline goodness [0,1] 0.6659053683069186 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.22 [[ 0.99987834 -0.01054426 -0.0114949 0.91159963] [ 0.01058749 0.99993708 0.00370702 0.10616716] [ 0.01145509 -0.00382827 0.99992706 -0.21522558] [ 0. 0. 0. 1. ]] SLAMing on 39.062414036999996 meters Centerline goodness [0,1] 0.6595926670827843 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.21 [[ 0.99987363 -0.01118092 -0.01130099 0.91046191] [ 0.01121385 0.99993305 0.00285491 0.10847642] [ 0.01126831 -0.00298128 0.99993207 -0.21420217] [ 0. 0. 0. 1. ]] SLAMing on 39.092414037 meters Centerline goodness [0,1] 0.659874173104501 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.21 [[ 0.9998718 -0.01121794 -0.01142573 0.91080454] [ 0.0112496 0.99993305 0.00271069 0.1094984 ] [ 0.01139456 -0.00283888 0.99993105 -0.21424608] [ 0. 0. 0. 1. ]] SLAMing on 39.122414037 meters Centerline goodness [0,1] 0.6673221970292906 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.21 [[ 0.99987199 -0.01116801 -0.01145765 0.91123426] [ 0.01120186 0.99993307 0.00289505 0.10997612] [ 0.01142455 -0.00302302 0.99993017 -0.21479178] [ 0. 0. 0. 1. ]] SLAMing on 39.152414037 meters Centerline goodness [0,1] 0.6552123373315426 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.21 [[ 0.99986904 -0.01173633 -0.01114294 0.91047214] [ 0.01176918 0.99992657 0.00288753 0.10913671] [ 0.01110823 -0.0030183 0.99993375 -0.21496353] [ 0. 0. 0. 1. ]] SLAMing on 39.182414037 meters Centerline goodness [0,1] 0.6480099789794646 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.22 [[ 0.99986729 -0.01204497 -0.01096888 0.91010225] [ 0.01207946 0.99992229 0.00308371 0.10768987] [ 0.01093089 -0.0032158 0.99993509 -0.21513503] [ 0. 0. 0. 1. ]] SLAMing on 39.212414037 meters Centerline goodness [0,1] 0.6471634071440117 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.22 [[ 0.99986625 -0.01240946 -0.01065275 0.90954941] [ 0.01244486 0.99991723 0.0032633 0.10631633] [ 0.01061138 -0.00339544 0.99993793 -0.21550362] [ 0. 0. 0. 1. ]] SLAMing on 39.242414037 meters Centerline goodness [0,1] 0.6471634071440117 Centerline is valid? [False, False] Translation: X:0.91, Y:0.11, Z:-0.22 [[ 0.99986625 -0.01240946 -0.01065275 0.90954941] [ 0.01244486 0.99991723 0.0032633 0.10631633] [ 0.01061138 -0.00339544 0.99993793 -0.21550362] [ 0. 0. 0. 1. ]] SLAMing on 39.272414037 meters Centerline goodness [0,1] 0.6493985343595889 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.22 [[ 0.99986524 -0.01265051 -0.01046226 0.90941428] [ 0.0126891 0.9999129 0.00363018 0.10470581] [ 0.01041543 -0.00376245 0.99993868 -0.21609571] [ 0. 0. 0. 1. ]] SLAMing on 39.302414037 meters Centerline goodness [0,1] 0.6464235656349808 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.22 [[ 0.99985335 -0.01383991 -0.01008642 0.90835376] [ 0.01387585 0.99989759 0.00350192 0.10332794] [ 0.01003692 -0.00364136 0.999943 -0.21639864] [ 0. 0. 0. 1. ]] SLAMing on 39.332414037 meters Centerline goodness [0,1] 0.639374741771106 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.22 [[ 0.99985141 -0.01411375 -0.00989783 0.90816906] [ 0.01415094 0.99989303 0.00369758 0.10241331] [ 0.00984458 -0.00383709 0.99994418 -0.216817 ] [ 0. 0. 0. 1. ]] SLAMing on 39.362414037 meters Centerline goodness [0,1] 0.6425814455727611 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.22 [[ 0.99984744 -0.01454365 -0.00967372 0.90762094] [ 0.01458058 0.99988663 0.00375837 0.10138048] [ 0.00961796 -0.00389884 0.99994615 -0.21694689] [ 0. 0. 0. 1. ]] SLAMing on 39.392414037 meters Centerline goodness [0,1] 0.6257729125635506 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.22 [[ 0.99984535 -0.01489517 -0.00934904 0.90699652] [ 0.01493257 0.99988072 0.00394425 0.09971916] [ 0.00928917 -0.00408324 0.99994852 -0.21713383] [ 0. 0. 0. 1. ]] SLAMing on 39.422414037 meters Centerline goodness [0,1] 0.6364842606149341 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.22 [[ 0.99983713 -0.01566543 -0.00896091 0.90526214] [ 0.01569946 0.99986976 0.00373993 0.0978878 ] [ 0.00890116 -0.00388 0.99995286 -0.21609076] [ 0. 0. 0. 1. ]] SLAMing on 39.452414037 meters Centerline goodness [0,1] 0.6412067192320878 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.22 [[ 0.9998373 -0.01560805 -0.00904194 0.90523138] [ 0.01564328 0.99987027 0.00383875 0.09743957] [ 0.00898086 -0.00397957 0.99995175 -0.21579291] [ 0. 0. 0. 1. ]] SLAMing on 39.482414037 meters Centerline goodness [0,1] 0.6416754261688222 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.22 [[ 0.99983926 -0.01539378 -0.00919199 0.90557034] [ 0.01543089 0.99987302 0.00398003 0.09724452] [ 0.00912956 -0.00412123 0.99994983 -0.21570797] [ 0. 0. 0. 1. ]] SLAMing on 39.512414037 meters Centerline goodness [0,1] 0.6459911652285368 Centerline is valid? [False, False] Translation: X:0.90, Y:0.10, Z:-0.21 [[ 0.99988598 -0.01205203 -0.00909822 0.90451406] [ 0.01212105 0.99989788 0.00756999 0.09659161] [ 0.00900606 -0.0076794 0.99992996 -0.21496172] [ 0. 0. 0. 1. ]] SLAMing on 39.542414037 meters Centerline goodness [0,1] 0.653476204619708 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.21 [[ 0.99988721 -0.01167759 -0.0094444 0.90548945] [ 0.01174889 0.99990264 0.00752875 0.09733536] [ 0.00935556 -0.00763887 0.99992706 -0.21497069] [ 0. 0. 0. 1. ]] SLAMing on 39.572414037 meters Centerline goodness [0,1] 0.6548937923457242 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.21 [[ 0.99988882 -0.0113968 -0.00961524 0.9058358 ] [ 0.01146854 0.99990656 0.00743977 0.09799145] [ 0.00952956 -0.00754922 0.9999261 -0.21471029] [ 0. 0. 0. 1. ]] SLAMing on 39.602414037 meters Centerline goodness [0,1] 0.6420094665355681 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.21 [[ 0.99989311 -0.01098919 -0.0096443 0.90575989] [ 0.01106261 0.99990999 0.007592 0.09686672] [ 0.00956 -0.00769788 0.99992467 -0.21424692] [ 0. 0. 0. 1. ]] SLAMing on 39.632414037 meters Centerline goodness [0,1] 0.6579169038133181 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.21 [[ 0.99989432 -0.01083555 -0.00969205 0.90601208] [ 0.01091057 0.99991067 0.00772084 0.09582063] [ 0.00960752 -0.00782577 0.99992322 -0.21432059] [ 0. 0. 0. 1. ]] SLAMing on 39.662414037 meters Centerline goodness [0,1] 0.6510139228641321 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.21 [[ 0.99989605 -0.01063993 -0.00972991 0.90610724] [ 0.01071646 0.99991179 0.00784718 0.09537883] [ 0.00964556 -0.00795063 0.99992187 -0.21423388] [ 0. 0. 0. 1. ]] SLAMing on 39.692414037 meters Centerline goodness [0,1] 0.6553685220290981 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.21 [[ 0.99989691 -0.01050559 -0.00978821 0.90641018] [ 0.01058201 0.99991368 0.00778846 0.09588572] [ 0.00970554 -0.00789124 0.99992176 -0.2142605 ] [ 0. 0. 0. 1. ]] SLAMing on 39.722414037 meters Centerline goodness [0,1] 0.6584014469858277 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.21 [[ 0.99989913 -0.0101632 -0.0099212 0.90693893] [ 0.01024005 0.99991772 0.00772636 0.09746218] [ 0.00984185 -0.00782718 0.99992093 -0.21427463] [ 0. 0. 0. 1. ]] SLAMing on 39.752414037 meters Centerline goodness [0,1] 0.6615744027850943 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.21 [[ 0.99989967 -0.01004581 -0.00998702 0.90701921] [ 0.01012351 0.99991865 0.00775999 0.09733954] [ 0.00990825 -0.00786032 0.99992002 -0.21407904] [ 0. 0. 0. 1. ]] SLAMing on 39.782414037 meters Centerline goodness [0,1] 0.6598630105605572 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.21 [[ 0.99989917 -0.01005223 -0.01003026 0.90715128] [ 0.01013027 0.99991858 0.00776016 0.09693611] [ 0.00995144 -0.00786099 0.99991958 -0.21408429] [ 0. 0. 0. 1. ]] SLAMing on 39.812414036999996 meters Centerline goodness [0,1] 0.6604097516309946 Centerline is valid? [False, False] Translation: X:0.91, Y:0.10, Z:-0.21 [[ 0.99990003 -0.00995436 -0.01004184 0.90770017] [ 0.01003674 0.99991611 0.00818731 0.09504362] [ 0.00995949 -0.00828728 0.99991606 -0.21485746] [ 0. 0. 0. 1. ]] SLAMing on 39.842414037 meters Centerline goodness [0,1] 0.658075010882764 Centerline is valid? [False, False] Translation: X:0.91, Y:0.09, Z:-0.22 [[ 0.99989945 -0.0101391 -0.00991407 0.90761321] [ 0.01022041 0.99991426 0.00818576 0.09417546] [ 0.00983022 -0.00828626 0.99991735 -0.21513573] [ 0. 0. 0. 1. ]] SLAMing on 39.872414037 meters Centerline goodness [0,1] 0.6588014724375243 Centerline is valid? [False, False] Translation: X:0.91, Y:0.09, Z:-0.21 [[ 0.99989265 -0.01102745 -0.00964772 0.90635774] [ 0.01110151 0.99990906 0.00765663 0.09345582] [ 0.00956241 -0.00776291 0.99992415 -0.21439757] [ 0. 0. 0. 1. ]] SLAMing on 39.902414037 meters Centerline goodness [0,1] 0.6562042459736457 Centerline is valid? [False, False] Translation: X:0.91, Y:0.09, Z:-0.21 [[ 0.99988861 -0.01148751 -0.00952942 0.90544669] [ 0.01155681 0.99990693 0.00724993 0.09367337] [ 0.00944525 -0.00735925 0.99992831 -0.21351795] [ 0. 0. 0. 1. ]] SLAMing on 39.932414037 meters Centerline goodness [0,1] 0.657189184251393 Centerline is valid? [False, False] Translation: X:0.90, Y:0.09, Z:-0.21 [[ 0.99988486 -0.01198715 -0.00930443 0.9045379 ] [ 0.01205374 0.9999019 0.00713426 0.09243979] [ 0.009218 -0.00724559 0.99993126 -0.21305378] [ 0. 0. 0. 1. ]] SLAMing on 39.962414037 meters Centerline goodness [0,1] 0.6526625330537066 Centerline is valid? [False, False] Translation: X:0.90, Y:0.09, Z:-0.21 [[ 0.99988377 -0.01215938 -0.00919719 0.90431364] [ 0.01222715 0.99989825 0.00734816 0.09100129] [ 0.00910691 -0.00745976 0.99993071 -0.21314362] [ 0. 0. 0. 1. ]] SLAMing on 39.992414037 meters Centerline goodness [0,1] 0.6526625330537066 Centerline is valid? [False, False] Translation: X:0.90, Y:0.09, Z:-0.21 [[ 0.99988377 -0.01215938 -0.00919719 0.90431364] [ 0.01222715 0.99989825 0.00734816 0.09100129] [ 0.00910691 -0.00745976 0.99993071 -0.21314362] [ 0. 0. 0. 1. ]] SLAMing on 40.022414037 meters Centerline goodness [0,1] 0.6529485285762981 Centerline is valid? [False, False] Translation: X:0.90, Y:0.09, Z:-0.21 [[ 0.99988319 -0.01222398 -0.00917495 0.90428982] [ 0.01229355 0.99989582 0.00756468 0.08973428] [ 0.00908152 -0.00767659 0.9999293 -0.21320732] [ 0. 0. 0. 1. ]] SLAMing on 40.052414037 meters Centerline goodness [0,1] 0.6506565072453909 Centerline is valid? [False, False] Translation: X:0.90, Y:0.09, Z:-0.21 [[ 0.99987843 -0.01269168 -0.00905777 0.90375066] [ 0.01276306 0.9998876 0.00786677 0.08740302] [ 0.00895691 -0.00798142 0.99992803 -0.21315742] [ 0. 0. 0. 1. ]] SLAMing on 40.082414037 meters Centerline goodness [0,1] 0.6487657682185316 Centerline is valid? [False, False] Translation: X:0.90, Y:0.09, Z:-0.21 [[ 0.99987699 -0.01284413 -0.00900221 0.90347994] [ 0.0129175 0.99988343 0.00814051 0.08542367] [ 0.00889661 -0.00825579 0.99992634 -0.21303761] [ 0. 0. 0. 1. ]] SLAMing on 40.112414037 meters Centerline goodness [0,1] 0.6486504799548278 Centerline is valid? [False, False] Translation: X:0.90, Y:0.08, Z:-0.21 [[ 0.99987687 -0.01288941 -0.00895049 0.90349013] [ 0.01296666 0.99987871 0.00862704 0.08298053] [ 0.00883821 -0.00874204 0.99992273 -0.21328658] [ 0. 0. 0. 1. ]] SLAMing on 40.142414037 meters Centerline goodness [0,1] 0.6535020334387709 Centerline is valid? [False, False] Translation: X:0.90, Y:0.08, Z:-0.21 [[ 0.99987238 -0.01342159 -0.00866512 0.90273166] [ 0.0134998 0.99986809 0.00903094 0.0794045 ] [ 0.00854277 -0.00914677 0.99992168 -0.21344717] [ 0. 0. 0. 1. ]] SLAMing on 40.172414037 meters Centerline goodness [0,1] 0.6440525260715815 Centerline is valid? [False, False] Translation: X:0.90, Y:0.08, Z:-0.21 [[ 0.99987197 -0.01355719 -0.00849927 0.90228154] [ 0.01363494 0.99986511 0.00915672 0.07812945] [ 0.00837398 -0.00927143 0.99992196 -0.2132928 ] [ 0. 0. 0. 1. ]] SLAMing on 40.202414037 meters Centerline goodness [0,1] 0.6403044044358641 Centerline is valid? [False, False] Translation: X:0.90, Y:0.08, Z:-0.21 [[ 0.99987204 -0.01358571 -0.00844565 0.90196794] [ 0.01366362 0.99986399 0.00923622 0.07716666] [ 0.00831902 -0.00935044 0.99992168 -0.21294431] [ 0. 0. 0. 1. ]] SLAMing on 40.232414037 meters Centerline goodness [0,1] 0.6477341661237053 Centerline is valid? [False, False] Translation: X:0.90, Y:0.08, Z:-0.21 [[ 0.99987413 -0.01347844 -0.00836958 0.90131998] [ 0.01355792 0.99986284 0.00951261 0.07577534] [ 0.00824021 -0.00962489 0.99991973 -0.21217878] [ 0. 0. 0. 1. ]] SLAMing on 40.262414037 meters Centerline goodness [0,1] 0.6456133270554472 Centerline is valid? [False, False] Translation: X:0.90, Y:0.07, Z:-0.21 [[ 0.99987522 -0.01333505 -0.00846834 0.9016017 ] [ 0.01341719 0.99986276 0.0097176 0.07485396] [ 0.0083376 -0.00983001 0.99991692 -0.21219778] [ 0. 0. 0. 1. ]] SLAMing on 40.292414037 meters Centerline goodness [0,1] 0.644983164983165 Centerline is valid? [False, False] Translation: X:0.90, Y:0.07, Z:-0.21 [[ 0.99987878 -0.01302674 -0.00852809 0.90211011] [ 0.01311361 0.99986187 0.010211 0.07345047] [ 0.0083939 -0.01032159 0.9999115 -0.21268635] [ 0. 0. 0. 1. ]] SLAMing on 40.322414037 meters Centerline goodness [0,1] 0.6437736525068858 Centerline is valid? [False, False] Translation: X:0.90, Y:0.07, Z:-0.21 [[ 0.99988212 -0.01265485 -0.0086944 0.90299029] [ 0.01274794 0.9998611 0.0107364 0.07158997] [ 0.00855733 -0.01084597 0.99990456 -0.21327686] [ 0. 0. 0. 1. ]] SLAMing on 40.352414037 meters Centerline goodness [0,1] 0.648822938748187 Centerline is valid? [False, False] Translation: X:0.90, Y:0.07, Z:-0.21 [[ 0.99988834 -0.01203276 -0.00886095 0.90377861] [ 0.01213582 0.99985826 0.01166972 0.06851788] [ 0.00871927 -0.01177595 0.99989264 -0.21382166] [ 0. 0. 0. 1. ]] SLAMing on 40.382414037 meters Centerline goodness [0,1] 0.6438680298227599 Centerline is valid? [False, False] Translation: X:0.90, Y:0.07, Z:-0.21 [[ 0.9998881 -0.01198505 -0.00895237 0.90378147] [ 0.01208896 0.99985912 0.01164459 0.0682605 ] [ 0.00881155 -0.01175152 0.99989212 -0.21344774] [ 0. 0. 0. 1. ]] SLAMing on 40.412414037 meters Centerline goodness [0,1] 0.6487030411449016 Centerline is valid? [False, False] Translation: X:0.90, Y:0.07, Z:-0.21 [[ 0.99988913 -0.01183192 -0.00904097 0.90377433] [ 0.01193679 0.99986106 0.01163499 0.06855 ] [ 0.00890205 -0.01174162 0.99989144 -0.21303971] [ 0. 0. 0. 1. ]] SLAMing on 40.442414037 meters Centerline goodness [0,1] 0.6460749330954505 Centerline is valid? [False, False] Translation: X:0.90, Y:0.07, Z:-0.21 [[ 0.99988765 -0.01180158 -0.00924162 0.90388837] [ 0.01190605 0.99986491 0.01133143 0.06917255] [ 0.00910665 -0.01144019 0.99989309 -0.21238049] [ 0. 0. 0. 1. ]] SLAMing on 40.472414037 meters Centerline goodness [0,1] 0.6538684762712621 Centerline is valid? [False, False] Translation: X:0.90, Y:0.07, Z:-0.21 [[ 0.99989453 -0.01110375 -0.00936147 0.90464069] [ 0.01121305 0.99986862 0.01170485 0.06894729] [ 0.00923027 -0.01180859 0.99988767 -0.21278006] [ 0. 0. 0. 1. ]] SLAMing on 40.502414037 meters Centerline goodness [0,1] 0.6554965172352205 Centerline is valid? [False, False] Translation: X:0.91, Y:0.07, Z:-0.21 [[ 0.99989587 -0.01077216 -0.00960284 0.90564451] [ 0.01088587 0.9998703 0.01186892 0.06850933] [ 0.00947374 -0.01197222 0.99988345 -0.21331838] [ 0. 0. 0. 1. ]] SLAMing on 40.532414037 meters Centerline goodness [0,1] 0.6501960434860097 Centerline is valid? [False, False] Translation: X:0.91, Y:0.07, Z:-0.21 [[ 0.99989578 -0.01061884 -0.00978095 0.90625858] [ 0.01073346 0.99987345 0.01174168 0.06847967] [ 0.00965503 -0.01184544 0.99988323 -0.21344813] [ 0. 0. 0. 1. ]] SLAMing on 40.562414036999996 meters Centerline goodness [0,1] 0.6496820970440602 Centerline is valid? [False, False] Translation: X:0.91, Y:0.07, Z:-0.21 [[ 0.99989623 -0.01041626 -0.00995179 0.90636662] [ 0.01053031 0.99987867 0.01147832 0.06903468] [ 0.00983102 -0.01158192 0.9998846 -0.21285341] [ 0. 0. 0. 1. ]] SLAMing on 40.592414037 meters Centerline goodness [0,1] 0.6612838470803408 Centerline is valid? [False, False] Translation: X:0.91, Y:0.07, Z:-0.21 [[ 0.99989445 -0.01057175 -0.00996595 0.90607878] [ 0.01068283 0.99988067 0.01115927 0.06950408] [ 0.00984679 -0.01126456 0.99988807 -0.21234236] [ 0. 0. 0. 1. ]] SLAMing on 40.622414037 meters Centerline goodness [0,1] 0.6597276569103145 Centerline is valid? [False, False] Translation: X:0.91, Y:0.07, Z:-0.21 [[ 0.99989232 -0.01076507 -0.00997275 0.905812 ] [ 0.01087398 0.99988113 0.01093116 0.06964782] [ 0.00985389 -0.01103843 0.99989052 -0.21190922] [ 0. 0. 0. 1. ]] SLAMing on 40.652414037 meters Centerline goodness [0,1] 0.6566068879371878 Centerline is valid? [False, False] Translation: X:0.91, Y:0.07, Z:-0.21 [[ 0.99988954 -0.01102369 -0.0099693 0.90561419] [ 0.01112981 0.99988132 0.0106527 0.06964632] [ 0.00985068 -0.01076248 0.99989356 -0.21156309] [ 0. 0. 0. 1. ]] SLAMing on 40.682414037 meters Centerline goodness [0,1] 0.6513193082545908 Centerline is valid? [False, False] Translation: X:0.90, Y:0.07, Z:-0.21 [[ 0.99988588 -0.01157555 -0.00970759 0.90438619] [ 0.01167604 0.99987816 0.01036006 0.0685342 ] [ 0.00958649 -0.01047222 0.99989921 -0.21065187] [ 0. 0. 0. 1. ]] SLAMing on 40.712414037 meters Centerline goodness [0,1] 0.6531652898082789 Centerline is valid? [False, False] Translation: X:0.90, Y:0.07, Z:-0.21 [[ 0.99988341 -0.01191287 -0.00955221 0.90377005] [ 0.01201025 0.99987582 0.01020326 0.06785585] [ 0.00942948 -0.0103168 0.99990232 -0.21024282] [ 0. 0. 0. 1. ]] SLAMing on 40.742414037 meters Centerline goodness [0,1] 0.6513842943096291 Centerline is valid? [False, False] Translation: X:0.90, Y:0.07, Z:-0.21 [[ 0.9998812 -0.0121411 -0.00949598 0.90358885] [ 0.01223784 0.99987313 0.0101962 0.0670729 ] [ 0.00937098 -0.0103112 0.99990293 -0.21014278] [ 0. 0. 0. 1. ]] SLAMing on 40.772414037 meters Centerline goodness [0,1] 0.6418315181151367 Centerline is valid? [False, False] Translation: X:0.90, Y:0.07, Z:-0.21 [[ 0.99987788 -0.01253388 -0.00933381 0.9029368 ] [ 0.01262783 0.9998695 0.01007532 0.06640674] [ 0.00920631 -0.01019195 0.99990568 -0.20976955] [ 0. 0. 0. 1. ]] SLAMing on 40.802414037 meters Centerline goodness [0,1] 0.6424644171507117 Centerline is valid? [False, False] Translation: X:0.90, Y:0.07, Z:-0.21 [[ 0.9998287 -0.01581314 -0.00961855 0.90404133] [ 0.01587682 0.9998523 0.00658113 0.0665238 ] [ 0.00951306 -0.00673272 0.99993208 -0.20996045] [ 0. 0. 0. 1. ]] SLAMing on 40.832414037 meters Centerline goodness [0,1] 0.6488842553569052 Centerline is valid? [False, False] Translation: X:0.90, Y:0.07, Z:-0.21 [[ 0.99982801 -0.01596518 -0.00943687 0.90384655] [ 0.01603032 0.99984792 0.0068684 0.06502229] [ 0.00932578 -0.00701849 0.99993188 -0.21026453] [ 0. 0. 0. 1. ]] SLAMing on 40.862414037 meters Centerline goodness [0,1] 0.6387483355525965 Centerline is valid? [False, False] Translation: X:0.90, Y:0.06, Z:-0.21 [[ 0.99982612 -0.01618833 -0.00925547 0.9037177 ] [ 0.01625409 0.99984287 0.00707425 0.06335535] [ 0.00913949 -0.00722346 0.99993214 -0.21068018] [ 0. 0. 0. 1. ]] SLAMing on 40.892414037 meters Centerline goodness [0,1] 0.6343369493026345 Centerline is valid? [False, False] Translation: X:0.90, Y:0.06, Z:-0.21 [[ 0.9998272 -0.01615044 -0.00920496 0.90422135] [ 0.01622073 0.99983945 0.00761378 0.06104312] [ 0.00908051 -0.00776177 0.99992865 -0.21154019] [ 0. 0. 0. 1. ]] SLAMing on 40.922414037 meters Centerline goodness [0,1] 0.6302095986924929 Centerline is valid? [False, False] Translation: X:0.91, Y:0.06, Z:-0.21 [[ 0.99976879 -0.01931176 -0.00945667 0.90599168] [ 0.01935721 0.99980141 0.00473805 0.0593147 ] [ 0.00936329 -0.00492001 0.99994406 -0.21295681] [ 0. 0. 0. 1. ]] SLAMing on 40.952414037 meters Centerline goodness [0,1] 0.6310235977130747 Centerline is valid? [False, False] Translation: X:0.91, Y:0.06, Z:-0.21 [[ 0.99976849 -0.01943253 -0.00923834 0.90582135] [ 0.0194795 0.99979764 0.00502187 0.05832902] [ 0.00913889 -0.00520066 0.99994472 -0.21339011] [ 0. 0. 0. 1. ]] SLAMing on 40.982414037 meters Centerline goodness [0,1] 0.6302710344370568 Centerline is valid? [False, False] Translation: X:0.91, Y:0.06, Z:-0.21 [[ 0.99976827 -0.01949289 -0.00913406 0.90581495] [ 0.01954093 0.99979554 0.00519993 0.05792925] [ 0.00903083 -0.00537721 0.99994476 -0.21371782] [ 0. 0. 0. 1. ]] SLAMing on 41.012414037 meters Centerline goodness [0,1] 0.6291190612731042 Centerline is valid? [False, False] Translation: X:0.91, Y:0.06, Z:-0.21 [[ 0.99977024 -0.01942334 -0.00906647 0.90594423] [ 0.01947378 0.9997952 0.00550815 0.0574371 ] [ 0.00895763 -0.00568344 0.99994373 -0.21413222] [ 0. 0. 0. 1. ]] SLAMing on 41.042414037 meters Centerline goodness [0,1] 0.6324373234463276 Centerline is valid? [False, False] Translation: X:0.91, Y:0.06, Z:-0.21 [[ 0.99976975 -0.01958165 -0.00877506 0.90532597] [ 0.01963251 0.99979074 0.00574758 0.05618855] [ 0.00866068 -0.00591853 0.99994498 -0.21415444] [ 0. 0. 0. 1. ]] SLAMing on 41.072414037 meters Centerline goodness [0,1] 0.6231677032283586 Centerline is valid? [False, False] Translation: X:0.91, Y:0.06, Z:-0.21 [[ 0.99976876 -0.01962383 -0.00879366 0.90528026] [ 0.01967571 0.99978928 0.00585261 0.05556108] [ 0.00867696 -0.00602428 0.99994421 -0.21402916] [ 0. 0. 0. 1. ]] SLAMing on 41.102414037 meters Centerline goodness [0,1] 0.6316533103737554 Centerline is valid? [False, False] Translation: X:0.90, Y:0.06, Z:-0.21 [[ 0.99976378 -0.0199437 -0.00863864 0.90435863] [ 0.01999186 0.99978487 0.0055254 0.05563198] [ 0.00852659 -0.0056968 0.99994742 -0.21318548] [ 0. 0. 0. 1. ]] SLAMing on 41.132414037 meters Centerline goodness [0,1] 0.6316533103737554 Centerline is valid? [False, False] Translation: X:0.90, Y:0.06, Z:-0.21 [[ 0.99976378 -0.0199437 -0.00863864 0.90435863] [ 0.01999186 0.99978487 0.0055254 0.05563198] [ 0.00852659 -0.0056968 0.99994742 -0.21318548] [ 0. 0. 0. 1. ]] SLAMing on 41.162414037 meters Centerline goodness [0,1] 0.6291453519139178 Centerline is valid? [False, False] Translation: X:0.90, Y:0.06, Z:-0.21 [[ 0.99975935 -0.020189 -0.00858152 0.9036789 ] [ 0.02023452 0.99978147 0.00525145 0.05598693] [ 0.00847363 -0.00542383 0.99994939 -0.21233083] [ 0. 0. 0. 1. ]] SLAMing on 41.192414037 meters Centerline goodness [0,1] 0.6309309177256937 Centerline is valid? [False, False] Translation: X:0.90, Y:0.06, Z:-0.21 [[ 0.99976172 -0.02000559 -0.00873437 0.90443947] [ 0.02005385 0.99978391 0.00547421 0.05580421] [ 0.00862296 -0.00564806 0.99994687 -0.21291356] [ 0. 0. 0. 1. ]] SLAMing on 41.222414037 meters Centerline goodness [0,1] 0.6229212097182757 Centerline is valid? [False, False] Translation: X:0.91, Y:0.06, Z:-0.21 [[ 0.99976293 -0.01989031 -0.00885807 0.90513826] [ 0.0199405 0.9997854 0.00561455 0.05551128] [ 0.0087445 -0.00578985 0.999945 -0.21349467] [ 0. 0. 0. 1. ]] SLAMing on 41.252414037 meters Centerline goodness [0,1] 0.6241417253521127 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:-0.21 [[ 0.99977096 -0.01942646 -0.0089795 0.90639663] [ 0.01948279 0.99979079 0.00622903 0.05447405] [ 0.00885661 -0.00640255 0.99994028 -0.21485915] [ 0. 0. 0. 1. ]] SLAMing on 41.282414037 meters Centerline goodness [0,1] 0.6293289804561697 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:-0.21 [[ 0.9997721 -0.01937996 -0.00895319 0.90640917] [ 0.0194364 0.99979149 0.00626046 0.0541954 ] [ 0.00883 -0.00643306 0.99994032 -0.2148791 ] [ 0. 0. 0. 1. ]] SLAMing on 41.312414036999996 meters Centerline goodness [0,1] 0.6193500022048772 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:-0.21 [[ 0.9997762 -0.01916958 -0.00894896 0.90644127] [ 0.01922732 0.99979458 0.00641177 0.05400947] [ 0.00882421 -0.0065824 0.9999394 -0.21483282] [ 0. 0. 0. 1. ]] SLAMing on 41.342414037 meters Centerline goodness [0,1] 0.6261655461258679 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:-0.21 [[ 0.99978031 -0.0189149 -0.00903055 0.90664105] [ 0.01897382 0.99979896 0.00648409 0.05439339] [ 0.00890609 -0.00665401 0.9999382 -0.21476269] [ 0. 0. 0. 1. ]] SLAMing on 41.372414037 meters Centerline goodness [0,1] 0.6286218302094818 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:-0.21 [[ 0.9998433 -0.01526631 -0.00896133 0.90617091] [ 0.01535699 0.99983066 0.01013937 0.05472769] [ 0.00880502 -0.0102754 0.99990844 -0.21460249] [ 0. 0. 0. 1. ]] SLAMing on 41.402414037 meters Centerline goodness [0,1] 0.6455199188247231 Centerline is valid? [False, False] Translation: X:0.91, Y:0.06, Z:-0.21 [[ 0.99984662 -0.01497604 -0.00908062 0.90669148] [ 0.01506738 0.99983571 0.01007573 0.05581668] [ 0.00892824 -0.010211 0.99990801 -0.2148026 ] [ 0. 0. 0. 1. ]] SLAMing on 41.432414037 meters Centerline goodness [0,1] 0.6456275276801697 Centerline is valid? [False, False] Translation: X:0.91, Y:0.06, Z:-0.21 [[ 0.99984866 -0.01468951 -0.00932062 0.90727452] [ 0.01478409 0.99983908 0.0101606 0.05597747] [ 0.00916987 -0.01029686 0.99990494 -0.21482141] [ 0. 0. 0. 1. ]] SLAMing on 41.462414037 meters Centerline goodness [0,1] 0.6459329089667629 Centerline is valid? [False, False] Translation: X:0.91, Y:0.06, Z:-0.21 [[ 0.99985004 -0.01459642 -0.00931839 0.90748616] [ 0.01469133 0.99984005 0.01019973 0.05535322] [ 0.00916802 -0.0103351 0.99990456 -0.21495434] [ 0. 0. 0. 1. ]] SLAMing on 41.492414037 meters Centerline goodness [0,1] 0.6322912318474416 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:-0.21 [[ 0.99984486 -0.01506956 -0.00911893 0.90641914] [ 0.01515914 0.99983672 0.00983555 0.05417795] [ 0.00896923 -0.00997226 0.99991005 -0.21398274] [ 0. 0. 0. 1. ]] SLAMing on 41.522414037 meters Centerline goodness [0,1] 0.6351861250248241 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:-0.21 [[ 0.99984186 -0.01534102 -0.0089954 0.90580183] [ 0.01542877 0.99983326 0.00976784 0.05341965] [ 0.00884405 -0.00990509 0.99991183 -0.21353655] [ 0. 0. 0. 1. ]] SLAMing on 41.552414037 meters Centerline goodness [0,1] 0.6330008587092939 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:-0.21 [[ 0.9998389 -0.0155395 -0.00898303 0.90571787] [ 0.01562745 0.99982982 0.00980415 0.05243114] [ 0.00882915 -0.00994295 0.99991159 -0.21347269] [ 0. 0. 0. 1. ]] SLAMing on 41.582414037 meters Centerline goodness [0,1] 0.6279616170044575 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:-0.21 [[ 0.99978222 -0.01861508 -0.00943366 0.9078088 ] [ 0.01868057 0.99980168 0.00690204 0.05088676] [ 0.0093033 -0.00707676 0.99993168 -0.21466407] [ 0. 0. 0. 1. ]] SLAMing on 41.612414037 meters Centerline goodness [0,1] 0.6257385727150921 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:-0.22 [[ 0.99978141 -0.01872183 -0.00930738 0.90792642] [ 0.01879055 0.99979641 0.00735223 0.04907716] [ 0.00916783 -0.00752551 0.99992966 -0.21525671] [ 0. 0. 0. 1. ]] SLAMing on 41.642414037 meters Centerline goodness [0,1] 0.6323341976882169 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:-0.22 [[ 0.99977886 -0.01897477 -0.00906599 0.90759855] [ 0.01904466 0.9997891 0.00768529 0.04729215] [ 0.00891825 -0.00785625 0.99992937 -0.21559312] [ 0. 0. 0. 1. ]] SLAMing on 41.672414037 meters Centerline goodness [0,1] 0.6320212392487274 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:-0.22 [[ 0.99970472 -0.02247564 -0.00923683 0.90875283] [ 0.02251958 0.99973544 0.00468089 0.04508663] [ 0.00912918 -0.00488752 0.99994638 -0.21638996] [ 0. 0. 0. 1. ]] SLAMing on 41.702414037 meters Centerline goodness [0,1] 0.6254463405551053 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:-0.22 [[ 0.99970101 -0.0227348 -0.00900071 0.90851322] [ 0.02278161 0.99972729 0.00513266 0.04254956] [ 0.00888157 -0.00533617 0.99994632 -0.21686101] [ 0. 0. 0. 1. ]] SLAMing on 41.732414037 meters Centerline goodness [0,1] 0.6206670311645708 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:-0.22 [[ 0.99969781 -0.02297727 -0.00873691 0.90804656] [ 0.02302638 0.99971938 0.00556241 0.04023644] [ 0.00860665 -0.00576191 0.99994636 -0.21707856] [ 0. 0. 0. 1. ]] SLAMing on 41.762414037 meters Centerline goodness [0,1] 0.6163965182486528 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:-0.22 [[ 0.99969502 -0.02316252 -0.00856477 0.90776914] [ 0.02321383 0.99971287 0.00594077 0.03806684] [ 0.00842471 -0.00613778 0.99994567 -0.21723655] [ 0. 0. 0. 1. ]] SLAMing on 41.792414037 meters Centerline goodness [0,1] 0.6182795698924731 Centerline is valid? [False, False] Translation: X:0.91, Y:0.03, Z:-0.22 [[ 0.9996759 -0.0241008 -0.00820048 0.90611699] [ 0.02414877 0.99969154 0.00580242 0.03491185] [ 0.00805811 -0.00599857 0.99994954 -0.21618331] [ 0. 0. 0. 1. ]] SLAMing on 41.822414037 meters Centerline goodness [0,1] 0.625821759763159 Centerline is valid? [False, False] Translation: X:0.91, Y:0.03, Z:-0.22 [[ 0.99967518 -0.02416406 -0.00810116 0.90557112] [ 0.02421291 0.9996889 0.00598717 0.03366858] [ 0.00795397 -0.00618138 0.99994926 -0.21569675] [ 0. 0. 0. 1. ]] SLAMing on 41.852414037 meters Centerline goodness [0,1] 0.6222478210784846 Centerline is valid? [False, False] Translation: X:0.91, Y:0.03, Z:-0.22 [[ 0.99967832 -0.02402711 -0.00812146 0.90532512] [ 0.02407743 0.99969114 0.00615579 0.0332307 ] [ 0.00797105 -0.00634936 0.99994807 -0.21522108] [ 0. 0. 0. 1. ]] SLAMing on 41.882414037 meters Centerline goodness [0,1] 0.6231399213607629 Centerline is valid? [False, False] Translation: X:0.91, Y:0.03, Z:-0.21 [[ 0.99968274 -0.02378331 -0.00829318 0.90541518] [ 0.02383536 0.99969646 0.00623412 0.0334628 ] [ 0.00814239 -0.00642982 0.99994618 -0.21477653] [ 0. 0. 0. 1. ]] SLAMing on 41.912414037 meters Centerline goodness [0,1] 0.6260999934815201 Centerline is valid? [False, False] Translation: X:0.91, Y:0.03, Z:-0.22 [[ 0.9997 -0.02293809 -0.0085884 0.90638385] [ 0.02299841 0.99971105 0.00699166 0.03209802] [ 0.00842555 -0.00718708 0.99993868 -0.21508961] [ 0. 0. 0. 1. ]] SLAMing on 41.942414037 meters Centerline goodness [0,1] 0.6207815852786267 Centerline is valid? [False, False] Translation: X:0.91, Y:0.03, Z:-0.22 [[ 0.99971105 -0.02240979 -0.00869611 0.90736184] [ 0.02247713 0.99971752 0.0077242 0.03013285] [ 0.00852055 -0.00791743 0.99993235 -0.21602354] [ 0. 0. 0. 1. ]] SLAMing on 41.972414037 meters Centerline goodness [0,1] 0.6404839722083937 Centerline is valid? [False, False] Translation: X:0.91, Y:0.03, Z:-0.22 [[ 0.99972599 -0.02167613 -0.00883722 0.90836116] [ 0.0217528 0.99972575 0.00867441 0.02786307] [ 0.00864677 -0.00886427 0.99992333 -0.21689486] [ 0. 0. 0. 1. ]] SLAMing on 42.002414037 meters Centerline goodness [0,1] 0.6196629213483147 Centerline is valid? [False, False] Translation: X:0.91, Y:0.03, Z:-0.22 [[ 0.99973201 -0.02132776 -0.00900211 0.90879609] [ 0.0214079 0.9997312 0.00890148 0.02780408] [ 0.00880984 -0.00909181 0.99991986 -0.21690636] [ 0. 0. 0. 1. ]] SLAMing on 42.032414037 meters Centerline goodness [0,1] 0.6304291399896176 Centerline is valid? [False, False] Translation: X:0.91, Y:0.03, Z:-0.22 [[ 0.99973478 -0.02119348 -0.00901106 0.90871841] [ 0.02127354 0.99973422 0.00888445 0.02826463] [ 0.00882037 -0.00907379 0.99991993 -0.21665279] [ 0. 0. 0. 1. ]] SLAMing on 42.062414036999996 meters Centerline goodness [0,1] 0.633648581383773 Centerline is valid? [False, False] Translation: X:0.91, Y:0.03, Z:-0.22 [[ 0.99973667 -0.02109757 -0.00902709 0.90858749] [ 0.02117785 0.99973618 0.00889153 0.02844238] [ 0.00883712 -0.00908036 0.99991972 -0.21637587] [ 0. 0. 0. 1. ]] SLAMing on 42.092414037 meters Centerline goodness [0,1] 0.6212527577107756 Centerline is valid? [False, False] Translation: X:0.91, Y:0.03, Z:-0.22 [[ 0.99973938 -0.0210331 -0.00887604 0.90817494] [ 0.02111538 0.99973397 0.00928014 0.02592887] [ 0.00867848 -0.00946515 0.99991754 -0.21619971] [ 0. 0. 0. 1. ]] SLAMing on 42.122414037 meters Centerline goodness [0,1] 0.6337389953392025 Centerline is valid? [False, False] Translation: X:0.91, Y:0.02, Z:-0.22 [[ 0.99974199 -0.0209246 -0.00883784 0.90831314] [ 0.02101083 0.99973142 0.00977931 0.02352955] [ 0.00863084 -0.00996248 0.99991313 -0.21652505] [ 0. 0. 0. 1. ]] SLAMing on 42.152414037 meters Centerline goodness [0,1] 0.6353060519727187 Centerline is valid? [False, False] Translation: X:0.91, Y:0.02, Z:-0.22 [[ 0.99974213 -0.02097971 -0.00869067 0.90832157] [ 0.0210674 0.99972679 0.01012472 0.02163414] [ 0.00847588 -0.01030519 0.99991098 -0.21696455] [ 0. 0. 0. 1. ]] SLAMing on 42.182414037 meters Centerline goodness [0,1] 0.6297039097711932 Centerline is valid? [False, False] Translation: X:0.91, Y:0.02, Z:-0.22 [[ 0.99974274 -0.02099314 -0.0085872 0.90834462] [ 0.02108125 0.99972469 0.01030208 0.02069696] [ 0.00836857 -0.01048046 0.99991006 -0.21723308] [ 0. 0. 0. 1. ]] SLAMing on 42.212414037 meters Centerline goodness [0,1] 0.6371389804225625 Centerline is valid? [False, False] Translation: X:0.91, Y:0.02, Z:-0.22 [[ 0.99974539 -0.02083626 -0.00866099 0.90889296] [ 0.02092537 0.99972769 0.01032857 0.02226461] [ 0.00844342 -0.01050717 0.99990915 -0.21763674] [ 0. 0. 0. 1. ]] SLAMing on 42.242414036999996 meters Centerline goodness [0,1] 0.6342572635572032 Centerline is valid? [False, False] Translation: X:0.91, Y:0.02, Z:-0.22 [[ 0.99974339 -0.02091755 -0.00869557 0.90878426] [ 0.02100496 0.99972851 0.01008495 0.02344239] [ 0.00848225 -0.01026502 0.99991134 -0.21732314] [ 0. 0. 0. 1. ]] SLAMing on 42.272414037 meters Centerline goodness [0,1] 0.6372944194167223 Centerline is valid? [False, False] Translation: X:0.91, Y:0.02, Z:-0.22 [[ 0.9997385 -0.02113226 -0.00873839 0.90867323] [ 0.02121705 0.99972757 0.0097273 0.02408967] [ 0.00853045 -0.00991016 0.99991451 -0.21697 ] [ 0. 0. 0. 1. ]] SLAMing on 42.302414037 meters Centerline goodness [0,1] 0.6311005815205686 Centerline is valid? [False, False] Translation: X:0.91, Y:0.02, Z:-0.22 [[ 0.99966804 -0.02410544 -0.00909642 0.91034853] [ 0.02416389 0.9996877 0.00637182 0.02309187] [ 0.00893999 -0.00658951 0.99993833 -0.2175729 ] [ 0. 0. 0. 1. ]] SLAMing on 42.332414037 meters Centerline goodness [0,1] 0.6136637671173887 Centerline is valid? [False, False] Translation: X:0.91, Y:0.02, Z:-0.22 [[ 0.99966509 -0.02425766 -0.00901539 0.91055395] [ 0.02431714 0.99968285 0.00654736 0.02148418] [ 0.00885371 -0.0067644 0.99993793 -0.21809717] [ 0. 0. 0. 1. ]] SLAMing on 42.362414037 meters Centerline goodness [0,1] 0.6295698577668754 Centerline is valid? [False, False] Translation: X:0.91, Y:0.02, Z:-0.22 [[ 0.99966026 -0.02450149 -0.00889028 0.91040764] [ 0.02455897 0.9996778 0.00641527 0.02127866] [ 0.00873023 -0.00663142 0.9999399 -0.21823404] [ 0. 0. 0. 1. ]] SLAMing on 42.392414037 meters Centerline goodness [0,1] 0.6312863606981254 Centerline is valid? [False, False] Translation: X:0.91, Y:0.02, Z:-0.22 [[ 0.99965327 -0.02481125 -0.00881702 0.91019142] [ 0.02486496 0.9996726 0.00603541 0.02263804] [ 0.00866439 -0.00625255 0.99994292 -0.21811732] [ 0. 0. 0. 1. ]] SLAMing on 42.422414037 meters Centerline goodness [0,1] 0.6358582799792352 Centerline is valid? [False, False] Translation: X:0.91, Y:0.03, Z:-0.22 [[ 0.99970923 -0.02257885 -0.00846416 0.90809835] [ 0.02264968 0.99970844 0.00836794 0.02535879] [ 0.00827275 -0.00855722 0.99992917 -0.2167711 ] [ 0. 0. 0. 1. ]] SLAMing on 42.452414037 meters Centerline goodness [0,1] 0.6177340965547036 Centerline is valid? [False, False] Translation: X:0.91, Y:0.03, Z:-0.22 [[ 0.9997104 -0.0225151 -0.00849581 0.90855787] [ 0.02258552 0.99971057 0.00828641 0.02612677] [ 0.00830679 -0.00847589 0.99992958 -0.21718676] [ 0. 0. 0. 1. ]] SLAMing on 42.482414037 meters Centerline goodness [0,1] 0.6301206904010036 Centerline is valid? [False, False] Translation: X:0.91, Y:0.03, Z:-0.22 [[ 0.99970988 -0.02249518 -0.00860906 0.90903139] [ 0.02256644 0.99971112 0.00827223 0.02605949] [ 0.00842049 -0.00846411 0.99992872 -0.2175083 ] [ 0. 0. 0. 1. ]] SLAMing on 42.512414037 meters Centerline goodness [0,1] 0.6246736714923731 Centerline is valid? [False, False] Translation: X:0.91, Y:0.03, Z:-0.22 [[ 0.99971006 -0.0224979 -0.00858114 0.90931037] [ 0.02256894 0.99971106 0.00827333 0.02570124] [ 0.00839253 -0.0084646 0.99992896 -0.21790737] [ 0. 0. 0. 1. ]] SLAMing on 42.542414037 meters Centerline goodness [0,1] 0.6170332281899494 Centerline is valid? [False, False] Translation: X:0.91, Y:0.03, Z:-0.22 [[ 0.99970628 -0.02265616 -0.00860583 0.90923394] [ 0.02272316 0.99971161 0.00776927 0.02672203] [ 0.00842733 -0.00796254 0.99993279 -0.21759256] [ 0. 0. 0. 1. ]] SLAMing on 42.572414037 meters Centerline goodness [0,1] 0.627271349056808 Centerline is valid? [False, False] Translation: X:0.91, Y:0.03, Z:-0.22 [[ 0.99970708 -0.0225849 -0.00869873 0.90935987] [ 0.02264895 0.99971656 0.00733654 0.02858068] [ 0.00853057 -0.00753141 0.99993525 -0.21728306] [ 0. 0. 0. 1. ]] SLAMing on 42.602414037 meters Centerline goodness [0,1] 0.6268294795184897 Centerline is valid? [False, False] Translation: X:0.91, Y:0.03, Z:-0.22 [[ 0.99970954 -0.02239825 -0.00889657 0.90990234] [ 0.02245961 0.99972423 0.00685788 0.0313759 ] [ 0.00874052 -0.0070557 0.99993691 -0.21718794] [ 0. 0. 0. 1. ]] SLAMing on 42.632414037 meters Centerline goodness [0,1] 0.626148333152351 Centerline is valid? [False, False] Translation: X:0.91, Y:0.03, Z:-0.22 [[ 0.99977254 -0.01944261 -0.00876613 0.90857078] [ 0.01952795 0.9997617 0.00975745 0.03280182] [ 0.00857434 -0.00992642 0.99991397 -0.2161573 ] [ 0. 0. 0. 1. ]] SLAMing on 42.662414037 meters Centerline goodness [0,1] 0.6331396993233688 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:-0.22 [[ 0.99977553 -0.01926768 -0.00881139 0.90841767] [ 0.01934591 0.99977341 0.00888095 0.03641994] [ 0.00863828 -0.00904942 0.99992174 -0.21537608] [ 0. 0. 0. 1. ]] SLAMing on 42.692414037 meters Centerline goodness [0,1] 0.6431601157200966 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:-0.22 [[ 0.99977403 -0.01932087 -0.00886507 0.90854521] [ 0.01939733 0.99977468 0.00862193 0.03702901] [ 0.00869649 -0.00879194 0.99992353 -0.21534474] [ 0. 0. 0. 1. ]] SLAMing on 42.722414037 meters Centerline goodness [0,1] 0.6290329612835717 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:-0.22 [[ 0.99977629 -0.01917781 -0.0089211 0.90938633] [ 0.01925359 0.99977861 0.00848742 0.03796396] [ 0.00875636 -0.00865729 0.99992419 -0.21625565] [ 0. 0. 0. 1. ]] SLAMing on 42.752414037 meters Centerline goodness [0,1] 0.6250135967106838 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:-0.22 [[ 0.99977573 -0.01913653 -0.00907107 0.91025307] [ 0.01921287 0.99978009 0.00840471 0.03868746] [ 0.00890824 -0.00857711 0.99992354 -0.21694466] [ 0. 0. 0. 1. ]] SLAMing on 42.782414037 meters Centerline goodness [0,1] 0.6263194779028514 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:-0.22 [[ 0.99977522 -0.01915274 -0.00909326 0.91060431] [ 0.01922801 0.99978098 0.0082628 0.0394992 ] [ 0.00893301 -0.00843579 0.99992452 -0.21731341] [ 0. 0. 0. 1. ]] SLAMing on 42.812414036999996 meters Centerline goodness [0,1] 0.6310493113007793 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:-0.22 [[ 0.9997729 -0.01925395 -0.00913394 0.9111218 ] [ 0.01932845 0.99978005 0.0081401 0.04002876] [ 0.0089752 -0.00831479 0.99992515 -0.21788299] [ 0. 0. 0. 1. ]] SLAMing on 42.842414037 meters Centerline goodness [0,1] 0.625949187036348 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:-0.22 [[ 0.99977127 -0.01936411 -0.00907985 0.91122791] [ 0.01943732 0.99977871 0.00804494 0.04042362] [ 0.00892206 -0.00821959 0.99992641 -0.21816088] [ 0. 0. 0. 1. ]] SLAMing on 42.872414037 meters Centerline goodness [0,1] 0.6255331248222917 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:-0.22 [[ 0.99976459 -0.019786 -0.0089042 0.91094559] [ 0.0198526 0.99977513 0.00745461 0.04231573] [ 0.0087547 -0.00762963 0.99993257 -0.21822958] [ 0. 0. 0. 1. ]] SLAMing on 42.902414037 meters Centerline goodness [0,1] 0.6271702911259207 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:-0.22 [[ 0.9997609 -0.01993109 -0.0089942 0.91114798] [ 0.01999461 0.99977538 0.00702903 0.0439333 ] [ 0.00885208 -0.00720718 0.99993485 -0.2181844 ] [ 0. 0. 0. 1. ]] SLAMing on 42.932414037 meters Centerline goodness [0,1] 0.6252900232018561 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:-0.22 [[ 0.99976367 -0.01974297 -0.00909998 0.91205067] [ 0.01980775 0.9997787 0.00708527 0.04506013] [ 0.00895808 -0.00726384 0.99993349 -0.21905408] [ 0. 0. 0. 1. ]] SLAMing on 42.962414037 meters Centerline goodness [0,1] 0.6259327539285401 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:-0.22 [[ 0.99976588 -0.01958672 -0.00919458 0.91294022] [ 0.01964812 0.99978493 0.00663619 0.04727562] [ 0.00906262 -0.00681529 0.99993571 -0.21977659] [ 0. 0. 0. 1. ]] SLAMing on 42.992414036999996 meters Centerline goodness [0,1] 0.627421300866513 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:-0.22 [[ 0.9997678 -0.01945561 -0.00926368 0.91346099] [ 0.01951658 0.99978816 0.00653713 0.04812817] [ 0.00913453 -0.00671641 0.99993572 -0.22017753] [ 0. 0. 0. 1. ]] SLAMing on 43.022414037 meters Centerline goodness [0,1] 0.627421300866513 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:-0.22 [[ 0.9997678 -0.01945561 -0.00926368 0.91346099] [ 0.01951658 0.99978816 0.00653713 0.04812817] [ 0.00913453 -0.00671641 0.99993572 -0.22017753] [ 0. 0. 0. 1. ]] SLAMing on 43.052414037 meters Centerline goodness [0,1] 0.6209213473277414 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:-0.22 [[ 0.99976776 -0.0194123 -0.00935888 0.91377823] [ 0.01947148 0.99979073 0.0062743 0.04927556] [ 0.00923512 -0.00645507 0.99993652 -0.22024034] [ 0. 0. 0. 1. ]] SLAMing on 43.082414037 meters Centerline goodness [0,1] 0.6353774726604616 Centerline is valid? [False, False] Translation: X:0.91, Y:0.05, Z:-0.22 [[ 0.99977331 -0.01906316 -0.00948236 0.9142547 ] [ 0.01911815 0.99980074 0.00574312 0.05267381] [ 0.00937099 -0.0059231 0.99993855 -0.22012907] [ 0. 0. 0. 1. ]] SLAMing on 43.112414037 meters Centerline goodness [0,1] 0.6334225889996049 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:-0.22 [[ 0.99977545 -0.01884478 -0.00969183 0.91506436] [ 0.01889966 0.99980569 0.00560193 0.05442206] [ 0.00958438 -0.00578384 0.99993734 -0.22048835] [ 0. 0. 0. 1. ]] SLAMing on 43.142414037 meters Centerline goodness [0,1] 0.6189091549916292 Centerline is valid? [False, False] Translation: X:0.92, Y:0.06, Z:-0.22 [[ 0.99977322 -0.0189111 -0.00979139 0.91534694] [ 0.01896149 0.99980731 0.00507923 0.05662626] [ 0.00969344 -0.00526374 0.99993916 -0.22044834] [ 0. 0. 0. 1. ]] SLAMing on 43.172414037 meters Centerline goodness [0,1] 0.6264601769911504 Centerline is valid? [False, False] Translation: X:0.92, Y:0.06, Z:-0.22 [[ 0.99976931 -0.019081 -0.00986143 0.91542146] [ 0.01912625 0.99980688 0.00451532 0.05869057] [ 0.00977336 -0.00470289 0.99994118 -0.22025839] [ 0. 0. 0. 1. ]] SLAMing on 43.202414037 meters Centerline goodness [0,1] 0.6275519222271322 Centerline is valid? [False, False] Translation: X:0.92, Y:0.06, Z:-0.22 [[ 0.99976667 -0.01913473 -0.01002322 0.91595157] [ 0.0191775 0.99980732 0.00418802 0.06015274] [ 0.00994115 -0.00437927 0.999941 -0.22043494] [ 0. 0. 0. 1. ]] SLAMing on 43.232414037 meters Centerline goodness [0,1] 0.6251192086761738 Centerline is valid? [False, False] Translation: X:0.92, Y:0.06, Z:-0.22 [[ 0.99976006 -0.01957484 -0.00983078 0.91571405] [ 0.01960825 0.99980225 0.00331309 0.06275835] [ 0.00976398 -0.00350506 0.99994619 -0.22057325] [ 0. 0. 0. 1. ]] SLAMing on 43.262414037 meters Centerline goodness [0,1] 0.6271336340320155 Centerline is valid? [False, False] Translation: X:0.92, Y:0.06, Z:-0.22 [[ 0.99975766 -0.01965508 -0.00991417 0.91589654] [ 0.01968682 0.99980134 0.00311463 0.06345437] [ 0.00985098 -0.00330905 0.999946 -0.22055843] [ 0. 0. 0. 1. ]] SLAMing on 43.292414037 meters Centerline goodness [0,1] 0.6326308543003709 Centerline is valid? [False, False] Translation: X:0.92, Y:0.06, Z:-0.22 [[ 0.99975249 -0.01993225 -0.00988211 0.91556852] [ 0.01995932 0.99979729 0.00264818 0.06465756] [ 0.00982733 -0.00284476 0.99994766 -0.22019339] [ 0. 0. 0. 1. ]] SLAMing on 43.322414037 meters Centerline goodness [0,1] 0.6275178939437587 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:-0.22 [[ 0.99974941 -0.01992256 -0.01020854 0.91624923] [ 0.01994349 0.9997992 0.00195196 0.06799997] [ 0.0101676 -0.00215507 0.99994599 -0.21994624] [ 0. 0. 0. 1. ]] SLAMing on 43.352414037 meters Centerline goodness [0,1] 0.6243827572400907 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:-0.22 [[ 0.99980781 -0.0168432 -0.01003272 0.91538384] [ 0.01689722 0.99984305 0.00532509 0.06858506] [ 0.00994145 -0.0054936 0.99993549 -0.21979293] [ 0. 0. 0. 1. ]] SLAMing on 43.382414037 meters Centerline goodness [0,1] 0.6240112301967513 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:-0.22 [[ 0.99984499 -0.01445978 -0.01004507 0.91717291] [ 0.01453151 0.99986917 0.00710513 0.07239864] [ 0.00994102 -0.00725 0.9999243 -0.22177684] [ 0. 0. 0. 1. ]] SLAMing on 43.412414037 meters Centerline goodness [0,1] 0.6213351224421335 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:-0.22 [[ 0.99984536 -0.01425287 -0.01030098 0.91825476] [ 0.01432392 0.9998739 0.00685703 0.07395486] [ 0.01020195 -0.00700352 0.99992343 -0.22235144] [ 0. 0. 0. 1. ]] SLAMing on 43.442414037 meters Centerline goodness [0,1] 0.6386997042745766 Centerline is valid? [False, False] Translation: X:0.92, Y:0.07, Z:-0.22 [[ 0.99984641 -0.01411451 -0.01038926 0.91889541] [ 0.01418424 0.99987716 0.00666861 0.07497622] [ 0.01029386 -0.00681495 0.99992379 -0.22282501] [ 0. 0. 0. 1. ]] SLAMing on 43.472414037 meters Centerline goodness [0,1] 0.6316236451000112 Centerline is valid? [False, False] Translation: X:0.92, Y:0.08, Z:-0.22 [[ 0.99984667 -0.01411092 -0.01036933 0.91927562] [ 0.01417779 0.99987899 0.00640338 0.07577829] [ 0.01027772 -0.00654942 0.99992573 -0.22324001] [ 0. 0. 0. 1. ]] SLAMing on 43.502414037 meters Centerline goodness [0,1] 0.6411799039195438 Centerline is valid? [False, False] Translation: X:0.92, Y:0.08, Z:-0.22 [[ 0.99984534 -0.0141569 -0.0104344 0.91964401] [ 0.01421694 0.99988267 0.00570245 0.07881111] [ 0.01035244 -0.00584992 0.9999293 -0.2233112 ] [ 0. 0. 0. 1. ]] SLAMing on 43.532414037 meters Centerline goodness [0,1] 0.6313148285054999 Centerline is valid? [False, False] Translation: X:0.92, Y:0.08, Z:-0.22 [[ 0.99984319 -0.01415276 -0.01064446 0.92024957] [ 0.01421019 0.99988478 0.00533868 0.08070416] [ 0.01056768 -0.0054891 0.99992909 -0.22333036] [ 0. 0. 0. 1. ]] SLAMing on 43.562414036999996 meters Centerline goodness [0,1] 0.6367538655160014 Centerline is valid? [False, False] Translation: X:0.92, Y:0.08, Z:-0.22 [[ 0.9998385 -0.01441266 -0.01073581 0.9202454 ] [ 0.01446429 0.99988412 0.0047466 0.08283089] [ 0.01066616 -0.00490112 0.9999311 -0.22299737] [ 0. 0. 0. 1. ]] SLAMing on 43.592414037 meters Centerline goodness [0,1] 0.6340987138913204 Centerline is valid? [False, False] Translation: X:0.92, Y:0.08, Z:-0.22 [[ 0.99983729 -0.01442306 -0.01083348 0.92061796] [ 0.01447268 0.99988507 0.00451537 0.08426273] [ 0.01076711 -0.00467142 0.99993112 -0.2230757 ] [ 0. 0. 0. 1. ]] SLAMing on 43.622414037 meters Centerline goodness [0,1] 0.6388169305971663 Centerline is valid? [False, False] Translation: X:0.92, Y:0.09, Z:-0.22 [[ 0.99983478 -0.01461166 -0.01081246 0.92039635] [ 0.01465611 0.99988442 0.00404353 0.08576047] [ 0.01075213 -0.00420133 0.99993337 -0.22272819] [ 0. 0. 0. 1. ]] SLAMing on 43.652414037 meters Centerline goodness [0,1] 0.6378725521233775 Centerline is valid? [False, False] Translation: X:0.92, Y:0.09, Z:-0.22 [[ 0.99983055 -0.01495346 -0.0107359 0.9202073 ] [ 0.01499152 0.99988159 0.00347409 0.08732798] [ 0.01068268 -0.00363445 0.99993633 -0.22261616] [ 0. 0. 0. 1. ]] SLAMing on 43.682414037 meters Centerline goodness [0,1] 0.6348237414123212 Centerline is valid? [False, False] Translation: X:0.92, Y:0.09, Z:-0.22 [[ 0.99983108 -0.01482882 -0.01085942 0.92109329] [ 0.01486871 0.99988296 0.00360259 0.08739252] [ 0.01080473 -0.00376345 0.99993455 -0.22341445] [ 0. 0. 0. 1. ]] SLAMing on 43.712414037 meters Centerline goodness [0,1] 0.6373887106250282 Centerline is valid? [False, False] Translation: X:0.92, Y:0.09, Z:-0.22 [[ 0.9998295 -0.014845 -0.01098129 0.92171792] [ 0.01488157 0.99988396 0.00325606 0.08940994] [ 0.01093168 -0.00341892 0.9999344 -0.2238619 ] [ 0. 0. 0. 1. ]] SLAMing on 43.742414036999996 meters Centerline goodness [0,1] 0.6358369730023309 Centerline is valid? [False, False] Translation: X:0.92, Y:0.09, Z:-0.22 [[ 0.99983189 -0.01447606 -0.01125319 0.92307858] [ 0.01451424 0.99988915 0.0033192 0.09107663] [ 0.01120389 -0.00348197 0.99993117 -0.2247946 ] [ 0. 0. 0. 1. ]] SLAMing on 43.772414037 meters Centerline goodness [0,1] 0.6374120317820658 Centerline is valid? [False, False] Translation: X:0.92, Y:0.09, Z:-0.23 [[ 0.99983345 -0.01414627 -0.01153063 0.92421996] [ 0.01418402 0.99989428 0.00319911 0.09311355] [ 0.01148415 -0.00336212 0.9999284 -0.22533774] [ 0. 0. 0. 1. ]] SLAMing on 43.802414037 meters Centerline goodness [0,1] 0.6433887965766053 Centerline is valid? [False, False] Translation: X:0.93, Y:0.10, Z:-0.23 [[ 0.99983669 -0.01365291 -0.01184046 0.92554382] [ 0.01369162 0.99990116 0.00319404 0.09505218] [ 0.01179568 -0.00335563 0.9999248 -0.22596405] [ 0. 0. 0. 1. ]] SLAMing on 43.832414037 meters Centerline goodness [0,1] 0.636438544289311 Centerline is valid? [False, False] Translation: X:0.92, Y:0.10, Z:-0.23 [[ 0.99987794 -0.01049593 -0.01157323 0.92441876] [ 0.01056735 0.99992539 0.00612726 0.09709167] [ 0.01150805 -0.00624881 0.99991425 -0.22546367] [ 0. 0. 0. 1. ]] SLAMing on 43.862414037 meters Centerline goodness [0,1] 0.6432815618619376 Centerline is valid? [False, False] Translation: X:0.92, Y:0.10, Z:-0.23 [[ 0.99987861 -0.0105076 -0.0115044 0.92453908] [ 0.01057447 0.99992746 0.00576689 0.09869845] [ 0.01144297 -0.00588784 0.99991719 -0.2256297 ] [ 0. 0. 0. 1. ]] SLAMing on 43.892414037 meters Centerline goodness [0,1] 0.634360625574977 Centerline is valid? [False, False] Translation: X:0.92, Y:0.10, Z:-0.23 [[ 0.99987746 -0.01053324 -0.01158109 0.92499766] [ 0.01059569 0.99992958 0.00534486 0.10024317] [ 0.01152398 -0.00546691 0.99991865 -0.22580374] [ 0. 0. 0. 1. ]] SLAMing on 43.922414037 meters Centerline goodness [0,1] 0.6315679974109434 Centerline is valid? [False, False] Translation: X:0.93, Y:0.10, Z:-0.23 [[ 0.999878 -0.01046296 -0.01159754 0.92516402] [ 0.01051831 0.99993354 0.00472113 0.10282928] [ 0.01154738 -0.00484254 0.9999216 -0.22563175] [ 0. 0. 0. 1. ]] SLAMing on 43.952414037 meters Centerline goodness [0,1] 0.6409075124435699 Centerline is valid? [False, False] Translation: X:0.93, Y:0.10, Z:-0.23 [[ 0.99987707 -0.01044248 -0.01169614 0.92546615] [ 0.01049495 0.9999351 0.0044334 0.10374515] [ 0.01164909 -0.00455561 0.99992177 -0.22561102] [ 0. 0. 0. 1. ]] SLAMing on 43.982414037 meters Centerline goodness [0,1] 0.6408079964748719 Centerline is valid? [False, False] Translation: X:0.93, Y:0.10, Z:-0.23 [[ 0.99987663 -0.01031229 -0.01184787 0.92614034] [ 0.01036381 0.99993707 0.0042953 0.1047068 ] [ 0.01180283 -0.00441756 0.99992059 -0.22599048] [ 0. 0. 0. 1. ]] SLAMing on 44.012414037 meters Centerline goodness [0,1] 0.6447725848018389 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99987506 -0.01013991 -0.01212652 0.9270388 ] [ 0.01019035 0.99993965 0.00410504 0.10618467] [ 0.01208416 -0.0042281 0.99991804 -0.22625567] [ 0. 0. 0. 1. ]] SLAMing on 44.042414037 meters Centerline goodness [0,1] 0.6358991110385217 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99990601 -0.00675939 -0.01192814 0.92651945] [ 0.00684911 0.99994844 0.00749695 0.10793939] [ 0.01187685 -0.00757794 0.99990075 -0.22649293] [ 0. 0. 0. 1. ]] SLAMing on 44.072414037 meters Centerline goodness [0,1] 0.6494240788766618 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99990393 -0.00669168 -0.01213851 0.92693713] [ 0.00677808 0.99995189 0.00709079 0.1094315 ] [ 0.01209048 -0.00717239 0.99990118 -0.2262061 ] [ 0. 0. 0. 1. ]] SLAMing on 44.102414037 meters Centerline goodness [0,1] 0.6522298055347794 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99990325 -0.00666789 -0.01220799 0.9274052 ] [ 0.00675181 0.99995377 0.00684581 0.11052379] [ 0.01216178 -0.00692758 0.99990205 -0.22646342] [ 0. 0. 0. 1. ]] SLAMing on 44.132414037 meters Centerline goodness [0,1] 0.6580878044206924 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99990183 -0.00673379 -0.01228773 0.92772011] [ 0.00681556 0.99995483 0.00662483 0.11111088] [ 0.01224256 -0.00670793 0.99990256 -0.2265873 ] [ 0. 0. 0. 1. ]] SLAMing on 44.162414037 meters Centerline goodness [0,1] 0.6504196180190289 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99990186 -0.006786 -0.0122564 0.92829148] [ 0.00686965 0.99995331 0.00679612 0.10999187] [ 0.01220971 -0.00687965 0.99990179 -0.22760701] [ 0. 0. 0. 1. ]] SLAMing on 44.192414037 meters Centerline goodness [0,1] 0.6487036690378136 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99990184 -0.00714881 -0.01205028 0.92789364] [ 0.00722786 0.99995256 0.00652949 0.10984259] [ 0.01200303 -0.00661595 0.99990607 -0.22766463] [ 0. 0. 0. 1. ]] SLAMing on 44.222414037 meters Centerline goodness [0,1] 0.6453754792855139 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99990026 -0.00750608 -0.01196401 0.9274007 ] [ 0.00757989 0.99995245 0.00613597 0.11054319] [ 0.01191738 -0.00622605 0.9999096 -0.2272392 ] [ 0. 0. 0. 1. ]] SLAMing on 44.252414037 meters Centerline goodness [0,1] 0.6462370120752597 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99989804 -0.0082927 -0.01162484 0.92563319] [ 0.00835038 0.99995302 0.00492206 0.1133554 ] [ 0.01158348 -0.00501863 0.99992032 -0.22542869] [ 0. 0. 0. 1. ]] SLAMing on 44.282414037 meters Centerline goodness [0,1] 0.6472668509063657 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.22 [[ 0.99989618 -0.00841633 -0.01169589 0.92549195] [ 0.00847011 0.99995375 0.00455576 0.11445018] [ 0.011657 -0.00465436 0.99992122 -0.22488329] [ 0. 0. 0. 1. ]] SLAMing on 44.312414036999996 meters Centerline goodness [0,1] 0.6510623312595375 Centerline is valid? [False, False] Translation: X:0.93, Y:0.12, Z:-0.23 [[ 0.99989628 -0.00794223 -0.01201494 0.9268942 ] [ 0.00799852 0.99995723 0.00464384 0.11538245] [ 0.01197754 -0.00473946 0.99991703 -0.22562662] [ 0. 0. 0. 1. ]] SLAMing on 44.342414037 meters Centerline goodness [0,1] 0.6499167585058738 Centerline is valid? [False, False] Translation: X:0.93, Y:0.12, Z:-0.23 [[ 0.99989676 -0.00773896 -0.01210679 0.92784571] [ 0.00779784 0.99995796 0.00482399 0.11514959] [ 0.01206895 -0.0049179 0.99991507 -0.22657368] [ 0. 0. 0. 1. ]] SLAMing on 44.372414037 meters Centerline goodness [0,1] 0.6521107963192769 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99989648 -0.00754572 -0.01225133 0.92877252] [ 0.00760678 0.99995884 0.00494479 0.1149077 ] [ 0.01221351 -0.00503747 0.99991272 -0.22730375] [ 0. 0. 0. 1. ]] SLAMing on 44.402414037 meters Centerline goodness [0,1] 0.6540327684410379 Centerline is valid? [False, False] Translation: X:0.93, Y:0.12, Z:-0.23 [[ 0.99989652 -0.00752787 -0.01225902 0.92925565] [ 0.00758862 0.99995912 0.00491609 0.11525958] [ 0.01222151 -0.00500861 0.99991277 -0.2279047 ] [ 0. 0. 0. 1. ]] SLAMing on 44.432414037 meters Centerline goodness [0,1] 0.6506928000375121 Centerline is valid? [False, False] Translation: X:0.93, Y:0.12, Z:-0.23 [[ 0.99989528 -0.00751714 -0.01236601 0.9297499 ] [ 0.00757686 0.99995982 0.00478967 0.11602165] [ 0.01232951 -0.00488286 0.99991207 -0.22819383] [ 0. 0. 0. 1. ]] SLAMing on 44.462414037 meters Centerline goodness [0,1] 0.65079775968372 Centerline is valid? [False, False] Translation: X:0.93, Y:0.12, Z:-0.23 [[ 0.99989388 -0.00787146 -0.01225833 0.92877081] [ 0.00791949 0.99996114 0.00387425 0.11863096] [ 0.01222736 -0.00397092 0.99991736 -0.22690097] [ 0. 0. 0. 1. ]] SLAMing on 44.492414036999996 meters Centerline goodness [0,1] 0.6488899330435804 Centerline is valid? [False, False] Translation: X:0.93, Y:0.12, Z:-0.23 [[ 0.99989185 -0.00814308 -0.01224657 0.92815643] [ 0.0081828 0.99996141 0.00319721 0.12005207] [ 0.01222006 -0.00329708 0.9999199 -0.2258032 ] [ 0. 0. 0. 1. ]] SLAMing on 44.522414037 meters Centerline goodness [0,1] 0.6515436746987953 Centerline is valid? [False, False] Translation: X:0.93, Y:0.12, Z:-0.22 [[ 0.99989167 -0.0081981 -0.01222452 0.92763516] [ 0.00823344 0.99996206 0.00284283 0.12106854] [ 0.01220075 -0.00294317 0.99992124 -0.22496576] [ 0. 0. 0. 1. ]] SLAMing on 44.552414037 meters Centerline goodness [0,1] 0.6510626279742993 Centerline is valid? [False, False] Translation: X:0.93, Y:0.12, Z:-0.22 [[ 0.99988897 -0.00806285 -0.01253175 0.92812735] [ 0.0080966 0.99996372 0.00264486 0.12181508] [ 0.01250997 -0.00274603 0.99991798 -0.22462536] [ 0. 0. 0. 1. ]] SLAMing on 44.582414037 meters Centerline goodness [0,1] 0.6516317952108818 Centerline is valid? [False, False] Translation: X:0.93, Y:0.12, Z:-0.23 [[ 0.99988839 -0.00800038 -0.01261766 0.92861645] [ 0.00803532 0.99996402 0.0027206 0.12181323] [ 0.01259544 -0.00282168 0.99991669 -0.2250285 ] [ 0. 0. 0. 1. ]] SLAMing on 44.612414037 meters Centerline goodness [0,1] 0.6428116372902952 Centerline is valid? [False, False] Translation: X:0.93, Y:0.12, Z:-0.23 [[ 0.99988706 -0.00814707 -0.01262903 0.92887416] [ 0.00818274 0.99996267 0.00277526 0.12181862] [ 0.01260595 -0.00287828 0.9999164 -0.22545362] [ 0. 0. 0. 1. ]] SLAMing on 44.642414037 meters Centerline goodness [0,1] 0.6440998040743101 Centerline is valid? [False, False] Translation: X:0.93, Y:0.12, Z:-0.23 [[ 0.99988703 -0.00818469 -0.01260669 0.92904551] [ 0.00822239 0.99996187 0.0029421 0.1211076 ] [ 0.01258213 -0.00304542 0.9999162 -0.22577492] [ 0. 0. 0. 1. ]] SLAMing on 44.672414037 meters Centerline goodness [0,1] 0.6537817504304144 Centerline is valid? [False, False] Translation: X:0.93, Y:0.12, Z:-0.23 [[ 0.99988732 -0.00835658 -0.01247033 0.92885983] [ 0.00839582 0.99995996 0.00309699 0.12008601] [ 0.01244395 -0.00320134 0.99991745 -0.22604301] [ 0. 0. 0. 1. ]] SLAMing on 44.702414037 meters Centerline goodness [0,1] 0.6474411813193284 Centerline is valid? [False, False] Translation: X:0.93, Y:0.12, Z:-0.23 [[ 0.99988829 -0.00831151 -0.01242277 0.92906369] [ 0.00835457 0.99995926 0.00341808 0.11890446] [ 0.01239385 -0.00352149 0.99991699 -0.22649862] [ 0. 0. 0. 1. ]] SLAMing on 44.732414037 meters Centerline goodness [0,1] 0.651141488162345 Centerline is valid? [False, False] Translation: X:0.93, Y:0.12, Z:-0.23 [[ 0.99988783 -0.00862047 -0.01224788 0.92811183] [ 0.00866149 0.99995704 0.00330027 0.11782765] [ 0.0122189 -0.00340598 0.99991955 -0.22574402] [ 0. 0. 0. 1. ]] SLAMing on 44.762414037 meters Centerline goodness [0,1] 0.6570736069277108 Centerline is valid? [False, False] Translation: X:0.93, Y:0.12, Z:-0.23 [[ 0.99988747 -0.00861382 -0.01228193 0.92808583] [ 0.0086547 0.99995717 0.00327867 0.11785012] [ 0.01225316 -0.0033846 0.9999192 -0.22555842] [ 0. 0. 0. 1. ]] SLAMing on 44.792414037 meters Centerline goodness [0,1] 0.6503455408772507 Centerline is valid? [False, False] Translation: X:0.93, Y:0.12, Z:-0.23 [[ 0.99988825 -0.00824718 -0.01246883 0.9289556 ] [ 0.00829248 0.99995919 0.00358564 0.11782229] [ 0.01243875 -0.00368864 0.99991583 -0.22605352] [ 0. 0. 0. 1. ]] SLAMing on 44.822414037 meters Centerline goodness [0,1] 0.6522310327030452 Centerline is valid? [False, False] Translation: X:0.93, Y:0.12, Z:-0.23 [[ 0.9998877 -0.00776215 -0.01281968 0.93001382] [ 0.00781005 0.99996269 0.00369073 0.11878118] [ 0.01279056 -0.00379044 0.99991101 -0.22612793] [ 0. 0. 0. 1. ]] SLAMing on 44.852414037 meters Centerline goodness [0,1] 0.6533189118013591 Centerline is valid? [False, False] Translation: X:0.93, Y:0.12, Z:-0.23 [[ 0.99988687 -0.00788789 -0.01280751 0.92961507] [ 0.00793329 0.99996241 0.00349807 0.11867056] [ 0.01277944 -0.00359928 0.99991186 -0.22558544] [ 0. 0. 0. 1. ]] SLAMing on 44.882414037 meters Centerline goodness [0,1] 0.6473989798077149 Centerline is valid? [False, False] Translation: X:0.93, Y:0.12, Z:-0.23 [[ 0.99988788 -0.00766041 -0.01286664 0.92988477] [ 0.00770971 0.99996311 0.00378612 0.1173476 ] [ 0.01283716 -0.00388489 0.99991005 -0.22571452] [ 0. 0. 0. 1. ]] SLAMing on 44.912414037 meters Centerline goodness [0,1] 0.648173745987864 Centerline is valid? [False, False] Translation: X:0.93, Y:0.12, Z:-0.23 [[ 0.99988853 -0.00752269 -0.01289689 0.93026947] [ 0.00757586 0.99996298 0.00407894 0.11599971] [ 0.01286572 -0.00417619 0.99990851 -0.2261417 ] [ 0. 0. 0. 1. ]] SLAMing on 44.942414037 meters Centerline goodness [0,1] 0.648173745987864 Centerline is valid? [False, False] Translation: X:0.93, Y:0.12, Z:-0.23 [[ 0.99988853 -0.00752269 -0.01289689 0.93026947] [ 0.00757586 0.99996298 0.00407894 0.11599971] [ 0.01286572 -0.00417619 0.99990851 -0.2261417 ] [ 0. 0. 0. 1. ]] SLAMing on 44.972414037 meters Centerline goodness [0,1] 0.6514267034044738 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99988944 -0.0073369 -0.01293395 0.93094332] [ 0.00739688 0.99996208 0.00459559 0.11406678] [ 0.01289975 -0.00469075 0.99990579 -0.22698109] [ 0. 0. 0. 1. ]] SLAMing on 45.002414037 meters Centerline goodness [0,1] 0.6547982920740101 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99988928 -0.00734789 -0.01293977 0.9309404 ] [ 0.00740828 0.99996186 0.00462591 0.11389021] [ 0.01290529 -0.00472126 0.99990558 -0.22690148] [ 0. 0. 0. 1. ]] SLAMing on 45.032414037 meters Centerline goodness [0,1] 0.6499953257922781 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99988817 -0.00739117 -0.01300098 0.93087495] [ 0.00745142 0.99996169 0.0045923 0.11401974] [ 0.01296654 -0.00468867 0.99990494 -0.22659764] [ 0. 0. 0. 1. ]] SLAMing on 45.062414036999996 meters Centerline goodness [0,1] 0.6496067586174706 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99988746 -0.00746349 -0.01301392 0.93026728] [ 0.0075207 0.99996224 0.00435299 0.11417345] [ 0.01298094 -0.00445037 0.99990584 -0.22544562] [ 0. 0. 0. 1. ]] SLAMing on 45.092414037 meters Centerline goodness [0,1] 0.6482038370981653 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.22 [[ 0.99988624 -0.00768451 -0.0129794 0.92961841] [ 0.00773856 0.99996157 0.00411897 0.11395301] [ 0.01294724 -0.00421894 0.99990728 -0.22459293] [ 0. 0. 0. 1. ]] SLAMing on 45.122414037 meters Centerline goodness [0,1] 0.6479656187228477 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.22 [[ 0.99988494 -0.00778939 -0.01301698 0.92940208] [ 0.00784267 0.99996105 0.0040475 0.1133279 ] [ 0.01298494 -0.00414913 0.99990708 -0.22414213] [ 0. 0. 0. 1. ]] SLAMing on 45.152414037 meters Centerline goodness [0,1] 0.6463955080164273 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99987065 -0.00896793 -0.01335164 0.93230081] [ 0.00899863 0.999957 0.00224132 0.11302728] [ 0.01333097 -0.00236117 0.99990835 -0.22591786] [ 0. 0. 0. 1. ]] SLAMing on 45.182414037 meters Centerline goodness [0,1] 0.6417774879474579 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99987102 -0.00875924 -0.01346172 0.93302648] [ 0.00879524 0.99995789 0.00261781 0.11184985] [ 0.01343822 -0.00273587 0.99990596 -0.22661971] [ 0. 0. 0. 1. ]] SLAMing on 45.212414037 meters Centerline goodness [0,1] 0.6440457073704298 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99987246 -0.0084702 -0.01353972 0.93400666] [ 0.00851301 0.99995894 0.00310719 0.11086577] [ 0.01351285 -0.00322205 0.99990351 -0.22772367] [ 0. 0. 0. 1. ]] SLAMing on 45.242414036999996 meters Centerline goodness [0,1] 0.6660614525139665 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99987434 -0.00823189 -0.01354762 0.93470642] [ 0.00827943 0.99995975 0.00345663 0.11056214] [ 0.01351862 -0.00356836 0.99990225 -0.22863245] [ 0. 0. 0. 1. ]] SLAMing on 45.272414037 meters Centerline goodness [0,1] 0.6426379655028127 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99987448 -0.00788359 -0.01374336 0.93553026] [ 0.00793559 0.99996154 0.00373324 0.11037587] [ 0.0137134 -0.00384183 0.99989859 -0.22907106] [ 0. 0. 0. 1. ]] SLAMing on 45.302414037 meters Centerline goodness [0,1] 0.6546990250599158 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99987429 -0.00768243 -0.01387029 0.93589479] [ 0.00773595 0.99996282 0.00380921 0.11035354] [ 0.01384051 -0.00391603 0.99989655 -0.22903832] [ 0. 0. 0. 1. ]] SLAMing on 45.332414037 meters Centerline goodness [0,1] 0.6507190394191837 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99987432 -0.00743691 -0.01400105 0.93617084] [ 0.00749162 0.99996449 0.00385972 0.11029284] [ 0.01397184 -0.00396413 0.99989453 -0.22888684] [ 0. 0. 0. 1. ]] SLAMing on 45.362414037 meters Centerline goodness [0,1] 0.6646982237515112 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99987509 -0.00712275 -0.01410913 0.93577759] [ 0.00717002 0.99996884 0.00330227 0.11166042] [ 0.01408517 -0.00340302 0.99989501 -0.22727781] [ 0. 0. 0. 1. ]] SLAMing on 45.392414037 meters Centerline goodness [0,1] 0.6677947904023901 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99987367 -0.00713247 -0.01420432 0.93540177] [ 0.0071751 0.9999699 0.0029523 0.11248321] [ 0.01418284 -0.00305384 0.99989476 -0.22627522] [ 0. 0. 0. 1. ]] SLAMing on 45.422414037 meters Centerline goodness [0,1] 0.6694159036369143 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99987295 -0.006894 -0.01437228 0.93564584] [ 0.00693789 0.99997141 0.00300603 0.11242133] [ 0.01435114 -0.00310536 0.99989219 -0.22591276] [ 0. 0. 0. 1. ]] SLAMing on 45.452414037 meters Centerline goodness [0,1] 0.6632686310105664 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99987253 -0.00697397 -0.01436286 0.93521718] [ 0.00701844 0.99997073 0.00304764 0.11137966] [ 0.01434119 -0.00314806 0.9998922 -0.22532595] [ 0. 0. 0. 1. ]] SLAMing on 45.482414037 meters Centerline goodness [0,1] 0.6756078285528334 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99987235 -0.0070058 -0.01435949 0.93533524] [ 0.00705246 0.99997001 0.00320156 0.11043137] [ 0.01433663 -0.00330242 0.99989177 -0.22549263] [ 0. 0. 0. 1. ]] SLAMing on 45.512414037 meters Centerline goodness [0,1] 0.5871567586311524 Centerline is valid? [False, False] Translation: X:0.99, Y:0.11, Z:-0.22 [[ 9.99836963e-01 -1.04980154e-02 -1.46914400e-02 9.85006864e-01] [ 1.04883390e-02 9.99944725e-01 -7.35536630e-04 1.08780984e-01] [ 1.46983496e-02 5.81327908e-04 9.99891804e-01 -2.23256093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.542414037 meters Centerline goodness [0,1] 0.6737944324487475 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 9.99841956e-01 -9.41020720e-03 -1.50834971e-02 9.34158555e-01] [ 9.42150515e-03 9.99955387e-01 6.78142175e-04 1.10937681e-01] [ 1.50764427e-02 -8.20144245e-04 9.99886008e-01 -2.25942032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.572414037 meters Centerline goodness [0,1] 0.655024267899027 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99984451 -0.00935503 -0.01494783 0.93496086] [ 0.00937612 0.99995514 0.00134149 0.10956153] [ 0.01493461 -0.00148143 0.99988737 -0.22770085] [ 0. 0. 0. 1. ]] SLAMing on 45.602414037 meters Centerline goodness [0,1] 0.6629943175229038 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.9998442 -0.00940226 -0.01493888 0.93531713] [ 0.00942746 0.99995425 0.00161724 0.10930864] [ 0.01492299 -0.00175783 0.9998871 -0.22837031] [ 0. 0. 0. 1. ]] SLAMing on 45.632414037 meters Centerline goodness [0,1] 0.6627982545724631 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99984415 -0.00944022 -0.01491829 0.93564893] [ 0.00946769 0.99995361 0.00177171 0.10930262] [ 0.01490087 -0.00191267 0.99988715 -0.22891397] [ 0. 0. 0. 1. ]] SLAMing on 45.662414037 meters Centerline goodness [0,1] 0.6642657992565055 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99984499 -0.0096382 -0.01473415 0.93529848] [ 0.00966494 0.99995177 0.00174435 0.10945794] [ 0.01471663 -0.00188648 0.99988992 -0.22903626] [ 0. 0. 0. 1. ]] SLAMing on 45.692414037 meters Centerline goodness [0,1] 0.6530134445989801 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99984379 -0.01011923 -0.01449129 0.93456704] [ 0.01014722 0.99994679 0.00185916 0.10765435] [ 0.01447171 -0.00200592 0.99989327 -0.22906126] [ 0. 0. 0. 1. ]] SLAMing on 45.722414037 meters Centerline goodness [0,1] 0.6488018134715026 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99984355 -0.01042954 -0.01428649 0.93385003] [ 0.0104575 0.99994354 0.00188353 0.10635735] [ 0.01426603 -0.00203263 0.99989617 -0.22876214] [ 0. 0. 0. 1. ]] SLAMing on 45.752414037 meters Centerline goodness [0,1] 0.6525239439226391 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99984039 -0.0110042 -0.01407488 0.93260896] [ 0.01102646 0.99993807 0.00150475 0.10600725] [ 0.01405745 -0.0016597 0.99989981 -0.22779203] [ 0. 0. 0. 1. ]] SLAMing on 45.782414037 meters Centerline goodness [0,1] 0.6489712507547257 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 9.99833104e-01 -1.19168596e-02 -1.38475117e-02 9.31049394e-01] [ 1.19298898e-02 9.99928468e-01 8.58755823e-04 1.07510153e-01] [ 1.38362875e-02 -1.02381179e-03 9.99903750e-01 -2.26584875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.812414036999996 meters Centerline goodness [0,1] 0.6523184195235328 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 9.99829784e-01 -1.20952591e-02 -1.39322750e-02 9.31035314e-01] [ 1.21050383e-02 9.99926540e-01 6.17794991e-04 1.08468249e-01] [ 1.39237791e-02 -7.86340554e-04 9.99902750e-01 -2.26301670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.842414037 meters Centerline goodness [0,1] 0.6476964140652199 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 9.99829846e-01 -1.18735389e-02 -1.41172714e-02 9.32020419e-01] [ 1.18876403e-02 9.99928921e-01 9.15382303e-04 1.08546655e-01] [ 1.41053992e-02 -1.08304759e-03 9.99899927e-01 -2.27078241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.872414037 meters Centerline goodness [0,1] 0.6513725216744533 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99982899 -0.01171433 -0.01430945 0.93286378] [ 0.01173103 0.9999306 0.00108346 0.10832815] [ 0.01429577 -0.00125114 0.99989703 -0.22767696] [ 0. 0. 0. 1. ]] SLAMing on 45.902414037 meters Centerline goodness [0,1] 0.6486586751373786 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99983319 -0.01118183 -0.01444124 0.93440099] [ 0.01120753 0.99993575 0.0016996 0.10694912] [ 0.0144213 -0.00186116 0.99989428 -0.22936292] [ 0. 0. 0. 1. ]] SLAMing on 45.932414037 meters Centerline goodness [0,1] 0.6495734421364985 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.9998339 -0.0110197 -0.01451696 0.93485444] [ 0.01104657 0.99993741 0.00177194 0.10666603] [ 0.01449652 -0.00193201 0.99989305 -0.22968604] [ 0. 0. 0. 1. ]] SLAMing on 45.962414037 meters Centerline goodness [0,1] 0.6523478140244607 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99983506 -0.01083711 -0.01457447 0.93530451] [ 0.01086573 0.99993919 0.00188581 0.10686327] [ 0.01455315 -0.00204386 0.99989201 -0.23005355] [ 0. 0. 0. 1. ]] SLAMing on 45.992414036999996 meters Centerline goodness [0,1] 0.6464878139190066 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99983513 -0.0107133 -0.01466076 0.93545161] [ 0.01074015 0.99994078 0.00175421 0.10785715] [ 0.01464109 -0.00191138 0.99989099 -0.22986134] [ 0. 0. 0. 1. ]] SLAMing on 46.022414037 meters Centerline goodness [0,1] 0.6569202587706078 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99987054 -0.00746017 -0.01425677 0.93359104] [ 0.00753072 0.99995963 0.00490149 0.10899109] [ 0.01421963 -0.00500821 0.99988635 -0.22868605] [ 0. 0. 0. 1. ]] SLAMing on 46.052414037 meters Centerline goodness [0,1] 0.6512858601801133 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99986854 -0.00721231 -0.0145218 0.93410922] [ 0.00728202 0.99996219 0.00475362 0.10989321] [ 0.01448696 -0.00485875 0.99988325 -0.22841907] [ 0. 0. 0. 1. ]] SLAMing on 46.082414037 meters Centerline goodness [0,1] 0.6522011411606439 Centerline is valid? [False, False] Translation: X:0.93, Y:0.11, Z:-0.23 [[ 0.99987404 -0.00604683 -0.01467477 0.93498277] [ 0.00612097 0.9999687 0.00501262 0.11057292] [ 0.014644 -0.00510182 0.99987976 -0.22840134] [ 0. 0. 0. 1. ]] SLAMing on 46.112414037 meters Centerline goodness [0,1] 0.651953522821961 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99987104 -0.0056213 -0.01504328 0.93609823] [ 0.00569719 0.99997124 0.00500702 0.11100734] [ 0.0150147 -0.00509208 0.99987431 -0.22851898] [ 0. 0. 0. 1. ]] SLAMing on 46.142414037 meters Centerline goodness [0,1] 0.6627011734149622 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99986905 -0.00540787 -0.01525259 0.93663305] [ 0.0054832 0.99997296 0.0049011 0.11170477] [ 0.01522567 -0.00498409 0.99987166 -0.22847957] [ 0. 0. 0. 1. ]] SLAMing on 46.172414037 meters Centerline goodness [0,1] 0.6538015493807117 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99986648 -0.0051657 -0.01550294 0.9375174 ] [ 0.0052429 0.99997404 0.00494336 0.11209092] [ 0.015477 -0.00502398 0.9998676 -0.22879479] [ 0. 0. 0. 1. ]] SLAMing on 46.202414037 meters Centerline goodness [0,1] 0.6831363625809748 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99986442 -0.00505233 -0.01567244 0.93817314] [ 0.0051309 0.99997445 0.00497739 0.11227941] [ 0.01564689 -0.00505713 0.99986479 -0.22913162] [ 0. 0. 0. 1. ]] SLAMing on 46.232414037 meters Centerline goodness [0,1] 0.65219305359253 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99986246 -0.00483365 -0.01586497 0.9391645 ] [ 0.00491738 0.99997417 0.00524231 0.11173666] [ 0.01583922 -0.0053196 0.9998604 -0.22988852] [ 0. 0. 0. 1. ]] SLAMing on 46.262414037 meters Centerline goodness [0,1] 0.651419960588849 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.9998612 -0.00485433 -0.01593789 0.9395154 ] [ 0.00493767 0.99997432 0.00519428 0.11177099] [ 0.01591226 -0.00527226 0.99985949 -0.23012418] [ 0. 0. 0. 1. ]] SLAMing on 46.292414037 meters Centerline goodness [0,1] 0.6761710321787346 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99985979 -0.00483718 -0.01603129 0.93997473] [ 0.00492078 0.99997448 0.00517892 0.11204646] [ 0.01600583 -0.00525708 0.99985808 -0.23049293] [ 0. 0. 0. 1. ]] SLAMing on 46.322414037 meters Centerline goodness [0,1] 0.6785415504740658 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99985948 -0.00471162 -0.01608798 0.94059918] [ 0.00479743 0.99997445 0.00529989 0.11188195] [ 0.0160626 -0.00537632 0.99985653 -0.23109424] [ 0. 0. 0. 1. ]] SLAMing on 46.352414037 meters Centerline goodness [0,1] 0.6524360550054495 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99985762 -0.00457767 -0.01624159 0.94136303] [ 0.00466676 0.99997425 0.00545172 0.11148377] [ 0.01621622 -0.00552674 0.99985323 -0.23167213] [ 0. 0. 0. 1. ]] SLAMing on 46.382414037 meters Centerline goodness [0,1] 0.6761063178402449 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99985664 -0.00474615 -0.0162532 0.94120727] [ 0.00483225 0.99997448 0.00526268 0.11128297] [ 0.0162278 -0.00534047 0.99985406 -0.23140753] [ 0. 0. 0. 1. ]] SLAMing on 46.412414037 meters Centerline goodness [0,1] 0.6704305687588398 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99985865 -0.00526091 -0.01596864 0.93981848] [ 0.00533815 0.99997424 0.00479813 0.11074645] [ 0.01594299 -0.00488269 0.99986098 -0.23029412] [ 0. 0. 0. 1. ]] SLAMing on 46.442414037 meters Centerline goodness [0,1] 0.665413359327856 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99985887 -0.00531046 -0.01593884 0.93969223] [ 0.00538658 0.99997428 0.00473645 0.11042878] [ 0.01591328 -0.00482163 0.99986175 -0.23012061] [ 0. 0. 0. 1. ]] SLAMing on 46.472414037 meters Centerline goodness [0,1] 0.6648000557659688 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99985815 -0.00546796 -0.01593045 0.93947505] [ 0.00554211 0.999974 0.0046143 0.11060316] [ 0.0159048 -0.00470193 0.99986246 -0.22984089] [ 0. 0. 0. 1. ]] SLAMing on 46.502414037 meters Centerline goodness [0,1] 0.6667748516320475 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99985504 -0.00531401 -0.01617613 0.9401924 ] [ 0.00539092 0.99997436 0.00471441 0.11082133] [ 0.01615067 -0.00480093 0.99985804 -0.23000883] [ 0. 0. 0. 1. ]] SLAMing on 46.532414037 meters Centerline goodness [0,1] 0.6720438817784156 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.9998514 -0.00506357 -0.0164787 0.94088133] [ 0.00514095 0.99997594 0.0046568 0.11154493] [ 0.01645472 -0.00474082 0.99985337 -0.22979826] [ 0. 0. 0. 1. ]] SLAMing on 46.562414036999996 meters Centerline goodness [0,1] 0.672811809833779 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99984993 -0.00498066 -0.01659235 0.94108463] [ 0.00505689 0.99997684 0.00455508 0.11158973] [ 0.01656927 -0.0046383 0.99985196 -0.22961297] [ 0. 0. 0. 1. ]] SLAMing on 46.592414037 meters Centerline goodness [0,1] 0.6765800120913361 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99984795 -0.00469976 -0.01679258 0.94171732] [ 0.00477825 0.99997783 0.00463742 0.11156367] [ 0.01677041 -0.00471696 0.99984824 -0.2297682 ] [ 0. 0. 0. 1. ]] SLAMing on 46.622414037 meters Centerline goodness [0,1] 0.6775965185822996 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99984868 -0.00380265 -0.01697539 0.94278126] [ 0.00387829 0.99998269 0.00442515 0.11322576] [ 0.01695826 -0.00449032 0.99984612 -0.22975976] [ 0. 0. 0. 1. ]] SLAMing on 46.652414037 meters Centerline goodness [0,1] 0.6775965185822996 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 0.99984868 -0.00380265 -0.01697539 0.94278126] [ 0.00387829 0.99998269 0.00442515 0.11322576] [ 0.01695826 -0.00449032 0.99984612 -0.22975976] [ 0. 0. 0. 1. ]] SLAMing on 46.682414037 meters Centerline goodness [0,1] 0.6928058566802759 Centerline is valid? [False, False] Translation: X:0.94, Y:0.11, Z:-0.23 [[ 9.99855927e-01 1.46936351e-04 -1.69736281e-02 9.42602067e-01] [-1.38956496e-05 9.99969283e-01 7.83793477e-03 1.14923301e-01] [ 1.69742584e-02 -7.83656967e-03 9.99825216e-01 -2.29396219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.712414037 meters Centerline goodness [0,1] 0.7026995277588516 Centerline is valid? [False, False] Translation: X:0.94, Y:0.12, Z:-0.23 [[ 9.99849686e-01 5.20560429e-04 -1.73301418e-02 9.43632626e-01] [-3.89659634e-04 9.99971378e-01 7.55587975e-03 1.16405008e-01] [ 1.73335790e-02 -7.54799114e-03 9.99821271e-01 -2.29409308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.742414036999996 meters Centerline goodness [0,1] 0.7036627797630243 Centerline is valid? [False, False] Translation: X:0.95, Y:0.12, Z:-0.23 [[ 9.99842446e-01 1.08764154e-03 -1.77172363e-02 9.45004576e-01] [-9.53151140e-04 9.99970683e-01 7.59761229e-03 1.16966475e-01] [ 1.77249804e-02 -7.57952805e-03 9.99814171e-01 -2.29773042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.772414037 meters Centerline goodness [0,1] 0.71900826446281 Centerline is valid? [False, False] Translation: X:0.95, Y:0.12, Z:-0.23 [[ 0.99983241 0.00261449 -0.01811969 0.94722577] [-0.00246557 0.99996305 0.00823575 0.116875 ] [ 0.01814055 -0.00818969 0.99980191 -0.23084307] [ 0. 0. 0. 1. ]] SLAMing on 46.802414037 meters Centerline goodness [0,1] 0.7279885300615805 Centerline is valid? [False, False] Translation: X:0.95, Y:0.12, Z:-0.23 [[ 0.99982602 0.0030744 -0.01839771 0.94821396] [-0.00292345 0.99996189 0.00822599 0.11737662] [ 0.0184223 -0.00817077 0.99979691 -0.23105204] [ 0. 0. 0. 1. ]] SLAMing on 46.832414037 meters Centerline goodness [0,1] 0.7279885300615805 Centerline is valid? [False, False] Translation: X:0.95, Y:0.12, Z:-0.23 [[ 0.99982602 0.0030744 -0.01839771 0.94821396] [-0.00292345 0.99996189 0.00822599 0.11737662] [ 0.0184223 -0.00817077 0.99979691 -0.23105204] [ 0. 0. 0. 1. ]] SLAMing on 46.862414037 meters Centerline goodness [0,1] 0.7249359742487254 Centerline is valid? [False, False] Translation: X:0.95, Y:0.12, Z:-0.23 [[ 0.99981711 0.00358057 -0.01878641 0.94940644] [-0.0034262 0.99996016 0.00824309 0.11821675] [ 0.01881518 -0.00817721 0.99978954 -0.23118597] [ 0. 0. 0. 1. ]] SLAMing on 46.892414037 meters Centerline goodness [0,1] 0.7222091656874265 Centerline is valid? [False, False] Translation: X:0.95, Y:0.12, Z:-0.23 [[ 0.99981322 0.0037888 -0.01895185 0.94971678] [-0.0036404 0.99996249 0.00785879 0.11980466] [ 0.01898092 -0.00778833 0.99978951 -0.23075204] [ 0. 0. 0. 1. ]] SLAMing on 46.922414037 meters Centerline goodness [0,1] 0.7169407391723717 Centerline is valid? [False, False] Translation: X:0.95, Y:0.12, Z:-0.23 [[ 0.99980461 0.00427817 -0.01929892 0.95047166] [-0.00413296 0.9999629 0.00755791 0.12204399] [ 0.01933054 -0.00747668 0.99978519 -0.23017476] [ 0. 0. 0. 1. ]] SLAMing on 46.952414037 meters Centerline goodness [0,1] 0.7347817899345606 Centerline is valid? [False, False] Translation: X:0.95, Y:0.12, Z:-0.23 [[ 0.99980314 0.00418638 -0.01939475 0.95042745] [-0.00404725 0.99996584 0.00720753 0.1224647 ] [ 0.01942426 -0.00712761 0.99978592 -0.22965226] [ 0. 0. 0. 1. ]] SLAMing on 46.982414037 meters Centerline goodness [0,1] 0.7354615601769079 Centerline is valid? [False, False] Translation: X:0.95, Y:0.12, Z:-0.23 [[ 0.99980112 0.00431148 -0.01947139 0.950576 ] [-0.00416773 0.9999638 0.00741758 0.12058524] [ 0.01950266 -0.00733496 0.9997829 -0.22960119] [ 0. 0. 0. 1. ]] SLAMing on 47.012414037 meters Centerline goodness [0,1] 0.7285821349946133 Centerline is valid? [False, False] Translation: X:0.95, Y:0.12, Z:-0.23 [[ 0.99979924 0.00156964 -0.01997551 0.95270601] [-0.00149263 0.9999914 0.00386924 0.12102573] [ 0.01998141 -0.00383865 0.99979298 -0.23021957] [ 0. 0. 0. 1. ]] SLAMing on 47.042414037 meters Centerline goodness [0,1] 0.7170841436839516 Centerline is valid? [False, False] Translation: X:0.95, Y:0.12, Z:-0.23 [[ 0.99979828 0.00162952 -0.02001851 0.95319257] [-0.00154891 0.99999063 0.00404147 0.1198437 ] [ 0.02002491 -0.00400965 0.99979144 -0.23073228] [ 0. 0. 0. 1. ]] SLAMing on 47.072414037 meters Centerline goodness [0,1] 0.7361336246388047 Centerline is valid? [False, False] Translation: X:0.95, Y:0.12, Z:-0.23 [[ 0.99979582 0.00167856 -0.02013694 0.95366577] [-0.00159589 0.99999024 0.00412084 0.12005303] [ 0.02014366 -0.00408786 0.99978874 -0.23107662] [ 0. 0. 0. 1. ]] SLAMing on 47.102414037 meters Centerline goodness [0,1] 0.7375603808094546 Centerline is valid? [False, False] Translation: X:0.95, Y:0.12, Z:-0.23 [[ 0.99978893 0.00197829 -0.02044927 0.95459351] [-0.00189243 0.99998932 0.00421692 0.12085405] [ 0.0204574 -0.00417733 0.999782 -0.23126966] [ 0. 0. 0. 1. ]] SLAMing on 47.132414037 meters Centerline goodness [0,1] 0.7035360877925245 Centerline is valid? [False, False] Translation: X:0.95, Y:0.12, Z:-0.23 [[ 0.99978501 0.00200295 -0.02063812 0.95486967] [-0.00192039 0.99999008 0.00401925 0.12145431] [ 0.02064596 -0.00397876 0.99977893 -0.23095215] [ 0. 0. 0. 1. ]] SLAMing on 47.162414037 meters Centerline goodness [0,1] 0.7386307551293803 Centerline is valid? [False, False] Translation: X:0.95, Y:0.12, Z:-0.23 [[ 0.99978365 0.00200904 -0.02070309 0.9547857 ] [-0.00192791 0.99999039 0.00393778 0.12101809] [ 0.0207108 -0.00389701 0.99977791 -0.23051622] [ 0. 0. 0. 1. ]] SLAMing on 47.192414037 meters Centerline goodness [0,1] 0.7374552600182469 Centerline is valid? [False, False] Translation: X:0.95, Y:0.12, Z:-0.23 [[ 0.99978342 0.00185254 -0.02072873 0.95396089] [-0.00176994 0.99999042 0.00400282 0.11789416] [ 0.02073594 -0.00396526 0.99977712 -0.22933441] [ 0. 0. 0. 1. ]] SLAMing on 47.222414037 meters Centerline goodness [0,1] 0.7431953765846384 Centerline is valid? [False, False] Translation: X:0.96, Y:0.12, Z:-0.23 [[ 9.99776199e-01 -3.63290343e-04 -2.11523077e-02 9.56184149e-01] [ 3.88576062e-04 9.99999215e-01 1.19131402e-03 1.17705156e-01] [ 2.11518583e-02 -1.19926668e-03 9.99775555e-01 -2.30204750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.252414037 meters Centerline goodness [0,1] 0.7433694434067987 Centerline is valid? [False, False] Translation: X:0.96, Y:0.12, Z:-0.23 [[ 9.99774708e-01 -3.08852171e-04 -2.12235438e-02 9.56224330e-01] [ 3.39060346e-04 9.99998935e-01 1.41974951e-03 1.16373011e-01] [ 2.12230827e-02 -1.42662571e-03 9.99773747e-01 -2.30069925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.282414037 meters Centerline goodness [0,1] 0.7450469723746629 Centerline is valid? [False, False] Translation: X:0.96, Y:0.11, Z:-0.23 [[ 9.99769738e-01 1.29011947e-04 -2.14582177e-02 9.57136113e-01] [-8.08050355e-05 9.99997471e-01 2.24739970e-03 1.14230240e-01] [ 2.14584534e-02 -2.24514828e-03 9.99767220e-01 -2.30681525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.312414036999996 meters Centerline goodness [0,1] 0.7255079320901754 Centerline is valid? [False, False] Translation: X:0.96, Y:0.11, Z:-0.23 [[ 9.99769346e-01 2.07261647e-04 -2.14758517e-02 9.57232709e-01] [-1.52538120e-04 9.99996738e-01 2.54974915e-03 1.13000950e-01] [ 2.14763101e-02 -2.54588515e-03 9.99766116e-01 -2.30788435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.342414037 meters Centerline goodness [0,1] 0.747117655229893 Centerline is valid? [False, False] Translation: X:0.96, Y:0.11, Z:-0.23 [[ 9.99768881e-01 2.59432820e-04 -2.14969075e-02 9.57279687e-01] [-1.99427287e-04 9.99996078e-01 2.79345330e-03 1.11430370e-01] [ 2.14975479e-02 -2.78852061e-03 9.99765012e-01 -2.30761828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.372414037 meters Centerline goodness [0,1] 0.7450677606711533 Centerline is valid? [False, False] Translation: X:0.96, Y:0.11, Z:-0.23 [[ 9.99766777e-01 5.69460006e-04 -2.15886099e-02 9.57314769e-01] [-4.92217417e-04 9.99993460e-01 3.58307741e-03 1.07055362e-01] [ 2.15905092e-02 -3.57161547e-03 9.99760518e-01 -2.30618173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.402414037 meters Centerline goodness [0,1] 0.7326719061476068 Centerline is valid? [False, False] Translation: X:0.96, Y:0.11, Z:-0.23 [[ 9.99763777e-01 7.66866825e-04 -2.17210275e-02 9.57664497e-01] [-6.82319656e-04 9.99992164e-01 3.89955489e-03 1.05193553e-01] [ 2.17238478e-02 -3.88381304e-03 9.99756466e-01 -2.30609955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.432414037 meters Centerline goodness [0,1] 0.7509718728561628 Centerline is valid? [False, False] Translation: X:0.96, Y:0.10, Z:-0.23 [[ 9.99760158e-01 1.08557670e-03 -2.18734365e-02 9.58234844e-01] [-9.89953008e-04 9.99989909e-01 4.38203531e-03 1.03412195e-01] [ 2.18779728e-02 -4.35933065e-03 9.99751144e-01 -2.30901971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.462414037 meters Centerline goodness [0,1] 0.7577754469171836 Centerline is valid? [False, False] Translation: X:0.96, Y:0.10, Z:-0.23 [[ 0.99975282 0.00170186 -0.02216748 0.95877688] [-0.00159083 0.99998611 0.00502547 0.10166939] [ 0.02217572 -0.00498896 0.99974164 -0.23066769] [ 0. 0. 0. 1. ]] SLAMing on 47.492414036999996 meters Centerline goodness [0,1] 0.7579565633110231 Centerline is valid? [False, False] Translation: X:0.96, Y:0.10, Z:-0.23 [[ 0.99974773 0.00196639 -0.02237424 0.95905686] [-0.00185232 0.99998519 0.00511759 0.10106709] [ 0.02238397 -0.00507485 0.99973657 -0.23025806] [ 0. 0. 0. 1. ]] SLAMing on 47.522414037 meters Centerline goodness [0,1] 0.7571750460887179 Centerline is valid? [False, False] Translation: X:0.96, Y:0.10, Z:-0.23 [[ 0.99974049 0.00241836 -0.02265169 0.9596291 ] [-0.00229677 0.99998282 0.00539217 0.09996474] [ 0.02266434 -0.00533875 0.99972888 -0.22999043] [ 0. 0. 0. 1. ]] SLAMing on 47.552414037 meters Centerline goodness [0,1] 0.7608152322093974 Centerline is valid? [False, False] Translation: X:0.96, Y:0.10, Z:-0.23 [[ 0.99972971 0.00308049 -0.02304392 0.96086036] [-0.00294522 0.99997825 0.00590177 0.09843961] [ 0.0230616 -0.00583231 0.99971703 -0.23026895] [ 0. 0. 0. 1. ]] SLAMing on 47.582414037 meters Centerline goodness [0,1] 0.7635248313640274 Centerline is valid? [False, False] Translation: X:0.96, Y:0.10, Z:-0.23 [[ 0.9997186 0.00372095 -0.02342792 0.96223628] [-0.00357085 0.99997285 0.00644551 0.09695462] [ 0.02345126 -0.00636004 0.99970475 -0.23087774] [ 0. 0. 0. 1. ]] SLAMing on 47.612414037 meters Centerline goodness [0,1] 0.7632679827239219 Centerline is valid? [False, False] Translation: X:0.96, Y:0.10, Z:-0.23 [[ 0.9997081 0.00442648 -0.0237511 0.96362787] [-0.00426131 0.99996642 0.00700064 0.09579418] [ 0.02378129 -0.00689739 0.99969339 -0.23161328] [ 0. 0. 0. 1. ]] SLAMing on 47.642414037 meters Centerline goodness [0,1] 0.7680682125778219 Centerline is valid? [False, False] Translation: X:0.97, Y:0.09, Z:-0.23 [[ 0.99969298 0.00598084 -0.02404513 0.9653111 ] [-0.00578785 0.99995054 0.00808768 0.09416093] [ 0.02409232 -0.00794603 0.99967816 -0.23246894] [ 0. 0. 0. 1. ]] SLAMing on 47.672414037 meters Centerline goodness [0,1] 0.7671254441595826 Centerline is valid? [False, False] Translation: X:0.97, Y:0.09, Z:-0.23 [[ 0.99968405 0.0064859 -0.02428422 0.96592938] [-0.00628836 0.99994659 0.00820186 0.09395175] [ 0.02433612 -0.00804656 0.99967145 -0.23224819] [ 0. 0. 0. 1. ]] SLAMing on 47.702414037 meters Centerline goodness [0,1] 0.7683136484404653 Centerline is valid? [False, False] Translation: X:0.96, Y:0.09, Z:-0.23 [[ 0.9996833 0.00672602 -0.02424989 0.96465716] [-0.00652893 0.99994509 0.00819749 0.09216906] [ 0.02430369 -0.00803656 0.99967232 -0.23016905] [ 0. 0. 0. 1. ]] SLAMing on 47.732414037 meters Centerline goodness [0,1] 0.766765804244281 Centerline is valid? [False, False] Translation: X:0.96, Y:0.09, Z:-0.23 [[ 0.99968566 0.00657314 -0.02419434 0.96366353] [-0.00637411 0.99994528 0.00829458 0.090076 ] [ 0.02424754 -0.00813776 0.99967286 -0.22902962] [ 0. 0. 0. 1. ]] SLAMing on 47.762414037 meters Centerline goodness [0,1] 0.7664654594232059 Centerline is valid? [False, False] Translation: X:0.96, Y:0.09, Z:-0.23 [[ 0.99968553 0.00653026 -0.02421147 0.96319517] [-0.00632314 0.99994284 0.00862133 0.087509 ] [ 0.02426639 -0.00846553 0.99966968 -0.22840339] [ 0. 0. 0. 1. ]] SLAMing on 47.792414037 meters Centerline goodness [0,1] 0.7669946232960757 Centerline is valid? [False, False] Translation: X:0.96, Y:0.09, Z:-0.23 [[ 0.99969115 0.00365579 -0.02458112 0.96474211] [-0.00352592 0.99997961 0.00532472 0.08713614] [ 0.02460008 -0.00523641 0.99968366 -0.22883963] [ 0. 0. 0. 1. ]] SLAMing on 47.822414037 meters Centerline goodness [0,1] 0.7658141764587839 Centerline is valid? [False, False] Translation: X:0.97, Y:0.09, Z:-0.23 [[ 9.99685179e-01 1.01640093e-03 -2.50700994e-02 9.66748120e-01] [-9.56631302e-04 9.99996672e-01 2.39597815e-03 8.65685998e-02] [ 2.50724512e-02 -2.37124100e-03 9.99682824e-01 -2.29645991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.852414037 meters Centerline goodness [0,1] 0.7655129542881247 Centerline is valid? [False, False] Translation: X:0.97, Y:0.08, Z:-0.23 [[ 9.99669262e-01 -1.77026382e-03 -2.56560386e-02 9.68886783e-01] [ 1.77758856e-03 9.99998386e-01 2.62693559e-04 8.26617411e-02] [ 2.56555322e-02 -3.08212557e-04 9.99670795e-01 -2.30764955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.882414037 meters Centerline goodness [0,1] 0.7659314542102574 Centerline is valid? [False, False] Translation: X:0.97, Y:0.08, Z:-0.23 [[ 0.99967063 -0.00179991 -0.02560045 0.96905601] [ 0.00182681 0.9999978 0.00102771 0.0793725 ] [ 0.02559854 -0.00107414 0.99967173 -0.23138906] [ 0. 0. 0. 1. ]] SLAMing on 47.912414037 meters Centerline goodness [0,1] 0.7653858031499536 Centerline is valid? [False, False] Translation: X:0.97, Y:0.08, Z:-0.23 [[ 0.99964567 -0.00446863 -0.0262406 0.97187435] [ 0.00443134 0.99998909 -0.00147906 0.07771396] [ 0.02624693 0.00136225 0.99965456 -0.23306515] [ 0. 0. 0. 1. ]] SLAMing on 47.942414037 meters Centerline goodness [0,1] 0.7657128990271129 Centerline is valid? [False, False] Translation: X:0.97, Y:0.07, Z:-0.23 [[ 0.99964924 -0.00561203 -0.02588228 0.97096868] [ 0.00557956 0.99998355 -0.00132667 0.07281386] [ 0.0258893 0.00118179 0.99966412 -0.2333543 ] [ 0. 0. 0. 1. ]] SLAMing on 47.972414037 meters Centerline goodness [0,1] 0.7649867957746479 Centerline is valid? [False, False] Translation: X:0.98, Y:0.07, Z:-0.24 [[ 0.99977073 -0.00907181 -0.0193955 0.98010013] [ 0.00919299 0.99993872 0.0061681 0.06955553] [ 0.01933835 -0.00634498 0.99979286 -0.2368771 ] [ 0. 0. 0. 1. ]] SLAMing on 48.002414037 meters Centerline goodness [0,1] 0.7632757939122414 Centerline is valid? [False, False] Translation: X:0.98, Y:0.07, Z:-0.24 [[ 0.99976772 -0.0092934 -0.01944581 0.98001042] [ 0.00942133 0.99993451 0.00649756 0.06710585] [ 0.01938415 -0.00667926 0.9997898 -0.23675046] [ 0. 0. 0. 1. ]] SLAMing on 48.032414037 meters Centerline goodness [0,1] 0.7648486173352279 Centerline is valid? [False, False] Translation: X:0.98, Y:0.06, Z:-0.24 [[ 0.99972974 -0.01249715 -0.01960297 0.98096155] [ 0.01257843 0.99991277 0.00402836 0.06274717] [ 0.01955092 -0.00427385 0.99979973 -0.23738388] [ 0. 0. 0. 1. ]] SLAMing on 48.062414036999996 meters Centerline goodness [0,1] 0.7644802875238325 Centerline is valid? [False, False] Translation: X:0.98, Y:0.06, Z:-0.24 [[ 0.99972672 -0.01309511 -0.01936516 0.97980523] [ 0.01317641 0.99990488 0.00407662 0.05962822] [ 0.01930993 -0.00433067 0.99980417 -0.23660702] [ 0. 0. 0. 1. ]] SLAMing on 48.092414037 meters Centerline goodness [0,1] 0.7653883972468043 Centerline is valid? [False, False] Translation: X:0.98, Y:0.06, Z:-0.24 [[ 0.9997225 -0.01346001 -0.01933271 0.9793927 ] [ 0.01354788 0.99989845 0.00442129 0.05660241] [ 0.01927123 -0.00468198 0.99980333 -0.2363383 ] [ 0. 0. 0. 1. ]] SLAMing on 48.122414037 meters Centerline goodness [0,1] 0.7653147950399896 Centerline is valid? [False, False] Translation: X:0.98, Y:0.05, Z:-0.24 [[ 0.99967088 -0.0165041 -0.01964037 0.98084067] [ 0.01654694 0.99986105 0.0020207 0.05342316] [ 0.01960429 -0.00234502 0.99980507 -0.23719461] [ 0. 0. 0. 1. ]] SLAMing on 48.152414037 meters Centerline goodness [0,1] 0.760320153116708 Centerline is valid? [False, False] Translation: X:0.98, Y:0.05, Z:-0.24 [[ 0.99967285 -0.0165832 -0.01947298 0.98063747] [ 0.01663625 0.99985832 0.00256534 0.05148759] [ 0.01942768 -0.00288846 0.99980709 -0.23748758] [ 0. 0. 0. 1. ]] SLAMing on 48.182414037 meters Centerline goodness [0,1] 0.7588213580005646 Centerline is valid? [False, False] Translation: X:0.98, Y:0.05, Z:-0.24 [[ 0.99967442 -0.01653496 -0.01943345 0.98057383] [ 0.01659995 0.99985713 0.00318726 0.04951196] [ 0.01937797 -0.00350882 0.99980607 -0.23762383] [ 0. 0. 0. 1. ]] SLAMing on 48.212414037 meters Centerline goodness [0,1] 0.7548128052088985 Centerline is valid? [False, False] Translation: X:0.98, Y:0.05, Z:-0.24 [[ 0.99967509 -0.01673921 -0.01922264 0.9798757 ] [ 0.01680893 0.9998527 0.0034709 0.04778193] [ 0.01916171 -0.00379289 0.9998092 -0.23732014] [ 0. 0. 0. 1. ]] SLAMing on 48.242414036999996 meters Centerline goodness [0,1] 0.7599809577391643 Centerline is valid? [False, False] Translation: X:0.98, Y:0.05, Z:-0.24 [[ 0.9996758 -0.01671853 -0.01920369 0.97976912] [ 0.01679886 0.99985077 0.00402949 0.0455422 ] [ 0.01913346 -0.00435078 0.99980747 -0.23736675] [ 0. 0. 0. 1. ]] SLAMing on 48.272414037 meters Centerline goodness [0,1] 0.7458944060609973 Centerline is valid? [False, False] Translation: X:0.98, Y:0.04, Z:-0.24 [[ 0.99961578 -0.01969709 -0.01950189 0.98117381] [ 0.01972734 0.99980447 0.00136006 0.04260699] [ 0.01947129 -0.00174426 0.99980889 -0.23801973] [ 0. 0. 0. 1. ]] SLAMing on 48.302414037 meters Centerline goodness [0,1] 0.7496976241900648 Centerline is valid? [False, False] Translation: X:0.98, Y:0.04, Z:-0.24 [[ 0.99961801 -0.01972775 -0.01935583 0.98085292] [ 0.01976865 0.99980273 0.00192389 0.04008492] [ 0.01931406 -0.00230579 0.99981081 -0.23810799] [ 0. 0. 0. 1. ]] SLAMing on 48.332414037 meters Centerline goodness [0,1] 0.7509455166302867 Centerline is valid? [False, False] Translation: X:0.98, Y:0.04, Z:-0.24 [[ 0.99961737 -0.01997046 -0.01913887 0.98018523] [ 0.02002389 0.99979611 0.00260434 0.03633979] [ 0.01908296 -0.00298658 0.99981344 -0.23801741] [ 0. 0. 0. 1. ]] SLAMing on 48.362414037 meters Centerline goodness [0,1] 0.7401073900761219 Centerline is valid? [False, False] Translation: X:0.98, Y:0.03, Z:-0.24 [[ 0.99962069 -0.01974772 -0.01919663 0.98060088] [ 0.01981235 0.99979865 0.00318228 0.03496496] [ 0.01912992 -0.00356141 0.99981066 -0.23844119] [ 0. 0. 0. 1. ]] SLAMing on 48.392414037 meters Centerline goodness [0,1] 0.7456038272562711 Centerline is valid? [False, False] Translation: X:0.98, Y:0.03, Z:-0.24 [[ 0.99962131 -0.01969746 -0.01921554 0.98040036] [ 0.01976647 0.99979881 0.00340842 0.03437031] [ 0.01914454 -0.00378695 0.99980955 -0.23811184] [ 0. 0. 0. 1. ]] SLAMing on 48.422414037 meters Centerline goodness [0,1] 0.7356146093548109 Centerline is valid? [False, False] Translation: X:0.98, Y:0.03, Z:-0.24 [[ 0.99962444 -0.01955871 -0.01919476 0.98016838] [ 0.01963284 0.99980048 0.00368133 0.03385792] [ 0.01911893 -0.0040568 0.99980899 -0.2378013 ] [ 0. 0. 0. 1. ]] SLAMing on 48.452414037 meters Centerline goodness [0,1] 0.7430231307154385 Centerline is valid? [False, False] Translation: X:0.98, Y:0.03, Z:-0.24 [[ 0.99962357 -0.01953672 -0.01926204 0.9800019 ] [ 0.01961439 0.9998002 0.00385164 0.03304679] [ 0.01918294 -0.00422801 0.99980705 -0.23738271] [ 0. 0. 0. 1. ]] SLAMing on 48.482414037 meters Centerline goodness [0,1] 0.7301324858817719 Centerline is valid? [False, False] Translation: X:0.98, Y:0.03, Z:-0.24 [[ 0.99962804 -0.01932312 -0.0192458 0.98019451] [ 0.0194092 0.99980239 0.00429605 0.03142353] [ 0.01915898 -0.00466799 0.99980555 -0.23761638] [ 0. 0. 0. 1. ]] SLAMing on 48.512414037 meters Centerline goodness [0,1] 0.7290387454269271 Centerline is valid? [False, False] Translation: X:0.98, Y:0.03, Z:-0.24 [[ 0.99963087 -0.01902764 -0.01939248 0.98120401] [ 0.01912998 0.99980397 0.0051055 0.02753649] [ 0.01929153 -0.0054746 0.99979891 -0.23857774] [ 0. 0. 0. 1. ]] SLAMing on 48.542414037 meters Centerline goodness [0,1] 0.7524185417962633 Centerline is valid? [False, False] Translation: X:0.98, Y:0.03, Z:-0.24 [[ 0.99963444 -0.01878166 -0.01944808 0.98163365] [ 0.01889215 0.99980633 0.0055129 0.02637861] [ 0.01934077 -0.0058783 0.99979567 -0.23899033] [ 0. 0. 0. 1. ]] SLAMing on 48.572414037 meters Centerline goodness [0,1] 0.751827634258763 Centerline is valid? [False, False] Translation: X:0.98, Y:0.03, Z:-0.24 [[ 0.99963719 -0.01864383 -0.01943943 0.98184002] [ 0.01875564 0.9998085 0.00558517 0.02667555] [ 0.01933158 -0.00594774 0.99979544 -0.23920784] [ 0. 0. 0. 1. ]] SLAMing on 48.602414037 meters Centerline goodness [0,1] 0.7535461752731948 Centerline is valid? [False, False] Translation: X:0.98, Y:0.03, Z:-0.24 [[ 0.99964802 -0.0178424 -0.01963385 0.98254142] [ 0.01796065 0.9998215 0.00586319 0.02807627] [ 0.01952573 -0.00621376 0.99979005 -0.23932418] [ 0. 0. 0. 1. ]] SLAMing on 48.632414037 meters Centerline goodness [0,1] 0.7560493827160494 Centerline is valid? [False, False] Translation: X:0.98, Y:0.03, Z:-0.24 [[ 0.99965065 -0.01748951 -0.0198167 0.9830995 ] [ 0.01761202 0.99982675 0.00602439 0.02834168] [ 0.0197079 -0.0063713 0.99978548 -0.2394449 ] [ 0. 0. 0. 1. ]] SLAMing on 48.662414037 meters Centerline goodness [0,1] 0.7700878508677952 Centerline is valid? [False, False] Translation: X:0.98, Y:0.03, Z:-0.24 [[ 0.9996617 -0.01654445 -0.02006926 0.98436582] [ 0.01668226 0.99983827 0.00671865 0.02713449] [ 0.01995486 -0.00705118 0.99977602 -0.24021519] [ 0. 0. 0. 1. ]] SLAMing on 48.692414037 meters Centerline goodness [0,1] 0.768439769489492 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:-0.24 [[ 0.99966394 -0.01620329 -0.02023513 0.98505214] [ 0.01634605 0.99984252 0.00690988 0.02680476] [ 0.02011998 -0.00723833 0.99977137 -0.24057705] [ 0. 0. 0. 1. ]] SLAMing on 48.722414037 meters Centerline goodness [0,1] 0.7744162610690624 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:-0.24 [[ 0.99966543 -0.01582587 -0.02045879 0.9859373 ] [ 0.01597403 0.99984721 0.00709892 0.02687816] [ 0.02034332 -0.00742336 0.99976549 -0.24108035] [ 0. 0. 0. 1. ]] SLAMing on 48.752414037 meters Centerline goodness [0,1] 0.772960332954326 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:-0.24 [[ 0.99966997 -0.01542766 -0.02054126 0.98660227] [ 0.01557854 0.99985268 0.00720547 0.02753714] [ 0.02042707 -0.0075231 0.99976304 -0.24160027] [ 0. 0. 0. 1. ]] SLAMing on 48.782414037 meters Centerline goodness [0,1] 0.772960332954326 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:-0.24 [[ 0.99966997 -0.01542766 -0.02054126 0.98660227] [ 0.01557854 0.99985268 0.00720547 0.02753714] [ 0.02042707 -0.0075231 0.99976304 -0.24160027] [ 0. 0. 0. 1. ]] SLAMing on 48.812414036999996 meters Centerline goodness [0,1] 0.7742822760873302 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:-0.24 [[ 0.99967715 -0.01492363 -0.02056425 0.98690922] [ 0.0150725 0.99986117 0.00710356 0.02924909] [ 0.02045538 -0.00741122 0.9997633 -0.2416588 ] [ 0. 0. 0. 1. ]] SLAMing on 48.842414037 meters Centerline goodness [0,1] 0.7731414970945816 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:-0.24 [[ 0.99967666 -0.01497303 -0.02055183 0.98685287] [ 0.01511733 0.99986203 0.00688404 0.02973407] [ 0.02044592 -0.0071925 0.99976509 -0.24147049] [ 0. 0. 0. 1. ]] SLAMing on 48.872414037 meters Centerline goodness [0,1] 0.7723222870328825 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:-0.24 [[ 0.99967406 -0.01491237 -0.02072163 0.98689846] [ 0.01505596 0.99986359 0.00679097 0.02979815] [ 0.02061753 -0.00710074 0.99976222 -0.2409695 ] [ 0. 0. 0. 1. ]] SLAMing on 48.902414037 meters Centerline goodness [0,1] 0.7737090606105924 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:-0.24 [[ 0.99967317 -0.01510007 -0.0206288 0.9863194 ] [ 0.01523925 0.99986205 0.00660623 0.02981847] [ 0.0205262 -0.00691844 0.99976538 -0.24038317] [ 0. 0. 0. 1. ]] SLAMing on 48.932414037 meters Centerline goodness [0,1] 0.7751605995717344 Centerline is valid? [False, False] Translation: X:0.98, Y:0.03, Z:-0.24 [[ 0.99966762 -0.01571564 -0.02043691 0.98496946] [ 0.01584548 0.99985519 0.00620687 0.02910481] [ 0.02033641 -0.00652864 0.99977188 -0.23911045] [ 0. 0. 0. 1. ]] SLAMing on 48.962414037 meters Centerline goodness [0,1] 0.7720721682502402 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:-0.24 [[ 0.99966366 -0.01583128 -0.02054102 0.98544319] [ 0.01596641 0.99985184 0.00643169 0.02766332] [ 0.02043615 -0.00675749 0.99976832 -0.23953143] [ 0. 0. 0. 1. ]] SLAMing on 48.992414036999996 meters Centerline goodness [0,1] 0.7719215619112862 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:-0.24 [[ 0.99965889 -0.01613328 -0.02053841 0.98561355] [ 0.01627032 0.99984635 0.00652277 0.0261417 ] [ 0.02043002 -0.00685471 0.99976779 -0.23986436] [ 0. 0. 0. 1. ]] SLAMing on 49.022414037 meters Centerline goodness [0,1] 0.7682078077820845 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:-0.24 [[ 0.99959403 -0.01949566 -0.02077719 0.9873406 ] [ 0.01957021 0.99980274 0.00339063 0.02554505] [ 0.02070699 -0.00379587 0.99977838 -0.24124273] [ 0. 0. 0. 1. ]] SLAMing on 49.052414037 meters Centerline goodness [0,1] 0.7631685965625736 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:-0.24 [[ 0.99959121 -0.01983384 -0.02059182 0.98682865] [ 0.0199055 0.99979648 0.00328115 0.02566393] [ 0.02052255 -0.0036897 0.99978258 -0.24110254] [ 0. 0. 0. 1. ]] SLAMing on 49.082414037 meters Centerline goodness [0,1] 0.7684499079110807 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:-0.24 [[ 0.99958909 -0.02001814 -0.02051665 0.98649949] [ 0.02008977 0.99979276 0.00329114 0.02580349] [ 0.02044652 -0.00370197 0.99978409 -0.24089021] [ 0. 0. 0. 1. ]] SLAMing on 49.112414037 meters Centerline goodness [0,1] 0.7529145492590853 Centerline is valid? [False, False] Translation: X:0.99, Y:0.03, Z:-0.24 [[ 0.99958161 -0.0203733 -0.02053151 0.98615803] [ 0.02044409 0.99978573 0.00324402 0.02509588] [ 0.02046102 -0.00366242 0.99978394 -0.24044891] [ 0. 0. 0. 1. ]] SLAMing on 49.142414037 meters Centerline goodness [0,1] 0.7634666438297508 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99957947 -0.02062309 -0.02038577 0.98571718] [ 0.02069413 0.99978047 0.00327984 0.0238485 ] [ 0.02031366 -0.00370033 0.99978681 -0.24030127] [ 0. 0. 0. 1. ]] SLAMing on 49.172414037 meters Centerline goodness [0,1] 0.7579609655880842 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99957974 -0.02074433 -0.0202487 0.98560324] [ 0.02081936 0.99977712 0.0035016 0.02240713] [ 0.02017155 -0.0039217 0.99978884 -0.24051085] [ 0. 0. 0. 1. ]] SLAMing on 49.202414037 meters Centerline goodness [0,1] 0.7583598641054679 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99957725 -0.02085229 -0.0202609 0.98582038] [ 0.0209319 0.99977396 0.00372514 0.02140255] [ 0.02017865 -0.00414767 0.99978779 -0.24086372] [ 0. 0. 0. 1. ]] SLAMing on 49.232414037 meters Centerline goodness [0,1] 0.7467410351754498 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99956942 -0.02135565 -0.02012216 0.98552392] [ 0.02143059 0.99976416 0.00351573 0.02185222] [ 0.02004233 -0.00394545 0.99979135 -0.24093516] [ 0. 0. 0. 1. ]] SLAMing on 49.262414037 meters Centerline goodness [0,1] 0.7428297259835803 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99956488 -0.02142986 -0.02026858 0.9858514 ] [ 0.02150493 0.99976264 0.0034934 0.0222268 ] [ 0.02018891 -0.00392775 0.99978847 -0.24096751] [ 0. 0. 0. 1. ]] SLAMing on 49.292414037 meters Centerline goodness [0,1] 0.7338564830653438 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99955896 -0.02170942 -0.02026272 0.98554595] [ 0.02178026 0.99975739 0.00328215 0.02249987] [ 0.02018655 -0.00372203 0.9997893 -0.24060772] [ 0. 0. 0. 1. ]] SLAMing on 49.322414037 meters Centerline goodness [0,1] 0.7421354077620106 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99955665 -0.02183099 -0.0202463 0.98537991] [ 0.02190292 0.99975453 0.00333764 0.02178501] [ 0.02016846 -0.00377961 0.99978945 -0.2404311 ] [ 0. 0. 0. 1. ]] SLAMing on 49.352414037 meters Centerline goodness [0,1] 0.7517916560020477 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99956027 -0.0216593 -0.02025201 0.98573135] [ 0.02173814 0.99975692 0.00368102 0.02007535] [ 0.02016736 -0.00411964 0.99978813 -0.24079111] [ 0. 0. 0. 1. ]] SLAMing on 49.382414037 meters Centerline goodness [0,1] 0.7486295672205276 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99956467 -0.02138278 -0.02032865 0.98624408] [ 0.02146633 0.99976196 0.00390102 0.01991735] [ 0.02024039 -0.00433571 0.99978574 -0.24117488] [ 0. 0. 0. 1. ]] SLAMing on 49.412414037 meters Centerline goodness [0,1] 0.7630858121121336 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99956362 -0.02128936 -0.02047782 0.98657672] [ 0.02137297 0.99976407 0.00387276 0.02038781] [ 0.02039054 -0.00430875 0.99978281 -0.24118543] [ 0. 0. 0. 1. ]] SLAMing on 49.442414037 meters Centerline goodness [0,1] 0.7583292320201999 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99956903 -0.02115679 -0.02035052 0.98624822] [ 0.0212371 0.99976748 0.00373851 0.02124698] [ 0.02026669 -0.00416909 0.99978592 -0.2409155 ] [ 0. 0. 0. 1. ]] SLAMing on 49.472414037 meters Centerline goodness [0,1] 0.7444913267698078 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99957216 -0.02077565 -0.02058796 0.98729307] [ 0.02086452 0.99977386 0.00411142 0.02105914] [ 0.02049788 -0.00453921 0.99977959 -0.24161865] [ 0. 0. 0. 1. ]] SLAMing on 49.502414037 meters Centerline goodness [0,1] 0.7214857508805635 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99957273 -0.02071859 -0.02061768 0.98742367] [ 0.02080723 0.99977512 0.00409418 0.02122593] [ 0.02052821 -0.00452143 0.99977905 -0.24166942] [ 0. 0. 0. 1. ]] SLAMing on 49.532414037 meters Centerline goodness [0,1] 0.7627918901019078 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99957667 -0.02050249 -0.02064294 0.98775479] [ 0.0205957 0.99977858 0.00431318 0.02101806] [ 0.02054994 -0.00473651 0.99977761 -0.24197146] [ 0. 0. 0. 1. ]] SLAMing on 49.562414036999996 meters Centerline goodness [0,1] 0.7691863819965378 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99957884 -0.0203542 -0.02068468 0.98793697] [ 0.02044795 0.99978154 0.00433109 0.02119294] [ 0.02059201 -0.00475223 0.99977667 -0.24203015] [ 0. 0. 0. 1. ]] SLAMing on 49.592414037 meters Centerline goodness [0,1] 0.7485397633667814 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99957779 -0.02029661 -0.02079157 0.98829044] [ 0.02039395 0.99978198 0.00448066 0.02062269] [ 0.02069609 -0.00490279 0.99977379 -0.24221225] [ 0. 0. 0. 1. ]] SLAMing on 49.622414037 meters Centerline goodness [0,1] 0.7670010672358591 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.9995794 -0.02013334 -0.02087256 0.98877229] [ 0.02023801 0.99978359 0.00481564 0.01960563] [ 0.02077108 -0.00523604 0.99977055 -0.24263532] [ 0. 0. 0. 1. ]] SLAMing on 49.652414037 meters Centerline goodness [0,1] 0.7668525521868257 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99958165 -0.02002009 -0.02087394 0.98877356] [ 0.02013072 0.99978433 0.00510348 0.01842646] [ 0.02076726 -0.00552156 0.99976909 -0.24261969] [ 0. 0. 0. 1. ]] SLAMing on 49.682414037 meters Centerline goodness [0,1] 0.7676575556172932 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.9995821 -0.01998252 -0.02088819 0.98840948] [ 0.0200949 0.99978464 0.00518433 0.01770424] [ 0.02078009 -0.00560191 0.99976838 -0.24201649] [ 0. 0. 0. 1. ]] SLAMing on 49.712414037 meters Centerline goodness [0,1] 0.7737804616900081 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99958476 -0.01969618 -0.0210326 0.98886544] [ 0.0198139 0.99978908 0.00540337 0.01772892] [ 0.02092174 -0.00581787 0.99976419 -0.24215345] [ 0. 0. 0. 1. ]] SLAMing on 49.742414036999996 meters Centerline goodness [0,1] 0.7701529469485271 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99959845 -0.01869753 -0.02129171 0.98986284] [ 0.01882552 0.9998058 0.00582695 0.01866636] [ 0.02117863 -0.00622544 0.99975633 -0.24241636] [ 0. 0. 0. 1. ]] SLAMing on 49.772414037 meters Centerline goodness [0,1] 0.7734215017064846 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99960308 -0.01823604 -0.0214739 0.99043517] [ 0.01836734 0.9998137 0.00593303 0.01920981] [ 0.0213617 -0.00632509 0.9997518 -0.24251319] [ 0. 0. 0. 1. ]] SLAMing on 49.802414037 meters Centerline goodness [0,1] 0.7744461991548935 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99960811 -0.01771543 -0.02167477 0.9909911 ] [ 0.01785071 0.99982227 0.00606403 0.01940896] [ 0.02156349 -0.00644856 0.99974668 -0.24248591] [ 0. 0. 0. 1. ]] SLAMing on 49.832414037 meters Centerline goodness [0,1] 0.7817929562433298 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99963404 -0.01595584 -0.0218449 0.99224925] [ 0.01611347 0.99984525 0.00705911 0.01868847] [ 0.02172888 -0.00740853 0.99973645 -0.24312473] [ 0. 0. 0. 1. ]] SLAMing on 49.862414037 meters Centerline goodness [0,1] 0.7832753950820022 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99964185 -0.01538577 -0.02189635 0.99256643] [ 0.01554608 0.99985344 0.00716995 0.01926311] [ 0.02178282 -0.00750778 0.99973454 -0.24315898] [ 0. 0. 0. 1. ]] SLAMing on 49.892414037 meters Centerline goodness [0,1] 0.785263112969997 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99964612 -0.0148542 -0.02206783 0.99280234] [ 0.01501485 0.99986184 0.00713196 0.02041167] [ 0.02195884 -0.00746078 0.99973104 -0.24272748] [ 0. 0. 0. 1. ]] SLAMing on 49.922414037 meters Centerline goodness [0,1] 0.7858681970430739 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99964942 -0.01442353 -0.02220335 0.9930078 ] [ 0.01458336 0.99986878 0.00705323 0.02158102] [ 0.02209871 -0.00737456 0.99972859 -0.2423727 ] [ 0. 0. 0. 1. ]] SLAMing on 49.952414037 meters Centerline goodness [0,1] 0.7870471072441516 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.9996555 -0.01387786 -0.02227769 0.9929052 ] [ 0.0140407 0.99987572 0.00716966 0.0218965 ] [ 0.02217542 -0.00747998 0.99972611 -0.24171778] [ 0. 0. 0. 1. ]] SLAMing on 49.982414037 meters Centerline goodness [0,1] 0.7861148425339559 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.9996547 -0.01378346 -0.02237186 0.993238 ] [ 0.01395137 0.99987554 0.00736678 0.02072815] [ 0.02226754 -0.00767635 0.99972258 -0.24183618] [ 0. 0. 0. 1. ]] SLAMing on 50.012414037 meters Centerline goodness [0,1] 0.7867058422755919 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99965282 -0.01379755 -0.02244686 0.99338122] [ 0.01397046 0.99987379 0.00756458 0.01903612] [ 0.02233966 -0.00787555 0.99971942 -0.24182424] [ 0. 0. 0. 1. ]] SLAMing on 50.042414037 meters Centerline goodness [0,1] 0.7850342160071407 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99960221 -0.01688067 -0.02259351 0.99467613] [ 0.01699105 0.99984458 0.00470233 0.01744866] [ 0.02251062 -0.00508434 0.99973368 -0.24269455] [ 0. 0. 0. 1. ]] SLAMing on 50.072414037 meters Centerline goodness [0,1] 0.7868894327977014 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.24 [[ 0.99959565 -0.01736401 -0.02251735 0.99408097] [ 0.01747678 0.99983565 0.00482089 0.01588301] [ 0.02242994 -0.00521248 0.99973483 -0.2422457 ] [ 0. 0. 0. 1. ]] SLAMing on 50.102414037 meters Centerline goodness [0,1] 0.7848621617612781 Centerline is valid? [False, False] Translation: X:1.00, Y:0.02, Z:-0.24 [[ 0.9995267 -0.02056378 -0.02288015 0.99569637] [ 0.0206064 0.99978634 0.00162838 0.01611527] [ 0.02284177 -0.00209909 0.99973689 -0.24296562] [ 0. 0. 0. 1. ]] SLAMing on 50.132414037 meters Centerline goodness [0,1] 0.7857720979765708 Centerline is valid? [False, False] Translation: X:0.99, Y:0.01, Z:-0.24 [[ 0.99951456 -0.02129852 -0.02273812 0.99495571] [ 0.02134348 0.99977069 0.0017363 0.01442224] [ 0.02269593 -0.00222076 0.99973995 -0.24264035] [ 0. 0. 0. 1. ]] SLAMing on 50.162414037 meters Centerline goodness [0,1] 0.7828178985522607 Centerline is valid? [False, False] Translation: X:1.00, Y:0.01, Z:-0.24 [[ 9.99430809e-01 -2.46137878e-02 -2.30699015e-02 9.96767357e-01] [ 2.45883537e-02 9.99696701e-01 -1.38553706e-03 1.39555506e-02] [ 2.30970077e-02 8.17497523e-04 9.99732894e-01 -2.43714730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.192414037 meters Centerline goodness [0,1] 0.7719410089676569 Centerline is valid? [False, False] Translation: X:1.00, Y:0.01, Z:-0.24 [[ 0.99931046 -0.0290949 -0.02306692 0.99733288] [ 0.02900534 0.9995704 -0.00420802 0.00911444] [ 0.02317944 0.00353605 0.99972507 -0.24467681] [ 0. 0. 0. 1. ]] SLAMing on 50.222414037 meters Centerline goodness [0,1] 0.7692356579950852 Centerline is valid? [False, False] Translation: X:1.00, Y:0.01, Z:-0.25 [[ 0.99928904 -0.02977738 -0.02312426 0.99747069] [ 0.02970018 0.9995521 -0.00367477 0.00546387] [ 0.02322333 0.00298536 0.99972584 -0.24511301] [ 0. 0. 0. 1. ]] SLAMing on 50.252414037 meters Centerline goodness [0,1] 0.7576065337903601 Centerline is valid? [False, False] Translation: X:1.00, Y:0.00, Z:-0.25 [[ 0.99927235 -0.03032914 -0.023128 0.99729692] [ 0.03026295 0.99953683 -0.00320665 0.00278077] [ 0.02321454 0.00250439 0.99972737 -0.24520342] [ 0. 0. 0. 1. ]] SLAMing on 50.282414037 meters Centerline goodness [0,1] 0.7636706340802236 Centerline is valid? [False, False] Translation: X:1.00, Y:0.00, Z:-0.25 [[ 9.99262572e-01 -3.07638194e-02 -2.29760583e-02 9.96836958e-01] [ 3.07059511e-02 9.99524349e-01 -2.86728330e-03 9.55151172e-04] [ 2.30533383e-02 2.15966717e-03 9.99731904e-01 -2.45173624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.312414036999996 meters Centerline goodness [0,1] 0.7215781679712291 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.00, Z:-0.24 [[ 0.99923054 -0.0318989 -0.022821 0.99576187] [ 0.03184351 0.99948898 -0.00278623 -0.00116778] [ 0.02289822 0.00205739 0.99973568 -0.24459953] [ 0. 0. 0. 1. ]] SLAMing on 50.342414037 meters Centerline goodness [0,1] 0.7328179782875005 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.00, Z:-0.24 [[ 0.99922672 -0.03200985 -0.02283265 0.99589455] [ 0.03196718 0.99948643 -0.00223107 -0.00308433] [ 0.02289234 0.00149945 0.99973681 -0.24489717] [ 0. 0. 0. 1. ]] SLAMing on 50.372414037 meters Centerline goodness [0,1] 0.7227020618993183 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.01, Z:-0.25 [[ 9.99223058e-01 -3.22062529e-02 -2.27164526e-02 9.95768414e-01] [ 3.21756081e-02 9.99480763e-01 -1.71332240e-03 -5.03123846e-03] [ 2.27598370e-02 9.81075573e-04 9.99740480e-01 -2.45201970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.402414037 meters Centerline goodness [0,1] 0.7281489918164178 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.01, Z:-0.25 [[ 0.99917453 -0.03721599 -0.01628611 1.00380119] [ 0.03729666 0.99929329 0.00467791 -0.00874264] [ 0.01610051 -0.00528147 0.99985643 -0.24772134] [ 0. 0. 0. 1. ]] SLAMing on 50.432414037 meters Centerline goodness [0,1] 0.7253858660078968 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.01, Z:-0.25 [[ 0.99916446 -0.03760082 -0.01601776 1.00312243] [ 0.03768434 0.99927746 0.00494413 -0.01050689] [ 0.01582028 -0.00554362 0.99985948 -0.24761497] [ 0. 0. 0. 1. ]] SLAMing on 50.462414037 meters Centerline goodness [0,1] 0.6995478745880166 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.01, Z:-0.25 [[ 0.99915849 -0.03785003 -0.01580172 1.0026531 ] [ 0.03793703 0.99926638 0.00524271 -0.01235829] [ 0.01559169 -0.00583776 0.9998614 -0.24759095] [ 0. 0. 0. 1. ]] SLAMing on 50.492414036999996 meters Centerline goodness [0,1] 0.7039180483683599 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.01, Z:-0.25 [[ 0.99913191 -0.0386551 -0.01553073 1.00202304] [ 0.03874225 0.99923491 0.00535058 -0.01476601] [ 0.01531202 -0.00594763 0.99986507 -0.24766974] [ 0. 0. 0. 1. ]] SLAMing on 50.522414037 meters Centerline goodness [0,1] 0.6828243146200312 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.02, Z:-0.25 [[ 0.99913216 -0.03864952 -0.01552896 1.00248701] [ 0.0387419 0.99923303 0.00569275 -0.01556384] [ 0.01529703 -0.00628943 0.99986321 -0.24833761] [ 0. 0. 0. 1. ]] SLAMing on 50.552414037 meters Centerline goodness [0,1] 0.6784789882367795 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.02, Z:-0.25 [[ 0.99913766 -0.03845607 -0.01565454 1.0033824 ] [ 0.03855618 0.99923754 0.00614429 -0.01625245] [ 0.01540632 -0.00674257 0.99985858 -0.24923243] [ 0. 0. 0. 1. ]] SLAMing on 50.582414037 meters Centerline goodness [0,1] 0.6839188249425747 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.02, Z:-0.25 [[ 0.99913147 -0.03858726 -0.01572643 1.00348891] [ 0.03868691 0.99923287 0.0060823 -0.01600628] [ 0.01547967 -0.00668543 0.99985783 -0.24919956] [ 0. 0. 0. 1. ]] SLAMing on 50.612414037 meters Centerline goodness [0,1] 0.6703303658073498 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.02, Z:-0.25 [[ 0.99912918 -0.03865898 -0.01569604 1.00345588] [ 0.03875605 0.99923112 0.00592786 -0.01511094] [ 0.0154548 -0.00653102 0.99985924 -0.24922189] [ 0. 0. 0. 1. ]] SLAMing on 50.642414037 meters Centerline goodness [0,1] 0.6694979716024341 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.02, Z:-0.25 [[ 0.99913162 -0.03857097 -0.01575694 1.003852 ] [ 0.03867 0.99923385 0.00602919 -0.0152047 ] [ 0.01551232 -0.00663327 0.99985767 -0.24957645] [ 0. 0. 0. 1. ]] SLAMing on 50.672414036999996 meters Centerline goodness [0,1] 0.6694979716024341 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.02, Z:-0.25 [[ 0.99913162 -0.03857097 -0.01575694 1.003852 ] [ 0.03867 0.99923385 0.00602919 -0.0152047 ] [ 0.01551232 -0.00663327 0.99985767 -0.24957645] [ 0. 0. 0. 1. ]] SLAMing on 50.702414037 meters Centerline goodness [0,1] 0.6826659352715305 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.02, Z:-0.25 [[ 0.99913732 -0.03841452 -0.01577807 1.00418056] [ 0.03851805 0.99923798 0.00631078 -0.0161169 ] [ 0.01552362 -0.00691308 0.9998556 -0.24996272] [ 0. 0. 0. 1. ]] SLAMing on 50.732414037 meters Centerline goodness [0,1] 0.6896195594899357 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.02, Z:-0.25 [[ 0.99913778 -0.03838973 -0.01580913 1.00437491] [ 0.03849536 0.99923808 0.00643227 -0.01689115] [ 0.01555015 -0.0070353 0.99985434 -0.25009217] [ 0. 0. 0. 1. ]] SLAMing on 50.762414037 meters Centerline goodness [0,1] 0.7026119639350493 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.02, Z:-0.25 [[ 0.99914068 -0.0382655 -0.01592634 1.00485607] [ 0.03837059 0.99924343 0.00634594 -0.01567773] [ 0.01567146 -0.00695159 0.99985303 -0.25035083] [ 0. 0. 0. 1. ]] SLAMing on 50.792414037 meters Centerline goodness [0,1] 0.6939818039811707 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.01, Z:-0.25 [[ 0.99914409 -0.03807628 -0.01616432 1.00541238] [ 0.03817875 0.99925244 0.0060788 -0.01388152] [ 0.01592078 -0.00669073 0.99985087 -0.25031753] [ 0. 0. 0. 1. ]] SLAMing on 50.822414037 meters Centerline goodness [0,1] 0.6909148598625066 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.01, Z:-0.25 [[ 0.99914724 -0.03792456 -0.01632529 1.00568421] [ 0.03802363 0.99926 0.0058013 -0.01217534] [ 0.0160932 -0.0064171 0.9998499 -0.2501357 ] [ 0. 0. 0. 1. ]] SLAMing on 50.852414037 meters Centerline goodness [0,1] 0.7089900204654302 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.01, Z:-0.25 [[ 0.99915801 -0.03764054 -0.01632355 1.0054834 ] [ 0.03773338 0.99927316 0.00541719 -0.0104664 ] [ 0.01610778 -0.00602857 0.99985209 -0.24955413] [ 0. 0. 0. 1. ]] SLAMing on 50.882414037 meters Centerline goodness [0,1] 0.7065297915123294 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.01, Z:-0.25 [[ 0.99915953 -0.037555 -0.01642758 1.00573355] [ 0.03764578 0.99927734 0.00525246 -0.01001156] [ 0.01621845 -0.00586648 0.99985126 -0.24950771] [ 0. 0. 0. 1. ]] SLAMing on 50.912414037 meters Centerline goodness [0,1] 0.7126798656158219 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.01, Z:-0.25 [[ 0.99916713 -0.03726164 -0.01663193 1.00665146] [ 0.03735494 0.99928782 0.00533478 -0.00950402] [ 0.0164213 -0.00595162 0.99984745 -0.25014801] [ 0. 0. 0. 1. ]] SLAMing on 50.942414037 meters Centerline goodness [0,1] 0.6874034575424787 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.01, Z:-0.25 [[ 0.99917341 -0.03705135 -0.0167241 1.00731557] [ 0.03714544 0.99929555 0.00535048 -0.00870584] [ 0.01651408 -0.00596728 0.99984583 -0.25074943] [ 0. 0. 0. 1. ]] SLAMing on 50.972414037 meters Centerline goodness [0,1] 0.7268355717493539 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.01, Z:-0.25 [[ 0.99917446 -0.03696738 -0.01684687 1.00792987] [ 0.03705426 0.99930137 0.00487399 -0.00587965] [ 0.01665492 -0.00549421 0.9998462 -0.25111159] [ 0. 0. 0. 1. ]] SLAMing on 51.002414037 meters Centerline goodness [0,1] 0.6951405350491027 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.00, Z:-0.25 [[ 0.99917017 -0.0370536 -0.01691184 1.00818011] [ 0.03713682 0.99929945 0.00463302 -0.00434211] [ 0.01672832 -0.00525723 0.99984625 -0.25124916] [ 0. 0. 0. 1. ]] SLAMing on 51.032414037 meters Centerline goodness [0,1] 0.6916776023367057 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.00, Z:-0.25 [[ 0.99916671 -0.03713973 -0.01692701 1.00832296] [ 0.03722146 0.99929673 0.00453907 -0.00348586] [ 0.01674653 -0.00516533 0.99984642 -0.25141345] [ 0. 0. 0. 1. ]] SLAMing on 51.062414036999996 meters Centerline goodness [0,1] 0.6886022414886868 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.00, Z:-0.25 [[ 0.9991604 -0.03727916 -0.01699319 1.00856641] [ 0.03735983 0.99929195 0.0044546 -0.00330312] [ 0.01681509 -0.00508572 0.99984568 -0.25150642] [ 0. 0. 0. 1. ]] SLAMing on 51.092414037 meters Centerline goodness [0,1] 0.7023017252341994 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.00, Z:-0.25 [[ 0.99912553 -0.03836311 -0.01662669 1.00737772] [ 0.03843051 0.99925423 0.00375325 -0.00322195] [ 0.0164703 -0.00438894 0.99985472 -0.25104973] [ 0. 0. 0. 1. ]] SLAMing on 51.122414037 meters Centerline goodness [0,1] 0.6967889326056607 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.00, Z:-0.25 [[ 0.99911667 -0.03862005 -0.01656402 1.00707726] [ 0.03868611 0.99924461 0.00368664 -0.00342964] [ 0.01640913 -0.00432418 0.99985601 -0.25082015] [ 0. 0. 0. 1. ]] SLAMing on 51.152414037 meters Centerline goodness [0,1] 0.6963566187386012 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.00, Z:-0.25 [[ 0.99910391 -0.03899086 -0.01646473 1.00654077] [ 0.03905037 0.99923177 0.00330856 -0.00267261] [ 0.01632308 -0.00394855 0.99985897 -0.25038032] [ 0. 0. 0. 1. ]] SLAMing on 51.182414037 meters Centerline goodness [0,1] 0.6767700335129173 Centerline is valid? [False, False] Translation: X:1.01, Y:0.00, Z:-0.25 [[ 9.99097099e-01 -3.91055317e-02 -1.66055631e-02 1.00742351e+00] [ 3.91573300e-02 9.99229119e-01 2.80561696e-03 7.95690443e-04] [ 1.64830470e-02 -3.45331328e-03 9.99858182e-01 -2.51180891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.212414037 meters Centerline goodness [0,1] 0.6939708320932012 Centerline is valid? [False, False] Translation: X:1.01, Y:0.00, Z:-0.25 [[ 0.99910716 -0.03870677 -0.01693103 1.00915402] [ 0.03876262 0.999244 0.00298262 0.00250534] [ 0.01680278 -0.00363625 0.99985221 -0.25260894] [ 0. 0. 0. 1. ]] SLAMing on 51.242414036999996 meters Centerline goodness [0,1] 0.6891581632653061 Centerline is valid? [False, False] Translation: X:1.01, Y:0.00, Z:-0.25 [[ 0.9991051 -0.03867874 -0.01711566 1.01007654] [ 0.03873081 0.99924598 0.00272106 0.00421569] [ 0.01699751 -0.00338153 0.99984981 -0.25328211] [ 0. 0. 0. 1. ]] SLAMing on 51.272414037 meters Centerline goodness [0,1] 0.6744413496906427 Centerline is valid? [False, False] Translation: X:1.01, Y:0.01, Z:-0.25 [[ 0.99910151 -0.0387912 -0.01707107 1.01009356] [ 0.03883531 0.99924307 0.00225986 0.00602282] [ 0.01697048 -0.00292079 0.99985172 -0.25337011] [ 0. 0. 0. 1. ]] SLAMing on 51.302414037 meters Centerline goodness [0,1] 0.6586954200918117 Centerline is valid? [False, False] Translation: X:1.01, Y:0.01, Z:-0.25 [[ 0.99909425 -0.0390274 -0.01695701 1.0096683 ] [ 0.03906517 0.99923486 0.00190177 0.00664715] [ 0.01686982 -0.00256248 0.99985441 -0.25308199] [ 0. 0. 0. 1. ]] SLAMing on 51.332414037 meters Centerline goodness [0,1] 0.6758085106382978 Centerline is valid? [False, False] Translation: X:1.01, Y:0.01, Z:-0.25 [[ 0.99908873 -0.03912723 -0.01705223 1.0099731 ] [ 0.03915994 0.99923169 0.00158849 0.00782056] [ 0.01697697 -0.0022548 0.99985334 -0.25317425] [ 0. 0. 0. 1. ]] SLAMing on 51.362414037 meters Centerline goodness [0,1] 0.6811177185242023 Centerline is valid? [False, False] Translation: X:1.01, Y:0.01, Z:-0.25 [[ 9.99079327e-01 -3.93417126e-02 -1.71092967e-02 1.00982424e+00] [ 3.93640553e-02 9.99224463e-01 9.70948265e-04 9.94937854e-03] [ 1.70578291e-02 -1.64354564e-03 9.99853154e-01 -2.52721057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.392414037 meters Centerline goodness [0,1] 0.6683396780162055 Centerline is valid? [False, False] Translation: X:1.01, Y:0.01, Z:-0.25 [[ 9.99070796e-01 -3.94800788e-02 -1.72877727e-02 1.01011798e+00] [ 3.94922565e-02 9.99219810e-01 3.63456220e-04 1.26050614e-02] [ 1.72599356e-02 -1.04585165e-03 9.99850489e-01 -2.52508000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.422414036999996 meters Centerline goodness [0,1] 0.6583317304609861 Centerline is valid? [False, False] Translation: X:1.01, Y:0.01, Z:-0.25 [[ 0.99915315 -0.03750981 -0.01691136 1.00751847] [ 0.03755885 0.99929106 0.0025913 0.01474138] [ 0.01680217 -0.00322428 0.99985363 -0.25081223] [ 0. 0. 0. 1. ]] SLAMing on 51.452414037 meters Centerline goodness [0,1] 0.6665668321067945 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.25 [[ 0.99914955 -0.03761957 -0.01688024 1.00769216] [ 0.03766781 0.99928707 0.00254838 0.01518286] [ 0.01677233 -0.00318205 0.99985427 -0.25115827] [ 0. 0. 0. 1. ]] SLAMing on 51.482414037 meters Centerline goodness [0,1] 0.6738063077549795 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.25 [[ 0.99912759 -0.03822932 -0.0168098 1.00801224] [ 0.03826984 0.99926524 0.00209552 0.01625291] [ 0.01671734 -0.002737 0.99985651 -0.25196826] [ 0. 0. 0. 1. ]] SLAMing on 51.512414037 meters Centerline goodness [0,1] 0.6556257360025692 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.25 [[ 0.99912742 -0.03823876 -0.01679885 1.00870851] [ 0.03828036 0.9992647 0.00216203 0.01691165] [ 0.01670382 -0.00280321 0.99985655 -0.25297533] [ 0. 0. 0. 1. ]] SLAMing on 51.542414037 meters Centerline goodness [0,1] 0.6621282617551834 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.25 [[ 0.99912307 -0.03835434 -0.01679398 1.00909254] [ 0.03839125 0.99926102 0.0018804 0.01828547] [ 0.01670945 -0.0025235 0.9998572 -0.25347072] [ 0. 0. 0. 1. ]] SLAMing on 51.572414037 meters Centerline goodness [0,1] 0.6580811332904057 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.25 [[ 0.99911811 -0.03848928 -0.01678038 1.00936029] [ 0.03852055 0.99925662 0.00154374 0.0200572 ] [ 0.01670849 -0.00218877 0.99985801 -0.25386516] [ 0. 0. 0. 1. ]] SLAMing on 51.602414037 meters Centerline goodness [0,1] 0.6517929997852695 Centerline is valid? [False, False] Translation: X:1.01, Y:0.02, Z:-0.25 [[ 9.99117136e-01 -3.85131867e-02 -1.67834320e-02 1.00980812e+00] [ 3.85334506e-02 9.99256918e-01 8.85548312e-04 2.42125674e-02] [ 1.67368552e-02 -1.53149004e-03 9.99858756e-01 -2.54320249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.632414037 meters Centerline goodness [0,1] 0.6540402950946977 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:-0.25 [[ 9.99104493e-01 -3.88472836e-02 -1.67660818e-02 1.00962840e+00] [ 3.88550963e-02 9.99244846e-01 1.40364842e-04 2.64241875e-02] [ 1.67479680e-02 -7.91686868e-04 9.99859430e-01 -2.54024917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.662414037 meters Centerline goodness [0,1] 0.6444151977388941 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:-0.25 [[ 9.99103843e-01 -3.88293998e-02 -1.68460248e-02 1.00994753e+00] [ 3.88332326e-02 9.99245701e-01 -9.96586076e-05 2.78700128e-02] [ 1.68371875e-02 -5.54616301e-04 9.99858091e-01 -2.54201389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.692414037 meters Centerline goodness [0,1] 0.6594899259291251 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:-0.25 [[ 9.99087713e-01 -3.92668454e-02 -1.67885817e-02 1.00947596e+00] [ 3.92490472e-02 9.99228495e-01 -1.38844990e-03 3.19494541e-02] [ 1.68301493e-02 7.28247396e-04 9.99858098e-01 -2.53443771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.722414037 meters Centerline goodness [0,1] 0.6695606988979583 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:-0.25 [[ 0.99918273 -0.03690965 -0.0164786 1.00750921] [ 0.0369377 0.99931659 0.0014008 0.03246979] [ 0.01641563 -0.00200834 0.99986324 -0.25245698] [ 0. 0. 0. 1. ]] SLAMing on 51.752414037 meters Centerline goodness [0,1] 0.6447584833795014 Centerline is valid? [False, False] Translation: X:1.01, Y:0.03, Z:-0.25 [[ 9.99177282e-01 -3.70443455e-02 -1.65068430e-02 1.00757776e+00] [ 3.70659772e-02 9.99312314e-01 1.00635370e-03 3.42735921e-02] [ 1.64582118e-02 -1.61736802e-03 9.99863246e-01 -2.52431199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.782414037 meters Centerline goodness [0,1] 0.6528306786703602 Centerline is valid? [False, False] Translation: X:1.01, Y:0.04, Z:-0.25 [[ 9.99172696e-01 -3.71079889e-02 -1.66409245e-02 1.00816628e+00] [ 3.71239435e-02 9.99310457e-01 6.50768674e-04 3.61578700e-02] [ 1.66053011e-02 -1.26800703e-03 9.99861318e-01 -2.52771325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.812414036999996 meters Centerline goodness [0,1] 0.6533638145003267 Centerline is valid? [False, False] Translation: X:1.01, Y:0.04, Z:-0.25 [[ 0.9992605 -0.03482909 -0.016291 1.00682321] [ 0.03488487 0.99938637 0.00315229 0.03841901] [ 0.01617122 -0.00371827 0.99986232 -0.25272178] [ 0. 0. 0. 1. ]] SLAMing on 51.842414037 meters Centerline goodness [0,1] 0.6554374809459518 Centerline is valid? [False, False] Translation: X:1.01, Y:0.04, Z:-0.25 [[ 0.99925845 -0.03485836 -0.01635389 1.00724772] [ 0.03490763 0.99938679 0.00273711 0.04037436] [ 0.01624845 -0.00330596 0.99986252 -0.25300819] [ 0. 0. 0. 1. ]] SLAMing on 51.872414037 meters Centerline goodness [0,1] 0.6588822746996359 Centerline is valid? [False, False] Translation: X:1.01, Y:0.04, Z:-0.25 [[ 0.99925514 -0.03485405 -0.01656391 1.0078759 ] [ 0.03489589 0.99938843 0.00224359 0.04255059] [ 0.01647558 -0.00281993 0.99986029 -0.25317368] [ 0. 0. 0. 1. ]] SLAMing on 51.902414037 meters Centerline goodness [0,1] 0.6566695042891756 Centerline is valid? [False, False] Translation: X:1.01, Y:0.04, Z:-0.25 [[ 0.99926343 -0.03452124 -0.01675942 1.00883385] [ 0.0345606 0.99940047 0.00206487 0.04460094] [ 0.01667809 -0.00264257 0.99985742 -0.25374751] [ 0. 0. 0. 1. ]] SLAMing on 51.932414037 meters Centerline goodness [0,1] 0.6625766871165644 Centerline is valid? [False, False] Translation: X:1.01, Y:0.05, Z:-0.25 [[ 0.99937654 -0.03102795 -0.01684622 1.00879168] [ 0.03111135 0.99950482 0.00471111 0.04854943] [ 0.0166917 -0.00523228 0.99984699 -0.25378909] [ 0. 0. 0. 1. ]] SLAMing on 51.962414037 meters Centerline goodness [0,1] 0.6590973726236573 Centerline is valid? [False, False] Translation: X:1.01, Y:0.05, Z:-0.25 [[ 0.99939685 -0.03019801 -0.01714688 1.01021476] [ 0.03028151 0.99953068 0.00463093 0.05147978] [ 0.01699899 -0.00514738 0.99984226 -0.25449243] [ 0. 0. 0. 1. ]] SLAMing on 51.992414036999996 meters Centerline goodness [0,1] 0.6663206255245837 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:-0.25 [[ 0.99950401 -0.02650488 -0.01700649 1.00958767] [ 0.02662768 0.99962066 0.00703587 0.05659062] [ 0.01681356 -0.00748523 0.99983062 -0.25404227] [ 0. 0. 0. 1. ]] SLAMing on 52.022414037 meters Centerline goodness [0,1] 0.6663206255245837 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:-0.25 [[ 0.99950401 -0.02650488 -0.01700649 1.00958767] [ 0.02662768 0.99962066 0.00703587 0.05659062] [ 0.01681356 -0.00748523 0.99983062 -0.25404227] [ 0. 0. 0. 1. ]] SLAMing on 52.052414037 meters Centerline goodness [0,1] 0.6755584087840081 Centerline is valid? [False, False] Translation: X:1.01, Y:0.06, Z:-0.25 [[ 0.99959213 -0.02297003 -0.01696901 1.00915704] [ 0.02313179 0.99968825 0.00939842 0.06133259] [ 0.01674784 -0.00978711 0.99981184 -0.2536023 ] [ 0. 0. 0. 1. ]] SLAMing on 52.082414037 meters Centerline goodness [0,1] 0.6761858342379865 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:-0.25 [[ 0.99959721 -0.02265316 -0.01709521 1.00952593] [ 0.02280243 0.99970311 0.00858781 0.06525745] [ 0.0168956 -0.00897416 0.99981698 -0.25322842] [ 0. 0. 0. 1. ]] SLAMing on 52.112414037 meters Centerline goodness [0,1] 0.6780195381882771 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:-0.25 [[ 0.99960236 -0.02220088 -0.01738539 1.0103743 ] [ 0.02234304 0.99971815 0.00802579 0.0689516 ] [ 0.01720231 -0.00841104 0.99981665 -0.25311211] [ 0. 0. 0. 1. ]] SLAMing on 52.142414037 meters Centerline goodness [0,1] 0.6950686641697877 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:-0.25 [[ 0.99966906 -0.01896928 -0.01737634 1.00969462] [ 0.01915197 0.99976241 0.01040814 0.07297558] [ 0.01717478 -0.01073749 0.99979485 -0.25237831] [ 0. 0. 0. 1. ]] SLAMing on 52.172414036999996 meters Centerline goodness [0,1] 0.6813324111465608 Centerline is valid? [False, False] Translation: X:1.01, Y:0.07, Z:-0.25 [[ 0.9996691 -0.01881919 -0.01753658 1.01040358] [ 0.01899725 0.9997691 0.01004274 0.07463702] [ 0.01734354 -0.01037256 0.99979579 -0.25267633] [ 0. 0. 0. 1. ]] SLAMing on 52.202414037 meters Centerline goodness [0,1] 0.6959253958314697 Centerline is valid? [False, False] Translation: X:1.01, Y:0.08, Z:-0.25 [[ 0.99966893 -0.01871494 -0.01765746 1.01102293] [ 0.0188899 0.9997736 0.00979438 0.0758427 ] [ 0.01747016 -0.01012469 0.99979612 -0.25306013] [ 0. 0. 0. 1. ]] SLAMing on 52.232414037 meters Centerline goodness [0,1] 0.693579658146324 Centerline is valid? [False, False] Translation: X:1.01, Y:0.08, Z:-0.25 [[ 0.99966707 -0.01863214 -0.01784931 1.01203484] [ 0.0188053 0.99977724 0.00958274 0.07708327] [ 0.01766679 -0.00991521 0.99979477 -0.25377841] [ 0. 0. 0. 1. ]] SLAMing on 52.262414037 meters Centerline goodness [0,1] 0.7000134704324008 Centerline is valid? [False, False] Translation: X:1.01, Y:0.08, Z:-0.25 [[ 0.99972229 -0.01572893 -0.0175484 1.01113073] [ 0.01594573 0.9997974 0.01228369 0.08016987] [ 0.01735163 -0.0125601 0.99977056 -0.25385229] [ 0. 0. 0. 1. ]] SLAMing on 52.292414037 meters Centerline goodness [0,1] 0.7023065509644351 Centerline is valid? [False, False] Translation: X:1.01, Y:0.08, Z:-0.25 [[ 0.99971581 -0.01595422 -0.01771339 1.01154713] [ 0.01615767 0.99980444 0.01140257 0.08374979] [ 0.017528 -0.01168553 0.99977808 -0.25375757] [ 0. 0. 0. 1. ]] SLAMing on 52.322414037 meters Centerline goodness [0,1] 0.7041524049720771 Centerline is valid? [False, False] Translation: X:1.01, Y:0.09, Z:-0.25 [[ 0.99971144 -0.01609656 -0.01783078 1.01208269] [ 0.01628976 0.9998096 0.01074322 0.08668094] [ 0.01765445 -0.01103058 0.9997833 -0.25400735] [ 0. 0. 0. 1. ]] SLAMing on 52.352414037 meters Centerline goodness [0,1] 0.6924556045696189 Centerline is valid? [False, False] Translation: X:1.01, Y:0.09, Z:-0.25 [[ 0.99970741 -0.0163293 -0.01784502 1.01243326] [ 0.01650646 0.99981548 0.00982588 0.08951472] [ 0.01768128 -0.01011756 0.99979248 -0.25422691] [ 0. 0. 0. 1. ]] SLAMing on 52.382414037 meters Centerline goodness [0,1] 0.7115214882205174 Centerline is valid? [False, False] Translation: X:1.01, Y:0.09, Z:-0.25 [[ 0.99970371 -0.01656824 -0.01783195 1.0121732 ] [ 0.01672766 0.99982111 0.00882811 0.09149596] [ 0.0176825 -0.00912378 0.99980202 -0.25355438] [ 0. 0. 0. 1. ]] SLAMing on 52.412414037 meters Centerline goodness [0,1] 0.7115214882205174 Centerline is valid? [False, False] Translation: X:1.01, Y:0.09, Z:-0.25 [[ 0.99970371 -0.01656824 -0.01783195 1.0121732 ] [ 0.01672766 0.99982111 0.00882811 0.09149596] [ 0.0176825 -0.00912378 0.99980202 -0.25355438] [ 0. 0. 0. 1. ]] SLAMing on 52.442414037 meters Centerline goodness [0,1] 0.7092180920903699 Centerline is valid? [False, False] Translation: X:1.01, Y:0.09, Z:-0.25 [[ 0.9996999 -0.01669598 -0.01792652 1.01211144] [ 0.0168448 0.99982463 0.00818283 0.09327565] [ 0.01778676 -0.00848234 0.99980582 -0.25296943] [ 0. 0. 0. 1. ]] SLAMing on 52.472414037 meters Centerline goodness [0,1] 0.7079943644048539 Centerline is valid? [False, False] Translation: X:1.01, Y:0.10, Z:-0.25 [[ 0.99970156 -0.01655194 -0.01796754 1.01181091] [ 0.01668496 0.9998343 0.00727886 0.09823591] [ 0.01784408 -0.00757648 0.99981208 -0.25193198] [ 0. 0. 0. 1. ]] SLAMing on 52.502414037 meters Centerline goodness [0,1] 0.7121745893764011 Centerline is valid? [False, False] Translation: X:1.01, Y:0.10, Z:-0.25 [[ 0.99969762 -0.01661216 -0.01813023 1.01211654] [ 0.01673545 0.99983771 0.00666991 0.10104471] [ 0.01801649 -0.00697131 0.99981339 -0.25170805] [ 0. 0. 0. 1. ]] SLAMing on 52.532414037 meters Centerline goodness [0,1] 0.7127362592101048 Centerline is valid? [False, False] Translation: X:1.01, Y:0.10, Z:-0.25 [[ 0.99969622 -0.01621054 -0.01856568 1.01369909] [ 0.01633786 0.9998439 0.00672646 0.10253814] [ 0.01845375 -0.00702774 0.99980502 -0.25243219] [ 0. 0. 0. 1. ]] SLAMing on 52.562414036999996 meters Centerline goodness [0,1] 0.7127362592101048 Centerline is valid? [False, False] Translation: X:1.01, Y:0.10, Z:-0.25 [[ 0.99969622 -0.01621054 -0.01856568 1.01369909] [ 0.01633786 0.9998439 0.00672646 0.10253814] [ 0.01845375 -0.00702774 0.99980502 -0.25243219] [ 0. 0. 0. 1. ]] SLAMing on 52.592414037 meters Centerline goodness [0,1] 0.7145442466726227 Centerline is valid? [False, False] Translation: X:1.01, Y:0.10, Z:-0.25 [[ 0.99969451 -0.01636178 -0.01852533 1.01393381] [ 0.01648128 0.99984422 0.00631636 0.10342406] [ 0.01841909 -0.00661975 0.99980844 -0.2527643 ] [ 0. 0. 0. 1. ]] SLAMing on 52.622414037 meters Centerline goodness [0,1] 0.7037884857502575 Centerline is valid? [False, False] Translation: X:1.01, Y:0.10, Z:-0.25 [[ 0.9996925 -0.01659917 -0.01842202 1.01372663] [ 0.01671318 0.99984201 0.00605229 0.10354537] [ 0.01831865 -0.00635832 0.99981198 -0.25276749] [ 0. 0. 0. 1. ]] SLAMing on 52.652414037 meters Centerline goodness [0,1] 0.7145216413973439 Centerline is valid? [False, False] Translation: X:1.01, Y:0.10, Z:-0.25 [[ 0.99969093 -0.01686316 -0.01826704 1.01349484] [ 0.01697177 0.99983911 0.0058069 0.10401817] [ 0.01816618 -0.00611513 0.99981628 -0.25289292] [ 0. 0. 0. 1. ]] SLAMing on 52.682414037 meters Centerline goodness [0,1] 0.7129416063394917 Centerline is valid? [False, False] Translation: X:1.01, Y:0.11, Z:-0.25 [[ 0.99968632 -0.01704094 -0.01835422 1.01375165] [ 0.0171455 0.99983758 0.00555458 0.10536931] [ 0.01825659 -0.00586753 0.99981612 -0.25303769] [ 0. 0. 0. 1. ]] SLAMing on 52.712414037 meters Centerline goodness [0,1] 0.6226398771546597 Centerline is valid? [False, False] Translation: X:1.05, Y:0.11, Z:-0.25 [[ 9.99753203e-01 -1.68854099e-02 -1.44366021e-02 1.04854751e+00] [ 1.68876836e-02 9.99857392e-01 3.55976135e-05 1.06687745e-01] [ 1.44339422e-02 -2.79389596e-04 9.99895786e-01 -2.53343093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.742414036999996 meters Centerline goodness [0,1] 0.7002790783495167 Centerline is valid? [False, False] Translation: X:0.98, Y:0.11, Z:-0.26 [[ 9.99811700e-01 -1.51970935e-02 -1.20670361e-02 9.75253817e-01] [ 1.51870268e-02 9.99884242e-01 -9.25432118e-04 1.11385835e-01] [ 1.20797031e-02 7.41995459e-04 9.99926762e-01 -2.56112962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.772414037 meters Centerline goodness [0,1] 0.694489970222294 Centerline is valid? [False, False] Translation: X:0.97, Y:0.11, Z:-0.26 [[ 9.99807560e-01 -1.55799003e-02 -1.19209411e-02 9.74898917e-01] [ 1.55700825e-02 9.99878359e-01 -9.15942276e-04 1.10851936e-01] [ 1.19337613e-02 7.30155977e-04 9.99928524e-01 -2.56290316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.802414037 meters Centerline goodness [0,1] 0.6855563709751399 Centerline is valid? [False, False] Translation: X:0.97, Y:0.11, Z:-0.26 [[ 9.99802149e-01 -1.60260858e-02 -1.17825307e-02 9.74598629e-01] [ 1.60186857e-02 9.99871432e-01 -7.22169365e-04 1.09333132e-01] [ 1.17925894e-02 5.33285828e-04 9.99930323e-01 -2.56635668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.832414037 meters Centerline goodness [0,1] 0.6658063326727197 Centerline is valid? [False, False] Translation: X:0.97, Y:0.11, Z:-0.26 [[ 0.99977797 -0.01774098 -0.01136969 0.97312667] [ 0.01772578 0.99984185 -0.00143614 0.10750535] [ 0.01139337 0.00123429 0.99993433 -0.25659979] [ 0. 0. 0. 1. ]] SLAMing on 52.862414037 meters Centerline goodness [0,1] 0.6737869441119602 Centerline is valid? [False, False] Translation: X:0.97, Y:0.11, Z:-0.26 [[ 0.9997759 -0.0178245 -0.0114209 0.97356296] [ 0.01781124 0.99984057 -0.00126136 0.1073414 ] [ 0.01144156 0.00105766 0.99993398 -0.2571651 ] [ 0. 0. 0. 1. ]] SLAMing on 52.892414037 meters Centerline goodness [0,1] 0.6853606251296591 Centerline is valid? [False, False] Translation: X:0.97, Y:0.11, Z:-0.26 [[ 9.99772920e-01 -1.79105983e-02 -1.15463590e-02 9.74083932e-01] [ 1.78987765e-02 9.99839170e-01 -1.12638905e-03 1.07904654e-01] [ 1.15646763e-02 9.19467567e-04 9.99932704e-01 -2.57694986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.922414036999996 meters Centerline goodness [0,1] 0.6638888247651147 Centerline is valid? [False, False] Translation: X:0.97, Y:0.11, Z:-0.26 [[ 9.99769833e-01 -1.80381307e-02 -1.16149203e-02 9.74375784e-01] [ 1.80254672e-02 9.99836815e-01 -1.19405413e-03 1.08909453e-01] [ 1.16345635e-02 9.84414931e-04 9.99931832e-01 -2.57965860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.952414037 meters Centerline goodness [0,1] 0.6714945714945715 Centerline is valid? [False, False] Translation: X:0.97, Y:0.11, Z:-0.26 [[ 9.99766927e-01 -1.81660952e-02 -1.16655188e-02 9.74921808e-01] [ 1.81559753e-02 9.99834693e-01 -9.72831206e-04 1.09379854e-01] [ 1.16812630e-02 7.60805594e-04 9.99931482e-01 -2.58834961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.982414037 meters Centerline goodness [0,1] 0.66679753354426 Centerline is valid? [False, False] Translation: X:0.98, Y:0.11, Z:-0.26 [[ 9.99768507e-01 -1.80223214e-02 -1.17528038e-02 9.75461410e-01] [ 1.80162580e-02 9.99837501e-01 -6.21592183e-04 1.08457095e-01] [ 1.17620965e-02 4.09706743e-04 9.99930740e-01 -2.59408407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.012414037 meters Centerline goodness [0,1] 0.666943674976916 Centerline is valid? [False, False] Translation: X:0.98, Y:0.11, Z:-0.26 [[ 9.99771391e-01 -1.79510898e-02 -1.16156801e-02 9.75781542e-01] [ 1.79509478e-02 9.99838862e-01 -1.16492623e-04 1.06612803e-01] [ 1.16158995e-02 -9.20464746e-05 9.99932529e-01 -2.60457844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.042414037 meters Centerline goodness [0,1] 0.6516354763713372 Centerline is valid? [False, False] Translation: X:0.98, Y:0.11, Z:-0.26 [[ 9.99773549e-01 -1.77747171e-02 -1.17008314e-02 9.76244949e-01] [ 1.77763191e-02 9.99841988e-01 3.29179705e-05 1.06710462e-01] [ 1.16983974e-02 -2.40908229e-04 9.99931542e-01 -2.60788748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.072414037 meters Centerline goodness [0,1] 0.6669898206495395 Centerline is valid? [False, False] Translation: X:0.97, Y:0.11, Z:-0.26 [[ 0.99982273 -0.01503499 -0.01133396 0.974432 ] [ 0.01507456 0.99988054 0.00341394 0.10611223] [ 0.01128127 -0.00358418 0.99992994 -0.26011709] [ 0. 0. 0. 1. ]] SLAMing on 53.102414037 meters Centerline goodness [0,1] 0.6704760585491989 Centerline is valid? [False, False] Translation: X:0.97, Y:0.11, Z:-0.26 [[ 0.99982402 -0.01482361 -0.01149738 0.97490247] [ 0.01486249 0.99988409 0.00330361 0.10777245] [ 0.01144708 -0.00347391 0.99992845 -0.26013602] [ 0. 0. 0. 1. ]] SLAMing on 53.132414037 meters Centerline goodness [0,1] 0.675436365738065 Centerline is valid? [False, False] Translation: X:0.98, Y:0.11, Z:-0.26 [[ 0.99982537 -0.01460863 -0.01165445 0.97519529] [ 0.01464542 0.99988801 0.00307793 0.10939036] [ 0.01160818 -0.00324807 0.99992735 -0.25984464] [ 0. 0. 0. 1. ]] SLAMing on 53.162414037 meters Centerline goodness [0,1] 0.6706717387270366 Centerline is valid? [False, False] Translation: X:0.97, Y:0.11, Z:-0.26 [[ 0.99986763 -0.01159781 -0.01141111 0.9734209 ] [ 0.01166932 0.99991256 0.00622065 0.10935826] [ 0.01133797 -0.00635298 0.99991554 -0.25857552] [ 0. 0. 0. 1. ]] SLAMing on 53.192414037 meters Centerline goodness [0,1] 0.6691430026151959 Centerline is valid? [False, False] Translation: X:0.97, Y:0.11, Z:-0.26 [[ 0.99986749 -0.01134739 -0.0116721 0.97415593] [ 0.01142097 0.99991521 0.00625648 0.10914238] [ 0.01160012 -0.00638896 0.99991231 -0.25861625] [ 0. 0. 0. 1. ]] SLAMing on 53.222414037 meters Centerline goodness [0,1] 0.6769544464525696 Centerline is valid? [False, False] Translation: X:0.98, Y:0.11, Z:-0.26 [[ 0.99987011 -0.01074775 -0.01201072 0.97581974] [ 0.01082813 0.99991928 0.0066479 0.10836838] [ 0.0119383 -0.00677709 0.99990577 -0.25968967] [ 0. 0. 0. 1. ]] SLAMing on 53.252414037 meters Centerline goodness [0,1] 0.6747954287303832 Centerline is valid? [False, False] Translation: X:0.98, Y:0.11, Z:-0.26 [[ 0.99987093 -0.01032119 -0.01231217 0.97714075] [ 0.01040646 0.99992217 0.00688194 0.10831953] [ 0.01224018 -0.00700918 0.99990052 -0.26042652] [ 0. 0. 0. 1. ]] SLAMing on 53.282414037 meters Centerline goodness [0,1] 0.6887094528748434 Centerline is valid? [False, False] Translation: X:0.98, Y:0.11, Z:-0.26 [[ 0.99987034 -0.00997897 -0.0126381 0.97829591] [ 0.01006656 0.99992562 0.00688595 0.10907562] [ 0.01256844 -0.00701228 0.99989643 -0.26083367] [ 0. 0. 0. 1. ]] SLAMing on 53.312414036999996 meters Centerline goodness [0,1] 0.684670853686904 Centerline is valid? [False, False] Translation: X:0.98, Y:0.11, Z:-0.26 [[ 0.99987142 -0.00953217 -0.01289466 0.97937961] [ 0.00962302 0.99992919 0.00700144 0.11010959] [ 0.01282701 -0.00712462 0.99989235 -0.26133049] [ 0. 0. 0. 1. ]] SLAMing on 53.342414037 meters Centerline goodness [0,1] 0.6946802291593592 Centerline is valid? [False, False] Translation: X:0.98, Y:0.11, Z:-0.26 [[ 0.9999022 -0.00569747 -0.01277238 0.97895543] [ 0.00583395 0.99992602 0.01067344 0.11107269] [ 0.01271063 -0.01074691 0.99986146 -0.26125574] [ 0. 0. 0. 1. ]] SLAMing on 53.372414037 meters Centerline goodness [0,1] 0.6949041913375915 Centerline is valid? [False, False] Translation: X:0.98, Y:0.11, Z:-0.26 [[ 0.9998984 -0.00511091 -0.01330692 0.98046721] [ 0.00525233 0.99992987 0.01061469 0.1122495 ] [ 0.01325174 -0.01068351 0.99985512 -0.2614271 ] [ 0. 0. 0. 1. ]] SLAMing on 53.402414037 meters Centerline goodness [0,1] 0.6804948202885672 Centerline is valid? [False, False] Translation: X:0.98, Y:0.11, Z:-0.26 [[ 0.99989753 -0.00460428 -0.01355501 0.98139435] [ 0.00474831 0.99993241 0.01061283 0.11315808] [ 0.01350523 -0.01067611 0.9998518 -0.26166233] [ 0. 0. 0. 1. ]] SLAMing on 53.432414037 meters Centerline goodness [0,1] 0.7033288823295148 Centerline is valid? [False, False] Translation: X:0.98, Y:0.11, Z:-0.26 [[ 0.99989542 -0.0041067 -0.01386661 0.98256675] [ 0.00425345 0.99993509 0.01056994 0.11394069] [ 0.0138223 -0.01062782 0.99984799 -0.26199389] [ 0. 0. 0. 1. ]] SLAMing on 53.462414037 meters Centerline goodness [0,1] 0.7049709792173751 Centerline is valid? [False, False] Translation: X:0.98, Y:0.12, Z:-0.26 [[ 0.99989567 -0.00344574 -0.01402784 0.98303672] [ 0.00358782 0.99994239 0.01011616 0.1158209 ] [ 0.01399218 -0.01016543 0.99985043 -0.26129705] [ 0. 0. 0. 1. ]] SLAMing on 53.492414036999996 meters Centerline goodness [0,1] 0.7124912444548214 Centerline is valid? [False, False] Translation: X:0.98, Y:0.12, Z:-0.26 [[ 0.99989258 -0.00348373 -0.01423702 0.98298805] [ 0.00361896 0.99994848 0.00948415 0.11728558] [ 0.01420325 -0.00953465 0.99985367 -0.26031624] [ 0. 0. 0. 1. ]] SLAMing on 53.522414037 meters Centerline goodness [0,1] 0.7058189655172413 Centerline is valid? [False, False] Translation: X:0.98, Y:0.12, Z:-0.26 [[ 0.99989001 -0.00355969 -0.01439783 0.98275269] [ 0.00368791 0.99995369 0.00888916 0.11862235] [ 0.01436552 -0.00894128 0.99985683 -0.25923625] [ 0. 0. 0. 1. ]] SLAMing on 53.552414037 meters Centerline goodness [0,1] 0.7322341302555647 Centerline is valid? [False, False] Translation: X:0.98, Y:0.12, Z:-0.26 [[ 0.99988927 -0.00337927 -0.01449254 0.98257303] [ 0.00350284 0.99995766 0.00850916 0.11959361] [ 0.01446317 -0.00855898 0.99985877 -0.25830179] [ 0. 0. 0. 1. ]] SLAMing on 53.582414037 meters Centerline goodness [0,1] 0.7120349903588393 Centerline is valid? [False, False] Translation: X:0.98, Y:0.12, Z:-0.26 [[ 0.99988677 -0.00330065 -0.01468196 0.98322889] [ 0.00342539 0.99995818 0.00847915 0.1192909 ] [ 0.01465336 -0.00852848 0.99985626 -0.25853818] [ 0. 0. 0. 1. ]] SLAMing on 53.612414037 meters Centerline goodness [0,1] 0.713865901824337 Centerline is valid? [False, False] Translation: X:0.98, Y:0.12, Z:-0.26 [[ 0.99988526 -0.00324101 -0.01479767 0.98399648] [ 0.00336935 0.99995686 0.00865652 0.11857313] [ 0.01476898 -0.00870538 0.99985304 -0.25927713] [ 0. 0. 0. 1. ]] SLAMing on 53.642414037 meters Centerline goodness [0,1] 0.7081805359661495 Centerline is valid? [False, False] Translation: X:0.98, Y:0.12, Z:-0.26 [[ 0.99988389 -0.00320516 -0.01489746 0.98464661] [ 0.00333708 0.99995537 0.00883843 0.11766161] [ 0.01486847 -0.00888712 0.99984996 -0.25991311] [ 0. 0. 0. 1. ]] SLAMing on 53.672414036999996 meters Centerline goodness [0,1] 0.7208878078443296 Centerline is valid? [False, False] Translation: X:0.99, Y:0.12, Z:-0.26 [[ 0.99987258 -0.00514222 -0.01511257 0.98731009] [ 0.00523671 0.99996695 0.00621972 0.11838157] [ 0.01508009 -0.00629807 0.99986645 -0.26185033] [ 0. 0. 0. 1. ]] SLAMing on 53.702414037 meters Centerline goodness [0,1] 0.7025025118583078 Centerline is valid? [False, False] Translation: X:0.99, Y:0.12, Z:-0.26 [[ 0.99987196 -0.00522236 -0.01512593 0.98727196] [ 0.00531485 0.99996739 0.00608115 0.11825295] [ 0.01509368 -0.00616076 0.9998671 -0.26167591] [ 0. 0. 0. 1. ]] SLAMing on 53.732414037 meters Centerline goodness [0,1] 0.7286044718581342 Centerline is valid? [False, False] Translation: X:0.99, Y:0.12, Z:-0.26 [[ 0.99987111 -0.00532901 -0.01514488 0.98719966] [ 0.00541929 0.99996775 0.00592662 0.11823865] [ 0.01511281 -0.00600793 0.99986775 -0.26144344] [ 0. 0. 0. 1. ]] SLAMing on 53.762414037 meters Centerline goodness [0,1] 0.7352659934230473 Centerline is valid? [False, False] Translation: X:0.99, Y:0.12, Z:-0.26 [[ 0.9998719 -0.00555415 -0.01501109 0.98640193] [ 0.00563871 0.99996844 0.0055968 0.11840902] [ 0.01497953 -0.00568073 0.99987166 -0.26060871] [ 0. 0. 0. 1. ]] SLAMing on 53.792414037 meters Centerline goodness [0,1] 0.7358578665981836 Centerline is valid? [False, False] Translation: X:0.99, Y:0.12, Z:-0.26 [[ 0.99987094 -0.00584501 -0.01496472 0.98577948] [ 0.00592374 0.99996882 0.00522177 0.11874801] [ 0.01493373 -0.00530974 0.99987439 -0.25985353] [ 0. 0. 0. 1. ]] SLAMing on 53.822414037 meters Centerline goodness [0,1] 0.7336986940298508 Centerline is valid? [False, False] Translation: X:0.98, Y:0.12, Z:-0.26 [[ 0.99987118 -0.00628274 -0.01477001 0.98477189] [ 0.00635375 0.99996846 0.00476597 0.11887691] [ 0.0147396 -0.0048592 0.99987956 -0.25902372] [ 0. 0. 0. 1. ]] SLAMing on 53.852414037 meters Centerline goodness [0,1] 0.6996682057588344 Centerline is valid? [False, False] Translation: X:0.99, Y:0.12, Z:-0.26 [[ 0.99984543 -0.00868391 -0.01528731 0.98713437] [ 0.00871056 0.99996065 0.00167768 0.11959625] [ 0.01527214 -0.00181059 0.99988173 -0.25978957] [ 0. 0. 0. 1. ]] SLAMing on 53.882414037 meters Centerline goodness [0,1] 0.698006559512456 Centerline is valid? [False, False] Translation: X:0.99, Y:0.12, Z:-0.26 [[ 0.99984476 -0.00945659 -0.01486692 0.98594451] [ 0.00948168 0.99995374 0.00161854 0.1170812 ] [ 0.01485092 -0.00175925 0.99988817 -0.25971877] [ 0. 0. 0. 1. ]] SLAMing on 53.912414037 meters Centerline goodness [0,1] 0.7087015161380337 Centerline is valid? [False, False] Translation: X:0.99, Y:0.12, Z:-0.26 [[ 0.99984412 -0.00972171 -0.0147384 0.98583943] [ 0.00975081 0.99995065 0.00190403 0.11552963] [ 0.01471916 -0.00204745 0.99988957 -0.26018524] [ 0. 0. 0. 1. ]] SLAMing on 53.942414037 meters Centerline goodness [0,1] 0.7209604454239648 Centerline is valid? [False, False] Translation: X:0.99, Y:0.11, Z:-0.26 [[ 0.99984361 -0.00991762 -0.01464244 0.98576018] [ 0.00995192 0.9999479 0.00227205 0.11401396] [ 0.01461915 -0.00241741 0.99989021 -0.26058076] [ 0. 0. 0. 1. ]] SLAMing on 53.972414037 meters Centerline goodness [0,1] 0.7081672383424493 Centerline is valid? [False, False] Translation: X:0.99, Y:0.11, Z:-0.26 [[ 0.99984331 -0.01007602 -0.01455413 0.98556399] [ 0.01011265 0.99994588 0.00244516 0.11287273] [ 0.0145287 -0.00259196 0.99989109 -0.26065702] [ 0. 0. 0. 1. ]] SLAMing on 54.002414037 meters Centerline goodness [0,1] 0.7033715676051442 Centerline is valid? [False, False] Translation: X:0.98, Y:0.11, Z:-0.26 [[ 0.99984225 -0.01049072 -0.01433253 0.98465772] [ 0.01052804 0.99994137 0.00253128 0.1116789 ] [ 0.01430514 -0.00268177 0.99989408 -0.26027229] [ 0. 0. 0. 1. ]] SLAMing on 54.032414037 meters Centerline goodness [0,1] 0.6930649495043084 Centerline is valid? [False, False] Translation: X:0.99, Y:0.11, Z:-0.26 [[ 0.99984281 -0.01020003 -0.01450214 0.98533583] [ 0.01024317 0.99994332 0.00290374 0.11107322] [ 0.0144717 -0.00305184 0.99989062 -0.26059777] [ 0. 0. 0. 1. ]] SLAMing on 54.062414036999996 meters Centerline goodness [0,1] 0.7017483002636326 Centerline is valid? [False, False] Translation: X:0.99, Y:0.11, Z:-0.26 [[ 0.99984107 -0.01020548 -0.01461756 0.98545723] [ 0.01024937 0.99994318 0.00293068 0.11094673] [ 0.01458683 -0.00308004 0.99988886 -0.26041032] [ 0. 0. 0. 1. ]] SLAMing on 54.092414037 meters Centerline goodness [0,1] 0.7004882092851878 Centerline is valid? [False, False] Translation: X:0.99, Y:0.11, Z:-0.26 [[ 0.99984411 -0.00983576 -0.01466336 0.98598078] [ 0.0098866 0.99994535 0.00339825 0.10996032] [ 0.01462914 -0.00354269 0.99988671 -0.26085753] [ 0. 0. 0. 1. ]] SLAMing on 54.122414037 meters Centerline goodness [0,1] 0.7011629516821265 Centerline is valid? [False, False] Translation: X:0.99, Y:0.11, Z:-0.26 [[ 0.99984543 -0.00974014 -0.01463695 0.98627788] [ 0.00979599 0.99994499 0.00374856 0.10879971] [ 0.01459964 -0.00389136 0.99988585 -0.26140281] [ 0. 0. 0. 1. ]] SLAMing on 54.152414037 meters Centerline goodness [0,1] 0.7064816522220173 Centerline is valid? [False, False] Translation: X:0.99, Y:0.11, Z:-0.26 [[ 0.99984578 -0.00987458 -0.01452261 0.98614083] [ 0.00993276 0.99994291 0.00394 0.107127 ] [ 0.01448288 -0.00408364 0.99988678 -0.26162863] [ 0. 0. 0. 1. ]] SLAMing on 54.182414037 meters Centerline goodness [0,1] 0.6897810218978102 Centerline is valid? [False, False] Translation: X:0.99, Y:0.11, Z:-0.26 [[ 0.99984617 -0.01011597 -0.01432871 0.98563677] [ 0.01017485 0.99994006 0.00404232 0.10548401] [ 0.01428695 -0.00418749 0.99988917 -0.26156004] [ 0. 0. 0. 1. ]] SLAMing on 54.212414037 meters Centerline goodness [0,1] 0.6948043030441748 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:-0.26 [[ 0.99984355 -0.01099747 -0.01385386 0.98338355] [ 0.01105008 0.999932 0.00372692 0.10361308] [ 0.01381193 -0.00387942 0.99989709 -0.26007996] [ 0. 0. 0. 1. ]] SLAMing on 54.242414036999996 meters Centerline goodness [0,1] 0.6964984104475905 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:-0.26 [[ 0.99984383 -0.01100707 -0.01382629 0.98339023] [ 0.01106296 0.99993091 0.0039725 0.10263749] [ 0.01378161 -0.00412484 0.99989652 -0.26014891] [ 0. 0. 0. 1. ]] SLAMing on 54.272414037 meters Centerline goodness [0,1] 0.6919111273324513 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:-0.26 [[ 0.99984178 -0.01125295 -0.01377604 0.98305863] [ 0.01130872 0.99992815 0.00397706 0.101982 ] [ 0.01373029 -0.00413222 0.9998972 -0.25990932] [ 0. 0. 0. 1. ]] SLAMing on 54.302414037 meters Centerline goodness [0,1] 0.6777724567284669 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:-0.26 [[ 0.9998395 -0.01165997 -0.01360213 0.9828122 ] [ 0.01171982 0.99992195 0.00432879 0.09965838] [ 0.0135506 -0.00448751 0.99989812 -0.26038608] [ 0. 0. 0. 1. ]] SLAMing on 54.332414037 meters Centerline goodness [0,1] 0.6864310407569141 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:-0.26 [[ 0.99983768 -0.01184226 -0.01357817 0.9829723 ] [ 0.01190607 0.99991841 0.00462837 0.09802956] [ 0.01352225 -0.00478929 0.9998971 -0.26082878] [ 0. 0. 0. 1. ]] SLAMing on 54.362414037 meters Centerline goodness [0,1] 0.6799864084267754 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:-0.26 [[ 0.99983523 -0.01210668 -0.01352579 0.98298769] [ 0.01217363 0.999914 0.00487781 0.09644347] [ 0.01346557 -0.00504166 0.99989662 -0.26119426] [ 0. 0. 0. 1. ]] SLAMing on 54.392414037 meters Centerline goodness [0,1] 0.6697646021301134 Centerline is valid? [False, False] Translation: X:0.98, Y:0.09, Z:-0.26 [[ 0.99983002 -0.01268742 -0.01337757 0.98294904] [ 0.01275846 0.99990489 0.00523844 0.09385181] [ 0.01330984 -0.00540823 0.99989679 -0.26207561] [ 0. 0. 0. 1. ]] SLAMing on 54.422414036999996 meters Centerline goodness [0,1] 0.6752455973561502 Centerline is valid? [False, False] Translation: X:0.98, Y:0.09, Z:-0.26 [[ 0.99982812 -0.01298957 -0.01322911 0.98268366] [ 0.01306116 0.99990044 0.00533998 0.09281321] [ 0.01315843 -0.00551185 0.99989823 -0.26226887] [ 0. 0. 0. 1. ]] SLAMing on 54.452414037 meters Centerline goodness [0,1] 0.6752455973561502 Centerline is valid? [False, False] Translation: X:0.98, Y:0.09, Z:-0.26 [[ 0.99982812 -0.01298957 -0.01322911 0.98268366] [ 0.01306116 0.99990044 0.00533998 0.09281321] [ 0.01315843 -0.00551185 0.99989823 -0.26226887] [ 0. 0. 0. 1. ]] SLAMing on 54.482414037 meters Centerline goodness [0,1] 0.6692911609439156 Centerline is valid? [False, False] Translation: X:0.98, Y:0.09, Z:-0.26 [[ 0.99982588 -0.01322922 -0.01316049 0.98265318] [ 0.01330295 0.99989622 0.00553058 0.09190839] [ 0.01308596 -0.00570469 0.9998981 -0.26260333] [ 0. 0. 0. 1. ]] SLAMing on 54.512414037 meters Centerline goodness [0,1] 0.6618599175985874 Centerline is valid? [False, False] Translation: X:0.98, Y:0.09, Z:-0.26 [[ 0.99982309 -0.01368501 -0.01290366 0.98177999] [ 0.01375493 0.99989111 0.00534558 0.09159464] [ 0.0128291 -0.00552212 0.99990246 -0.26219649] [ 0. 0. 0. 1. ]] SLAMing on 54.542414037 meters Centerline goodness [0,1] 0.670409869402142 Centerline is valid? [False, False] Translation: X:0.98, Y:0.09, Z:-0.26 [[ 0.99981672 -0.01437453 -0.01264547 0.98088312] [ 0.01444074 0.99988241 0.00516028 0.09070056] [ 0.0125698 -0.00534195 0.99990673 -0.26190118] [ 0. 0. 0. 1. ]] SLAMing on 54.572414037 meters Centerline goodness [0,1] 0.6709518537764623 Centerline is valid? [False, False] Translation: X:0.98, Y:0.09, Z:-0.26 [[ 0.99981547 -0.01454585 -0.01254766 0.98073827] [ 0.01461113 0.99988011 0.005127 0.09049985] [ 0.01247158 -0.00530939 0.99990813 -0.26199248] [ 0. 0. 0. 1. ]] SLAMing on 54.602414037 meters Centerline goodness [0,1] 0.6732816490744298 Centerline is valid? [False, False] Translation: X:0.98, Y:0.09, Z:-0.26 [[ 0.9998142 -0.01474657 -0.0124139 0.98041726] [ 0.01480916 0.99987801 0.00496518 0.09066172] [ 0.01233917 -0.0051481 0.99991062 -0.26189428] [ 0. 0. 0. 1. ]] SLAMing on 54.632414037 meters Centerline goodness [0,1] 0.6615112882407554 Centerline is valid? [False, False] Translation: X:0.98, Y:0.09, Z:-0.26 [[ 0.99981151 -0.0149365 -0.01240346 0.98024439] [ 0.01499558 0.99987659 0.00468445 0.09130114] [ 0.01233196 -0.00486957 0.9999121 -0.26161104] [ 0. 0. 0. 1. ]] SLAMing on 54.662414037 meters Centerline goodness [0,1] 0.6582590598561282 Centerline is valid? [False, False] Translation: X:0.98, Y:0.09, Z:-0.26 [[ 0.99980818 -0.01516932 -0.01238938 0.98047002] [ 0.01522711 0.99987356 0.00458351 0.09147632] [ 0.01231829 -0.00477129 0.99991274 -0.26204139] [ 0. 0. 0. 1. ]] SLAMing on 54.692414037 meters Centerline goodness [0,1] 0.6653780942692438 Centerline is valid? [False, False] Translation: X:0.98, Y:0.09, Z:-0.26 [[ 0.9998085 -0.0151408 -0.01239863 0.98092366] [ 0.01520181 0.99987272 0.0048414 0.09090761] [ 0.01232375 -0.00502895 0.99991141 -0.26269479] [ 0. 0. 0. 1. ]] SLAMing on 54.722414037 meters Centerline goodness [0,1] 0.6697721863311799 Centerline is valid? [False, False] Translation: X:0.98, Y:0.09, Z:-0.26 [[ 0.99980428 -0.0154196 -0.01239467 0.98092334] [ 0.01547904 0.99986908 0.00471352 0.09095098] [ 0.01232037 -0.00490445 0.99991207 -0.26281654] [ 0. 0. 0. 1. ]] SLAMing on 54.752414037 meters Centerline goodness [0,1] 0.6560217736448174 Centerline is valid? [False, False] Translation: X:0.98, Y:0.09, Z:-0.26 [[ 0.99980318 -0.01548331 -0.01240468 0.9814587 ] [ 0.01554151 0.9998686 0.00460893 0.09207018] [ 0.01233169 -0.00480081 0.99991244 -0.26344688] [ 0. 0. 0. 1. ]] SLAMing on 54.782414037 meters Centerline goodness [0,1] 0.6585531683437584 Centerline is valid? [False, False] Translation: X:0.98, Y:0.09, Z:-0.26 [[ 0.99980166 -0.01548268 -0.01252697 0.98199349] [ 0.01553969 0.99986928 0.00446661 0.09327199] [ 0.01245617 -0.00466039 0.99991156 -0.26375884] [ 0. 0. 0. 1. ]] SLAMing on 54.812414036999996 meters Centerline goodness [0,1] 0.6635148649877262 Centerline is valid? [False, False] Translation: X:0.98, Y:0.09, Z:-0.26 [[ 0.99980224 -0.01539995 -0.01258234 0.98237622] [ 0.01545615 0.99987095 0.00438186 0.09413678] [ 0.01251323 -0.00457547 0.99991124 -0.26400762] [ 0. 0. 0. 1. ]] SLAMing on 54.842414037 meters Centerline goodness [0,1] 0.6605837759317263 Centerline is valid? [False, False] Translation: X:0.98, Y:0.09, Z:-0.26 [[ 0.99980202 -0.01540099 -0.01259892 0.98255982] [ 0.01545596 0.9998714 0.00427762 0.09482161] [ 0.01253142 -0.0044715 0.99991148 -0.26414865] [ 0. 0. 0. 1. ]] SLAMing on 54.872414037 meters Centerline goodness [0,1] 0.6559769410589864 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:-0.26 [[ 0.99979874 -0.01584808 -0.01230123 0.98128608] [ 0.01589292 0.99986738 0.0035554 0.09617457] [ 0.01224326 -0.00375018 0.99991802 -0.26308687] [ 0. 0. 0. 1. ]] SLAMing on 54.902414037 meters Centerline goodness [0,1] 0.6578989210675752 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:-0.26 [[ 0.99979739 -0.01590407 -0.01233884 0.9814529 ] [ 0.01594777 0.99986687 0.00345169 0.09664576] [ 0.0122823 -0.00364777 0.99991792 -0.26318385] [ 0. 0. 0. 1. ]] SLAMing on 54.932414037 meters Centerline goodness [0,1] 0.6551951596760986 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:-0.26 [[ 0.99979803 -0.0158645 -0.01233737 0.98184871] [ 0.01590919 0.9998672 0.00353335 0.09700072] [ 0.01227967 -0.00372892 0.99991765 -0.26370909] [ 0. 0. 0. 1. ]] SLAMing on 54.962414037 meters Centerline goodness [0,1] 0.658284360621384 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:-0.26 [[ 0.99979713 -0.01587211 -0.01240029 0.98264373] [ 0.01591939 0.99986635 0.00372292 0.09729676] [ 0.01233954 -0.00391957 0.99991618 -0.26479001] [ 0. 0. 0. 1. ]] SLAMing on 54.992414036999996 meters Centerline goodness [0,1] 0.6587972053518425 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:-0.27 [[ 0.999795 -0.01588419 -0.01255608 0.98341473] [ 0.01593331 0.99986575 0.00382194 0.09745715] [ 0.01249369 -0.00402121 0.99991387 -0.26544076] [ 0. 0. 0. 1. ]] SLAMing on 55.022414037 meters Centerline goodness [0,1] 0.6579644602804806 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:-0.27 [[ 0.9997966 -0.01575 -0.0125978 0.98421504] [ 0.01580303 0.99986663 0.0041217 0.09749168] [ 0.0125312 -0.00431994 0.99991215 -0.26647039] [ 0. 0. 0. 1. ]] SLAMing on 55.052414037 meters Centerline goodness [0,1] 0.6614286694572153 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:-0.27 [[ 0.99979774 -0.0156111 -0.01267944 0.98495289] [ 0.01566599 0.99986828 0.00424182 0.09787655] [ 0.01261155 -0.00443959 0.99991062 -0.2672095 ] [ 0. 0. 0. 1. ]] SLAMing on 55.082414037 meters Centerline goodness [0,1] 0.6552538641471357 Centerline is valid? [False, False] Translation: X:0.99, Y:0.10, Z:-0.27 [[ 0.99980033 -0.01541543 -0.01271467 0.98563632] [ 0.0154694 0.9998717 0.00415727 0.09914196] [ 0.01264895 -0.00435313 0.99991052 -0.26790339] [ 0. 0. 0. 1. ]] SLAMing on 55.112414037 meters Centerline goodness [0,1] 0.6548557031607879 Centerline is valid? [False, False] Translation: X:0.99, Y:0.10, Z:-0.27 [[ 0.99979976 -0.01540116 -0.01277643 0.98589237] [ 0.01545342 0.99987258 0.00400187 0.10008226] [ 0.01271316 -0.0041985 0.99991037 -0.26799957] [ 0. 0. 0. 1. ]] SLAMing on 55.142414037 meters Centerline goodness [0,1] 0.6501421627075117 Centerline is valid? [False, False] Translation: X:0.99, Y:0.10, Z:-0.27 [[ 0.99979916 -0.01532047 -0.01291948 0.98627717] [ 0.01537088 0.9998746 0.00381123 0.1014365 ] [ 0.01285947 -0.00400905 0.99990928 -0.26795195] [ 0. 0. 0. 1. ]] SLAMing on 55.172414036999996 meters Centerline goodness [0,1] 0.6492853849700323 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:-0.27 [[ 0.99984081 -0.01255308 -0.01267943 0.98460504] [ 0.01263841 0.99989787 0.00667228 0.10322319] [ 0.01259437 -0.00683147 0.99989735 -0.2668906 ] [ 0. 0. 0. 1. ]] SLAMing on 55.202414037 meters Centerline goodness [0,1] 0.6551008645533141 Centerline is valid? [False, False] Translation: X:0.98, Y:0.10, Z:-0.27 [[ 0.99983521 -0.0128327 -0.01284014 0.9843887 ] [ 0.01291031 0.99989878 0.00597981 0.10499017] [ 0.01276211 -0.00614459 0.99989968 -0.26597494] [ 0. 0. 0. 1. ]] SLAMing on 55.232414037 meters Centerline goodness [0,1] 0.6566135485810765 Centerline is valid? [False, False] Translation: X:0.98, Y:0.11, Z:-0.27 [[ 0.99983112 -0.01307184 -0.01291717 0.98411594] [ 0.01314418 0.99989831 0.00553187 0.10619966] [ 0.01284354 -0.00570072 0.99990127 -0.26533681] [ 0. 0. 0. 1. ]] SLAMing on 55.262414037 meters Centerline goodness [0,1] 0.653337342152736 Centerline is valid? [False, False] Translation: X:0.98, Y:0.11, Z:-0.27 [[ 0.99982848 -0.01305841 -0.01313319 0.98473195] [ 0.01313029 0.9998992 0.00540193 0.10668699] [ 0.01306132 -0.00557345 0.99989916 -0.26544232] [ 0. 0. 0. 1. ]] SLAMing on 55.292414037 meters Centerline goodness [0,1] 0.656744379683597 Centerline is valid? [False, False] Translation: X:0.99, Y:0.11, Z:-0.27 [[ 0.99982758 -0.01293336 -0.01332436 0.98611612] [ 0.0130077 0.99990022 0.00550825 0.1068382 ] [ 0.01325179 -0.00568062 0.99989605 -0.26679533] [ 0. 0. 0. 1. ]] SLAMing on 55.322414037 meters Centerline goodness [0,1] 0.648693912679398 Centerline is valid? [False, False] Translation: X:0.99, Y:0.11, Z:-0.27 [[ 0.99982641 -0.01293578 -0.01340985 0.98677979] [ 0.01301023 0.99990035 0.00547921 0.10700523] [ 0.01333764 -0.00565272 0.99989507 -0.26745407] [ 0. 0. 0. 1. ]] SLAMing on 55.352414037 meters Centerline goodness [0,1] 0.6464456079115766 Centerline is valid? [False, False] Translation: X:0.99, Y:0.11, Z:-0.27 [[ 0.99982575 -0.01296874 -0.01342677 0.98711567] [ 0.01304281 0.99990012 0.0054437 0.10733029] [ 0.01335483 -0.00561787 0.99989504 -0.26790564] [ 0. 0. 0. 1. ]] SLAMing on 55.382414037 meters Centerline goodness [0,1] 0.6525425702904797 Centerline is valid? [False, False] Translation: X:0.99, Y:0.11, Z:-0.27 [[ 0.99982665 -0.01273533 -0.01358246 0.98786313] [ 0.01280684 0.99990451 0.00519156 0.10961071] [ 0.01351505 -0.00536461 0.99989428 -0.26814825] [ 0. 0. 0. 1. ]] SLAMing on 55.412414037 meters Centerline goodness [0,1] 0.6489319574180623 Centerline is valid? [False, False] Translation: X:0.99, Y:0.11, Z:-0.27 [[ 0.99982824 -0.01243958 -0.01373857 0.98859714] [ 0.01251097 0.99990861 0.00512274 0.11099703] [ 0.01367359 -0.00529374 0.9998925 -0.26844965] [ 0. 0. 0. 1. ]] SLAMing on 55.442414037 meters Centerline goodness [0,1] 0.6467070065182348 Centerline is valid? [False, False] Translation: X:0.99, Y:0.11, Z:-0.27 [[ 0.999829 -0.01218151 -0.01391346 0.98902331] [ 0.01225119 0.99991278 0.00493355 0.11234156] [ 0.01385215 -0.00510317 0.99989103 -0.26824503] [ 0. 0. 0. 1. ]] SLAMing on 55.472414037 meters Centerline goodness [0,1] 0.6534202410989627 Centerline is valid? [False, False] Translation: X:0.99, Y:0.11, Z:-0.27 [[ 0.99983424 -0.01145465 -0.01415192 0.98973816] [ 0.01152404 0.99992192 0.0048316 0.11354606] [ 0.01409547 -0.00499389 0.99988818 -0.26790248] [ 0. 0. 0. 1. ]] SLAMing on 55.502414037 meters Centerline goodness [0,1] 0.6518703591276327 Centerline is valid? [False, False] Translation: X:0.99, Y:0.11, Z:-0.27 [[ 0.99983344 -0.01119275 -0.01441568 0.99057499] [ 0.01126369 0.9999248 0.00484928 0.11409382] [ 0.01436032 -0.00501084 0.99988433 -0.26814285] [ 0. 0. 0. 1. ]] SLAMing on 55.532414037 meters Centerline goodness [0,1] 0.6562368162002532 Centerline is valid? [False, False] Translation: X:0.99, Y:0.11, Z:-0.27 [[ 0.99983324 -0.01094973 -0.01461471 0.99130883] [ 0.01102184 0.99992743 0.0048628 0.11493895] [ 0.0145604 -0.00502307 0.99988137 -0.2684573 ] [ 0. 0. 0. 1. ]] SLAMing on 55.562414036999996 meters Centerline goodness [0,1] 0.6573226276001315 Centerline is valid? [False, False] Translation: X:0.99, Y:0.12, Z:-0.27 [[ 0.99983319 -0.01059248 -0.01487949 0.99239118] [ 0.01066585 0.9999313 0.00486056 0.11600417] [ 0.01482698 -0.00501845 0.99987748 -0.26890077] [ 0. 0. 0. 1. ]] SLAMing on 55.592414037 meters Centerline goodness [0,1] 0.6524418932906747 Centerline is valid? [False, False] Translation: X:0.99, Y:0.12, Z:-0.27 [[ 0.99983436 -0.01026192 -0.01503163 0.99310583] [ 0.01033266 0.99993587 0.00463585 0.11786846] [ 0.01498309 -0.00479039 0.99987627 -0.26915051] [ 0. 0. 0. 1. ]] SLAMing on 55.622414037 meters Centerline goodness [0,1] 0.6494896163322774 Centerline is valid? [False, False] Translation: X:0.99, Y:0.12, Z:-0.27 [[ 0.99983317 -0.01013316 -0.01519683 0.99378261] [ 0.0102018 0.99993808 0.00444557 0.11861659] [ 0.01515084 -0.00459986 0.99987464 -0.2693838 ] [ 0. 0. 0. 1. ]] SLAMing on 55.652414037 meters Centerline goodness [0,1] 0.6772621318075864 Centerline is valid? [False, False] Translation: X:0.99, Y:0.12, Z:-0.27 [[ 0.99983299 -0.00984057 -0.01540004 0.99455348] [ 0.00990879 0.9999414 0.00435965 0.11960258] [ 0.01535624 -0.00451151 0.99987191 -0.26959602] [ 0. 0. 0. 1. ]] SLAMing on 55.682414037 meters Centerline goodness [0,1] 0.6523379471338631 Centerline is valid? [False, False] Translation: X:1.00, Y:0.12, Z:-0.27 [[ 0.99983225 -0.00965987 -0.01556161 0.99515296] [ 0.00972619 0.99994392 0.00419139 0.12114034] [ 0.01552025 -0.00434204 0.99987013 -0.26978969] [ 0. 0. 0. 1. ]] SLAMing on 55.712414037 meters Centerline goodness [0,1] 0.6871508379888268 Centerline is valid? [False, False] Translation: X:1.00, Y:0.12, Z:-0.27 [[ 0.99983306 -0.00912712 -0.015829 0.99611877] [ 0.00918945 0.99995029 0.0038691 0.12364976] [ 0.0157929 -0.00401391 0.99986723 -0.26979422] [ 0. 0. 0. 1. ]] SLAMing on 55.742414036999996 meters Centerline goodness [0,1] 0.685879371995548 Centerline is valid? [False, False] Translation: X:1.00, Y:0.12, Z:-0.27 [[ 0.9998304 -0.00877181 -0.0161934 0.99709198] [ 0.00883464 0.99995371 0.00381257 0.12434696] [ 0.01615921 -0.00395499 0.99986161 -0.26974177] [ 0. 0. 0. 1. ]] SLAMing on 55.772414037 meters Centerline goodness [0,1] 0.6830883924119756 Centerline is valid? [False, False] Translation: X:1.00, Y:0.13, Z:-0.27 [[ 0.99982861 -0.00867391 -0.01635593 0.99743399] [ 0.00873392 0.99995537 0.00360109 0.12521453] [ 0.01632396 -0.00374333 0.99985975 -0.26953983] [ 0. 0. 0. 1. ]] SLAMing on 55.802414037 meters Centerline goodness [0,1] 0.6932321165103993 Centerline is valid? [False, False] Translation: X:1.00, Y:0.13, Z:-0.27 [[ 0.99983097 -0.00799452 -0.01655668 0.99861505] [ 0.00805805 0.99996041 0.00377415 0.12626054] [ 0.01652585 -0.00390693 0.99985581 -0.27016582] [ 0. 0. 0. 1. ]] SLAMing on 55.832414037 meters Centerline goodness [0,1] 0.6944537014996429 Centerline is valid? [False, False] Translation: X:1.00, Y:0.13, Z:-0.27 [[ 0.99982984 -0.00775341 -0.01673829 0.99943117] [ 0.00781852 0.99996211 0.00382789 0.12666922] [ 0.01670798 -0.00395811 0.99985258 -0.27063418] [ 0. 0. 0. 1. ]] SLAMing on 55.862414037 meters Centerline goodness [0,1] 0.6846111758688774 Centerline is valid? [False, False] Translation: X:1.00, Y:0.13, Z:-0.27 [[ 0.99982825 -0.00758541 -0.01690959 1.00010581] [ 0.00765083 0.99996348 0.00380743 0.12721255] [ 0.0168801 -0.00393615 0.99984977 -0.27092235] [ 0. 0. 0. 1. ]] SLAMing on 55.892414037 meters Centerline goodness [0,1] 0.7017857568605012 Centerline is valid? [False, False] Translation: X:1.00, Y:0.13, Z:-0.27 [[ 0.99982746 -0.00735326 -0.01705824 1.00096521] [ 0.00741942 0.99996519 0.00381834 0.12814714] [ 0.01702957 -0.00394425 0.99984721 -0.27150497] [ 0. 0. 0. 1. ]] SLAMing on 55.922414036999996 meters Centerline goodness [0,1] 0.7004826300950925 Centerline is valid? [False, False] Translation: X:1.00, Y:0.13, Z:-0.27 [[ 0.9998275 -0.00660494 -0.01735913 1.00245166] [ 0.00667166 0.99997057 0.00378816 0.13075309] [ 0.0173336 -0.00390332 0.99984214 -0.27204279] [ 0. 0. 0. 1. ]] SLAMing on 55.952414037 meters Centerline goodness [0,1] 0.701020310404292 Centerline is valid? [False, False] Translation: X:1.00, Y:0.13, Z:-0.27 [[ 0.99982494 -0.00646997 -0.01755645 1.00268487] [ 0.00653072 0.99997288 0.00340546 0.1323468 ] [ 0.01753394 -0.00351952 0.99984007 -0.27147999] [ 0. 0. 0. 1. ]] SLAMing on 55.982414037 meters Centerline goodness [0,1] 0.7048145035418418 Centerline is valid? [False, False] Translation: X:1.00, Y:0.13, Z:-0.27 [[ 0.99982289 -0.00630899 -0.01773103 1.00298418] [ 0.00636782 0.9999744 0.00326346 0.13293552] [ 0.01770998 -0.00337579 0.99983747 -0.27117068] [ 0. 0. 0. 1. ]] SLAMing on 56.012414037 meters Centerline goodness [0,1] 0.7074542221367809 Centerline is valid? [False, False] Translation: X:1.00, Y:0.13, Z:-0.27 [[ 0.99982 -0.00616009 -0.0179452 1.00332509] [ 0.00621753 0.99997572 0.00314683 0.133147 ] [ 0.01792538 -0.00325783 0.99983402 -0.27083274] [ 0. 0. 0. 1. ]] SLAMing on 56.042414037 meters Centerline goodness [0,1] 0.7048257952824064 Centerline is valid? [False, False] Translation: X:1.00, Y:0.13, Z:-0.27 [[ 0.99981966 -0.0059343 -0.01803976 1.00401379] [ 0.0059944 0.99997666 0.00327941 0.13249199] [ 0.01801987 -0.00338695 0.99983189 -0.27132716] [ 0. 0. 0. 1. ]] SLAMing on 56.072414037 meters Centerline goodness [0,1] 0.7190865384615385 Centerline is valid? [False, False] Translation: X:1.00, Y:0.13, Z:-0.27 [[ 0.99981661 -0.00583427 -0.01824047 1.00463968] [ 0.00589637 0.999977 0.00335244 0.13252174] [ 0.01822049 -0.00345938 0.99982801 -0.27156154] [ 0. 0. 0. 1. ]] SLAMing on 56.102414037 meters Centerline goodness [0,1] 0.7172801267737521 Centerline is valid? [False, False] Translation: X:1.01, Y:0.13, Z:-0.27 [[ 0.99981193 -0.0054793 -0.01860305 1.00574932] [ 0.00554669 0.99997823 0.00357293 0.13294618] [ 0.01858306 -0.00367544 0.99982056 -0.27190611] [ 0. 0. 0. 1. ]] SLAMing on 56.132414037 meters Centerline goodness [0,1] 0.7068167574603481 Centerline is valid? [False, False] Translation: X:1.01, Y:0.13, Z:-0.27 [[ 0.99981143 -0.00518913 -0.01871298 1.00615223] [ 0.00525258 0.99998062 0.00334317 0.13495086] [ 0.01869527 -0.00344083 0.99981931 -0.27175655] [ 0. 0. 0. 1. ]] SLAMing on 56.162414037 meters Centerline goodness [0,1] 0.7131990727325412 Centerline is valid? [False, False] Translation: X:1.01, Y:0.14, Z:-0.27 [[ 0.9998104 -0.00499928 -0.01881936 1.00660317] [ 0.00506259 0.99998168 0.00331783 0.13540364] [ 0.01880243 -0.00341248 0.9998174 -0.27183083] [ 0. 0. 0. 1. ]] SLAMing on 56.192414037 meters Centerline goodness [0,1] 0.7165035437057037 Centerline is valid? [False, False] Translation: X:1.01, Y:0.14, Z:-0.27 [[ 0.99980781 -0.00504311 -0.0189447 1.00653538] [ 0.00510166 0.99998236 0.00304312 0.13543225] [ 0.01892901 -0.00313919 0.9998159 -0.27123249] [ 0. 0. 0. 1. ]] SLAMing on 56.222414037 meters Centerline goodness [0,1] 0.7205687751124799 Centerline is valid? [False, False] Translation: X:1.01, Y:0.14, Z:-0.27 [[ 0.99980609 -0.00490542 -0.0190715 1.00673341] [ 0.00496284 0.99998329 0.00296449 0.13507396] [ 0.01905664 -0.00305856 0.99981373 -0.27091363] [ 0. 0. 0. 1. ]] SLAMing on 56.252414037 meters Centerline goodness [0,1] 0.7296050735082156 Centerline is valid? [False, False] Translation: X:1.01, Y:0.14, Z:-0.27 [[ 0.99980444 -0.00451213 -0.0192542 1.00684696] [ 0.00456655 0.9999857 0.00278298 0.13548976] [ 0.01924137 -0.00287036 0.99981075 -0.27007664] [ 0. 0. 0. 1. ]] SLAMing on 56.282414037 meters Centerline goodness [0,1] 0.7328834562090247 Centerline is valid? [False, False] Translation: X:1.01, Y:0.14, Z:-0.27 [[ 0.99979981 -0.00415294 -0.01957278 1.00775653] [ 0.00420795 0.99998731 0.00277011 0.13621641] [ 0.01956103 -0.00285192 0.9998046 -0.27007606] [ 0. 0. 0. 1. ]] SLAMing on 56.312414036999996 meters Centerline goodness [0,1] 0.7292414424397177 Centerline is valid? [False, False] Translation: X:1.01, Y:0.14, Z:-0.27 [[ 0.99979619 -0.00410324 -0.01976732 1.00790127] [ 0.00415456 0.9999881 0.00255586 0.137019 ] [ 0.0197566 -0.00263746 0.99980134 -0.26956537] [ 0. 0. 0. 1. ]] SLAMing on 56.342414037 meters Centerline goodness [0,1] 0.732667789271109 Centerline is valid? [False, False] Translation: X:1.01, Y:0.14, Z:-0.27 [[ 0.99979037 -0.00358035 -0.02015922 1.00885942] [ 0.00363685 0.99998956 0.00276666 0.13688237] [ 0.0201491 -0.0028394 0.99979295 -0.26947893] [ 0. 0. 0. 1. ]] SLAMing on 56.372414037 meters Centerline goodness [0,1] 0.732667789271109 Centerline is valid? [False, False] Translation: X:1.01, Y:0.14, Z:-0.27 [[ 0.99979037 -0.00358035 -0.02015922 1.00885942] [ 0.00363685 0.99998956 0.00276666 0.13688237] [ 0.0201491 -0.0028394 0.99979295 -0.26947893] [ 0. 0. 0. 1. ]] SLAMing on 56.402414037 meters Centerline goodness [0,1] 0.7328333892376252 Centerline is valid? [False, False] Translation: X:1.01, Y:0.14, Z:-0.27 [[ 0.99978251 -0.0028971 -0.02065264 1.01089944] [ 0.00296735 0.99998991 0.00337143 0.13610987] [ 0.02064267 -0.00343198 0.99978103 -0.27065927] [ 0. 0. 0. 1. ]] SLAMing on 56.432414037 meters Centerline goodness [0,1] 0.7606381700665561 Centerline is valid? [False, False] Translation: X:1.01, Y:0.14, Z:-0.27 [[ 0.99977931 -0.00248656 -0.02086015 1.0121297 ] [ 0.00256546 0.99998965 0.00375629 0.13560782] [ 0.0208506 -0.00380898 0.99977535 -0.27161573] [ 0. 0. 0. 1. ]] SLAMing on 56.462414037 meters Centerline goodness [0,1] 0.7438428366075707 Centerline is valid? [False, False] Translation: X:1.01, Y:0.14, Z:-0.27 [[ 0.99977461 -0.00215588 -0.02112041 1.01335651] [ 0.00224007 0.99998964 0.00396319 0.13509152] [ 0.02111165 -0.00400961 0.99976908 -0.27230554] [ 0. 0. 0. 1. ]] SLAMing on 56.492414036999996 meters Centerline goodness [0,1] 0.7590549667123321 Centerline is valid? [False, False] Translation: X:1.01, Y:0.14, Z:-0.27 [[ 0.99977284 -0.00186052 -0.0212321 1.01347999] [ 0.00194226 0.99999078 0.00382969 0.13563213] [ 0.02122478 -0.00387006 0.99976724 -0.271769 ] [ 0. 0. 0. 1. ]] SLAMing on 56.522414037 meters Centerline goodness [0,1] 0.7607765870536787 Centerline is valid? [False, False] Translation: X:1.01, Y:0.14, Z:-0.27 [[ 0.99977154 -0.00195812 -0.02128449 1.01317407] [ 0.00203254 0.99999189 0.0034755 0.13619339] [ 0.02127752 -0.00351796 0.99976742 -0.27099036] [ 0. 0. 0. 1. ]] SLAMing on 56.552414037 meters Centerline goodness [0,1] 0.744694641828308 Centerline is valid? [False, False] Translation: X:1.01, Y:0.14, Z:-0.27 [[ 0.99976567 -0.0017397 -0.02157725 1.01374232] [ 0.00181467 0.99999238 0.00345522 0.13605092] [ 0.02157108 -0.00349357 0.99976121 -0.27068128] [ 0. 0. 0. 1. ]] SLAMing on 56.582414037 meters Centerline goodness [0,1] 0.7576825351167362 Centerline is valid? [False, False] Translation: X:1.01, Y:0.13, Z:-0.27 [[ 0.99976091 -0.00130785 -0.02182699 1.01427132] [ 0.00138634 0.99999263 0.00358144 0.13490172] [ 0.02182215 -0.00361085 0.99975535 -0.27032242] [ 0. 0. 0. 1. ]] SLAMing on 56.612414037 meters Centerline goodness [0,1] 0.7445455200057605 Centerline is valid? [False, False] Translation: X:1.01, Y:0.13, Z:-0.27 [[ 0.99975892 -0.00104707 -0.02193168 1.0146821 ] [ 0.00112683 0.9999928 0.00362486 0.13484971] [ 0.02192773 -0.0036487 0.9997529 -0.27032258] [ 0. 0. 0. 1. ]] SLAMing on 56.642414037 meters Centerline goodness [0,1] 0.7618075731745384 Centerline is valid? [False, False] Translation: X:1.02, Y:0.14, Z:-0.27 [[ 9.99753063e-01 -7.50252301e-04 -2.22092529e-02 1.01540494e+00] [ 8.31569710e-04 9.99992984e-01 3.65241135e-03 1.35181464e-01] [ 2.22063568e-02 -3.66997798e-03 9.99746672e-01 -2.70312811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.672414036999996 meters Centerline goodness [0,1] 0.7611556751044719 Centerline is valid? [False, False] Translation: X:1.02, Y:0.14, Z:-0.27 [[ 9.99749552e-01 -4.72734462e-04 -2.23743146e-02 1.01597421e+00] [ 5.55962451e-04 9.99992950e-01 3.71372635e-03 1.35111110e-01] [ 2.23724013e-02 -3.72523554e-03 9.99742766e-01 -2.70383355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.702414037 meters Centerline goodness [0,1] 0.7583450982268909 Centerline is valid? [False, False] Translation: X:1.02, Y:0.13, Z:-0.27 [[ 9.99743653e-01 1.02188959e-04 -2.26410667e-02 1.01679212e+00] [-9.65261751e-06 9.99991647e-01 4.08717325e-03 1.33941400e-01] [ 2.26412952e-02 -4.08590697e-03 9.99735304e-01 -2.70428043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.732414037 meters Centerline goodness [0,1] 0.7578648850008411 Centerline is valid? [False, False] Translation: X:1.02, Y:0.13, Z:-0.27 [[ 9.99742145e-01 2.51123575e-04 -2.27063904e-02 1.01694415e+00] [-1.55891012e-04 9.99991186e-01 4.19575925e-03 1.33328241e-01] [ 2.27072439e-02 -4.19113763e-03 9.99733372e-01 -2.70323132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.762414037 meters Centerline goodness [0,1] 0.7600345896087051 Centerline is valid? [False, False] Translation: X:1.02, Y:0.13, Z:-0.27 [[ 9.99736808e-01 4.92801869e-04 -2.29362729e-02 1.01765805e+00] [-3.92756295e-04 9.99990391e-01 4.36619366e-03 1.32848799e-01] [ 2.29382042e-02 -4.35603614e-03 9.99727395e-01 -2.70467888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.792414037 meters Centerline goodness [0,1] 0.7574596484505963 Centerline is valid? [False, False] Translation: X:1.02, Y:0.13, Z:-0.27 [[ 9.99730657e-01 6.40970110e-04 -2.31991727e-02 1.01823162e+00] [-5.35862184e-04 9.99989566e-01 4.53660870e-03 1.32350627e-01] [ 2.32018385e-02 -4.52295524e-03 9.99720570e-01 -2.70429788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.822414037 meters Centerline goodness [0,1] 0.7522759482116692 Centerline is valid? [False, False] Translation: X:1.02, Y:0.13, Z:-0.27 [[ 9.99736409e-01 -6.43712927e-05 -2.29588272e-02 1.01690343e+00] [ 1.64262323e-04 9.99990529e-01 4.34901754e-03 1.30928527e-01] [ 2.29583298e-02 -4.35164245e-03 9.99726952e-01 -2.69616575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.852414037 meters Centerline goodness [0,1] 0.7380006699526247 Centerline is valid? [False, False] Translation: X:1.02, Y:0.13, Z:-0.27 [[ 9.99717549e-01 -3.14151889e-03 -2.35574314e-02 1.01889113e+00] [ 3.16293819e-03 9.99994618e-01 8.72032003e-04 1.31038439e-01] [ 2.35545651e-02 -9.46296396e-04 9.99722105e-01 -2.70001849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.882414037 meters Centerline goodness [0,1] 0.7187641224460671 Centerline is valid? [False, False] Translation: X:1.02, Y:0.13, Z:-0.27 [[ 0.99969471 -0.006992 -0.02369822 1.0194991 ] [ 0.00693718 0.99997307 -0.00239483 0.1286263 ] [ 0.02371432 0.0022297 0.99971629 -0.27044482] [ 0. 0. 0. 1. ]] SLAMing on 56.912414037 meters Centerline goodness [0,1] 0.7369507449938313 Centerline is valid? [False, False] Translation: X:1.02, Y:0.13, Z:-0.27 [[ 0.99969343 -0.00731715 -0.0236538 1.01936414] [ 0.00727388 0.99997171 -0.00191487 0.12640979] [ 0.02366714 0.00174222 0.99971838 -0.27082331] [ 0. 0. 0. 1. ]] SLAMing on 56.942414037 meters Centerline goodness [0,1] 0.7063286937139877 Centerline is valid? [False, False] Translation: X:1.02, Y:0.12, Z:-0.27 [[ 0.99969136 -0.00777921 -0.02359378 1.01902292] [ 0.00774154 0.99996861 -0.00168754 0.12463667] [ 0.02360617 0.00150436 0.9997202 -0.27089938] [ 0. 0. 0. 1. ]] SLAMing on 56.972414037 meters Centerline goodness [0,1] 0.6883837310860893 Centerline is valid? [False, False] Translation: X:1.02, Y:0.12, Z:-0.27 [[ 0.99964686 -0.01143546 -0.02398736 1.02039538] [ 0.01132291 0.99992426 -0.00482265 0.12286719] [ 0.02404069 0.00454934 0.99970063 -0.27159 ] [ 0. 0. 0. 1. ]] SLAMing on 57.002414037 meters Centerline goodness [0,1] 0.7332548835020005 Centerline is valid? [False, False] Translation: X:1.02, Y:0.12, Z:-0.27 [[ 0.99964462 -0.01153412 -0.02403315 1.02058153] [ 0.01143437 0.99992545 -0.00428378 0.12098051] [ 0.02408077 0.00400746 0.99970198 -0.27205221] [ 0. 0. 0. 1. ]] SLAMing on 57.032414037 meters Centerline goodness [0,1] 0.6913571562558619 Centerline is valid? [False, False] Translation: X:1.02, Y:0.12, Z:-0.27 [[ 0.99964088 -0.0120762 -0.02392225 1.01995366] [ 0.0119883 0.99992086 -0.00381436 0.11880962] [ 0.02396642 0.00352621 0.99970655 -0.2721282 ] [ 0. 0. 0. 1. ]] SLAMing on 57.062414036999996 meters Centerline goodness [0,1] 0.6954780694564784 Centerline is valid? [False, False] Translation: X:1.03, Y:0.12, Z:-0.28 [[ 0.99973002 -0.01525618 -0.0175254 1.02981001] [ 0.01532902 0.99987438 0.00402998 0.11575101] [ 0.01746172 -0.00429754 0.9998383 -0.27617199] [ 0. 0. 0. 1. ]] SLAMing on 57.092414037 meters Centerline goodness [0,1] 0.6954780694564784 Centerline is valid? [False, False] Translation: X:1.03, Y:0.12, Z:-0.28 [[ 0.99973002 -0.01525618 -0.0175254 1.02981001] [ 0.01532902 0.99987438 0.00402998 0.11575101] [ 0.01746172 -0.00429754 0.9998383 -0.27617199] [ 0. 0. 0. 1. ]] SLAMing on 57.122414037 meters Centerline goodness [0,1] 0.7116412614673545 Centerline is valid? [False, False] Translation: X:1.03, Y:0.11, Z:-0.27 [[ 0.99971621 -0.01658116 -0.01710432 1.02752901] [ 0.0166429 0.99985546 0.00347338 0.11348138] [ 0.01704426 -0.00375706 0.99984768 -0.27476659] [ 0. 0. 0. 1. ]] SLAMing on 57.152414037 meters Centerline goodness [0,1] 0.7144092353710974 Centerline is valid? [False, False] Translation: X:1.03, Y:0.11, Z:-0.27 [[ 0.9997128 -0.01705094 -0.01684 1.02644046] [ 0.01711073 0.99984778 0.00341245 0.1121377 ] [ 0.01677925 -0.00369961 0.99985237 -0.27418035] [ 0. 0. 0. 1. ]] SLAMing on 57.182414037 meters Centerline goodness [0,1] 0.6784380148031277 Centerline is valid? [False, False] Translation: X:1.03, Y:0.11, Z:-0.27 [[ 0.99970822 -0.01730218 -0.01685576 1.02632784] [ 0.01736461 0.99984287 0.00356412 0.11068246] [ 0.01679144 -0.00385577 0.99985158 -0.27412103] [ 0. 0. 0. 1. ]] SLAMing on 57.212414037 meters Centerline goodness [0,1] 0.682640983987004 Centerline is valid? [False, False] Translation: X:1.03, Y:0.11, Z:-0.27 [[ 0.99970132 -0.01793184 -0.01660465 1.02548392] [ 0.01799435 0.99983153 0.00362265 0.10893641] [ 0.01653689 -0.00392036 0.99985557 -0.27403716] [ 0. 0. 0. 1. ]] SLAMing on 57.242414036999996 meters Centerline goodness [0,1] 0.6928695250202241 Centerline is valid? [False, False] Translation: X:1.03, Y:0.11, Z:-0.27 [[ 0.99970064 -0.01789365 -0.01668693 1.02597012] [ 0.01796025 0.99983129 0.0038498 0.10862917] [ 0.01661523 -0.00414835 0.99985335 -0.27450397] [ 0. 0. 0. 1. ]] SLAMing on 57.272414037 meters Centerline goodness [0,1] 0.7005369873159892 Centerline is valid? [False, False] Translation: X:1.03, Y:0.11, Z:-0.27 [[ 0.99969886 -0.0178835 -0.01680364 1.02622399] [ 0.01795091 0.99983138 0.00386907 0.10895156] [ 0.01673161 -0.00416955 0.99985132 -0.27450949] [ 0. 0. 0. 1. ]] SLAMing on 57.302414037 meters Centerline goodness [0,1] 0.7036692554527275 Centerline is valid? [False, False] Translation: X:1.03, Y:0.11, Z:-0.27 [[ 0.9996981 -0.01782884 -0.01690655 1.02653542] [ 0.01789687 0.9998323 0.00388127 0.10951243] [ 0.01683452 -0.00418267 0.99984954 -0.27464975] [ 0. 0. 0. 1. ]] SLAMing on 57.332414037 meters Centerline goodness [0,1] 0.7011755431380278 Centerline is valid? [False, False] Translation: X:1.03, Y:0.11, Z:-0.28 [[ 0.99970467 -0.0173209 -0.01704556 1.02754955] [ 0.01739175 0.99984068 0.00401716 0.11024129] [ 0.01697327 -0.00431242 0.99984664 -0.27537488] [ 0. 0. 0. 1. ]] SLAMing on 57.362414037 meters Centerline goodness [0,1] 0.7056721128852581 Centerline is valid? [False, False] Translation: X:1.03, Y:0.11, Z:-0.28 [[ 0.99970589 -0.01714052 -0.0171562 1.02806764] [ 0.01721332 0.99984341 0.00410466 0.11045337] [ 0.01708316 -0.00439877 0.9998444 -0.27573027] [ 0. 0. 0. 1. ]] SLAMing on 57.392414037 meters Centerline goodness [0,1] 0.7028507753737581 Centerline is valid? [False, False] Translation: X:1.03, Y:0.11, Z:-0.28 [[ 0.99970695 -0.01699977 -0.01723414 1.02822304] [ 0.01707235 0.99984596 0.00407301 0.11079029] [ 0.01716224 -0.00436604 0.99984319 -0.27562217] [ 0. 0. 0. 1. ]] SLAMing on 57.422414036999996 meters Centerline goodness [0,1] 0.7040481782035483 Centerline is valid? [False, False] Translation: X:1.03, Y:0.11, Z:-0.27 [[ 0.9997055 -0.01707514 -0.01724414 1.0277592 ] [ 0.01714119 0.99984627 0.00368957 0.11175429] [ 0.01717849 -0.00398407 0.9998445 -0.2747927 ] [ 0. 0. 0. 1. ]] SLAMing on 57.452414037 meters Centerline goodness [0,1] 0.7054173176931509 Centerline is valid? [False, False] Translation: X:1.03, Y:0.11, Z:-0.27 [[ 0.9997109 -0.01650564 -0.01748389 1.0284198 ] [ 0.01656861 0.99985673 0.00346304 0.11413495] [ 0.01742422 -0.00375173 0.99984115 -0.27453141] [ 0. 0. 0. 1. ]] SLAMing on 57.482414037 meters Centerline goodness [0,1] 0.6976141563171164 Centerline is valid? [False, False] Translation: X:1.03, Y:0.11, Z:-0.27 [[ 0.99971215 -0.01609432 -0.01779312 1.02947605] [ 0.01616015 0.99986307 0.00356211 0.11497319] [ 0.01773335 -0.00384863 0.99983534 -0.2749097 ] [ 0. 0. 0. 1. ]] SLAMing on 57.512414037 meters Centerline goodness [0,1] 0.697981874240867 Centerline is valid? [False, False] Translation: X:1.03, Y:0.12, Z:-0.28 [[ 0.9997121 -0.01596388 -0.01791279 1.0299336 ] [ 0.01602895 0.99986542 0.00349443 0.11593914] [ 0.0178546 -0.00378054 0.99983345 -0.27505295] [ 0. 0. 0. 1. ]] SLAMing on 57.542414037 meters Centerline goodness [0,1] 0.6931220657276995 Centerline is valid? [False, False] Translation: X:1.03, Y:0.12, Z:-0.27 [[ 0.9997094 -0.01605844 -0.01797876 1.0298092 ] [ 0.01611636 0.99986538 0.00308101 0.11789706] [ 0.01792687 -0.00336987 0.99983362 -0.27458748] [ 0. 0. 0. 1. ]] SLAMing on 57.572414037 meters Centerline goodness [0,1] 0.6915894428152493 Centerline is valid? [False, False] Translation: X:1.03, Y:0.12, Z:-0.27 [[ 0.99970864 -0.01606551 -0.01801482 1.03003356] [ 0.01612259 0.99986544 0.00302759 0.11851049] [ 0.01796375 -0.00331716 0.99983314 -0.27477022] [ 0. 0. 0. 1. ]] SLAMing on 57.602414036999996 meters Centerline goodness [0,1] 0.6888585998636994 Centerline is valid? [False, False] Translation: X:1.03, Y:0.12, Z:-0.27 [[ 0.99970786 -0.01621891 -0.01792021 1.02997419] [ 0.01627365 0.99986333 0.00291302 0.11887276] [ 0.01787052 -0.0032038 0.99983518 -0.27499809] [ 0. 0. 0. 1. ]] SLAMing on 57.632414037 meters Centerline goodness [0,1] 0.6900665992045749 Centerline is valid? [False, False] Translation: X:1.03, Y:0.12, Z:-0.28 [[ 0.99970865 -0.01629595 -0.01780604 1.0300087 ] [ 0.01635097 0.99986197 0.00294856 0.11868624] [ 0.01775554 -0.00323884 0.99983711 -0.27536072] [ 0. 0. 0. 1. ]] SLAMing on 57.662414037 meters Centerline goodness [0,1] 0.6772 Centerline is valid? [False, False] Translation: X:1.03, Y:0.12, Z:-0.27 [[ 0.99970335 -0.01705861 -0.0173841 1.02863009] [ 0.01710627 0.99985031 0.00259646 0.11820481] [ 0.0173372 -0.00289307 0.99984551 -0.27496108] [ 0. 0. 0. 1. ]] SLAMing on 57.692414037 meters Centerline goodness [0,1] 0.673205076883227 Centerline is valid? [False, False] Translation: X:1.03, Y:0.12, Z:-0.27 [[ 0.99970073 -0.01737742 -0.01721847 1.02819293] [ 0.01742317 0.99984505 0.00251083 0.11803083] [ 0.01717217 -0.00281008 0.9998486 -0.27493278] [ 0. 0. 0. 1. ]] SLAMing on 57.722414037 meters Centerline goodness [0,1] 0.6997762863534676 Centerline is valid? [False, False] Translation: X:1.03, Y:0.12, Z:-0.28 [[ 0.99969946 -0.0173785 -0.0172911 1.02867217] [ 0.01742671 0.99984465 0.00264128 0.11790424] [ 0.01724251 -0.00294182 0.99984701 -0.27539919] [ 0. 0. 0. 1. ]] SLAMing on 57.752414037 meters Centerline goodness [0,1] 0.6681582666038625 Centerline is valid? [False, False] Translation: X:1.03, Y:0.12, Z:-0.28 [[ 0.99969848 -0.01724824 -0.01747734 1.02962678] [ 0.01730146 0.99984612 0.00289869 0.11792852] [ 0.01742465 -0.0032002 0.99984306 -0.27620165] [ 0. 0. 0. 1. ]] SLAMing on 57.782414037 meters Centerline goodness [0,1] 0.6641739830087323 Centerline is valid? [False, False] Translation: X:1.03, Y:0.12, Z:-0.28 [[ 0.99969792 -0.01711456 -0.01763992 1.03049605] [ 0.01716658 0.99984872 0.00280191 0.11998411] [ 0.0175893 -0.00310388 0.99984048 -0.27683918] [ 0. 0. 0. 1. ]] SLAMing on 57.812414036999996 meters Centerline goodness [0,1] 0.705581351274519 Centerline is valid? [False, False] Translation: X:1.03, Y:0.12, Z:-0.28 [[ 0.99969671 -0.01704728 -0.01777275 1.0308309 ] [ 0.01709699 0.99985033 0.00264854 0.12115604] [ 0.01772494 -0.00295159 0.99983854 -0.27683021] [ 0. 0. 0. 1. ]] SLAMing on 57.842414037 meters Centerline goodness [0,1] 0.7002153999100528 Centerline is valid? [False, False] Translation: X:1.03, Y:0.12, Z:-0.28 [[ 0.99969511 -0.01710802 -0.01780455 1.03080645] [ 0.01715474 0.99984978 0.00247458 0.12191364] [ 0.01775954 -0.00277925 0.99983842 -0.27667932] [ 0. 0. 0. 1. ]] SLAMing on 57.872414037 meters Centerline goodness [0,1] 0.7109567608571971 Centerline is valid? [False, False] Translation: X:1.03, Y:0.12, Z:-0.28 [[ 0.99969486 -0.01732656 -0.01760626 1.03006325] [ 0.01736742 0.99984682 0.00217025 0.12248251] [ 0.01756596 -0.00247536 0.99984264 -0.27620915] [ 0. 0. 0. 1. ]] SLAMing on 57.902414037 meters Centerline goodness [0,1] 0.7049211566861988 Centerline is valid? [False, False] Translation: X:1.03, Y:0.12, Z:-0.28 [[ 0.99969216 -0.01759202 -0.01749565 1.02952998] [ 0.01762513 0.99984315 0.00174046 0.1232686 ] [ 0.01746229 -0.00204829 0.99984542 -0.27569913] [ 0. 0. 0. 1. ]] SLAMing on 57.932414037 meters Centerline goodness [0,1] 0.7052019002375297 Centerline is valid? [False, False] Translation: X:1.03, Y:0.12, Z:-0.28 [[ 0.99969246 -0.01737499 -0.01769427 1.03020913] [ 0.01741129 0.99984661 0.00189983 0.12337351] [ 0.01765854 -0.00220733 0.99984164 -0.27601439] [ 0. 0. 0. 1. ]] SLAMing on 57.962414037 meters Centerline goodness [0,1] 0.6951799210914104 Centerline is valid? [False, False] Translation: X:1.03, Y:0.12, Z:-0.28 [[ 0.99969339 -0.01725624 -0.01775778 1.03074219] [ 0.01729412 0.99984848 0.00198173 0.12398111] [ 0.01772089 -0.00228822 0.99984035 -0.27651631] [ 0. 0. 0. 1. ]] SLAMing on 57.992414036999996 meters Centerline goodness [0,1] 0.7026994858122262 Centerline is valid? [False, False] Translation: X:1.03, Y:0.12, Z:-0.28 [[ 0.99969364 -0.01708372 -0.01791019 1.03129323] [ 0.01712351 0.99985124 0.0020706 0.12446548] [ 0.01787216 -0.00237665 0.99983746 -0.2767901 ] [ 0. 0. 0. 1. ]] SLAMing on 58.022414037 meters Centerline goodness [0,1] 0.690579104477612 Centerline is valid? [False, False] Translation: X:1.03, Y:0.13, Z:-0.28 [[ 0.99969166 -0.01695654 -0.01814015 1.03174125] [ 0.01699544 0.99985358 0.00199206 0.12520715] [ 0.01810372 -0.00229974 0.99983347 -0.27666364] [ 0. 0. 0. 1. ]] SLAMing on 58.052414037 meters Centerline goodness [0,1] 0.6880252100840336 Centerline is valid? [False, False] Translation: X:1.03, Y:0.13, Z:-0.28 [[ 0.99969332 -0.0165884 -0.01838724 1.03265353] [ 0.01663076 0.99985938 0.00215324 0.12553294] [ 0.01834893 -0.00245837 0.99982862 -0.27700978] [ 0. 0. 0. 1. ]] SLAMing on 58.082414037 meters Centerline goodness [0,1] 0.6889632107023411 Centerline is valid? [False, False] Translation: X:1.03, Y:0.13, Z:-0.28 [[ 0.99969698 -0.01621991 -0.01851636 1.03317731] [ 0.01626269 0.99986542 0.00216204 0.1261614 ] [ 0.0184788 -0.00246251 0.99982622 -0.2770854 ] [ 0. 0. 0. 1. ]] SLAMing on 58.112414037 meters Centerline goodness [0,1] 0.7159773222017558 Centerline is valid? [False, False] Translation: X:1.03, Y:0.13, Z:-0.28 [[ 0.99969876 -0.01599425 -0.01861653 1.03364361] [ 0.01603827 0.99986892 0.00221755 0.12662821] [ 0.01857862 -0.00251546 0.99982424 -0.27732013] [ 0. 0. 0. 1. ]] SLAMing on 58.142414037 meters Centerline goodness [0,1] 0.7108180428134556 Centerline is valid? [False, False] Translation: X:1.03, Y:0.13, Z:-0.28 [[ 0.99969919 -0.01580077 -0.01875819 1.03412809] [ 0.01584581 0.99987191 0.00225451 0.12715616] [ 0.01872017 -0.00255107 0.99982151 -0.27748098] [ 0. 0. 0. 1. ]] SLAMing on 58.172414036999996 meters Centerline goodness [0,1] 0.7121954718244197 Centerline is valid? [False, False] Translation: X:1.03, Y:0.13, Z:-0.28 [[ 0.99969959 -0.01556938 -0.0189294 1.03469786] [ 0.01561625 0.99987534 0.00233052 0.12754467] [ 0.01889075 -0.00262543 0.99981811 -0.27765711] [ 0. 0. 0. 1. ]] SLAMing on 58.202414037 meters Centerline goodness [0,1] 0.7085640325016178 Centerline is valid? [False, False] Translation: X:1.04, Y:0.13, Z:-0.28 [[ 0.99970351 -0.01523354 -0.01899565 1.03529047] [ 0.01528111 0.99988045 0.0023614 0.12884089] [ 0.01895741 -0.00265098 0.99981678 -0.27807035] [ 0. 0. 0. 1. ]] SLAMing on 58.232414037 meters Centerline goodness [0,1] 0.7101926125174121 Centerline is valid? [False, False] Translation: X:1.04, Y:0.13, Z:-0.28 [[ 0.99970474 -0.01510943 -0.01902967 1.03548028] [ 0.01515796 0.99988221 0.0024089 0.12931611] [ 0.01899103 -0.00269664 0.99981602 -0.27817319] [ 0. 0. 0. 1. ]] SLAMing on 58.262414037 meters Centerline goodness [0,1] 0.7101926125174121 Centerline is valid? [False, False] Translation: X:1.04, Y:0.13, Z:-0.28 [[ 0.99970474 -0.01510943 -0.01902967 1.03548028] [ 0.01515796 0.99988221 0.0024089 0.12931611] [ 0.01899103 -0.00269664 0.99981602 -0.27817319] [ 0. 0. 0. 1. ]] SLAMing on 58.292414037 meters Centerline goodness [0,1] 0.702797623343196 Centerline is valid? [False, False] Translation: X:1.04, Y:0.13, Z:-0.28 [[ 0.99970629 -0.01495107 -0.01907341 1.03573396] [ 0.01500267 0.99988416 0.00256501 0.1294587 ] [ 0.01903285 -0.00285041 0.9998148 -0.27832452] [ 0. 0. 0. 1. ]] SLAMing on 58.322414037 meters Centerline goodness [0,1] 0.7161276329107823 Centerline is valid? [False, False] Translation: X:1.04, Y:0.13, Z:-0.28 [[ 0.9997067 -0.01480138 -0.01916874 1.03616584] [ 0.0148553 0.99988608 0.00267365 0.12941254] [ 0.01912698 -0.00295762 0.99981269 -0.27856936] [ 0. 0. 0. 1. ]] SLAMing on 58.352414036999996 meters Centerline goodness [0,1] 0.7172661350550483 Centerline is valid? [False, False] Translation: X:1.04, Y:0.13, Z:-0.28 [[ 0.99970619 -0.01480608 -0.01919165 1.03639273] [ 0.01485886 0.99988619 0.00261027 0.12973202] [ 0.01915082 -0.00289466 0.99981242 -0.27877382] [ 0. 0. 0. 1. ]] SLAMing on 58.382414037 meters Centerline goodness [0,1] 0.7152605906240239 Centerline is valid? [False, False] Translation: X:1.04, Y:0.13, Z:-0.28 [[ 0.99970745 -0.01478967 -0.01913837 1.03660622] [ 0.01484248 0.99988641 0.00262037 0.13003442] [ 0.01909744 -0.00290367 0.99981341 -0.27915783] [ 0. 0. 0. 1. ]] SLAMing on 58.412414037 meters Centerline goodness [0,1] 0.719168658121515 Centerline is valid? [False, False] Translation: X:1.04, Y:0.13, Z:-0.28 [[ 0.99970575 -0.01491599 -0.01912908 1.03660594] [ 0.01496737 0.99988474 0.00254553 0.13047483] [ 0.0190889 -0.00283109 0.99981378 -0.27926215] [ 0. 0. 0. 1. ]] SLAMing on 58.442414037 meters Centerline goodness [0,1] 0.6978963348514422 Centerline is valid? [False, False] Translation: X:1.04, Y:0.13, Z:-0.28 [[ 0.99970516 -0.01507947 -0.01903162 1.03693384] [ 0.01513053 0.9998823 0.00254153 0.13101178] [ 0.01899106 -0.00282874 0.99981565 -0.28005799] [ 0. 0. 0. 1. ]] SLAMing on 58.472414037 meters Centerline goodness [0,1] 0.7113654946852004 Centerline is valid? [False, False] Translation: X:1.04, Y:0.13, Z:-0.28 [[ 0.99970384 -0.01519819 -0.01900664 1.03697137] [ 0.01524782 0.9998807 0.00246868 0.13111227] [ 0.01896686 -0.00275776 0.99981631 -0.28016574] [ 0. 0. 0. 1. ]] SLAMing on 58.502414037 meters Centerline goodness [0,1] 0.7121808651964928 Centerline is valid? [False, False] Translation: X:1.04, Y:0.13, Z:-0.28 [[ 0.99970157 -0.01555556 -0.01883619 1.03630695] [ 0.01559841 0.99987607 0.00213012 0.13163775] [ 0.01880072 -0.0024233 0.99982031 -0.27980455] [ 0. 0. 0. 1. ]] SLAMing on 58.532414037 meters Centerline goodness [0,1] 0.7053439907271015 Centerline is valid? [False, False] Translation: X:1.04, Y:0.13, Z:-0.28 [[ 0.99970018 -0.01550042 -0.01895489 1.03674209] [ 0.01554602 0.9998766 0.00226042 0.13158433] [ 0.01891752 -0.00255442 0.99981778 -0.28003517] [ 0. 0. 0. 1. ]] SLAMing on 58.562414036999996 meters Centerline goodness [0,1] 0.6887383695704575 Centerline is valid? [False, False] Translation: X:1.04, Y:0.13, Z:-0.28 [[ 0.99969662 -0.01587221 -0.01883472 1.03634643] [ 0.01591251 0.9998714 0.00199169 0.1320667 ] [ 0.01880068 -0.00229079 0.99982063 -0.27995141] [ 0. 0. 0. 1. ]] SLAMing on 58.592414037 meters Centerline goodness [0,1] 0.6934609173515871 Centerline is valid? [False, False] Translation: X:1.04, Y:0.13, Z:-0.28 [[ 0.99969664 -0.01600675 -0.01871931 1.03638314] [ 0.01604977 0.99986888 0.00215023 0.131996 ] [ 0.01868244 -0.00245002 0.99982247 -0.28045788] [ 0. 0. 0. 1. ]] SLAMing on 58.622414037 meters Centerline goodness [0,1] 0.676849884080371 Centerline is valid? [False, False] Translation: X:1.04, Y:0.13, Z:-0.28 [[ 0.99968846 -0.01702919 -0.01824785 1.03510205] [ 0.01706711 0.99985249 0.00192452 0.13208231] [ 0.01821239 -0.00223536 0.99983164 -0.28068623] [ 0. 0. 0. 1. ]] SLAMing on 58.652414037 meters Centerline goodness [0,1] 0.6899280922735389 Centerline is valid? [False, False] Translation: X:1.03, Y:0.13, Z:-0.28 [[ 0.99968428 -0.01744803 -0.01808045 1.03464737] [ 0.01748653 0.99984515 0.00197335 0.13143751] [ 0.01804322 -0.00228889 0.99983459 -0.28082383] [ 0. 0. 0. 1. ]] SLAMing on 58.682414037 meters Centerline goodness [0,1] 0.6922575190240368 Centerline is valid? [False, False] Translation: X:1.03, Y:0.13, Z:-0.28 [[ 0.99968014 -0.01806854 -0.01769613 1.03374966] [ 0.01810391 0.99983442 0.00184062 0.13087774] [ 0.01765994 -0.0021604 0.99984172 -0.2809923 ] [ 0. 0. 0. 1. ]] SLAMing on 58.712414037 meters Centerline goodness [0,1] 0.6605937921727396 Centerline is valid? [False, False] Translation: X:1.03, Y:0.13, Z:-0.28 [[ 0.99967531 -0.01858238 -0.01743488 1.03316492] [ 0.01861787 0.99982491 0.00187547 0.1298243 ] [ 0.01739697 -0.00219946 0.99984624 -0.28126754] [ 0. 0. 0. 1. ]] SLAMing on 58.742414036999996 meters Centerline goodness [0,1] 0.6733840943482334 Centerline is valid? [False, False] Translation: X:1.03, Y:0.13, Z:-0.28 [[ 0.99966546 -0.01924544 -0.01727943 1.03334474] [ 0.01928312 0.99981203 0.00201645 0.12893424] [ 0.01723737 -0.00234898 0.99984867 -0.28256769] [ 0. 0. 0. 1. ]] SLAMing on 58.772414037 meters Centerline goodness [0,1] 0.6699230528016982 Centerline is valid? [False, False] Translation: X:1.03, Y:0.13, Z:-0.28 [[ 0.99966303 -0.01942313 -0.01722107 1.03342016] [ 0.01945992 0.99980869 0.00197153 0.1295636 ] [ 0.01717948 -0.00230598 0.99984976 -0.28293126] [ 0. 0. 0. 1. ]] SLAMing on 58.802414037 meters Centerline goodness [0,1] 0.6620065789473684 Centerline is valid? [False, False] Translation: X:1.03, Y:0.13, Z:-0.28 [[ 0.99965428 -0.01986934 -0.0172202 1.03323178] [ 0.019897 0.999801 0.00143628 0.13195502] [ 0.01718823 -0.00177841 0.99985069 -0.28276012] [ 0. 0. 0. 1. ]] SLAMing on 58.832414037 meters Centerline goodness [0,1] 0.6707579829084659 Centerline is valid? [False, False] Translation: X:1.03, Y:0.13, Z:-0.28 [[ 0.99965234 -0.01999909 -0.01718228 1.03302319] [ 0.0200234 0.99979874 0.00124389 0.13282808] [ 0.01715394 -0.00158751 0.9998516 -0.28258309] [ 0. 0. 0. 1. ]] SLAMing on 58.862414037 meters Centerline goodness [0,1] 0.6694915254237288 Centerline is valid? [False, False] Translation: X:1.03, Y:0.13, Z:-0.28 [[ 9.99647866e-01 -2.02221861e-02 -1.71815728e-02 1.03278786e+00] [ 2.02403227e-02 9.99794754e-01 8.82327768e-04 1.33743763e-01] [ 1.71602038e-02 -1.22977765e-03 9.99851997e-01 -2.82254951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.892414037 meters Centerline goodness [0,1] 0.6650231948121341 Centerline is valid? [False, False] Translation: X:1.03, Y:0.13, Z:-0.28 [[ 9.99646648e-01 -2.02409269e-02 -1.72302975e-02 1.03307423e+00] [ 2.02585963e-02 9.99794411e-01 8.51543103e-04 1.34204314e-01] [ 1.72095191e-02 -1.20030385e-03 9.99851185e-01 -2.82496522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.922414036999996 meters Centerline goodness [0,1] 0.6685855862420753 Centerline is valid? [False, False] Translation: X:1.03, Y:0.14, Z:-0.28 [[ 9.99642735e-01 -2.05420120e-02 -1.71005291e-02 1.03304537e+00] [ 2.05552590e-02 9.99788539e-01 5.99228641e-04 1.35256103e-01] [ 1.70846036e-02 -9.50520362e-04 9.99853596e-01 -2.83005622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.952414037 meters Centerline goodness [0,1] 0.6571894549791875 Centerline is valid? [False, False] Translation: X:1.03, Y:0.14, Z:-0.28 [[ 9.99644237e-01 -2.05897728e-02 -1.69546881e-02 1.03326559e+00] [ 2.06051365e-02 9.99787424e-01 7.31950793e-04 1.35249117e-01] [ 1.69360132e-02 -1.08104405e-03 9.99855991e-01 -2.83804811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.982414037 meters Centerline goodness [0,1] 0.6627509041042693 Centerline is valid? [False, False] Translation: X:1.03, Y:0.14, Z:-0.28 [[ 9.99643311e-01 -2.05491926e-02 -1.70581613e-02 1.03397322e+00] [ 2.05679435e-02 9.99788030e-01 9.24503032e-04 1.35192116e-01] [ 1.70355477e-02 -1.27502457e-03 9.99854072e-01 -2.84571069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.012414037 meters Centerline goodness [0,1] 0.6567979793073299 Centerline is valid? [False, False] Translation: X:1.03, Y:0.14, Z:-0.29 [[ 9.99643897e-01 -2.06138287e-02 -1.69454851e-02 1.03404720e+00] [ 2.06342214e-02 9.99786562e-01 1.02945366e-03 1.35521926e-01] [ 1.69206473e-02 -1.37874396e-03 9.99855885e-01 -2.85101368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.042414037 meters Centerline goodness [0,1] 0.6569423119105067 Centerline is valid? [False, False] Translation: X:1.03, Y:0.14, Z:-0.28 [[ 9.99640948e-01 -2.07040530e-02 -1.70093557e-02 1.03399526e+00] [ 2.07198733e-02 9.99785036e-01 7.54373299e-04 1.37323041e-01] [ 1.69900807e-02 -1.10653413e-03 9.99855046e-01 -2.84816753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.072414037 meters Centerline goodness [0,1] 0.6508231156269846 Centerline is valid? [False, False] Translation: X:1.03, Y:0.14, Z:-0.28 [[ 9.99641258e-01 -2.05716226e-02 -1.71511914e-02 1.03448841e+00] [ 2.05877231e-02 9.99787759e-01 7.62684863e-04 1.38101064e-01] [ 1.71318616e-02 -1.11551524e-03 9.99852617e-01 -2.84998994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.102414036999996 meters Centerline goodness [0,1] 0.650141297992594 Centerline is valid? [False, False] Translation: X:1.04, Y:0.14, Z:-0.29 [[ 9.99642974e-01 -2.03187336e-02 -1.73514980e-02 1.03521542e+00] [ 2.03389660e-02 9.99792651e-01 9.90345487e-04 1.38220985e-01] [ 1.73277776e-02 -1.34290344e-03 9.99848961e-01 -2.85345571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.132414037 meters Centerline goodness [0,1] 0.6550285463328942 Centerline is valid? [False, False] Translation: X:1.04, Y:0.14, Z:-0.29 [[ 9.99641439e-01 -2.03514922e-02 -1.74014503e-02 1.03553415e+00] [ 2.03703943e-02 9.99792088e-01 9.09660224e-04 1.39189482e-01] [ 1.73793194e-02 -1.26380846e-03 9.99848169e-01 -2.85637448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.162414037 meters Centerline goodness [0,1] 0.661591559983355 Centerline is valid? [False, False] Translation: X:1.04, Y:0.14, Z:-0.29 [[ 9.99640278e-01 -2.03295087e-02 -1.74935839e-02 1.03601221e+00] [ 2.03494148e-02 9.99792468e-01 9.60633677e-04 1.39669714e-01] [ 1.74704242e-02 -1.31627231e-03 9.99846514e-01 -2.86041914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.192414037 meters Centerline goodness [0,1] 0.6638692471434513 Centerline is valid? [False, False] Translation: X:1.04, Y:0.14, Z:-0.29 [[ 0.99964255 -0.02015651 -0.01756404 1.03677411] [ 0.02018052 0.99979564 0.00119085 0.13981166] [ 0.01753644 -0.00154487 0.99984503 -0.28686289] [ 0. 0. 0. 1. ]] SLAMing on 59.222414037 meters Centerline goodness [0,1] 0.6624601813281059 Centerline is valid? [False, False] Translation: X:1.04, Y:0.14, Z:-0.29 [[ 0.99964187 -0.02019252 -0.0175613 1.03704491] [ 0.02021588 0.99979497 0.00115409 0.13998434] [ 0.01753439 -0.00150869 0.99984512 -0.28725491] [ 0. 0. 0. 1. ]] SLAMing on 59.252414037 meters Centerline goodness [0,1] 0.6500293743268384 Centerline is valid? [False, False] Translation: X:1.04, Y:0.14, Z:-0.29 [[ 0.9996434 -0.0201034 -0.01757625 1.03759383] [ 0.02012802 0.99979666 0.00122493 0.14001797] [ 0.01754806 -0.00157827 0.99984478 -0.28790815] [ 0. 0. 0. 1. ]] SLAMing on 59.282414037 meters Centerline goodness [0,1] 0.6535598863970229 Centerline is valid? [False, False] Translation: X:1.04, Y:0.14, Z:-0.29 [[ 0.99964283 -0.01996482 -0.01776563 1.03806233] [ 0.01998727 0.99979964 0.00108686 0.14065187] [ 0.01774037 -0.00144156 0.99984159 -0.28779741] [ 0. 0. 0. 1. ]] SLAMing on 59.312414036999996 meters Centerline goodness [0,1] 0.6480694079189913 Centerline is valid? [False, False] Translation: X:1.04, Y:0.14, Z:-0.29 [[ 9.99643099e-01 -1.97675228e-02 -1.79699634e-02 1.03852658e+00] [ 1.97852553e-02 9.99803925e-01 8.09516561e-04 1.41981198e-01] [ 1.79504378e-02 -1.16476796e-03 9.99838199e-01 -2.87530185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.342414037 meters Centerline goodness [0,1] 0.6509018430571618 Centerline is valid? [False, False] Translation: X:1.04, Y:0.14, Z:-0.29 [[ 9.99646754e-01 -1.93414693e-02 -1.82284125e-02 1.03939663e+00] [ 1.93588273e-02 9.99812299e-01 7.76260302e-04 1.43486739e-01] [ 1.82099770e-02 -1.12886678e-03 9.99833547e-01 -2.87645350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.372414037 meters Centerline goodness [0,1] 0.6680214115781127 Centerline is valid? [False, False] Translation: X:1.04, Y:0.14, Z:-0.29 [[ 0.99971278 -0.01585278 -0.01797332 1.03839284] [ 0.01593659 0.99986274 0.00452972 0.143216 ] [ 0.01789905 -0.00481485 0.99982821 -0.28750724] [ 0. 0. 0. 1. ]] SLAMing on 59.402414037 meters Centerline goodness [0,1] 0.6661941003830274 Centerline is valid? [False, False] Translation: X:1.04, Y:0.14, Z:-0.29 [[ 0.99976583 -0.01198869 -0.01801523 1.03808836] [ 0.01213611 0.99989357 0.00809653 0.14477308] [ 0.01791625 -0.00831327 0.99980493 -0.28710775] [ 0. 0. 0. 1. ]] SLAMing on 59.432414037 meters Centerline goodness [0,1] 0.6765124111263565 Centerline is valid? [False, False] Translation: X:1.04, Y:0.15, Z:-0.29 [[ 0.99976437 -0.01163784 -0.01832374 1.03879334] [ 0.01178389 0.9998995 0.00788276 0.14581551] [ 0.01823016 -0.00809682 0.99980103 -0.28679087] [ 0. 0. 0. 1. ]] SLAMing on 59.462414037 meters Centerline goodness [0,1] 0.6782276966039994 Centerline is valid? [False, False] Translation: X:1.04, Y:0.15, Z:-0.29 [[ 0.99976356 -0.01122277 -0.0186247 1.03982378] [ 0.0113707 0.99990449 0.00785584 0.14642949] [ 0.01853475 -0.00806576 0.99979568 -0.28698355] [ 0. 0. 0. 1. ]] SLAMing on 59.492414036999996 meters Centerline goodness [0,1] 0.6822254479927921 Centerline is valid? [False, False] Translation: X:1.04, Y:0.15, Z:-0.29 [[ 0.99977179 -0.00988177 -0.01893995 1.04207505] [ 0.01004056 0.99991508 0.00830751 0.14759546] [ 0.01885625 -0.00849578 0.99978611 -0.28831165] [ 0. 0. 0. 1. ]] SLAMing on 59.522414037 meters Centerline goodness [0,1] 0.6824516031837697 Centerline is valid? [False, False] Translation: X:1.04, Y:0.15, Z:-0.29 [[ 0.99976955 -0.00960453 -0.01919874 1.04304356] [ 0.00975942 0.99992045 0.00799029 0.14945406] [ 0.01912047 -0.00817582 0.99978376 -0.28852724] [ 0. 0. 0. 1. ]] SLAMing on 59.552414037 meters Centerline goodness [0,1] 0.6811641431866038 Centerline is valid? [False, False] Translation: X:1.04, Y:0.15, Z:-0.29 [[ 0.99976566 -0.00926254 -0.01956584 1.04421256] [ 0.00941576 0.99992561 0.00775333 0.15088448] [ 0.01949256 -0.00793574 0.99977851 -0.28864543] [ 0. 0. 0. 1. ]] SLAMing on 59.582414037 meters Centerline goodness [0,1] 0.6903757283504119 Centerline is valid? [False, False] Translation: X:1.04, Y:0.15, Z:-0.29 [[ 0.99976657 -0.00931166 -0.01949637 1.04407076] [ 0.0094562 0.99992839 0.00733461 0.15185683] [ 0.01942668 -0.00751726 0.99978302 -0.28839279] [ 0. 0. 0. 1. ]] SLAMing on 59.612414037 meters Centerline goodness [0,1] 0.6827522106109325 Centerline is valid? [False, False] Translation: X:1.04, Y:0.15, Z:-0.29 [[ 0.99976506 -0.00936553 -0.01954787 1.04423128] [ 0.00950883 0.9999285 0.00725048 0.15155043] [ 0.01947857 -0.00743465 0.99978263 -0.28836768] [ 0. 0. 0. 1. ]] SLAMing on 59.642414037 meters Centerline goodness [0,1] 0.6864906949293015 Centerline is valid? [False, False] Translation: X:1.04, Y:0.15, Z:-0.29 [[ 0.99976506 -0.00967207 -0.01939804 1.04356271] [ 0.00980666 0.99992841 0.00685553 0.15214957] [ 0.01933034 -0.00704415 0.99978834 -0.28778931] [ 0. 0. 0. 1. ]] SLAMing on 59.672414036999996 meters Centerline goodness [0,1] 0.6910783943626526 Centerline is valid? [False, False] Translation: X:1.04, Y:0.15, Z:-0.29 [[ 0.99976207 -0.00973406 -0.01952069 1.04377062] [ 0.00986465 0.99992953 0.00660477 0.15277028] [ 0.01945503 -0.00679576 0.99978764 -0.28752742] [ 0. 0. 0. 1. ]] SLAMing on 59.702414037 meters Centerline goodness [0,1] 0.6899756360987617 Centerline is valid? [False, False] Translation: X:1.04, Y:0.15, Z:-0.29 [[ 0.99975769 -0.00969399 -0.01976318 1.04424006] [ 0.00982363 0.9999308 0.00647311 0.15323437] [ 0.01969906 -0.00666569 0.99978373 -0.28728988] [ 0. 0. 0. 1. ]] SLAMing on 59.732414037 meters Centerline goodness [0,1] 0.685993633469759 Centerline is valid? [False, False] Translation: X:1.04, Y:0.15, Z:-0.29 [[ 0.9997546 -0.00990655 -0.01981423 1.04394665] [ 0.0100297 0.99993094 0.0061255 0.15401489] [ 0.01975217 -0.00632273 0.99978491 -0.28673056] [ 0. 0. 0. 1. ]] SLAMing on 59.762414037 meters Centerline goodness [0,1] 0.675934779326657 Centerline is valid? [False, False] Translation: X:1.04, Y:0.15, Z:-0.29 [[ 0.9997514 -0.00969992 -0.02007631 1.04485054] [ 0.00982764 0.99993203 0.00627261 0.15336404] [ 0.0200141 -0.00646835 0.99977877 -0.28698247] [ 0. 0. 0. 1. ]] SLAMing on 59.792414037 meters Centerline goodness [0,1] 0.675934779326657 Centerline is valid? [False, False] Translation: X:1.04, Y:0.15, Z:-0.29 [[ 0.9997514 -0.00969992 -0.02007631 1.04485054] [ 0.00982764 0.99993203 0.00627261 0.15336404] [ 0.0200141 -0.00646835 0.99977877 -0.28698247] [ 0. 0. 0. 1. ]] SLAMing on 59.822414037 meters Centerline goodness [0,1] 0.6813565287344763 Centerline is valid? [False, False] Translation: X:1.05, Y:0.15, Z:-0.29 [[ 0.99975087 -0.00949624 -0.02019966 1.04548991] [ 0.00962875 0.99993269 0.00647274 0.15250374] [ 0.02013683 -0.00666563 0.99977501 -0.28739633] [ 0. 0. 0. 1. ]] SLAMing on 59.852414036999996 meters Centerline goodness [0,1] 0.6803027255355527 Centerline is valid? [False, False] Translation: X:1.05, Y:0.15, Z:-0.29 [[ 0.99975246 -0.0088615 -0.02040816 1.04661441] [ 0.00900338 0.99993586 0.00687081 0.15188611] [ 0.02034596 -0.00705285 0.99976812 -0.2880015 ] [ 0. 0. 0. 1. ]] SLAMing on 59.882414037 meters Centerline goodness [0,1] 0.6905697200190157 Centerline is valid? [False, False] Translation: X:1.05, Y:0.15, Z:-0.29 [[ 0.99974545 -0.00835492 -0.02095766 1.0481391 ] [ 0.00850223 0.99993971 0.0069495 0.1525096 ] [ 0.02089834 -0.00712592 0.99975621 -0.28809383] [ 0. 0. 0. 1. ]] SLAMing on 59.912414037 meters Centerline goodness [0,1] 0.6924066274935061 Centerline is valid? [False, False] Translation: X:1.05, Y:0.15, Z:-0.29 [[ 0.99974114 -0.00813198 -0.02124888 1.04863739] [ 0.00827583 0.99994337 0.00669036 0.15391694] [ 0.02119327 -0.00686448 0.99975183 -0.28760204] [ 0. 0. 0. 1. ]] SLAMing on 59.942414037 meters Centerline goodness [0,1] 0.693581832895003 Centerline is valid? [False, False] Translation: X:1.05, Y:0.16, Z:-0.29 [[ 0.99974293 -0.00746193 -0.02140998 1.04902865] [ 0.00760237 0.99995007 0.00648584 0.1557212 ] [ 0.02136052 -0.00664694 0.99974974 -0.28695938] [ 0. 0. 0. 1. ]] SLAMing on 59.972414037 meters Centerline goodness [0,1] 0.6924145947038609 Centerline is valid? [False, False] Translation: X:1.05, Y:0.16, Z:-0.29 [[ 0.99973901 -0.00704249 -0.02173299 1.05008542] [ 0.00718593 0.99995287 0.00652872 0.1553786 ] [ 0.02168599 -0.00668319 0.99974249 -0.28702716] [ 0. 0. 0. 1. ]] SLAMing on 60.002414037 meters Centerline goodness [0,1] 0.695982188037648 Centerline is valid? [False, False] Translation: X:1.05, Y:0.15, Z:-0.29 [[ 0.99973818 -0.00674135 -0.02186593 1.05066703] [ 0.00688966 0.99995372 0.00671435 0.15459247] [ 0.02181966 -0.00686324 0.99973836 -0.28723822] [ 0. 0. 0. 1. ]] SLAMing on 60.032414037 meters Centerline goodness [0,1] 0.6953344716753717 Centerline is valid? [False, False] Translation: X:1.05, Y:0.16, Z:-0.29 [[ 0.99972211 -0.0077235 -0.02227221 1.05399388] [ 0.00783126 0.99995803 0.00475487 0.15504515] [ 0.02223455 -0.00492797 0.99974064 -0.28896563] [ 0. 0. 0. 1. ]] SLAMing on 60.062414036999996 meters Centerline goodness [0,1] 0.6990045980496185 Centerline is valid? [False, False] Translation: X:1.05, Y:0.15, Z:-0.29 [[ 0.99975175 -0.00471842 -0.02177561 1.05163066] [ 0.00489664 0.9999549 0.00813804 0.15440473] [ 0.02173623 -0.00824265 0.99972976 -0.28776444] [ 0. 0. 0. 1. ]] SLAMing on 60.092414037 meters Centerline goodness [0,1] 0.720167004048583 Centerline is valid? [False, False] Translation: X:1.05, Y:0.16, Z:-0.29 [[ 0.99975024 -0.00479142 -0.02182872 1.05111773] [ 0.00495566 0.99995977 0.00747624 0.15598615] [ 0.02179202 -0.00758254 0.99973377 -0.28645886] [ 0. 0. 0. 1. ]] SLAMing on 60.122414037 meters Centerline goodness [0,1] 0.7056381174206943 Centerline is valid? [False, False] Translation: X:1.05, Y:0.16, Z:-0.29 [[ 0.99974383 -0.00447631 -0.02218658 1.05185155] [ 0.00463797 0.99996303 0.00724028 0.15697599] [ 0.02215335 -0.00734132 0.99972763 -0.2859983 ] [ 0. 0. 0. 1. ]] SLAMing on 60.152414037 meters Centerline goodness [0,1] 0.7143938247313455 Centerline is valid? [False, False] Translation: X:1.05, Y:0.16, Z:-0.29 [[ 0.99973687 -0.00302998 -0.02273799 1.05436932] [ 0.00321614 0.99996158 0.00815483 0.15535016] [ 0.0227124 -0.00822581 0.9997082 -0.28712403] [ 0. 0. 0. 1. ]] SLAMing on 60.182414037 meters Centerline goodness [0,1] 0.714772211291055 Centerline is valid? [False, False] Translation: X:1.06, Y:0.15, Z:-0.29 [[ 0.99973245 -0.00234018 -0.02301179 1.0557669 ] [ 0.00254342 0.99995798 0.00880692 0.15360966] [ 0.02299021 -0.00886309 0.9996964 -0.28801018] [ 0. 0. 0. 1. ]] SLAMing on 60.212414037 meters Centerline goodness [0,1] 0.714772211291055 Centerline is valid? [False, False] Translation: X:1.06, Y:0.15, Z:-0.29 [[ 0.99973245 -0.00234018 -0.02301179 1.0557669 ] [ 0.00254342 0.99995798 0.00880692 0.15360966] [ 0.02299021 -0.00886309 0.9996964 -0.28801018] [ 0. 0. 0. 1. ]] SLAMing on 60.242414036999996 meters Centerline goodness [0,1] 0.7166921898928025 Centerline is valid? [False, False] Translation: X:1.06, Y:0.15, Z:-0.29 [[ 0.99972896 -0.00190679 -0.02320276 1.05670237] [ 0.00211894 0.99995615 0.00912187 0.15264254] [ 0.02318435 -0.00916857 0.99968916 -0.28846827] [ 0. 0. 0. 1. ]] SLAMing on 60.272414037 meters Centerline goodness [0,1] 0.734090395196342 Centerline is valid? [False, False] Translation: X:1.06, Y:0.15, Z:-0.29 [[ 0.99972409 -0.00175132 -0.02342391 1.05700357] [ 0.00196268 0.99995754 0.00900348 0.15286368] [ 0.02340715 -0.00904697 0.99968508 -0.28800781] [ 0. 0. 0. 1. ]] SLAMing on 60.302414037 meters Centerline goodness [0,1] 0.7607007313946766 Centerline is valid? [False, False] Translation: X:1.06, Y:0.15, Z:-0.29 [[ 0.99971538 -0.00138378 -0.02381672 1.05751567] [ 0.00159103 0.99996102 0.00868495 0.15396065] [ 0.02380378 -0.00872037 0.99967862 -0.28693499] [ 0. 0. 0. 1. ]] SLAMing on 60.332414037 meters Centerline goodness [0,1] 0.7603270440251573 Centerline is valid? [False, False] Translation: X:1.06, Y:0.15, Z:-0.29 [[ 0.99971117 -0.00118214 -0.02400381 1.05789051] [ 0.00139451 0.99996002 0.00883243 0.15329408] [ 0.02399241 -0.00886335 0.99967285 -0.28678541] [ 0. 0. 0. 1. ]] SLAMing on 60.362414037 meters Centerline goodness [0,1] 0.7617491832118622 Centerline is valid? [False, False] Translation: X:1.06, Y:0.15, Z:-0.29 [[ 9.99707742e-01 -9.57505296e-04 -2.41560388e-02 1.05841016e+00] [ 1.17753771e-03 9.99957935e-01 9.09621616e-03 1.51663182e-01] [ 2.41463131e-02 -9.12200236e-03 9.99666817e-01 -2.86927932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.392414037 meters Centerline goodness [0,1] 0.7676428589322845 Centerline is valid? [False, False] Translation: X:1.06, Y:0.15, Z:-0.29 [[ 0.99968896 -0.00300702 -0.02475765 1.06147223] [ 0.00315768 0.99997672 0.00604853 0.15150517] [ 0.02473888 -0.00612482 0.99967518 -0.2880253 ] [ 0. 0. 0. 1. ]] SLAMing on 60.422414036999996 meters Centerline goodness [0,1] 0.7683213357328534 Centerline is valid? [False, False] Translation: X:1.06, Y:0.15, Z:-0.29 [[ 0.99968421 -0.00270975 -0.02498255 1.06239308] [ 0.00287004 0.99997551 0.0063828 0.15003111] [ 0.02496464 -0.00645248 0.99966751 -0.28852642] [ 0. 0. 0. 1. ]] SLAMing on 60.452414037 meters Centerline goodness [0,1] 0.7685606909081859 Centerline is valid? [False, False] Translation: X:1.06, Y:0.15, Z:-0.29 [[ 0.99967849 -0.00205777 -0.025272 1.06340689] [ 0.00222931 0.99997466 0.00676138 0.14910274] [ 0.02525744 -0.00681554 0.99965775 -0.28866487] [ 0. 0. 0. 1. ]] SLAMing on 60.482414037 meters Centerline goodness [0,1] 0.7740585774058577 Centerline is valid? [False, False] Translation: X:1.06, Y:0.15, Z:-0.29 [[ 0.99967229 -0.00170099 -0.02554261 1.06399551] [ 0.00187399 0.99997546 0.00675055 0.14932734] [ 0.0255305 -0.00679621 0.99965094 -0.28834195] [ 0. 0. 0. 1. ]] SLAMing on 60.512414037 meters Centerline goodness [0,1] 0.7689009646783159 Centerline is valid? [False, False] Translation: X:1.06, Y:0.15, Z:-0.29 [[ 0.99966868 -0.00146237 -0.02569812 1.06428996] [ 0.00163568 0.99997605 0.0067242 0.14948902] [ 0.02568768 -0.00676401 0.99964713 -0.28801632] [ 0. 0. 0. 1. ]] SLAMing on 60.542414037 meters Centerline goodness [0,1] 0.7721743032357781 Centerline is valid? [False, False] Translation: X:1.06, Y:0.15, Z:-0.29 [[ 0.99966174 -0.00121134 -0.02597958 1.06476358] [ 0.00138605 0.99997654 0.00670809 0.1495003 ] [ 0.02597084 -0.00674183 0.99963997 -0.28760123] [ 0. 0. 0. 1. ]] SLAMing on 60.572414037 meters Centerline goodness [0,1] 0.7722506584505292 Centerline is valid? [False, False] Translation: X:1.07, Y:0.15, Z:-0.29 [[ 9.99650423e-01 -4.84603498e-04 -2.64347562e-02 1.06559571e+00] [ 6.68719674e-04 9.99975579e-01 6.95653253e-03 1.48051509e-01] [ 2.64307395e-02 -6.97177813e-03 9.99626335e-01 -2.86839076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.602414036999996 meters Centerline goodness [0,1] 0.7720326980892986 Centerline is valid? [False, False] Translation: X:1.07, Y:0.15, Z:-0.29 [[ 9.99646298e-01 -3.49172007e-04 -2.65924287e-02 1.06564528e+00] [ 5.33071171e-04 9.99975993e-01 6.90869570e-03 1.47193663e-01] [ 2.65893780e-02 -6.92042773e-03 9.99622485e-01 -2.86232013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.632414037 meters Centerline goodness [0,1] 0.7707771148466318 Centerline is valid? [False, False] Translation: X:1.07, Y:0.15, Z:-0.29 [[ 0.99962489 -0.00234894 -0.02728677 1.06849851] [ 0.00245117 0.9999901 0.00371371 0.14780857] [ 0.02727778 -0.00377921 0.99962075 -0.28661643] [ 0. 0. 0. 1. ]] SLAMing on 60.662414037 meters Centerline goodness [0,1] 0.7705566683977545 Centerline is valid? [False, False] Translation: X:1.07, Y:0.15, Z:-0.29 [[ 0.99962001 -0.00207172 -0.02748698 1.06910807] [ 0.00218427 0.99998935 0.00406509 0.14648552] [ 0.02747826 -0.00412358 0.9996139 -0.28675623] [ 0. 0. 0. 1. ]] SLAMing on 60.692414037 meters Centerline goodness [0,1] 0.7708364211254385 Centerline is valid? [False, False] Translation: X:1.07, Y:0.14, Z:-0.29 [[ 0.99961808 -0.00194611 -0.02756639 1.06938267] [ 0.00207613 0.99998685 0.0046888 0.14376006] [ 0.02755691 -0.00474424 0.99960898 -0.28700289] [ 0. 0. 0. 1. ]] SLAMing on 60.722414037 meters Centerline goodness [0,1] 0.7712325060875126 Centerline is valid? [False, False] Translation: X:1.07, Y:0.14, Z:-0.29 [[ 0.99960424 -0.00337059 -0.02792841 1.07220129] [ 0.00344323 0.99999081 0.00255337 0.14351943] [ 0.02791954 -0.00264852 0.99960666 -0.28841519] [ 0. 0. 0. 1. ]] SLAMing on 60.752414037 meters Centerline goodness [0,1] 0.7695732382240807 Centerline is valid? [False, False] Translation: X:1.07, Y:0.14, Z:-0.29 [[ 0.99960135 -0.00317175 -0.02805503 1.0725741 ] [ 0.00325438 0.9999905 0.00290009 0.14228254] [ 0.02804557 -0.00299024 0.99960217 -0.28853418] [ 0. 0. 0. 1. ]] SLAMing on 60.782414037 meters Centerline goodness [0,1] 0.7702822303077982 Centerline is valid? [False, False] Translation: X:1.07, Y:0.14, Z:-0.29 [[ 0.99959442 -0.00274668 -0.0283452 1.07350447] [ 0.0028424 0.99999039 0.00333707 0.14116381] [ 0.02833577 -0.00341628 0.99959262 -0.28883984] [ 0. 0. 0. 1. ]] SLAMing on 60.812414036999996 meters Centerline goodness [0,1] 0.7690252689885052 Centerline is valid? [False, False] Translation: X:1.08, Y:0.14, Z:-0.29 [[ 0.99958239 -0.00157669 -0.02885396 1.07583666] [ 0.00170551 0.99998869 0.00444049 0.13945064] [ 0.02884664 -0.00448785 0.99957377 -0.29021817] [ 0. 0. 0. 1. ]] SLAMing on 60.842414037 meters Centerline goodness [0,1] 0.7703727254940325 Centerline is valid? [False, False] Translation: X:1.08, Y:0.14, Z:-0.29 [[ 0.9995749 -0.00113777 -0.0291329 1.07670153] [ 0.00127446 0.99998827 0.0046737 0.13873785] [ 0.02912724 -0.00470884 0.99956462 -0.29030568] [ 0. 0. 0. 1. ]] SLAMing on 60.872414037 meters Centerline goodness [0,1] 0.7701458267177996 Centerline is valid? [False, False] Translation: X:1.08, Y:0.14, Z:-0.29 [[ 9.99572389e-01 -8.81877814e-04 -2.92277479e-02 1.07678607e+00] [ 1.02172814e-03 9.99988100e-01 4.77025857e-03 1.37706125e-01] [ 2.92231933e-02 -4.79808156e-03 9.99561396e-01 -2.89899607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.902414037 meters Centerline goodness [0,1] 0.7703274779816067 Centerline is valid? [False, False] Translation: X:1.08, Y:0.13, Z:-0.29 [[ 9.99566360e-01 -2.09783399e-04 -2.94456681e-02 1.07685125e+00] [ 3.60537973e-04 9.99986856e-01 5.11453796e-03 1.34860720e-01] [ 2.94442082e-02 -5.12293638e-03 9.99553297e-01 -2.88821557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.932414037 meters Centerline goodness [0,1] 0.7707397606156984 Centerline is valid? [False, False] Translation: X:1.08, Y:0.13, Z:-0.29 [[ 9.99559650e-01 5.58087462e-05 -2.96732647e-02 1.07712557e+00] [ 9.56962252e-05 9.99986968e-01 5.10432895e-03 1.34369232e-01] [ 2.96731629e-02 -5.10492088e-03 9.99546619e-01 -2.88255120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.962414037 meters Centerline goodness [0,1] 0.7702978971962617 Centerline is valid? [False, False] Translation: X:1.08, Y:0.13, Z:-0.29 [[ 9.99551203e-01 4.94567886e-04 -2.99524306e-02 1.07757753e+00] [-3.39137096e-04 9.99986453e-01 5.19411246e-03 1.34157698e-01] [ 2.99545937e-02 -5.18162338e-03 9.99537830e-01 -2.87731882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.992414036999996 meters Centerline goodness [0,1] 0.7714882151612982 Centerline is valid? [False, False] Translation: X:1.08, Y:0.13, Z:-0.29 [[ 9.99536248e-01 1.13242978e-03 -3.04303406e-02 1.07878666e+00] [-9.64832563e-04 9.99984290e-01 5.52168859e-03 1.33780242e-01] [ 3.04361155e-02 -5.48976772e-03 9.99521638e-01 -2.87656780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.022414037 meters Centerline goodness [0,1] 0.7724268177525968 Centerline is valid? [False, False] Translation: X:1.08, Y:0.13, Z:-0.29 [[ 0.99952412 0.00159863 -0.03080558 1.07908735] [-0.00141959 0.99998198 0.00583297 0.13186659] [ 0.03081435 -0.00578646 0.99950838 -0.28672385] [ 0. 0. 0. 1. ]] SLAMing on 61.052414037 meters Centerline goodness [0,1] 0.7711431957242013 Centerline is valid? [False, False] Translation: X:1.08, Y:0.13, Z:-0.29 [[ 0.99951972 0.00166881 -0.03094422 1.07915177] [-0.00148307 0.99998075 0.00602444 0.13033809] [ 0.03095367 -0.00597566 0.99950296 -0.28640385] [ 0. 0. 0. 1. ]] SLAMing on 61.082414037 meters Centerline goodness [0,1] 0.770895216015842 Centerline is valid? [False, False] Translation: X:1.08, Y:0.13, Z:-0.29 [[ 0.99951663 0.0016511 -0.03104492 1.0791286 ] [-0.00145639 0.99997913 0.00629355 0.12820778] [ 0.03105467 -0.00624529 0.99949818 -0.28615689] [ 0. 0. 0. 1. ]] SLAMing on 61.112414037 meters Centerline goodness [0,1] 0.7698101402892412 Centerline is valid? [False, False] Translation: X:1.08, Y:0.13, Z:-0.29 [[ 0.99950177 -0.0013103 -0.03153559 1.08091553] [ 0.00140603 0.99999447 0.00301386 0.12739959] [ 0.03153147 -0.0030567 0.99949809 -0.28658562] [ 0. 0. 0. 1. ]] SLAMing on 61.142414037 meters Centerline goodness [0,1] 0.7688402688402689 Centerline is valid? [False, False] Translation: X:1.08, Y:0.12, Z:-0.29 [[ 9.99483896e-01 -4.85314502e-03 -3.17551291e-02 1.08179767e+00] [ 4.86470198e-03 9.99988126e-01 2.86690774e-04 1.22665652e-01] [ 3.17533607e-02 -4.41022052e-04 9.99495638e-01 -2.87117214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.172414036999996 meters Centerline goodness [0,1] 0.7690391459074732 Centerline is valid? [False, False] Translation: X:1.08, Y:0.12, Z:-0.29 [[ 0.99944764 -0.00800274 -0.03225492 1.08370676] [ 0.00792059 0.99996506 -0.0026738 0.12125775] [ 0.03227519 0.00241685 0.9994761 -0.28793565] [ 0. 0. 0. 1. ]] SLAMing on 61.202414037 meters Centerline goodness [0,1] 0.7678886769795861 Centerline is valid? [False, False] Translation: X:1.09, Y:0.12, Z:-0.29 [[ 0.99956393 -0.01408664 -0.02595237 1.09196194] [ 0.01419192 0.99989177 0.00387687 0.11522916] [ 0.02589495 -0.00424349 0.99965566 -0.29141717] [ 0. 0. 0. 1. ]] SLAMing on 61.232414037 meters Centerline goodness [0,1] 0.7667072542499883 Centerline is valid? [False, False] Translation: X:1.09, Y:0.11, Z:-0.29 [[ 0.99955234 -0.01486157 -0.02596646 1.09121414] [ 0.01497045 0.99987992 0.00400381 0.11214166] [ 0.02590384 -0.00439075 0.9996548 -0.29082558] [ 0. 0. 0. 1. ]] SLAMing on 61.262414037 meters Centerline goodness [0,1] 0.7665740373163954 Centerline is valid? [False, False] Translation: X:1.09, Y:0.11, Z:-0.29 [[ 0.999545 -0.0154162 -0.02592561 1.09073578] [ 0.01553007 0.9998706 0.00419635 0.10912599] [ 0.02585756 -0.00459706 0.99965507 -0.29057195] [ 0. 0. 0. 1. ]] SLAMing on 61.292414037 meters Centerline goodness [0,1] 0.7643269141315472 Centerline is valid? [False, False] Translation: X:1.09, Y:0.11, Z:-0.29 [[ 0.99954112 -0.01567287 -0.02592112 1.09064087] [ 0.01580157 0.99986378 0.00476747 0.10582799] [ 0.02584286 -0.00517488 0.99965262 -0.29078576] [ 0. 0. 0. 1. ]] SLAMing on 61.322414037 meters Centerline goodness [0,1] 0.7631518227964929 Centerline is valid? [False, False] Translation: X:1.09, Y:0.10, Z:-0.29 [[ 0.9994755 -0.01939458 -0.02593389 1.09089037] [ 0.01944695 0.99980933 0.00176852 0.10203523] [ 0.02589464 -0.00227192 0.9996621 -0.29082904] [ 0. 0. 0. 1. ]] SLAMing on 61.352414036999996 meters Centerline goodness [0,1] 0.7622538318358343 Centerline is valid? [False, False] Translation: X:1.09, Y:0.10, Z:-0.29 [[ 0.99946966 -0.0199727 -0.02571935 1.08986031] [ 0.02002705 0.99979771 0.00185762 0.09915441] [ 0.02567705 -0.00237172 0.99966748 -0.29027634] [ 0. 0. 0. 1. ]] SLAMing on 61.382414037 meters Centerline goodness [0,1] 0.7604159540261339 Centerline is valid? [False, False] Translation: X:1.09, Y:0.10, Z:-0.29 [[ 9.99393851e-01 -2.27778707e-02 -2.63267863e-02 1.09217136e+00] [ 2.27568825e-02 9.99740427e-01 -1.09659328e-03 9.82249903e-02] [ 2.63449306e-02 4.96813000e-04 9.99652789e-01 -2.91009312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.412414037 meters Centerline goodness [0,1] 0.7640375094115768 Centerline is valid? [False, False] Translation: X:1.09, Y:0.10, Z:-0.29 [[ 9.99395776e-01 -2.28132980e-02 -2.62228295e-02 1.09186853e+00] [ 2.28066864e-02 9.99739742e-01 -5.51220301e-04 9.60357096e-02] [ 2.62285799e-02 -4.71686091e-05 9.99655971e-01 -2.91043248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.442414037 meters Centerline goodness [0,1] 0.7635767470455632 Centerline is valid? [False, False] Translation: X:1.09, Y:0.09, Z:-0.29 [[ 9.99390938e-01 -2.30640503e-02 -2.61878422e-02 1.09090740e+00] [ 2.30656821e-02 9.99733923e-01 -2.39796549e-04 9.38980420e-02] [ 2.61864049e-02 -3.64389947e-04 9.99657011e-01 -2.90048965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.472414037 meters Centerline goodness [0,1] 0.7628896473265074 Centerline is valid? [False, False] Translation: X:1.09, Y:0.09, Z:-0.29 [[ 9.99395197e-01 -2.29132389e-02 -2.61576833e-02 1.09073969e+00] [ 2.29246478e-02 9.99737186e-01 1.36325079e-04 9.26585162e-02] [ 2.61476850e-02 -7.35898306e-04 9.99657820e-01 -2.89869800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.502414037 meters Centerline goodness [0,1] 0.760086324398001 Centerline is valid? [False, False] Translation: X:1.09, Y:0.09, Z:-0.29 [[ 9.99401471e-01 -2.26642856e-02 -2.61348582e-02 1.09088706e+00] [ 2.26905869e-02 9.99742283e-01 7.10211149e-04 9.08623811e-02] [ 2.61120263e-02 -1.30280134e-03 9.99658174e-01 -2.90111316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.532414037 meters Centerline goodness [0,1] 0.7643886921011664 Centerline is valid? [False, False] Translation: X:1.09, Y:0.09, Z:-0.29 [[ 0.99940054 -0.02260018 -0.02622586 1.09116038] [ 0.02264287 0.99974273 0.00133184 0.08682858] [ 0.02618901 -0.00192487 0.99965516 -0.29031753] [ 0. 0. 0. 1. ]] SLAMing on 61.562414036999996 meters Centerline goodness [0,1] 0.7634151296927557 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:-0.29 [[ 0.99940588 -0.0224271 -0.02617099 1.09132263] [ 0.02248337 0.99974549 0.00185755 0.08473117] [ 0.02612267 -0.00244486 0.99965576 -0.29070053] [ 0. 0. 0. 1. ]] SLAMing on 61.592414037 meters Centerline goodness [0,1] 0.7654371122391427 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:-0.29 [[ 0.99941021 -0.02215655 -0.02623576 1.09175392] [ 0.02222444 0.99975036 0.00229891 0.08326327] [ 0.02617827 -0.00288063 0.99965314 -0.29104516] [ 0. 0. 0. 1. ]] SLAMing on 61.622414037 meters Centerline goodness [0,1] 0.7647310183519251 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:-0.29 [[ 0.99941257 -0.0218367 -0.02641339 1.09236957] [ 0.02191597 0.99975613 0.00271547 0.08246654] [ 0.02634766 -0.00329275 0.99964742 -0.29128544] [ 0. 0. 0. 1. ]] SLAMing on 61.652414037 meters Centerline goodness [0,1] 0.7673852808001622 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:-0.29 [[ 0.99941963 -0.02120057 -0.02666329 1.09302809] [ 0.02129622 0.99976774 0.00330845 0.08153042] [ 0.02658695 -0.00387436 0.999639 -0.29125315] [ 0. 0. 0. 1. ]] SLAMing on 61.682414037 meters Centerline goodness [0,1] 0.7681439385430939 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:-0.29 [[ 0.99942543 -0.02075618 -0.02679552 1.09388963] [ 0.02086765 0.99977469 0.0038871 0.08050196] [ 0.02670881 -0.00444403 0.99963338 -0.29192837] [ 0. 0. 0. 1. ]] SLAMing on 61.712414037 meters Centerline goodness [0,1] 0.7708178981163423 Centerline is valid? [False, False] Translation: X:1.09, Y:0.08, Z:-0.29 [[ 0.99943169 -0.02033753 -0.02688278 1.09474707] [ 0.0204647 0.99978061 0.00446375 0.07927596] [ 0.0267861 -0.00501136 0.99962863 -0.29273124] [ 0. 0. 0. 1. ]] SLAMing on 61.742414036999996 meters Centerline goodness [0,1] 0.771008215752813 Centerline is valid? [False, False] Translation: X:1.10, Y:0.08, Z:-0.29 [[ 0.99944226 -0.01967561 -0.02698233 1.0955566 ] [ 0.0198299 0.99978844 0.00546277 0.07643677] [ 0.02686914 -0.00599478 0.99962098 -0.29352322] [ 0. 0. 0. 1. ]] SLAMing on 61.772414037 meters Centerline goodness [0,1] 0.7720908420982113 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:-0.29 [[ 0.99944546 -0.01954621 -0.02695781 1.09538532] [ 0.01970692 0.9997895 0.00570902 0.07495778] [ 0.02684054 -0.00623711 0.99962027 -0.29325385] [ 0. 0. 0. 1. ]] SLAMing on 61.802414037 meters Centerline goodness [0,1] 0.7727688633979781 Centerline is valid? [False, False] Translation: X:1.09, Y:0.07, Z:-0.29 [[ 0.99944854 -0.0194616 -0.02690472 1.0949203 ] [ 0.01962668 0.99979006 0.0058853 0.07369207] [ 0.02678454 -0.00641011 0.99962068 -0.29266478] [ 0. 0. 0. 1. ]] SLAMing on 61.832414037 meters Centerline goodness [0,1] 0.7739320236981603 Centerline is valid? [False, False] Translation: X:1.09, Y:0.07, Z:-0.29 [[ 0.99944925 -0.01955692 -0.02680889 1.09429104] [ 0.01971735 0.99978916 0.00573289 0.07345088] [ 0.02669112 -0.00625833 0.99962414 -0.29191829] [ 0. 0. 0. 1. ]] SLAMing on 61.862414037 meters Centerline goodness [0,1] 0.7764726819718811 Centerline is valid? [False, False] Translation: X:1.09, Y:0.07, Z:-0.29 [[ 0.99945193 -0.01929474 -0.02689876 1.09340862] [ 0.01945316 0.99979486 0.00564041 0.07376699] [ 0.02678441 -0.00616058 0.99962225 -0.2901893 ] [ 0. 0. 0. 1. ]] SLAMing on 61.892414037 meters Centerline goodness [0,1] 0.7757163563384992 Centerline is valid? [False, False] Translation: X:1.09, Y:0.07, Z:-0.29 [[ 0.99945098 -0.01906808 -0.02709526 1.09367285] [ 0.01923138 0.99979836 0.00577926 0.0731417 ] [ 0.02697959 -0.00629716 0.99961615 -0.28987141] [ 0. 0. 0. 1. ]] SLAMing on 61.922414036999996 meters Centerline goodness [0,1] 0.775573672168292 Centerline is valid? [False, False] Translation: X:1.09, Y:0.07, Z:-0.29 [[ 0.99945226 -0.01870028 -0.02730346 1.09463254] [ 0.01887613 0.99980262 0.00619702 0.07181251] [ 0.02718219 -0.00670901 0.99960798 -0.29044016] [ 0. 0. 0. 1. ]] SLAMing on 61.952414037 meters Centerline goodness [0,1] 0.7762487257900101 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:-0.29 [[ 0.99946044 -0.01770769 -0.02766359 1.09661068] [ 0.0179131 0.99981366 0.00719518 0.06960939] [ 0.02753103 -0.00768684 0.99959139 -0.29191194] [ 0. 0. 0. 1. ]] SLAMing on 61.982414037 meters Centerline goodness [0,1] 0.7778588969270591 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:-0.29 [[ 0.99945979 -0.01747128 -0.02783668 1.09709145] [ 0.01767953 0.9998174 0.00725289 0.06964514] [ 0.02770488 -0.00774111 0.99958617 -0.29192228] [ 0. 0. 0. 1. ]] SLAMing on 62.012414037 meters Centerline goodness [0,1] 0.7796366372347252 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:-0.29 [[ 0.9994573 -0.01732716 -0.02801547 1.09730184] [ 0.01753587 0.99982016 0.00722136 0.07001429] [ 0.02788531 -0.00770872 0.99958141 -0.29159451] [ 0. 0. 0. 1. ]] SLAMing on 62.042414037 meters Centerline goodness [0,1] 0.7784536151131041 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:-0.29 [[ 0.99945835 -0.01689851 -0.02823921 1.09810761] [ 0.01712557 0.99982278 0.00781836 0.06856597] [ 0.02810208 -0.00829774 0.99957062 -0.29201949] [ 0. 0. 0. 1. ]] SLAMing on 62.072414037 meters Centerline goodness [0,1] 0.7781173188068824 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:-0.29 [[ 0.99945609 -0.0167043 -0.02843397 1.09893018] [ 0.01694528 0.99982234 0.00825524 0.06679677] [ 0.02829102 -0.00873257 0.99956158 -0.29254781] [ 0. 0. 0. 1. ]] SLAMing on 62.102414036999996 meters Centerline goodness [0,1] 0.7781173188068824 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:-0.29 [[ 0.99945609 -0.0167043 -0.02843397 1.09893018] [ 0.01694528 0.99982234 0.00825524 0.06679677] [ 0.02829102 -0.00873257 0.99956158 -0.29254781] [ 0. 0. 0. 1. ]] SLAMing on 62.132414037 meters Centerline goodness [0,1] 0.7763417063184685 Centerline is valid? [False, False] Translation: X:1.10, Y:0.07, Z:-0.29 [[ 0.99945516 -0.01676182 -0.02843296 1.09900932] [ 0.01700861 0.99981955 0.00846021 0.06519811] [ 0.02828602 -0.0089392 0.9995599 -0.29265098] [ 0. 0. 0. 1. ]] SLAMing on 62.162414037 meters Centerline goodness [0,1] 0.7787099344784841 Centerline is valid? [False, False] Translation: X:1.10, Y:0.06, Z:-0.29 [[ 0.99945167 -0.01694391 -0.02844746 1.09880895] [ 0.01719125 0.99981632 0.00847261 0.06403685] [ 0.02829867 -0.00895701 0.99955938 -0.29237194] [ 0. 0. 0. 1. ]] SLAMing on 62.192414037 meters Centerline goodness [0,1] 0.7776549895016024 Centerline is valid? [False, False] Translation: X:1.10, Y:0.06, Z:-0.29 [[ 0.99944843 -0.01711503 -0.02845878 1.098735 ] [ 0.01736384 0.99981295 0.00851867 0.06315525] [ 0.02830766 -0.00900813 0.99955867 -0.29225876] [ 0. 0. 0. 1. ]] SLAMing on 62.222414037 meters Centerline goodness [0,1] 0.7773438361907283 Centerline is valid? [False, False] Translation: X:1.10, Y:0.06, Z:-0.29 [[ 0.99943177 -0.01799603 -0.02850059 1.09782135] [ 0.01823624 0.99980016 0.00819082 0.06150588] [ 0.02834749 -0.00870591 0.99956022 -0.2911758 ] [ 0. 0. 0. 1. ]] SLAMing on 62.252414037 meters Centerline goodness [0,1] 0.7771072352278002 Centerline is valid? [False, False] Translation: X:1.10, Y:0.06, Z:-0.29 [[ 0.99942863 -0.01832779 -0.02839895 1.09727567] [ 0.01856836 0.99979371 0.00823067 0.06010994] [ 0.02824224 -0.00875329 0.99956278 -0.29080499] [ 0. 0. 0. 1. ]] SLAMing on 62.282414037 meters Centerline goodness [0,1] 0.7768073750606501 Centerline is valid? [False, False] Translation: X:1.10, Y:0.06, Z:-0.29 [[ 0.99936189 -0.02120871 -0.02874041 1.09887183] [ 0.02136325 0.99975887 0.00508083 0.06006765] [ 0.02862572 -0.00569158 0.999574 -0.29133934] [ 0. 0. 0. 1. ]] SLAMing on 62.312414036999996 meters Centerline goodness [0,1] 0.7744130731621371 Centerline is valid? [False, False] Translation: X:1.10, Y:0.06, Z:-0.29 [[ 0.99935608 -0.02154929 -0.02868874 1.09852702] [ 0.02170675 0.99975092 0.00518862 0.05791867] [ 0.02856979 -0.00580801 0.99957493 -0.29110361] [ 0. 0. 0. 1. ]] SLAMing on 62.342414037 meters Centerline goodness [0,1] 0.7744202850949222 Centerline is valid? [False, False] Translation: X:1.10, Y:0.06, Z:-0.29 [[ 0.99927834 -0.02444139 -0.02907613 1.10014804] [ 0.0245206 0.99969651 0.00237085 0.05582575] [ 0.02900936 -0.00308211 0.99957439 -0.29153873] [ 0. 0. 0. 1. ]] SLAMing on 62.372414037 meters Centerline goodness [0,1] 0.7753217990044514 Centerline is valid? [False, False] Translation: X:1.10, Y:0.06, Z:-0.29 [[ 0.99927678 -0.02458587 -0.02900776 1.0996158 ] [ 0.02466695 0.99969275 0.00244043 0.05518739] [ 0.02893885 -0.0031542 0.99957621 -0.29101859] [ 0. 0. 0. 1. ]] SLAMing on 62.402414037 meters Centerline goodness [0,1] 0.776538030705704 Centerline is valid? [False, False] Translation: X:1.10, Y:0.06, Z:-0.29 [[ 0.99927572 -0.02465059 -0.0289892 1.09942143] [ 0.02473422 0.99969086 0.00252994 0.05507624] [ 0.02891788 -0.00324513 0.99957652 -0.29080095] [ 0. 0. 0. 1. ]] SLAMing on 62.432414037 meters Centerline goodness [0,1] 0.7743442407228704 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:-0.29 [[ 0.99927298 -0.0247619 -0.0289891 1.09949987] [ 0.02486135 0.99968618 0.00307504 0.05347944] [ 0.02890386 -0.00379351 0.999575 -0.29106955] [ 0. 0. 0. 1. ]] SLAMing on 62.462414037 meters Centerline goodness [0,1] 0.7761967501097936 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:-0.29 [[ 0.99926921 -0.02510791 -0.02882096 1.09908035] [ 0.02521176 0.99967687 0.00324536 0.05171416] [ 0.02873017 -0.00396961 0.99957932 -0.29108772] [ 0. 0. 0. 1. ]] SLAMing on 62.492414036999996 meters Centerline goodness [0,1] 0.773562265468191 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:-0.29 [[ 9.99178420e-01 -2.80102178e-02 -2.92901587e-02 1.10131983e+00] [ 2.80291664e-02 9.99607078e-01 2.36471032e-04 5.10508026e-02] [ 2.92720264e-02 -1.05725549e-03 9.99570923e-01 -2.92158594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.522414037 meters Centerline goodness [0,1] 0.7734164752215293 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:-0.29 [[ 9.99169892e-01 -2.85256287e-02 -2.90829101e-02 1.10060534e+00] [ 2.85461687e-02 9.99592433e-01 2.91228301e-04 4.92216833e-02] [ 2.90627493e-02 -1.12119221e-03 9.99576960e-01 -2.91912563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.552414037 meters Centerline goodness [0,1] 0.7750818241326642 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:-0.29 [[ 9.99145194e-01 -2.92549767e-02 -2.92066535e-02 1.10062970e+00] [ 2.92844767e-02 9.99570948e-01 5.82719897e-04 4.70814114e-02] [ 2.91770748e-02 -1.43752335e-03 9.99573225e-01 -2.92083187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.582414037 meters Centerline goodness [0,1] 0.7708725125738027 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:-0.29 [[ 9.99140496e-01 -2.95482709e-02 -2.90717921e-02 1.10028415e+00] [ 2.95776374e-02 9.99562317e-01 5.80533997e-04 4.69433576e-02] [ 2.90419141e-02 -1.43990995e-03 9.99577158e-01 -2.92076616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.612414037 meters Centerline goodness [0,1] 0.7710635509936667 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:-0.29 [[ 9.99142076e-01 -2.94197557e-02 -2.91477277e-02 1.10082074e+00] [ 2.94623289e-02 9.99565358e-01 1.03211753e-03 4.61572365e-02] [ 2.91046942e-02 -1.88999200e-03 9.99574582e-01 -2.92632126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.642414037 meters Centerline goodness [0,1] 0.7719267540309348 Centerline is valid? [False, False] Translation: X:1.10, Y:0.05, Z:-0.29 [[ 0.99913979 -0.02949759 -0.02914749 1.10104375] [ 0.02954675 0.99956261 0.00125743 0.04517973] [ 0.02909765 -0.00211756 0.99957433 -0.29301391] [ 0. 0. 0. 1. ]] SLAMing on 62.672414036999996 meters Centerline goodness [0,1] 0.7716393228600026 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:-0.29 [[ 0.99913329 -0.02962528 -0.02924049 1.10152 ] [ 0.02968892 0.99955766 0.00174471 0.04279383] [ 0.02917587 -0.00261131 0.99957088 -0.29358585] [ 0. 0. 0. 1. ]] SLAMing on 62.702414037 meters Centerline goodness [0,1] 0.7682006543075246 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:-0.29 [[ 0.99913307 -0.02964546 -0.02922764 1.10149848] [ 0.02971037 0.99955695 0.00178876 0.04276192] [ 0.02916166 -0.00265558 0.99957118 -0.29360692] [ 0. 0. 0. 1. ]] SLAMing on 62.732414037 meters Centerline goodness [0,1] 0.7673870848145159 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:-0.29 [[ 0.99913279 -0.02948058 -0.0294036 1.10202361] [ 0.02954837 0.9995616 0.00187356 0.04313474] [ 0.02933548 -0.00274076 0.99956586 -0.29373753] [ 0. 0. 0. 1. ]] SLAMing on 62.762414037 meters Centerline goodness [0,1] 0.7677894461632315 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:-0.29 [[ 0.99913102 -0.02940929 -0.0295346 1.10222322] [ 0.02947597 0.99956382 0.00182461 0.04349411] [ 0.02946806 -0.00269359 0.99956209 -0.29355982] [ 0. 0. 0. 1. ]] SLAMing on 62.792414037 meters Centerline goodness [0,1] 0.7687241003271538 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:-0.29 [[ 0.99913671 -0.02906151 -0.02968622 1.1025168 ] [ 0.02913099 0.99957378 0.00191074 0.04360244] [ 0.02961804 -0.00277387 0.99955744 -0.29337711] [ 0. 0. 0. 1. ]] SLAMing on 62.822414037 meters Centerline goodness [0,1] 0.7674322231673537 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:-0.29 [[ 0.99914158 -0.02869508 -0.02987815 1.10347639] [ 0.02877754 0.99958312 0.00233349 0.04320577] [ 0.02979873 -0.0031913 0.99955082 -0.29407105] [ 0. 0. 0. 1. ]] SLAMing on 62.852414036999996 meters Centerline goodness [0,1] 0.7750779767487512 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:-0.29 [[ 0.99914205 -0.02856517 -0.02998671 1.10397961] [ 0.02865386 0.99958619 0.00253205 0.04285625] [ 0.02990198 -0.00338911 0.99954709 -0.29440863] [ 0. 0. 0. 1. ]] SLAMing on 62.882414037 meters Centerline goodness [0,1] 0.7758609422988956 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:-0.29 [[ 0.99913923 -0.02856113 -0.03008437 1.10449778] [ 0.02865833 0.99958533 0.00280443 0.04219143] [ 0.0299918 -0.00366419 0.99954343 -0.29491333] [ 0. 0. 0. 1. ]] SLAMing on 62.912414037 meters Centerline goodness [0,1] 0.7722800357789559 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:-0.29 [[ 0.99913812 -0.02874972 -0.02994101 1.10401179] [ 0.02884569 0.99958002 0.00277812 0.04175675] [ 0.02984856 -0.00363939 0.99954781 -0.29466266] [ 0. 0. 0. 1. ]] SLAMing on 62.942414037 meters Centerline goodness [0,1] 0.7688872429417916 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:-0.29 [[ 0.99913852 -0.0288074 -0.02987211 1.10406374] [ 0.02890833 0.99957771 0.00295246 0.04099516] [ 0.02977445 -0.00381347 0.99954937 -0.29487946] [ 0. 0. 0. 1. ]] SLAMing on 62.972414037 meters Centerline goodness [0,1] 0.7512921860747948 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:-0.30 [[ 0.99913592 -0.02874665 -0.03001738 1.10450389] [ 0.02885394 0.99957868 0.00314713 0.0404122 ] [ 0.02991426 -0.00401053 0.99954442 -0.2950358 ] [ 0. 0. 0. 1. ]] SLAMing on 63.002414037 meters Centerline goodness [0,1] 0.7723135354593674 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:-0.29 [[ 0.99913072 -0.02889156 -0.03005134 1.10444719] [ 0.02899555 0.99957495 0.00303042 0.04076998] [ 0.02995101 -0.00389914 0.99954376 -0.29488137] [ 0. 0. 0. 1. ]] SLAMing on 63.032414037 meters Centerline goodness [0,1] 0.7710696213575292 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:-0.30 [[ 0.99913028 -0.02890014 -0.03005763 1.10471575] [ 0.02900545 0.99957453 0.00307331 0.04107866] [ 0.02995602 -0.00394247 0.99954344 -0.29519841] [ 0. 0. 0. 1. ]] SLAMing on 63.062414036999996 meters Centerline goodness [0,1] 0.7740025683999738 Centerline is valid? [False, False] Translation: X:1.11, Y:0.04, Z:-0.30 [[ 0.9991285 -0.02878057 -0.03023109 1.10529552] [ 0.0288919 0.99957725 0.00325222 0.04072602] [ 0.03012471 -0.00412282 0.99953765 -0.29543112] [ 0. 0. 0. 1. ]] SLAMing on 63.092414037 meters Centerline goodness [0,1] 0.7688669993680127 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:-0.30 [[ 0.99912497 -0.0290685 -0.030072 1.10497997] [ 0.02918051 0.99956874 0.00329247 0.03964979] [ 0.02996332 -0.00416711 0.99954231 -0.29555423] [ 0. 0. 0. 1. ]] SLAMing on 63.122414037 meters Centerline goodness [0,1] 0.7650781181810247 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:-0.30 [[ 0.99912215 -0.02920462 -0.03003356 1.10486502] [ 0.02931672 0.99956473 0.00329873 0.03950551] [ 0.02992415 -0.00417632 0.99954345 -0.29553435] [ 0. 0. 0. 1. ]] SLAMing on 63.152414037 meters Centerline goodness [0,1] 0.7589565217391304 Centerline is valid? [False, False] Translation: X:1.11, Y:0.04, Z:-0.30 [[ 0.99911657 -0.0292714 -0.03015406 1.10524347] [ 0.02938471 0.99956266 0.00332147 0.0397264 ] [ 0.03004365 -0.0042046 0.99953974 -0.29567455] [ 0. 0. 0. 1. ]] SLAMing on 63.182414037 meters Centerline goodness [0,1] 0.761637799397932 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:-0.30 [[ 0.99910749 -0.02961782 -0.03011657 1.10492174] [ 0.02972319 0.99955349 0.00305703 0.04036254] [ 0.03001258 -0.00394946 0.99954172 -0.29540449] [ 0. 0. 0. 1. ]] SLAMing on 63.212414037 meters Centerline goodness [0,1] 0.761119832548404 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:-0.30 [[ 0.99909038 -0.03015911 -0.0301469 1.10489675] [ 0.03026181 0.99953764 0.00295619 0.03999898] [ 0.0300438 -0.0038658 0.99954111 -0.29546947] [ 0. 0. 0. 1. ]] SLAMing on 63.242414036999996 meters Centerline goodness [0,1] 0.7532855305886712 Centerline is valid? [False, False] Translation: X:1.11, Y:0.04, Z:-0.30 [[ 0.99908752 -0.03021248 -0.03018843 1.10543836] [ 0.03032191 0.99953515 0.00317347 0.03908778] [ 0.03007852 -0.00408594 0.99953919 -0.29611382] [ 0. 0. 0. 1. ]] SLAMing on 63.272414037 meters Centerline goodness [0,1] 0.7535870516185477 Centerline is valid? [False, False] Translation: X:1.11, Y:0.04, Z:-0.30 [[ 0.999087 -0.03031386 -0.03010379 1.10568439] [ 0.03042839 0.99953132 0.00335346 0.03840646] [ 0.02998802 -0.00426641 0.99954115 -0.29669901] [ 0. 0. 0. 1. ]] SLAMing on 63.302414037 meters Centerline goodness [0,1] 0.7148217636022514 Centerline is valid? [False, False] Translation: X:1.11, Y:0.04, Z:-0.30 [[ 0.99906876 -0.03088776 -0.03012559 1.1055635 ] [ 0.03099507 0.99951473 0.00310151 0.03866979] [ 0.03001518 -0.00403236 0.99954131 -0.29667571] [ 0. 0. 0. 1. ]] SLAMing on 63.332414037 meters Centerline goodness [0,1] 0.7266229379589879 Centerline is valid? [False, False] Translation: X:1.11, Y:0.04, Z:-0.30 [[ 0.99906231 -0.03109078 -0.03013073 1.10558857] [ 0.03119282 0.99950911 0.00292243 0.03937986] [ 0.03002508 -0.00385955 0.99954169 -0.29668386] [ 0. 0. 0. 1. ]] SLAMing on 63.362414037 meters Centerline goodness [0,1] 0.7452733273589649 Centerline is valid? [False, False] Translation: X:1.11, Y:0.04, Z:-0.30 [[ 0.99905734 -0.03134079 -0.03003641 1.10519881] [ 0.03143373 0.99950239 0.002627 0.0404562 ] [ 0.02993914 -0.00356868 0.99954535 -0.29642372] [ 0. 0. 0. 1. ]] SLAMing on 63.392414037 meters Centerline goodness [0,1] 0.751838557170373 Centerline is valid? [False, False] Translation: X:1.11, Y:0.04, Z:-0.30 [[ 0.99904833 -0.03165881 -0.03000264 1.10507598] [ 0.03173845 0.99949383 0.00218203 0.04185357] [ 0.02991837 -0.0031322 0.99954744 -0.29629452] [ 0. 0. 0. 1. ]] SLAMing on 63.422414036999996 meters Centerline goodness [0,1] 0.7456915405476336 Centerline is valid? [False, False] Translation: X:1.11, Y:0.04, Z:-0.30 [[ 0.99904471 -0.03184122 -0.02992992 1.10523892] [ 0.03191847 0.99948826 0.00210658 0.04177691] [ 0.02984753 -0.00305989 0.99954978 -0.29672676] [ 0. 0. 0. 1. ]] SLAMing on 63.452414037 meters Centerline goodness [0,1] 0.7317661506074296 Centerline is valid? [False, False] Translation: X:1.11, Y:0.04, Z:-0.30 [[ 0.99903137 -0.03235211 -0.02982708 1.10527911] [ 0.03241966 0.99947275 0.00178358 0.04198279] [ 0.02975365 -0.00274883 0.99955348 -0.29720347] [ 0. 0. 0. 1. ]] SLAMing on 63.482414037 meters Centerline goodness [0,1] 0.7211795658846745 Centerline is valid? [False, False] Translation: X:1.11, Y:0.04, Z:-0.30 [[ 0.99902918 -0.03236454 -0.02988717 1.10594229] [ 0.03243233 0.99947234 0.00178604 0.04273388] [ 0.02981359 -0.00275362 0.99955168 -0.2978727 ] [ 0. 0. 0. 1. ]] SLAMing on 63.512414037 meters Centerline goodness [0,1] 0.7220215025509645 Centerline is valid? [False, False] Translation: X:1.11, Y:0.04, Z:-0.30 [[ 0.99902388 -0.03234329 -0.03008661 1.10666849] [ 0.03240637 0.99947348 0.00161109 0.04429351] [ 0.03001866 -0.00258452 0.999546 -0.29821715] [ 0. 0. 0. 1. ]] SLAMing on 63.542414037 meters Centerline goodness [0,1] 0.7246239982434954 Centerline is valid? [False, False] Translation: X:1.11, Y:0.05, Z:-0.30 [[ 0.9990179 -0.03242089 -0.03020128 1.10695895] [ 0.03247315 0.99947184 0.00124128 0.04632784] [ 0.03014509 -0.00222079 0.99954307 -0.29822058] [ 0. 0. 0. 1. ]] SLAMing on 63.572414037 meters Centerline goodness [0,1] 0.70723452883263 Centerline is valid? [False, False] Translation: X:1.11, Y:0.05, Z:-0.30 [[ 9.99014314e-01 -3.24421725e-02 -3.02969727e-02 1.10729748e+00] [ 3.24857030e-02 9.99471753e-01 9.45548574e-04 4.78465491e-02] [ 3.02502927e-02 -1.92883501e-03 9.99540494e-01 -2.98330374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.602414036999996 meters Centerline goodness [0,1] 0.7180509949974656 Centerline is valid? [False, False] Translation: X:1.11, Y:0.05, Z:-0.30 [[ 9.99006115e-01 -3.27921647e-02 -3.01903446e-02 1.10697054e+00] [ 3.28162721e-02 9.99461355e-01 3.03245594e-04 4.95972083e-02] [ 3.01641386e-02 -1.29367876e-03 9.99544122e-01 -2.98129602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.632414037 meters Centerline goodness [0,1] 0.7317772046992439 Centerline is valid? [False, False] Translation: X:1.11, Y:0.05, Z:-0.30 [[ 9.99005815e-01 -3.28786409e-02 -3.01060724e-02 1.10703543e+00] [ 3.28954024e-02 9.99458798e-01 6.14977227e-05 5.06354433e-02] [ 3.00877569e-02 -1.05178795e-03 9.99546708e-01 -2.98372010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.662414037 meters Centerline goodness [0,1] 0.7006591274827503 Centerline is valid? [False, False] Translation: X:1.11, Y:0.05, Z:-0.30 [[ 9.99007798e-01 -3.27718162e-02 -3.01567087e-02 1.10767620e+00] [ 3.27893223e-02 9.99462282e-01 8.60322421e-05 5.17399229e-02] [ 3.01376735e-02 -1.07476492e-03 9.99545179e-01 -2.99066328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.692414037 meters Centerline goodness [0,1] 0.7115117586123294 Centerline is valid? [False, False] Translation: X:1.11, Y:0.05, Z:-0.30 [[ 9.99004439e-01 -3.26891177e-02 -3.03570687e-02 1.10857515e+00] [ 3.27028987e-02 9.99465116e-01 -4.25571942e-05 5.33404354e-02] [ 3.03422224e-02 -9.50249315e-04 9.99539117e-01 -2.99664328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.722414037 meters Centerline goodness [0,1] 0.705597072504023 Centerline is valid? [False, False] Translation: X:1.11, Y:0.06, Z:-0.30 [[ 9.98995537e-01 -3.28417186e-02 -3.04850405e-02 1.10933644e+00] [ 3.28366742e-02 9.99460509e-01 -6.66223557e-04 5.70436570e-02] [ 3.04904740e-02 -3.35472982e-04 9.99535001e-01 -3.00203369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.752414037 meters Centerline goodness [0,1] 0.702201980898479 Centerline is valid? [False, False] Translation: X:1.11, Y:0.06, Z:-0.30 [[ 9.98985633e-01 -3.31791134e-02 -3.04442311e-02 1.10911422e+00] [ 3.31614502e-02 9.99449419e-01 -1.08504458e-03 5.83295821e-02] [ 3.04634699e-02 7.43690974e-05 9.99535878e-01 -3.00040536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.782414037 meters Centerline goodness [0,1] 0.6952603913600424 Centerline is valid? [False, False] Translation: X:1.11, Y:0.06, Z:-0.30 [[ 9.98977339e-01 -3.33505871e-02 -3.05289154e-02 1.10959946e+00] [ 3.33276250e-02 9.99443685e-01 -1.26082132e-03 5.88724995e-02] [ 3.05539808e-02 2.42075679e-04 9.99533089e-01 -3.00477674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.812414036999996 meters Centerline goodness [0,1] 0.694747340425532 Centerline is valid? [False, False] Translation: X:1.11, Y:0.06, Z:-0.30 [[ 9.98960271e-01 -3.42321144e-02 -3.01088026e-02 1.10895904e+00] [ 3.41943777e-02 9.99413638e-01 -1.76749706e-03 5.94826726e-02] [ 3.01516531e-02 7.36107581e-04 9.99545064e-01 -3.01010978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.842414037 meters Centerline goodness [0,1] 0.684349719975109 Centerline is valid? [False, False] Translation: X:1.11, Y:0.06, Z:-0.30 [[ 0.99895067 -0.03470376 -0.02988662 1.10821657] [ 0.03465403 0.99939699 -0.00218035 0.06048023] [ 0.02994427 0.00114237 0.99955092 -0.30069842] [ 0. 0. 0. 1. ]] SLAMing on 63.872414037 meters Centerline goodness [0,1] 0.6929277228822027 Centerline is valid? [False, False] Translation: X:1.11, Y:0.06, Z:-0.31 [[ 0.99927546 -0.03452096 -0.01602682 1.1085115 ] [ 0.03454373 0.99940253 0.00114578 0.06012026] [ 0.01597769 -0.00169857 0.99987091 -0.3066891 ] [ 0. 0. 0. 1. ]] SLAMing on 63.902414037 meters Centerline goodness [0,1] 0.6716544199510132 Centerline is valid? [False, False] Translation: X:1.11, Y:0.06, Z:-0.31 [[ 9.99259018e-01 -3.50619047e-02 -1.58769396e-02 1.10796593e+00] [ 3.50735991e-02 9.99384627e-01 4.58633420e-04 6.22881329e-02] [ 1.58510888e-02 -1.01515500e-03 9.99873848e-01 -3.06409468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.932414037 meters Centerline goodness [0,1] 0.6855387902256643 Centerline is valid? [False, False] Translation: X:1.11, Y:0.06, Z:-0.31 [[ 9.99252178e-01 -3.52140710e-02 -1.59703963e-02 1.10838817e+00] [ 3.52209141e-02 9.99379540e-01 1.47340392e-04 6.41200970e-02] [ 1.59552989e-02 -7.09722165e-04 9.99872454e-01 -3.06691309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.962414037 meters Centerline goodness [0,1] 0.6777294524367123 Centerline is valid? [False, False] Translation: X:1.11, Y:0.07, Z:-0.31 [[ 9.99224220e-01 -3.60659683e-02 -1.58178602e-02 1.10811554e+00] [ 3.60572789e-02 9.99349377e-01 -8.34279003e-04 6.74203357e-02] [ 1.58376578e-02 2.63282788e-04 9.99874542e-01 -3.06918088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.992414036999996 meters Centerline goodness [0,1] 0.6777294524367123 Centerline is valid? [False, False] Translation: X:1.11, Y:0.07, Z:-0.31 [[ 9.99224220e-01 -3.60659683e-02 -1.58178602e-02 1.10811554e+00] [ 3.60572789e-02 9.99349377e-01 -8.34279003e-04 6.74203357e-02] [ 1.58376578e-02 2.63282788e-04 9.99874542e-01 -3.06918088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02241403699999 meters Centerline goodness [0,1] 0.6706763555058692 Centerline is valid? [False, False] Translation: X:1.11, Y:0.07, Z:-0.31 [[ 9.99219582e-01 -3.61610437e-02 -1.58935911e-02 1.10853924e+00] [ 3.61509151e-02 9.99345915e-01 -9.24214620e-04 6.79636716e-02] [ 1.59166159e-02 3.48925483e-04 9.99873262e-01 -3.07346626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05241403699999 meters Centerline goodness [0,1] 0.6692660037984584 Centerline is valid? [False, False] Translation: X:1.11, Y:0.07, Z:-0.31 [[ 9.99216168e-01 -3.62378528e-02 -1.59332538e-02 1.10898001e+00] [ 3.62266055e-02 9.99343107e-01 -9.94056024e-04 6.84504382e-02] [ 1.59588098e-02 4.16069151e-04 9.99872564e-01 -3.07923816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08241403699999 meters Centerline goodness [0,1] 0.6668375534950071 Centerline is valid? [False, False] Translation: X:1.11, Y:0.07, Z:-0.31 [[ 9.99217590e-01 -3.60979634e-02 -1.61599623e-02 1.10986158e+00] [ 3.60854439e-02 9.99348140e-01 -1.06573977e-03 6.93873074e-02] [ 1.61878994e-02 4.81766508e-04 9.99868851e-01 -3.08434281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.112414037 meters Centerline goodness [0,1] 0.6723889987416861 Centerline is valid? [False, False] Translation: X:1.11, Y:0.07, Z:-0.31 [[ 0.9993235 -0.03322848 -0.01576117 1.1081745 ] [ 0.03325396 0.99944601 0.00135717 0.07370236] [ 0.01570734 -0.00188037 0.99987486 -0.30775975] [ 0. 0. 0. 1. ]] SLAMing on 64.142414037 meters Centerline goodness [0,1] 0.6655380239723708 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:-0.31 [[ 0.99942595 -0.03012754 -0.01549554 1.10680736] [ 0.03020071 0.99953368 0.00450961 0.07519251] [ 0.01535245 -0.004975 0.99986977 -0.30723532] [ 0. 0. 0. 1. ]] SLAMing on 64.172414037 meters Centerline goodness [0,1] 0.6888949128038312 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:-0.31 [[ 0.99952002 -0.02679616 -0.01554673 1.1064121 ] [ 0.02691025 0.99961209 0.00717644 0.07881308] [ 0.0153484 -0.00759136 0.99985339 -0.30685498] [ 0. 0. 0. 1. ]] SLAMing on 64.202414037 meters Centerline goodness [0,1] 0.6888542090740489 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:-0.31 [[ 0.99952101 -0.02666471 -0.01570831 1.1068966 ] [ 0.02677244 0.99961918 0.00668832 0.08102782] [ 0.01552399 -0.00710567 0.99985425 -0.30680154] [ 0. 0. 0. 1. ]] SLAMing on 64.232414037 meters Centerline goodness [0,1] 0.6759027166181153 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:-0.31 [[ 0.99952251 -0.0265129 -0.01586876 1.10740562] [ 0.02661521 0.99962608 0.00627099 0.08278219] [ 0.01569656 -0.00669035 0.99985442 -0.30677318] [ 0. 0. 0. 1. ]] SLAMing on 64.26241403699999 meters Centerline goodness [0,1] 0.6768393606167101 Centerline is valid? [False, False] Translation: X:1.11, Y:0.08, Z:-0.31 [[ 0.99952252 -0.0263411 -0.0161519 1.10812734] [ 0.02643741 0.99963377 0.00577849 0.08467835] [ 0.01599378 -0.00620274 0.99985285 -0.3066794 ] [ 0. 0. 0. 1. ]] SLAMing on 64.29241403699999 meters Centerline goodness [0,1] 0.6999066760749323 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:-0.31 [[ 0.99960812 -0.0229002 -0.01609931 1.10806761] [ 0.0230453 0.99969494 0.00888534 0.08733008] [ 0.01589092 -0.00925288 0.99983092 -0.30714165] [ 0. 0. 0. 1. ]] SLAMing on 64.32241403699999 meters Centerline goodness [0,1] 0.6922409660556532 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:-0.31 [[ 0.99960491 -0.02282365 -0.01640435 1.10892628] [ 0.02296242 0.99970169 0.0083218 0.0898372 ] [ 0.01620953 -0.00869519 0.99983081 -0.30722613] [ 0. 0. 0. 1. ]] SLAMing on 64.35241403699999 meters Centerline goodness [0,1] 0.6957569359983478 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:-0.31 [[ 0.99960305 -0.02271418 -0.01666751 1.10980734] [ 0.02285009 0.99970682 0.00800969 0.09176464] [ 0.01648069 -0.00838736 0.999829 -0.30761866] [ 0. 0. 0. 1. ]] SLAMing on 64.38241403699999 meters Centerline goodness [0,1] 0.6943472993668427 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:-0.31 [[ 0.99960412 -0.02239276 -0.0170345 1.11133236] [ 0.02253178 0.99971401 0.00801321 0.09318728] [ 0.01685019 -0.00839386 0.99982279 -0.30854516] [ 0. 0. 0. 1. ]] SLAMing on 64.41241403699999 meters Centerline goodness [0,1] 0.710696883331801 Centerline is valid? [False, False] Translation: X:1.11, Y:0.10, Z:-0.31 [[ 0.99960348 -0.02232501 -0.0171604 1.1124617 ] [ 0.02245696 0.99971941 0.00753559 0.09612543] [ 0.01698735 -0.00791797 0.99982435 -0.30955953] [ 0. 0. 0. 1. ]] SLAMing on 64.44241403699999 meters Centerline goodness [0,1] 0.7017144695716124 Centerline is valid? [False, False] Translation: X:1.11, Y:0.10, Z:-0.31 [[ 0.99959786 -0.02264708 -0.01706538 1.11212541] [ 0.02276809 0.99971675 0.00693016 0.09779585] [ 0.01690359 -0.00731592 0.99983036 -0.30923018] [ 0. 0. 0. 1. ]] SLAMing on 64.472414037 meters Centerline goodness [0,1] 0.6856958406345107 Centerline is valid? [False, False] Translation: X:1.11, Y:0.10, Z:-0.31 [[ 0.99958881 -0.02315334 -0.01691519 1.11135501] [ 0.02326147 0.99971004 0.00622377 0.099832 ] [ 0.01676619 -0.00661469 0.99983756 -0.30863321] [ 0. 0. 0. 1. ]] SLAMing on 64.502414037 meters Centerline goodness [0,1] 0.6918046472798107 Centerline is valid? [False, False] Translation: X:1.11, Y:0.10, Z:-0.31 [[ 0.99956417 -0.02440717 -0.01660597 1.10926665] [ 0.02448448 0.99969023 0.00446809 0.10370564] [ 0.01649177 -0.00487273 0.99985213 -0.30658356] [ 0. 0. 0. 1. ]] SLAMing on 64.532414037 meters Centerline goodness [0,1] 0.6833920459812737 Centerline is valid? [False, False] Translation: X:1.11, Y:0.10, Z:-0.31 [[ 0.99955739 -0.0247233 -0.01654635 1.10905569] [ 0.02479475 0.99968404 0.00412737 0.10494071] [ 0.01643908 -0.00453581 0.99985458 -0.30650913] [ 0. 0. 0. 1. ]] SLAMing on 64.562414037 meters Centerline goodness [0,1] 0.6819586790304213 Centerline is valid? [False, False] Translation: X:1.11, Y:0.11, Z:-0.31 [[ 0.99955233 -0.02495939 -0.01649755 1.10906089] [ 0.02502784 0.99967893 0.00395584 0.10584533] [ 0.01639352 -0.00436697 0.99985608 -0.30676861] [ 0. 0. 0. 1. ]] SLAMing on 64.592414037 meters Centerline goodness [0,1] 0.6804186046511628 Centerline is valid? [False, False] Translation: X:1.11, Y:0.11, Z:-0.31 [[ 0.99954594 -0.02533697 -0.01630829 1.10876188] [ 0.02539949 0.99967076 0.00363848 0.10677069] [ 0.01621073 -0.00405105 0.99986039 -0.30695768] [ 0. 0. 0. 1. ]] SLAMing on 64.622414037 meters Centerline goodness [0,1] 0.6740004676174889 Centerline is valid? [False, False] Translation: X:1.11, Y:0.11, Z:-0.31 [[ 0.99953107 -0.02605387 -0.01608823 1.10835628] [ 0.02610812 0.99965409 0.00317118 0.1082303 ] [ 0.01600005 -0.00358973 0.99986555 -0.30732767] [ 0. 0. 0. 1. ]] SLAMing on 64.65241403699999 meters Centerline goodness [0,1] 0.6711614863285815 Centerline is valid? [False, False] Translation: X:1.11, Y:0.11, Z:-0.31 [[ 0.99952205 -0.02644227 -0.01601471 1.10810742] [ 0.0264925 0.99964471 0.00293261 0.10881218] [ 0.01593148 -0.00335548 0.99986746 -0.30732134] [ 0. 0. 0. 1. ]] SLAMing on 64.68241403699999 meters Centerline goodness [0,1] 0.6651142108219434 Centerline is valid? [False, False] Translation: X:1.11, Y:0.11, Z:-0.31 [[ 0.99951508 -0.026742 -0.01595221 1.1079173 ] [ 0.0267906 0.99963703 0.00284022 0.10910469] [ 0.01587046 -0.00326621 0.99986872 -0.3073844 ] [ 0. 0. 0. 1. ]] SLAMing on 64.71241403699999 meters Centerline goodness [0,1] 0.6628515139432887 Centerline is valid? [False, False] Translation: X:1.11, Y:0.11, Z:-0.31 [[ 0.99950843 -0.02711312 -0.01574119 1.10757032] [ 0.027158 0.99962766 0.00264426 0.10968061] [ 0.01566363 -0.00307046 0.9998726 -0.30764343] [ 0. 0. 0. 1. ]] SLAMing on 64.74241403699999 meters Centerline goodness [0,1] 0.6604039786488584 Centerline is valid? [False, False] Translation: X:1.11, Y:0.11, Z:-0.31 [[ 0.99950928 -0.02705423 -0.01578843 1.10881255] [ 0.0271053 0.99962799 0.00302936 0.11021935] [ 0.0157006 -0.00345583 0.99987077 -0.30940784] [ 0. 0. 0. 1. ]] SLAMing on 64.77241403699999 meters Centerline goodness [0,1] 0.6580955735587648 Centerline is valid? [False, False] Translation: X:1.11, Y:0.11, Z:-0.31 [[ 0.99951598 -0.02673365 -0.01590991 1.11011796] [ 0.02679195 0.99963504 0.00346236 0.11034528] [ 0.01581155 -0.00388694 0.99986743 -0.31083173] [ 0. 0. 0. 1. ]] SLAMing on 64.80241403699999 meters Centerline goodness [0,1] 0.6564077166171407 Centerline is valid? [False, False] Translation: X:1.11, Y:0.11, Z:-0.31 [[ 0.99951923 -0.02656093 -0.01599481 1.1108366 ] [ 0.02662084 0.99963932 0.00354399 0.11091953] [ 0.01589491 -0.00396808 0.99986579 -0.31152375] [ 0. 0. 0. 1. ]] SLAMing on 64.83241403699999 meters Centerline goodness [0,1] 0.6507059545733579 Centerline is valid? [False, False] Translation: X:1.11, Y:0.11, Z:-0.31 [[ 0.99952134 -0.02641903 -0.01609737 1.11140945] [ 0.02647827 0.99964334 0.00347859 0.11202345] [ 0.01599973 -0.00390315 0.99986438 -0.31192131] [ 0. 0. 0. 1. ]] SLAMing on 64.862414037 meters Centerline goodness [0,1] 0.6607894114866462 Centerline is valid? [False, False] Translation: X:1.11, Y:0.12, Z:-0.31 [[ 0.99952794 -0.02596894 -0.01641679 1.11216638] [ 0.02601922 0.99965736 0.00285677 0.11521161] [ 0.01633698 -0.00328257 0.99986115 -0.31128525] [ 0. 0. 0. 1. ]] SLAMing on 64.892414037 meters Centerline goodness [0,1] 0.6718164127390953 Centerline is valid? [False, False] Translation: X:1.11, Y:0.12, Z:-0.31 [[ 0.99952682 -0.02591794 -0.01656476 1.11225928] [ 0.02596082 0.99966013 0.00237912 0.11700009] [ 0.01649746 -0.00280803 0.99985996 -0.31074177] [ 0. 0. 0. 1. ]] SLAMing on 64.922414037 meters Centerline goodness [0,1] 0.6693247006736331 Centerline is valid? [False, False] Translation: X:1.11, Y:0.12, Z:-0.31 [[ 0.99952606 -0.02579277 -0.01680413 1.11277062] [ 0.02583075 0.99966423 0.002047 0.11846334] [ 0.01674569 -0.00248009 0.99985671 -0.31052281] [ 0. 0. 0. 1. ]] SLAMing on 64.952414037 meters Centerline goodness [0,1] 0.6712997120213247 Centerline is valid? [False, False] Translation: X:1.11, Y:0.12, Z:-0.31 [[ 0.99952551 -0.02572491 -0.01694072 1.11314074] [ 0.02576006 0.99966642 0.00186004 0.11933291] [ 0.01688722 -0.00229555 0.99985477 -0.31054224] [ 0. 0. 0. 1. ]] SLAMing on 64.982414037 meters Centerline goodness [0,1] 0.6676377877543223 Centerline is valid? [False, False] Translation: X:1.11, Y:0.12, Z:-0.31 [[ 0.99952818 -0.02549357 -0.01713157 1.11380475] [ 0.02552612 0.99967274 0.00168381 0.12050189] [ 0.01708304 -0.00212032 0.99985183 -0.31068831] [ 0. 0. 0. 1. ]] SLAMing on 65.01241403699999 meters Centerline goodness [0,1] 0.6788474382215437 Centerline is valid? [False, False] Translation: X:1.11, Y:0.12, Z:-0.31 [[ 0.99953238 -0.02514583 -0.01739847 1.11478941] [ 0.02518337 0.99968096 0.00194227 0.12076676] [ 0.01734408 -0.00237952 0.99984675 -0.31120919] [ 0. 0. 0. 1. ]] SLAMing on 65.04241403699999 meters Centerline goodness [0,1] 0.6694078554182306 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.31 [[ 0.99953278 -0.02490576 -0.01771794 1.11539223] [ 0.02494039 0.99968743 0.00173614 0.12222804] [ 0.01766916 -0.00217722 0.99984152 -0.31090381] [ 0. 0. 0. 1. ]] SLAMing on 65.07241403699999 meters Centerline goodness [0,1] 0.6733622570052015 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.31 [[ 0.99953078 -0.02494863 -0.01777033 1.11541992] [ 0.02498043 0.99968671 0.00156963 0.12292322] [ 0.0177256 -0.00201281 0.99984086 -0.31074345] [ 0. 0. 0. 1. ]] SLAMing on 65.10241403699999 meters Centerline goodness [0,1] 0.6724200014403341 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.31 [[ 0.99953177 -0.02484346 -0.01786167 1.11580264] [ 0.02487711 0.99968913 0.00166459 0.1232866 ] [ 0.01781476 -0.00210815 0.99983908 -0.31094612] [ 0. 0. 0. 1. ]] SLAMing on 65.13241403699999 meters Centerline goodness [0,1] 0.6708478234800336 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.31 [[ 0.9995325 -0.02468341 -0.01804219 1.11650415] [ 0.02472061 0.9996927 0.00184154 0.12331572] [ 0.01799119 -0.00228669 0.99983553 -0.31135133] [ 0. 0. 0. 1. ]] SLAMing on 65.16241403699999 meters Centerline goodness [0,1] 0.6703773901777789 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.31 [[ 0.9995369 -0.02439775 -0.01818621 1.1174325 ] [ 0.0244418 0.99969883 0.00220374 0.12323737] [ 0.01812696 -0.00264722 0.99983219 -0.31220527] [ 0. 0. 0. 1. ]] SLAMing on 65.19241403699999 meters Centerline goodness [0,1] 0.6766159604587552 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.31 [[ 0.999546 -0.02397238 -0.01825178 1.11871492] [ 0.02402984 0.99970693 0.00293498 0.12240143] [ 0.01817607 -0.00337224 0.99982911 -0.31383738] [ 0. 0. 0. 1. ]] SLAMing on 65.222414037 meters Centerline goodness [0,1] 0.6724709386108176 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.31 [[ 0.99954613 -0.02403741 -0.01815882 1.11867504] [ 0.02409563 0.99970517 0.00299401 0.12191536] [ 0.0180815 -0.0034302 0.99983063 -0.31406611] [ 0. 0. 0. 1. ]] SLAMing on 65.252414037 meters Centerline goodness [0,1] 0.6708019388587609 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.31 [[ 0.99954878 -0.02395478 -0.01812191 1.11882995] [ 0.02401706 0.99970634 0.00322683 0.12104615] [ 0.01803929 -0.00366061 0.99983058 -0.31434666] [ 0. 0. 0. 1. ]] SLAMing on 65.282414037 meters Centerline goodness [0,1] 0.6593604024434063 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.31 [[ 0.99954501 -0.02429377 -0.01787676 1.11768017] [ 0.02434869 0.99969943 0.00286109 0.12144333] [ 0.01780188 -0.00329507 0.9998361 -0.31341022] [ 0. 0. 0. 1. ]] SLAMing on 65.312414037 meters Centerline goodness [0,1] 0.6701194072795281 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.31 [[ 0.99954224 -0.02445812 -0.0178076 1.11715011] [ 0.0245077 0.99969633 0.0025714 0.1221089 ] [ 0.0177393 -0.00300664 0.99983813 -0.31280728] [ 0. 0. 0. 1. ]] SLAMing on 65.342414037 meters Centerline goodness [0,1] 0.6733605572904156 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.31 [[ 0.99954196 -0.02442445 -0.01786924 1.11712146] [ 0.02447319 0.99969733 0.00251373 0.12243443] [ 0.01780244 -0.0029499 0.99983717 -0.31250517] [ 0. 0. 0. 1. ]] SLAMing on 65.372414037 meters Centerline goodness [0,1] 0.6716983848904461 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.31 [[ 0.99954455 -0.02441399 -0.01773817 1.11681305] [ 0.02446259 0.99969755 0.00252814 0.12253903] [ 0.01767109 -0.00296091 0.99983947 -0.31240849] [ 0. 0. 0. 1. ]] SLAMing on 65.40241403699999 meters Centerline goodness [0,1] 0.670908567038033 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.31 [[ 0.99954983 -0.0241016 -0.01786738 1.11739877] [ 0.02415416 0.99970451 0.00273177 0.12226217] [ 0.01779626 -0.00316211 0.99983663 -0.31262719] [ 0. 0. 0. 1. ]] SLAMing on 65.43241403699999 meters Centerline goodness [0,1] 0.6729470572685108 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.31 [[ 0.99955828 -0.02357529 -0.01809565 1.11848304] [ 0.02363428 0.99971601 0.00305287 0.12198693] [ 0.01801854 -0.0034792 0.9998316 -0.31322744] [ 0. 0. 0. 1. ]] SLAMing on 65.46241403699999 meters Centerline goodness [0,1] 0.661907055140862 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.31 [[ 0.99956466 -0.02314307 -0.01830018 1.11950928] [ 0.02320941 0.99972477 0.00342074 0.12181757] [ 0.01821598 -0.00384399 0.99982669 -0.31396254] [ 0. 0. 0. 1. ]] SLAMing on 65.49241403699999 meters Centerline goodness [0,1] 0.6767691345552509 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.31 [[ 0.99956884 -0.02281697 -0.01848009 1.120495 ] [ 0.02288858 0.99973127 0.00367314 0.12194061] [ 0.01839132 -0.00409454 0.99982248 -0.31467177] [ 0. 0. 0. 1. ]] SLAMing on 65.52241403699999 meters Centerline goodness [0,1] 0.6745369037335637 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.32 [[ 0.99957508 -0.02239302 -0.01866047 1.12160522] [ 0.02247163 0.99973942 0.00401394 0.12207382] [ 0.01856572 -0.00443157 0.99981782 -0.31554589] [ 0. 0. 0. 1. ]] SLAMing on 65.55241403699999 meters Centerline goodness [0,1] 0.6765314968214218 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.32 [[ 0.99958602 -0.02169961 -0.01889235 1.12278414] [ 0.02178611 0.99975304 0.00438477 0.12262331] [ 0.01879253 -0.00479454 0.99981191 -0.31621319] [ 0. 0. 0. 1. ]] SLAMing on 65.58241403699999 meters Centerline goodness [0,1] 0.6727897036930317 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.32 [[ 0.99958884 -0.02151025 -0.01895921 1.12302483] [ 0.02159731 0.99975707 0.00439927 0.12267085] [ 0.01885998 -0.00480693 0.99981058 -0.31615721] [ 0. 0. 0. 1. ]] SLAMing on 65.612414037 meters Centerline goodness [0,1] 0.6747699920728338 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.32 [[ 0.99959075 -0.02139545 -0.01898863 1.12307231] [ 0.02148371 0.99975927 0.00445617 0.12248463] [ 0.01888872 -0.00486229 0.99980977 -0.31605473] [ 0. 0. 0. 1. ]] SLAMing on 65.642414037 meters Centerline goodness [0,1] 0.6725561743806414 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.32 [[ 0.99959025 -0.02139568 -0.01901447 1.12292707] [ 0.0214829 0.99975956 0.00439415 0.12208134] [ 0.01891588 -0.00480083 0.99980955 -0.3156689 ] [ 0. 0. 0. 1. ]] SLAMing on 65.672414037 meters Centerline goodness [0,1] 0.6865700297590477 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.31 [[ 0.9995887 -0.02141141 -0.01907835 1.12246382] [ 0.02149768 0.99975953 0.00432832 0.12167103] [ 0.01898109 -0.00473668 0.99980862 -0.31477117] [ 0. 0. 0. 1. ]] SLAMing on 65.702414037 meters Centerline goodness [0,1] 0.6885018421934064 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.31 [[ 0.999592 -0.02111792 -0.01923168 1.12309708] [ 0.02120769 0.99976507 0.00447592 0.12156997] [ 0.01913264 -0.00488195 0.99980504 -0.31495833] [ 0. 0. 0. 1. ]] SLAMing on 65.732414037 meters Centerline goodness [0,1] 0.6965417520183155 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.31 [[ 0.99959261 -0.02090323 -0.01943386 1.12345699] [ 0.02099481 0.99976936 0.0045206 0.12158172] [ 0.01933488 -0.00492677 0.99980092 -0.31473325] [ 0. 0. 0. 1. ]] SLAMing on 65.76241403699999 meters Centerline goodness [0,1] 0.6917047367155567 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.32 [[ 0.99959649 -0.02062415 -0.01953197 1.12402009] [ 0.02071973 0.99977426 0.00470352 0.12172009] [ 0.01943055 -0.00510632 0.99979817 -0.31510706] [ 0. 0. 0. 1. ]] SLAMing on 65.79241403699999 meters Centerline goodness [0,1] 0.6956124094442706 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:-0.32 [[ 0.99960026 -0.02015394 -0.01982772 1.1250606 ] [ 0.02025757 0.99978209 0.00503977 0.12145435] [ 0.01972183 -0.00543942 0.99979071 -0.31545437] [ 0. 0. 0. 1. ]] SLAMing on 65.82241403699999 meters Centerline goodness [0,1] 0.691727879398915 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:-0.32 [[ 0.99960118 -0.02002366 -0.01991328 1.12543717] [ 0.02013157 0.99978364 0.00523317 0.12062241] [ 0.01980419 -0.00563197 0.99978802 -0.31563889] [ 0. 0. 0. 1. ]] SLAMing on 65.85241403699999 meters Centerline goodness [0,1] 0.6996909957601745 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:-0.32 [[ 0.99960401 -0.01983559 -0.01995938 1.12581062] [ 0.01995003 0.99978557 0.005551 0.11952732] [ 0.01984499 -0.00594699 0.99978538 -0.31600021] [ 0. 0. 0. 1. ]] SLAMing on 65.88241403699999 meters Centerline goodness [0,1] 0.6996909957601745 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:-0.32 [[ 0.99960401 -0.01983559 -0.01995938 1.12581062] [ 0.01995003 0.99978557 0.005551 0.11952732] [ 0.01984499 -0.00594699 0.99978538 -0.31600021] [ 0. 0. 0. 1. ]] SLAMing on 65.91241403699999 meters Centerline goodness [0,1] 0.6833157743511158 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:-0.32 [[ 0.99960715 -0.01970314 -0.01993341 1.12571898] [ 0.01982376 0.99978625 0.00587156 0.11817352] [ 0.01981346 -0.00626441 0.99978407 -0.31590296] [ 0. 0. 0. 1. ]] SLAMing on 65.94241403699999 meters Centerline goodness [0,1] 0.6860562137935966 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:-0.32 [[ 0.99961044 -0.01933947 -0.02012324 1.12651737] [ 0.01946797 0.9997912 0.00620976 0.11737715] [ 0.01999894 -0.0065991 0.99977822 -0.31626798] [ 0. 0. 0. 1. ]] SLAMing on 65.972414037 meters Centerline goodness [0,1] 0.7105742498322308 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:-0.32 [[ 0.99961571 -0.01897338 -0.02021012 1.12723746] [ 0.01911109 0.9997953 0.00664297 0.11685616] [ 0.02007995 -0.00702666 0.99977369 -0.31693925] [ 0. 0. 0. 1. ]] SLAMing on 66.002414037 meters Centerline goodness [0,1] 0.7044422129775738 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:-0.32 [[ 0.9996248 -0.01819639 -0.02047331 1.12882668] [ 0.01835232 0.99980379 0.0074542 0.11607655] [ 0.02033365 -0.00782714 0.99976261 -0.31822336] [ 0. 0. 0. 1. ]] SLAMing on 66.032414037 meters Centerline goodness [0,1] 0.6986409532468776 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:-0.32 [[ 0.99962843 -0.0178801 -0.02057416 1.12932442] [ 0.01804043 0.99980812 0.00763342 0.11611968] [ 0.02043373 -0.00800175 0.99975919 -0.31846784] [ 0. 0. 0. 1. ]] SLAMing on 66.062414037 meters Centerline goodness [0,1] 0.7077309717568214 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:-0.32 [[ 0.99962919 -0.01768928 -0.02070175 1.1295084 ] [ 0.01785047 0.99981157 0.00762738 0.11628403] [ 0.02056292 -0.00799409 0.9997566 -0.31819793] [ 0. 0. 0. 1. ]] SLAMing on 66.092414037 meters Centerline goodness [0,1] 0.7079010755765425 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:-0.32 [[ 0.99962896 -0.01764579 -0.02075024 1.12938424] [ 0.01780245 0.99981422 0.00738906 0.11662505] [ 0.020616 -0.00775572 0.99975739 -0.31768836] [ 0. 0. 0. 1. ]] SLAMing on 66.122414037 meters Centerline goodness [0,1] 0.7272227664810877 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:-0.32 [[ 0.99963592 -0.01719215 -0.02079544 1.12950739] [ 0.01735066 0.99982159 0.00746646 0.11653375] [ 0.02066336 -0.00782456 0.99975587 -0.31735044] [ 0. 0. 0. 1. ]] SLAMing on 66.15241403699999 meters Centerline goodness [0,1] 0.7311879297173415 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:-0.32 [[ 0.99963699 -0.01706525 -0.02084865 1.12980576] [ 0.01722314 0.99982416 0.00741734 0.11660128] [ 0.02071841 -0.00777372 0.99975513 -0.31742569] [ 0. 0. 0. 1. ]] SLAMing on 66.18241403699999 meters Centerline goodness [0,1] 0.7335561656917751 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:-0.32 [[ 0.99963541 -0.01688955 -0.02106648 1.13006992] [ 0.01704715 0.99982786 0.00732403 0.11667882] [ 0.02093916 -0.00768048 0.99975125 -0.31695122] [ 0. 0. 0. 1. ]] SLAMing on 66.21241403699999 meters Centerline goodness [0,1] 0.7419884376561273 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:-0.32 [[ 0.99963308 -0.01691062 -0.02115956 1.13001489] [ 0.0170635 0.99982944 0.00706581 0.1169403 ] [ 0.02103646 -0.00742428 0.99975114 -0.31643562] [ 0. 0. 0. 1. ]] SLAMing on 66.24241403699999 meters Centerline goodness [0,1] 0.7438663484486874 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:-0.32 [[ 0.99963164 -0.01689037 -0.02124369 1.12983702] [ 0.01704046 0.99983096 0.00690446 0.11713104] [ 0.02112348 -0.00726392 0.99975049 -0.31584205] [ 0. 0. 0. 1. ]] SLAMing on 66.27241403699999 meters Centerline goodness [0,1] 0.7135629221259636 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:-0.32 [[ 0.99963057 -0.0167764 -0.02138411 1.12999414] [ 0.01692674 0.99983314 0.00686875 0.11730599] [ 0.02126531 -0.00722817 0.99974774 -0.31552039] [ 0. 0. 0. 1. ]] SLAMing on 66.30241403699999 meters Centerline goodness [0,1] 0.7289414011218522 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:-0.32 [[ 0.99962998 -0.01620116 -0.02185015 1.13138268] [ 0.01636336 0.99983972 0.00726493 0.11713361] [ 0.02172895 -0.00761979 0.99973486 -0.31592073] [ 0. 0. 0. 1. ]] SLAMing on 66.33241403699999 meters Centerline goodness [0,1] 0.7421893632244216 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:-0.32 [[ 0.99963105 -0.01595293 -0.02198316 1.1322117 ] [ 0.01612112 0.99984195 0.00749509 0.11669355] [ 0.02186011 -0.00784671 0.99973025 -0.31653226] [ 0. 0. 0. 1. ]] SLAMing on 66.362414037 meters Centerline goodness [0,1] 0.7395064081185383 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:-0.32 [[ 0.99963293 -0.01561209 -0.02214207 1.13319571] [ 0.0157904 0.9998441 0.00790138 0.11589119] [ 0.02201526 -0.00824812 0.99972361 -0.31735365] [ 0. 0. 0. 1. ]] SLAMing on 66.392414037 meters Centerline goodness [0,1] 0.7420783240090465 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:-0.32 [[ 0.99963374 -0.01536466 -0.02227812 1.13387674] [ 0.01554733 0.99984673 0.00804956 0.1152158 ] [ 0.02215103 -0.00839298 0.99971941 -0.31764645] [ 0. 0. 0. 1. ]] SLAMing on 66.422414037 meters Centerline goodness [0,1] 0.7428264758497316 Centerline is valid? [False, False] Translation: X:1.13, Y:0.11, Z:-0.32 [[ 0.99963962 -0.01490249 -0.02232795 1.13441761] [ 0.01509265 0.99985104 0.00837285 0.11465452] [ 0.02219985 -0.00870682 0.99971564 -0.31802084] [ 0. 0. 0. 1. ]] SLAMing on 66.452414037 meters Centerline goodness [0,1] 0.6704448149984226 Centerline is valid? [False, False] Translation: X:1.18, Y:0.12, Z:-0.31 [[ 0.99958306 -0.01759351 -0.02289475 1.18108272] [ 0.01774477 0.99982193 0.00642059 0.11573804] [ 0.02277771 -0.00682418 0.99971726 -0.31403073] [ 0. 0. 0. 1. ]] SLAMing on 66.482414037 meters Centerline goodness [0,1] 0.759092966200605 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:-0.31 [[ 0.99964181 -0.01584672 -0.02156707 1.12914386] [ 0.01598707 0.99985203 0.006351 0.11674906] [ 0.02146324 -0.00669352 0.99974723 -0.31495869] [ 0. 0. 0. 1. ]] SLAMing on 66.51241403699999 meters Centerline goodness [0,1] 0.7544418809314274 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:-0.31 [[ 0.99964387 -0.01568668 -0.02158845 1.12915235] [ 0.0158289 0.99985402 0.00643296 0.11643877] [ 0.02148439 -0.00677239 0.99974625 -0.31480672] [ 0. 0. 0. 1. ]] SLAMing on 66.54241403699999 meters Centerline goodness [0,1] 0.7475622197442406 Centerline is valid? [False, False] Translation: X:1.13, Y:0.12, Z:-0.31 [[ 0.99964536 -0.01556126 -0.02161013 1.12921683] [ 0.01570432 0.99985577 0.00646649 0.11586692] [ 0.02150639 -0.00680357 0.99974556 -0.3146202 ] [ 0. 0. 0. 1. ]] SLAMing on 66.57241403699999 meters Centerline goodness [0,1] 0.7514398805432438 Centerline is valid? [False, False] Translation: X:1.13, Y:0.11, Z:-0.31 [[ 0.99964709 -0.01526353 -0.02174215 1.1297159 ] [ 0.01541353 0.99985843 0.00674852 0.11490563] [ 0.02163607 -0.00708126 0.99974083 -0.3148005 ] [ 0. 0. 0. 1. ]] SLAMing on 66.60241403699999 meters Centerline goodness [0,1] 0.7598686541777893 Centerline is valid? [False, False] Translation: X:1.13, Y:0.11, Z:-0.31 [[ 0.99964842 -0.01490721 -0.0219273 1.13003684] [ 0.01506812 0.99986061 0.00719173 0.11303453] [ 0.02181703 -0.00751961 0.9997337 -0.31457584] [ 0. 0. 0. 1. ]] SLAMing on 66.63241403699999 meters Centerline goodness [0,1] 0.7629706914540453 Centerline is valid? [False, False] Translation: X:1.13, Y:0.11, Z:-0.31 [[ 0.99964519 -0.01504739 -0.02197884 1.12985334] [ 0.01520658 0.99985921 0.00709377 0.11281052] [ 0.021869 -0.00742548 0.99973327 -0.31414297] [ 0. 0. 0. 1. ]] SLAMing on 66.66241403699999 meters Centerline goodness [0,1] 0.7436775366596614 Centerline is valid? [False, False] Translation: X:1.13, Y:0.11, Z:-0.31 [[ 0.99958458 -0.01799835 -0.02251072 1.13166913] [ 0.01808897 0.99982905 0.00382878 0.11321714] [ 0.02243796 -0.00423439 0.99973927 -0.31436479] [ 0. 0. 0. 1. ]] SLAMing on 66.69241403699999 meters Centerline goodness [0,1] 0.7604911554384645 Centerline is valid? [False, False] Translation: X:1.13, Y:0.11, Z:-0.31 [[ 0.99958209 -0.01837861 -0.02231307 1.13110721] [ 0.01847158 0.99982151 0.00396751 0.11155752] [ 0.02223617 -0.00437801 0.99974316 -0.31437411] [ 0. 0. 0. 1. ]] SLAMing on 66.722414037 meters Centerline goodness [0,1] 0.7531899894254495 Centerline is valid? [False, False] Translation: X:1.13, Y:0.11, Z:-0.31 [[ 0.99957978 -0.0188383 -0.02203141 1.13032281] [ 0.01893283 0.99981239 0.00409012 0.10969109] [ 0.02195022 -0.00450552 0.99974891 -0.31435638] [ 0. 0. 0. 1. ]] SLAMing on 66.752414037 meters Centerline goodness [0,1] 0.7186520742715494 Centerline is valid? [False, False] Translation: X:1.13, Y:0.11, Z:-0.31 [[ 0.99957334 -0.01917626 -0.02203205 1.13032282] [ 0.01927473 0.99980512 0.00426606 0.1080365 ] [ 0.02194595 -0.0046889 0.99974816 -0.31457533] [ 0. 0. 0. 1. ]] SLAMing on 66.782414037 meters Centerline goodness [0,1] 0.7326093542448323 Centerline is valid? [False, False] Translation: X:1.13, Y:0.11, Z:-0.31 [[ 0.99955246 -0.02035609 -0.02192029 1.12954787] [ 0.02044788 0.99978303 0.00397133 0.10582598] [ 0.0218347 -0.00441777 0.99975183 -0.31442289] [ 0. 0. 0. 1. ]] SLAMing on 66.812414037 meters Centerline goodness [0,1] 0.7265597728700752 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:-0.32 [[ 0.99955227 -0.0204366 -0.02185397 1.12984635] [ 0.02053683 0.99977954 0.00437153 0.10438812] [ 0.02175982 -0.00481839 0.99975162 -0.31522725] [ 0. 0. 0. 1. ]] SLAMing on 66.842414037 meters Centerline goodness [0,1] 0.7311553710960144 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:-0.32 [[ 0.99955421 -0.0203176 -0.02187636 1.13056725] [ 0.02042926 0.99977933 0.00489307 0.10288755] [ 0.02177211 -0.0053378 0.99974871 -0.31622974] [ 0. 0. 0. 1. ]] SLAMing on 66.872414037 meters Centerline goodness [0,1] 0.7202415515038904 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:-0.32 [[ 0.99955388 -0.02040912 -0.02180625 1.1306573 ] [ 0.02052301 0.99977682 0.00501203 0.10244045] [ 0.02169909 -0.00545732 0.99974965 -0.31659489] [ 0. 0. 0. 1. ]] SLAMing on 66.90241403699999 meters Centerline goodness [0,1] 0.7246881750400669 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:-0.32 [[ 0.999555 -0.02051933 -0.02165075 1.13040307] [ 0.02063247 0.99977455 0.0050156 0.10249637] [ 0.02154296 -0.00546008 0.99975301 -0.31666226] [ 0. 0. 0. 1. ]] SLAMing on 66.93241403699999 meters Centerline goodness [0,1] 0.7165756766174933 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:-0.32 [[ 0.99955192 -0.02082064 -0.021505 1.12959657] [ 0.02092766 0.99976964 0.00476385 0.10272563] [ 0.02140086 -0.00521176 0.99975739 -0.31597731] [ 0. 0. 0. 1. ]] SLAMing on 66.96241403699999 meters Centerline goodness [0,1] 0.7205779701242496 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:-0.32 [[ 0.99954839 -0.02105972 -0.02143586 1.12914634] [ 0.02116192 0.9997657 0.00455207 0.10262302] [ 0.02133497 -0.00500364 0.99975986 -0.3155594 ] [ 0. 0. 0. 1. ]] SLAMing on 66.99241403699999 meters Centerline goodness [0,1] 0.6958617174104453 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:-0.31 [[ 0.99953795 -0.02173911 -0.0212436 1.1278243 ] [ 0.02183162 0.99975312 0.00413233 0.10177578] [ 0.02114852 -0.00459421 0.99976579 -0.31443582] [ 0. 0. 0. 1. ]] SLAMing on 67.02241403699999 meters Centerline goodness [0,1] 0.7153906903279754 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:-0.31 [[ 0.99953407 -0.02208405 -0.02106964 1.12709566] [ 0.02217255 0.99974625 0.00397611 0.10136637] [ 0.02097648 -0.00444143 0.9997701 -0.31399461] [ 0. 0. 0. 1. ]] SLAMing on 67.05241403699999 meters Centerline goodness [0,1] 0.7087071118098585 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:-0.31 [[ 0.99953169 -0.02211422 -0.02115095 1.12751068] [ 0.02220936 0.99974421 0.00427359 0.10045955] [ 0.02105103 -0.00474133 0.99976716 -0.31444946] [ 0. 0. 0. 1. ]] SLAMing on 67.08241403699999 meters Centerline goodness [0,1] 0.7023139462163852 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:-0.31 [[ 0.99953217 -0.02221404 -0.02102347 1.12744635] [ 0.02231358 0.99974084 0.00451224 0.09955485] [ 0.02091779 -0.00497924 0.9997688 -0.31481969] [ 0. 0. 0. 1. ]] SLAMing on 67.112414037 meters Centerline goodness [0,1] 0.6966325847623884 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:-0.32 [[ 0.99952572 -0.0226059 -0.0209121 1.12729068] [ 0.02271011 0.99973076 0.00475925 0.09789182] [ 0.02079888 -0.00523191 0.99976999 -0.31525634] [ 0. 0. 0. 1. ]] SLAMing on 67.142414037 meters Centerline goodness [0,1] 0.6997504851677294 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:-0.32 [[ 0.99952413 -0.02277478 -0.02080427 1.12703481] [ 0.02288041 0.99972643 0.0048534 0.0971684 ] [ 0.02068805 -0.0053271 0.99977179 -0.31529525] [ 0. 0. 0. 1. ]] SLAMing on 67.172414037 meters Centerline goodness [0,1] 0.6822274553262224 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:-0.32 [[ 0.9995245 -0.02281805 -0.02073915 1.12688384] [ 0.02292694 0.9997245 0.00502758 0.09640402] [ 0.02061872 -0.00550068 0.99977228 -0.31527952] [ 0. 0. 0. 1. ]] SLAMing on 67.202414037 meters Centerline goodness [0,1] 0.6721579274325289 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:-0.32 [[ 0.99952216 -0.02295071 -0.02070535 1.12666774] [ 0.02305859 0.99972168 0.00498643 0.09613104] [ 0.02058514 -0.00546148 0.99977319 -0.31509263] [ 0. 0. 0. 1. ]] SLAMing on 67.232414037 meters Centerline goodness [0,1] 0.6842538970403095 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:-0.32 [[ 0.99952239 -0.02295015 -0.0206952 1.12662967] [ 0.02306079 0.99972094 0.00512314 0.09555774] [ 0.02057185 -0.00559794 0.99977271 -0.31502955] [ 0. 0. 0. 1. ]] SLAMing on 67.26241403699999 meters Centerline goodness [0,1] 0.6649953064541978 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:-0.31 [[ 0.99952205 -0.02308311 -0.02056319 1.12631664] [ 0.02319103 0.99971842 0.00502486 0.09581014] [ 0.02044141 -0.00549934 0.99977593 -0.3149581 ] [ 0. 0. 0. 1. ]] SLAMing on 67.29241403699999 meters Centerline goodness [0,1] 0.6790216843166919 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:-0.31 [[ 0.99952202 -0.02316742 -0.02046975 1.12610112] [ 0.02327454 0.99971655 0.00501059 0.0955716 ] [ 0.02034786 -0.00548462 0.99977792 -0.3148767 ] [ 0. 0. 0. 1. ]] SLAMing on 67.32241403699999 meters Centerline goodness [0,1] 0.6872420434742732 Centerline is valid? [False, False] Translation: X:1.13, Y:0.09, Z:-0.31 [[ 0.99952033 -0.02333719 -0.02035906 1.12587342] [ 0.023447 0.99971171 0.00517153 0.09377049] [ 0.02023251 -0.00564641 0.99977936 -0.31495061] [ 0. 0. 0. 1. ]] SLAMing on 67.35241403699999 meters Centerline goodness [0,1] 0.6905656056789558 Centerline is valid? [False, False] Translation: X:1.13, Y:0.09, Z:-0.32 [[ 0.99952218 -0.02330171 -0.02030848 1.12623069] [ 0.02341671 0.99971097 0.00544337 0.09267081] [ 0.02017577 -0.00591633 0.99977894 -0.3156015 ] [ 0. 0. 0. 1. ]] SLAMing on 67.38241403699999 meters Centerline goodness [0,1] 0.6797276228906823 Centerline is valid? [False, False] Translation: X:1.13, Y:0.09, Z:-0.32 [[ 0.99952376 -0.02326547 -0.0202726 1.126584 ] [ 0.02338497 0.99971041 0.00567793 0.09216356] [ 0.02013463 -0.0061493 0.99977837 -0.31623839] [ 0. 0. 0. 1. ]] SLAMing on 67.41241403699999 meters Centerline goodness [0,1] 0.6720913175025214 Centerline is valid? [False, False] Translation: X:1.13, Y:0.09, Z:-0.32 [[ 0.99952517 -0.02303988 -0.0204597 1.12751863] [ 0.02316484 0.9997143 0.00589155 0.09225281] [ 0.02031812 -0.0063627 0.99977332 -0.31696563] [ 0. 0. 0. 1. ]] SLAMing on 67.44241403699999 meters Centerline goodness [0,1] 0.6981799797775531 Centerline is valid? [False, False] Translation: X:1.13, Y:0.09, Z:-0.32 [[ 0.99953896 -0.02212772 -0.02079015 1.12922237] [ 0.02226498 0.99973166 0.00639398 0.09345405] [ 0.02064309 -0.00685393 0.99976342 -0.3180271 ] [ 0. 0. 0. 1. ]] SLAMing on 67.472414037 meters Centerline goodness [0,1] 0.699933755168239 Centerline is valid? [False, False] Translation: X:1.13, Y:0.09, Z:-0.32 [[ 0.9995414 -0.02163933 -0.02118301 1.13038172] [ 0.02178138 0.99974164 0.00649804 0.09431449] [ 0.02103692 -0.00695646 0.9997545 -0.31826163] [ 0. 0. 0. 1. ]] SLAMing on 67.502414037 meters Centerline goodness [0,1] 0.714374296672255 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:-0.32 [[ 0.99954225 -0.02149612 -0.02128852 1.13041664] [ 0.0216299 0.9997476 0.00607399 0.09577865] [ 0.02115258 -0.00653168 0.99975492 -0.31770637] [ 0. 0. 0. 1. ]] SLAMing on 67.532414037 meters Centerline goodness [0,1] 0.7153646610500218 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:-0.32 [[ 0.99954561 -0.02120172 -0.0214256 1.13070495] [ 0.02133226 0.99975514 0.00588253 0.0967083 ] [ 0.02129563 -0.00633691 0.99975314 -0.3174237 ] [ 0. 0. 0. 1. ]] SLAMing on 67.562414037 meters Centerline goodness [0,1] 0.72109375 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:-0.32 [[ 0.99956945 -0.01991561 -0.02154737 1.1319369 ] [ 0.02004975 0.99978081 0.00602751 0.09845343] [ 0.02142261 -0.00645694 0.99974966 -0.31785402] [ 0. 0. 0. 1. ]] SLAMing on 67.592414037 meters Centerline goodness [0,1] 0.7250581917909245 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:-0.32 [[ 0.9995722 -0.01943114 -0.02185994 1.13315063] [ 0.0195666 0.99979055 0.00600008 0.09983579] [ 0.02173878 -0.00642524 0.99974304 -0.31836565] [ 0. 0. 0. 1. ]] SLAMing on 67.622414037 meters Centerline goodness [0,1] 0.7359902098870905 Centerline is valid? [False, False] Translation: X:1.13, Y:0.10, Z:-0.32 [[ 0.99957557 -0.01884596 -0.02221497 1.13453406] [ 0.01898322 0.9998019 0.00598383 0.10169617] [ 0.0220978 -0.006403 0.99973531 -0.3189163 ] [ 0. 0. 0. 1. ]] SLAMing on 67.65241403699999 meters Centerline goodness [0,1] 0.7284472796191004 Centerline is valid? [False, False] Translation: X:1.14, Y:0.10, Z:-0.32 [[ 0.99957694 -0.01848999 -0.02245142 1.13543512] [ 0.01862302 0.99981015 0.00573055 0.10377975] [ 0.0223412 -0.00614624 0.99973151 -0.31914953] [ 0. 0. 0. 1. ]] SLAMing on 67.68241403699999 meters Centerline goodness [0,1] 0.7401932389536365 Centerline is valid? [False, False] Translation: X:1.14, Y:0.11, Z:-0.32 [[ 0.99959161 -0.01751041 -0.0225832 1.13660361] [ 0.01764196 0.99982846 0.00563939 0.1060374 ] [ 0.02248058 -0.0060355 0.99972906 -0.31949129] [ 0. 0. 0. 1. ]] SLAMing on 67.71241403699999 meters Centerline goodness [0,1] 0.7526764103518898 Centerline is valid? [False, False] Translation: X:1.14, Y:0.11, Z:-0.32 [[ 0.99959112 -0.01729275 -0.02277175 1.13711258] [ 0.01742053 0.99983353 0.00542477 0.10695194] [ 0.02267416 -0.00581925 0.99972597 -0.31939873] [ 0. 0. 0. 1. ]] SLAMing on 67.74241403699999 meters Centerline goodness [0,1] 0.7514965178301074 Centerline is valid? [False, False] Translation: X:1.14, Y:0.11, Z:-0.32 [[ 0.99959362 -0.01713085 -0.02278427 1.1373437 ] [ 0.01725593 0.99983703 0.00530457 0.10781094] [ 0.02268968 -0.00569558 0.99972633 -0.3194658 ] [ 0. 0. 0. 1. ]] SLAMing on 67.77241403699999 meters Centerline goodness [0,1] 0.7573237309792078 Centerline is valid? [False, False] Translation: X:1.14, Y:0.11, Z:-0.32 [[ 0.99959258 -0.01656511 -0.02324377 1.13862745] [ 0.01669342 0.99984641 0.00533701 0.1087472 ] [ 0.02315179 -0.00572286 0.99971558 -0.3195362 ] [ 0. 0. 0. 1. ]] SLAMing on 67.80241403699999 meters Centerline goodness [0,1] 0.7573237309792078 Centerline is valid? [False, False] Translation: X:1.14, Y:0.11, Z:-0.32 [[ 0.99959258 -0.01656511 -0.02324377 1.13862745] [ 0.01669342 0.99984641 0.00533701 0.1087472 ] [ 0.02315179 -0.00572286 0.99971558 -0.3195362 ] [ 0. 0. 0. 1. ]] SLAMing on 67.83241403699999 meters Centerline goodness [0,1] 0.7652826647900539 Centerline is valid? [False, False] Translation: X:1.14, Y:0.11, Z:-0.32 [[ 0.99964974 -0.01299726 -0.02305376 1.13779506] [ 0.01320152 0.99987474 0.00873014 0.11007622] [ 0.02293741 -0.00903143 0.99969611 -0.319254 ] [ 0. 0. 0. 1. ]] SLAMing on 67.862414037 meters Centerline goodness [0,1] 0.7655588558598592 Centerline is valid? [False, False] Translation: X:1.14, Y:0.11, Z:-0.32 [[ 0.99964691 -0.01246667 -0.02346558 1.13942825] [ 0.01267527 0.99988127 0.00876213 0.11152121] [ 0.02335356 -0.00905647 0.99968625 -0.32000029] [ 0. 0. 0. 1. ]] SLAMing on 67.892414037 meters Centerline goodness [0,1] 0.7665042716938502 Centerline is valid? [False, False] Translation: X:1.14, Y:0.11, Z:-0.32 [[ 0.99964649 -0.01182556 -0.02381278 1.14094542] [ 0.01204031 0.99988795 0.00889496 0.11261833] [ 0.02370493 -0.00917853 0.99967686 -0.32072669] [ 0. 0. 0. 1. ]] SLAMing on 67.922414037 meters Centerline goodness [0,1] 0.7712316846586232 Centerline is valid? [False, False] Translation: X:1.14, Y:0.11, Z:-0.32 [[ 0.99964622 -0.01147062 -0.02399698 1.14179063] [ 0.01168379 0.99989335 0.0087619 0.11376853] [ 0.02389391 -0.00903918 0.99967363 -0.32105349] [ 0. 0. 0. 1. ]] SLAMing on 67.952414037 meters Centerline goodness [0,1] 0.7707207738586764 Centerline is valid? [False, False] Translation: X:1.14, Y:0.12, Z:-0.32 [[ 0.99965339 -0.01041352 -0.02417973 1.14285454] [ 0.01062812 0.99990512 0.00876352 0.11522439] [ 0.02408618 -0.00901747 0.99966922 -0.32110861] [ 0. 0. 0. 1. ]] SLAMing on 67.982414037 meters Centerline goodness [0,1] 0.7762894606746863 Centerline is valid? [False, False] Translation: X:1.14, Y:0.12, Z:-0.32 [[ 0.99964962 -0.00995836 -0.0245249 1.14376856] [ 0.01017087 0.99991167 0.00855558 0.11615229] [ 0.02443754 -0.00880202 0.99966261 -0.32088878] [ 0. 0. 0. 1. ]] SLAMing on 68.01241403699999 meters Centerline goodness [0,1] 0.7771893323245697 Centerline is valid? [False, False] Translation: X:1.14, Y:0.12, Z:-0.32 [[ 0.99964637 -0.00979469 -0.02472256 1.14392449] [ 0.0099958 0.99991784 0.00802457 0.11804065] [ 0.02464193 -0.00826885 0.99966214 -0.32011336] [ 0. 0. 0. 1. ]] SLAMing on 68.04241403699999 meters Centerline goodness [0,1] 0.77868638124896 Centerline is valid? [False, False] Translation: X:1.14, Y:0.12, Z:-0.32 [[ 0.99964085 -0.00989643 -0.02490447 1.1436772 ] [ 0.01008009 0.99992284 0.0072601 0.12042849] [ 0.02483069 -0.00750853 0.99966347 -0.31891468] [ 0. 0. 0. 1. ]] SLAMing on 68.07241403699999 meters Centerline goodness [0,1] 0.7753937947494034 Centerline is valid? [False, False] Translation: X:1.14, Y:0.12, Z:-0.32 [[ 0.9996313 -0.00982993 -0.02531099 1.14388309] [ 0.01000017 0.99992816 0.0066082 0.12253857] [ 0.02524421 -0.00685888 0.99965778 -0.3175854 ] [ 0. 0. 0. 1. ]] SLAMing on 68.10241403699999 meters Centerline goodness [0,1] 0.7756543315916302 Centerline is valid? [False, False] Translation: X:1.15, Y:0.12, Z:-0.32 [[ 0.99962307 -0.01102082 -0.02514494 1.1453128 ] [ 0.01114449 0.99992646 0.00478366 0.12245434] [ 0.02509037 -0.00506209 0.99967237 -0.31862365] [ 0. 0. 0. 1. ]] SLAMing on 68.13241403699999 meters Centerline goodness [0,1] 0.7755034115493427 Centerline is valid? [False, False] Translation: X:1.15, Y:0.12, Z:-0.32 [[ 0.99962132 -0.01117886 -0.02514439 1.1454204 ] [ 0.01130723 0.99992373 0.00496886 0.12028646] [ 0.02508692 -0.00525129 0.99967148 -0.31884436] [ 0. 0. 0. 1. ]] SLAMing on 68.16241403699999 meters Centerline goodness [0,1] 0.7769839001619511 Centerline is valid? [False, False] Translation: X:1.15, Y:0.12, Z:-0.32 [[ 0.99961905 -0.01146927 -0.02510416 1.14541242] [ 0.01160196 0.99991945 0.00514621 0.11806738] [ 0.02504312 -0.00543551 0.99967159 -0.31912302] [ 0. 0. 0. 1. ]] SLAMing on 68.19241403699999 meters Centerline goodness [0,1] 0.774325700348102 Centerline is valid? [False, False] Translation: X:1.15, Y:0.12, Z:-0.32 [[ 0.99956993 -0.01413406 -0.02569404 1.14837525] [ 0.01419895 0.99989644 0.00234497 0.11736378] [ 0.02565823 -0.00270879 0.9996671 -0.32083348] [ 0. 0. 0. 1. ]] SLAMing on 68.222414037 meters Centerline goodness [0,1] 0.7766937412678491 Centerline is valid? [False, False] Translation: X:1.15, Y:0.12, Z:-0.32 [[ 0.99957029 -0.01392629 -0.02579317 1.14899143] [ 0.0139982 0.99989862 0.00260933 0.11745111] [ 0.02575422 -0.00296927 0.9996639 -0.32133213] [ 0. 0. 0. 1. ]] SLAMing on 68.252414037 meters Centerline goodness [0,1] 0.7776751237770355 Centerline is valid? [False, False] Translation: X:1.15, Y:0.12, Z:-0.32 [[ 0.99956992 -0.01355469 -0.02600471 1.14974128] [ 0.01363337 0.999903 0.00285053 0.11790318] [ 0.02596355 -0.00320383 0.99965776 -0.32158706] [ 0. 0. 0. 1. ]] SLAMing on 68.282414037 meters Centerline goodness [0,1] 0.7763254655438263 Centerline is valid? [False, False] Translation: X:1.15, Y:0.12, Z:-0.32 [[ 0.99957277 -0.01259684 -0.02637406 1.15082428] [ 0.01268443 0.99991457 0.00315655 0.11859612] [ 0.02633204 -0.00348974 0.99964716 -0.32142393] [ 0. 0. 0. 1. ]] SLAMing on 68.312414037 meters Centerline goodness [0,1] 0.7774852969076077 Centerline is valid? [False, False] Translation: X:1.15, Y:0.12, Z:-0.32 [[ 0.99957457 -0.0121275 -0.02652548 1.15130465] [ 0.01222004 0.99991979 0.0033294 0.11826138] [ 0.02648298 -0.00365213 0.99964259 -0.32136094] [ 0. 0. 0. 1. ]] SLAMing on 68.342414037 meters Centerline goodness [0,1] 0.7743142735326164 Centerline is valid? [False, False] Translation: X:1.15, Y:0.12, Z:-0.32 [[ 0.99957436 -0.01145676 -0.02682997 1.1523627 ] [ 0.01155922 0.99992647 0.00366693 0.11741077] [ 0.02678598 -0.0039755 0.99963329 -0.32155286] [ 0. 0. 0. 1. ]] SLAMing on 68.372414037 meters Centerline goodness [0,1] 0.7750828206341694 Centerline is valid? [False, False] Translation: X:1.15, Y:0.12, Z:-0.32 [[ 0.99957978 -0.01028276 -0.02710227 1.15345664] [ 0.01040232 0.99993676 0.00427445 0.11647486] [ 0.0270566 -0.00455458 0.99962353 -0.32161679] [ 0. 0. 0. 1. ]] SLAMing on 68.40241403699999 meters Centerline goodness [0,1] 0.7769218044757427 Centerline is valid? [False, False] Translation: X:1.15, Y:0.12, Z:-0.32 [[ 0.99957907 -0.00989005 -0.02727414 1.15391404] [ 0.01001421 0.99994009 0.00441941 0.1165739 ] [ 0.0272288 -0.00469068 0.99961822 -0.321498 ] [ 0. 0. 0. 1. ]] SLAMing on 68.43241403699999 meters Centerline goodness [0,1] 0.7765431806898508 Centerline is valid? [False, False] Translation: X:1.15, Y:0.12, Z:-0.32 [[ 0.99957854 -0.00965505 -0.02737723 1.15399574] [ 0.00977731 0.9999428 0.0043355 0.11710572] [ 0.02733381 -0.00460135 0.99961577 -0.32103661] [ 0. 0. 0. 1. ]] SLAMing on 68.46241403699999 meters Centerline goodness [0,1] 0.7764000189672341 Centerline is valid? [False, False] Translation: X:1.15, Y:0.12, Z:-0.32 [[ 0.99957829 -0.00937205 -0.02748473 1.15418116] [ 0.00949564 0.99994537 0.00436972 0.11741348] [ 0.02744228 -0.00462886 0.99961267 -0.32075422] [ 0. 0. 0. 1. ]] SLAMing on 68.49241403699999 meters Centerline goodness [0,1] 0.7777251409351461 Centerline is valid? [False, False] Translation: X:1.15, Y:0.12, Z:-0.32 [[ 0.99957789 -0.00903321 -0.02761225 1.1546784 ] [ 0.00916232 0.99994766 0.00455285 0.11688063] [ 0.02756968 -0.00480392 0.99960834 -0.32080717] [ 0. 0. 0. 1. ]] SLAMing on 68.52241403699999 meters Centerline goodness [0,1] 0.7768182780771312 Centerline is valid? [False, False] Translation: X:1.16, Y:0.12, Z:-0.32 [[ 0.99954559 -0.01118969 -0.02798925 1.15711354] [ 0.01125004 0.99993472 0.00199958 0.11509782] [ 0.02796505 -0.00231355 0.99960622 -0.32208905] [ 0. 0. 0. 1. ]] SLAMing on 68.55241403699999 meters Centerline goodness [0,1] 0.7776053788466512 Centerline is valid? [False, False] Translation: X:1.16, Y:0.11, Z:-0.32 [[ 0.9995475 -0.01117378 -0.02792752 1.15729626] [ 0.01124773 0.99993364 0.0024923 0.11253611] [ 0.02789782 -0.0028053 0.99960684 -0.32257988] [ 0. 0. 0. 1. ]] SLAMing on 68.58241403699999 meters Centerline goodness [0,1] 0.7745691881485655 Centerline is valid? [False, False] Translation: X:1.16, Y:0.11, Z:-0.32 [[ 0.99954907 -0.01143106 -0.02776673 1.15709452] [ 0.01151469 0.99992963 0.00285397 0.11025785] [ 0.02773215 -0.00317241 0.99961036 -0.32293686] [ 0. 0. 0. 1. ]] SLAMing on 68.612414037 meters Centerline goodness [0,1] 0.7747080803362915 Centerline is valid? [False, False] Translation: X:1.16, Y:0.11, Z:-0.32 [[ 9.99493565e-01 -1.51655600e-02 -2.79753267e-02 1.15771143e+00] [ 1.51597453e-02 9.99884996e-01 -4.19943715e-04 1.08549982e-01] [ 2.79784781e-02 -4.36778587e-06 9.99608526e-01 -3.23040502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.642414037 meters Centerline goodness [0,1] 0.7731884395215711 Centerline is valid? [False, False] Translation: X:1.17, Y:0.11, Z:-0.33 [[ 0.99959638 -0.01865511 -0.02142579 1.16695721] [ 0.01881373 0.99979689 0.00722582 0.10534973] [ 0.02128664 -0.00762601 0.99974433 -0.32691572] [ 0. 0. 0. 1. ]] SLAMing on 68.672414037 meters Centerline goodness [0,1] 0.7755624316590279 Centerline is valid? [False, False] Translation: X:1.17, Y:0.10, Z:-0.33 [[ 0.99958855 -0.01936626 -0.02115842 1.16552593] [ 0.01952057 0.99978417 0.00711098 0.10328079] [ 0.02101614 -0.00752108 0.99975085 -0.32588263] [ 0. 0. 0. 1. ]] SLAMing on 68.702414037 meters Centerline goodness [0,1] 0.7733333333333333 Centerline is valid? [False, False] Translation: X:1.16, Y:0.10, Z:-0.33 [[ 0.99957757 -0.02002128 -0.02106735 1.16470718] [ 0.02017718 0.9997704 0.00721364 0.10047849] [ 0.02091809 -0.00763567 0.99975203 -0.32534675] [ 0. 0. 0. 1. ]] SLAMing on 68.732414037 meters Centerline goodness [0,1] 0.7733947265938195 Centerline is valid? [False, False] Translation: X:1.16, Y:0.10, Z:-0.33 [[ 0.99948977 -0.02407267 -0.02099318 1.16496598] [ 0.02416645 0.99969902 0.0042249 0.09563255] [ 0.02088516 -0.00473008 0.99977069 -0.32579369] [ 0. 0. 0. 1. ]] SLAMing on 68.76241403699999 meters Centerline goodness [0,1] 0.7718892955169259 Centerline is valid? [False, False] Translation: X:1.16, Y:0.09, Z:-0.33 [[ 0.99947179 -0.02502944 -0.0207284 1.16386647] [ 0.02512184 0.99967553 0.00420927 0.09273832] [ 0.02061632 -0.00472779 0.99977628 -0.32547261] [ 0. 0. 0. 1. ]] SLAMing on 68.79241403699999 meters Centerline goodness [0,1] 0.7680566911965113 Centerline is valid? [False, False] Translation: X:1.16, Y:0.09, Z:-0.33 [[ 0.99945739 -0.02567739 -0.02063011 1.16329086] [ 0.0257742 0.99965793 0.00444042 0.09012484] [ 0.02050904 -0.00496973 0.99977732 -0.32532737] [ 0. 0. 0. 1. ]] SLAMing on 68.82241403699999 meters Centerline goodness [0,1] 0.7711555444849528 Centerline is valid? [False, False] Translation: X:1.16, Y:0.09, Z:-0.33 [[ 0.9994451 -0.02631961 -0.02041492 1.16242641] [ 0.02641961 0.99964015 0.00464402 0.08793353] [ 0.02028535 -0.00518079 0.99978081 -0.32504012] [ 0. 0. 0. 1. ]] SLAMing on 68.85241403699999 meters Centerline goodness [0,1] 0.765804953909261 Centerline is valid? [False, False] Translation: X:1.16, Y:0.09, Z:-0.32 [[ 9.99326073e-01 -3.06690283e-02 -2.01695620e-02 1.16125122e+00] [ 3.06958647e-02 9.99528248e-01 1.02222500e-03 8.55657191e-02] [ 2.01286964e-02 -1.64065824e-03 9.99796051e-01 -3.23894392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88241403699999 meters Centerline goodness [0,1] 0.7649478511059162 Centerline is valid? [False, False] Translation: X:1.16, Y:0.08, Z:-0.32 [[ 9.99309765e-01 -3.13483317e-02 -1.99317651e-02 1.16015066e+00] [ 3.13763991e-02 9.99507038e-01 1.09693340e-03 8.28372823e-02] [ 1.98875524e-02 -1.72156327e-03 9.99800741e-01 -3.23293150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91241403699999 meters Centerline goodness [0,1] 0.756404796593074 Centerline is valid? [False, False] Translation: X:1.16, Y:0.08, Z:-0.32 [[ 0.9993027 -0.03162568 -0.01984784 1.15988132] [ 0.03166603 0.99949702 0.00172225 0.0796298 ] [ 0.01978339 -0.00234955 0.99980153 -0.32346277] [ 0. 0. 0. 1. ]] SLAMing on 68.94241403699999 meters Centerline goodness [0,1] 0.756762819074963 Centerline is valid? [False, False] Translation: X:1.16, Y:0.08, Z:-0.32 [[ 0.99929953 -0.03190996 -0.01954984 1.15937725] [ 0.0319588 0.99948679 0.00219108 0.07694186] [ 0.01946989 -0.00281433 0.99980648 -0.3237782 ] [ 0. 0. 0. 1. ]] SLAMing on 68.972414037 meters Centerline goodness [0,1] 0.7550237732125236 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:-0.32 [[ 0.99929972 -0.03197536 -0.01943286 1.15938842] [ 0.03203238 0.99948337 0.00262969 0.07482925] [ 0.01933874 -0.00325033 0.99980771 -0.32414411] [ 0. 0. 0. 1. ]] SLAMing on 69.002414037 meters Centerline goodness [0,1] 0.7616144018583043 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:-0.33 [[ 0.9993024 -0.03179204 -0.01959543 1.16024124] [ 0.03186743 0.99948581 0.00354726 0.0721875 ] [ 0.01947258 -0.00416924 0.9998017 -0.32508078] [ 0. 0. 0. 1. ]] SLAMing on 69.032414037 meters Centerline goodness [0,1] 0.7622083529069638 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:-0.33 [[ 0.99930468 -0.03165384 -0.01970243 1.16054385] [ 0.03173511 0.99948899 0.00382577 0.07174096] [ 0.01957126 -0.00444837 0.99979857 -0.3252298 ] [ 0. 0. 0. 1. ]] SLAMing on 69.062414037 meters Centerline goodness [0,1] 0.7601874581566614 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:-0.33 [[ 0.99931789 -0.03105151 -0.01998903 1.16134925] [ 0.03114494 0.99950528 0.0043794 0.07106291] [ 0.01984315 -0.00499897 0.99979061 -0.32538245] [ 0. 0. 0. 1. ]] SLAMing on 69.092414037 meters Centerline goodness [0,1] 0.7605552213532963 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:-0.33 [[ 0.99932858 -0.03060722 -0.0201393 1.16200441] [ 0.03070815 0.99951724 0.00472125 0.07079627] [ 0.01998507 -0.00533652 0.99978604 -0.32571786] [ 0. 0. 0. 1. ]] SLAMing on 69.122414037 meters Centerline goodness [0,1] 0.7612020033388982 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:-0.33 [[ 0.99933746 -0.03020338 -0.0203076 1.16254563] [ 0.03030929 0.99952842 0.00492795 0.07078015] [ 0.02014919 -0.00554019 0.99978163 -0.3258252 ] [ 0. 0. 0. 1. ]] SLAMing on 69.15241403699999 meters Centerline goodness [0,1] 0.7617073170731707 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:-0.33 [[ 0.99934448 -0.02986076 -0.02046837 1.16316841] [ 0.02996919 0.99953826 0.00501124 0.07106509] [ 0.02030928 -0.00562138 0.99977794 -0.32600968] [ 0. 0. 0. 1. ]] SLAMing on 69.18241403699999 meters Centerline goodness [0,1] 0.7636294744349842 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:-0.33 [[ 0.99934831 -0.02961677 -0.02063475 1.1635625 ] [ 0.02972462 0.99954592 0.00493982 0.07168529] [ 0.02047908 -0.00554996 0.99977488 -0.32590867] [ 0. 0. 0. 1. ]] SLAMing on 69.21241403699999 meters Centerline goodness [0,1] 0.7647622443067873 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:-0.33 [[ 0.99936268 -0.02906215 -0.02072744 1.16372321] [ 0.02917101 0.99956209 0.00496883 0.0723631 ] [ 0.02057396 -0.00557031 0.99977282 -0.3255438 ] [ 0. 0. 0. 1. ]] SLAMing on 69.24241403699999 meters Centerline goodness [0,1] 0.765361506332224 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:-0.33 [[ 0.99936495 -0.02883353 -0.02093609 1.16410197] [ 0.02894099 0.99956937 0.00484796 0.07311201] [ 0.02078729 -0.0054508 0.99976906 -0.32527881] [ 0. 0. 0. 1. ]] SLAMing on 69.27241403699999 meters Centerline goodness [0,1] 0.7679942686994873 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:-0.33 [[ 0.99937105 -0.02847322 -0.02113739 1.16467996] [ 0.02858085 0.99957993 0.00480704 0.07399247] [ 0.02099164 -0.00540815 0.99976502 -0.32529414] [ 0. 0. 0. 1. ]] SLAMing on 69.30241403699999 meters Centerline goodness [0,1] 0.7659808140577371 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:-0.33 [[ 0.99940348 -0.02698249 -0.02155517 1.1666488 ] [ 0.02710818 0.99961704 0.0055606 0.07521593] [ 0.02139687 -0.00614161 0.9997522 -0.32632511] [ 0. 0. 0. 1. ]] SLAMing on 69.33241403699999 meters Centerline goodness [0,1] 0.7686649173562986 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:-0.33 [[ 0.9994117 -0.02651136 -0.02175761 1.16753434] [ 0.02663904 0.99962943 0.00559979 0.07610618] [ 0.02160109 -0.0061761 0.99974759 -0.32668205] [ 0. 0. 0. 1. ]] SLAMing on 69.362414037 meters Centerline goodness [0,1] 0.7717628039607517 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:-0.33 [[ 0.9994162 -0.02619007 -0.02193939 1.168193 ] [ 0.02631849 0.99963801 0.00558487 0.07689034] [ 0.02178518 -0.00615902 0.9997437 -0.32689776] [ 0. 0. 0. 1. ]] SLAMing on 69.392414037 meters Centerline goodness [0,1] 0.771298436132738 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:-0.33 [[ 0.99943099 -0.0256039 -0.02195769 1.1686358 ] [ 0.02573084 0.99965368 0.00551812 0.07855037] [ 0.02180881 -0.00607997 0.99974367 -0.32704262] [ 0. 0. 0. 1. ]] SLAMing on 69.422414037 meters Centerline goodness [0,1] 0.7719199640287769 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:-0.33 [[ 0.99943448 -0.02543235 -0.02199798 1.16904855] [ 0.02555997 0.99965794 0.00553986 0.07915454] [ 0.02184956 -0.00609899 0.99974267 -0.32737108] [ 0. 0. 0. 1. ]] SLAMing on 69.452414037 meters Centerline goodness [0,1] 0.7725250528018694 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:-0.33 [[ 0.99943927 -0.02521775 -0.02202745 1.16948817] [ 0.02534868 0.9996625 0.00568519 0.07927588] [ 0.02187665 -0.00624037 0.9997412 -0.32776794] [ 0. 0. 0. 1. ]] SLAMing on 69.482414037 meters Centerline goodness [0,1] 0.7749803833650936 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:-0.33 [[ 0.99944228 -0.02514359 -0.02197546 1.16956085] [ 0.02527504 0.99966415 0.00572444 0.07911136] [ 0.02182414 -0.00627668 0.99974212 -0.32788297] [ 0. 0. 0. 1. ]] SLAMing on 69.51241403699999 meters Centerline goodness [0,1] 0.7752292549494406 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:-0.33 [[ 0.999442 -0.02517511 -0.02195229 1.16901999] [ 0.02530357 0.99966416 0.00559355 0.07910911] [ 0.02180409 -0.0061459 0.99974337 -0.32709286] [ 0. 0. 0. 1. ]] SLAMing on 69.54241403699999 meters Centerline goodness [0,1] 0.7744095638300263 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:-0.33 [[ 0.99944268 -0.02515845 -0.02194028 1.16899831] [ 0.02528455 0.99966523 0.00548903 0.07964973] [ 0.02179484 -0.00604072 0.99974421 -0.32703006] [ 0. 0. 0. 1. ]] SLAMing on 69.57241403699999 meters Centerline goodness [0,1] 0.7731377482253572 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:-0.33 [[ 0.99944321 -0.02496156 -0.02214008 1.16963014] [ 0.02508957 0.99966995 0.0055228 0.08019471] [ 0.02199492 -0.00607521 0.99973962 -0.32726387] [ 0. 0. 0. 1. ]] SLAMing on 69.60241403699999 meters Centerline goodness [0,1] 0.7734430923407302 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:-0.33 [[ 0.99945404 -0.02430762 -0.02237757 1.17098351] [ 0.02444621 0.99968349 0.00594101 0.07990785] [ 0.02222608 -0.00648481 0.99973194 -0.3281899 ] [ 0. 0. 0. 1. ]] SLAMing on 69.63241403699999 meters Centerline goodness [0,1] 0.7734420500873617 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:-0.33 [[ 0.99945878 -0.02411653 -0.0223727 1.17127872] [ 0.02425901 0.99968698 0.00611902 0.07944255] [ 0.02221813 -0.00665844 0.99973097 -0.32852414] [ 0. 0. 0. 1. ]] SLAMing on 69.66241403699999 meters Centerline goodness [0,1] 0.7733285341491947 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:-0.33 [[ 0.99946145 -0.02405086 -0.02232391 1.17121978] [ 0.02419345 0.99968844 0.0061395 0.07911549] [ 0.02216929 -0.00667629 0.99973194 -0.32850356] [ 0. 0. 0. 1. ]] SLAMing on 69.69241403699999 meters Centerline goodness [0,1] 0.7733285341491947 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:-0.33 [[ 0.99946145 -0.02405086 -0.02232391 1.17121978] [ 0.02419345 0.99968844 0.0061395 0.07911549] [ 0.02216929 -0.00667629 0.99973194 -0.32850356] [ 0. 0. 0. 1. ]] SLAMing on 69.722414037 meters Centerline goodness [0,1] 0.7738020318259462 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:-0.33 [[ 0.99946488 -0.02394991 -0.02227896 1.17131387] [ 0.02409343 0.99969051 0.00619609 0.07903057] [ 0.02212367 -0.00672955 0.99973259 -0.32864683] [ 0. 0. 0. 1. ]] SLAMing on 69.752414037 meters Centerline goodness [0,1] 0.7741028869502653 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:-0.33 [[ 0.99946951 -0.02376969 -0.02226427 1.17105873] [ 0.02391078 0.99969553 0.00609208 0.07937015] [ 0.02211269 -0.0066212 0.99973356 -0.32811024] [ 0. 0. 0. 1. ]] SLAMing on 69.782414037 meters Centerline goodness [0,1] 0.7747846761169926 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:-0.33 [[ 0.99947034 -0.02374075 -0.02225785 1.1709358 ] [ 0.02388346 0.99969572 0.00616808 0.07878794] [ 0.02210465 -0.00669641 0.99973324 -0.32788695] [ 0. 0. 0. 1. ]] SLAMing on 69.812414037 meters Centerline goodness [0,1] 0.7734566100401696 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:-0.33 [[ 0.99947036 -0.02378916 -0.02220535 1.17078513] [ 0.02393594 0.99969321 0.00636803 0.07756832] [ 0.02204705 -0.00689616 0.99973315 -0.32782921] [ 0. 0. 0. 1. ]] SLAMing on 69.842414037 meters Centerline goodness [0,1] 0.7722430304797363 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:-0.33 [[ 0.99946776 -0.0240386 -0.02205296 1.17027058] [ 0.0241882 0.99968602 0.00654218 0.0758647 ] [ 0.02188877 -0.00707212 0.9997354 -0.32762976] [ 0. 0. 0. 1. ]] SLAMing on 69.87241403699998 meters Centerline goodness [0,1] 0.7733685672056254 Centerline is valid? [False, False] Translation: X:1.17, Y:0.07, Z:-0.33 [[ 0.99937471 -0.02751056 -0.02221177 1.1713752 ] [ 0.02759537 0.99961298 0.00352067 0.07386322] [ 0.02210632 -0.00413141 0.99974709 -0.32831274] [ 0. 0. 0. 1. ]] SLAMing on 69.90241403699999 meters Centerline goodness [0,1] 0.7718228713070275 Centerline is valid? [False, False] Translation: X:1.17, Y:0.07, Z:-0.33 [[ 0.99937395 -0.02762439 -0.02210447 1.17150244] [ 0.02772315 0.99960693 0.00417392 0.07143045] [ 0.02198048 -0.00478411 0.99974695 -0.32895946] [ 0. 0. 0. 1. ]] SLAMing on 69.93241403699999 meters Centerline goodness [0,1] 0.7715063358914866 Centerline is valid? [False, False] Translation: X:1.17, Y:0.07, Z:-0.33 [[ 0.99937058 -0.02795432 -0.02184032 1.17099211] [ 0.02806168 0.9995955 0.00462476 0.06928688] [ 0.0217022 -0.00523472 0.99975077 -0.32926583] [ 0. 0. 0. 1. ]] SLAMing on 69.96241403699999 meters Centerline goodness [0,1] 0.7699050239659151 Centerline is valid? [False, False] Translation: X:1.17, Y:0.07, Z:-0.33 [[ 0.99925515 -0.031788 -0.02187854 1.17118993] [ 0.03182411 0.99949263 0.00130393 0.06785107] [ 0.02182599 -0.00199923 0.99975979 -0.3290522 ] [ 0. 0. 0. 1. ]] SLAMing on 69.99241403699999 meters Centerline goodness [0,1] 0.7660455945233401 Centerline is valid? [False, False] Translation: X:1.17, Y:0.07, Z:-0.33 [[ 0.99924805 -0.03217755 -0.02163214 1.17047979] [ 0.0322218 0.9994793 0.00169995 0.06574926] [ 0.02156617 -0.0023957 0.99976455 -0.32901827] [ 0. 0. 0. 1. ]] SLAMing on 70.02241403699999 meters Centerline goodness [0,1] 0.7599664473974659 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:-0.33 [[ 0.99923422 -0.03257336 -0.02167849 1.17043183] [ 0.03262696 0.99946534 0.00212345 0.06320786] [ 0.02159773 -0.00282913 0.99976274 -0.32909835] [ 0. 0. 0. 1. ]] SLAMing on 70.05241403699999 meters Centerline goodness [0,1] 0.7630850333355483 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:-0.33 [[ 0.9992182 -0.03330018 -0.02130938 1.16929261] [ 0.03335374 0.99944127 0.00216269 0.06074684] [ 0.02122546 -0.00287175 0.99977059 -0.32878771] [ 0. 0. 0. 1. ]] SLAMing on 70.08241403699999 meters Centerline goodness [0,1] 0.7636444051304733 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:-0.33 [[ 0.99921608 -0.0334378 -0.02119298 1.16935953] [ 0.03350576 0.99943443 0.00285967 0.05790093] [ 0.02108537 -0.00356751 0.99977131 -0.32942856] [ 0. 0. 0. 1. ]] SLAMing on 70.112414037 meters Centerline goodness [0,1] 0.7622394571013088 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:-0.33 [[ 9.99092365e-01 -3.68685633e-02 -2.13343820e-02 1.17049939e+00] [ 3.68745224e-02 9.99319897e-01 -1.14143128e-04 5.59772183e-02] [ 2.13240808e-02 -6.72655620e-04 9.99772390e-01 -3.30108126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.142414037 meters Centerline goodness [0,1] 0.7575342162867313 Centerline is valid? [False, False] Translation: X:1.17, Y:0.05, Z:-0.33 [[ 9.99086980e-01 -3.71050253e-02 -2.11760150e-02 1.17003370e+00] [ 3.71152435e-02 9.99310988e-01 8.95867264e-05 5.47814496e-02] [ 2.11581003e-02 -8.75457885e-04 9.99775759e-01 -3.30065118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.172414037 meters Centerline goodness [0,1] 0.749384236453202 Centerline is valid? [False, False] Translation: X:1.17, Y:0.05, Z:-0.33 [[ 9.99090781e-01 -3.69455795e-02 -2.12752477e-02 1.17050548e+00] [ 3.69681677e-02 9.99316220e-01 6.69260056e-04 5.34255051e-02] [ 2.12359739e-02 -1.45515848e-03 9.99773432e-01 -3.30507296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.202414037 meters Centerline goodness [0,1] 0.7630890340171955 Centerline is valid? [False, False] Translation: X:1.17, Y:0.05, Z:-0.33 [[ 9.99087585e-01 -3.70020627e-02 -2.13270914e-02 1.17033371e+00] [ 3.70267272e-02 9.99313985e-01 7.62634045e-04 5.30434183e-02] [ 2.12842416e-02 -1.55161060e-03 9.99772261e-01 -3.30155797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.232414037 meters Centerline goodness [0,1] 0.7528897288269678 Centerline is valid? [False, False] Translation: X:1.17, Y:0.05, Z:-0.33 [[ 0.99909894 -0.03665793 -0.02138932 1.17074433] [ 0.03669221 0.99932588 0.00121235 0.05246667] [ 0.02133045 -0.00199608 0.99977049 -0.33051451] [ 0. 0. 0. 1. ]] SLAMing on 70.26241403699999 meters Centerline goodness [0,1] 0.7618073428803978 Centerline is valid? [False, False] Translation: X:1.17, Y:0.05, Z:-0.33 [[ 0.99910545 -0.03638948 -0.02154309 1.17147019] [ 0.03643184 0.9993349 0.00157673 0.05199519] [ 0.02147138 -0.00236017 0.99976668 -0.33107608] [ 0. 0. 0. 1. ]] SLAMing on 70.29241403699999 meters Centerline goodness [0,1] 0.7593686197888081 Centerline is valid? [False, False] Translation: X:1.17, Y:0.05, Z:-0.33 [[ 0.9991124 -0.03613895 -0.02164208 1.17218433] [ 0.03619024 0.99934295 0.00198283 0.05134725] [ 0.0215562 -0.00276431 0.99976382 -0.33179079] [ 0. 0. 0. 1. ]] SLAMing on 70.32241403699999 meters Centerline goodness [0,1] 0.7589740214147798 Centerline is valid? [False, False] Translation: X:1.17, Y:0.05, Z:-0.33 [[ 0.99911303 -0.03613023 -0.02162781 1.17224062] [ 0.03618483 0.99934283 0.00213838 0.05079756] [ 0.02153634 -0.00291908 0.9997638 -0.33188587] [ 0. 0. 0. 1. ]] SLAMing on 70.35241403699999 meters Centerline goodness [0,1] 0.7559233372895512 Centerline is valid? [False, False] Translation: X:1.17, Y:0.05, Z:-0.33 [[ 0.99911416 -0.03613458 -0.02156822 1.17210561] [ 0.03618859 0.99934273 0.00211895 0.05110299] [ 0.02147748 -0.00289759 0.99976513 -0.33187002] [ 0. 0. 0. 1. ]] SLAMing on 70.38241403699999 meters Centerline goodness [0,1] 0.7573403554970375 Centerline is valid? [False, False] Translation: X:1.17, Y:0.05, Z:-0.33 [[ 0.99912036 -0.03593084 -0.02162143 1.17256638] [ 0.03598751 0.99934973 0.00223763 0.05170453] [ 0.02152697 -0.00301376 0.99976373 -0.33227683] [ 0. 0. 0. 1. ]] SLAMing on 70.41241403699999 meters Centerline goodness [0,1] 0.7547339945897205 Centerline is valid? [False, False] Translation: X:1.17, Y:0.05, Z:-0.33 [[ 0.99912316 -0.03578893 -0.02172692 1.17308945] [ 0.03584427 0.99935505 0.00216292 0.05279881] [ 0.0216355 -0.00293981 0.9997616 -0.33262072] [ 0. 0. 0. 1. ]] SLAMing on 70.44241403699999 meters Centerline goodness [0,1] 0.7512002630713581 Centerline is valid? [False, False] Translation: X:1.17, Y:0.05, Z:-0.33 [[ 0.99913158 -0.03538935 -0.02199281 1.17436427] [ 0.0354519 0.99936835 0.00246101 0.05328597] [ 0.02189182 -0.00323856 0.9997551 -0.33353836] [ 0. 0. 0. 1. ]] SLAMing on 70.472414037 meters Centerline goodness [0,1] 0.759295154185022 Centerline is valid? [False, False] Translation: X:1.17, Y:0.05, Z:-0.33 [[ 0.9991244 -0.03569198 -0.0218293 1.17417266] [ 0.03574761 0.99935851 0.00216326 0.05415974] [ 0.02173809 -0.00294171 0.99975937 -0.33379371] [ 0. 0. 0. 1. ]] SLAMing on 70.502414037 meters Centerline goodness [0,1] 0.757231176860234 Centerline is valid? [False, False] Translation: X:1.17, Y:0.05, Z:-0.33 [[ 0.99912163 -0.03581731 -0.02175075 1.17408713] [ 0.03587203 0.99935412 0.00213071 0.05414359] [ 0.02166038 -0.00290908 0.99976115 -0.33392671] [ 0. 0. 0. 1. ]] SLAMing on 70.532414037 meters Centerline goodness [0,1] 0.7484965304548958 Centerline is valid? [False, False] Translation: X:1.17, Y:0.05, Z:-0.33 [[ 0.99911496 -0.03598965 -0.02177269 1.17404634] [ 0.03604232 0.9993482 0.0020313 0.05440878] [ 0.02168539 -0.00281424 0.99976088 -0.33383391] [ 0. 0. 0. 1. ]] SLAMing on 70.562414037 meters Centerline goodness [0,1] 0.7520149746751816 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:-0.33 [[ 0.9991019 -0.03629886 -0.02185819 1.17398025] [ 0.03634226 0.99933813 0.00159158 0.05588179] [ 0.02178595 -0.00238453 0.99975981 -0.33347173] [ 0. 0. 0. 1. ]] SLAMing on 70.592414037 meters Centerline goodness [0,1] 0.7496022275258551 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:-0.33 [[ 0.9990954 -0.03644204 -0.02191724 1.1740133 ] [ 0.03648084 0.99933341 0.00137287 0.05672688] [ 0.0218526 -0.00217119 0.99975885 -0.33342251] [ 0. 0. 0. 1. ]] SLAMing on 70.62241403699998 meters Centerline goodness [0,1] 0.7483885209713024 Centerline is valid? [False, False] Translation: X:1.17, Y:0.06, Z:-0.33 [[ 0.99909929 -0.03625558 -0.02204856 1.17456085] [ 0.03629734 0.99933991 0.0014965 0.05718562] [ 0.02197975 -0.00229546 0.99975578 -0.33378423] [ 0. 0. 0. 1. ]] SLAMing on 70.65241403699999 meters Centerline goodness [0,1] 0.7521422403294733 Centerline is valid? [False, False] Translation: X:1.18, Y:0.06, Z:-0.33 [[ 0.99910099 -0.03616063 -0.02212734 1.17511726] [ 0.03620378 0.99934322 0.00155248 0.05766184] [ 0.02205667 -0.00235217 0.99975395 -0.33431355] [ 0. 0. 0. 1. ]] SLAMing on 70.68241403699999 meters Centerline goodness [0,1] 0.749241501494851 Centerline is valid? [False, False] Translation: X:1.18, Y:0.06, Z:-0.33 [[ 0.99909809 -0.03616218 -0.02225561 1.17561195] [ 0.03620277 0.99934345 0.00142362 0.05839859] [ 0.02218952 -0.00222805 0.9997513 -0.33461594] [ 0. 0. 0. 1. ]] SLAMing on 70.71241403699999 meters Centerline goodness [0,1] 0.7550690632194086 Centerline is valid? [False, False] Translation: X:1.18, Y:0.06, Z:-0.34 [[ 0.99910379 -0.03594666 -0.02234846 1.17639928] [ 0.03599185 0.99935077 0.00162293 0.05871463] [ 0.02227561 -0.00242584 0.99974892 -0.33537535] [ 0. 0. 0. 1. ]] SLAMing on 70.74241403699999 meters Centerline goodness [0,1] 0.7583333333333333 Centerline is valid? [False, False] Translation: X:1.18, Y:0.06, Z:-0.34 [[ 0.99910739 -0.03576313 -0.02248142 1.17708516] [ 0.03581123 0.99935706 0.00174023 0.05936645] [ 0.02240473 -0.00254377 0.99974575 -0.3359397 ] [ 0. 0. 0. 1. ]] SLAMing on 70.77241403699999 meters Centerline goodness [0,1] 0.7498003726377429 Centerline is valid? [False, False] Translation: X:1.18, Y:0.06, Z:-0.34 [[ 0.99911062 -0.03558168 -0.02262563 1.17772492] [ 0.03562988 0.99936356 0.00173053 0.06029743] [ 0.02254966 -0.00253514 0.99974251 -0.33636527] [ 0. 0. 0. 1. ]] SLAMing on 70.80241403699999 meters Centerline goodness [0,1] 0.7551578479324144 Centerline is valid? [False, False] Translation: X:1.18, Y:0.06, Z:-0.34 [[ 0.99912694 -0.03509087 -0.02267136 1.1784599 ] [ 0.03513836 0.99938101 0.0016997 0.06203193] [ 0.02259768 -0.00249485 0.99974153 -0.33699449] [ 0. 0. 0. 1. ]] SLAMing on 70.83241403699999 meters Centerline goodness [0,1] 0.7511825712318728 Centerline is valid? [False, False] Translation: X:1.18, Y:0.06, Z:-0.34 [[ 0.99913435 -0.03474596 -0.02287501 1.1792461 ] [ 0.03479633 0.99939279 0.00180737 0.06245933] [ 0.02279832 -0.00260177 0.9997367 -0.33739916] [ 0. 0. 0. 1. ]] SLAMing on 70.862414037 meters Centerline goodness [0,1] 0.7529500487977997 Centerline is valid? [False, False] Translation: X:1.18, Y:0.06, Z:-0.34 [[ 0.99914924 -0.03423897 -0.02298894 1.1802299 ] [ 0.03429889 0.99940916 0.00221724 0.06241435] [ 0.02289944 -0.00300385 0.99973326 -0.33827416] [ 0. 0. 0. 1. ]] SLAMing on 70.892414037 meters Centerline goodness [0,1] 0.7563428114803223 Centerline is valid? [False, False] Translation: X:1.18, Y:0.06, Z:-0.34 [[ 0.99926153 -0.03083481 -0.02292602 1.17928185] [ 0.03097128 0.99950447 0.00562159 0.06269972] [ 0.02274132 -0.00632749 0.99972136 -0.33777787] [ 0. 0. 0. 1. ]] SLAMing on 70.922414037 meters Centerline goodness [0,1] 0.7579271283949516 Centerline is valid? [False, False] Translation: X:1.18, Y:0.06, Z:-0.34 [[ 0.99935328 -0.02787528 -0.02271543 1.17755391] [ 0.02807768 0.9995684 0.00864028 0.06320794] [ 0.02246477 -0.00927249 0.99970463 -0.33656471] [ 0. 0. 0. 1. ]] SLAMing on 70.952414037 meters Centerline goodness [0,1] 0.7557561573609718 Centerline is valid? [False, False] Translation: X:1.18, Y:0.07, Z:-0.34 [[ 0.99935512 -0.02758483 -0.02298747 1.17813756] [ 0.02777927 0.99958059 0.00818243 0.06564903] [ 0.02275212 -0.00881573 0.99970227 -0.33624788] [ 0. 0. 0. 1. ]] SLAMing on 70.982414037 meters Centerline goodness [0,1] 0.759320297536858 Centerline is valid? [False, False] Translation: X:1.18, Y:0.07, Z:-0.34 [[ 0.99937367 -0.02668554 -0.02324094 1.17916732] [ 0.02687825 0.99960655 0.00801937 0.06827382] [ 0.0230178 -0.00863902 0.99969773 -0.3363072 ] [ 0. 0. 0. 1. ]] SLAMing on 71.01241403699999 meters Centerline goodness [0,1] 0.7641094360692351 Centerline is valid? [False, False] Translation: X:1.18, Y:0.07, Z:-0.34 [[ 0.99937519 -0.02648943 -0.02339975 1.17986312] [ 0.02668134 0.99961256 0.0079273 0.06883392] [ 0.0231807 -0.00854668 0.99969476 -0.33664906] [ 0. 0. 0. 1. ]] SLAMing on 71.04241403699999 meters Centerline goodness [0,1] 0.761416901031204 Centerline is valid? [False, False] Translation: X:1.18, Y:0.07, Z:-0.34 [[ 0.99937773 -0.02622398 -0.02358927 1.18080345] [ 0.0264201 0.99961859 0.00804095 0.06911668] [ 0.0233694 -0.00865917 0.9996894 -0.33730862] [ 0. 0. 0. 1. ]] SLAMing on 71.07241403699999 meters Centerline goodness [0,1] 0.7618548189141544 Centerline is valid? [False, False] Translation: X:1.18, Y:0.07, Z:-0.34 [[ 0.99937962 -0.02607158 -0.02367791 1.1813466 ] [ 0.02626653 0.99962328 0.00795999 0.06968898] [ 0.02346147 -0.00857699 0.99968795 -0.33764224] [ 0. 0. 0. 1. ]] SLAMing on 71.10241403699999 meters Centerline goodness [0,1] 0.7663457457502179 Centerline is valid? [False, False] Translation: X:1.18, Y:0.07, Z:-0.34 [[ 0.99938455 -0.02586214 -0.02369981 1.18140341] [ 0.02604697 0.99963241 0.00752385 0.07176813] [ 0.02349651 -0.00813653 0.99969081 -0.33734807] [ 0. 0. 0. 1. ]] SLAMing on 71.13241403699999 meters Centerline goodness [0,1] 0.7664535455602254 Centerline is valid? [False, False] Translation: X:1.18, Y:0.07, Z:-0.34 [[ 0.99938387 -0.02578445 -0.02381275 1.18155604] [ 0.02596364 0.99963662 0.00724656 0.07296483] [ 0.02361725 -0.00786036 0.99969017 -0.33703951] [ 0. 0. 0. 1. ]] SLAMing on 71.16241403699999 meters Centerline goodness [0,1] 0.7665266169043043 Centerline is valid? [False, False] Translation: X:1.18, Y:0.07, Z:-0.34 [[ 0.99938733 -0.02569888 -0.02375999 1.18145169] [ 0.02587287 0.99964042 0.00704458 0.07393053] [ 0.02357041 -0.00765501 0.99969287 -0.33687389] [ 0. 0. 0. 1. ]] SLAMing on 71.19241403699999 meters Centerline goodness [0,1] 0.7659974064302643 Centerline is valid? [False, False] Translation: X:1.18, Y:0.07, Z:-0.34 [[ 0.99938615 -0.02555582 -0.02396291 1.18162496] [ 0.02572491 0.9996461 0.00677499 0.07486162] [ 0.02378129 -0.00738728 0.99968989 -0.3363342 ] [ 0. 0. 0. 1. ]] SLAMing on 71.222414037 meters Centerline goodness [0,1] 0.7652947222594628 Centerline is valid? [False, False] Translation: X:1.18, Y:0.07, Z:-0.34 [[ 0.99938668 -0.0255926 -0.02390137 1.18167948] [ 0.02576114 0.9996452 0.00677035 0.0747792 ] [ 0.02371962 -0.00738192 0.9996914 -0.33653812] [ 0. 0. 0. 1. ]] SLAMing on 71.252414037 meters Centerline goodness [0,1] 0.7678587393831023 Centerline is valid? [False, False] Translation: X:1.18, Y:0.07, Z:-0.34 [[ 0.99938691 -0.02549884 -0.02399197 1.18208297] [ 0.02567109 0.99964663 0.00689936 0.07442444] [ 0.02380756 -0.00751103 0.99968834 -0.33679693] [ 0. 0. 0. 1. ]] SLAMing on 71.282414037 meters Centerline goodness [0,1] 0.7689763075547609 Centerline is valid? [False, False] Translation: X:1.18, Y:0.07, Z:-0.34 [[ 0.99938824 -0.02540667 -0.02403432 1.18243318] [ 0.02558088 0.99964847 0.00696854 0.07427238] [ 0.02384882 -0.0075791 0.99968685 -0.33707216] [ 0. 0. 0. 1. ]] SLAMing on 71.312414037 meters Centerline goodness [0,1] 0.7647765978761771 Centerline is valid? [False, False] Translation: X:1.18, Y:0.07, Z:-0.34 [[ 0.9993873 -0.02528304 -0.02420305 1.18303924] [ 0.02546476 0.99964958 0.0072294 0.07364768] [ 0.02401179 -0.00784129 0.99968092 -0.33744107] [ 0. 0. 0. 1. ]] SLAMing on 71.342414037 meters Centerline goodness [0,1] 0.7640883607692479 Centerline is valid? [False, False] Translation: X:1.18, Y:0.07, Z:-0.34 [[ 0.99938357 -0.02547446 -0.02415653 1.18274092] [ 0.02565639 0.99964452 0.00725174 0.07300053] [ 0.02396321 -0.00786704 0.99968189 -0.33719759] [ 0. 0. 0. 1. ]] SLAMing on 71.37241403699998 meters Centerline goodness [0,1] 0.7651063639813389 Centerline is valid? [False, False] Translation: X:1.18, Y:0.07, Z:-0.34 [[ 0.9993808 -0.02566008 -0.02407442 1.18244837] [ 0.02584228 0.99963947 0.00728751 0.0721344 ] [ 0.02387874 -0.00790513 0.99968361 -0.33701747] [ 0. 0. 0. 1. ]] SLAMing on 71.40241403699999 meters Centerline goodness [0,1] 0.7644757607415146 Centerline is valid? [False, False] Translation: X:1.18, Y:0.07, Z:-0.34 [[ 0.99937796 -0.02571557 -0.02413296 1.18273935] [ 0.02590574 0.99963549 0.00760096 0.07097848] [ 0.0239287 -0.00822141 0.99967986 -0.33734686] [ 0. 0. 0. 1. ]] SLAMing on 71.43241403699999 meters Centerline goodness [0,1] 0.7635476757912556 Centerline is valid? [False, False] Translation: X:1.18, Y:0.07, Z:-0.34 [[ 0.9993733 -0.025905 -0.02412351 1.18304033] [ 0.02610754 0.99962617 0.00811925 0.06836818] [ 0.02390417 -0.00874397 0.99967601 -0.33799271] [ 0. 0. 0. 1. ]] SLAMing on 71.46241403699999 meters Centerline goodness [0,1] 0.7650394751473368 Centerline is valid? [False, False] Translation: X:1.18, Y:0.07, Z:-0.34 [[ 0.99937066 -0.02596518 -0.02416804 1.18327815] [ 0.02617541 0.99962188 0.00842328 0.06696768] [ 0.02394019 -0.00905059 0.99967242 -0.33825256] [ 0. 0. 0. 1. ]] SLAMing on 71.49241403699999 meters Centerline goodness [0,1] 0.7643611826334014 Centerline is valid? [False, False] Translation: X:1.18, Y:0.07, Z:-0.34 [[ 0.99936884 -0.02608068 -0.02411905 1.18326542] [ 0.02629435 0.99961739 0.00858429 0.06579147] [ 0.02388594 -0.00921306 0.99967224 -0.33835223] [ 0. 0. 0. 1. ]] SLAMing on 71.52241403699999 meters Centerline goodness [0,1] 0.7640729212983548 Centerline is valid? [False, False] Translation: X:1.18, Y:0.06, Z:-0.34 [[ 0.99935771 -0.02673014 -0.0238676 1.18186292] [ 0.02693754 0.99960174 0.00841054 0.06449918] [ 0.02363328 -0.00904808 0.99967975 -0.33728139] [ 0. 0. 0. 1. ]] SLAMing on 71.55241403699999 meters Centerline goodness [0,1] 0.7635332072533096 Centerline is valid? [False, False] Translation: X:1.18, Y:0.06, Z:-0.34 [[ 0.9993549 -0.02694893 -0.02373914 1.18133514] [ 0.02715372 0.99959642 0.0083467 0.06387284] [ 0.02350463 -0.00898592 0.99968334 -0.33684656] [ 0. 0. 0. 1. ]] SLAMing on 71.58241403699999 meters Centerline goodness [0,1] 0.7617999510882856 Centerline is valid? [False, False] Translation: X:1.18, Y:0.06, Z:-0.34 [[ 0.99935337 -0.02699439 -0.0237519 1.18140788] [ 0.02720281 0.99959383 0.00849603 0.06316704] [ 0.02351291 -0.00913665 0.99968178 -0.33692909] [ 0. 0. 0. 1. ]] SLAMing on 71.612414037 meters Centerline goodness [0,1] 0.7617999510882856 Centerline is valid? [False, False] Translation: X:1.18, Y:0.06, Z:-0.34 [[ 0.99935337 -0.02699439 -0.0237519 1.18140788] [ 0.02720281 0.99959383 0.00849603 0.06316704] [ 0.02351291 -0.00913665 0.99968178 -0.33692909] [ 0. 0. 0. 1. ]] SLAMing on 71.642414037 meters Centerline goodness [0,1] 0.7635838792050628 Centerline is valid? [False, False] Translation: X:1.18, Y:0.06, Z:-0.34 [[ 0.99935454 -0.02699856 -0.0236979 1.18167517] [ 0.02721086 0.99959201 0.00868255 0.06256188] [ 0.02345381 -0.00932178 0.99968146 -0.3374043 ] [ 0. 0. 0. 1. ]] SLAMing on 71.672414037 meters Centerline goodness [0,1] 0.7644500654551909 Centerline is valid? [False, False] Translation: X:1.18, Y:0.06, Z:-0.34 [[ 0.99935506 -0.02695954 -0.02372022 1.18179995] [ 0.02717818 0.99959059 0.00894386 0.06116399] [ 0.02346938 -0.00958277 0.99967863 -0.33754022] [ 0. 0. 0. 1. ]] SLAMing on 71.702414037 meters Centerline goodness [0,1] 0.7612105882091904 Centerline is valid? [False, False] Translation: X:1.18, Y:0.06, Z:-0.34 [[ 0.99935414 -0.02705401 -0.02365139 1.18157833] [ 0.02727169 0.99958817 0.00893011 0.06056638] [ 0.02340005 -0.00956935 0.99968038 -0.33736427] [ 0. 0. 0. 1. ]] SLAMing on 71.732414037 meters Centerline goodness [0,1] 0.760535591567093 Centerline is valid? [False, False] Translation: X:1.18, Y:0.06, Z:-0.34 [[ 0.9993534 -0.02717369 -0.02354513 1.18114441] [ 0.02738753 0.99958609 0.00880772 0.0601371 ] [ 0.02329604 -0.00944686 0.99968398 -0.33697825] [ 0. 0. 0. 1. ]] SLAMing on 71.76241403699999 meters Centerline goodness [0,1] 0.7626443647949024 Centerline is valid? [False, False] Translation: X:1.18, Y:0.06, Z:-0.34 [[ 0.99935304 -0.02716241 -0.02357329 1.18079607] [ 0.02737508 0.99958697 0.00874595 0.06021655] [ 0.02332599 -0.00938561 0.99968385 -0.3362663 ] [ 0. 0. 0. 1. ]] SLAMing on 71.79241403699999 meters Centerline goodness [0,1] 0.7557282327156805 Centerline is valid? [False, False] Translation: X:1.18, Y:0.06, Z:-0.34 [[ 0.99935063 -0.02723282 -0.02359444 1.1807577 ] [ 0.02744402 0.9995857 0.00867447 0.0603118 ] [ 0.02334844 -0.00931637 0.99968398 -0.33609331] [ 0. 0. 0. 1. ]] SLAMing on 71.82241403699999 meters Centerline goodness [0,1] 0.7673681878599912 Centerline is valid? [False, False] Translation: X:1.18, Y:0.06, Z:-0.34 [[ 0.99935189 -0.02724685 -0.02352457 1.18079654] [ 0.02746312 0.99958302 0.00891972 0.05941151] [ 0.02327173 -0.00956 0.99968347 -0.33632941] [ 0. 0. 0. 1. ]] SLAMing on 71.85241403699999 meters Centerline goodness [0,1] 0.7654173576561636 Centerline is valid? [False, False] Translation: X:1.18, Y:0.06, Z:-0.34 [[ 0.99934986 -0.02734284 -0.0234996 1.18087152] [ 0.02756486 0.9995779 0.00917619 0.05777937] [ 0.02323878 -0.00981799 0.99968173 -0.33654879] [ 0. 0. 0. 1. ]] SLAMing on 71.88241403699999 meters Centerline goodness [0,1] 0.764342453662842 Centerline is valid? [False, False] Translation: X:1.18, Y:0.06, Z:-0.34 [[ 0.99925234 -0.03067078 -0.02353839 1.18179955] [ 0.0308214 0.99950652 0.00606275 0.05588682] [ 0.02334082 -0.00678371 0.99970455 -0.33706612] [ 0. 0. 0. 1. ]] SLAMing on 71.91241403699999 meters Centerline goodness [0,1] 0.7629471082768817 Centerline is valid? [False, False] Translation: X:1.18, Y:0.05, Z:-0.34 [[ 0.99924781 -0.0309291 -0.02339237 1.18130079] [ 0.03108171 0.99949769 0.00618878 0.05479989] [ 0.0231892 -0.0069112 0.99970721 -0.33687331] [ 0. 0. 0. 1. ]] SLAMing on 71.94241403699999 meters Centerline goodness [0,1] 0.761492543888632 Centerline is valid? [False, False] Translation: X:1.18, Y:0.05, Z:-0.34 [[ 0.9992433 -0.03109678 -0.02336272 1.18110146] [ 0.03125245 0.99949149 0.00632792 0.05402997] [ 0.02315407 -0.00705327 0.99970703 -0.33672512] [ 0. 0. 0. 1. ]] SLAMing on 71.972414037 meters Centerline goodness [0,1] 0.75932531818382 Centerline is valid? [False, False] Translation: X:1.18, Y:0.05, Z:-0.34 [[ 0.99923673 -0.03140529 -0.02323087 1.18052625] [ 0.03156069 0.99948165 0.00635324 0.05310289] [ 0.0230193 -0.00708158 0.99970994 -0.33637997] [ 0. 0. 0. 1. ]] SLAMing on 72.002414037 meters Centerline goodness [0,1] 0.755397265092556 Centerline is valid? [False, False] Translation: X:1.18, Y:0.05, Z:-0.34 [[ 0.99923437 -0.03156419 -0.02311659 1.18013881] [ 0.03173036 0.99947294 0.00685717 0.04988477] [ 0.02288797 -0.00758542 0.99970926 -0.33625912] [ 0. 0. 0. 1. ]] SLAMing on 72.032414037 meters Centerline goodness [0,1] 0.7642824221407721 Centerline is valid? [False, False] Translation: X:1.18, Y:0.05, Z:-0.34 [[ 0.99923969 -0.03136051 -0.0231636 1.18054988] [ 0.03153924 0.99947518 0.00739136 0.04799159] [ 0.02291965 -0.0081163 0.99970436 -0.33667102] [ 0. 0. 0. 1. ]] SLAMing on 72.062414037 meters Centerline goodness [0,1] 0.7567035562748786 Centerline is valid? [False, False] Translation: X:1.18, Y:0.05, Z:-0.34 [[ 0.99924515 -0.0311118 -0.02326342 1.18135456] [ 0.03130317 0.99947865 0.00790772 0.04659805] [ 0.02300527 -0.00862997 0.99969809 -0.33742417] [ 0. 0. 0. 1. ]] SLAMing on 72.092414037 meters Centerline goodness [0,1] 0.7672791860363126 Centerline is valid? [False, False] Translation: X:1.18, Y:0.05, Z:-0.34 [[ 0.99924535 -0.03104001 -0.02335041 1.18168634] [ 0.03123788 0.99947869 0.00815738 0.04595108] [ 0.02308504 -0.00888064 0.99969406 -0.33766729] [ 0. 0. 0. 1. ]] SLAMing on 72.12241403699998 meters Centerline goodness [0,1] 0.7632073410530915 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:-0.34 [[ 0.99924652 -0.03094698 -0.02342402 1.18177752] [ 0.03115271 0.99947876 0.00846919 0.04494851] [ 0.02314971 -0.00919253 0.99968975 -0.33750822] [ 0. 0. 0. 1. ]] SLAMing on 72.15241403699999 meters Centerline goodness [0,1] 0.7646505317519366 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:-0.34 [[ 0.99924349 -0.03109974 -0.02335082 1.1813378 ] [ 0.0313056 0.99947369 0.00850265 0.04404198] [ 0.0230741 -0.00922723 0.99969117 -0.33707383] [ 0. 0. 0. 1. ]] SLAMing on 72.18241403699999 meters Centerline goodness [0,1] 0.7611564640738876 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:-0.34 [[ 0.99924254 -0.03111766 -0.02336728 1.18123423] [ 0.03132809 0.99947134 0.00869382 0.04258687] [ 0.0230844 -0.00941929 0.99968915 -0.33685843] [ 0. 0. 0. 1. ]] SLAMing on 72.21241403699999 meters Centerline goodness [0,1] 0.759337730985977 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:-0.34 [[ 0.99924102 -0.03119349 -0.02333122 1.18111637] [ 0.03140732 0.99946744 0.00885543 0.04103769] [ 0.02304257 -0.00958148 0.99968857 -0.33672736] [ 0. 0. 0. 1. ]] SLAMing on 72.24241403699999 meters Centerline goodness [0,1] 0.7593328384927739 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:-0.34 [[ 0.9992388 -0.03130273 -0.0232799 1.18076427] [ 0.03152111 0.9994619 0.00907375 0.03911915] [ 0.02298334 -0.00980065 0.99968781 -0.33637608] [ 0. 0. 0. 1. ]] SLAMing on 72.27241403699999 meters Centerline goodness [0,1] 0.7570555084100354 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:-0.34 [[ 0.99924478 -0.03113775 -0.02324438 1.18095884] [ 0.03136136 0.99946468 0.00931783 0.03870854] [ 0.0229418 -0.01003977 0.99968639 -0.33665024] [ 0. 0. 0. 1. ]] SLAMing on 72.30241403699999 meters Centerline goodness [0,1] 0.7619773519163763 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:-0.34 [[ 0.99924639 -0.03102224 -0.02332971 1.18120264] [ 0.03124857 0.99946744 0.00940011 0.03868286] [ 0.02302568 -0.01012205 0.99968363 -0.33662959] [ 0. 0. 0. 1. ]] SLAMing on 72.33241403699999 meters Centerline goodness [0,1] 0.7598796782701571 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:-0.34 [[ 0.99925137 -0.03081959 -0.02338501 1.18139464] [ 0.03104793 0.99947309 0.00946454 0.03871664] [ 0.023081 -0.01018351 0.99968173 -0.33659712] [ 0. 0. 0. 1. ]] SLAMing on 72.362414037 meters Centerline goodness [0,1] 0.761240546607676 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:-0.34 [[ 0.9992604 -0.0303944 -0.02355471 1.18195323] [ 0.03062951 0.99948388 0.00968571 0.03866506] [ 0.02324816 -0.01040002 0.99967563 -0.33668109] [ 0. 0. 0. 1. ]] SLAMing on 72.392414037 meters Centerline goodness [0,1] 0.7615604103591732 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:-0.34 [[ 0.99926435 -0.03020214 -0.02363439 1.18239452] [ 0.03044137 0.99948823 0.00982864 0.03843962] [ 0.02332545 -0.01054087 0.99967235 -0.33694992] [ 0. 0. 0. 1. ]] SLAMing on 72.422414037 meters Centerline goodness [0,1] 0.7596500032730367 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:-0.34 [[ 0.99927035 -0.02994151 -0.02371219 1.18296691] [ 0.03019148 0.99949153 0.01025497 0.03664571] [ 0.02339309 -0.0109634 0.99966623 -0.33739084] [ 0. 0. 0. 1. ]] SLAMing on 72.452414037 meters Centerline goodness [0,1] 0.7588783825003268 Centerline is valid? [False, False] Translation: X:1.18, Y:0.04, Z:-0.34 [[ 0.99927153 -0.0298941 -0.02372244 1.18311025] [ 0.03014707 0.99949159 0.01037851 0.03572217] [ 0.02340012 -0.01108611 0.99966471 -0.33747149] [ 0. 0. 0. 1. ]] SLAMing on 72.482414037 meters Centerline goodness [0,1] 0.7575711459443008 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:-0.34 [[ 0.99927477 -0.02981249 -0.02368868 1.18295532] [ 0.03006847 0.99949243 0.01052457 0.03486421] [ 0.0233629 -0.01122922 0.99966398 -0.33723998] [ 0. 0. 0. 1. ]] SLAMing on 72.51241403699999 meters Centerline goodness [0,1] 0.7579043637313823 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:-0.34 [[ 0.99927603 -0.02974159 -0.02372471 1.18316558] [ 0.02999943 0.99949384 0.01058721 0.03485243] [ 0.02339782 -0.01129127 0.99966247 -0.337387 ] [ 0. 0. 0. 1. ]] SLAMing on 72.54241403699999 meters Centerline goodness [0,1] 0.7691005015306455 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:-0.34 [[ 0.99927876 -0.02952766 -0.02387617 1.18371212] [ 0.0297921 0.99949781 0.01079642 0.03466171] [ 0.02354538 -0.01149996 0.99965662 -0.33763413] [ 0. 0. 0. 1. ]] SLAMing on 72.57241403699999 meters Centerline goodness [0,1] 0.7638483965014577 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:-0.34 [[ 0.99928549 -0.02933929 -0.02382698 1.18383669] [ 0.0296099 0.99950007 0.01108482 0.03427759] [ 0.02348984 -0.01178241 0.99965464 -0.33786207] [ 0. 0. 0. 1. ]] SLAMing on 72.60241403699999 meters Centerline goodness [0,1] 0.7699796192706301 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:-0.34 [[ 0.99928586 -0.02929402 -0.02386714 1.18397355] [ 0.02956902 0.99949941 0.01125157 0.03326335] [ 0.02352559 -0.01194926 0.99965182 -0.33788169] [ 0. 0. 0. 1. ]] SLAMing on 72.63241403699999 meters Centerline goodness [0,1] 0.7655066441587672 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:-0.34 [[ 0.9992878 -0.0292372 -0.02385527 1.18402197] [ 0.02951786 0.99949811 0.01149904 0.03174757] [ 0.0235071 -0.012195 0.99964929 -0.3379545 ] [ 0. 0. 0. 1. ]] SLAMing on 72.66241403699999 meters Centerline goodness [0,1] 0.7676699578095777 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:-0.34 [[ 0.99928908 -0.02917252 -0.02388099 1.18410791] [ 0.02945859 0.99949733 0.0117162 0.03061726] [ 0.02352719 -0.01241137 0.99964615 -0.337976 ] [ 0. 0. 0. 1. ]] SLAMing on 72.69241403699999 meters Centerline goodness [0,1] 0.7684620376378974 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:-0.34 [[ 0.99929105 -0.02902455 -0.02397877 1.18411172] [ 0.02931261 0.99950123 0.01175039 0.03024495] [ 0.02362576 -0.01244494 0.99964341 -0.33750761] [ 0. 0. 0. 1. ]] SLAMing on 72.722414037 meters Centerline goodness [0,1] 0.7675752917487605 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:-0.34 [[ 0.99929154 -0.02890643 -0.02410062 1.18418897] [ 0.02919432 0.99950551 0.01168017 0.03065857] [ 0.02375107 -0.01237549 0.9996413 -0.33713136] [ 0. 0. 0. 1. ]] SLAMing on 72.752414037 meters Centerline goodness [0,1] 0.7670506214004243 Centerline is valid? [False, False] Translation: X:1.18, Y:0.03, Z:-0.34 [[ 0.99929718 -0.02864662 -0.02417692 1.18449333] [ 0.02893907 0.99951112 0.01183421 0.0306513 ] [ 0.02382609 -0.01252555 0.99963765 -0.33722744] [ 0. 0. 0. 1. ]] SLAMing on 72.782414037 meters Centerline goodness [0,1] 0.7701397274452303 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:-0.34 [[ 0.99930759 -0.027984 -0.02452013 1.18558412] [ 0.02828834 0.99952591 0.01215407 0.0299562 ] [ 0.02416839 -0.01283929 0.99962545 -0.3373849 ] [ 0. 0. 0. 1. ]] SLAMing on 72.812414037 meters Centerline goodness [0,1] 0.7722712202310009 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:-0.34 [[ 0.99931127 -0.02777869 -0.02460356 1.18576915] [ 0.02808505 0.99953115 0.01219489 0.02950504] [ 0.02425327 -0.01287748 0.9996229 -0.33727152] [ 0. 0. 0. 1. ]] SLAMing on 72.842414037 meters Centerline goodness [0,1] 0.7745779973563891 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:-0.34 [[ 0.99931683 -0.02746928 -0.02472453 1.1860195 ] [ 0.0277799 0.99953828 0.01230859 0.02927566] [ 0.02437501 -0.01298702 0.99961853 -0.33714591] [ 0. 0. 0. 1. ]] SLAMing on 72.87241403699998 meters Centerline goodness [0,1] 0.7751867489444625 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:-0.34 [[ 0.9993194 -0.02731184 -0.02479532 1.18609133] [ 0.02762138 0.99954366 0.01222854 0.02954225] [ 0.02445002 -0.01290509 0.99961775 -0.33689971] [ 0. 0. 0. 1. ]] SLAMing on 72.90241403699999 meters Centerline goodness [0,1] 0.7765819502074689 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:-0.34 [[ 0.99932759 -0.02679796 -0.02502485 1.18689182] [ 0.02711519 0.9995551 0.01242461 0.03015142] [ 0.02468077 -0.01309481 0.99960962 -0.33712793] [ 0. 0. 0. 1. ]] SLAMing on 72.93241403699999 meters Centerline goodness [0,1] 0.7748818248839933 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:-0.34 [[ 0.99932885 -0.02664934 -0.02513303 1.18728555] [ 0.02697014 0.99955793 0.01251235 0.03022535] [ 0.02478848 -0.01318179 0.99960581 -0.33732121] [ 0. 0. 0. 1. ]] SLAMing on 72.96241403699999 meters Centerline goodness [0,1] 0.7765032417546675 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:-0.34 [[ 0.99932806 -0.02657217 -0.0252459 1.18759178] [ 0.02689722 0.99955848 0.01262439 0.02968957] [ 0.0248993 -0.01329495 0.99960156 -0.33738181] [ 0. 0. 0. 1. ]] SLAMing on 72.99241403699999 meters Centerline goodness [0,1] 0.7771786209286209 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:-0.34 [[ 0.99932637 -0.02667172 -0.02520762 1.18704015] [ 0.02699467 0.99955668 0.01255934 0.02853754] [ 0.02486147 -0.01323135 0.99960334 -0.33658667] [ 0. 0. 0. 1. ]] SLAMing on 73.02241403699999 meters Centerline goodness [0,1] 0.7773572664359861 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:-0.34 [[ 0.99932085 -0.0269345 -0.02514711 1.18660198] [ 0.02725239 0.99955185 0.01238553 0.02792327] [ 0.02480224 -0.01306243 0.99960703 -0.33611967] [ 0. 0. 0. 1. ]] SLAMing on 73.05241403699999 meters Centerline goodness [0,1] 0.7777970024006748 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:-0.34 [[ 0.99931205 -0.02730937 -0.02509241 1.18612427] [ 0.02762223 0.99954389 0.01220735 0.02720766] [ 0.02474759 -0.01289206 0.9996106 -0.33564756] [ 0. 0. 0. 1. ]] SLAMing on 73.08241403699999 meters Centerline goodness [0,1] 0.7774011055449992 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:-0.34 [[ 0.99920655 -0.03083749 -0.0252055 1.18690265] [ 0.03106533 0.99947951 0.00869813 0.02670949] [ 0.02492415 -0.00947425 0.99964445 -0.33576073] [ 0. 0. 0. 1. ]] SLAMing on 73.112414037 meters Centerline goodness [0,1] 0.7784119160343299 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:-0.34 [[ 0.99919122 -0.03138832 -0.02513338 1.18646517] [ 0.03161342 0.99946309 0.00860938 0.02550554] [ 0.02484965 -0.00939697 0.99964703 -0.33548526] [ 0. 0. 0. 1. ]] SLAMing on 73.142414037 meters Centerline goodness [0,1] 0.7761983970966279 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.34 [[ 0.99917652 -0.03198567 -0.02496379 1.18598461] [ 0.03221001 0.99944381 0.00863662 0.02393523] [ 0.02467365 -0.00943359 0.99965105 -0.33547151] [ 0. 0. 0. 1. ]] SLAMing on 73.172414037 meters Centerline goodness [0,1] 0.7734045301868917 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.34 [[ 0.99915463 -0.03266083 -0.02496581 1.18589992] [ 0.03288708 0.99942116 0.008706 0.02216708] [ 0.02466701 -0.00951969 0.9996504 -0.33561333] [ 0. 0. 0. 1. ]] SLAMing on 73.202414037 meters Centerline goodness [0,1] 0.770242914979757 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.34 [[ 0.99901333 -0.03685565 -0.02477946 1.18621245] [ 0.03700241 0.9993001 0.00549014 0.01941103] [ 0.02455978 -0.00640163 0.99967787 -0.33625812] [ 0. 0. 0. 1. ]] SLAMing on 73.232414037 meters Centerline goodness [0,1] 0.7649437525542578 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.34 [[ 0.99898003 -0.03775448 -0.02476904 1.18580716] [ 0.03790174 0.99926632 0.00550268 0.01679492] [ 0.02454312 -0.00643586 0.99967806 -0.33605592] [ 0. 0. 0. 1. ]] SLAMing on 73.26241403699999 meters Centerline goodness [0,1] 0.7605977562730153 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.34 [[ 0.9988423 -0.04109235 -0.02500964 1.18725693] [ 0.04116285 0.99914978 0.00231028 0.01584513] [ 0.02489344 -0.00333708 0.99968454 -0.33668244] [ 0. 0. 0. 1. ]] SLAMing on 73.29241403699999 meters Centerline goodness [0,1] 0.7584706714386746 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:-0.34 [[ 9.98676409e-01 -4.50760910e-02 -2.47704868e-02 1.18708825e+00] [ 4.50636899e-02 9.98983555e-01 -1.05890727e-03 1.39214434e-02] [ 2.47930404e-02 -5.87438225e-05 9.99692604e-01 -3.36572163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32241403699999 meters Centerline goodness [0,1] 0.7503857363277902 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:-0.34 [[ 9.98675235e-01 -4.50880339e-02 -2.47960368e-02 1.18723523e+00] [ 4.50866838e-02 9.98982890e-01 -6.13803718e-04 1.28290590e-02] [ 2.47984917e-02 -5.04980498e-04 9.99692343e-01 -3.36770182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35241403699999 meters Centerline goodness [0,1] 0.7349956011415575 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:-0.34 [[ 9.98671970e-01 -4.51718937e-02 -2.47749238e-02 1.18719895e+00] [ 4.51750061e-02 9.98978994e-01 -4.34333152e-04 1.25360888e-02] [ 2.47692481e-02 -6.85450989e-04 9.99692960e-01 -3.36830833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38241403699999 meters Centerline goodness [0,1] 0.732432663897572 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:-0.34 [[ 9.98663394e-01 -4.52646929e-02 -2.49506054e-02 1.18769271e+00] [ 4.52729510e-02 9.98974627e-01 -2.34092569e-04 1.24761480e-02] [ 2.49356178e-02 -8.95807856e-04 9.99688658e-01 -3.37115347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41241403699999 meters Centerline goodness [0,1] 0.7462434540985359 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:-0.34 [[ 9.98668074e-01 -4.51509881e-02 -2.49693153e-02 1.18818822e+00] [ 4.51676397e-02 9.98979416e-01 1.03004289e-04 1.15384899e-02] [ 2.49391813e-02 -1.23067213e-03 9.99688213e-01 -3.37751153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44241403699999 meters Centerline goodness [0,1] 0.7488444748780279 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:-0.34 [[ 9.98670255e-01 -4.50945220e-02 -2.49841131e-02 1.18854598e+00] [ 4.51176816e-02 9.98981613e-01 3.63760493e-04 1.02833597e-02] [ 2.49422660e-02 -1.49050204e-03 9.99687782e-01 -3.38220496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.472414037 meters Centerline goodness [0,1] 0.7434533726344568 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:-0.34 [[ 9.98662725e-01 -4.53524787e-02 -2.48176035e-02 1.18862823e+00] [ 4.53770314e-02 9.98969841e-01 4.26770689e-04 9.31106332e-03] [ 2.47726823e-02 -1.55234915e-03 9.99691905e-01 -3.38911517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.502414037 meters Centerline goodness [0,1] 0.7434533726344568 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:-0.34 [[ 9.98662725e-01 -4.53524787e-02 -2.48176035e-02 1.18862823e+00] [ 4.53770314e-02 9.98969841e-01 4.26770689e-04 9.31106332e-03] [ 2.47726823e-02 -1.55234915e-03 9.99691905e-01 -3.38911517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.532414037 meters Centerline goodness [0,1] 0.7317569448906595 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:-0.34 [[ 9.98656086e-01 -4.54607335e-02 -2.48866345e-02 1.18879517e+00] [ 4.54788412e-02 9.98965289e-01 1.61802811e-04 1.04019483e-02] [ 2.48535283e-02 -1.29340066e-03 9.99690267e-01 -3.38905007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.562414037 meters Centerline goodness [0,1] 0.7294026776519053 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:-0.34 [[ 9.98649305e-01 -4.55272981e-02 -2.50365900e-02 1.18913221e+00] [ 4.55374628e-02 9.98962618e-01 -1.64291874e-04 1.21399172e-02] [ 2.50180972e-02 -9.76032820e-04 9.99686522e-01 -3.38904116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.592414037 meters Centerline goodness [0,1] 0.7310287040220007 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:-0.34 [[ 9.98633866e-01 -4.58146368e-02 -2.51280952e-02 1.18923947e+00] [ 4.58105674e-02 9.98949872e-01 -7.37879880e-04 1.47898971e-02] [ 2.51355132e-02 -4.14260464e-04 9.99683967e-01 -3.38771305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62241403699998 meters Centerline goodness [0,1] 0.7330141897258657 Centerline is valid? [False, False] Translation: X:1.19, Y:0.01, Z:-0.34 [[ 9.98636849e-01 -4.56872654e-02 -2.52411777e-02 1.18992068e+00] [ 4.56873843e-02 9.98955622e-01 -5.72281192e-04 1.47968430e-02] [ 2.52409623e-02 -5.81702301e-04 9.99681227e-01 -3.39355908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65241403699999 meters Centerline goodness [0,1] 0.7296009657878284 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.34 [[ 9.98629369e-01 -4.58648277e-02 -2.52151114e-02 1.19009345e+00] [ 4.58610892e-02 9.98947562e-01 -7.26840504e-04 1.50645281e-02] [ 2.52219104e-02 -4.30548197e-04 9.99681784e-01 -3.39649863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68241403699999 meters Centerline goodness [0,1] 0.7212833858082204 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.34 [[ 9.98623357e-01 -4.59684813e-02 -2.52643877e-02 1.19057425e+00] [ 4.59629960e-02 9.98942824e-01 -7.98089744e-04 1.51667942e-02] [ 2.52743658e-02 -3.64235891e-04 9.99680486e-01 -3.40159444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71241403699999 meters Centerline goodness [0,1] 0.7038172850096505 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.34 [[ 9.98584681e-01 -4.69808802e-02 -2.49285471e-02 1.18938955e+00] [ 4.69510384e-02 9.98895604e-01 -1.78137378e-03 1.69564902e-02] [ 2.49847066e-02 6.08431398e-04 9.99687648e-01 -3.39607062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74241403699999 meters Centerline goodness [0,1] 0.7005326918120114 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.34 [[ 9.98569642e-01 -4.73884871e-02 -2.47588744e-02 1.18885323e+00] [ 4.73498015e-02 9.98876062e-01 -2.14675066e-03 1.80898897e-02] [ 2.48327783e-02 9.71352250e-04 9.99691147e-01 -3.39366089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77241403699999 meters Centerline goodness [0,1] 0.6943262564523445 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.34 [[ 0.99854432 -0.04801844 -0.02456549 1.18795241] [ 0.04796649 0.9988453 -0.00270021 0.01938083] [ 0.02466679 0.00151796 0.99969458 -0.33880692] [ 0. 0. 0. 1. ]] SLAMing on 73.80241403699999 meters Centerline goodness [0,1] 0.6907025372394318 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.34 [[ 0.9985192 -0.04851641 -0.02460814 1.1878931 ] [ 0.04845499 0.9988206 -0.00308678 0.02037736] [ 0.02472887 0.00188983 0.99969241 -0.33870492] [ 0. 0. 0. 1. ]] SLAMing on 73.83241403699999 meters Centerline goodness [0,1] 0.683472360288715 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.34 [[ 0.9984584 -0.04986216 -0.02438412 1.18761554] [ 0.0497887 0.99875325 -0.00361091 0.02068325] [ 0.02453377 0.00239129 0.99969614 -0.33945926] [ 0. 0. 0. 1. ]] SLAMing on 73.862414037 meters Centerline goodness [0,1] 0.6805897868292472 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.34 [[ 0.99843839 -0.0502755 -0.02435481 1.18803222] [ 0.05020429 0.99873274 -0.00352691 0.02011282] [ 0.02450126 0.00229868 0.99969716 -0.34035726] [ 0. 0. 0. 1. ]] SLAMing on 73.892414037 meters Centerline goodness [0,1] 0.6718834673660936 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.34 [[ 0.99841808 -0.05079879 -0.02410009 1.18785621] [ 0.05072778 0.99870621 -0.00354912 0.0195361 ] [ 0.0242492 0.00232096 0.99970325 -0.34101969] [ 0. 0. 0. 1. ]] SLAMing on 73.922414037 meters Centerline goodness [0,1] 0.6546909217059473 Centerline is valid? [False, False] Translation: X:1.20, Y:0.02, Z:-0.34 [[ 0.99829691 -0.0556902 -0.0173745 1.19556761] [ 0.0557484 0.99844069 0.00288322 0.01952758] [ 0.01718684 -0.00384691 0.99984489 -0.344024 ] [ 0. 0. 0. 1. ]] SLAMing on 73.952414037 meters Centerline goodness [0,1] 0.6537477227379196 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.34 [[ 0.99826983 -0.0562359 -0.01717206 1.19468391] [ 0.056282 0.99841246 0.00221307 0.02140678] [ 0.01702034 -0.00317572 0.9998501 -0.34337513] [ 0. 0. 0. 1. ]] SLAMing on 73.982414037 meters Centerline goodness [0,1] 0.6523617261439612 Centerline is valid? [False, False] Translation: X:1.19, Y:0.02, Z:-0.34 [[ 0.99825083 -0.0565568 -0.01722223 1.19436503] [ 0.05659216 0.99839614 0.00157263 0.02348402] [ 0.01710567 -0.00254452 0.99985045 -0.34273465] [ 0. 0. 0. 1. ]] SLAMing on 74.01241403699999 meters Centerline goodness [0,1] 0.647705982310139 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:-0.34 [[ 0.99840255 -0.05388767 -0.01698435 1.19262293] [ 0.05396752 0.99853353 0.00427839 0.02556705] [ 0.0167289 -0.00518815 0.9998466 -0.34187579] [ 0. 0. 0. 1. ]] SLAMing on 74.04241403699999 meters Centerline goodness [0,1] 0.6495378041336008 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:-0.34 [[ 0.99840313 -0.05375489 -0.0173667 1.19378347] [ 0.05383255 0.99854182 0.00403567 0.02711939] [ 0.01712444 -0.00496412 0.99984104 -0.34235862] [ 0. 0. 0. 1. ]] SLAMing on 74.07241403699999 meters Centerline goodness [0,1] 0.6453419939840446 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:-0.34 [[ 0.99840883 -0.05357758 -0.01758538 1.1948569 ] [ 0.05365248 0.99855238 0.00381468 0.02845404] [ 0.01735554 -0.00475211 0.99983809 -0.34312641] [ 0. 0. 0. 1. ]] SLAMing on 74.10241403699999 meters Centerline goodness [0,1] 0.641926259032068 Centerline is valid? [False, False] Translation: X:1.20, Y:0.03, Z:-0.34 [[ 0.99841119 -0.05349401 -0.01770532 1.19551688] [ 0.05356526 0.99855795 0.00357452 0.02961606] [ 0.01748858 -0.00451723 0.99983686 -0.34362474] [ 0. 0. 0. 1. ]] SLAMing on 74.13241403699999 meters Centerline goodness [0,1] 0.6371163298743856 Centerline is valid? [False, False] Translation: X:1.20, Y:0.03, Z:-0.34 [[ 0.99842512 -0.05319803 -0.01781176 1.19629288] [ 0.05325809 0.99857653 0.00291475 0.03313192] [ 0.01763134 -0.00385878 0.99983711 -0.34410675] [ 0. 0. 0. 1. ]] SLAMing on 74.16241403699999 meters Centerline goodness [0,1] 0.6533271901533602 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:-0.34 [[ 0.99858114 -0.050258 -0.01760226 1.19471218] [ 0.05036849 0.99871333 0.0058911 0.03421642] [ 0.01728354 -0.00676934 0.99982771 -0.34337128] [ 0. 0. 0. 1. ]] SLAMing on 74.19241403699999 meters Centerline goodness [0,1] 0.6546294259951617 Centerline is valid? [False, False] Translation: X:1.19, Y:0.04, Z:-0.34 [[ 0.99873007 -0.04727841 -0.01740701 1.19331611] [ 0.04743748 0.99883508 0.00884148 0.03564802] [ 0.01696872 -0.009656 0.99980939 -0.34274789] [ 0. 0. 0. 1. ]] SLAMing on 74.222414037 meters Centerline goodness [0,1] 0.6420574288724974 Centerline is valid? [False, False] Translation: X:1.19, Y:0.04, Z:-0.34 [[ 0.9987548 -0.04666667 -0.01763698 1.19437753] [ 0.04682369 0.99886617 0.00859729 0.03862888] [ 0.01721578 -0.00941242 0.99980749 -0.34318413] [ 0. 0. 0. 1. ]] SLAMing on 74.252414037 meters Centerline goodness [0,1] 0.6597285067873303 Centerline is valid? [False, False] Translation: X:1.19, Y:0.04, Z:-0.34 [[ 0.998909 -0.04325756 -0.01759528 1.19349973] [ 0.04346039 0.9989911 0.01131291 0.04217788] [ 0.01708815 -0.01206527 0.99978119 -0.34259406] [ 0. 0. 0. 1. ]] SLAMing on 74.282414037 meters Centerline goodness [0,1] 0.6603956470018064 Centerline is valid? [False, False] Translation: X:1.19, Y:0.04, Z:-0.34 [[ 0.99891234 -0.04307539 -0.01785049 1.19425464] [ 0.04327383 0.99900396 0.01088388 0.04415494] [ 0.01736389 -0.0116445 0.99978143 -0.34277533] [ 0. 0. 0. 1. ]] SLAMing on 74.312414037 meters Centerline goodness [0,1] 0.6591065139870207 Centerline is valid? [False, False] Translation: X:1.19, Y:0.05, Z:-0.34 [[ 0.9989148 -0.04292953 -0.01806295 1.19491536] [ 0.0431235 0.99901468 0.01048955 0.04580254] [ 0.01759484 -0.01125711 0.99978183 -0.34293091] [ 0. 0. 0. 1. ]] SLAMing on 74.342414037 meters Centerline goodness [0,1] 0.6628311717104534 Centerline is valid? [False, False] Translation: X:1.20, Y:0.05, Z:-0.34 [[ 0.99892907 -0.04260837 -0.0180343 1.19514861] [ 0.04278645 0.99903806 0.00960597 0.04973434] [ 0.01760766 -0.0103673 0.99979122 -0.34277775] [ 0. 0. 0. 1. ]] SLAMing on 74.37241403699998 meters Centerline goodness [0,1] 0.6630080489589569 Centerline is valid? [False, False] Translation: X:1.20, Y:0.05, Z:-0.34 [[ 0.99892506 -0.04266534 -0.01812139 1.19525385] [ 0.04283321 0.99904189 0.00897881 0.05223362] [ 0.01772095 -0.00974536 0.99979548 -0.34252838] [ 0. 0. 0. 1. ]] SLAMing on 74.40241403699999 meters Centerline goodness [0,1] 0.6615107673844923 Centerline is valid? [False, False] Translation: X:1.20, Y:0.05, Z:-0.34 [[ 0.99892281 -0.04263952 -0.0183053 1.19578028] [ 0.04280062 0.99904747 0.00850096 0.05441084] [ 0.01792539 -0.00927528 0.9997963 -0.3426145 ] [ 0. 0. 0. 1. ]] SLAMing on 74.43241403699999 meters Centerline goodness [0,1] 0.6609444926858593 Centerline is valid? [False, False] Translation: X:1.20, Y:0.06, Z:-0.34 [[ 0.99891817 -0.042698 -0.01842219 1.19609072] [ 0.04285203 0.99904901 0.00804854 0.0561878 ] [ 0.01806101 -0.00882926 0.9997979 -0.3426543 ] [ 0. 0. 0. 1. ]] SLAMing on 74.46241403699999 meters Centerline goodness [0,1] 0.7185998932574276 Centerline is valid? [False, False] Translation: X:1.20, Y:0.06, Z:-0.34 [[ 0.99891915 -0.04258759 -0.01862333 1.1971653 ] [ 0.04273465 0.99905777 0.00757094 0.0588742 ] [ 0.01828335 -0.00835862 0.99979791 -0.34336397] [ 0. 0. 0. 1. ]] SLAMing on 74.49241403699999 meters Centerline goodness [0,1] 0.6862042886377792 Centerline is valid? [False, False] Translation: X:1.20, Y:0.06, Z:-0.34 [[ 0.9989161 -0.04264676 -0.01865148 1.19730532] [ 0.04278617 0.99905874 0.00714021 0.0605765 ] [ 0.01832942 -0.0079305 0.99980055 -0.34334749] [ 0. 0. 0. 1. ]] SLAMing on 74.52241403699999 meters Centerline goodness [0,1] 0.7192186487271752 Centerline is valid? [False, False] Translation: X:1.20, Y:0.06, Z:-0.34 [[ 0.99891606 -0.04260337 -0.01875248 1.19762047] [ 0.04273728 0.99906321 0.00679908 0.06213864] [ 0.01844525 -0.00759314 0.99980104 -0.34337667] [ 0. 0. 0. 1. ]] SLAMing on 74.55241403699999 meters Centerline goodness [0,1] 0.7048814753696229 Centerline is valid? [False, False] Translation: X:1.20, Y:0.06, Z:-0.34 [[ 0.99891834 -0.04248849 -0.01889107 1.19810105] [ 0.04261721 0.99907056 0.00646444 0.06374085] [ 0.01859884 -0.00726254 0.99980065 -0.34347685] [ 0. 0. 0. 1. ]] SLAMing on 74.58241403699999 meters Centerline goodness [0,1] 0.6989040483113398 Centerline is valid? [False, False] Translation: X:1.20, Y:0.07, Z:-0.34 [[ 0.99905834 -0.03904729 -0.01891403 1.19791297] [ 0.03923601 0.99918278 0.00971145 0.06553271] [ 0.01851937 -0.01044442 0.99977395 -0.34380485] [ 0. 0. 0. 1. ]] SLAMing on 74.612414037 meters Centerline goodness [0,1] 0.7172362921072044 Centerline is valid? [False, False] Translation: X:1.20, Y:0.07, Z:-0.34 [[ 0.99906502 -0.03880203 -0.01906521 1.19863868] [ 0.03898675 0.99919537 0.00941476 0.06771029] [ 0.01868456 -0.01014925 0.99977391 -0.34413932] [ 0. 0. 0. 1. ]] SLAMing on 74.642414037 meters Centerline goodness [0,1] 0.7302622700076477 Centerline is valid? [False, False] Translation: X:1.20, Y:0.07, Z:-0.34 [[ 0.99906134 -0.03881229 -0.01923632 1.19881222] [ 0.03898742 0.99920083 0.00881431 0.06983081] [ 0.01887885 -0.00955601 0.99977611 -0.34373691] [ 0. 0. 0. 1. ]] SLAMing on 74.672414037 meters Centerline goodness [0,1] 0.7271827405457695 Centerline is valid? [False, False] Translation: X:1.20, Y:0.07, Z:-0.34 [[ 0.99906473 -0.03873909 -0.01920822 1.19834644] [ 0.03889827 0.99921128 0.00798405 0.07207477] [ 0.01888377 -0.00872375 0.99978363 -0.34260091] [ 0. 0. 0. 1. ]] SLAMing on 74.702414037 meters Centerline goodness [0,1] 0.7327698309492847 Centerline is valid? [False, False] Translation: X:1.20, Y:0.07, Z:-0.34 [[ 0.99906688 -0.03860963 -0.01935644 1.1988626 ] [ 0.03876826 0.99921709 0.00788809 0.07266266] [ 0.01903673 -0.00863115 0.99978153 -0.3427135 ] [ 0. 0. 0. 1. ]] SLAMing on 74.732414037 meters Centerline goodness [0,1] 0.7072897280086105 Centerline is valid? [False, False] Translation: X:1.20, Y:0.07, Z:-0.34 [[ 0.99906829 -0.03853177 -0.01943866 1.19904938] [ 0.03868827 0.99922135 0.00774037 0.07337713] [ 0.01912527 -0.0084852 0.99978109 -0.34261089] [ 0. 0. 0. 1. ]] SLAMing on 74.76241403699999 meters Centerline goodness [0,1] 0.7504216610070389 Centerline is valid? [False, False] Translation: X:1.20, Y:0.07, Z:-0.34 [[ 0.99906677 -0.03853432 -0.01951154 1.19920294] [ 0.03868775 0.99922284 0.00754766 0.07425581] [ 0.01920553 -0.00829547 0.99978114 -0.34255276] [ 0. 0. 0. 1. ]] SLAMing on 74.79241403699999 meters Centerline goodness [0,1] 0.735315282900063 Centerline is valid? [False, False] Translation: X:1.20, Y:0.08, Z:-0.34 [[ 0.99907944 -0.03810198 -0.01971088 1.20012994] [ 0.03825573 0.99923996 0.00748275 0.07586069] [ 0.01941079 -0.00822992 0.99977772 -0.34302506] [ 0. 0. 0. 1. ]] SLAMing on 74.82241403699999 meters Centerline goodness [0,1] 0.7397322032370046 Centerline is valid? [False, False] Translation: X:1.20, Y:0.08, Z:-0.34 [[ 0.99908485 -0.03785732 -0.01990695 1.20093782] [ 0.03801131 0.9992498 0.00741452 0.07702157] [ 0.01961132 -0.00816442 0.99977434 -0.343468 ] [ 0. 0. 0. 1. ]] SLAMing on 74.85241403699999 meters Centerline goodness [0,1] 0.738064049866751 Centerline is valid? [False, False] Translation: X:1.20, Y:0.08, Z:-0.34 [[ 0.99908953 -0.03765003 -0.02006434 1.20136863] [ 0.03780224 0.99925885 0.00726165 0.07823745] [ 0.01977607 -0.00801351 0.99977232 -0.34340721] [ 0. 0. 0. 1. ]] SLAMing on 74.88241403699999 meters Centerline goodness [0,1] 0.7490730692711159 Centerline is valid? [False, False] Translation: X:1.20, Y:0.08, Z:-0.34 [[ 0.9990924 -0.03748208 -0.02023528 1.20181729] [ 0.03762996 0.99926738 0.00697742 0.07958043] [ 0.01995893 -0.00773254 0.9997709 -0.34329815] [ 0. 0. 0. 1. ]] SLAMing on 74.91241403699999 meters Centerline goodness [0,1] 0.7511082963901203 Centerline is valid? [False, False] Translation: X:1.20, Y:0.08, Z:-0.34 [[ 0.99911204 -0.03679627 -0.02052212 1.20293374] [ 0.03694861 0.99929199 0.00709409 0.08049222] [ 0.02024655 -0.00784605 0.99976423 -0.34367633] [ 0. 0. 0. 1. ]] SLAMing on 74.94241403699999 meters Centerline goodness [0,1] 0.7537665740552506 Centerline is valid? [False, False] Translation: X:1.20, Y:0.08, Z:-0.34 [[ 0.99911896 -0.03650268 -0.02070877 1.20362032] [ 0.03665713 0.99930248 0.00712804 0.08081564] [ 0.02043413 -0.00788088 0.99976014 -0.34392502] [ 0. 0. 0. 1. ]] SLAMing on 74.972414037 meters Centerline goodness [0,1] 0.765959372030946 Centerline is valid? [False, False] Translation: X:1.20, Y:0.08, Z:-0.34 [[ 0.99912548 -0.03624061 -0.02085416 1.20404456] [ 0.036394 0.99931284 0.00702321 0.08173434] [ 0.0205853 -0.00777604 0.99975786 -0.34390052] [ 0. 0. 0. 1. ]] SLAMing on 75.002414037 meters Centerline goodness [0,1] 0.7660944206008584 Centerline is valid? [False, False] Translation: X:1.20, Y:0.08, Z:-0.34 [[ 0.99913054 -0.03599701 -0.02103261 1.20460114] [ 0.03615378 0.99932086 0.00712173 0.08203018] [ 0.02076196 -0.00787594 0.99975342 -0.3440518 ] [ 0. 0. 0. 1. ]] SLAMing on 75.032414037 meters Centerline goodness [0,1] 0.7652065929103635 Centerline is valid? [False, False] Translation: X:1.20, Y:0.08, Z:-0.34 [[ 0.99913422 -0.03582487 -0.02115146 1.20485336] [ 0.03598066 0.99932775 0.00703141 0.08267065] [ 0.02088535 -0.00778637 0.99975156 -0.34389156] [ 0. 0. 0. 1. ]] SLAMing on 75.062414037 meters Centerline goodness [0,1] 0.76765710923533 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.34 [[ 0.999137 -0.03569463 -0.02124014 1.20504514] [ 0.03585015 0.99933275 0.00698692 0.08326887] [ 0.02097657 -0.00774235 0.99974999 -0.34382592] [ 0. 0. 0. 1. ]] SLAMing on 75.092414037 meters Centerline goodness [0,1] 0.7650370839363242 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.34 [[ 0.99915346 -0.03506492 -0.0215131 1.20609927] [ 0.03522766 0.99935314 0.00723276 0.08404837] [ 0.02124557 -0.00798449 0.9997424 -0.34421234] [ 0. 0. 0. 1. ]] SLAMing on 75.12241403699998 meters Centerline goodness [0,1] 0.7671767857953772 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.34 [[ 0.99915713 -0.03486695 -0.02166376 1.2065795 ] [ 0.03503105 0.99935998 0.00724226 0.08441663] [ 0.02139738 -0.00799506 0.99973908 -0.3443222 ] [ 0. 0. 0. 1. ]] SLAMing on 75.15241403699999 meters Centerline goodness [0,1] 0.7686874632136551 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.34 [[ 0.99915988 -0.03472149 -0.02177044 1.20701874] [ 0.03488754 0.99936463 0.00729398 0.08448904] [ 0.02150335 -0.00804737 0.99973639 -0.34451601] [ 0. 0. 0. 1. ]] SLAMing on 75.18241403699999 meters Centerline goodness [0,1] 0.7663653048739039 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.34 [[ 0.99916039 -0.03467143 -0.02182683 1.2072033 ] [ 0.03483919 0.99936588 0.00735342 0.08410471] [ 0.02155804 -0.00810768 0.99973472 -0.34453855] [ 0. 0. 0. 1. ]] SLAMing on 75.21241403699999 meters Centerline goodness [0,1] 0.7618196624892548 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.34 [[ 0.99915532 -0.03484314 -0.0217853 1.20717521] [ 0.03501259 0.99935914 0.00744564 0.08266641] [ 0.02151191 -0.00820211 0.99973495 -0.34463487] [ 0. 0. 0. 1. ]] SLAMing on 75.24241403699999 meters Centerline goodness [0,1] 0.7623923878568192 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.34 [[ 0.99914682 -0.03515545 -0.02167318 1.20666186] [ 0.03532435 0.99934806 0.0074596 0.0817554 ] [ 0.0213968 -0.00821882 0.99973728 -0.34434948] [ 0. 0. 0. 1. ]] SLAMing on 75.27241403699999 meters Centerline goodness [0,1] 0.7611693575779535 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.34 [[ 0.99913872 -0.03545799 -0.02155325 1.20632352] [ 0.03562723 0.99933686 0.00751931 0.08087122] [ 0.02127234 -0.00828072 0.99973942 -0.34429187] [ 0. 0. 0. 1. ]] SLAMing on 75.30241403699999 meters Centerline goodness [0,1] 0.7496903501857899 Centerline is valid? [False, False] Translation: X:1.20, Y:0.08, Z:-0.34 [[ 0.99910163 -0.03659935 -0.02136401 1.20487929] [ 0.03675913 0.99929869 0.0071347 0.07932929] [ 0.0210879 -0.00791361 0.99974631 -0.34319997] [ 0. 0. 0. 1. ]] SLAMing on 75.33241403699999 meters Centerline goodness [0,1] 0.7439142477537325 Centerline is valid? [False, False] Translation: X:1.20, Y:0.08, Z:-0.34 [[ 0.99909358 -0.03683198 -0.02134063 1.20453987] [ 0.0369941 0.99928917 0.00725204 0.07816444] [ 0.02105835 -0.00803495 0.99974596 -0.34286432] [ 0. 0. 0. 1. ]] SLAMing on 75.362414037 meters Centerline goodness [0,1] 0.7573196294543242 Centerline is valid? [False, False] Translation: X:1.20, Y:0.08, Z:-0.34 [[ 0.99908781 -0.03703249 -0.02126388 1.20427086] [ 0.03719691 0.99928063 0.00738964 0.07706804] [ 0.02097493 -0.00817385 0.99974659 -0.3428043 ] [ 0. 0. 0. 1. ]] SLAMing on 75.392414037 meters Centerline goodness [0,1] 0.7538648484439344 Centerline is valid? [False, False] Translation: X:1.20, Y:0.07, Z:-0.34 [[ 0.99907988 -0.03731152 -0.02114807 1.20406639] [ 0.03748109 0.99926783 0.00767939 0.07497368] [ 0.02084606 -0.00846498 0.99974686 -0.34298451] [ 0. 0. 0. 1. ]] SLAMing on 75.422414037 meters Centerline goodness [0,1] 0.7538648484439344 Centerline is valid? [False, False] Translation: X:1.20, Y:0.07, Z:-0.34 [[ 0.99907988 -0.03731152 -0.02114807 1.20406639] [ 0.03748109 0.99926783 0.00767939 0.07497368] [ 0.02084606 -0.00846498 0.99974686 -0.34298451] [ 0. 0. 0. 1. ]] SLAMing on 75.452414037 meters Centerline goodness [0,1] 0.7513865499045694 Centerline is valid? [False, False] Translation: X:1.20, Y:0.07, Z:-0.34 [[ 0.99908247 -0.03730913 -0.02102955 1.20411911] [ 0.03748306 0.99926573 0.00793801 0.07428907] [ 0.02071794 -0.00871898 0.99974734 -0.34338103] [ 0. 0. 0. 1. ]] SLAMing on 75.482414037 meters Centerline goodness [0,1] 0.7441943711128014 Centerline is valid? [False, False] Translation: X:1.20, Y:0.07, Z:-0.34 [[ 0.99908303 -0.03727843 -0.02105751 1.2042259 ] [ 0.03745417 0.99926621 0.00801377 0.07386679] [ 0.02074332 -0.00879511 0.99974615 -0.34331753] [ 0. 0. 0. 1. ]] SLAMing on 75.51241403699999 meters Centerline goodness [0,1] 0.7480046632589006 Centerline is valid? [False, False] Translation: X:1.20, Y:0.07, Z:-0.34 [[ 0.99908026 -0.03734064 -0.02107885 1.20366447] [ 0.03751348 0.99926517 0.00786451 0.07336154] [ 0.02076969 -0.00864802 0.99974688 -0.34231235] [ 0. 0. 0. 1. ]] SLAMing on 75.54241403699999 meters Centerline goodness [0,1] 0.7422110889937599 Centerline is valid? [False, False] Translation: X:1.20, Y:0.07, Z:-0.34 [[ 0.99908138 -0.03727716 -0.02113783 1.20379572] [ 0.03745114 0.99926727 0.00789553 0.07297511] [ 0.02082802 -0.00867991 0.99974539 -0.34222037] [ 0. 0. 0. 1. ]] SLAMing on 75.57241403699999 meters Centerline goodness [0,1] 0.743814074522736 Centerline is valid? [False, False] Translation: X:1.20, Y:0.07, Z:-0.34 [[ 0.9990837 -0.03719333 -0.02117597 1.20402324] [ 0.0373704 0.99926923 0.00802877 0.07253559] [ 0.02086188 -0.00881276 0.99974353 -0.34236065] [ 0. 0. 0. 1. ]] SLAMing on 75.60241403699999 meters Centerline goodness [0,1] 0.7507005941038001 Centerline is valid? [False, False] Translation: X:1.20, Y:0.07, Z:-0.34 [[ 0.9990916 -0.03690158 -0.02131325 1.20482762] [ 0.03708714 0.99927692 0.00837758 0.07171592] [ 0.02098869 -0.00916041 0.99973775 -0.34293232] [ 0. 0. 0. 1. ]] SLAMing on 75.63241403699999 meters Centerline goodness [0,1] 0.758646953405018 Centerline is valid? [False, False] Translation: X:1.21, Y:0.07, Z:-0.34 [[ 0.9990929 -0.03685211 -0.02133774 1.20509336] [ 0.03703984 0.99927789 0.0084709 0.0715651 ] [ 0.02101016 -0.00925356 0.99973644 -0.34321114] [ 0. 0. 0. 1. ]] SLAMing on 75.66241403699999 meters Centerline goodness [0,1] 0.7481687238189109 Centerline is valid? [False, False] Translation: X:1.20, Y:0.07, Z:-0.34 [[ 0.99909208 -0.03690405 -0.02128647 1.20491657] [ 0.03709128 0.99927599 0.00846906 0.0713887 ] [ 0.02095852 -0.00925091 0.99973755 -0.34309398] [ 0. 0. 0. 1. ]] SLAMing on 75.69241403699999 meters Centerline goodness [0,1] 0.7233999686597569 Centerline is valid? [False, False] Translation: X:1.20, Y:0.07, Z:-0.34 [[ 0.99908526 -0.03718344 -0.02111957 1.2040524 ] [ 0.03736389 0.99926796 0.00821432 0.07137517] [ 0.02079867 -0.00899592 0.99974321 -0.34231001] [ 0. 0. 0. 1. ]] SLAMing on 75.722414037 meters Centerline goodness [0,1] 0.7240498958636598 Centerline is valid? [False, False] Translation: X:1.20, Y:0.07, Z:-0.34 [[ 0.99908874 -0.03701601 -0.02124843 1.2044823 ] [ 0.03720069 0.99927282 0.0083631 0.07109715] [ 0.02092341 -0.00914594 0.99973925 -0.34240929] [ 0. 0. 0. 1. ]] SLAMing on 75.752414037 meters Centerline goodness [0,1] 0.7207947850630586 Centerline is valid? [False, False] Translation: X:1.20, Y:0.07, Z:-0.34 [[ 0.9990875 -0.03706641 -0.02121895 1.20432475] [ 0.03724901 0.99927175 0.00827575 0.07125053] [ 0.02089675 -0.00905859 0.9997406 -0.34220924] [ 0. 0. 0. 1. ]] SLAMing on 75.782414037 meters Centerline goodness [0,1] 0.6754680137538736 Centerline is valid? [False, False] Translation: X:1.25, Y:0.07, Z:-0.34 [[ 0.99902356 -0.03935691 -0.02007366 1.25496989] [ 0.03944511 0.99921366 0.004017 0.07297739] [ 0.01989978 -0.00480488 0.99979043 -0.340299 ] [ 0. 0. 0. 1. ]] SLAMing on 75.812414037 meters Centerline goodness [0,1] 0.7615714253662695 Centerline is valid? [False, False] Translation: X:1.21, Y:0.07, Z:-0.34 [[ 0.99914078 -0.03727928 -0.01810946 1.20513424] [ 0.03736459 0.99929203 0.00439545 0.07268085] [ 0.01793278 -0.00506832 0.99982635 -0.34221319] [ 0. 0. 0. 1. ]] SLAMing on 75.842414037 meters Centerline goodness [0,1] 0.7640709156193896 Centerline is valid? [False, False] Translation: X:1.21, Y:0.07, Z:-0.34 [[ 0.99914744 -0.03707369 -0.01816425 1.20555582] [ 0.03716202 0.9992989 0.00454976 0.07267928] [ 0.01798284 -0.0052209 0.99982466 -0.34257459] [ 0. 0. 0. 1. ]] SLAMing on 75.87241403699998 meters Centerline goodness [0,1] 0.7515201830951153 Centerline is valid? [False, False] Translation: X:1.21, Y:0.07, Z:-0.34 [[ 0.99915517 -0.03677376 -0.01834747 1.20619276] [ 0.03686516 0.99930934 0.00466836 0.072962 ] [ 0.01816312 -0.0053408 0.99982077 -0.34281009] [ 0. 0. 0. 1. ]] SLAMing on 75.90241403699999 meters Centerline goodness [0,1] 0.7615616020114943 Centerline is valid? [False, False] Translation: X:1.21, Y:0.07, Z:-0.34 [[ 0.99917453 -0.0361579 -0.01851651 1.20672019] [ 0.03624928 0.99933208 0.00462334 0.0743943 ] [ 0.01833697 -0.00529073 0.99981787 -0.34262248] [ 0. 0. 0. 1. ]] SLAMing on 75.93241403699999 meters Centerline goodness [0,1] 0.7676527360057458 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.34 [[ 0.9991813 -0.03588986 -0.01867227 1.20701501] [ 0.03598049 0.99934218 0.00454057 0.07528455] [ 0.01849703 -0.00520869 0.99981535 -0.3423944 ] [ 0. 0. 0. 1. ]] SLAMing on 75.96241403699999 meters Centerline goodness [0,1] 0.7677626267157083 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.34 [[ 0.99920122 -0.03528387 -0.0187607 1.20727522] [ 0.03537266 0.99936441 0.00442201 0.07664041] [ 0.01859275 -0.0050821 0.99981422 -0.34196245] [ 0. 0. 0. 1. ]] SLAMing on 75.99241403699999 meters Centerline goodness [0,1] 0.7704873828730647 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.34 [[ 0.99921129 -0.03488952 -0.01896089 1.20791566] [ 0.03498126 0.99937771 0.00452799 0.07698444] [ 0.01879111 -0.00518769 0.99980997 -0.34212029] [ 0. 0. 0. 1. ]] SLAMing on 76.02241403699999 meters Centerline goodness [0,1] 0.7646820939114806 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.34 [[ 0.9992284 -0.03428416 -0.01916226 1.20894284] [ 0.03438325 0.99939688 0.00486532 0.07692793] [ 0.0189839 -0.00552043 0.99980455 -0.34276335] [ 0. 0. 0. 1. ]] SLAMing on 76.05241403699999 meters Centerline goodness [0,1] 0.7762947983372654 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.34 [[ 0.99926954 -0.0329813 -0.0193033 1.21029775] [ 0.03309555 0.99943634 0.00562932 0.07640201] [ 0.01910675 -0.00626406 0.99979783 -0.34370579] [ 0. 0. 0. 1. ]] SLAMing on 76.08241403699999 meters Centerline goodness [0,1] 0.7749819949585884 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.34 [[ 0.99928631 -0.03240798 -0.01940623 1.21080867] [ 0.03252502 0.99945441 0.00574571 0.07713567] [ 0.01920943 -0.0063728 0.99979517 -0.34377201] [ 0. 0. 0. 1. ]] SLAMing on 76.112414037 meters Centerline goodness [0,1] 0.7809066089036305 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.34 [[ 0.99939643 -0.02896128 -0.01918399 1.20946807] [ 0.02914584 0.99953086 0.00941174 0.07652172] [ 0.01890241 -0.0099652 0.99977167 -0.3430677 ] [ 0. 0. 0. 1. ]] SLAMing on 76.142414037 meters Centerline goodness [0,1] 0.7794987074294706 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.34 [[ 0.99941495 -0.02812165 -0.01946589 1.21058941] [ 0.02831301 0.99955276 0.00962613 0.07769581] [ 0.01918648 -0.01017164 0.99976418 -0.34334557] [ 0. 0. 0. 1. ]] SLAMing on 76.172414037 meters Centerline goodness [0,1] 0.780183874892965 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.34 [[ 0.99952152 -0.02397277 -0.01954558 1.21041338] [ 0.0242461 0.99960981 0.01386933 0.07610473] [ 0.01920547 -0.0143366 0.99971276 -0.34327243] [ 0. 0. 0. 1. ]] SLAMing on 76.202414037 meters Centerline goodness [0,1] 0.7805713255834911 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.34 [[ 0.99952605 -0.02363419 -0.0197258 1.21087445] [ 0.02391333 0.99961548 0.01403741 0.07545875] [ 0.01938646 -0.01450246 0.99970688 -0.34320802] [ 0. 0. 0. 1. ]] SLAMing on 76.232414037 meters Centerline goodness [0,1] 0.7802875205291457 Centerline is valid? [False, False] Translation: X:1.21, Y:0.07, Z:-0.34 [[ 0.99952568 -0.02357148 -0.01981916 1.21098649] [ 0.02385177 0.9996171 0.01402684 0.07455036] [ 0.01948094 -0.01449291 0.99970518 -0.34295289] [ 0. 0. 0. 1. ]] SLAMing on 76.26241403699999 meters Centerline goodness [0,1] 0.7828012589928057 Centerline is valid? [False, False] Translation: X:1.21, Y:0.07, Z:-0.34 [[ 0.99953572 -0.02308044 -0.01989042 1.21150295] [ 0.02337559 0.99961815 0.01473587 0.07179267] [ 0.01954271 -0.01519398 0.99969357 -0.34331672] [ 0. 0. 0. 1. ]] SLAMing on 76.29241403699999 meters Centerline goodness [0,1] 0.7833303427238472 Centerline is valid? [False, False] Translation: X:1.21, Y:0.07, Z:-0.34 [[ 0.9995352 -0.02313997 -0.0198475 1.21129702] [ 0.02343232 0.99961843 0.0146263 0.07134299] [ 0.01950148 -0.01508457 0.99969603 -0.34302798] [ 0. 0. 0. 1. ]] SLAMing on 76.32241403699999 meters Centerline goodness [0,1] 0.7819415822954933 Centerline is valid? [False, False] Translation: X:1.21, Y:0.07, Z:-0.34 [[ 0.99953514 -0.02317124 -0.01981425 1.21058259] [ 0.02346062 0.99961961 0.01449922 0.07108548] [ 0.01947075 -0.01495734 0.99969854 -0.34193876] [ 0. 0. 0. 1. ]] SLAMing on 76.35241403699999 meters Centerline goodness [0,1] 0.7799134276807141 Centerline is valid? [False, False] Translation: X:1.21, Y:0.07, Z:-0.34 [[ 0.99953641 -0.02321402 -0.01969944 1.21017212] [ 0.02350217 0.99961828 0.01452417 0.07057114] [ 0.01935476 -0.01498042 0.99970045 -0.34159671] [ 0. 0. 0. 1. ]] SLAMing on 76.38241403699999 meters Centerline goodness [0,1] 0.7806378030235263 Centerline is valid? [False, False] Translation: X:1.21, Y:0.07, Z:-0.34 [[ 0.99953384 -0.02331119 -0.01971512 1.21013881] [ 0.02360127 0.99961467 0.01461111 0.06952579] [ 0.01936693 -0.0150696 0.99969887 -0.34145792] [ 0. 0. 0. 1. ]] SLAMing on 76.41241403699999 meters Centerline goodness [0,1] 0.7814141685109427 Centerline is valid? [False, False] Translation: X:1.21, Y:0.07, Z:-0.34 [[ 0.99953153 -0.02339431 -0.01973384 1.21010418] [ 0.0236899 0.9996086 0.01488062 0.06767341] [ 0.01937799 -0.01534114 0.99969452 -0.34137784] [ 0. 0. 0. 1. ]] SLAMing on 76.44241403699999 meters Centerline goodness [0,1] 0.7796481852594077 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.34 [[ 0.99943994 -0.02694181 -0.01984825 1.21086545] [ 0.02718299 0.99955865 0.01198298 0.06388023] [ 0.01951665 -0.0125158 0.99973119 -0.34173093] [ 0. 0. 0. 1. ]] SLAMing on 76.472414037 meters Centerline goodness [0,1] 0.7769253007761248 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.34 [[ 0.99934155 -0.030338 -0.01990153 1.21175955] [ 0.03051574 0.99949652 0.00868888 0.06273175] [ 0.0196279 -0.00929047 0.99976419 -0.34219412] [ 0. 0. 0. 1. ]] SLAMing on 76.502414037 meters Centerline goodness [0,1] 0.7771414672975722 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.34 [[ 0.99921682 -0.03424402 -0.01982642 1.21211421] [ 0.03436608 0.9993922 0.0058486 0.05946555] [ 0.01961409 -0.00652538 0.99978633 -0.34262771] [ 0. 0. 0. 1. ]] SLAMing on 76.532414037 meters Centerline goodness [0,1] 0.7744533947065593 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.34 [[ 0.99919309 -0.03512485 -0.01947854 1.21086021] [ 0.03524597 0.99936119 0.00590996 0.05709389] [ 0.01925851 -0.00659173 0.99979281 -0.34220127] [ 0. 0. 0. 1. ]] SLAMing on 76.562414037 meters Centerline goodness [0,1] 0.7735311651321455 Centerline is valid? [False, False] Translation: X:1.21, Y:0.05, Z:-0.34 [[ 0.99916295 -0.03611357 -0.01921499 1.20983118] [ 0.03623314 0.99932588 0.00591137 0.05451106] [ 0.01898856 -0.00660264 0.9997979 -0.34189172] [ 0. 0. 0. 1. ]] SLAMing on 76.592414037 meters Centerline goodness [0,1] 0.769706947645703 Centerline is valid? [False, False] Translation: X:1.21, Y:0.05, Z:-0.34 [[ 0.99901586 -0.04008795 -0.01898051 1.21015523] [ 0.0401581 0.99918779 0.00332931 0.05018253] [ 0.01883163 -0.00408826 0.99981431 -0.34283414] [ 0. 0. 0. 1. ]] SLAMing on 76.62241403699998 meters Centerline goodness [0,1] 0.771462455801287 Centerline is valid? [False, False] Translation: X:1.21, Y:0.05, Z:-0.34 [[ 0.99899548 -0.0407462 -0.01864889 1.20922415] [ 0.04081935 0.99916021 0.00355868 0.04776084] [ 0.01848822 -0.00431634 0.99981976 -0.34268957] [ 0. 0. 0. 1. ]] SLAMing on 76.65241403699999 meters Centerline goodness [0,1] 0.763758653930418 Centerline is valid? [False, False] Translation: X:1.21, Y:0.05, Z:-0.34 [[ 9.98837523e-01 -4.44997820e-02 -1.85303197e-02 1.20961660e+00] [ 4.45178522e-02 9.99008430e-01 5.63610474e-04 4.52973915e-02] [ 1.84868651e-02 -1.38788533e-03 9.99828140e-01 -3.43145068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68241403699999 meters Centerline goodness [0,1] 0.7575518608573744 Centerline is valid? [False, False] Translation: X:1.21, Y:0.04, Z:-0.34 [[ 9.98818803e-01 -4.50211695e-02 -1.82782366e-02 1.20891554e+00] [ 4.50446469e-02 9.98984592e-01 8.74574791e-04 4.30260492e-02] [ 1.82203023e-02 -1.69687846e-03 9.99832557e-01 -3.43116922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71241403699999 meters Centerline goodness [0,1] 0.7600061139375942 Centerline is valid? [False, False] Translation: X:1.21, Y:0.04, Z:-0.34 [[ 0.99880979 -0.04525792 -0.01818565 1.20886084] [ 0.04529379 0.99897248 0.00156516 0.04021765] [ 0.01809613 -0.00238699 0.9998334 -0.3435729 ] [ 0. 0. 0. 1. ]] SLAMing on 76.74241403699999 meters Centerline goodness [0,1] 0.7618204472424421 Centerline is valid? [False, False] Translation: X:1.21, Y:0.04, Z:-0.34 [[ 0.99879208 -0.04575546 -0.01791154 1.20825164] [ 0.04579716 0.99894891 0.00192454 0.03776127] [ 0.01780466 -0.00274251 0.99983772 -0.34374584] [ 0. 0. 0. 1. ]] SLAMing on 76.77241403699999 meters Centerline goodness [0,1] 0.7390547858805107 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:-0.34 [[ 0.99871436 -0.04743108 -0.01788614 1.20737455] [ 0.04747084 0.99887099 0.00180477 0.03473349] [ 0.01778034 -0.00265152 0.9998384 -0.343401 ] [ 0. 0. 0. 1. ]] SLAMing on 76.80241403699999 meters Centerline goodness [0,1] 0.7356732276606863 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:-0.34 [[ 0.99869616 -0.04792177 -0.01759193 1.20629091] [ 0.04796091 0.99884757 0.00180928 0.03379192] [ 0.01748495 -0.00265065 0.99984361 -0.34284613] [ 0. 0. 0. 1. ]] SLAMing on 76.83241403699999 meters Centerline goodness [0,1] 0.7360649686231082 Centerline is valid? [False, False] Translation: X:1.20, Y:0.03, Z:-0.34 [[ 0.99866044 -0.04878661 -0.01723938 1.20490147] [ 0.04882517 0.99880568 0.00182276 0.03209899] [ 0.01712986 -0.00266203 0.99984973 -0.34221305] [ 0. 0. 0. 1. ]] SLAMing on 76.862414037 meters Centerline goodness [0,1] 0.7108509485094852 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:-0.34 [[ 0.99866184 -0.04877645 -0.0171866 1.20504632] [ 0.04882276 0.99880484 0.00228548 0.03079011] [ 0.01705458 -0.00312152 0.99984969 -0.3426255 ] [ 0. 0. 0. 1. ]] SLAMing on 76.892414037 meters Centerline goodness [0,1] 0.7085804923625144 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:-0.34 [[ 0.99865696 -0.04890309 -0.01711055 1.20520479] [ 0.04895379 0.99879777 0.0025566 0.02976135] [ 0.01696495 -0.0033908 0.99985034 -0.34315099] [ 0. 0. 0. 1. ]] SLAMing on 76.922414037 meters Centerline goodness [0,1] 0.7240930676323265 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:-0.34 [[ 0.99864478 -0.04919219 -0.01699227 1.20581114] [ 0.0492508 0.99878179 0.00304816 0.02779663] [ 0.01682163 -0.00388091 0.99985097 -0.34458199] [ 0. 0. 0. 1. ]] SLAMing on 76.952414037 meters Centerline goodness [0,1] 0.7254880646984652 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:-0.35 [[ 0.99864431 -0.04921314 -0.016959 1.20609912] [ 0.04927472 0.99878003 0.00323214 0.02741627] [ 0.01677924 -0.00406341 0.99985096 -0.34515574] [ 0. 0. 0. 1. ]] SLAMing on 76.982414037 meters Centerline goodness [0,1] 0.7139632796562351 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:-0.35 [[ 0.99864582 -0.04918318 -0.01695719 1.20645417] [ 0.04924628 0.99878114 0.00332366 0.0277767 ] [ 0.01677306 -0.00415423 0.99985069 -0.34566384] [ 0. 0. 0. 1. ]] SLAMing on 77.01241403699999 meters Centerline goodness [0,1] 0.7138948602696893 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:-0.35 [[ 0.99864546 -0.04915138 -0.01706996 1.20687292] [ 0.04921338 0.99878306 0.00323122 0.02862419] [ 0.01689037 -0.00406691 0.99984908 -0.3459075 ] [ 0. 0. 0. 1. ]] SLAMing on 77.04241403699999 meters Centerline goodness [0,1] 0.6950938640709194 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:-0.35 [[ 0.99864915 -0.04908795 -0.01703647 1.20682359] [ 0.04914681 0.9987869 0.0030534 0.03004035] [ 0.01686591 -0.00388656 0.99985021 -0.34589017] [ 0. 0. 0. 1. ]] SLAMing on 77.07241403699999 meters Centerline goodness [0,1] 0.6934749951013477 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:-0.35 [[ 0.99864816 -0.04910706 -0.01703978 1.20683326] [ 0.04916514 0.99878614 0.00300623 0.03036248] [ 0.01687147 -0.00383993 0.99985029 -0.34591052] [ 0. 0. 0. 1. ]] SLAMing on 77.10241403699999 meters Centerline goodness [0,1] 0.6986259674754327 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:-0.35 [[ 0.99865193 -0.04903509 -0.01702566 1.20698732] [ 0.04909318 0.99878967 0.0030102 0.03043963] [ 0.01685745 -0.00384199 0.99985052 -0.3461428 ] [ 0. 0. 0. 1. ]] SLAMing on 77.13241403699999 meters Centerline goodness [0,1] 0.7163159154715011 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:-0.35 [[ 0.99865335 -0.04897276 -0.01712189 1.20734991] [ 0.04903124 0.9987927 0.00301253 0.03084234] [ 0.01695368 -0.00384798 0.99984887 -0.34635315] [ 0. 0. 0. 1. ]] SLAMing on 77.16241403699999 meters Centerline goodness [0,1] 0.6970246021524155 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:-0.35 [[ 0.99865941 -0.04876657 -0.01735525 1.20806536] [ 0.0488206 0.99880391 0.00270287 0.03311165] [ 0.01720268 -0.00354654 0.99984573 -0.34654998] [ 0. 0. 0. 1. ]] SLAMing on 77.19241403699999 meters Centerline goodness [0,1] 0.6970450875125486 Centerline is valid? [False, False] Translation: X:1.21, Y:0.03, Z:-0.35 [[ 0.9986653 -0.04852695 -0.01768485 1.20899966] [ 0.04857871 0.99881621 0.00250904 0.03488449] [ 0.01754216 -0.0033648 0.99984046 -0.34678609] [ 0. 0. 0. 1. ]] SLAMing on 77.222414037 meters Centerline goodness [0,1] 0.7108699932185593 Centerline is valid? [False, False] Translation: X:1.21, Y:0.04, Z:-0.35 [[ 0.99880472 -0.04558174 -0.01764753 1.2078706 ] [ 0.0456887 0.99893943 0.00570528 0.03518728] [ 0.01736876 -0.00650475 0.99982799 -0.34617933] [ 0. 0. 0. 1. ]] SLAMing on 77.252414037 meters Centerline goodness [0,1] 0.7050915960110706 Centerline is valid? [False, False] Translation: X:1.21, Y:0.04, Z:-0.35 [[ 0.9989525 -0.0422169 -0.01765346 1.20713599] [ 0.04237355 0.99906486 0.00859552 0.0374834 ] [ 0.01727407 -0.00933455 0.99980722 -0.3457321 ] [ 0. 0. 0. 1. ]] SLAMing on 77.282414037 meters Centerline goodness [0,1] 0.7154055597031312 Centerline is valid? [False, False] Translation: X:1.21, Y:0.04, Z:-0.35 [[ 0.99896419 -0.04182505 -0.01792237 1.20803913] [ 0.04197933 0.99908384 0.00832013 0.03918403] [ 0.01755796 -0.00906388 0.99980476 -0.34598625] [ 0. 0. 0. 1. ]] SLAMing on 77.312414037 meters Centerline goodness [0,1] 0.7154055597031312 Centerline is valid? [False, False] Translation: X:1.21, Y:0.04, Z:-0.35 [[ 0.99896419 -0.04182505 -0.01792237 1.20803913] [ 0.04197933 0.99908384 0.00832013 0.03918403] [ 0.01755796 -0.00906388 0.99980476 -0.34598625] [ 0. 0. 0. 1. ]] SLAMing on 77.342414037 meters Centerline goodness [0,1] 0.7449825768603061 Centerline is valid? [False, False] Translation: X:1.21, Y:0.04, Z:-0.35 [[ 0.99911383 -0.03799117 -0.01811675 1.20840777] [ 0.03820557 0.99920211 0.01163913 0.04051889] [ 0.01766011 -0.01232098 0.99976813 -0.3463822 ] [ 0. 0. 0. 1. ]] SLAMing on 77.37241403699998 meters Centerline goodness [0,1] 0.7446182233547141 Centerline is valid? [False, False] Translation: X:1.21, Y:0.04, Z:-0.35 [[ 0.9991256 -0.03763841 -0.0182039 1.20891786] [ 0.03784635 0.99922062 0.01121633 0.04269753] [ 0.01776755 -0.01189548 0.99977138 -0.34647128] [ 0. 0. 0. 1. ]] SLAMing on 77.40241403699999 meters Centerline goodness [0,1] 0.7544729420059932 Centerline is valid? [False, False] Translation: X:1.21, Y:0.05, Z:-0.35 [[ 0.99913146 -0.03740712 -0.01835868 1.20914645] [ 0.03760651 0.99923599 0.01063877 0.04531991] [ 0.01794669 -0.01131993 0.99977486 -0.34608745] [ 0. 0. 0. 1. ]] SLAMing on 77.43241403699999 meters Centerline goodness [0,1] 0.7563397023861935 Centerline is valid? [False, False] Translation: X:1.21, Y:0.05, Z:-0.35 [[ 0.99913458 -0.03721912 -0.01856964 1.20928316] [ 0.03740823 0.99925061 0.00994217 0.04808635] [ 0.01818568 -0.01062822 0.99977814 -0.34536918] [ 0. 0. 0. 1. ]] SLAMing on 77.46241403699999 meters Centerline goodness [0,1] 0.7496642965637177 Centerline is valid? [False, False] Translation: X:1.21, Y:0.05, Z:-0.34 [[ 0.99917397 -0.03618862 -0.01848695 1.20929139] [ 0.03637064 0.99929219 0.00960665 0.05198275] [ 0.01812622 -0.0102711 0.99978295 -0.34482682] [ 0. 0. 0. 1. ]] SLAMing on 77.49241403699999 meters Centerline goodness [0,1] 0.7472094259390503 Centerline is valid? [False, False] Translation: X:1.21, Y:0.05, Z:-0.35 [[ 0.99917622 -0.03601772 -0.0186978 1.20997746] [ 0.03619734 0.99930084 0.00935866 0.05336831] [ 0.01834765 -0.01002776 0.99978138 -0.3450516 ] [ 0. 0. 0. 1. ]] SLAMing on 77.52241403699999 meters Centerline goodness [0,1] 0.7628653218826975 Centerline is valid? [False, False] Translation: X:1.21, Y:0.05, Z:-0.35 [[ 0.99918668 -0.03555912 -0.01901364 1.21145806] [ 0.03574111 0.99931764 0.00931855 0.05467105] [ 0.01866931 -0.00999054 0.9997758 -0.34603315] [ 0. 0. 0. 1. ]] SLAMing on 77.55241403699999 meters Centerline goodness [0,1] 0.7626133818278592 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.35 [[ 0.99918705 -0.03552659 -0.01905498 1.21190605] [ 0.03570766 0.99931949 0.00924771 0.05504966] [ 0.01871347 -0.0099206 0.99977567 -0.34650998] [ 0. 0. 0. 1. ]] SLAMing on 77.58241403699999 meters Centerline goodness [0,1] 0.7550614446114402 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.35 [[ 0.99918789 -0.03537872 -0.01928513 1.21286063] [ 0.03556161 0.99932491 0.00922437 0.05567088] [ 0.01894577 -0.00990268 0.99977147 -0.3470618 ] [ 0. 0. 0. 1. ]] SLAMing on 77.612414037 meters Centerline goodness [0,1] 0.7587310761843363 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.35 [[ 0.99917194 -0.03588663 -0.01917224 1.2119716 ] [ 0.03604869 0.9993166 0.00817468 0.05879894] [ 0.01886578 -0.00885905 0.99978278 -0.34607356] [ 0. 0. 0. 1. ]] SLAMing on 77.642414037 meters Centerline goodness [0,1] 0.7566198684912031 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.35 [[ 0.99916484 -0.03607402 -0.01919079 1.21179394] [ 0.03622791 0.99931364 0.0077326 0.06007073] [ 0.01889867 -0.00842138 0.99978594 -0.34563601] [ 0. 0. 0. 1. ]] SLAMing on 77.672414037 meters Centerline goodness [0,1] 0.7588911667706569 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.35 [[ 0.99915696 -0.03627698 -0.01921833 1.2116637 ] [ 0.03642226 0.99931009 0.00726388 0.06114936] [ 0.01894156 -0.00795773 0.99978892 -0.34526437] [ 0. 0. 0. 1. ]] SLAMing on 77.702414037 meters Centerline goodness [0,1] 0.7546753449390367 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.35 [[ 0.99915566 -0.03633122 -0.01918353 1.2118485 ] [ 0.03647658 0.99930797 0.00728257 0.06099567] [ 0.01890567 -0.00797617 0.99978946 -0.34563737] [ 0. 0. 0. 1. ]] SLAMing on 77.732414037 meters Centerline goodness [0,1] 0.7526874540962809 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.35 [[ 0.99915533 -0.03632779 -0.01920721 1.21225624] [ 0.03647437 0.99930766 0.00733692 0.06117433] [ 0.01892738 -0.00803129 0.9997886 -0.34614074] [ 0. 0. 0. 1. ]] SLAMing on 77.76241403699999 meters Centerline goodness [0,1] 0.7567386498135287 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.35 [[ 0.99915053 -0.03643915 -0.01924608 1.21251879] [ 0.03658199 0.99930528 0.0071221 0.06200212] [ 0.01897318 -0.00782011 0.99978941 -0.34639276] [ 0. 0. 0. 1. ]] SLAMing on 77.79241403699999 meters Centerline goodness [0,1] 0.7526852906366539 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.35 [[ 0.99914963 -0.03647476 -0.01922526 1.21278293] [ 0.0366175 0.99930395 0.00712596 0.0624216 ] [ 0.01895196 -0.00782388 0.99978978 -0.34681904] [ 0. 0. 0. 1. ]] SLAMing on 77.82241403699999 meters Centerline goodness [0,1] 0.7399157134256472 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.35 [[ 0.99914905 -0.03646606 -0.01927187 1.21328788] [ 0.03660783 0.9993048 0.00705531 0.06341417] [ 0.01900119 -0.0077548 0.99978939 -0.3473833 ] [ 0. 0. 0. 1. ]] SLAMing on 77.85241403699999 meters Centerline goodness [0,1] 0.7490216248853904 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.35 [[ 0.9991427 -0.03660664 -0.0193344 1.21327919] [ 0.0367443 0.99930148 0.0068131 0.06400721] [ 0.01907149 -0.00751769 0.99978986 -0.34719287] [ 0. 0. 0. 1. ]] SLAMing on 77.88241403699999 meters Centerline goodness [0,1] 0.7462482946793998 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.35 [[ 0.99913892 -0.03676216 -0.01923465 1.21315762] [ 0.03689786 0.99929626 0.00674786 0.06421863] [ 0.01897305 -0.00745177 0.99979223 -0.34736895] [ 0. 0. 0. 1. ]] SLAMing on 77.91241403699999 meters Centerline goodness [0,1] 0.7243031261837385 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.35 [[ 0.99912824 -0.03703831 -0.01925915 1.21337766] [ 0.03717657 0.99928509 0.00687087 0.06275514] [ 0.0189909 -0.00758087 0.99979092 -0.34775808] [ 0. 0. 0. 1. ]] SLAMing on 77.94241403699999 meters Centerline goodness [0,1] 0.7483436321859593 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.35 [[ 0.99912514 -0.03717989 -0.01914691 1.21335148] [ 0.03732167 0.99927807 0.0071011 0.06143449] [ 0.01886907 -0.00780949 0.99979146 -0.34812228] [ 0. 0. 0. 1. ]] SLAMing on 77.972414037 meters Centerline goodness [0,1] 0.7495653336899826 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.35 [[ 0.99911555 -0.03757067 -0.01888298 1.21308809] [ 0.03771424 0.99926186 0.00730541 0.06015244] [ 0.01859457 -0.0080111 0.99979501 -0.34871154] [ 0. 0. 0. 1. ]] SLAMing on 78.002414037 meters Centerline goodness [0,1] 0.7398250624776865 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.35 [[ 0.99910774 -0.03784837 -0.01874111 1.212782 ] [ 0.0379897 0.99925188 0.00724306 0.06030192] [ 0.01845295 -0.00794857 0.99979813 -0.34878287] [ 0. 0. 0. 1. ]] SLAMing on 78.032414037 meters Centerline goodness [0,1] 0.6939930903822579 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.35 [[ 0.99908922 -0.03849373 -0.01841082 1.21198756] [ 0.03863185 0.99922753 0.0072062 0.05985037] [ 0.01811921 -0.00791088 0.99980454 -0.34884227] [ 0. 0. 0. 1. ]] SLAMing on 78.062414037 meters Centerline goodness [0,1] 0.7361157559137628 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.35 [[ 0.99908045 -0.03880243 -0.01823798 1.21151453] [ 0.03894018 0.99921518 0.00725923 0.05883224] [ 0.01794199 -0.00796274 0.99980732 -0.34876674] [ 0. 0. 0. 1. ]] SLAMing on 78.092414037 meters Centerline goodness [0,1] 0.7308136180034622 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.35 [[ 0.99902871 -0.0401991 -0.01804629 1.21245713] [ 0.04030927 0.99917052 0.00578307 0.05811692] [ 0.01779884 -0.00650488 0.99982043 -0.34971997] [ 0. 0. 0. 1. ]] SLAMing on 78.12241403699998 meters Centerline goodness [0,1] 0.6971516585561855 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.35 [[ 0.99894661 -0.04242471 -0.01748754 1.21061484] [ 0.04250129 0.99908828 0.00403061 0.05565088] [ 0.0173006 -0.00476961 0.99983896 -0.34867819] [ 0. 0. 0. 1. ]] SLAMing on 78.15241403699999 meters Centerline goodness [0,1] 0.7103009053790166 Centerline is valid? [False, False] Translation: X:1.21, Y:0.05, Z:-0.35 [[ 0.99893891 -0.04262071 -0.01745093 1.2105356 ] [ 0.04270156 0.99907868 0.00428665 0.05429809] [ 0.01725215 -0.00502728 0.99983853 -0.34879035] [ 0. 0. 0. 1. ]] SLAMing on 78.18241403699999 meters Centerline goodness [0,1] 0.7083546215874004 Centerline is valid? [False, False] Translation: X:1.21, Y:0.05, Z:-0.35 [[ 0.99891744 -0.04323242 -0.01717259 1.20967193] [ 0.04331214 0.99905234 0.00429781 0.05399951] [ 0.01697051 -0.00503694 0.9998433 -0.34869591] [ 0. 0. 0. 1. ]] SLAMing on 78.21241403699999 meters Centerline goodness [0,1] 0.6836183318138356 Centerline is valid? [False, False] Translation: X:1.21, Y:0.05, Z:-0.35 [[ 0.99890569 -0.04356465 -0.01701608 1.20917609] [ 0.04364164 0.99903851 0.00417953 0.05448431] [ 0.01681764 -0.00491756 0.99984648 -0.34857349] [ 0. 0. 0. 1. ]] SLAMing on 78.24241403699999 meters Centerline goodness [0,1] 0.6852881024364219 Centerline is valid? [False, False] Translation: X:1.21, Y:0.05, Z:-0.35 [[ 0.99889325 -0.04388009 -0.0169354 1.20888043] [ 0.04395431 0.99902539 0.00403503 0.05459844] [ 0.01674183 -0.00477495 0.99984844 -0.34846817] [ 0. 0. 0. 1. ]] SLAMing on 78.27241403699999 meters Centerline goodness [0,1] 0.6719513278266276 Centerline is valid? [False, False] Translation: X:1.21, Y:0.05, Z:-0.35 [[ 0.99885199 -0.04489298 -0.01671269 1.20793797] [ 0.04496228 0.99898148 0.00379405 0.05230424] [ 0.01652534 -0.00454113 0.99985313 -0.34810459] [ 0. 0. 0. 1. ]] SLAMing on 78.30241403699999 meters Centerline goodness [0,1] 0.7040773341019444 Centerline is valid? [False, False] Translation: X:1.21, Y:0.05, Z:-0.35 [[ 0.99883872 -0.0452721 -0.01648166 1.20769272] [ 0.04534428 0.99896328 0.00403168 0.05054282] [ 0.01628205 -0.00477435 0.99985604 -0.3486095 ] [ 0. 0. 0. 1. ]] SLAMing on 78.33241403699999 meters Centerline goodness [0,1] 0.6691599156586394 Centerline is valid? [False, False] Translation: X:1.21, Y:0.05, Z:-0.35 [[ 0.99878735 -0.04649004 -0.01620203 1.20705461] [ 0.04655784 0.99890824 0.00383288 0.04908848] [ 0.01600615 -0.00458257 0.99986139 -0.34905221] [ 0. 0. 0. 1. ]] SLAMing on 78.362414037 meters Centerline goodness [0,1] 0.6757524638195862 Centerline is valid? [False, False] Translation: X:1.21, Y:0.05, Z:-0.35 [[ 0.99877045 -0.04694754 -0.01592247 1.20645866] [ 0.0470117 0.99888756 0.00367943 0.04950916] [ 0.01573202 -0.00442344 0.99986646 -0.34913845] [ 0. 0. 0. 1. ]] SLAMing on 78.392414037 meters Centerline goodness [0,1] 0.6702127659574468 Centerline is valid? [False, False] Translation: X:1.21, Y:0.05, Z:-0.35 [[ 0.99875009 -0.04742946 -0.01577017 1.2058033 ] [ 0.04748709 0.9988664 0.00330018 0.05048285] [ 0.01559576 -0.00404493 0.9998702 -0.3487751 ] [ 0. 0. 0. 1. ]] SLAMing on 78.422414037 meters Centerline goodness [0,1] 0.6564458072257032 Centerline is valid? [False, False] Translation: X:1.20, Y:0.05, Z:-0.35 [[ 0.99872673 -0.0480168 -0.01546926 1.20479015] [ 0.04806768 0.99883977 0.00293407 0.051323 ] [ 0.01531043 -0.0036739 0.99987604 -0.34836904] [ 0. 0. 0. 1. ]] SLAMing on 78.452414037 meters Centerline goodness [0,1] 0.6731115008102289 Centerline is valid? [False, False] Translation: X:1.20, Y:0.05, Z:-0.35 [[ 0.99871672 -0.04828811 -0.01527006 1.20429791] [ 0.04833738 0.99882693 0.00287455 0.05080524] [ 0.01511334 -0.00360898 0.99987927 -0.34830491] [ 0. 0. 0. 1. ]] SLAMing on 78.482414037 meters Centerline goodness [0,1] 0.6506729340812842 Centerline is valid? [False, False] Translation: X:1.20, Y:0.05, Z:-0.35 [[ 0.99870597 -0.04856818 -0.01508354 1.20382746] [ 0.04861635 0.99881348 0.00284332 0.04995779] [ 0.01492755 -0.00357294 0.99988219 -0.34819395] [ 0. 0. 0. 1. ]] SLAMing on 78.51241403699999 meters Centerline goodness [0,1] 0.6619780804898612 Centerline is valid? [False, False] Translation: X:1.20, Y:0.05, Z:-0.35 [[ 0.99870423 -0.04860626 -0.01507612 1.20380199] [ 0.04865261 0.99881205 0.00272246 0.05057454] [ 0.01492589 -0.00345242 0.99988264 -0.34815852] [ 0. 0. 0. 1. ]] SLAMing on 78.54241403699999 meters Centerline goodness [0,1] 0.648706085493547 Centerline is valid? [False, False] Translation: X:1.20, Y:0.05, Z:-0.35 [[ 0.9987072 -0.04844667 -0.01538971 1.2046767 ] [ 0.04849262 0.99882009 0.00262633 0.05186061] [ 0.01524432 -0.00336922 0.99987812 -0.34839384] [ 0. 0. 0. 1. ]] SLAMing on 78.57241403699999 meters Centerline goodness [0,1] 0.6482107134918871 Centerline is valid? [False, False] Translation: X:1.20, Y:0.05, Z:-0.35 [[ 0.99885888 -0.04528675 -0.01516721 1.20374082] [ 0.04538237 0.99895155 0.00602073 0.05307326] [ 0.01487865 -0.00670219 0.99986684 -0.34862327] [ 0. 0. 0. 1. ]] SLAMing on 78.60241403699999 meters Centerline goodness [0,1] 0.6592551417454141 Centerline is valid? [False, False] Translation: X:1.20, Y:0.05, Z:-0.35 [[ 0.99886592 -0.04508796 -0.01529565 1.20443011] [ 0.04518135 0.99896187 0.00581581 0.05420254] [ 0.01501754 -0.00650029 0.9998661 -0.34907901] [ 0. 0. 0. 1. ]] SLAMing on 78.63241403699999 meters Centerline goodness [0,1] 0.6603404595759812 Centerline is valid? [False, False] Translation: X:1.20, Y:0.05, Z:-0.35 [[ 0.99886638 -0.04508526 -0.015273 1.20455529] [ 0.04517814 0.99896215 0.00579215 0.05409959] [ 0.01499601 -0.00647559 0.99986658 -0.34926867] [ 0. 0. 0. 1. ]] SLAMing on 78.66241403699999 meters Centerline goodness [0,1] 0.663786017372759 Centerline is valid? [False, False] Translation: X:1.20, Y:0.05, Z:-0.35 [[ 0.99887005 -0.04501214 -0.01524923 1.20471406] [ 0.04510646 0.99896477 0.0058983 0.05380545] [ 0.01496795 -0.00657947 0.99986633 -0.3495358 ] [ 0. 0. 0. 1. ]] SLAMing on 78.69241403699999 meters Centerline goodness [0,1] 0.6507058587390442 Centerline is valid? [False, False] Translation: X:1.20, Y:0.05, Z:-0.35 [[ 0.99886707 -0.04511251 -0.01514724 1.20461824] [ 0.04520474 0.99896089 0.0058029 0.05449214] [ 0.01486972 -0.00648106 0.99986843 -0.34974244] [ 0. 0. 0. 1. ]] SLAMing on 78.722414037 meters Centerline goodness [0,1] 0.6488658370990361 Centerline is valid? [False, False] Translation: X:1.20, Y:0.06, Z:-0.35 [[ 0.99886453 -0.04516667 -0.01515326 1.20454749] [ 0.04525197 0.99896137 0.00533389 0.05729766] [ 0.01489661 -0.00601355 0.99987096 -0.34950717] [ 0. 0. 0. 1. ]] SLAMing on 78.752414037 meters Centerline goodness [0,1] 0.6709621419509915 Centerline is valid? [False, False] Translation: X:1.20, Y:0.06, Z:-0.35 [[ 0.9988601 -0.04522396 -0.01527415 1.20468446] [ 0.0453048 0.99896076 0.00498835 0.05895212] [ 0.01503268 -0.00567466 0.9998709 -0.34929491] [ 0. 0. 0. 1. ]] SLAMing on 78.782414037 meters Centerline goodness [0,1] 0.6672981767931172 Centerline is valid? [False, False] Translation: X:1.20, Y:0.06, Z:-0.35 [[ 0.99886242 -0.04515479 -0.015327 1.2048484 ] [ 0.04523396 0.99896461 0.00485862 0.05987382] [ 0.01509174 -0.00554639 0.99987073 -0.3493191 ] [ 0. 0. 0. 1. ]] SLAMing on 78.812414037 meters Centerline goodness [0,1] 0.6407639337686359 Centerline is valid? [False, False] Translation: X:1.20, Y:0.06, Z:-0.35 [[ 0.9988565 -0.04530931 -0.01525659 1.20485428] [ 0.04538433 0.99895897 0.00460752 0.06036138] [ 0.01503195 -0.00529466 0.999873 -0.34957544] [ 0. 0. 0. 1. ]] SLAMing on 78.842414037 meters Centerline goodness [0,1] 0.6424032995206778 Centerline is valid? [False, False] Translation: X:1.20, Y:0.06, Z:-0.35 [[ 0.99885329 -0.04540205 -0.01519064 1.20496216] [ 0.04547627 0.99895494 0.00457628 0.06037929] [ 0.01496699 -0.00526185 0.99987414 -0.34996574] [ 0. 0. 0. 1. ]] SLAMing on 78.87241403699998 meters Centerline goodness [0,1] 0.6572884902174638 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.35 [[ 0.99884361 -0.04563298 -0.01513513 1.20505607] [ 0.04569972 0.99894684 0.00409306 0.06212882] [ 0.01493241 -0.00478 0.99987708 -0.35023773] [ 0. 0. 0. 1. ]] SLAMing on 78.90241403699999 meters Centerline goodness [0,1] 0.6609196685798513 Centerline is valid? [False, False] Translation: X:1.20, Y:0.06, Z:-0.35 [[ 0.99883733 -0.04576648 -0.01514637 1.20487097] [ 0.04582677 0.9989427 0.00365776 0.06352273] [ 0.01496295 -0.00434762 0.9998786 -0.34984971] [ 0. 0. 0. 1. ]] SLAMing on 78.93241403699999 meters Centerline goodness [0,1] 0.6583104931256546 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.35 [[ 0.99884257 -0.04562311 -0.01523316 1.205295 ] [ 0.04568363 0.99894929 0.00364905 0.06453137] [ 0.01505067 -0.00434073 0.99987731 -0.35011152] [ 0. 0. 0. 1. ]] SLAMing on 78.96241403699999 meters Centerline goodness [0,1] 0.6577829450431516 Centerline is valid? [False, False] Translation: X:1.21, Y:0.07, Z:-0.35 [[ 0.99885884 -0.04518904 -0.01545872 1.2064398 ] [ 0.04525018 0.9989691 0.00362832 0.06612386] [ 0.01527883 -0.00432369 0.99987392 -0.35086689] [ 0. 0. 0. 1. ]] SLAMing on 78.99241403699999 meters Centerline goodness [0,1] 0.6597424086579312 Centerline is valid? [False, False] Translation: X:1.21, Y:0.07, Z:-0.35 [[ 0.99886916 -0.04490409 -0.01562137 1.20728647] [ 0.04496768 0.99898143 0.00374336 0.06688555] [ 0.01543737 -0.00444159 0.99987097 -0.35152073] [ 0. 0. 0. 1. ]] SLAMing on 79.02241403699999 meters Centerline goodness [0,1] 0.6604690755135414 Centerline is valid? [False, False] Translation: X:1.21, Y:0.07, Z:-0.35 [[ 0.99901154 -0.04168324 -0.01544208 1.20612717] [ 0.04179608 0.99910123 0.00705793 0.06736267] [ 0.015134 -0.00769638 0.99985585 -0.35116534] [ 0. 0. 0. 1. ]] SLAMing on 79.05241403699999 meters Centerline goodness [0,1] 0.6624809741248097 Centerline is valid? [False, False] Translation: X:1.21, Y:0.07, Z:-0.35 [[ 0.99902018 -0.04140325 -0.01563498 1.2067708 ] [ 0.04151584 0.99911369 0.00694693 0.06863467] [ 0.0153335 -0.00758923 0.99985363 -0.35134862] [ 0. 0. 0. 1. ]] SLAMing on 79.08241403699999 meters Centerline goodness [0,1] 0.6737762394929654 Centerline is valid? [False, False] Translation: X:1.21, Y:0.07, Z:-0.35 [[ 0.99902878 -0.04108761 -0.01591584 1.20764966] [ 0.04119961 0.99912797 0.00677388 0.07025061] [ 0.01562364 -0.00742303 0.99985039 -0.35163318] [ 0. 0. 0. 1. ]] SLAMing on 79.112414037 meters Centerline goodness [0,1] 0.6603352710558335 Centerline is valid? [False, False] Translation: X:1.21, Y:0.07, Z:-0.35 [[ 0.99916816 -0.0375495 -0.01590693 1.20715112] [ 0.03770987 0.99923964 0.00990496 0.07282866] [ 0.01552291 -0.01049657 0.99982442 -0.35152822] [ 0. 0. 0. 1. ]] SLAMing on 79.142414037 meters Centerline goodness [0,1] 0.679686969895732 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.35 [[ 0.99916497 -0.03758215 -0.01602945 1.20730404] [ 0.03773368 0.99924494 0.00925802 0.07514271] [ 0.01566941 -0.00985514 0.99982866 -0.3512442 ] [ 0. 0. 0. 1. ]] SLAMing on 79.172414037 meters Centerline goodness [0,1] 0.6633974373460487 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.35 [[ 0.99917196 -0.03727426 -0.01631006 1.20820906] [ 0.03742648 0.99925768 0.00912936 0.0762934 ] [ 0.01595766 -0.00973223 0.9998253 -0.35148207] [ 0. 0. 0. 1. ]] SLAMing on 79.202414037 meters Centerline goodness [0,1] 0.6931985252538961 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.35 [[ 0.99917 -0.03731599 -0.01633477 1.20824885] [ 0.03746103 0.99926052 0.00866457 0.07763007] [ 0.01599937 -0.0092693 0.99982904 -0.35130551] [ 0. 0. 0. 1. ]] SLAMing on 79.232414037 meters Centerline goodness [0,1] 0.6931985252538961 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.35 [[ 0.99917 -0.03731599 -0.01633477 1.20824885] [ 0.03746103 0.99926052 0.00866457 0.07763007] [ 0.01599937 -0.0092693 0.99982904 -0.35130551] [ 0. 0. 0. 1. ]] SLAMing on 79.26241403699999 meters Centerline goodness [0,1] 0.6905150896301339 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.35 [[ 0.99916533 -0.03740178 -0.01642419 1.20812948] [ 0.03753431 0.99926461 0.00783636 0.08012449] [ 0.01611902 -0.00844629 0.9998344 -0.35061881] [ 0. 0. 0. 1. ]] SLAMing on 79.29241403699999 meters Centerline goodness [0,1] 0.6893239161537937 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.35 [[ 0.99916143 -0.03747592 -0.0164921 1.2082412 ] [ 0.03760292 0.99926493 0.0074585 0.08155441] [ 0.01620047 -0.0080724 0.99983618 -0.35048388] [ 0. 0. 0. 1. ]] SLAMing on 79.32241403699999 meters Centerline goodness [0,1] 0.6708814700263804 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.35 [[ 0.99917431 -0.03699456 -0.01679582 1.20969312] [ 0.03712321 0.9992832 0.00741304 0.08397837] [ 0.01650954 -0.00803043 0.99983146 -0.35139661] [ 0. 0. 0. 1. ]] SLAMing on 79.35241403699999 meters Centerline goodness [0,1] 0.6966911344355262 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.35 [[ 0.99917915 -0.03675545 -0.01703128 1.21054648] [ 0.03688681 0.99929157 0.00746404 0.08484528] [ 0.01674487 -0.00808615 0.9998271 -0.35188396] [ 0. 0. 0. 1. ]] SLAMing on 79.38241403699999 meters Centerline goodness [0,1] 0.6970949618599552 Centerline is valid? [False, False] Translation: X:1.21, Y:0.09, Z:-0.35 [[ 0.99918828 -0.03643261 -0.01718875 1.21162533] [ 0.03656876 0.99930167 0.00767407 0.08546247] [ 0.01689716 -0.00829641 0.99982281 -0.35286713] [ 0. 0. 0. 1. ]] SLAMing on 79.41241403699999 meters Centerline goodness [0,1] 0.6950014896981642 Centerline is valid? [False, False] Translation: X:1.21, Y:0.09, Z:-0.35 [[ 0.99920952 -0.03574562 -0.01739484 1.21326094] [ 0.03588876 0.99932387 0.00798689 0.08627048] [ 0.01709759 -0.00860486 0.9998168 -0.35432022] [ 0. 0. 0. 1. ]] SLAMing on 79.44241403699999 meters Centerline goodness [0,1] 0.6939697685620569 Centerline is valid? [False, False] Translation: X:1.21, Y:0.09, Z:-0.35 [[ 0.99921561 -0.03550773 -0.01753185 1.2140166 ] [ 0.0356516 0.99933256 0.0079628 0.08727563] [ 0.01723741 -0.0085816 0.9998146 -0.35487453] [ 0. 0. 0. 1. ]] SLAMing on 79.472414037 meters Centerline goodness [0,1] 0.7215047079678615 Centerline is valid? [False, False] Translation: X:1.21, Y:0.09, Z:-0.35 [[ 0.99921981 -0.03532327 -0.01766471 1.21446825] [ 0.03546411 0.9993411 0.00772441 0.08867647] [ 0.01738022 -0.00834485 0.99981413 -0.35494606] [ 0. 0. 0. 1. ]] SLAMing on 79.502414037 meters Centerline goodness [0,1] 0.7191665707378843 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.35 [[ 0.99923949 -0.03456615 -0.01804493 1.21566708] [ 0.0347039 0.99937041 0.00737722 0.09139585] [ 0.01777856 -0.00799783 0.99980996 -0.35487575] [ 0. 0. 0. 1. ]] SLAMing on 79.532414037 meters Centerline goodness [0,1] 0.6943214318664084 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.35 [[ 0.9992405 -0.03444413 -0.01822128 1.21577182] [ 0.03457582 0.99937783 0.00696207 0.09286974] [ 0.01797014 -0.00758679 0.99980974 -0.35428662] [ 0. 0. 0. 1. ]] SLAMing on 79.562414037 meters Centerline goodness [0,1] 0.7038584986260882 Centerline is valid? [False, False] Translation: X:1.22, Y:0.10, Z:-0.35 [[ 0.9992777 -0.03318232 -0.01852065 1.21703326] [ 0.03331845 0.99941963 0.00709097 0.09529941] [ 0.01827461 -0.00770292 0.99980333 -0.35440844] [ 0. 0. 0. 1. ]] SLAMing on 79.592414037 meters Centerline goodness [0,1] 0.736375422512386 Centerline is valid? [False, False] Translation: X:1.22, Y:0.10, Z:-0.35 [[ 0.99928287 -0.0329026 -0.01873914 1.21768903] [ 0.03303765 0.99942999 0.00694335 0.09640495] [ 0.01850001 -0.00755747 0.9998003 -0.35448468] [ 0. 0. 0. 1. ]] SLAMing on 79.62241403699998 meters Centerline goodness [0,1] 0.7385250846985659 Centerline is valid? [False, False] Translation: X:1.22, Y:0.10, Z:-0.35 [[ 0.99929557 -0.03229837 -0.01910942 1.21898391] [ 0.03243365 0.99945068 0.00681187 0.09820748] [ 0.01887891 -0.00742686 0.99979419 -0.35481826] [ 0. 0. 0. 1. ]] SLAMing on 79.65241403699999 meters Centerline goodness [0,1] 0.756191319339282 Centerline is valid? [False, False] Translation: X:1.22, Y:0.10, Z:-0.35 [[ 0.99929701 -0.03213247 -0.0193132 1.21943616] [ 0.03226493 0.99945765 0.00658672 0.09929327] [ 0.01909108 -0.00720523 0.99979179 -0.354679 ] [ 0. 0. 0. 1. ]] SLAMing on 79.68241403699999 meters Centerline goodness [0,1] 0.7559683554642832 Centerline is valid? [False, False] Translation: X:1.22, Y:0.10, Z:-0.35 [[ 0.999298 -0.03201663 -0.01945372 1.219745 ] [ 0.03214493 0.99946324 0.00631884 0.10046056] [ 0.01924097 -0.00693975 0.99979079 -0.35449567] [ 0. 0. 0. 1. ]] SLAMing on 79.71241403699999 meters Centerline goodness [0,1] 0.7634555971102697 Centerline is valid? [False, False] Translation: X:1.22, Y:0.10, Z:-0.35 [[ 0.9993116 -0.03134679 -0.01984197 1.22106396] [ 0.0314781 0.99948433 0.00634035 0.10146236] [ 0.01963299 -0.00696057 0.99978302 -0.35471259] [ 0. 0. 0. 1. ]] SLAMing on 79.74241403699999 meters Centerline goodness [0,1] 0.7622234139289794 Centerline is valid? [False, False] Translation: X:1.22, Y:0.10, Z:-0.36 [[ 0.99933138 -0.03049015 -0.02017801 1.22237102] [ 0.03063086 0.9995083 0.00670145 0.10153967] [ 0.01996376 -0.00731504 0.99977394 -0.35515171] [ 0. 0. 0. 1. ]] SLAMing on 79.77241403699999 meters Centerline goodness [0,1] 0.7665866001259299 Centerline is valid? [False, False] Translation: X:1.22, Y:0.10, Z:-0.36 [[ 0.99934025 -0.03009431 -0.02033207 1.22316429] [ 0.03023936 0.99951911 0.00686482 0.1020154 ] [ 0.0201157 -0.00747512 0.99976971 -0.35568031] [ 0. 0. 0. 1. ]] SLAMing on 79.80241403699999 meters Centerline goodness [0,1] 0.772936583997569 Centerline is valid? [False, False] Translation: X:1.22, Y:0.10, Z:-0.36 [[ 0.99945395 -0.02605351 -0.02032262 1.22286291] [ 0.02628003 0.99959454 0.01095963 0.10159321] [ 0.02002884 -0.01148773 0.9997334 -0.35575701] [ 0. 0. 0. 1. ]] SLAMing on 79.83241403699999 meters Centerline goodness [0,1] 0.7739026840150436 Centerline is valid? [False, False] Translation: X:1.22, Y:0.10, Z:-0.36 [[ 0.99947113 -0.02520038 -0.02055264 1.22340256] [ 0.02543044 0.99961596 0.01101031 0.10241259] [ 0.02026729 -0.01152715 0.99972814 -0.35516473] [ 0. 0. 0. 1. ]] SLAMing on 79.862414037 meters Centerline goodness [0,1] 0.7739026840150436 Centerline is valid? [False, False] Translation: X:1.22, Y:0.10, Z:-0.36 [[ 0.99947113 -0.02520038 -0.02055264 1.22340256] [ 0.02543044 0.99961596 0.01101031 0.10241259] [ 0.02026729 -0.01152715 0.99972814 -0.35516473] [ 0. 0. 0. 1. ]] SLAMing on 79.892414037 meters Centerline goodness [0,1] 0.7751461304652794 Centerline is valid? [False, False] Translation: X:1.22, Y:0.10, Z:-0.35 [[ 0.99947739 -0.02491546 -0.02059523 1.22332415] [ 0.02514854 0.99962169 0.01113683 0.10179892] [ 0.02030996 -0.01164895 0.99972587 -0.35470216] [ 0. 0. 0. 1. ]] SLAMing on 79.922414037 meters Centerline goodness [0,1] 0.7735338696513933 Centerline is valid? [False, False] Translation: X:1.22, Y:0.10, Z:-0.35 [[ 0.9994867 -0.02440099 -0.02075897 1.22330576] [ 0.0246425 0.99963065 0.01145878 0.10009383] [ 0.0204717 -0.01196445 0.99971884 -0.35387544] [ 0. 0. 0. 1. ]] SLAMing on 79.952414037 meters Centerline goodness [0,1] 0.7735338696513933 Centerline is valid? [False, False] Translation: X:1.22, Y:0.10, Z:-0.35 [[ 0.9994867 -0.02440099 -0.02075897 1.22330576] [ 0.0246425 0.99963065 0.01145878 0.10009383] [ 0.0204717 -0.01196445 0.99971884 -0.35387544] [ 0. 0. 0. 1. ]] SLAMing on 79.982414037 meters Centerline goodness [0,1] 0.77773377440246 Centerline is valid? [False, False] Translation: X:1.22, Y:0.10, Z:-0.35 [[ 0.99948922 -0.0242577 -0.02080559 1.22294727] [ 0.02450571 0.99963065 0.011749 0.09847721] [ 0.0205129 -0.01225286 0.9997145 -0.35316864] [ 0. 0. 0. 1. ]] SLAMing on 80.01241403699999 meters Centerline goodness [0,1] 0.7763261706966167 Centerline is valid? [False, False] Translation: X:1.22, Y:0.10, Z:-0.35 [[ 0.99948484 -0.02432629 -0.02093542 1.22272223] [ 0.02458287 0.99962473 0.0120868 0.09632478] [ 0.02063354 -0.01259523 0.99970777 -0.35257811] [ 0. 0. 0. 1. ]] SLAMing on 80.04241403699999 meters Centerline goodness [0,1] 0.7754431434257416 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.35 [[ 0.99948588 -0.02418509 -0.02104882 1.22296738] [ 0.02445005 0.99962386 0.01242289 0.09484129] [ 0.02074046 -0.01293115 0.99970126 -0.35258246] [ 0. 0. 0. 1. ]] SLAMing on 80.07241403699999 meters Centerline goodness [0,1] 0.7743988195421114 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.35 [[ 0.99948621 -0.02405671 -0.02118006 1.22333603] [ 0.02433061 0.9996224 0.01277042 0.0931981 ] [ 0.02086485 -0.01327918 0.99969411 -0.35270738] [ 0. 0. 0. 1. ]] SLAMing on 80.10241403699999 meters Centerline goodness [0,1] 0.7745619667920374 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.35 [[ 0.99949374 -0.02354069 -0.02140341 1.22414969] [ 0.02384089 0.9996194 0.01388059 0.08902207] [ 0.02106851 -0.01438384 0.99967456 -0.35322187] [ 0. 0. 0. 1. ]] SLAMing on 80.13241403699999 meters Centerline goodness [0,1] 0.7734147960000916 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.35 [[ 0.99949745 -0.02327548 -0.02151962 1.22462609] [ 0.02358883 0.99961769 0.01442352 0.08704271] [ 0.02117568 -0.01492389 0.99966438 -0.35350086] [ 0. 0. 0. 1. ]] SLAMing on 80.16241403699999 meters Centerline goodness [0,1] 0.7735982159111596 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.35 [[ 0.9995083 -0.02271242 -0.02161735 1.22510433] [ 0.02305 0.99961419 0.01549722 0.08315379] [ 0.02125703 -0.01598788 0.9996462 -0.35381084] [ 0. 0. 0. 1. ]] SLAMing on 80.19241403699999 meters Centerline goodness [0,1] 0.7764258208581128 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.35 [[ 0.99951193 -0.02236971 -0.02180569 1.2256662 ] [ 0.02272134 0.99961358 0.01601322 0.0815056 ] [ 0.02143905 -0.01650086 0.99963398 -0.35397943] [ 0. 0. 0. 1. ]] SLAMing on 80.222414037 meters Centerline goodness [0,1] 0.7760087092603933 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.35 [[ 0.99951331 -0.02220869 -0.02190711 1.2257814 ] [ 0.02256783 0.99961267 0.01628489 0.08014639] [ 0.02153696 -0.01677136 0.99962737 -0.35377668] [ 0. 0. 0. 1. ]] SLAMing on 80.252414037 meters Centerline goodness [0,1] 0.7766268858365233 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.35 [[ 0.99951665 -0.02199374 -0.02197123 1.22511837] [ 0.02236268 0.99961061 0.01668963 0.07748896] [ 0.02159561 -0.0171729 0.99961929 -0.35249289] [ 0. 0. 0. 1. ]] SLAMing on 80.282414037 meters Centerline goodness [0,1] 0.7763555916745677 Centerline is valid? [False, False] Translation: X:1.22, Y:0.08, Z:-0.35 [[ 0.99951773 -0.02196606 -0.02194986 1.2245615 ] [ 0.02233956 0.99960728 0.01691839 0.07554627] [ 0.02156961 -0.01740058 0.99961591 -0.35172692] [ 0. 0. 0. 1. ]] SLAMing on 80.312414037 meters Centerline goodness [0,1] 0.7768710235831029 Centerline is valid? [False, False] Translation: X:1.22, Y:0.07, Z:-0.35 [[ 0.99951403 -0.02214999 -0.02193371 1.22372503] [ 0.02253423 0.99959414 0.01742903 0.0708292 ] [ 0.02153875 -0.01791482 0.99960749 -0.35061862] [ 0. 0. 0. 1. ]] SLAMing on 80.342414037 meters Centerline goodness [0,1] 0.7772193929060194 Centerline is valid? [False, False] Translation: X:1.22, Y:0.07, Z:-0.35 [[ 0.99951055 -0.02234799 -0.02189145 1.22332542] [ 0.02273671 0.99958529 0.01767177 0.06893904] [ 0.02148744 -0.01816086 0.99960416 -0.35027388] [ 0. 0. 0. 1. ]] SLAMing on 80.37241403699998 meters Centerline goodness [0,1] 0.7767308296316238 Centerline is valid? [False, False] Translation: X:1.22, Y:0.07, Z:-0.35 [[ 0.99950538 -0.02260756 -0.02186082 1.2227425 ] [ 0.02299877 0.99957679 0.01781285 0.06733256] [ 0.02144887 -0.01830681 0.99960232 -0.34966312] [ 0. 0. 0. 1. ]] SLAMing on 80.40241403699999 meters Centerline goodness [0,1] 0.7767532206568577 Centerline is valid? [False, False] Translation: X:1.22, Y:0.06, Z:-0.35 [[ 0.99941809 -0.02592145 -0.02217122 1.22362247] [ 0.02625036 0.99954768 0.01467518 0.06497231] [ 0.02178079 -0.01524864 0.99964648 -0.34935411] [ 0. 0. 0. 1. ]] SLAMing on 80.43241403699999 meters Centerline goodness [0,1] 0.7781262511677566 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.35 [[ 0.99932717 -0.02886301 -0.02263034 1.22585267] [ 0.02913215 0.99950762 0.01165445 0.06386015] [ 0.02228281 -0.01230588 0.99967597 -0.35042267] [ 0. 0. 0. 1. ]] SLAMing on 80.46241403699999 meters Centerline goodness [0,1] 0.7763816301567886 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.35 [[ 0.99933088 -0.02870039 -0.0226733 1.22653456] [ 0.02899071 0.9995005 0.01258104 0.06055776] [ 0.02230089 -0.01322994 0.99966376 -0.35140124] [ 0. 0. 0. 1. ]] SLAMing on 80.49241403699999 meters Centerline goodness [0,1] 0.7771710293597454 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.35 [[ 0.99924121 -0.03151645 -0.02288476 1.22870434] [ 0.03175886 0.99944241 0.01030788 0.05733286] [ 0.02254713 -0.01102685 0.99968497 -0.35320697] [ 0. 0. 0. 1. ]] SLAMing on 80.52241403699999 meters Centerline goodness [0,1] 0.7779423795520375 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.35 [[ 0.99924401 -0.03152179 -0.02275507 1.2284704 ] [ 0.03177254 0.99943739 0.01074331 0.05542183] [ 0.02240362 -0.01145818 0.99968334 -0.35327927] [ 0. 0. 0. 1. ]] SLAMing on 80.55241403699999 meters Centerline goodness [0,1] 0.7766599597585513 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:-0.35 [[ 0.99924276 -0.03166409 -0.02261175 1.22743917] [ 0.03192539 0.99942649 0.0112897 0.05124395] [ 0.02224131 -0.01200304 0.99968057 -0.35228966] [ 0. 0. 0. 1. ]] SLAMing on 80.58241403699999 meters Centerline goodness [0,1] 0.776248152315397 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:-0.35 [[ 0.99924499 -0.03162361 -0.02256971 1.22701869] [ 0.03189124 0.99942405 0.01159815 0.0493851 ] [ 0.02218993 -0.01230917 0.99967799 -0.35180073] [ 0. 0. 0. 1. ]] SLAMing on 80.612414037 meters Centerline goodness [0,1] 0.7765296682965508 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:-0.35 [[ 0.99924887 -0.03155284 -0.02249685 1.22673576] [ 0.03182579 0.99942283 0.0118796 0.04805095] [ 0.02210903 -0.01258666 0.99967633 -0.35151954] [ 0. 0. 0. 1. ]] SLAMing on 80.642414037 meters Centerline goodness [0,1] 0.7787997190271314 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:-0.35 [[ 0.99926129 -0.03104357 -0.02265312 1.22728772] [ 0.03133902 0.99942678 0.0128056 0.04523291] [ 0.0222426 -0.01350607 0.99966137 -0.35174274] [ 0. 0. 0. 1. ]] SLAMing on 80.672414037 meters Centerline goodness [0,1] 0.7808774544179523 Centerline is valid? [False, False] Translation: X:1.23, Y:0.04, Z:-0.35 [[ 0.99926775 -0.03088572 -0.02258398 1.22735434] [ 0.03118811 0.99942686 0.01316241 0.04380684] [ 0.0221645 -0.01385712 0.9996583 -0.3519644 ] [ 0. 0. 0. 1. ]] SLAMing on 80.702414037 meters Centerline goodness [0,1] 0.782053799332417 Centerline is valid? [False, False] Translation: X:1.23, Y:0.04, Z:-0.35 [[ 0.99928077 -0.03036546 -0.02271282 1.22748019] [ 0.03068618 0.9994323 0.01390788 0.04104352] [ 0.02227761 -0.01459485 0.99964529 -0.35161453] [ 0. 0. 0. 1. ]] SLAMing on 80.732414037 meters Centerline goodness [0,1] 0.781005757821223 Centerline is valid? [False, False] Translation: X:1.23, Y:0.04, Z:-0.35 [[ 0.99928616 -0.03018163 -0.02272093 1.22730154] [ 0.03050639 0.99943532 0.01408526 0.04003686] [ 0.02228298 -0.01476834 0.99964262 -0.35122518] [ 0. 0. 0. 1. ]] SLAMing on 80.76241403699999 meters Centerline goodness [0,1] 0.7817642827560651 Centerline is valid? [False, False] Translation: X:1.23, Y:0.04, Z:-0.35 [[ 0.99928592 -0.03016566 -0.02275265 1.22711143] [ 0.03049225 0.99943489 0.01414638 0.0390722 ] [ 0.02231306 -0.01483006 0.99964103 -0.35075133] [ 0. 0. 0. 1. ]] SLAMing on 80.79241403699999 meters Centerline goodness [0,1] 0.7825499847541055 Centerline is valid? [False, False] Translation: X:1.23, Y:0.04, Z:-0.35 [[ 0.99929664 -0.0297412 -0.02284035 1.22708467] [ 0.0300829 0.99943834 0.01476549 0.03661364] [ 0.02238838 -0.01544221 0.99963008 -0.35029994] [ 0. 0. 0. 1. ]] SLAMing on 80.82241403699999 meters Centerline goodness [0,1] 0.7847594165033747 Centerline is valid? [False, False] Translation: X:1.23, Y:0.04, Z:-0.35 [[ 0.99930126 -0.02951063 -0.02293706 1.22737781] [ 0.02985954 0.99944123 0.01502091 0.03576679] [ 0.02248097 -0.01569531 0.99962406 -0.3503054 ] [ 0. 0. 0. 1. ]] SLAMing on 80.85241403699999 meters Centerline goodness [0,1] 0.7881987442699168 Centerline is valid? [False, False] Translation: X:1.23, Y:0.03, Z:-0.35 [[ 0.99931072 -0.02910169 -0.02304738 1.22766947] [ 0.02946546 0.99944399 0.01560439 0.03413434] [ 0.02258045 -0.01627274 0.99961259 -0.35031914] [ 0. 0. 0. 1. ]] SLAMing on 80.88241403699999 meters Centerline goodness [0,1] 0.7875873746363913 Centerline is valid? [False, False] Translation: X:1.23, Y:0.03, Z:-0.35 [[ 0.99931162 -0.02906597 -0.02305333 1.22755939] [ 0.02943626 0.99944037 0.01588882 0.03263492] [ 0.0225786 -0.01655649 0.99960797 -0.35012748] [ 0. 0. 0. 1. ]] SLAMing on 80.91241403699999 meters Centerline goodness [0,1] 0.7884882409094853 Centerline is valid? [False, False] Translation: X:1.23, Y:0.03, Z:-0.35 [[ 0.99930835 -0.02921199 -0.02301026 1.22721359] [ 0.02958665 0.99943233 0.01611369 0.03089442] [ 0.02252649 -0.01678334 0.99960536 -0.3498454 ] [ 0. 0. 0. 1. ]] SLAMing on 80.94241403699999 meters Centerline goodness [0,1] 0.7874739764052741 Centerline is valid? [False, False] Translation: X:1.23, Y:0.03, Z:-0.35 [[ 0.9993014 -0.02950941 -0.02293248 1.22631952] [ 0.02989057 0.99941764 0.01645979 0.02684181] [ 0.02243341 -0.01713376 0.99960151 -0.34882326] [ 0. 0. 0. 1. ]] SLAMing on 80.972414037 meters Centerline goodness [0,1] 0.7868151793809092 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:-0.35 [[ 0.99929601 -0.02984687 -0.02272996 1.22505915] [ 0.03023238 0.99940154 0.01680983 0.02319747] [ 0.02221464 -0.01748518 0.99960031 -0.34768448] [ 0. 0. 0. 1. ]] SLAMing on 81.002414037 meters Centerline goodness [0,1] 0.7909770537141869 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:-0.35 [[ 0.99929183 -0.03002123 -0.02268416 1.22451003] [ 0.03040982 0.9993932 0.01698436 0.02169541] [ 0.02216051 -0.01766216 0.9995984 -0.34705843] [ 0. 0. 0. 1. ]] SLAMing on 81.032414037 meters Centerline goodness [0,1] 0.78740581270183 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:-0.35 [[ 0.99928573 -0.0302008 -0.02271416 1.22427295] [ 0.03059379 0.99938463 0.01715769 0.02032166] [ 0.02218201 -0.01784035 0.99959476 -0.34670857] [ 0. 0. 0. 1. ]] SLAMing on 81.062414037 meters Centerline goodness [0,1] 0.7871425499892496 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:-0.35 [[ 0.99927477 -0.03049923 -0.02279769 1.22414055] [ 0.03089619 0.99937343 0.01726761 0.01892115] [ 0.02225675 -0.01795945 0.99959096 -0.34638364] [ 0. 0. 0. 1. ]] SLAMing on 81.092414037 meters Centerline goodness [0,1] 0.7868243678358305 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:-0.35 [[ 0.99916779 -0.03366549 -0.02302969 1.22573704] [ 0.03400445 0.99931666 0.01448841 0.01628462] [ 0.02252619 -0.01525946 0.99962979 -0.34731154] [ 0. 0. 0. 1. ]] SLAMing on 81.12241403699998 meters Centerline goodness [0,1] 0.7868243678358305 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:-0.35 [[ 0.99916779 -0.03366549 -0.02302969 1.22573704] [ 0.03400445 0.99931666 0.01448841 0.01628462] [ 0.02252619 -0.01525946 0.99962979 -0.34731154] [ 0. 0. 0. 1. ]] SLAMing on 81.15241403699999 meters Centerline goodness [0,1] 0.7859992278985973 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:-0.35 [[ 0.99905281 -0.03678705 -0.0232423 1.22726049] [ 0.03705675 0.99924948 0.01128168 0.01537368] [ 0.02280984 -0.01213228 0.9996662 -0.34809792] [ 0. 0. 0. 1. ]] SLAMing on 81.18241403699999 meters Centerline goodness [0,1] 0.7842177277974943 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:-0.35 [[ 0.99892502 -0.04016244 -0.02314708 1.22807993] [ 0.04037006 0.99914802 0.008573 0.01188797] [ 0.02278304 -0.00949824 0.99969531 -0.34893037] [ 0. 0. 0. 1. ]] SLAMing on 81.21241403699999 meters Centerline goodness [0,1] 0.7835860800376446 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:-0.35 [[ 0.99892353 -0.04027212 -0.02302028 1.2277422 ] [ 0.0404885 0.99913936 0.00901205 0.00975676] [ 0.02263753 -0.00993441 0.99969438 -0.34889164] [ 0. 0. 0. 1. ]] SLAMing on 81.24241403699999 meters Centerline goodness [0,1] 0.785144247183339 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:-0.35 [[ 0.99891875 -0.04048849 -0.0228476 1.22677802] [ 0.04071201 0.99912667 0.00940406 0.00759735] [ 0.02244689 -0.01032406 0.99969473 -0.34809746] [ 0. 0. 0. 1. ]] SLAMing on 81.27241403699999 meters Centerline goodness [0,1] 0.7854841119101987 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:-0.35 [[ 0.998921 -0.04049165 -0.02274344 1.22633372] [ 0.04071709 0.99912519 0.00953802 0.0071535 ] [ 0.02233734 -0.01045378 0.99969583 -0.34772973] [ 0. 0. 0. 1. ]] SLAMing on 81.30241403699999 meters Centerline goodness [0,1] 0.784611447581677 Centerline is valid? [False, False] Translation: X:1.23, Y:0.01, Z:-0.35 [[ 0.9989273 -0.04029463 -0.02281645 1.22572132] [ 0.04052874 0.9991294 0.00989279 0.00532005] [ 0.02239796 -0.0108069 0.99969072 -0.34661736] [ 0. 0. 0. 1. ]] SLAMing on 81.33241403699999 meters Centerline goodness [0,1] 0.7804188971025576 Centerline is valid? [False, False] Translation: X:1.23, Y:0.00, Z:-0.35 [[ 0.99893276 -0.04010295 -0.02291506 1.22596765] [ 0.04034653 0.99913299 0.01026791 0.00380731] [ 0.02248342 -0.01118149 0.99968469 -0.34660279] [ 0. 0. 0. 1. ]] SLAMing on 81.362414037 meters Centerline goodness [0,1] 0.7840502555366269 Centerline is valid? [False, False] Translation: X:1.23, Y:0.00, Z:-0.35 [[ 0.9989383 -0.03992287 -0.02298795 1.22612819] [ 0.04017472 0.99913644 0.0106 0.00255189] [ 0.02254492 -0.01151228 0.99967955 -0.34658273] [ 0. 0. 0. 1. ]] SLAMing on 81.392414037 meters Centerline goodness [0,1] 0.782702081959892 Centerline is valid? [False, False] Translation: X:1.23, Y:0.00, Z:-0.35 [[ 0.99894726 -0.03970219 -0.02298061 1.2264239 ] [ 0.03996038 0.99914195 0.01088692 0.00195449] [ 0.02252866 -0.01179377 0.99967663 -0.34691783] [ 0. 0. 0. 1. ]] SLAMing on 81.422414037 meters Centerline goodness [0,1] 0.7825985240009358 Centerline is valid? [False, False] Translation: X:1.23, Y:0.00, Z:-0.35 [[ 0.99895166 -0.0395729 -0.02301247 1.22623056] [ 0.03983335 0.9991461 0.0109718 0.00200189] [ 0.02255863 -0.01187696 0.99967497 -0.34648307] [ 0. 0. 0. 1. ]] SLAMing on 81.452414037 meters Centerline goodness [0,1] 0.780415745621493 Centerline is valid? [False, False] Translation: X:1.23, Y:0.00, Z:-0.35 [[ 9.98949357e-01 -3.96755824e-02 -2.29353647e-02 1.22579564e+00] [ 3.99414503e-02 9.99138661e-01 1.12523980e-02 3.38697407e-04] [ 2.24691641e-02 -1.21566474e-02 9.99673623e-01 -3.46106631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.482414037 meters Centerline goodness [0,1] 0.7794024157660522 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.00, Z:-0.35 [[ 0.99894882 -0.03962484 -0.02304603 1.22614407] [ 0.03990179 0.99913529 0.0116841 -0.00152608] [ 0.02256312 -0.01259139 0.99966613 -0.34628925] [ 0. 0. 0. 1. ]] SLAMing on 81.51241403699999 meters Centerline goodness [0,1] 0.7801916932907348 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.00, Z:-0.35 [[ 0.99894457 -0.0397927 -0.02294111 1.22589812] [ 0.0400729 0.99912606 0.01188603 -0.0032174 ] [ 0.02244808 -0.0127928 0.99966616 -0.34625835] [ 0. 0. 0. 1. ]] SLAMing on 81.54241403699999 meters Centerline goodness [0,1] 0.7809346506166832 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.00, Z:-0.35 [[ 0.9988679 -0.0415428 -0.02317552 1.22837537] [ 0.04178155 0.99907758 0.00991407 -0.00367237] [ 0.02274229 -0.01087115 0.99968225 -0.34806967] [ 0. 0. 0. 1. ]] SLAMing on 81.57241403699999 meters Centerline goodness [0,1] 0.7902685275527086 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.01, Z:-0.35 [[ 0.99886713 -0.04161649 -0.02307648 1.2281464 ] [ 0.04186429 0.99906958 0.01036107 -0.00564335] [ 0.02262381 -0.01131541 0.99968001 -0.34807357] [ 0. 0. 0. 1. ]] SLAMing on 81.60241403699999 meters Centerline goodness [0,1] 0.7895675434685689 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.01, Z:-0.35 [[ 0.99886862 -0.04158334 -0.02307155 1.22807971] [ 0.04183721 0.99906787 0.01063224 -0.0064937 ] [ 0.02260792 -0.01158546 0.99967728 -0.34799536] [ 0. 0. 0. 1. ]] SLAMing on 81.63241403699999 meters Centerline goodness [0,1] 0.7874554858402578 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.01, Z:-0.35 [[ 0.99885993 -0.04190332 -0.022868 1.22700316] [ 0.04215832 0.99905273 0.01078498 -0.00826349] [ 0.02239441 -0.01173676 0.99968032 -0.34707909] [ 0. 0. 0. 1. ]] SLAMing on 81.66241403699999 meters Centerline goodness [0,1] 0.7877552744398217 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.01, Z:-0.35 [[ 0.99885987 -0.04189395 -0.0228881 1.22717552] [ 0.04215558 0.99904973 0.01106996 -0.00925058] [ 0.02240259 -0.0120222 0.99967674 -0.34722592] [ 0. 0. 0. 1. ]] SLAMing on 81.69241403699999 meters Centerline goodness [0,1] 0.7879955947136563 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.01, Z:-0.35 [[ 0.99885929 -0.04195012 -0.02281013 1.22704432] [ 0.04221559 0.9990448 0.01128394 -0.01029019] [ 0.02231498 -0.01223401 0.99967613 -0.34724688] [ 0. 0. 0. 1. ]] SLAMing on 81.722414037 meters Centerline goodness [0,1] 0.7881183932346723 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.01, Z:-0.35 [[ 0.99870912 -0.04543201 -0.02271639 1.2275646 ] [ 0.0456253 0.99892607 0.0080642 -0.01205005] [ 0.02232563 -0.00909023 0.99970942 -0.34753234] [ 0. 0. 0. 1. ]] SLAMing on 81.752414037 meters Centerline goodness [0,1] 0.7857776276339682 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.01, Z:-0.35 [[ 0.99869577 -0.04585447 -0.02245295 1.22663811] [ 0.04604928 0.99890521 0.00823705 -0.0141416 ] [ 0.02205067 -0.00926025 0.99971397 -0.34703737] [ 0. 0. 0. 1. ]] SLAMing on 81.782414037 meters Centerline goodness [0,1] 0.7842793838362524 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.02, Z:-0.35 [[ 0.99862714 -0.0475475 -0.02197885 1.22429029] [ 0.04772063 0.99883316 0.00742059 -0.01636743] [ 0.02160038 -0.00845925 0.9997309 -0.34531301] [ 0. 0. 0. 1. ]] SLAMing on 81.812414037 meters Centerline goodness [0,1] 0.7637326692974866 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.02, Z:-0.35 [[ 0.99861659 -0.04783913 -0.0218247 1.22378304] [ 0.04801469 0.99881778 0.00759161 -0.01742894] [ 0.02143572 -0.00862901 0.99973299 -0.34511571] [ 0. 0. 0. 1. ]] SLAMing on 81.842414037 meters Centerline goodness [0,1] 0.7540948959103878 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.02, Z:-0.35 [[ 0.99842954 -0.05162235 -0.0217622 1.22484437] [ 0.05172829 0.9986518 0.00433287 -0.01848769] [ 0.02150919 -0.00545179 0.99975379 -0.34616324] [ 0. 0. 0. 1. ]] SLAMing on 81.87241403699998 meters Centerline goodness [0,1] 0.7560842450076644 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.02, Z:-0.35 [[ 0.99841652 -0.05181568 -0.02189956 1.22554213] [ 0.0519352 0.99863832 0.00492436 -0.02115068] [ 0.02161458 -0.00605392 0.99974805 -0.34690876] [ 0. 0. 0. 1. ]] SLAMing on 81.90241403699999 meters Centerline goodness [0,1] 0.7590211617907427 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.02, Z:-0.35 [[ 0.99840765 -0.05206836 -0.02170375 1.22557897] [ 0.05219619 0.99862244 0.00536519 -0.02336796] [ 0.0213945 -0.0064895 0.99975005 -0.34759024] [ 0. 0. 0. 1. ]] SLAMing on 81.93241403699999 meters Centerline goodness [0,1] 0.7404591406908172 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.03, Z:-0.35 [[ 0.99838381 -0.05262972 -0.02144475 1.22518504] [ 0.05276192 0.99859116 0.00564567 -0.02507572] [ 0.02111741 -0.00676801 0.99975409 -0.34800957] [ 0. 0. 0. 1. ]] SLAMing on 81.96241403699999 meters Centerline goodness [0,1] 0.7365985020617689 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.03, Z:-0.35 [[ 0.99838065 -0.05274612 -0.02130551 1.22483737] [ 0.05287895 0.99858455 0.00571965 -0.02517795] [ 0.02097366 -0.006837 0.99975665 -0.34789814] [ 0. 0. 0. 1. ]] SLAMing on 81.99241403699999 meters Centerline goodness [0,1] 0.7202137957156685 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.03, Z:-0.35 [[ 0.99835828 -0.05328688 -0.02100591 1.22360167] [ 0.05341277 0.99855749 0.005478 -0.02549553] [ 0.0206837 -0.00659099 0.99976434 -0.34706203] [ 0. 0. 0. 1. ]] SLAMing on 82.02241403699999 meters Centerline goodness [0,1] 0.7187394461330632 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.03, Z:-0.35 [[ 0.99835851 -0.05331431 -0.02092552 1.22337019] [ 0.05344366 0.99855476 0.00567093 -0.0262176 ] [ 0.02059294 -0.00677996 0.99976495 -0.34699826] [ 0. 0. 0. 1. ]] SLAMing on 82.05241403699999 meters Centerline goodness [0,1] 0.7485905419050825 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.03, Z:-0.35 [[ 0.99836339 -0.05319714 -0.02099072 1.22371912] [ 0.05333283 0.99855902 0.00595766 -0.02702049] [ 0.02064354 -0.0070674 0.99976192 -0.34728888] [ 0. 0. 0. 1. ]] SLAMing on 82.08241403699999 meters Centerline goodness [0,1] 0.7049166526351238 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.03, Z:-0.35 [[ 0.99835614 -0.05337658 -0.02087982 1.22331702] [ 0.05350836 0.99855053 0.00580395 -0.02712622] [ 0.02053976 -0.00691166 0.99976515 -0.34701507] [ 0. 0. 0. 1. ]] SLAMing on 82.112414037 meters Centerline goodness [0,1] 0.7400029449504617 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.03, Z:-0.35 [[ 0.99835425 -0.0534268 -0.02084152 1.22312238] [ 0.05355413 0.99854925 0.00559965 -0.02631317] [ 0.02051211 -0.00670659 0.99976711 -0.34680271] [ 0. 0. 0. 1. ]] SLAMing on 82.142414037 meters Centerline goodness [0,1] 0.7260611419909044 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.03, Z:-0.35 [[ 0.99835294 -0.05345383 -0.02083489 1.22290042] [ 0.05357641 0.99854931 0.00537001 -0.02531609] [ 0.02051762 -0.00647742 0.99976851 -0.34647159] [ 0. 0. 0. 1. ]] SLAMing on 82.172414037 meters Centerline goodness [0,1] 0.7322823044054811 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.02, Z:-0.35 [[ 0.99836315 -0.05318315 -0.02103748 1.22380859] [ 0.05330371 0.99856475 0.00521177 -0.02349218] [ 0.02073011 -0.00632462 0.9997651 -0.34708825] [ 0. 0. 0. 1. ]] SLAMing on 82.202414037 meters Centerline goodness [0,1] 0.7408154263028546 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.02, Z:-0.35 [[ 0.99836973 -0.0529926 -0.02120528 1.22468574] [ 0.05311469 0.99857469 0.00523622 -0.02263879] [ 0.02089757 -0.00635399 0.99976143 -0.34782438] [ 0. 0. 0. 1. ]] SLAMing on 82.232414037 meters Centerline goodness [0,1] 0.7354305473559922 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.02, Z:-0.35 [[ 0.99836288 -0.05310038 -0.02125833 1.22530147] [ 0.05321608 0.99857093 0.00491423 -0.02118419] [ 0.020967 -0.00603747 0.99976194 -0.34856071] [ 0. 0. 0. 1. ]] SLAMing on 82.26241403699999 meters Centerline goodness [0,1] 0.7297445756660258 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.02, Z:-0.35 [[ 0.99835977 -0.05318089 -0.02120282 1.22545174] [ 0.05329596 0.99856674 0.00489891 -0.0209342 ] [ 0.0209119 -0.0060209 0.99976319 -0.34896772] [ 0. 0. 0. 1. ]] SLAMing on 82.29241403699999 meters Centerline goodness [0,1] 0.7210971978799332 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.02, Z:-0.35 [[ 0.99834839 -0.05343897 -0.02108955 1.22549348] [ 0.05354937 0.99855412 0.00470506 -0.02026092] [ 0.02080762 -0.00582663 0.99976652 -0.34938761] [ 0. 0. 0. 1. ]] SLAMing on 82.32241403699999 meters Centerline goodness [0,1] 0.7471751711856861 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.02, Z:-0.35 [[ 0.99833731 -0.05371939 -0.02090087 1.22505992] [ 0.05382251 0.99854081 0.00440231 -0.01941077] [ 0.02063388 -0.00551992 0.99977186 -0.3492816 ] [ 0. 0. 0. 1. ]] SLAMing on 82.35241403699999 meters Centerline goodness [0,1] 0.7216889377537212 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.02, Z:-0.35 [[ 0.99832924 -0.05386556 -0.02090997 1.2253571 ] [ 0.0539663 0.99853357 0.00428333 -0.01855614] [ 0.02064858 -0.00540461 0.99977219 -0.34969543] [ 0. 0. 0. 1. ]] SLAMing on 82.38241403699999 meters Centerline goodness [0,1] 0.7336931216931217 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.02, Z:-0.35 [[ 0.9982997 -0.05447275 -0.02074656 1.22513589] [ 0.05455915 0.99850397 0.00362104 -0.01622897] [ 0.02051828 -0.00474679 0.99977821 -0.34993939] [ 0. 0. 0. 1. ]] SLAMing on 82.41241403699999 meters Centerline goodness [0,1] 0.7290674792103091 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.02, Z:-0.35 [[ 0.99828827 -0.05471746 -0.02065237 1.22506145] [ 0.05479781 0.99849187 0.00334423 -0.01518051] [ 0.02043824 -0.00447021 0.99978112 -0.35013794] [ 0. 0. 0. 1. ]] SLAMing on 82.44241403699999 meters Centerline goodness [0,1] 0.7218412698412698 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.01, Z:-0.35 [[ 0.99827672 -0.05494771 -0.02059971 1.22499571] [ 0.05502178 0.99848051 0.00304581 -0.01435143] [ 0.02040105 -0.00417399 0.99978316 -0.35023383] [ 0. 0. 0. 1. ]] SLAMing on 82.472414037 meters Centerline goodness [0,1] 0.710036701529584 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.01, Z:-0.35 [[ 0.99824694 -0.05552468 -0.02049542 1.22462239] [ 0.05558141 0.99845172 0.00220804 -0.01232229] [ 0.02034109 -0.00334333 0.99978751 -0.35006358] [ 0. 0. 0. 1. ]] SLAMing on 82.502414037 meters Centerline goodness [0,1] 0.6817371748631561 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.01, Z:-0.35 [[ 0.99823111 -0.05581773 -0.02047015 1.22467302] [ 0.0558615 0.99843729 0.00157243 -0.00996718] [ 0.02035039 -0.00271314 0.99978923 -0.35018783] [ 0. 0. 0. 1. ]] SLAMing on 82.532414037 meters Centerline goodness [0,1] 0.7015753555711461 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.01, Z:-0.35 [[ 0.9983654 -0.05338663 -0.02040568 1.22347799] [ 0.05347792 0.9985612 0.00395429 -0.00660413] [ 0.02016521 -0.00503908 0.99978396 -0.34968345] [ 0. 0. 0. 1. ]] SLAMing on 82.562414037 meters Centerline goodness [0,1] 0.7065471882848751 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.00, Z:-0.35 [[ 0.99834972 -0.05366038 -0.02045493 1.22364352] [ 0.05373774 0.99854979 0.00325044 -0.00403645] [ 0.02025085 -0.00434428 0.99978549 -0.34978608] [ 0. 0. 0. 1. ]] SLAMing on 82.592414037 meters Centerline goodness [0,1] 0.6904700964081563 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.00, Z:-0.35 [[ 0.9983346 -0.05392237 -0.02050371 1.2239182 ] [ 0.05398803 0.99853803 0.00266202 -0.00184694] [ 0.02033019 -0.00376454 0.99978623 -0.35002889] [ 0. 0. 0. 1. ]] SLAMing on 82.62241403699998 meters Centerline goodness [0,1] 0.6776235591009218 Centerline is valid? [False, False] Translation: X:1.22, Y:0.00, Z:-0.35 [[ 0.99830156 -0.05451881 -0.0205352 1.22429154] [ 0.05456345 0.99850899 0.00161962 0.00171865] [ 0.02041628 -0.00273735 0.99978782 -0.35055171] [ 0. 0. 0. 1. ]] SLAMing on 82.65241403699999 meters Centerline goodness [0,1] 0.6804899424980226 Centerline is valid? [False, False] Translation: X:1.22, Y:0.00, Z:-0.35 [[ 0.99828761 -0.05479655 -0.02047384 1.22452651] [ 0.05483484 0.99849457 0.00131333 0.0028913 ] [ 0.02037106 -0.00243376 0.99978953 -0.35108263] [ 0. 0. 0. 1. ]] SLAMing on 82.68241403699999 meters Centerline goodness [0,1] 0.6935742885895981 Centerline is valid? [False, False] Translation: X:1.22, Y:0.01, Z:-0.35 [[ 9.98237441e-01 -5.57977211e-02 -2.02144989e-02 1.22407169e+00] [ 5.58131281e-02 9.98441213e-01 1.98363272e-04 5.98360232e-03] [ 2.01719206e-02 -1.32624806e-03 9.99795646e-01 -3.51335580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71241403699999 meters Centerline goodness [0,1] 0.6900983100944548 Centerline is valid? [False, False] Translation: X:1.22, Y:0.01, Z:-0.35 [[ 9.98216622e-01 -5.62332633e-02 -2.00348707e-02 1.22392375e+00] [ 5.62393028e-02 9.98417284e-01 -2.62302268e-04 7.83828147e-03] [ 2.00179113e-02 -8.64912678e-04 9.99799247e-01 -3.51703705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74241403699999 meters Centerline goodness [0,1] 0.6640750842980176 Centerline is valid? [False, False] Translation: X:1.22, Y:0.01, Z:-0.35 [[ 9.98163294e-01 -5.72699002e-02 -1.97533829e-02 1.22297023e+00] [ 5.72509760e-02 9.98358657e-01 -1.52266541e-03 1.11358415e-02] [ 1.98081637e-02 3.88968273e-04 9.99803723e-01 -3.51228856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77241403699999 meters Centerline goodness [0,1] 0.6561186862190207 Centerline is valid? [False, False] Translation: X:1.22, Y:0.01, Z:-0.35 [[ 9.98148138e-01 -5.75343330e-02 -1.97508187e-02 1.22302095e+00] [ 5.75069146e-02 9.98343196e-01 -1.95384900e-03 1.27412279e-02] [ 1.98305088e-02 8.14422100e-04 9.99803024e-01 -3.51333447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80241403699999 meters Centerline goodness [0,1] 0.6789841816420962 Centerline is valid? [False, False] Translation: X:1.22, Y:0.01, Z:-0.35 [[ 0.99813035 -0.05785517 -0.01971277 1.22276356] [ 0.05781497 0.99832392 -0.0026035 0.01466168] [ 0.01983036 0.00145894 0.99980229 -0.3510484 ] [ 0. 0. 0. 1. ]] SLAMing on 82.83241403699999 meters Centerline goodness [0,1] 0.6655258513065565 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:-0.35 [[ 0.99811557 -0.0580188 -0.01997812 1.22373447] [ 0.05796156 0.99831291 -0.00343283 0.01832881] [ 0.02014358 0.0022684 0.99979452 -0.3515833 ] [ 0. 0. 0. 1. ]] SLAMing on 82.862414037 meters Centerline goodness [0,1] 0.6710250480862743 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:-0.35 [[ 9.98275844e-01 -5.52442372e-02 -1.98346438e-02 1.22272271e+00] [ 5.52494420e-02 9.98472542e-01 -2.85893519e-04 1.86874027e-02] [ 1.98201412e-02 -8.10452410e-04 9.99803233e-01 -3.51536555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.892414037 meters Centerline goodness [0,1] 0.6600385139667222 Centerline is valid? [False, False] Translation: X:1.22, Y:0.02, Z:-0.35 [[ 0.99844418 -0.05215168 -0.01973402 1.22230868] [ 0.05220952 0.9986332 0.00242674 0.02256179] [ 0.01958049 -0.00345327 0.99980232 -0.35201751] [ 0. 0. 0. 1. ]] SLAMing on 82.922414037 meters Centerline goodness [0,1] 0.668016983666219 Centerline is valid? [False, False] Translation: X:1.22, Y:0.03, Z:-0.35 [[ 0.9984603 -0.05170863 -0.02008106 1.22370473] [ 0.05176475 0.99865669 0.00228465 0.02525408] [ 0.01993595 -0.00332062 0.99979574 -0.35286323] [ 0. 0. 0. 1. ]] SLAMing on 82.952414037 meters Centerline goodness [0,1] 0.6875611931855269 Centerline is valid? [False, False] Translation: X:1.23, Y:0.03, Z:-0.35 [[ 0.99847033 -0.05134809 -0.02050324 1.22520333] [ 0.05140131 0.99867592 0.00207688 0.02754007] [ 0.02036945 -0.0031276 0.99978763 -0.35366363] [ 0. 0. 0. 1. ]] SLAMing on 82.982414037 meters Centerline goodness [0,1] 0.6698125544899738 Centerline is valid? [False, False] Translation: X:1.23, Y:0.03, Z:-0.36 [[ 0.99859291 -0.04898798 -0.020307 1.22630509] [ 0.04907606 0.99878758 0.00386163 0.03096977] [ 0.0200932 -0.00485278 0.99978633 -0.35570472] [ 0. 0. 0. 1. ]] SLAMing on 83.01241403699999 meters Centerline goodness [0,1] 0.6712670872765509 Centerline is valid? [False, False] Translation: X:1.22, Y:0.03, Z:-0.36 [[ 0.99872826 -0.04631839 -0.01991147 1.22499376] [ 0.04644837 0.99890197 0.00611569 0.03484335] [ 0.01960633 -0.00703277 0.99978304 -0.35571964] [ 0. 0. 0. 1. ]] SLAMing on 83.04241403699999 meters Centerline goodness [0,1] 0.6712670872765509 Centerline is valid? [False, False] Translation: X:1.22, Y:0.03, Z:-0.36 [[ 0.99872826 -0.04631839 -0.01991147 1.22499376] [ 0.04644837 0.99890197 0.00611569 0.03484335] [ 0.01960633 -0.00703277 0.99978304 -0.35571964] [ 0. 0. 0. 1. ]] SLAMing on 83.07241403699999 meters Centerline goodness [0,1] 0.6686043960865178 Centerline is valid? [False, False] Translation: X:1.23, Y:0.04, Z:-0.36 [[ 0.99871909 -0.04649349 -0.0199631 1.225306 ] [ 0.04661038 0.99889839 0.00543029 0.03749914] [ 0.01968863 -0.00635383 0.99978597 -0.35593749] [ 0. 0. 0. 1. ]] SLAMing on 83.10241403699999 meters Centerline goodness [0,1] 0.6847897864847017 Centerline is valid? [False, False] Translation: X:1.23, Y:0.04, Z:-0.36 [[ 0.99870283 -0.046883 -0.01986548 1.2252738 ] [ 0.04697699 0.99888676 0.00429099 0.04237675] [ 0.01964219 -0.00521865 0.99979345 -0.35612101] [ 0. 0. 0. 1. ]] SLAMing on 83.13241403699999 meters Centerline goodness [0,1] 0.6795985884428761 Centerline is valid? [False, False] Translation: X:1.22, Y:0.04, Z:-0.36 [[ 0.99868585 -0.0472676 -0.01980764 1.22496635] [ 0.04734756 0.99887203 0.00358702 0.04447631] [ 0.01961575 -0.00452015 0.99979737 -0.35585658] [ 0. 0. 0. 1. ]] SLAMing on 83.16241403699999 meters Centerline goodness [0,1] 0.6684112892540082 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.36 [[ 0.99865122 -0.04806247 -0.01964028 1.22422427] [ 0.04811618 0.99883916 0.00227124 0.04818048] [ 0.01950832 -0.00321319 0.99980453 -0.35526003] [ 0. 0. 0. 1. ]] SLAMing on 83.19241403699999 meters Centerline goodness [0,1] 0.6527839347459881 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.35 [[ 9.98611285e-01 -4.89930957e-02 -1.93695172e-02 1.22282708e+00] [ 4.90135046e-02 9.98797947e-01 5.80050945e-04 5.27199220e-02] [ 1.93178155e-02 -1.52861334e-03 9.99812225e-01 -3.53952144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.222414037 meters Centerline goodness [0,1] 0.6581534160250294 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.35 [[ 9.98603680e-01 -4.91466919e-02 -1.93724809e-02 1.22280400e+00] [ 4.91580110e-02 9.98791008e-01 1.08232992e-04 5.46512450e-02] [ 1.93437404e-02 -1.06039449e-03 9.99812330e-01 -3.53871286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.252414037 meters Centerline goodness [0,1] 0.6546241811924058 Centerline is valid? [False, False] Translation: X:1.22, Y:0.06, Z:-0.35 [[ 9.98596450e-01 -4.92253957e-02 -1.95445969e-02 1.22324408e+00] [ 4.92299874e-02 9.98787439e-01 -2.46423912e-04 5.64088039e-02] [ 1.95330282e-02 -7.16102216e-04 9.99808956e-01 -3.54000503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.282414037 meters Centerline goodness [0,1] 0.6581535038932147 Centerline is valid? [False, False] Translation: X:1.22, Y:0.06, Z:-0.35 [[ 9.98587858e-01 -4.93005346e-02 -1.97925952e-02 1.22385321e+00] [ 4.92965239e-02 9.98783948e-01 -6.90781908e-04 5.82735591e-02] [ 1.98025823e-02 -2.85899716e-04 9.99803869e-01 -3.54119170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.312414037 meters Centerline goodness [0,1] 0.6650632460359879 Centerline is valid? [False, False] Translation: X:1.22, Y:0.06, Z:-0.35 [[ 9.98586927e-01 -4.92090031e-02 -2.00654607e-02 1.22481570e+00] [ 4.91988822e-02 9.98788503e-01 -9.98030847e-04 6.02480961e-02] [ 2.00902636e-02 9.42231751e-06 9.99798170e-01 -3.54642816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.342414037 meters Centerline goodness [0,1] 0.6635916908644182 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.36 [[ 9.98600540e-01 -4.87435419e-02 -2.05189764e-02 1.22667859e+00] [ 4.87307150e-02 9.98811319e-01 -1.12496444e-03 6.30546741e-02] [ 2.05494206e-02 1.23485708e-04 9.99788831e-01 -3.55850609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37241403699998 meters Centerline goodness [0,1] 0.6727114171995885 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.36 [[ 9.98610104e-01 -4.84122860e-02 -2.08353124e-02 1.22791869e+00] [ 4.84011015e-02 9.98827437e-01 -1.04104395e-03 6.37918910e-02] [ 2.08612810e-02 3.11449340e-05 9.99782379e-01 -3.56588885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40241403699999 meters Centerline goodness [0,1] 0.6570540764089151 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.36 [[ 9.98613691e-01 -4.82535370e-02 -2.10307514e-02 1.22865909e+00] [ 4.82401659e-02 9.98835112e-01 -1.14293667e-03 6.49075947e-02] [ 2.10614036e-02 1.26825266e-04 9.99778176e-01 -3.56992170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43241403699999 meters Centerline goodness [0,1] 0.6657925407925408 Centerline is valid? [False, False] Translation: X:1.23, Y:0.07, Z:-0.36 [[ 0.99876836 -0.04504325 -0.02080551 1.22750736] [ 0.04509697 0.99898037 0.00211969 0.06640879] [ 0.02068882 -0.00305535 0.99978129 -0.35686152] [ 0. 0. 0. 1. ]] SLAMing on 83.46241403699999 meters Centerline goodness [0,1] 0.660721487788483 Centerline is valid? [False, False] Translation: X:1.23, Y:0.07, Z:-0.36 [[ 0.99876747 -0.04500869 -0.02092282 1.22768351] [ 0.04505511 0.99898297 0.0017524 0.06813685] [ 0.02082267 -0.00269292 0.99977956 -0.35663054] [ 0. 0. 0. 1. ]] SLAMing on 83.49241403699999 meters Centerline goodness [0,1] 0.671678463549885 Centerline is valid? [False, False] Translation: X:1.23, Y:0.07, Z:-0.36 [[ 0.99876553 -0.04501885 -0.02099326 1.22772527] [ 0.04505739 0.99898347 0.0013662 0.06963875] [ 0.02091042 -0.00231042 0.99977868 -0.35638568] [ 0. 0. 0. 1. ]] SLAMing on 83.52241403699999 meters Centerline goodness [0,1] 0.6600356361503936 Centerline is valid? [False, False] Translation: X:1.23, Y:0.07, Z:-0.36 [[ 0.99877339 -0.04475349 -0.0211857 1.22859424] [ 0.04479155 0.99899548 0.00132525 0.07082371] [ 0.02110511 -0.00227256 0.99977468 -0.35693751] [ 0. 0. 0. 1. ]] SLAMing on 83.55241403699999 meters Centerline goodness [0,1] 0.659343878148799 Centerline is valid? [False, False] Translation: X:1.23, Y:0.07, Z:-0.36 [[ 0.99877684 -0.04468654 -0.02116458 1.22877189] [ 0.04472537 0.99899839 0.00136447 0.07118734] [ 0.02108241 -0.0023094 0.99977507 -0.35723759] [ 0. 0. 0. 1. ]] SLAMing on 83.58241403699999 meters Centerline goodness [0,1] 0.6796712724645535 Centerline is valid? [False, False] Translation: X:1.23, Y:0.07, Z:-0.36 [[ 9.98768209e-01 -4.48991150e-02 -2.11218731e-02 1.22823042e+00] [ 4.49253016e-02 9.98990055e-01 7.66679260e-04 7.26283775e-02] [ 2.10661179e-02 -1.71464139e-03 9.99776614e-01 -3.56472801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.612414037 meters Centerline goodness [0,1] 0.6652241883227225 Centerline is valid? [False, False] Translation: X:1.23, Y:0.07, Z:-0.36 [[ 9.98767438e-01 -4.48898685e-02 -2.11779163e-02 1.22820012e+00] [ 4.49099891e-02 9.98990924e-01 4.75190645e-04 7.38624096e-02] [ 2.11352150e-02 -1.42570494e-03 9.99775610e-01 -3.56180483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.642414037 meters Centerline goodness [0,1] 0.681386579437554 Centerline is valid? [False, False] Translation: X:1.23, Y:0.07, Z:-0.36 [[ 0.9989125 -0.04164136 -0.0209719 1.22689598] [ 0.04173312 0.99912096 0.00395676 0.07438881] [ 0.0207887 -0.00482768 0.99977224 -0.35572374] [ 0. 0. 0. 1. ]] SLAMing on 83.672414037 meters Centerline goodness [0,1] 0.6657746127503232 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.36 [[ 0.99891692 -0.0414488 -0.02114183 1.22770684] [ 0.04154077 0.99912908 0.00392946 0.07544282] [ 0.02096055 -0.00480345 0.99976876 -0.35628558] [ 0. 0. 0. 1. ]] SLAMing on 83.702414037 meters Centerline goodness [0,1] 0.678093683399084 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.36 [[ 0.99892133 -0.0411729 -0.0214703 1.22890347] [ 0.04126968 0.9991397 0.00408376 0.07572239] [ 0.02128369 -0.00496543 0.99976115 -0.35694508] [ 0. 0. 0. 1. ]] SLAMing on 83.732414037 meters Centerline goodness [0,1] 0.6619449741214928 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.36 [[ 0.99892686 -0.04103283 -0.02148104 1.22977591] [ 0.04113214 0.99914488 0.00420202 0.0758857 ] [ 0.02129025 -0.00508107 0.99976043 -0.35810989] [ 0. 0. 0. 1. ]] SLAMing on 83.76241403699999 meters Centerline goodness [0,1] 0.6754026321154325 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.36 [[ 0.99892715 -0.04101999 -0.02149218 1.22997436] [ 0.04111772 0.99914579 0.00412501 0.07606173] [ 0.02130461 -0.00500429 0.99976051 -0.35829271] [ 0. 0. 0. 1. ]] SLAMing on 83.79241403699999 meters Centerline goodness [0,1] 0.672155654714716 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.36 [[ 0.99891931 -0.04128545 -0.02134767 1.22917409] [ 0.04136875 0.9991379 0.00347522 0.07741055] [ 0.02118579 -0.00435459 0.99976607 -0.3573604 ] [ 0. 0. 0. 1. ]] SLAMing on 83.82241403699999 meters Centerline goodness [0,1] 0.6821205585196958 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.36 [[ 0.99891725 -0.04128476 -0.02144509 1.22916045] [ 0.04136241 0.99913912 0.00319004 0.07836361] [ 0.02129492 -0.00407361 0.99976494 -0.35696879] [ 0. 0. 0. 1. ]] SLAMing on 83.85241403699999 meters Centerline goodness [0,1] 0.6739480914643838 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.36 [[ 0.99892287 -0.04108208 -0.02157206 1.22952513] [ 0.04115929 0.99914764 0.00314735 0.07909062] [ 0.02142437 -0.00403185 0.99976234 -0.35699023] [ 0. 0. 0. 1. ]] SLAMing on 83.88241403699999 meters Centerline goodness [0,1] 0.6802608261007861 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.36 [[ 0.99893096 -0.04077384 -0.02178131 1.2302713 ] [ 0.04085273 0.99916009 0.00318898 0.07985072] [ 0.02163299 -0.00407539 0.99975767 -0.35730969] [ 0. 0. 0. 1. ]] SLAMing on 83.91241403699999 meters Centerline goodness [0,1] 0.6759162541441482 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.36 [[ 0.99896372 -0.03973433 -0.02219625 1.23209913] [ 0.03982438 0.9992001 0.00362967 0.0805345 ] [ 0.02203428 -0.00450986 0.99974704 -0.35822168] [ 0. 0. 0. 1. ]] SLAMing on 83.94241403699999 meters Centerline goodness [0,1] 0.6873781565942785 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.36 [[ 0.99897564 -0.03928612 -0.0224562 1.23304373] [ 0.03937968 0.99921732 0.00373914 0.08095326] [ 0.02229173 -0.00461963 0.99974084 -0.35856918] [ 0. 0. 0. 1. ]] SLAMing on 83.972414037 meters Centerline goodness [0,1] 0.696076646488553 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.36 [[ 0.99911942 -0.0355434 -0.02229458 1.23205725] [ 0.03571953 0.99933332 0.00755216 0.08044654] [ 0.02201129 -0.00834186 0.99972292 -0.3582449 ] [ 0. 0. 0. 1. ]] SLAMing on 84.002414037 meters Centerline goodness [0,1] 0.6984289152249921 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.36 [[ 0.99912685 -0.03516991 -0.02255229 1.23264096] [ 0.03534436 0.99934792 0.00738379 0.08177612] [ 0.02227789 -0.00817444 0.9997184 -0.358012 ] [ 0. 0. 0. 1. ]] SLAMing on 84.032414037 meters Centerline goodness [0,1] 0.7013782542113323 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.36 [[ 0.99913498 -0.03474693 -0.02284586 1.23328239] [ 0.03492092 0.9993637 0.00726127 0.08303802] [ 0.02257902 -0.00805278 0.99971263 -0.357811 ] [ 0. 0. 0. 1. ]] SLAMing on 84.062414037 meters Centerline goodness [0,1] 0.6479681411381835 Centerline is valid? [False, False] Translation: X:1.29, Y:0.09, Z:-0.36 [[ 0.99916099 -0.03400318 -0.02282751 1.28995307] [ 0.03407276 0.9994158 0.00266615 0.08522114] [ 0.02272351 -0.00344171 0.99973586 -0.35573519] [ 0. 0. 0. 1. ]] SLAMing on 84.092414037 meters Centerline goodness [0,1] 0.738444297051895 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.36 [[ 9.99359870e-01 -2.88215784e-02 -2.11935364e-02 1.22307589e+00] [ 2.88422100e-02 9.99583753e-01 6.68398882e-04 8.63925439e-02] [ 2.11654504e-02 -1.27923945e-03 9.99775168e-01 -3.58387941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12241403699998 meters Centerline goodness [0,1] 0.7544854067149681 Centerline is valid? [False, False] Translation: X:1.22, Y:0.08, Z:-0.36 [[ 0.99946968 -0.02469121 -0.02122965 1.22295658] [ 0.02479951 0.99968066 0.00485351 0.08487383] [ 0.02110304 -0.00537743 0.99976284 -0.35855703] [ 0. 0. 0. 1. ]] SLAMing on 84.15241403699999 meters Centerline goodness [0,1] 0.7556701501391868 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.36 [[ 0.99947855 -0.02419069 -0.02138778 1.22361966] [ 0.02430332 0.99969202 0.00502165 0.08518941] [ 0.02125972 -0.00553882 0.99975864 -0.35878879] [ 0. 0. 0. 1. ]] SLAMing on 84.18241403699999 meters Centerline goodness [0,1] 0.7568041542350878 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.36 [[ 0.99948436 -0.02375088 -0.02160825 1.22407758] [ 0.02386635 0.99970214 0.00510162 0.08550103] [ 0.02148065 -0.0056147 0.9997535 -0.35853991] [ 0. 0. 0. 1. ]] SLAMing on 84.21241403699999 meters Centerline goodness [0,1] 0.7577213921282799 Centerline is valid? [False, False] Translation: X:1.22, Y:0.08, Z:-0.36 [[ 0.99956903 -0.01990891 -0.02157296 1.22297859] [ 0.02010487 0.99975822 0.00890502 0.08478061] [ 0.02139046 -0.0093349 0.99972762 -0.35743659] [ 0. 0. 0. 1. ]] SLAMing on 84.24241403699999 meters Centerline goodness [0,1] 0.7642827878180908 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.36 [[ 0.99957389 -0.01940167 -0.02180849 1.22355955] [ 0.0196008 0.99976779 0.00895423 0.08528492] [ 0.0216297 -0.00937788 0.99972207 -0.35724164] [ 0. 0. 0. 1. ]] SLAMing on 84.27241403699999 meters Centerline goodness [0,1] 0.7689313758962103 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.36 [[ 0.99959175 -0.0180203 -0.02217189 1.22496786] [ 0.01823586 0.99978802 0.00955855 0.08537071] [ 0.02199495 -0.00995898 0.99970848 -0.35744496] [ 0. 0. 0. 1. ]] SLAMing on 84.30241403699999 meters Centerline goodness [0,1] 0.7695679825557625 Centerline is valid? [False, False] Translation: X:1.23, Y:0.09, Z:-0.36 [[ 0.99959342 -0.01756533 -0.02246018 1.2258568 ] [ 0.01778853 0.99979397 0.00977669 0.0852097 ] [ 0.02228383 -0.01017225 0.99969993 -0.35768093] [ 0. 0. 0. 1. ]] SLAMing on 84.33241403699999 meters Centerline goodness [0,1] 0.7691205893052019 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.36 [[ 0.99959635 -0.01723562 -0.02258489 1.22641413] [ 0.01746485 0.99979755 0.00999235 0.08484658] [ 0.02240809 -0.01038276 0.99969499 -0.35796589] [ 0. 0. 0. 1. ]] SLAMing on 84.362414037 meters Centerline goodness [0,1] 0.7686182882290226 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.36 [[ 0.99960038 -0.01693537 -0.02263327 1.22676757] [ 0.0171723 0.99979933 0.0103155 0.08363705] [ 0.02245403 -0.01070004 0.99969061 -0.35822118] [ 0. 0. 0. 1. ]] SLAMing on 84.392414037 meters Centerline goodness [0,1] 0.7693635186993346 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.36 [[ 0.99959955 -0.01709123 -0.0225528 1.22623037] [ 0.01732482 0.99979785 0.01020318 0.08327302] [ 0.02237386 -0.01058982 0.99969359 -0.3577028 ] [ 0. 0. 0. 1. ]] SLAMing on 84.422414037 meters Centerline goodness [0,1] 0.768549154693378 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.36 [[ 0.99959664 -0.01735351 -0.02248119 1.22558896] [ 0.01758746 0.99979278 0.01025071 0.0823787 ] [ 0.02229865 -0.01064197 0.99969471 -0.35713677] [ 0. 0. 0. 1. ]] SLAMing on 84.452414037 meters Centerline goodness [0,1] 0.769572510086586 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.36 [[ 0.99959319 -0.01753034 -0.02249758 1.22553053] [ 0.01776378 0.99978999 0.01021838 0.08170898] [ 0.02231372 -0.01061386 0.99969468 -0.35702057] [ 0. 0. 0. 1. ]] SLAMing on 84.48241403699998 meters Centerline goodness [0,1] 0.7688011576900466 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.36 [[ 0.99958975 -0.01784264 -0.02240483 1.22520002] [ 0.01808575 0.99977923 0.01069564 0.07891344] [ 0.02220904 -0.01109646 0.99969177 -0.3571568 ] [ 0. 0. 0. 1. ]] SLAMing on 84.51241403699999 meters Centerline goodness [0,1] 0.7666711815431848 Centerline is valid? [False, False] Translation: X:1.22, Y:0.08, Z:-0.36 [[ 0.99958423 -0.01833036 -0.0222568 1.22424363] [ 0.01856831 0.99977212 0.01053225 0.07744617] [ 0.02205867 -0.01094114 0.99969681 -0.35634771] [ 0. 0. 0. 1. ]] SLAMing on 84.54241403699999 meters Centerline goodness [0,1] 0.7643916512644818 Centerline is valid? [False, False] Translation: X:1.22, Y:0.07, Z:-0.35 [[ 0.99953842 -0.02096202 -0.02198966 1.22225557] [ 0.02114739 0.99974248 0.00823142 0.07487418] [ 0.02181145 -0.00869264 0.99972431 -0.35437755] [ 0. 0. 0. 1. ]] SLAMing on 84.57241403699999 meters Centerline goodness [0,1] 0.7639757159944932 Centerline is valid? [False, False] Translation: X:1.22, Y:0.07, Z:-0.35 [[ 0.99953664 -0.02124901 -0.02179437 1.22141713] [ 0.02143438 0.99973574 0.00830742 0.07337317] [ 0.02161208 -0.00877072 0.99972796 -0.35382994] [ 0. 0. 0. 1. ]] SLAMing on 84.60241403699999 meters Centerline goodness [0,1] 0.7630486956911827 Centerline is valid? [False, False] Translation: X:1.22, Y:0.07, Z:-0.35 [[ 0.99953422 -0.0213861 -0.0217709 1.22106492] [ 0.02158047 0.99972898 0.00873237 0.07138721] [ 0.02157825 -0.00919813 0.99972485 -0.35353945] [ 0. 0. 0. 1. ]] SLAMing on 84.63241403699999 meters Centerline goodness [0,1] 0.7666846191822629 Centerline is valid? [False, False] Translation: X:1.22, Y:0.07, Z:-0.35 [[ 0.99953295 -0.02135249 -0.02186198 1.22131959] [ 0.02155167 0.99972798 0.00891632 0.07076561] [ 0.02166565 -0.00938332 0.99972124 -0.35366461] [ 0. 0. 0. 1. ]] SLAMing on 84.66241403699999 meters Centerline goodness [0,1] 0.7654822562905435 Centerline is valid? [False, False] Translation: X:1.22, Y:0.07, Z:-0.35 [[ 0.99953773 -0.02106799 -0.0219194 1.22203232] [ 0.02128036 0.9997284 0.0095007 0.06915997] [ 0.02171329 -0.00996277 0.9997146 -0.35447984] [ 0. 0. 0. 1. ]] SLAMing on 84.69241403699999 meters Centerline goodness [0,1] 0.7671679086163045 Centerline is valid? [False, False] Translation: X:1.23, Y:0.07, Z:-0.36 [[ 0.99949768 -0.02240471 -0.02241447 1.22581807] [ 0.02258754 0.99971336 0.00793714 0.06613792] [ 0.02223022 -0.00843944 0.99971726 -0.35721767] [ 0. 0. 0. 1. ]] SLAMing on 84.722414037 meters Centerline goodness [0,1] 0.765287186710488 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.36 [[ 0.99950696 -0.02196973 -0.02243149 1.22622467] [ 0.0221664 0.99971767 0.00855715 0.06441479] [ 0.02223716 -0.00905016 0.99971176 -0.35765554] [ 0. 0. 0. 1. ]] SLAMing on 84.752414037 meters Centerline goodness [0,1] 0.7657915957351492 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.36 [[ 0.99951329 -0.02162458 -0.02248483 1.22617637] [ 0.02182736 0.99972291 0.00881272 0.06370484] [ 0.02228803 -0.00929921 0.99970834 -0.35730299] [ 0. 0. 0. 1. ]] SLAMing on 84.782414037 meters Centerline goodness [0,1] 0.770397256613521 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.36 [[ 0.99953479 -0.02045888 -0.02261952 1.22670052] [ 0.02067428 0.99974273 0.00933014 0.0643016 ] [ 0.02242282 -0.00979344 0.99970061 -0.35705835] [ 0. 0. 0. 1. ]] SLAMing on 84.812414037 meters Centerline goodness [0,1] 0.7728722099583026 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.36 [[ 0.99953953 -0.01996281 -0.02285181 1.227349 ] [ 0.02018337 0.99975152 0.00946204 0.06496583] [ 0.02265724 -0.00991891 0.99969409 -0.35708538] [ 0. 0. 0. 1. ]] SLAMing on 84.842414037 meters Centerline goodness [0,1] 0.7747856108698074 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.36 [[ 0.99955137 -0.01912114 -0.02305302 1.22802563] [ 0.01935444 0.99976328 0.00993957 0.06458574] [ 0.0228575 -0.01038129 0.99968483 -0.35705863] [ 0. 0. 0. 1. ]] SLAMing on 84.87241403699998 meters Centerline goodness [0,1] 0.7758122583225922 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.36 [[ 0.99955301 -0.01890608 -0.02315894 1.22822549] [ 0.01914756 0.99976412 0.01025023 0.06307913] [ 0.02295969 -0.01068909 0.99967925 -0.35698185] [ 0. 0. 0. 1. ]] SLAMing on 84.90241403699999 meters Centerline goodness [0,1] 0.7741463089928776 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.36 [[ 0.99955523 -0.01882807 -0.02312657 1.22841539] [ 0.01907737 0.99976175 0.01060686 0.06102963] [ 0.02292136 -0.01104334 0.99967628 -0.35736587] [ 0. 0. 0. 1. ]] SLAMing on 84.93241403699999 meters Centerline goodness [0,1] 0.7741463089928776 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.36 [[ 0.99955523 -0.01882807 -0.02312657 1.22841539] [ 0.01907737 0.99976175 0.01060686 0.06102963] [ 0.02292136 -0.01104334 0.99967628 -0.35736587] [ 0. 0. 0. 1. ]] SLAMing on 84.96241403699999 meters Centerline goodness [0,1] 0.7750393753188847 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.36 [[ 0.99949295 -0.0217036 -0.02329816 1.23048682] [ 0.02189158 0.99972958 0.00784374 0.05928491] [ 0.02312162 -0.00834979 0.99969779 -0.35914302] [ 0. 0. 0. 1. ]] SLAMing on 84.99241403699999 meters Centerline goodness [0,1] 0.7768889873698205 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.36 [[ 0.99948881 -0.02200811 -0.02318956 1.23014004] [ 0.02219458 0.99972313 0.00781434 0.05886492] [ 0.02301116 -0.00832503 0.99970055 -0.35903822] [ 0. 0. 0. 1. ]] SLAMing on 85.02241403699999 meters Centerline goodness [0,1] 0.7782622167138811 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.36 [[ 0.99947504 -0.02300041 -0.02281704 1.22826741] [ 0.02317276 0.99970469 0.00731791 0.05864292] [ 0.02264198 -0.00784281 0.99971287 -0.35771043] [ 0. 0. 0. 1. ]] SLAMing on 85.05241403699999 meters Centerline goodness [0,1] 0.7744296073576229 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.36 [[ 0.9994704 -0.02342621 -0.02258628 1.22753218] [ 0.02359599 0.99969507 0.00727963 0.05766856] [ 0.02240886 -0.00780872 0.99971839 -0.35744576] [ 0. 0. 0. 1. ]] SLAMing on 85.08241403699999 meters Centerline goodness [0,1] 0.7723726378605371 Centerline is valid? [False, False] Translation: X:1.23, Y:0.06, Z:-0.36 [[ 0.99946374 -0.0237741 -0.02251712 1.22716277] [ 0.02394449 0.99968643 0.00732783 0.05617859] [ 0.02233585 -0.00786306 0.9997196 -0.35725582] [ 0. 0. 0. 1. ]] SLAMing on 85.112414037 meters Centerline goodness [0,1] 0.769386899640391 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:-0.36 [[ 0.99936662 -0.02754075 -0.02253579 1.22798689] [ 0.02763532 0.99961048 0.00389573 0.05459876] [ 0.02241972 -0.00451605 0.99973845 -0.35790415] [ 0. 0. 0. 1. ]] SLAMing on 85.142414037 meters Centerline goodness [0,1] 0.7736328297552787 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:-0.36 [[ 0.99936173 -0.02779656 -0.02243855 1.22781791] [ 0.02789757 0.99960196 0.00420119 0.05290193] [ 0.02231284 -0.00482449 0.9997394 -0.3581674 ] [ 0. 0. 0. 1. ]] SLAMing on 85.172414037 meters Centerline goodness [0,1] 0.7678030219233236 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:-0.36 [[ 0.99935665 -0.02812529 -0.02225431 1.22739097] [ 0.02822789 0.99959222 0.00430963 0.05180559] [ 0.02212402 -0.00493505 0.99974305 -0.35826339] [ 0. 0. 0. 1. ]] SLAMing on 85.202414037 meters Centerline goodness [0,1] 0.7593148507858025 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:-0.36 [[ 0.99934244 -0.02877366 -0.02206257 1.22665585] [ 0.02887501 0.99957383 0.00428933 0.05105916] [ 0.02192974 -0.00492357 0.99974739 -0.35807471] [ 0. 0. 0. 1. ]] SLAMing on 85.23241403699998 meters Centerline goodness [0,1] 0.7548253169029636 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:-0.36 [[ 0.99933594 -0.02905328 -0.0219908 1.22633239] [ 0.02915203 0.99956624 0.00418326 0.05143379] [ 0.02185972 -0.00482156 0.99974942 -0.35792128] [ 0. 0. 0. 1. ]] SLAMing on 85.26241403699999 meters Centerline goodness [0,1] 0.7503584585180774 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:-0.36 [[ 0.99932749 -0.02941131 -0.02189851 1.22618004] [ 0.02951232 0.99955515 0.00430384 0.05091025] [ 0.02176219 -0.00494722 0.99975094 -0.35811873] [ 0. 0. 0. 1. ]] SLAMing on 85.29241403699999 meters Centerline goodness [0,1] 0.7444922262652993 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:-0.36 [[ 0.99932633 -0.02957085 -0.02173609 1.22595968] [ 0.02967446 0.99954967 0.00445961 0.04965453] [ 0.02159443 -0.00510162 0.9997538 -0.35835383] [ 0. 0. 0. 1. ]] SLAMing on 85.32241403699999 meters Centerline goodness [0,1] 0.7469062140899849 Centerline is valid? [False, False] Translation: X:1.23, Y:0.05, Z:-0.36 [[ 0.99932361 -0.02975004 -0.02161603 1.22575591] [ 0.02985618 0.9995436 0.00460438 0.04828664] [ 0.02146918 -0.00524664 0.99975574 -0.3584772 ] [ 0. 0. 0. 1. ]] SLAMing on 85.35241403699999 meters Centerline goodness [0,1] 0.7412772723257663 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.36 [[ 0.99931076 -0.03044848 -0.02123407 1.22461091] [ 0.03054908 0.99952346 0.00442901 0.04703515] [ 0.0210891 -0.00507464 0.99976472 -0.35819031] [ 0. 0. 0. 1. ]] SLAMing on 85.38241403699999 meters Centerline goodness [0,1] 0.744831242268952 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.36 [[ 0.99930617 -0.03067879 -0.02111858 1.22430066] [ 0.03077731 0.99951678 0.00435565 0.0469497 ] [ 0.02097475 -0.0050026 0.99976749 -0.35815653] [ 0. 0. 0. 1. ]] SLAMing on 85.41241403699999 meters Centerline goodness [0,1] 0.7337787315001216 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.36 [[ 0.99930901 -0.03064983 -0.02102597 1.22440419] [ 0.03075241 0.99951657 0.00457282 0.0468653 ] [ 0.02087564 -0.00521626 0.99976847 -0.35860835] [ 0. 0. 0. 1. ]] SLAMing on 85.44241403699999 meters Centerline goodness [0,1] 0.7358136867873762 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.36 [[ 0.99931328 -0.0304473 -0.02111712 1.22478624] [ 0.03055377 0.9995219 0.0047378 0.0470499 ] [ 0.02096277 -0.00537976 0.99976578 -0.35881273] [ 0. 0. 0. 1. ]] SLAMing on 85.472414037 meters Centerline goodness [0,1] 0.7495577960555408 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.36 [[ 0.99931071 -0.03047494 -0.02119862 1.22474557] [ 0.03057789 0.99952203 0.00454916 0.04788562] [ 0.02104985 -0.00519423 0.99976493 -0.35847766] [ 0. 0. 0. 1. ]] SLAMing on 85.502414037 meters Centerline goodness [0,1] 0.724044983539913 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.36 [[ 0.99930406 -0.03070126 -0.02118546 1.22409256] [ 0.03079282 0.99951775 0.00400941 0.04919199] [ 0.02105215 -0.00465898 0.99976752 -0.35749449] [ 0. 0. 0. 1. ]] SLAMing on 85.532414037 meters Centerline goodness [0,1] 0.7366607012659906 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.36 [[ 0.99930231 -0.03081736 -0.02109916 1.22402455] [ 0.03090794 0.99951431 0.00398022 0.04912619] [ 0.02096625 -0.00462958 0.99976947 -0.3576869 ] [ 0. 0. 0. 1. ]] SLAMing on 85.562414037 meters Centerline goodness [0,1] 0.7511270220100769 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.36 [[ 0.99930092 -0.03085424 -0.02111119 1.2242395 ] [ 0.03094773 0.99951253 0.00411616 0.04844468] [ 0.0209739 -0.00476662 0.99976866 -0.35798556] [ 0. 0. 0. 1. ]] SLAMing on 85.592414037 meters Centerline goodness [0,1] 0.7494808924232383 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.36 [[ 0.9993039 -0.03085643 -0.02096658 1.22438183] [ 0.03095363 0.99951145 0.00432745 0.04787167] [ 0.02082281 -0.00497343 0.99977081 -0.35859684] [ 0. 0. 0. 1. ]] SLAMing on 85.62241403699998 meters Centerline goodness [0,1] 0.735515258735073 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.36 [[ 0.99930135 -0.03102492 -0.02083895 1.22415236] [ 0.03112212 0.9995061 0.00435604 0.04746578] [ 0.02069351 -0.00500155 0.99977336 -0.35870374] [ 0. 0. 0. 1. ]] SLAMing on 85.65241403699999 meters Centerline goodness [0,1] 0.7340409031486118 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.36 [[ 0.99929072 -0.03161196 -0.02046307 1.2232315 ] [ 0.03170346 0.99948865 0.00416252 0.04729339] [ 0.02032102 -0.00480832 0.99978194 -0.35864741] [ 0. 0. 0. 1. ]] SLAMing on 85.68241403699999 meters Centerline goodness [0,1] 0.7224838269594684 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.36 [[ 0.99928272 -0.03182896 -0.02051727 1.22340814] [ 0.03191975 0.99948197 0.00411245 0.04726944] [ 0.02037575 -0.0047644 0.99978104 -0.35877635] [ 0. 0. 0. 1. ]] SLAMing on 85.71241403699999 meters Centerline goodness [0,1] 0.7403990465259997 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.36 [[ 0.99926775 -0.03246923 -0.02024151 1.22260782] [ 0.03255135 0.99946306 0.00374063 0.04775155] [ 0.02010919 -0.00439678 0.99978812 -0.35858593] [ 0. 0. 0. 1. ]] SLAMing on 85.74241403699999 meters Centerline goodness [0,1] 0.7201546961325966 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.36 [[ 0.99926204 -0.03270038 -0.02015079 1.22236938] [ 0.03278029 0.99945592 0.00364817 0.04764717] [ 0.02002053 -0.00430603 0.9997903 -0.35856608] [ 0. 0. 0. 1. ]] SLAMing on 85.77241403699999 meters Centerline goodness [0,1] 0.713253491249779 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.36 [[ 0.99925868 -0.03287612 -0.02003117 1.22228162] [ 0.03295727 0.99944978 0.00373462 0.04705446] [ 0.01989737 -0.00439202 0.99979238 -0.3588275 ] [ 0. 0. 0. 1. ]] SLAMing on 85.80241403699999 meters Centerline goodness [0,1] 0.739816847380208 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.36 [[ 0.99924425 -0.03351846 -0.0196837 1.22115925] [ 0.03358877 0.99943045 0.00325234 0.04736497] [ 0.01956348 -0.00391103 0.99980097 -0.35832142] [ 0. 0. 0. 1. ]] SLAMing on 85.83241403699999 meters Centerline goodness [0,1] 0.7191464948476356 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.36 [[ 0.9992381 -0.03364769 -0.01977487 1.22134289] [ 0.03371483 0.99942677 0.0030713 0.04806038] [ 0.01966019 -0.00373567 0.99979974 -0.35829909] [ 0. 0. 0. 1. ]] SLAMing on 85.862414037 meters Centerline goodness [0,1] 0.6937873093079814 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.36 [[ 0.99922354 -0.03415807 -0.01963519 1.22097329] [ 0.03421272 0.99941156 0.00245398 0.04987643] [ 0.01953982 -0.00312385 0.9998042 -0.35820854] [ 0. 0. 0. 1. ]] SLAMing on 85.892414037 meters Centerline goodness [0,1] 0.706054427798954 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.36 [[ 0.99922073 -0.03422763 -0.0196571 1.2211422 ] [ 0.03428145 0.99940932 0.00240757 0.05026029] [ 0.01956308 -0.00307957 0.99980388 -0.35841137] [ 0. 0. 0. 1. ]] SLAMing on 85.922414037 meters Centerline goodness [0,1] 0.6975832354960902 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.36 [[ 0.99921788 -0.03432461 -0.01963301 1.22134751] [ 0.03437846 0.99940598 0.00241176 0.05040685] [ 0.01953857 -0.00308483 0.99980434 -0.35876898] [ 0. 0. 0. 1. ]] SLAMing on 85.952414037 meters Centerline goodness [0,1] 0.6890214162195717 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.36 [[ 0.9992063 -0.03472139 -0.01952429 1.22127724] [ 0.03476801 0.9993933 0.00205359 0.05119923] [ 0.01944114 -0.00273078 0.99980727 -0.35901794] [ 0. 0. 0. 1. ]] SLAMing on 85.98241403699998 meters Centerline goodness [0,1] 0.6872091728821106 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.36 [[ 0.99918994 -0.03527678 -0.01936499 1.22072498] [ 0.03530997 0.99937546 0.00137474 0.05304974] [ 0.0193044 -0.00205741 0.99981154 -0.35876006] [ 0. 0. 0. 1. ]] SLAMing on 86.01241403699999 meters Centerline goodness [0,1] 0.7194430233334075 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.36 [[ 0.99918651 -0.03531396 -0.01947419 1.22094846] [ 0.03534522 0.99937436 0.00126351 0.0536278 ] [ 0.01941738 -0.0019508 0.99980956 -0.35872683] [ 0. 0. 0. 1. ]] SLAMing on 86.04241403699999 meters Centerline goodness [0,1] 0.7148658544704081 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.36 [[ 9.99178969e-01 -3.55305447e-02 -1.94671129e-02 1.22080421e+00] [ 3.55576011e-02 9.99367082e-01 1.04537654e-03 5.43257953e-02] [ 1.94176490e-02 -1.73672209e-03 9.99809951e-01 -3.58556507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07241403699999 meters Centerline goodness [0,1] 0.6805833444488907 Centerline is valid? [False, False] Translation: X:1.22, Y:0.06, Z:-0.36 [[ 9.99162668e-01 -3.61504370e-02 -1.91600880e-02 1.21989825e+00] [ 3.61661542e-02 9.99345678e-01 4.74323426e-04 5.58860347e-02] [ 1.91304042e-02 -1.16687296e-03 9.99816316e-01 -3.58302853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10241403699999 meters Centerline goodness [0,1] 0.6907145399537284 Centerline is valid? [False, False] Translation: X:1.22, Y:0.06, Z:-0.36 [[ 9.99161594e-01 -3.61772706e-02 -1.91654426e-02 1.22027451e+00] [ 3.61949214e-02 9.99344584e-01 5.74779540e-04 5.60076629e-02] [ 1.91320874e-02 -1.26798933e-03 9.99816161e-01 -3.58858403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13241403699999 meters Centerline goodness [0,1] 0.6809296941092657 Centerline is valid? [False, False] Translation: X:1.22, Y:0.06, Z:-0.36 [[ 9.99147491e-01 -3.67141491e-02 -1.88775447e-02 1.21993481e+00] [ 3.67216755e-02 9.99325530e-01 5.20975377e-05 5.75906531e-02] [ 1.88628996e-02 -7.45268195e-04 9.99821802e-01 -3.59299298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16241403699999 meters Centerline goodness [0,1] 0.7031910632426899 Centerline is valid? [False, False] Translation: X:1.22, Y:0.06, Z:-0.36 [[ 9.99143546e-01 -3.68156438e-02 -1.88886723e-02 1.21997448e+00] [ 3.68211488e-02 9.99321870e-01 -5.63725867e-05 5.86859479e-02] [ 1.88779387e-02 -6.39178309e-04 9.99821592e-01 -3.59401458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19241403699999 meters Centerline goodness [0,1] 0.6797851714839658 Centerline is valid? [False, False] Translation: X:1.22, Y:0.06, Z:-0.36 [[ 9.99138694e-01 -3.69512462e-02 -1.88805534e-02 1.21989328e+00] [ 3.69488438e-02 9.99317045e-01 -4.76184626e-04 6.02886307e-02] [ 1.88852544e-02 -2.21840131e-04 9.99821633e-01 -3.59221260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.222414037 meters Centerline goodness [0,1] 0.6748602102437933 Centerline is valid? [False, False] Translation: X:1.22, Y:0.06, Z:-0.36 [[ 9.99136562e-01 -3.69185184e-02 -1.90566052e-02 1.22070346e+00] [ 3.69061455e-02 9.99318235e-01 -1.00066806e-03 6.29349834e-02] [ 1.90805562e-02 2.96498204e-04 9.99817906e-01 -3.59658737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.252414037 meters Centerline goodness [0,1] 0.6730584207817779 Centerline is valid? [False, False] Translation: X:1.22, Y:0.06, Z:-0.36 [[ 9.99134960e-01 -3.68877624e-02 -1.91996264e-02 1.22148426e+00] [ 3.68722228e-02 9.99319312e-01 -1.16285809e-03 6.44964096e-02] [ 1.92294527e-02 4.53919264e-04 9.99814994e-01 -3.60317364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.282414037 meters Centerline goodness [0,1] 0.6744722290626609 Centerline is valid? [False, False] Translation: X:1.22, Y:0.07, Z:-0.36 [[ 9.99139690e-01 -3.66512870e-02 -1.94052448e-02 1.22242971e+00] [ 3.66352257e-02 9.99328005e-01 -1.18264328e-03 6.58461777e-02] [ 1.94355500e-02 4.70710317e-04 9.99811001e-01 -3.60954116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.312414037 meters Centerline goodness [0,1] 0.6710917109171092 Centerline is valid? [False, False] Translation: X:1.22, Y:0.07, Z:-0.36 [[ 0.99924636 -0.03375627 -0.01916315 1.22166634] [ 0.03380187 0.99942643 0.00206024 0.0668749 ] [ 0.01908262 -0.00270644 0.99981425 -0.36148581] [ 0. 0. 0. 1. ]] SLAMing on 86.342414037 meters Centerline goodness [0,1] 0.6704018721029656 Centerline is valid? [False, False] Translation: X:1.22, Y:0.07, Z:-0.36 [[ 0.99924828 -0.03368591 -0.01918708 1.22211815] [ 0.03372909 0.99942915 0.00193143 0.06808529] [ 0.01911106 -0.00257714 0.99981405 -0.36198479] [ 0. 0. 0. 1. ]] SLAMing on 86.37241403699998 meters Centerline goodness [0,1] 0.6725857895808356 Centerline is valid? [False, False] Translation: X:1.22, Y:0.07, Z:-0.36 [[ 0.99924128 -0.0338714 -0.01922469 1.22248942] [ 0.03390117 0.99942444 0.00122436 0.0714527 ] [ 0.01917215 -0.00187517 0.99981444 -0.36229223] [ 0. 0. 0. 1. ]] SLAMing on 86.40241403699999 meters Centerline goodness [0,1] 0.6724816725495519 Centerline is valid? [False, False] Translation: X:1.22, Y:0.07, Z:-0.36 [[ 9.99242892e-01 -3.38051460e-02 -1.92575848e-02 1.22284294e+00] [ 3.38312708e-02 9.99427026e-01 1.03233769e-03 7.30145735e-02] [ 1.92116524e-02 -1.68306466e-03 9.99814023e-01 -3.62597295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43241403699999 meters Centerline goodness [0,1] 0.6724673147078151 Centerline is valid? [False, False] Translation: X:1.22, Y:0.07, Z:-0.36 [[ 9.99243243e-01 -3.36959329e-02 -1.94300308e-02 1.22341505e+00] [ 3.37172931e-02 9.99431112e-01 7.72702657e-04 7.47019566e-02] [ 1.93929403e-02 -1.42724595e-03 9.99810921e-01 -3.62792717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46241403699999 meters Centerline goodness [0,1] 0.6729037831938887 Centerline is valid? [False, False] Translation: X:1.22, Y:0.08, Z:-0.36 [[ 0.99934799 -0.0306348 -0.01910784 1.22192869] [ 0.03070964 0.99952173 0.00363595 0.07672495] [ 0.01898731 -0.00422038 0.99981082 -0.36222041] [ 0. 0. 0. 1. ]] SLAMing on 86.49241403699999 meters Centerline goodness [0,1] 0.6914733628036276 Centerline is valid? [False, False] Translation: X:1.22, Y:0.08, Z:-0.36 [[ 0.99934355 -0.03067347 -0.01927695 1.22227191] [ 0.03073783 0.99952282 0.00305145 0.07903419] [ 0.01917415 -0.00364197 0.99980953 -0.36202695] [ 0. 0. 0. 1. ]] SLAMing on 86.52241403699999 meters Centerline goodness [0,1] 0.6783659115820242 Centerline is valid? [False, False] Translation: X:1.22, Y:0.08, Z:-0.36 [[ 0.99934515 -0.0304828 -0.01949516 1.22301251] [ 0.03053424 0.99953097 0.00234626 0.08345177] [ 0.01941449 -0.00293999 0.9998072 -0.36207095] [ 0. 0. 0. 1. ]] SLAMing on 86.55241403699999 meters Centerline goodness [0,1] 0.6858684421995178 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.36 [[ 0.99933901 -0.03063775 -0.01956726 1.22319114] [ 0.03067939 0.9995276 0.00183175 0.08522304] [ 0.0195019 -0.00243086 0.99980686 -0.36200858] [ 0. 0. 0. 1. ]] SLAMing on 86.58241403699999 meters Centerline goodness [0,1] 0.680280234294246 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.36 [[ 0.99933598 -0.03076236 -0.01952631 1.22331142] [ 0.03080145 0.99952407 0.00170436 0.08586447] [ 0.01946459 -0.00230467 0.99980789 -0.36233166] [ 0. 0. 0. 1. ]] SLAMing on 86.612414037 meters Centerline goodness [0,1] 0.6576355245333272 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.36 [[ 0.99932788 -0.031062 -0.01946623 1.22354842] [ 0.03109904 0.99951502 0.00160307 0.08616353] [ 0.019407 -0.00220737 0.99980923 -0.36297375] [ 0. 0. 0. 1. ]] SLAMing on 86.642414037 meters Centerline goodness [0,1] 0.6703208310351167 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.36 [[ 0.9993256 -0.03119281 -0.01937384 1.22362843] [ 0.03123056 0.99951085 0.00164883 0.08636111] [ 0.01931294 -0.00225278 0.99981095 -0.36341333] [ 0. 0. 0. 1. ]] SLAMing on 86.672414037 meters Centerline goodness [0,1] 0.6635488181357416 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.36 [[ 0.99931661 -0.03154925 -0.01926008 1.22362515] [ 0.03158421 0.99949995 0.00151323 0.08745177] [ 0.01920271 -0.00212051 0.99981336 -0.3639541 ] [ 0. 0. 0. 1. ]] SLAMing on 86.702414037 meters Centerline goodness [0,1] 0.6606490684665527 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.36 [[ 0.99931269 -0.03168133 -0.01924702 1.22369268] [ 0.03171397 0.99949602 0.0013924 0.08819711] [ 0.01919321 -0.00200184 0.99981379 -0.36410348] [ 0. 0. 0. 1. ]] SLAMing on 86.73241403699998 meters Centerline goodness [0,1] 0.6593010355029586 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.36 [[ 0.99931311 -0.0316656 -0.0192511 1.22392174] [ 0.03169931 0.9994964 0.00144858 0.08848931] [ 0.01919553 -0.00205783 0.99981363 -0.36438365] [ 0. 0. 0. 1. ]] SLAMing on 86.76241403699999 meters Centerline goodness [0,1] 0.6574764091087373 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.37 [[ 0.9994913 -0.03146577 -0.00519973 1.22461701] [ 0.03148605 0.99949672 0.00386509 0.08657177] [ 0.00507549 -0.00402684 0.99997901 -0.37110888] [ 0. 0. 0. 1. ]] SLAMing on 86.79241403699999 meters Centerline goodness [0,1] 0.656703988155825 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.37 [[ 0.99948486 -0.03169402 -0.00505109 1.22400156] [ 0.03171292 0.99949015 0.00370611 0.08623449] [ 0.00493105 -0.00386439 0.99998038 -0.37063967] [ 0. 0. 0. 1. ]] SLAMing on 86.82241403699999 meters Centerline goodness [0,1] 0.6561247422441556 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.37 [[ 0.99948482 -0.03171206 -0.00494427 1.22381167] [ 0.03173145 0.99948885 0.0038938 0.08583047] [ 0.00481826 -0.00404869 0.9999802 -0.37074703] [ 0. 0. 0. 1. ]] SLAMing on 86.85241403699999 meters Centerline goodness [0,1] 0.6561247422441556 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.37 [[ 0.99948482 -0.03171206 -0.00494427 1.22381167] [ 0.03173145 0.99948885 0.0038938 0.08583047] [ 0.00481826 -0.00404869 0.9999802 -0.37074703] [ 0. 0. 0. 1. ]] SLAMing on 86.88241403699999 meters Centerline goodness [0,1] 0.6456750572082379 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.37 [[ 0.99949046 -0.0314769 -0.00529391 1.22469553] [ 0.03149809 0.99949593 0.00396937 0.08616252] [ 0.0051663 -0.0041341 0.99997811 -0.37081706] [ 0. 0. 0. 1. ]] SLAMing on 86.91241403699999 meters Centerline goodness [0,1] 0.6572760155815247 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.37 [[ 0.9994915 -0.03142002 -0.00543358 1.22488233] [ 0.03144062 0.99949859 0.00374831 0.08728082] [ 0.00531308 -0.00391724 0.99997821 -0.3705671 ] [ 0. 0. 0. 1. ]] SLAMing on 86.94241403699999 meters Centerline goodness [0,1] 0.6656898997651108 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.37 [[ 0.9995949 -0.02794229 -0.00540942 1.22405205] [ 0.02798212 0.99958079 0.00743278 0.08713063] [ 0.00519947 -0.00758113 0.99995775 -0.3700753 ] [ 0. 0. 0. 1. ]] SLAMing on 86.972414037 meters Centerline goodness [0,1] 0.658104331625524 Centerline is valid? [False, False] Translation: X:1.23, Y:0.09, Z:-0.37 [[ 0.9996031 -0.02758794 -0.00570519 1.22504338] [ 0.02763044 0.99959 0.00750917 0.08764271] [ 0.00549569 -0.00766383 0.99995553 -0.3704969 ] [ 0. 0. 0. 1. ]] SLAMing on 87.002414037 meters Centerline goodness [0,1] 0.6779732286775527 Centerline is valid? [False, False] Translation: X:1.23, Y:0.09, Z:-0.37 [[ 0.99963584 -0.02628607 -0.00610116 1.22766438] [ 0.02633553 0.99961975 0.0081733 0.08846116] [ 0.005884 -0.008331 0.99994799 -0.37256473] [ 0. 0. 0. 1. ]] SLAMing on 87.032414037 meters Centerline goodness [0,1] 0.6658731825713553 Centerline is valid? [False, False] Translation: X:1.23, Y:0.09, Z:-0.37 [[ 0.99964409 -0.02590224 -0.00638512 1.22876459] [ 0.02595447 0.99962919 0.00823708 0.0892341 ] [ 0.00616939 -0.00839987 0.99994569 -0.37311769] [ 0. 0. 0. 1. ]] SLAMing on 87.062414037 meters Centerline goodness [0,1] 0.6796332249538022 Centerline is valid? [False, False] Translation: X:1.23, Y:0.09, Z:-0.37 [[ 0.9996518 -0.02555135 -0.00658916 1.22962621] [ 0.02560556 0.99963785 0.00827746 0.09011425] [ 0.00637528 -0.00844329 0.99994403 -0.37356951] [ 0. 0. 0. 1. ]] SLAMing on 87.092414037 meters Centerline goodness [0,1] 0.6864295434282766 Centerline is valid? [False, False] Translation: X:1.23, Y:0.09, Z:-0.37 [[ 0.99966432 -0.02499093 -0.00683442 1.2304233 ] [ 0.0250454 0.99965427 0.00800454 0.09253176] [ 0.00663202 -0.00817303 0.99994461 -0.37348542] [ 0. 0. 0. 1. ]] SLAMing on 87.12241403699998 meters Centerline goodness [0,1] 0.668101935272506 Centerline is valid? [False, False] Translation: X:1.23, Y:0.09, Z:-0.37 [[ 0.99966814 -0.02479506 -0.00698639 1.2307295 ] [ 0.02484883 0.99966142 0.00771831 0.09363594] [ 0.00679265 -0.00788936 0.99994581 -0.37314877] [ 0. 0. 0. 1. ]] SLAMing on 87.15241403699999 meters Centerline goodness [0,1] 0.6863353307484432 Centerline is valid? [False, False] Translation: X:1.23, Y:0.09, Z:-0.37 [[ 0.99967105 -0.02464602 -0.0070968 1.23058674] [ 0.02469797 0.9996681 0.00732799 0.09473767] [ 0.00691384 -0.00750086 0.99994797 -0.3722775 ] [ 0. 0. 0. 1. ]] SLAMing on 87.18241403699999 meters Centerline goodness [0,1] 0.6908876854250059 Centerline is valid? [False, False] Translation: X:1.23, Y:0.09, Z:-0.37 [[ 0.99967538 -0.02442345 -0.00725462 1.23104519] [ 0.02447748 0.99967259 0.0074547 0.09454342] [ 0.00707017 -0.00762986 0.9999459 -0.3723905 ] [ 0. 0. 0. 1. ]] SLAMing on 87.21241403699999 meters Centerline goodness [0,1] 0.6936375396918735 Centerline is valid? [False, False] Translation: X:1.23, Y:0.09, Z:-0.37 [[ 0.99968005 -0.02418257 -0.0074158 1.23164788] [ 0.0242387 0.9996775 0.00757465 0.09460785] [ 0.00723024 -0.00775198 0.99994381 -0.37265481] [ 0. 0. 0. 1. ]] SLAMing on 87.24241403699999 meters Centerline goodness [0,1] 0.6975317381660295 Centerline is valid? [False, False] Translation: X:1.23, Y:0.10, Z:-0.37 [[ 0.99968577 -0.02386798 -0.00766084 1.23239383] [ 0.0239255 0.99968556 0.0075065 0.09550586] [ 0.00747926 -0.00768743 0.99994248 -0.37273606] [ 0. 0. 0. 1. ]] SLAMing on 87.27241403699999 meters Centerline goodness [0,1] 0.6829607621203546 Centerline is valid? [False, False] Translation: X:1.23, Y:0.10, Z:-0.37 [[ 0.9996895 -0.02369624 -0.00770645 1.23267992] [ 0.02375426 0.99968949 0.00752719 0.09574076] [ 0.00752569 -0.00770791 0.99994197 -0.37286543] [ 0. 0. 0. 1. ]] SLAMing on 87.30241403699999 meters Centerline goodness [0,1] 0.7056119923633535 Centerline is valid? [False, False] Translation: X:1.23, Y:0.10, Z:-0.37 [[ 0.99970493 -0.02291466 -0.0080607 1.23400638] [ 0.02297805 0.99970506 0.00786107 0.09594025] [ 0.00787819 -0.00804397 0.99993661 -0.37334681] [ 0. 0. 0. 1. ]] SLAMing on 87.33241403699999 meters Centerline goodness [0,1] 0.7128523537466358 Centerline is valid? [False, False] Translation: X:1.23, Y:0.10, Z:-0.37 [[ 0.99971399 -0.02243023 -0.00829577 1.23493877] [ 0.02249649 0.99971505 0.00798289 0.09647913] [ 0.00811435 -0.00816723 0.99993372 -0.37367322] [ 0. 0. 0. 1. ]] SLAMing on 87.362414037 meters Centerline goodness [0,1] 0.71605025575749 Centerline is valid? [False, False] Translation: X:1.24, Y:0.10, Z:-0.37 [[ 0.99972232 -0.02193507 -0.00861012 1.23596208] [ 0.02200459 0.99972535 0.00806414 0.09735036] [ 0.00843086 -0.00825137 0.99993042 -0.37395064] [ 0. 0. 0. 1. ]] SLAMing on 87.392414037 meters Centerline goodness [0,1] 0.6920665598189875 Centerline is valid? [False, False] Translation: X:1.24, Y:0.10, Z:-0.37 [[ 0.99973287 -0.02133458 -0.00888932 1.23706164] [ 0.0214075 0.99973729 0.00819007 0.09823664] [ 0.00871225 -0.00837818 0.99992695 -0.37430527] [ 0. 0. 0. 1. ]] SLAMing on 87.422414037 meters Centerline goodness [0,1] 0.7144074617679087 Centerline is valid? [False, False] Translation: X:1.24, Y:0.10, Z:-0.37 [[ 0.99981182 -0.01723226 -0.00890914 1.23684077] [ 0.01734052 0.99977496 0.01222037 0.09759263] [ 0.00869655 -0.01237256 0.99988564 -0.37416146] [ 0. 0. 0. 1. ]] SLAMing on 87.452414037 meters Centerline goodness [0,1] 0.7444128787878788 Centerline is valid? [False, False] Translation: X:1.24, Y:0.10, Z:-0.37 [[ 0.99981629 -0.01688186 -0.00907734 1.23729453] [ 0.01699125 0.99978228 0.0121113 0.09808869] [ 0.0088709 -0.01226331 0.99988545 -0.37393208] [ 0. 0. 0. 1. ]] SLAMing on 87.48241403699998 meters Centerline goodness [0,1] 0.7531322396104203 Centerline is valid? [False, False] Translation: X:1.24, Y:0.10, Z:-0.37 [[ 0.99982282 -0.01638157 -0.00927177 1.23713088] [ 0.01649135 0.99979331 0.01189008 0.09840599] [ 0.00907508 -0.01204088 0.99988632 -0.37255137] [ 0. 0. 0. 1. ]] SLAMing on 87.51241403699999 meters Centerline goodness [0,1] 0.761001249204516 Centerline is valid? [False, False] Translation: X:1.24, Y:0.10, Z:-0.37 [[ 0.99982421 -0.01623086 -0.00938655 1.2371154 ] [ 0.01634017 0.99979816 0.01168888 0.09856511] [ 0.00919493 -0.0118402 0.99988763 -0.37192363] [ 0. 0. 0. 1. ]] SLAMing on 87.54241403699999 meters Centerline goodness [0,1] 0.7675755933162075 Centerline is valid? [False, False] Translation: X:1.24, Y:0.10, Z:-0.37 [[ 0.99982546 -0.01601118 -0.00962757 1.23743716] [ 0.01612158 0.99980389 0.01150147 0.09894391] [ 0.00944153 -0.01165467 0.99988751 -0.37142798] [ 0. 0. 0. 1. ]] SLAMing on 87.57241403699999 meters Centerline goodness [0,1] 0.7723751442228449 Centerline is valid? [False, False] Translation: X:1.24, Y:0.10, Z:-0.37 [[ 0.99984429 -0.01449936 -0.01005823 1.23921989] [ 0.01462013 0.99982063 0.01203985 0.09940596] [ 0.00988186 -0.01218503 0.99987693 -0.37174473] [ 0. 0. 0. 1. ]] SLAMing on 87.60241403699999 meters Centerline goodness [0,1] 0.7716196171685541 Centerline is valid? [False, False] Translation: X:1.24, Y:0.10, Z:-0.37 [[ 0.99985114 -0.01373233 -0.01044651 1.24058668] [ 0.01386041 0.99982842 0.01228882 0.0997676 ] [ 0.01027597 -0.01243178 0.99986992 -0.37212045] [ 0. 0. 0. 1. ]] SLAMing on 87.63241403699999 meters Centerline goodness [0,1] 0.7735234408196024 Centerline is valid? [False, False] Translation: X:1.24, Y:0.10, Z:-0.37 [[ 0.99985813 -0.01279715 -0.01095233 1.24234903] [ 0.01293672 0.99983478 0.01276904 0.09978497] [ 0.01078711 -0.01290892 0.99985849 -0.3727542 ] [ 0. 0. 0. 1. ]] SLAMing on 87.66241403699999 meters Centerline goodness [0,1] 0.7740116992169073 Centerline is valid? [False, False] Translation: X:1.24, Y:0.10, Z:-0.37 [[ 0.99990549 -0.00815045 -0.01107185 1.24290687] [ 0.00834258 0.99981348 0.01741872 0.09789646] [ 0.01092781 -0.01750944 0.99978698 -0.37322394] [ 0. 0. 0. 1. ]] SLAMing on 87.69241403699999 meters Centerline goodness [0,1] 0.7713503175690034 Centerline is valid? [False, False] Translation: X:1.24, Y:0.10, Z:-0.37 [[ 0.99990586 -0.00778647 -0.01129756 1.24331601] [ 0.00797983 0.9998207 0.01717223 0.09879932] [ 0.01116183 -0.01726076 0.99978872 -0.37272272] [ 0. 0. 0. 1. ]] SLAMing on 87.722414037 meters Centerline goodness [0,1] 0.7708372797878387 Centerline is valid? [False, False] Translation: X:1.24, Y:0.10, Z:-0.37 [[ 0.99990641 -0.0073442 -0.01154261 1.24372888] [ 0.00754097 0.9998254 0.01709716 0.0991554 ] [ 0.01141503 -0.0171826 0.99978721 -0.37222596] [ 0. 0. 0. 1. ]] SLAMing on 87.752414037 meters Centerline goodness [0,1] 0.7708466095494347 Centerline is valid? [False, False] Translation: X:1.24, Y:0.10, Z:-0.37 [[ 0.99991146 -0.00629346 -0.01172418 1.24445638] [ 0.00650086 0.99982155 0.01773705 0.09798376] [ 0.01161046 -0.0178117 0.99977394 -0.37218229] [ 0. 0. 0. 1. ]] SLAMing on 87.782414037 meters Centerline goodness [0,1] 0.7761829690110356 Centerline is valid? [False, False] Translation: X:1.24, Y:0.10, Z:-0.37 [[ 0.99991092 -0.00613797 -0.01185264 1.24438202] [ 0.00634762 0.99982262 0.01773231 0.09727144] [ 0.0117417 -0.01780597 0.99977251 -0.37149276] [ 0. 0. 0. 1. ]] SLAMing on 87.812414037 meters Centerline goodness [0,1] 0.772677185661032 Centerline is valid? [False, False] Translation: X:1.24, Y:0.09, Z:-0.37 [[ 0.99991247 -0.00590435 -0.01184029 1.2438383 ] [ 0.00611861 0.99981671 0.01814152 0.09466489] [ 0.011731 -0.01821238 0.99976532 -0.37061044] [ 0. 0. 0. 1. ]] SLAMing on 87.842414037 meters Centerline goodness [0,1] 0.7731621172783196 Centerline is valid? [False, False] Translation: X:1.24, Y:0.09, Z:-0.37 [[ 0.99991244 -0.00567593 -0.01195384 1.24408644] [ 0.00589858 0.99980823 0.01867396 0.09252863] [ 0.01184556 -0.01874283 0.99975416 -0.37062821] [ 0. 0. 0. 1. ]] SLAMing on 87.87241403699998 meters Centerline goodness [0,1] 0.7728467424929639 Centerline is valid? [False, False] Translation: X:1.24, Y:0.09, Z:-0.37 [[ 0.9999136 -0.00545655 -0.01195873 1.24402452] [ 0.00569074 0.99979096 0.01963783 0.08845217] [ 0.01184908 -0.01970418 0.99973564 -0.37063784] [ 0. 0. 0. 1. ]] SLAMing on 87.90241403699999 meters Centerline goodness [0,1] 0.7743019348858765 Centerline is valid? [False, False] Translation: X:1.25, Y:0.09, Z:-0.37 [[ 0.99988874 -0.00851338 -0.01224849 1.24521898] [ 0.00870798 0.99983531 0.01592254 0.08871521] [ 0.01211091 -0.01602742 0.9997982 -0.37063301] [ 0. 0. 0. 1. ]] SLAMing on 87.93241403699999 meters Centerline goodness [0,1] 0.7760768874478925 Centerline is valid? [False, False] Translation: X:1.24, Y:0.09, Z:-0.37 [[ 0.999889 -0.00851157 -0.01222875 1.24499716] [ 0.00871063 0.9998289 0.01631839 0.08674265] [ 0.01208776 -0.0164231 0.99979206 -0.37045137] [ 0. 0. 0. 1. ]] SLAMing on 87.96241403699999 meters Centerline goodness [0,1] 0.7741309171597633 Centerline is valid? [False, False] Translation: X:1.25, Y:0.08, Z:-0.37 [[ 0.99985441 -0.01139639 -0.01269954 1.24671464] [ 0.01156683 0.99984292 0.01342917 0.08451491] [ 0.0125445 -0.01357411 0.99982918 -0.37096247] [ 0. 0. 0. 1. ]] SLAMing on 87.99241403699999 meters Centerline goodness [0,1] 0.7735779816513761 Centerline is valid? [False, False] Translation: X:1.25, Y:0.08, Z:-0.37 [[ 0.99981169 -0.01429075 -0.01312825 1.24835573] [ 0.01442335 0.99984536 0.01006114 0.08419152] [ 0.01298244 -0.01024859 0.9998632 -0.3713023 ] [ 0. 0. 0. 1. ]] SLAMing on 88.02241403699999 meters Centerline goodness [0,1] 0.7756672222095387 Centerline is valid? [False, False] Translation: X:1.25, Y:0.08, Z:-0.37 [[ 0.9997575 -0.01757193 -0.01327309 1.24900335] [ 0.01766805 0.99981828 0.00715913 0.08130685] [ 0.01314488 -0.0073919 0.99988628 -0.37141209] [ 0. 0. 0. 1. ]] SLAMing on 88.05241403699999 meters Centerline goodness [0,1] 0.7759504582161328 Centerline is valid? [False, False] Translation: X:1.25, Y:0.08, Z:-0.37 [[ 0.99969288 -0.02061529 -0.01375372 1.25079143] [ 0.02067177 0.99977841 0.00397679 0.08056472] [ 0.01366869 -0.00425988 0.9998975 -0.37197191] [ 0. 0. 0. 1. ]] SLAMing on 88.08241403699999 meters Centerline goodness [0,1] 0.7749535589687826 Centerline is valid? [False, False] Translation: X:1.25, Y:0.08, Z:-0.37 [[ 0.9996867 -0.02111959 -0.01343358 1.24955889] [ 0.02117927 0.99976638 0.00431609 0.07752001] [ 0.01333929 -0.00459925 0.99990045 -0.37147076] [ 0. 0. 0. 1. ]] SLAMing on 88.112414037 meters Centerline goodness [0,1] 0.776097879723305 Centerline is valid? [False, False] Translation: X:1.25, Y:0.07, Z:-0.37 [[ 0.99960525 -0.0246646 -0.01345379 1.25013825] [ 0.02468971 0.99969371 0.00170396 0.07323841] [ 0.01340764 -0.00203546 0.99990804 -0.37203688] [ 0. 0. 0. 1. ]] SLAMing on 88.142414037 meters Centerline goodness [0,1] 0.7727742805755395 Centerline is valid? [False, False] Translation: X:1.25, Y:0.07, Z:-0.37 [[ 0.9995988 -0.02504662 -0.01322542 1.2494652 ] [ 0.02508249 0.99968212 0.00255377 0.06834449] [ 0.01315726 -0.00288447 0.99990928 -0.37211411] [ 0. 0. 0. 1. ]] SLAMing on 88.172414037 meters Centerline goodness [0,1] 0.7754878021461055 Centerline is valid? [False, False] Translation: X:1.25, Y:0.07, Z:-0.37 [[ 0.99960381 -0.02484843 -0.01322011 1.2495695 ] [ 0.02489319 0.99968489 0.00323203 0.06634092] [ 0.01313564 -0.00355984 0.99990739 -0.37235546] [ 0. 0. 0. 1. ]] SLAMing on 88.202414037 meters Centerline goodness [0,1] 0.7705086410931987 Centerline is valid? [False, False] Translation: X:1.25, Y:0.06, Z:-0.37 [[ 0.99961075 -0.02462675 -0.01310982 1.24930753] [ 0.02468468 0.99968614 0.00427571 0.06244783] [ 0.01300041 -0.00459765 0.99990492 -0.3724177 ] [ 0. 0. 0. 1. ]] SLAMing on 88.23241403699998 meters Centerline goodness [0,1] 0.7705086410931987 Centerline is valid? [False, False] Translation: X:1.25, Y:0.06, Z:-0.37 [[ 0.99961075 -0.02462675 -0.01310982 1.24930753] [ 0.02468468 0.99968614 0.00427571 0.06244783] [ 0.01300041 -0.00459765 0.99990492 -0.3724177 ] [ 0. 0. 0. 1. ]] SLAMing on 88.26241403699999 meters Centerline goodness [0,1] 0.7721442885771543 Centerline is valid? [False, False] Translation: X:1.25, Y:0.06, Z:-0.37 [[ 0.99961529 -0.02454367 -0.0129181 1.2487632 ] [ 0.02461105 0.99968418 0.0050827 0.05805264] [ 0.01278927 -0.00539867 0.99990364 -0.37223526] [ 0. 0. 0. 1. ]] SLAMing on 88.29241403699999 meters Centerline goodness [0,1] 0.7724496368522755 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99962306 -0.02434415 -0.01269278 1.24826673] [ 0.02442064 0.99968432 0.00590655 0.05485682] [ 0.01254498 -0.00621429 0.999902 -0.37224679] [ 0. 0. 0. 1. ]] SLAMing on 88.32241403699999 meters Centerline goodness [0,1] 0.7724496368522755 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99962306 -0.02434415 -0.01269278 1.24826673] [ 0.02442064 0.99968432 0.00590655 0.05485682] [ 0.01254498 -0.00621429 0.999902 -0.37224679] [ 0. 0. 0. 1. ]] SLAMing on 88.35241403699999 meters Centerline goodness [0,1] 0.7746394630158836 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.999632 -0.02402162 -0.01260231 1.24825407] [ 0.02410688 0.99968722 0.00665785 0.05233885] [ 0.01243844 -0.0069592 0.99989842 -0.37243905] [ 0. 0. 0. 1. ]] SLAMing on 88.38241403699999 meters Centerline goodness [0,1] 0.7741486375991691 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.9996372 -0.02383215 -0.01255002 1.24819417] [ 0.02392244 0.99968864 0.00709475 0.05099469] [ 0.01237703 -0.00739241 0.99989608 -0.37249185] [ 0. 0. 0. 1. ]] SLAMing on 88.41241403699999 meters Centerline goodness [0,1] 0.7707021845249928 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99965121 -0.02323822 -0.01254792 1.24842082] [ 0.02333999 0.99969537 0.00802593 0.04824203] [ 0.01235759 -0.008316 0.99988906 -0.3727061 ] [ 0. 0. 0. 1. ]] SLAMing on 88.44241403699999 meters Centerline goodness [0,1] 0.7726379907748671 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99965548 -0.02303669 -0.01257875 1.24860652] [ 0.02314378 0.99969655 0.0084361 0.04683349] [ 0.01238059 -0.00872431 0.9998853 -0.37284529] [ 0. 0. 0. 1. ]] SLAMing on 88.472414037 meters Centerline goodness [0,1] 0.7731706779996917 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.9996607 -0.02278542 -0.01262173 1.2490971 ] [ 0.02289945 0.99969758 0.00896452 0.04538416] [ 0.01241365 -0.00925051 0.99988016 -0.37338909] [ 0. 0. 0. 1. ]] SLAMing on 88.502414037 meters Centerline goodness [0,1] 0.7718423134393952 Centerline is valid? [False, False] Translation: X:1.25, Y:0.04, Z:-0.37 [[ 0.99966236 -0.0227283 -0.01259355 1.24914336] [ 0.0228503 0.99969252 0.0096298 0.04265689] [ 0.0123708 -0.00991431 0.99987433 -0.37361585] [ 0. 0. 0. 1. ]] SLAMing on 88.532414037 meters Centerline goodness [0,1] 0.772842973755815 Centerline is valid? [False, False] Translation: X:1.25, Y:0.04, Z:-0.37 [[ 0.99966145 -0.02283453 -0.01247246 1.24880945] [ 0.02295809 0.99968786 0.00985485 0.04124569] [ 0.01224353 -0.01013786 0.99987365 -0.37354521] [ 0. 0. 0. 1. ]] SLAMing on 88.562414037 meters Centerline goodness [0,1] 0.7723397260273972 Centerline is valid? [False, False] Translation: X:1.25, Y:0.04, Z:-0.37 [[ 0.99964966 -0.02351057 -0.01215746 1.24711151] [ 0.0236297 0.99967323 0.00975005 0.03847722] [ 0.01192426 -0.01003391 0.99987856 -0.37214501] [ 0. 0. 0. 1. ]] SLAMing on 88.592414037 meters Centerline goodness [0,1] 0.7708579687294705 Centerline is valid? [False, False] Translation: X:1.25, Y:0.04, Z:-0.37 [[ 0.99964868 -0.02358267 -0.01209874 1.24675434] [ 0.02370423 0.99966896 0.01000407 0.03708505] [ 0.01185882 -0.01028735 0.99987676 -0.37181942] [ 0. 0. 0. 1. ]] SLAMing on 88.62241403699998 meters Centerline goodness [0,1] 0.7716757323546759 Centerline is valid? [False, False] Translation: X:1.25, Y:0.04, Z:-0.37 [[ 0.99964725 -0.02372373 -0.01193979 1.24633669] [ 0.02384551 0.999664 0.01016271 0.03584948] [ 0.01169468 -0.01044383 0.99987707 -0.37170046] [ 0. 0. 0. 1. ]] SLAMing on 88.65241403699999 meters Centerline goodness [0,1] 0.7713974512580328 Centerline is valid? [False, False] Translation: X:1.25, Y:0.03, Z:-0.37 [[ 0.99963855 -0.02411105 -0.01189205 1.24624382] [ 0.02423646 0.99965093 0.01051717 0.03262515] [ 0.01163432 -0.01080159 0.99987398 -0.37188909] [ 0. 0. 0. 1. ]] SLAMing on 88.68241403699999 meters Centerline goodness [0,1] 0.77175665664357 Centerline is valid? [False, False] Translation: X:1.25, Y:0.03, Z:-0.37 [[ 0.99963661 -0.02423432 -0.0118047 1.24612304] [ 0.02436253 0.99964441 0.01084113 0.03075365] [ 0.01153778 -0.01112478 0.99987155 -0.37204204] [ 0. 0. 0. 1. ]] SLAMing on 88.71241403699999 meters Centerline goodness [0,1] 0.7726273639311441 Centerline is valid? [False, False] Translation: X:1.25, Y:0.03, Z:-0.37 [[ 0.99961744 -0.02509972 -0.01161836 1.24504294] [ 0.02522526 0.99962359 0.0107877 0.02739063] [ 0.01134322 -0.01107665 0.99987431 -0.37129892] [ 0. 0. 0. 1. ]] SLAMing on 88.74241403699999 meters Centerline goodness [0,1] 0.7726273639311441 Centerline is valid? [False, False] Translation: X:1.25, Y:0.03, Z:-0.37 [[ 0.99961744 -0.02509972 -0.01161836 1.24504294] [ 0.02522526 0.99962359 0.0107877 0.02739063] [ 0.01134322 -0.01107665 0.99987431 -0.37129892] [ 0. 0. 0. 1. ]] SLAMing on 88.77241403699999 meters Centerline goodness [0,1] 0.769607630609148 Centerline is valid? [False, False] Translation: X:1.24, Y:0.03, Z:-0.37 [[ 0.99961763 -0.0251122 -0.01157443 1.24497872] [ 0.02524255 0.99961797 0.01125718 0.02521153] [ 0.01128732 -0.01154504 0.99986965 -0.37136999] [ 0. 0. 0. 1. ]] SLAMing on 88.80241403699999 meters Centerline goodness [0,1] 0.7707510738924805 Centerline is valid? [False, False] Translation: X:1.24, Y:0.02, Z:-0.37 [[ 0.99960742 -0.02561971 -0.01134213 1.24406954] [ 0.02575081 0.99960147 0.01156747 0.02232788] [ 0.01104125 -0.011855 0.99986877 -0.37097527] [ 0. 0. 0. 1. ]] SLAMing on 88.83241403699999 meters Centerline goodness [0,1] 0.7647529635718612 Centerline is valid? [False, False] Translation: X:1.24, Y:0.02, Z:-0.37 [[ 0.99960669 -0.02565768 -0.01132032 1.24403046] [ 0.02579181 0.99959691 0.01186603 0.02112418] [ 0.0110113 -0.01215334 0.99986551 -0.37102628] [ 0. 0. 0. 1. ]] SLAMing on 88.862414037 meters Centerline goodness [0,1] 0.7631055793249493 Centerline is valid? [False, False] Translation: X:1.24, Y:0.02, Z:-0.37 [[ 0.99960454 -0.02575711 -0.01128449 1.24385406] [ 0.02589263 0.9995923 0.0120333 0.01994171] [ 0.01096994 -0.01232072 0.99986392 -0.37088435] [ 0. 0. 0. 1. ]] SLAMing on 88.892414037 meters Centerline goodness [0,1] 0.758960399248169 Centerline is valid? [False, False] Translation: X:1.24, Y:0.02, Z:-0.37 [[ 0.9996027 -0.02587461 -0.01117759 1.24376683] [ 0.02601408 0.9995832 0.01251778 0.01759545] [ 0.01084904 -0.01280358 0.99985917 -0.37114446] [ 0. 0. 0. 1. ]] SLAMing on 88.922414037 meters Centerline goodness [0,1] 0.7687443346138905 Centerline is valid? [False, False] Translation: X:1.24, Y:0.02, Z:-0.37 [[ 0.99960123 -0.02598076 -0.01106249 1.24359222] [ 0.0261193 0.99957982 0.01256861 0.01687921] [ 0.0107313 -0.01285254 0.99985982 -0.37119913] [ 0. 0. 0. 1. ]] SLAMing on 88.952414037 meters Centerline goodness [0,1] 0.7667862080884895 Centerline is valid? [False, False] Translation: X:1.24, Y:0.02, Z:-0.37 [[ 0.9995966 -0.02621443 -0.01092903 1.24277814] [ 0.02635133 0.99957363 0.01257644 0.01517443] [ 0.01059468 -0.01285936 0.99986119 -0.3703915 ] [ 0. 0. 0. 1. ]] SLAMing on 88.98241403699998 meters Centerline goodness [0,1] 0.765433962264151 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99959463 -0.02627967 -0.01095222 1.24257012] [ 0.02641739 0.99957127 0.01262545 0.01436345] [ 0.01061573 -0.01290966 0.99986031 -0.36998901] [ 0. 0. 0. 1. ]] SLAMing on 89.01241403699999 meters Centerline goodness [0,1] 0.7655447680690399 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99959219 -0.02641576 -0.01084711 1.24212279] [ 0.02655149 0.99956846 0.01256598 0.01384094] [ 0.01051049 -0.01284886 0.99986221 -0.36961343] [ 0. 0. 0. 1. ]] SLAMing on 89.04241403699999 meters Centerline goodness [0,1] 0.7643077321032097 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99959042 -0.0264136 -0.01101457 1.2426869 ] [ 0.0265544 0.99956492 0.01283863 0.01290375] [ 0.01067066 -0.01312585 0.99985691 -0.36997328] [ 0. 0. 0. 1. ]] SLAMing on 89.07241403699999 meters Centerline goodness [0,1] 0.7642570800465538 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.9995924 -0.02635884 -0.01096528 1.24302135] [ 0.02650196 0.99956268 0.01311827 0.01220045] [ 0.0106147 -0.01340352 0.99985383 -0.37059436] [ 0. 0. 0. 1. ]] SLAMing on 89.10241403699999 meters Centerline goodness [0,1] 0.7649496999266008 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99959095 -0.02641222 -0.01096895 1.24313504] [ 0.026556 0.99956049 0.01317583 0.01167613] [ 0.01061613 -0.01346173 0.99985303 -0.3707069 ] [ 0. 0. 0. 1. ]] SLAMing on 89.13241403699999 meters Centerline goodness [0,1] 0.7580231480483652 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99958359 -0.02674652 -0.01082927 1.24285625] [ 0.02688943 0.9995503 0.01327265 0.01017858] [ 0.0104694 -0.01355831 0.99985327 -0.37078477] [ 0. 0. 0. 1. ]] SLAMing on 89.16241403699999 meters Centerline goodness [0,1] 0.7533392313833804 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99956563 -0.02755592 -0.01045105 1.24117867] [ 0.02768939 0.99953399 0.01284888 0.00882727] [ 0.01009212 -0.01313268 0.99986283 -0.36958645] [ 0. 0. 0. 1. ]] SLAMing on 89.19241403699999 meters Centerline goodness [0,1] 0.7604973326449836 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.9995549 -0.0280146 -0.01025573 1.24013962] [ 0.02814232 0.9995254 0.01252919 0.00822511] [ 0.00989986 -0.01281223 0.99986891 -0.36866017] [ 0. 0. 0. 1. ]] SLAMing on 89.222414037 meters Centerline goodness [0,1] 0.7610669081656856 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99954889 -0.02829116 -0.01008121 1.23936905] [ 0.02841579 0.99951876 0.01244189 0.00757005] [ 0.00972436 -0.01272275 0.99987178 -0.36806941] [ 0. 0. 0. 1. ]] SLAMing on 89.252414037 meters Centerline goodness [0,1] 0.7629661472326706 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99954612 -0.02840058 -0.01004825 1.23919921] [ 0.02852496 0.99951543 0.01245901 0.0070212 ] [ 0.00968954 -0.01273998 0.99987189 -0.3678802 ] [ 0. 0. 0. 1. ]] SLAMing on 89.282414037 meters Centerline goodness [0,1] 0.7661130711642716 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99954462 -0.02843077 -0.01011149 1.23973371] [ 0.02855962 0.99950968 0.01283534 0.00560005] [ 0.00974162 -0.01311828 0.9998665 -0.36852766] [ 0. 0. 0. 1. ]] SLAMing on 89.312414037 meters Centerline goodness [0,1] 0.7632399423742662 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99954636 -0.02832933 -0.01022399 1.24040823] [ 0.02846392 0.99950676 0.01326843 0.00419313] [ 0.00984306 -0.01355342 0.9998597 -0.36919996] [ 0. 0. 0. 1. ]] SLAMing on 89.342414037 meters Centerline goodness [0,1] 0.7064845682331433 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99954514 -0.02837328 -0.01022127 1.24069691] [ 0.02851013 0.99950232 0.01350136 0.00321527] [ 0.0098331 -0.01378663 0.99985661 -0.3696631 ] [ 0. 0. 0. 1. ]] SLAMing on 89.37241403699998 meters Centerline goodness [0,1] 0.7649885239923636 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99954816 -0.02825929 -0.01024148 1.24110642] [ 0.02839944 0.99950128 0.0138079 0.00251461] [ 0.00984617 -0.01409251 0.99985222 -0.37019018] [ 0. 0. 0. 1. ]] SLAMing on 89.40241403699999 meters Centerline goodness [0,1] 0.7532475884244373 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99955051 -0.02818512 -0.01021632 1.24107312] [ 0.0283244 0.99950415 0.01375465 0.00263116] [ 0.00982358 -0.01403784 0.99985321 -0.37010855] [ 0. 0. 0. 1. ]] SLAMing on 89.43241403699999 meters Centerline goodness [0,1] 0.7613162564946867 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99955531 -0.02801421 -0.01021725 1.24096585] [ 0.02815192 0.99951124 0.01359247 0.0030239 ] [ 0.00983147 -0.01387406 0.99985542 -0.36979676] [ 0. 0. 0. 1. ]] SLAMing on 89.46241403699999 meters Centerline goodness [0,1] 0.7571958250283976 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99955533 -0.02803738 -0.01015105 1.24083354] [ 0.02817262 0.99951279 0.01343435 0.00354516] [ 0.00976944 -0.01371435 0.99985823 -0.36973166] [ 0. 0. 0. 1. ]] SLAMing on 89.49241403699999 meters Centerline goodness [0,1] 0.7679259005732866 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99955605 -0.0280237 -0.01011802 1.24079498] [ 0.02815731 0.99951484 0.01331377 0.00362393] [ 0.00974001 -0.01359275 0.99986017 -0.36964793] [ 0. 0. 0. 1. ]] SLAMing on 89.52241403699999 meters Centerline goodness [0,1] 0.767505142269455 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99955112 -0.02820517 -0.01010106 1.24021551] [ 0.02833534 0.99951414 0.01298454 0.00391139] [ 0.00972992 -0.01326493 0.99986468 -0.36882239] [ 0. 0. 0. 1. ]] SLAMing on 89.55241403699999 meters Centerline goodness [0,1] 0.7662332107109248 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99954642 -0.02838239 -0.01006922 1.24005147] [ 0.02850927 0.99951298 0.01268973 0.00427362] [ 0.00970415 -0.01297104 0.99986878 -0.36859939] [ 0. 0. 0. 1. ]] SLAMing on 89.58241403699999 meters Centerline goodness [0,1] 0.7680948508325129 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99954325 -0.02844862 -0.01019669 1.24020181] [ 0.02857513 0.99951369 0.01248413 0.00481897] [ 0.00983657 -0.0127698 0.99987008 -0.36838835] [ 0. 0. 0. 1. ]] SLAMing on 89.612414037 meters Centerline goodness [0,1] 0.7630354117066684 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99954345 -0.028405 -0.01029795 1.24079241] [ 0.02853392 0.99951346 0.01259637 0.00462553] [ 0.00993514 -0.01288446 0.99986763 -0.36893918] [ 0. 0. 0. 1. ]] SLAMing on 89.642414037 meters Centerline goodness [0,1] 0.7654117647058823 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99954161 -0.02843894 -0.01038257 1.24129354] [ 0.02857022 0.99951081 0.01272327 0.00402371] [ 0.01001566 -0.01301407 0.99986515 -0.36941689] [ 0. 0. 0. 1. ]] SLAMing on 89.672414037 meters Centerline goodness [0,1] 0.771194243988094 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99953394 -0.02879484 -0.01013733 1.24092153] [ 0.02892245 0.99950129 0.01267553 0.00321316] [ 0.00976728 -0.01296282 0.99986827 -0.36962568] [ 0. 0. 0. 1. ]] SLAMing on 89.702414037 meters Centerline goodness [0,1] 0.7691796246648793 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99952857 -0.02900329 -0.01007257 1.2406241 ] [ 0.02912848 0.99949736 0.0125122 0.00356524] [ 0.00970461 -0.0127997 0.99987099 -0.3694324 ] [ 0. 0. 0. 1. ]] SLAMing on 89.73241403699998 meters Centerline goodness [0,1] 0.7667208695280072 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99952463 -0.02913615 -0.01008006 1.24048671] [ 0.02925929 0.99949627 0.01229219 0.00405745] [ 0.00971683 -0.01258128 0.99987364 -0.36912059] [ 0. 0. 0. 1. ]] SLAMing on 89.76241403699999 meters Centerline goodness [0,1] 0.7551531496821422 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99951975 -0.02933019 -0.01000087 1.24011093] [ 0.02944997 0.99949364 0.01204838 0.00456998] [ 0.00964243 -0.01233712 0.9998774 -0.36877342] [ 0. 0. 0. 1. ]] SLAMing on 89.79241403699999 meters Centerline goodness [0,1] 0.7530583824317086 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99951865 -0.02938375 -0.00995303 1.24003547] [ 0.02950322 0.99949173 0.01207657 0.00413897] [ 0.00959312 -0.0123644 0.99987754 -0.3687916 ] [ 0. 0. 0. 1. ]] SLAMing on 89.82241403699999 meters Centerline goodness [0,1] 0.7541229385307346 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99951373 -0.02957965 -0.0098664 1.239855 ] [ 0.02969754 0.9994866 0.01202439 0.00358171] [ 0.00950566 -0.01231155 0.99987903 -0.36878367] [ 0. 0. 0. 1. ]] SLAMing on 89.85241403699999 meters Centerline goodness [0,1] 0.7499087806657938 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99950057 -0.03009906 -0.00962587 1.23915862] [ 0.03021205 0.99947367 0.01181582 0.00298363] [ 0.00926516 -0.01210074 0.99988386 -0.36853341] [ 0. 0. 0. 1. ]] SLAMing on 89.88241403699999 meters Centerline goodness [0,1] 0.7603040359704528 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.9994951 -0.03031158 -0.00952643 1.23898378] [ 0.0304225 0.99946838 0.01172311 0.00280511] [ 0.00916602 -0.01200701 0.9998859 -0.36855403] [ 0. 0. 0. 1. ]] SLAMing on 89.91241403699999 meters Centerline goodness [0,1] 0.7612707111358479 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99948876 -0.03054165 -0.00945687 1.23875629] [ 0.03065123 0.99946203 0.01166813 0.00253108] [ 0.00909542 -0.01195203 0.9998872 -0.36844199] [ 0. 0. 0. 1. ]] SLAMing on 89.94241403699999 meters Centerline goodness [0,1] 0.7285249132427917 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 9.99471069e-01 -3.11654710e-02 -9.28951365e-03 1.23840036e+00] [ 3.12735543e-02 9.99442076e-01 1.17260930e-02 8.33860367e-04] [ 8.91888159e-03 -1.20104068e-02 9.99888096e-01 -3.68568709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.972414037 meters Centerline goodness [0,1] 0.7478622404149076 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.00, Z:-0.37 [[ 9.99463873e-01 -3.14151724e-02 -9.22244366e-03 1.23814066e+00] [ 3.15232182e-02 9.99433201e-01 1.18137246e-02 -3.13716259e-04] [ 8.84608619e-03 -1.20981121e-02 9.99887685e-01 -3.68442814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.002414037 meters Centerline goodness [0,1] 0.7547960213968077 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.00, Z:-0.37 [[ 9.99455666e-01 -3.17054357e-02 -9.11793999e-03 1.23775632e+00] [ 3.18113476e-02 9.99425230e-01 1.17152853e-02 -8.46547614e-04] [ 8.74126105e-03 -1.19989623e-02 9.99889802e-01 -3.68201842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.032414037 meters Centerline goodness [0,1] 0.747481459253226 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.00, Z:-0.37 [[ 9.99454048e-01 -3.17449620e-02 -9.15772152e-03 1.23806896e+00] [ 3.18523301e-02 9.99422610e-01 1.18269038e-02 -1.01696915e-03] [ 8.77698933e-03 -1.21121416e-02 9.99888124e-01 -3.68520469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.062414037 meters Centerline goodness [0,1] 0.740320612974338 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.00, Z:-0.37 [[ 9.99455044e-01 -3.17123606e-02 -9.16194129e-03 1.23829797e+00] [ 3.18193484e-02 9.99424242e-01 1.17776713e-02 -6.73038697e-04] [ 8.78316847e-03 -1.20627799e-02 9.99888666e-01 -3.68728978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.092414037 meters Centerline goodness [0,1] 0.7347305773800603 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.00, Z:-0.37 [[ 9.99471259e-01 -3.11473158e-02 -9.32995256e-03 1.23922351e+00] [ 3.12583475e-02 9.99439289e-01 1.20009959e-02 -1.43251857e-05] [ 8.95092234e-03 -1.22862894e-02 9.99884457e-01 -3.69420155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12241403699998 meters Centerline goodness [0,1] 0.7413678831804673 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 9.99478580e-01 -3.08472112e-02 -9.54032563e-03 1.23980051e+00] [ 3.09601527e-02 9.99449465e-01 1.19262985e-02 7.71567514e-04] [ 9.16718029e-03 -1.22154498e-02 9.99883366e-01 -3.69509699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15241403699999 meters Centerline goodness [0,1] 0.7517763890077904 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99948389 -0.03063657 -0.00966207 1.23996825] [ 0.03074872 0.99945888 0.01168145 0.00186809] [ 0.00929896 -0.01197251 0.99988509 -0.36921655] [ 0. 0. 0. 1. ]] SLAMing on 90.18241403699999 meters Centerline goodness [0,1] 0.7564885659786965 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99958665 -0.02709633 -0.0096079 1.23848938] [ 0.02723613 0.99952048 0.01473071 0.00303817] [ 0.00920414 -0.01498631 0.99984534 -0.36760152] [ 0. 0. 0. 1. ]] SLAMing on 90.21241403699999 meters Centerline goodness [0,1] 0.7662181849344417 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99960061 -0.02648112 -0.00986781 1.23914125] [ 0.02662381 0.99953859 0.01462148 0.00442199] [ 0.00947607 -0.01487836 0.99984441 -0.36745834] [ 0. 0. 0. 1. ]] SLAMing on 90.24241403699999 meters Centerline goodness [0,1] 0.7685302247841087 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99961535 -0.02583993 -0.01007243 1.23994848] [ 0.02598488 0.99955665 0.01453607 0.00590187] [ 0.00969236 -0.01479221 0.99984361 -0.36769145] [ 0. 0. 0. 1. ]] SLAMing on 90.27241403699999 meters Centerline goodness [0,1] 0.771096729953285 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99963214 -0.02504403 -0.01041045 1.24115281] [ 0.0251949 0.9995756 0.01462292 0.0069188 ] [ 0.01003982 -0.01487983 0.99983888 -0.36810703] [ 0. 0. 0. 1. ]] SLAMing on 90.30241403699999 meters Centerline goodness [0,1] 0.7793925083181281 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99972723 -0.020882 -0.01045945 1.2407857 ] [ 0.02107139 0.99960979 0.01833728 0.00693518] [ 0.01007245 -0.01855268 0.99977715 -0.36762179] [ 0. 0. 0. 1. ]] SLAMing on 90.33241403699999 meters Centerline goodness [0,1] 0.7806678684865653 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99973694 -0.0203364 -0.01060548 1.24118753] [ 0.02052738 0.99962324 0.01822075 0.00809855] [ 0.01023094 -0.01843366 0.99977774 -0.36747369] [ 0. 0. 0. 1. ]] SLAMing on 90.362414037 meters Centerline goodness [0,1] 0.7819999571835328 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99981359 -0.01601941 -0.01077798 1.24108494] [ 0.01625504 0.99962269 0.0221416 0.00819468] [ 0.01041921 -0.02231267 0.99969675 -0.36698945] [ 0. 0. 0. 1. ]] SLAMing on 90.392414037 meters Centerline goodness [0,1] 0.7863782394517027 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99982033 -0.01542161 -0.01102227 1.24188354] [ 0.01566268 0.99963239 0.02213078 0.00929811] [ 0.01067693 -0.02229944 0.99969432 -0.36716219] [ 0. 0. 0. 1. ]] SLAMing on 90.422414037 meters Centerline goodness [0,1] 0.7838830198402473 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99982738 -0.01481478 -0.01121288 1.24260769] [ 0.01506241 0.99963713 0.02233215 0.00978925] [ 0.01087797 -0.02249719 0.99968772 -0.36740208] [ 0. 0. 0. 1. ]] SLAMing on 90.452414037 meters Centerline goodness [0,1] 0.7836763631676191 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99982848 -0.01460573 -0.01138809 1.2431357 ] [ 0.01485649 0.99964194 0.0222548 0.01032001] [ 0.01105897 -0.02242017 0.99968747 -0.36755721] [ 0. 0. 0. 1. ]] SLAMing on 90.48241403699998 meters Centerline goodness [0,1] 0.7865045670912132 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.9998301 -0.01436522 -0.01155013 1.24361597] [ 0.01462099 0.99964275 0.02237388 0.01006203] [ 0.0112246 -0.02253895 0.99968295 -0.36767875] [ 0. 0. 0. 1. ]] SLAMing on 90.51241403699999 meters Centerline goodness [0,1] 0.7873483275910035 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99983067 -0.01425615 -0.0116358 1.2439867 ] [ 0.01451542 0.99964122 0.02251062 0.00948551] [ 0.01131071 -0.0226757 0.99967889 -0.36790511] [ 0. 0. 0. 1. ]] SLAMing on 90.54241403699999 meters Centerline goodness [0,1] 0.7870524829975619 Centerline is valid? [False, False] Translation: X:1.25, Y:0.01, Z:-0.37 [[ 0.99978114 -0.01727952 -0.0117937 1.245111 ] [ 0.01750456 0.9996614 0.0192529 0.00888154] [ 0.01145702 -0.01945513 0.99974508 -0.36840259] [ 0. 0. 0. 1. ]] SLAMing on 90.57241403699999 meters Centerline goodness [0,1] 0.7876906666666667 Centerline is valid? [False, False] Translation: X:1.25, Y:0.01, Z:-0.37 [[ 0.99971449 -0.02065089 -0.01201994 1.24612967] [ 0.02083693 0.99966174 0.01556379 0.00912163] [ 0.01169447 -0.01580981 0.99980663 -0.36867987] [ 0. 0. 0. 1. ]] SLAMing on 90.60241403699999 meters Centerline goodness [0,1] 0.7875709590678219 Centerline is valid? [False, False] Translation: X:1.25, Y:0.01, Z:-0.37 [[ 0.99970484 -0.0212262 -0.01181859 1.24520596] [ 0.02140946 0.99964905 0.01560156 0.00715689] [ 0.01148328 -0.01584999 0.99980844 -0.36812365] [ 0. 0. 0. 1. ]] SLAMing on 90.63241403699999 meters Centerline goodness [0,1] 0.787992934516589 Centerline is valid? [False, False] Translation: X:1.25, Y:0.01, Z:-0.37 [[ 0.9996212 -0.02481158 -0.01190938 1.24580667] [ 0.02495317 0.99961789 0.01189135 0.00722311] [ 0.01160978 -0.01218403 0.99985837 -0.36819046] [ 0. 0. 0. 1. ]] SLAMing on 90.66241403699999 meters Centerline goodness [0,1] 0.787992934516589 Centerline is valid? [False, False] Translation: X:1.25, Y:0.01, Z:-0.37 [[ 0.9996212 -0.02481158 -0.01190938 1.24580667] [ 0.02495317 0.99961789 0.01189135 0.00722311] [ 0.01160978 -0.01218403 0.99985837 -0.36819046] [ 0. 0. 0. 1. ]] SLAMing on 90.69241403699999 meters Centerline goodness [0,1] 0.7865536915609299 Centerline is valid? [False, False] Translation: X:1.25, Y:0.00, Z:-0.37 [[ 0.99951165 -0.02900843 -0.01161752 1.24510788] [ 0.02910884 0.99953952 0.00856868 0.00448585] [ 0.0113636 -0.00890267 0.9998958 -0.36775516] [ 0. 0. 0. 1. ]] SLAMing on 90.722414037 meters Centerline goodness [0,1] 0.786275135652729 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99949595 -0.0296314 -0.01139453 1.24438772] [ 0.02973328 0.99951844 0.0088778 0.00203212] [ 0.01112598 -0.00921212 0.99989567 -0.36755612] [ 0. 0. 0. 1. ]] SLAMing on 90.752414037 meters Centerline goodness [0,1] 0.7859283027688646 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.00, Z:-0.37 [[ 9.99474495e-01 -3.04587311e-02 -1.10904972e-02 1.24337188e+00] [ 3.05583650e-02 9.99493111e-01 8.92787106e-03 -1.35224903e-04] [ 1.08129439e-02 -9.26208688e-03 9.99898642e-01 -3.67186809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.782414037 meters Centerline goodness [0,1] 0.783602663612843 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.00, Z:-0.37 [[ 0.99946336 -0.03089487 -0.01088594 1.24281558] [ 0.03099745 0.99947541 0.00938385 -0.00259211] [ 0.01059032 -0.00971625 0.99989671 -0.36717599] [ 0. 0. 0. 1. ]] SLAMing on 90.812414037 meters Centerline goodness [0,1] 0.7842621280930351 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.00, Z:-0.37 [[ 0.99944914 -0.0313952 -0.01075906 1.24230907] [ 0.0314992 0.99945731 0.00963733 -0.00494319] [ 0.01045065 -0.00997092 0.99989568 -0.36695925] [ 0. 0. 0. 1. ]] SLAMing on 90.842414037 meters Centerline goodness [0,1] 0.781785411365564 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.01, Z:-0.37 [[ 0.99932001 -0.035283 -0.01070685 1.24257699] [ 0.03535328 0.99935408 0.00644714 -0.00752834] [ 0.01047246 -0.00682128 0.9999219 -0.36708927] [ 0. 0. 0. 1. ]] SLAMing on 90.87241403699998 meters Centerline goodness [0,1] 0.7809921737470572 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.01, Z:-0.37 [[ 0.99930561 -0.03572913 -0.01056966 1.24218195] [ 0.03580369 0.99933467 0.00695072 -0.0100665 ] [ 0.01031428 -0.00732432 0.99991998 -0.36715841] [ 0. 0. 0. 1. ]] SLAMing on 90.90241403699999 meters Centerline goodness [0,1] 0.7765671610214314 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.01, Z:-0.37 [[ 0.9992942 -0.03607912 -0.01045938 1.24205895] [ 0.03615875 0.99931771 0.00752662 -0.01258948] [ 0.01018069 -0.0078995 0.99991697 -0.36752414] [ 0. 0. 0. 1. ]] SLAMing on 90.93241403699999 meters Centerline goodness [0,1] 0.7755572961873107 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.02, Z:-0.37 [[ 0.99927801 -0.03653735 -0.01041525 1.24202011] [ 0.03662144 0.99929718 0.00800054 -0.01504378] [ 0.01011561 -0.00837619 0.99991375 -0.36784335] [ 0. 0. 0. 1. ]] SLAMing on 90.96241403699999 meters Centerline goodness [0,1] 0.7664177999619297 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.02, Z:-0.37 [[ 0.99926189 -0.03701735 -0.01026632 1.24176982] [ 0.03710356 0.99927664 0.00833754 -0.01706025] [ 0.00995026 -0.0087123 0.99991254 -0.36812002] [ 0. 0. 0. 1. ]] SLAMing on 90.99241403699999 meters Centerline goodness [0,1] 0.7462812711291413 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.02, Z:-0.37 [[ 0.99921123 -0.03843671 -0.00997691 1.24086873] [ 0.0385187 0.99922455 0.00816084 -0.01954182] [ 0.0096555 -0.0085387 0.99991693 -0.36807802] [ 0. 0. 0. 1. ]] SLAMing on 91.02241403699999 meters Centerline goodness [0,1] 0.7443696308335268 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.02, Z:-0.37 [[ 0.99920542 -0.03862765 -0.00982026 1.24050856] [ 0.03871167 0.99921415 0.00851385 -0.02120596] [ 0.00948367 -0.00888724 0.99991553 -0.36807782] [ 0. 0. 0. 1. ]] SLAMing on 91.05241403699999 meters Centerline goodness [0,1] 0.7333122895622896 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.02, Z:-0.37 [[ 0.99919703 -0.03887872 -0.00968179 1.24007888] [ 0.03896489 0.99920115 0.00887648 -0.02308946] [ 0.00932895 -0.0092466 0.99991373 -0.36792061] [ 0. 0. 0. 1. ]] SLAMing on 91.08241403699999 meters Centerline goodness [0,1] 0.7425723757839391 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.37 [[ 0.99914636 -0.0402884 -0.0091324 1.23761439] [ 0.0403636 0.99915136 0.00820581 -0.02543204] [ 0.00879405 -0.00856743 0.99992463 -0.36615514] [ 0. 0. 0. 1. ]] SLAMing on 91.112414037 meters Centerline goodness [0,1] 0.7068664011967216 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.37 [[ 0.99914467 -0.04031999 -0.00917789 1.23781568] [ 0.04039864 0.99914705 0.00855139 -0.026433 ] [ 0.00882527 -0.00891485 0.99992132 -0.36633764] [ 0. 0. 0. 1. ]] SLAMing on 91.142414037 meters Centerline goodness [0,1] 0.7024515911058555 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.37 [[ 0.99914436 -0.04033633 -0.00913953 1.23791477] [ 0.04041639 0.99914461 0.00875055 -0.02699439] [ 0.00877875 -0.00911245 0.99991995 -0.36658919] [ 0. 0. 0. 1. ]] SLAMing on 91.172414037 meters Centerline goodness [0,1] 0.7027112497891719 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.37 [[ 0.99914137 -0.04039495 -0.00920673 1.23871412] [ 0.04047748 0.99914027 0.00896096 -0.02736026] [ 0.00883683 -0.00932593 0.99991747 -0.36757395] [ 0. 0. 0. 1. ]] SLAMing on 91.202414037 meters Centerline goodness [0,1] 0.6976130122517955 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.37 [[ 0.99914035 -0.04043576 -0.00913804 1.23885197] [ 0.04051838 0.99913786 0.00904445 -0.02770334] [ 0.00876444 -0.00940693 0.99991734 -0.3679492 ] [ 0. 0. 0. 1. ]] SLAMing on 91.23241403699998 meters Centerline goodness [0,1] 0.7216856520912145 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.37 [[ 0.99913719 -0.04053703 -0.00903515 1.23895374] [ 0.04061896 0.99913348 0.00907696 -0.02796791] [ 0.00865936 -0.00943613 0.99991798 -0.36837592] [ 0. 0. 0. 1. ]] SLAMing on 91.26241403699999 meters Centerline goodness [0,1] 0.7056256062075654 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.37 [[ 0.99913632 -0.04056181 -0.00902002 1.23929686] [ 0.04064494 0.999131 0.00923181 -0.02825534] [ 0.00863773 -0.00959045 0.9999167 -0.36889785] [ 0. 0. 0. 1. ]] SLAMing on 91.29241403699999 meters Centerline goodness [0,1] 0.7009670690853929 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.37 [[ 0.99913212 -0.0406694 -0.00900072 1.23950352] [ 0.04075181 0.99912722 0.00916979 -0.02784159] [ 0.00861994 -0.00952863 0.99991745 -0.3692721 ] [ 0. 0. 0. 1. ]] SLAMing on 91.32241403699999 meters Centerline goodness [0,1] 0.7144185063906201 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.37 [[ 0.99911666 -0.04106756 -0.00890822 1.23945085] [ 0.04114413 0.9991163 0.00858919 -0.02559653] [ 0.00854762 -0.00894812 0.99992343 -0.36951079] [ 0. 0. 0. 1. ]] SLAMing on 91.35241403699999 meters Centerline goodness [0,1] 0.6863022074170901 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.02, Z:-0.37 [[ 0.9991088 -0.04125569 -0.00892014 1.23954401] [ 0.04132982 0.99911114 0.00829297 -0.02432373] [ 0.00857007 -0.00865425 0.99992583 -0.36964206] [ 0. 0. 0. 1. ]] SLAMing on 91.38241403699999 meters Centerline goodness [0,1] 0.7118002705902249 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.02, Z:-0.37 [[ 0.99909992 -0.04147942 -0.00887771 1.23940701] [ 0.0415498 0.99910524 0.00789467 -0.02310902] [ 0.0085423 -0.00825643 0.99992943 -0.36955349] [ 0. 0. 0. 1. ]] SLAMing on 91.41241403699999 meters Centerline goodness [0,1] 0.6918426448517132 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.02, Z:-0.37 [[ 0.99908519 -0.04185027 -0.00879369 1.2394032 ] [ 0.04191387 0.99909545 0.00717658 -0.02083854] [ 0.0084854 -0.00753859 0.99993558 -0.36976983] [ 0. 0. 0. 1. ]] SLAMing on 91.44241403699999 meters Centerline goodness [0,1] 0.7178694667315875 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.02, Z:-0.37 [[ 0.99907497 -0.04209314 -0.00879563 1.23938185] [ 0.042153 0.99908847 0.00673383 -0.01955906] [ 0.00850416 -0.00709837 0.99993864 -0.36970955] [ 0. 0. 0. 1. ]] SLAMing on 91.472414037 meters Centerline goodness [0,1] 0.7047197390162268 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.02, Z:-0.37 [[ 0.99905845 -0.04249388 -0.00874506 1.23917817] [ 0.04254901 0.99907503 0.00621742 -0.01818549] [ 0.00847277 -0.00658366 0.99994243 -0.36960177] [ 0. 0. 0. 1. ]] SLAMing on 91.502414037 meters Centerline goodness [0,1] 0.6790698659437938 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.01, Z:-0.37 [[ 0.99903327 -0.0431054 -0.00862842 1.23885619] [ 0.04315 0.99905584 0.00505114 -0.01460377] [ 0.00840254 -0.00541858 0.99995002 -0.3694365 ] [ 0. 0. 0. 1. ]] SLAMing on 91.532414037 meters Centerline goodness [0,1] 0.6763345497750997 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.01, Z:-0.37 [[ 0.99902396 -0.04330171 -0.00872284 1.23904162] [ 0.0433424 0.99905 0.00453094 -0.0127081 ] [ 0.00851836 -0.00490459 0.99995169 -0.36942821] [ 0. 0. 0. 1. ]] SLAMing on 91.562414037 meters Centerline goodness [0,1] 0.6891722718496043 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.01, Z:-0.37 [[ 0.9990276 -0.04319035 -0.00885729 1.23965627] [ 0.04323003 0.99905573 0.00433843 -0.01125371] [ 0.00866155 -0.00471711 0.99995136 -0.36984888] [ 0. 0. 0. 1. ]] SLAMing on 91.592414037 meters Centerline goodness [0,1] 0.7092847887503452 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.01, Z:-0.37 [[ 0.99902516 -0.04321969 -0.00898786 1.24002576] [ 0.04325631 0.99905632 0.00392 -0.00950173] [ 0.00880996 -0.00430496 0.99995192 -0.3699466 ] [ 0. 0. 0. 1. ]] SLAMing on 91.62241403699998 meters Centerline goodness [0,1] 0.6997192445125064 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.01, Z:-0.37 [[ 0.99915408 -0.04017881 -0.00876261 1.23866157] [ 0.04023785 0.99916787 0.00666934 -0.00717001] [ 0.00848735 -0.00701629 0.99993937 -0.36923563] [ 0. 0. 0. 1. ]] SLAMing on 91.65241403699999 meters Centerline goodness [0,1] 0.7173277572705742 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.01, Z:-0.37 [[ 0.99926587 -0.03734803 -0.0085348 1.236941 ] [ 0.03742889 0.99925395 0.0095198 -0.00610391] [ 0.00817288 -0.00983226 0.99991826 -0.36811479] [ 0. 0. 0. 1. ]] SLAMing on 91.68241403699999 meters Centerline goodness [0,1] 0.6989681471511888 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.00, Z:-0.37 [[ 0.99927063 -0.03718203 -0.0087003 1.2373289 ] [ 0.03725994 0.99926534 0.00897099 -0.00342174] [ 0.00836035 -0.00928862 0.99992191 -0.36798342] [ 0. 0. 0. 1. ]] SLAMing on 91.71241403699999 meters Centerline goodness [0,1] 0.7101929198624137 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.00, Z:-0.37 [[ 0.99927994 -0.03687445 -0.00893729 1.23807439] [ 0.03695167 0.99927975 0.00863415 -0.00128816] [ 0.00861247 -0.00895818 0.99992279 -0.36818408] [ 0. 0. 0. 1. ]] SLAMing on 91.74241403699999 meters Centerline goodness [0,1] 0.698987563946146 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 9.99385470e-01 -3.39350331e-02 -8.78042240e-03 1.23685885e+00] [ 3.40336088e-02 9.99356442e-01 1.13320568e-02 6.93441161e-04] [ 8.39021797e-03 -1.16239224e-02 9.99897239e-01 -3.67510045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77241403699999 meters Centerline goodness [0,1] 0.7110897024191822 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99938515 -0.03393398 -0.00882065 1.23724056] [ 0.0340311 0.99935909 0.01110408 0.00177762] [ 0.00843819 -0.01139743 0.99989944 -0.36786456] [ 0. 0. 0. 1. ]] SLAMing on 91.80241403699999 meters Centerline goodness [0,1] 0.707266925103339 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99938492 -0.03395047 -0.00878298 1.23764618] [ 0.03404581 0.99936036 0.01094324 0.00261619] [ 0.00840584 -0.01123553 0.99990155 -0.36850521] [ 0. 0. 0. 1. ]] SLAMing on 91.83241403699999 meters Centerline goodness [0,1] 0.7342577663119424 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99937798 -0.03417157 -0.00871536 1.23791639] [ 0.03426255 0.99935757 0.01051291 0.00431421] [ 0.00835052 -0.01080499 0.99990676 -0.36908164] [ 0. 0. 0. 1. ]] SLAMing on 91.862414037 meters Centerline goodness [0,1] 0.7148592653026171 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99937168 -0.03436773 -0.00866604 1.23782591] [ 0.0344549 0.99935504 0.01011793 0.00559809] [ 0.00831272 -0.01041016 0.99991126 -0.36905199] [ 0. 0. 0. 1. ]] SLAMing on 91.892414037 meters Centerline goodness [0,1] 0.7063055710665349 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99936482 -0.03458907 -0.00857573 1.23748416] [ 0.03467197 0.99935153 0.00971427 0.00690982] [ 0.00823416 -0.01000544 0.99991604 -0.36877776] [ 0. 0. 0. 1. ]] SLAMing on 91.922414037 meters Centerline goodness [0,1] 0.6981951943554112 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99935072 -0.03499673 -0.00856596 1.23686127] [ 0.03507027 0.99934792 0.00859101 0.01021122] [ 0.00825972 -0.00888584 0.99992641 -0.3677782 ] [ 0. 0. 0. 1. ]] SLAMing on 91.952414037 meters Centerline goodness [0,1] 0.6929599896691991 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99934402 -0.03517526 -0.00861546 1.23673656] [ 0.03524432 0.99934671 0.00800003 0.01211435] [ 0.00832843 -0.00829843 0.99993088 -0.36742908] [ 0. 0. 0. 1. ]] SLAMing on 91.98241403699998 meters Centerline goodness [0,1] 0.6913489893880362 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99933944 -0.03526041 -0.00879692 1.23703893] [ 0.03532743 0.99934702 0.00758317 0.01355227] [ 0.00852379 -0.00788893 0.99993255 -0.36727563] [ 0. 0. 0. 1. ]] SLAMing on 92.01241403699999 meters Centerline goodness [0,1] 0.6967618474240991 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.999342 -0.03514625 -0.00896157 1.23785432] [ 0.03521404 0.99935149 0.00752176 0.0144308 ] [ 0.00869139 -0.00783238 0.99993155 -0.36792463] [ 0. 0. 0. 1. ]] SLAMing on 92.04241403699999 meters Centerline goodness [0,1] 0.6978607897628126 Centerline is valid? [False, False] Translation: X:1.24, Y:0.02, Z:-0.37 [[ 0.99934019 -0.03517526 -0.00904939 1.23840001] [ 0.03524168 0.99935225 0.0072877 0.01548388] [ 0.00878718 -0.0076018 0.9999325 -0.36839069] [ 0. 0. 0. 1. ]] SLAMing on 92.07241403699999 meters Centerline goodness [0,1] 0.6945129069918277 Centerline is valid? [False, False] Translation: X:1.24, Y:0.02, Z:-0.37 [[ 0.9993326 -0.03539144 -0.00904438 1.23859179] [ 0.03545156 0.99934977 0.00657525 0.01818053] [ 0.00880579 -0.0068915 0.99993748 -0.36857916] [ 0. 0. 0. 1. ]] SLAMing on 92.10241403699999 meters Centerline goodness [0,1] 0.6971251677707062 Centerline is valid? [False, False] Translation: X:1.24, Y:0.02, Z:-0.37 [[ 0.99932697 -0.03553932 -0.0090869 1.23865787] [ 0.0355963 0.9993471 0.00618733 0.01966418] [ 0.00886107 -0.00650663 0.99993957 -0.3685138 ] [ 0. 0. 0. 1. ]] SLAMing on 92.13241403699999 meters Centerline goodness [0,1] 0.6948789047268316 Centerline is valid? [False, False] Translation: X:1.24, Y:0.02, Z:-0.37 [[ 0.9993163 -0.03584464 -0.00906067 1.23863432] [ 0.03589512 0.99934058 0.00547144 0.02232905] [ 0.00885857 -0.00579294 0.99994398 -0.36851257] [ 0. 0. 0. 1. ]] SLAMing on 92.16241403699999 meters Centerline goodness [0,1] 0.686738894907909 Centerline is valid? [False, False] Translation: X:1.24, Y:0.02, Z:-0.37 [[ 0.9993118 -0.03596336 -0.0090863 1.2388921 ] [ 0.0360119 0.99933765 0.00523557 0.02343099] [ 0.00889199 -0.00555919 0.99994501 -0.36879833] [ 0. 0. 0. 1. ]] SLAMing on 92.19241403699999 meters Centerline goodness [0,1] 0.7130584192439863 Centerline is valid? [False, False] Translation: X:1.24, Y:0.02, Z:-0.37 [[ 0.9993057 -0.03614412 -0.00904047 1.238865 ] [ 0.03619014 0.99933252 0.00497925 0.0243073 ] [ 0.00885446 -0.00530296 0.99994674 -0.36892771] [ 0. 0. 0. 1. ]] SLAMing on 92.222414037 meters Centerline goodness [0,1] 0.7135457473665883 Centerline is valid? [False, False] Translation: X:1.24, Y:0.02, Z:-0.37 [[ 0.99929934 -0.03634465 -0.00893886 1.2387985 ] [ 0.03638844 0.99932626 0.00478669 0.02497025] [ 0.00875886 -0.00510861 0.99994859 -0.36912325] [ 0. 0. 0. 1. ]] SLAMing on 92.252414037 meters Centerline goodness [0,1] 0.6763209393346379 Centerline is valid? [False, False] Translation: X:1.24, Y:0.03, Z:-0.37 [[ 0.9992741 -0.03709167 -0.0086879 1.23822145] [ 0.03712931 0.9993016 0.00421133 0.02611142] [ 0.00852562 -0.00453085 0.99995339 -0.36918094] [ 0. 0. 0. 1. ]] SLAMing on 92.282414037 meters Centerline goodness [0,1] 0.6867640336939251 Centerline is valid? [False, False] Translation: X:1.24, Y:0.03, Z:-0.37 [[ 0.99926139 -0.03747706 -0.00849382 1.23767167] [ 0.03751179 0.99928831 0.00396753 0.02654401] [ 0.00833909 -0.00428322 0.99995606 -0.36901591] [ 0. 0. 0. 1. ]] SLAMing on 92.312414037 meters Centerline goodness [0,1] 0.6656931761218752 Centerline is valid? [False, False] Translation: X:1.24, Y:0.03, Z:-0.37 [[ 0.99924924 -0.03782889 -0.00836219 1.2371833 ] [ 0.03786112 0.99927605 0.00372935 0.02693594] [ 0.00821506 -0.00404315 0.99995808 -0.368789 ] [ 0. 0. 0. 1. ]] SLAMing on 92.342414037 meters Centerline goodness [0,1] 0.6829565747637092 Centerline is valid? [False, False] Translation: X:1.24, Y:0.03, Z:-0.37 [[ 0.99923861 -0.03810993 -0.00835642 1.23699959] [ 0.03813971 0.99926652 0.00343343 0.02756558] [ 0.00821944 -0.00374953 0.99995919 -0.36857119] [ 0. 0. 0. 1. ]] SLAMing on 92.37241403699998 meters Centerline goodness [0,1] 0.6705420438433853 Centerline is valid? [False, False] Translation: X:1.24, Y:0.03, Z:-0.37 [[ 0.99922657 -0.03843528 -0.0083056 1.23725111] [ 0.03846273 0.999255 0.00317136 0.02891438] [ 0.00817752 -0.00348837 0.99996048 -0.36917904] [ 0. 0. 0. 1. ]] SLAMing on 92.40241403699999 meters Centerline goodness [0,1] 0.6655345090354887 Centerline is valid? [False, False] Translation: X:1.24, Y:0.03, Z:-0.37 [[ 0.99922507 -0.03847813 -0.00828846 1.23757901] [ 0.03850537 0.99925342 0.00315299 0.02928382] [ 0.00816095 -0.0034697 0.99996068 -0.36967449] [ 0. 0. 0. 1. ]] SLAMing on 92.43241403699999 meters Centerline goodness [0,1] 0.6554141100945476 Centerline is valid? [False, False] Translation: X:1.24, Y:0.03, Z:-0.37 [[ 0.99921866 -0.03864868 -0.00826718 1.23769735] [ 0.03867484 0.99924726 0.00302857 0.02984711] [ 0.00814391 -0.00334594 0.99996124 -0.36997701] [ 0. 0. 0. 1. ]] SLAMing on 92.46241403699999 meters Centerline goodness [0,1] 0.6603942456722478 Centerline is valid? [False, False] Translation: X:1.24, Y:0.03, Z:-0.37 [[ 0.99921526 -0.03873611 -0.0082695 1.2378405 ] [ 0.03876111 0.99924434 0.00288396 0.03070861] [ 0.00815154 -0.00320224 0.99996165 -0.370173 ] [ 0. 0. 0. 1. ]] SLAMing on 92.49241403699999 meters Centerline goodness [0,1] 0.6681598594642073 Centerline is valid? [False, False] Translation: X:1.24, Y:0.03, Z:-0.37 [[ 0.9993196 -0.03603047 -0.00788361 1.23628949] [ 0.03607832 0.99933087 0.00601343 0.03170882] [ 0.00766166 -0.00629377 0.99995084 -0.36990588] [ 0. 0. 0. 1. ]] SLAMing on 92.52241403699999 meters Centerline goodness [0,1] 0.6673676370725723 Centerline is valid? [False, False] Translation: X:1.24, Y:0.03, Z:-0.37 [[ 0.99932081 -0.03595601 -0.0080671 1.23699602] [ 0.03600427 0.9993341 0.00591965 0.03282625] [ 0.00784888 -0.00620608 0.99994994 -0.37036302] [ 0. 0. 0. 1. ]] SLAMing on 92.55241403699999 meters Centerline goodness [0,1] 0.6673676370725723 Centerline is valid? [False, False] Translation: X:1.24, Y:0.03, Z:-0.37 [[ 0.99932081 -0.03595601 -0.0080671 1.23699602] [ 0.03600427 0.9993341 0.00591965 0.03282625] [ 0.00784888 -0.00620608 0.99994994 -0.37036302] [ 0. 0. 0. 1. ]] SLAMing on 92.58241403699999 meters Centerline goodness [0,1] 0.6730975818297416 Centerline is valid? [False, False] Translation: X:1.24, Y:0.03, Z:-0.37 [[ 0.99932162 -0.0359209 -0.00812321 1.23728985] [ 0.03596903 0.99933573 0.00585846 0.03355899] [ 0.00790738 -0.00614667 0.99994984 -0.37061067] [ 0. 0. 0. 1. ]] SLAMing on 92.612414037 meters Centerline goodness [0,1] 0.68121600280751 Centerline is valid? [False, False] Translation: X:1.24, Y:0.03, Z:-0.37 [[ 0.9993179 -0.03603823 -0.0080609 1.23731294] [ 0.03608477 0.99933245 0.0057042 0.03405649] [ 0.00784995 -0.00599119 0.99995124 -0.37080934] [ 0. 0. 0. 1. ]] SLAMing on 92.642414037 meters Centerline goodness [0,1] 0.6693259488802443 Centerline is valid? [False, False] Translation: X:1.24, Y:0.03, Z:-0.37 [[ 0.99931155 -0.03623439 -0.00796874 1.23725393] [ 0.03627815 0.99932705 0.00541743 0.03473391] [ 0.00776708 -0.00570279 0.99995357 -0.37101821] [ 0. 0. 0. 1. ]] SLAMing on 92.672414037 meters Centerline goodness [0,1] 0.6690443790878364 Centerline is valid? [False, False] Translation: X:1.24, Y:0.04, Z:-0.37 [[ 0.99930933 -0.03628567 -0.00801346 1.23733155] [ 0.03632789 0.99932646 0.00518759 0.03568323] [ 0.00781983 -0.00547512 0.99995444 -0.37095052] [ 0. 0. 0. 1. ]] SLAMing on 92.702414037 meters Centerline goodness [0,1] 0.6666886572546951 Centerline is valid? [False, False] Translation: X:1.24, Y:0.04, Z:-0.37 [[ 0.99930758 -0.03631353 -0.00810532 1.23738863] [ 0.03635326 0.99932743 0.0048096 0.03720682] [ 0.00792522 -0.00510092 0.99995558 -0.3706864 ] [ 0. 0. 0. 1. ]] SLAMing on 92.73241403699998 meters Centerline goodness [0,1] 0.6677876689746126 Centerline is valid? [False, False] Translation: X:1.24, Y:0.04, Z:-0.37 [[ 0.99931214 -0.03613274 -0.00834659 1.23791165] [ 0.03617042 0.99933592 0.00440769 0.03932553] [ 0.00818179 -0.00470656 0.99995545 -0.37051339] [ 0. 0. 0. 1. ]] SLAMing on 92.76241403699999 meters Centerline goodness [0,1] 0.6753919774185724 Centerline is valid? [False, False] Translation: X:1.24, Y:0.04, Z:-0.37 [[ 0.99943936 -0.0323778 -0.0085229 1.23765791] [ 0.03244255 0.99944492 0.00757171 0.0419897 ] [ 0.00827302 -0.00784397 0.99993501 -0.37005023] [ 0. 0. 0. 1. ]] SLAMing on 92.79241403699999 meters Centerline goodness [0,1] 0.6793943820970848 Centerline is valid? [False, False] Translation: X:1.24, Y:0.04, Z:-0.37 [[ 0.99954805 -0.02884685 -0.00845882 1.23702021] [ 0.02893945 0.99952022 0.011038 0.04250486] [ 0.00813635 -0.01127781 0.9999033 -0.36984271] [ 0. 0. 0. 1. ]] SLAMing on 92.82241403699999 meters Centerline goodness [0,1] 0.6988468165952371 Centerline is valid? [False, False] Translation: X:1.24, Y:0.04, Z:-0.37 [[ 0.99957006 -0.02800355 -0.00868871 1.23810287] [ 0.02809752 0.99954587 0.01088949 0.0449657 ] [ 0.00837982 -0.01112894 0.99990296 -0.37023197] [ 0. 0. 0. 1. ]] SLAMing on 92.85241403699999 meters Centerline goodness [0,1] 0.6920146195591981 Centerline is valid? [False, False] Translation: X:1.24, Y:0.05, Z:-0.37 [[ 0.99959683 -0.02691631 -0.0090385 1.23962294] [ 0.0270148 0.99957497 0.01095824 0.04735592] [ 0.0087397 -0.01119799 0.99989911 -0.37080641] [ 0. 0. 0. 1. ]] SLAMing on 92.88241403699999 meters Centerline goodness [0,1] 0.7205514062188338 Centerline is valid? [False, False] Translation: X:1.24, Y:0.05, Z:-0.37 [[ 0.99969461 -0.02291743 -0.00924561 1.23987875] [ 0.02304668 0.9996346 0.01412482 0.04988459] [ 0.00891852 -0.01433359 0.99985749 -0.37069506] [ 0. 0. 0. 1. ]] SLAMing on 92.91241403699999 meters Centerline goodness [0,1] 0.7062794209077183 Centerline is valid? [False, False] Translation: X:1.24, Y:0.05, Z:-0.37 [[ 0.99970256 -0.02248072 -0.00945601 1.24049879] [ 0.02261035 0.99964864 0.01383339 0.05146118] [ 0.0091417 -0.01404308 0.9998596 -0.37064228] [ 0. 0. 0. 1. ]] SLAMing on 92.94241403699999 meters Centerline goodness [0,1] 0.7345772361339679 Centerline is valid? [False, False] Translation: X:1.24, Y:0.05, Z:-0.37 [[ 0.99970811 -0.02213411 -0.00968426 1.24109669] [ 0.02226456 0.99965992 0.01357665 0.05275999] [ 0.00938046 -0.0137883 0.99986094 -0.37056481] [ 0. 0. 0. 1. ]] SLAMing on 92.972414037 meters Centerline goodness [0,1] 0.7534094195643952 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.37 [[ 0.99974045 -0.02060683 -0.00971569 1.24196684] [ 0.02073982 0.99968977 0.0137922 0.05521927] [ 0.00942847 -0.01399012 0.99985768 -0.37074056] [ 0. 0. 0. 1. ]] SLAMing on 93.002414037 meters Centerline goodness [0,1] 0.7641620814862667 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.37 [[ 0.99974718 -0.02019027 -0.00989541 1.24255199] [ 0.02032316 0.99970207 0.01351792 0.05722296] [ 0.00961954 -0.01371561 0.99985966 -0.3707458 ] [ 0. 0. 0. 1. ]] SLAMing on 93.032414037 meters Centerline goodness [0,1] 0.7588101806531993 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.37 [[ 0.99974967 -0.01994688 -0.01013534 1.24301279] [ 0.02007791 0.99971396 0.0129955 0.05955135] [ 0.00987322 -0.01319574 0.99986419 -0.37039784] [ 0. 0. 0. 1. ]] SLAMing on 93.062414037 meters Centerline goodness [0,1] 0.7722109397665647 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.37 [[ 0.99975705 -0.01944248 -0.01038399 1.24370133] [ 0.0195754 0.99972572 0.01285646 0.06128459] [ 0.01013118 -0.01305661 0.99986343 -0.37031065] [ 0. 0. 0. 1. ]] SLAMing on 93.092414037 meters Centerline goodness [0,1] 0.7730867175981772 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.37 [[ 0.9997681 -0.01879879 -0.01050508 1.24417159] [ 0.01893073 0.99974134 0.01260478 0.06335519] [ 0.01026541 -0.01280073 0.99986537 -0.37013037] [ 0. 0. 0. 1. ]] SLAMing on 93.12241403699998 meters Centerline goodness [0,1] 0.7738180196253346 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.37 [[ 0.99976528 -0.01886781 -0.01064842 1.24414464] [ 0.01899695 0.99974559 0.0121599 0.06409061] [ 0.01041628 -0.01235933 0.99986937 -0.36954345] [ 0. 0. 0. 1. ]] SLAMing on 93.15241403699999 meters Centerline goodness [0,1] 0.774088527149069 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.37 [[ 0.99976387 -0.01893296 -0.01066494 1.24373206] [ 0.01905884 0.9997484 0.0118277 0.06447382] [ 0.01043833 -0.01202817 0.99987317 -0.36876013] [ 0. 0. 0. 1. ]] SLAMing on 93.18241403699999 meters Centerline goodness [0,1] 0.7736038794162998 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.37 [[ 0.99976203 -0.01902288 -0.01067795 1.24366786] [ 0.01914714 0.99974871 0.01165802 0.06452428] [ 0.0104535 -0.0118597 0.99987503 -0.36857609] [ 0. 0. 0. 1. ]] SLAMing on 93.21241403699999 meters Centerline goodness [0,1] 0.7666815144766147 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.37 [[ 0.999763 -0.01886175 -0.01087093 1.24433477] [ 0.01898939 0.99975052 0.01176003 0.06439425] [ 0.0106464 -0.01196368 0.99987175 -0.36883792] [ 0. 0. 0. 1. ]] SLAMing on 93.24241403699999 meters Centerline goodness [0,1] 0.7748211091234347 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.37 [[ 0.99976062 -0.01898398 -0.01087678 1.24432238] [ 0.01911033 0.9997497 0.01163299 0.06478171] [ 0.01065322 -0.01183806 0.99987318 -0.36885061] [ 0. 0. 0. 1. ]] SLAMing on 93.27241403699999 meters Centerline goodness [0,1] 0.771524728642432 Centerline is valid? [False, False] Translation: X:1.24, Y:0.07, Z:-0.37 [[ 0.99975755 -0.01906828 -0.01101064 1.24455921] [ 0.01919387 0.99975061 0.01141511 0.06529724] [ 0.01079023 -0.01162368 0.99987422 -0.36872986] [ 0. 0. 0. 1. ]] SLAMing on 93.30241403699999 meters Centerline goodness [0,1] 0.7718643916383777 Centerline is valid? [False, False] Translation: X:1.24, Y:0.07, Z:-0.37 [[ 0.99975993 -0.01892323 -0.01104542 1.24466636] [ 0.01905029 0.99975223 0.01151354 0.06525136] [ 0.01082481 -0.01172119 0.99987271 -0.36876802] [ 0. 0. 0. 1. ]] SLAMing on 93.33241403699999 meters Centerline goodness [0,1] 0.7738600330489929 Centerline is valid? [False, False] Translation: X:1.24, Y:0.07, Z:-0.37 [[ 0.99976069 -0.0188276 -0.01113887 1.24498582] [ 0.01895601 0.99975375 0.01153712 0.06510254] [ 0.01091891 -0.0117455 0.9998714 -0.36889013] [ 0. 0. 0. 1. ]] SLAMing on 93.362414037 meters Centerline goodness [0,1] 0.7762220584622943 Centerline is valid? [False, False] Translation: X:1.25, Y:0.06, Z:-0.37 [[ 0.99976661 -0.01847586 -0.01119685 1.2452532 ] [ 0.01860718 0.99975794 0.01174012 0.0646757 ] [ 0.01097723 -0.01194572 0.99986839 -0.36894889] [ 0. 0. 0. 1. ]] SLAMing on 93.392414037 meters Centerline goodness [0,1] 0.7772317040478957 Centerline is valid? [False, False] Translation: X:1.25, Y:0.06, Z:-0.37 [[ 0.99976739 -0.01836575 -0.01130734 1.24537717] [ 0.01849718 0.99976126 0.01163064 0.06486903] [ 0.01109104 -0.01183709 0.99986843 -0.36866096] [ 0. 0. 0. 1. ]] SLAMing on 93.422414037 meters Centerline goodness [0,1] 0.777002007584207 Centerline is valid? [False, False] Translation: X:1.25, Y:0.07, Z:-0.37 [[ 0.9997682 -0.01822273 -0.01146611 1.24583133] [ 0.01835526 0.99976468 0.01156137 0.06509264] [ 0.01125273 -0.01176915 0.99986742 -0.36872251] [ 0. 0. 0. 1. ]] SLAMing on 93.452414037 meters Centerline goodness [0,1] 0.7796473641815089 Centerline is valid? [False, False] Translation: X:1.25, Y:0.07, Z:-0.37 [[ 0.99976909 -0.01810725 -0.01157134 1.24603061] [ 0.01824106 0.99976674 0.01156433 0.06509625] [ 0.01135924 -0.01177273 0.99986618 -0.36864898] [ 0. 0. 0. 1. ]] SLAMing on 93.48241403699998 meters Centerline goodness [0,1] 0.7790000894374385 Centerline is valid? [False, False] Translation: X:1.25, Y:0.06, Z:-0.37 [[ 0.99977284 -0.01789228 -0.01158128 1.24577002] [ 0.01802533 0.99977154 0.01148737 0.06484125] [ 0.0113731 -0.01169351 0.99986695 -0.36796222] [ 0. 0. 0. 1. ]] SLAMing on 93.51241403699999 meters Centerline goodness [0,1] 0.7787138005005363 Centerline is valid? [False, False] Translation: X:1.25, Y:0.06, Z:-0.37 [[ 0.99977181 -0.01795236 -0.01157802 1.24562008] [ 0.01808415 0.9997717 0.01138068 0.06468 ] [ 0.01137107 -0.01158746 0.99986821 -0.36766721] [ 0. 0. 0. 1. ]] SLAMing on 93.54241403699999 meters Centerline goodness [0,1] 0.7795148970384598 Centerline is valid? [False, False] Translation: X:1.25, Y:0.06, Z:-0.37 [[ 0.99977099 -0.01796404 -0.01163048 1.24558934] [ 0.01809583 0.99977209 0.01132721 0.06457925] [ 0.01142435 -0.01153508 0.9998682 -0.36741917] [ 0. 0. 0. 1. ]] SLAMing on 93.57241403699999 meters Centerline goodness [0,1] 0.7771159594877972 Centerline is valid? [False, False] Translation: X:1.25, Y:0.06, Z:-0.37 [[ 0.99976832 -0.01814483 -0.01157897 1.24513779] [ 0.01827729 0.99976753 0.0114383 0.0634018 ] [ 0.01136873 -0.01164728 0.99986754 -0.36703068] [ 0. 0. 0. 1. ]] SLAMing on 93.60241403699999 meters Centerline goodness [0,1] 0.7767813322625262 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.37 [[ 0.99976641 -0.01835149 -0.01141704 1.2446984 ] [ 0.01848332 0.99976245 0.01154992 0.06218183] [ 0.01120237 -0.01175825 0.99986812 -0.36692673] [ 0. 0. 0. 1. ]] SLAMing on 93.63241403699999 meters Centerline goodness [0,1] 0.7753335257164421 Centerline is valid? [False, False] Translation: X:1.25, Y:0.06, Z:-0.37 [[ 0.99970943 -0.02102189 -0.01179595 1.24671556] [ 0.02112253 0.99974099 0.00847315 0.06210359] [ 0.01161477 -0.00871985 0.99989453 -0.36786964] [ 0. 0. 0. 1. ]] SLAMing on 93.66241403699999 meters Centerline goodness [0,1] 0.772573250946781 Centerline is valid? [False, False] Translation: X:1.25, Y:0.06, Z:-0.37 [[ 0.99962896 -0.0244855 -0.01193316 1.24731039] [ 0.02455022 0.99968451 0.00530758 0.05986138] [ 0.01179943 -0.00559857 0.99991471 -0.3678596 ] [ 0. 0. 0. 1. ]] SLAMing on 93.69241403699999 meters Centerline goodness [0,1] 0.7748380965011162 Centerline is valid? [False, False] Translation: X:1.25, Y:0.06, Z:-0.37 [[ 0.99962583 -0.0246863 -0.01178093 1.24681858] [ 0.02475483 0.99967726 0.0057071 0.0578291 ] [ 0.01163624 -0.0059966 0.99991432 -0.36775916] [ 0. 0. 0. 1. ]] SLAMing on 93.722414037 meters Centerline goodness [0,1] 0.7700746913717059 Centerline is valid? [False, False] Translation: X:1.25, Y:0.06, Z:-0.37 [[ 0.99962214 -0.02489089 -0.01166268 1.24646818] [ 0.02496101 0.99967098 0.00590611 0.05665969] [ 0.01151183 -0.00619499 0.99991455 -0.36771224] [ 0. 0. 0. 1. ]] SLAMing on 93.752414037 meters Centerline goodness [0,1] 0.7684098658282779 Centerline is valid? [False, False] Translation: X:1.25, Y:0.06, Z:-0.37 [[ 0.99962654 -0.02469585 -0.01170037 1.24681401] [ 0.02477212 0.99967252 0.00641895 0.05566038] [ 0.01153802 -0.00670639 0.99991095 -0.36808851] [ 0. 0. 0. 1. ]] SLAMing on 93.782414037 meters Centerline goodness [0,1] 0.7717456177192246 Centerline is valid? [False, False] Translation: X:1.25, Y:0.06, Z:-0.37 [[ 0.999632 -0.02448629 -0.0116745 1.24711641] [ 0.02456718 0.99967481 0.00683639 0.05521062] [ 0.01150331 -0.00712069 0.99990848 -0.36856113] [ 0. 0. 0. 1. ]] SLAMing on 93.812414037 meters Centerline goodness [0,1] 0.7709533091166829 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99963498 -0.0243825 -0.01163605 1.24710263] [ 0.02446657 0.99967516 0.00713835 0.05420067] [ 0.01145822 -0.00742044 0.99990682 -0.36864278] [ 0. 0. 0. 1. ]] SLAMing on 93.842414037 meters Centerline goodness [0,1] 0.7673014398513702 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99963614 -0.02438071 -0.01153985 1.24676783] [ 0.02446688 0.99967336 0.00738578 0.0528441 ] [ 0.01135601 -0.00766544 0.99990614 -0.36851588] [ 0. 0. 0. 1. ]] SLAMing on 93.87241403699998 meters Centerline goodness [0,1] 0.7683147755390598 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99963148 -0.024757 -0.01113543 1.24513416] [ 0.02484059 0.9996638 0.00743155 0.05034578] [ 0.0109477 -0.00770542 0.99991038 -0.36742692] [ 0. 0. 0. 1. ]] SLAMing on 93.90241403699999 meters Centerline goodness [0,1] 0.7664722259048125 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.9996321 -0.02475855 -0.01107647 1.24502892] [ 0.02484291 0.9996629 0.00754447 0.04993059] [ 0.01088594 -0.00781687 0.99991019 -0.36740257] [ 0. 0. 0. 1. ]] SLAMing on 93.93241403699999 meters Centerline goodness [0,1] 0.7715843616856884 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99963171 -0.02473592 -0.01116161 1.24526523] [ 0.02482144 0.99966309 0.00758954 0.05013096] [ 0.01097011 -0.00786379 0.9999089 -0.36749318] [ 0. 0. 0. 1. ]] SLAMing on 93.96241403699999 meters Centerline goodness [0,1] 0.7697509447305032 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99963308 -0.02466652 -0.01119267 1.24552887] [ 0.02475311 0.99966421 0.00766486 0.05049034] [ 0.01099985 -0.0079391 0.99990798 -0.3677301 ] [ 0. 0. 0. 1. ]] SLAMing on 93.99241403699999 meters Centerline goodness [0,1] 0.7659579160968724 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99963569 -0.02447244 -0.01138361 1.2460302 ] [ 0.02456269 0.99966742 0.00785669 0.05060484] [ 0.01118755 -0.00813344 0.99990434 -0.36785217] [ 0. 0. 0. 1. ]] SLAMing on 94.02241403699999 meters Centerline goodness [0,1] 0.7713807088696879 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99963597 -0.02451425 -0.01126887 1.24591095] [ 0.02460541 0.99966504 0.0080233 0.04992709] [ 0.01106841 -0.00829766 0.99990432 -0.3680474 ] [ 0. 0. 0. 1. ]] SLAMing on 94.05241403699999 meters Centerline goodness [0,1] 0.769527717115567 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99963862 -0.02448943 -0.0110855 1.24579469] [ 0.02458224 0.99966323 0.00831484 0.04845127] [ 0.01087814 -0.00858434 0.99990398 -0.36840704] [ 0. 0. 0. 1. ]] SLAMing on 94.08241403699999 meters Centerline goodness [0,1] 0.7695627284336607 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99964188 -0.02433634 -0.01112876 1.24631155] [ 0.02443507 0.99966249 0.00882281 0.0467196 ] [ 0.01091029 -0.00909158 0.99989915 -0.36907619] [ 0. 0. 0. 1. ]] SLAMing on 94.112414037 meters Centerline goodness [0,1] 0.7655878467635403 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99963527 -0.02470996 -0.01089704 1.24535755] [ 0.02480411 0.99965541 0.00859116 0.04641644] [ 0.01068099 -0.00885832 0.99990372 -0.36842638] [ 0. 0. 0. 1. ]] SLAMing on 94.142414037 meters Centerline goodness [0,1] 0.764436783133329 Centerline is valid? [False, False] Translation: X:1.24, Y:0.05, Z:-0.37 [[ 0.99963075 -0.02492825 -0.01081454 1.24473988] [ 0.0250177 0.99965324 0.00821648 0.04760599] [ 0.01060596 -0.008484 0.99990776 -0.36777547] [ 0. 0. 0. 1. ]] SLAMing on 94.172414037 meters Centerline goodness [0,1] 0.7663205238441696 Centerline is valid? [False, False] Translation: X:1.24, Y:0.05, Z:-0.37 [[ 0.99963156 -0.02484701 -0.01092585 1.2449138 ] [ 0.0249369 0.99965565 0.00816955 0.04821167] [ 0.0107191 -0.00843899 0.99990694 -0.36762157] [ 0. 0. 0. 1. ]] SLAMing on 94.202414037 meters Centerline goodness [0,1] 0.7661977412324152 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99963887 -0.02446107 -0.01112547 1.24563109] [ 0.0245548 0.99966347 0.00836707 0.04837881] [ 0.01091706 -0.00863723 0.9999031 -0.36793193] [ 0. 0. 0. 1. ]] SLAMing on 94.23241403699998 meters Centerline goodness [0,1] 0.7652942083581169 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99964261 -0.02425869 -0.01123242 1.24600975] [ 0.0243553 0.99966685 0.00854504 0.04802459] [ 0.01102138 -0.00881555 0.9999004 -0.36813413] [ 0. 0. 0. 1. ]] SLAMing on 94.26241403699999 meters Centerline goodness [0,1] 0.7668263946894096 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99964826 -0.02399698 -0.01129146 1.24634963] [ 0.02409534 0.99967218 0.00865704 0.04764868] [ 0.01108002 -0.00892607 0.99989877 -0.36825245] [ 0. 0. 0. 1. ]] SLAMing on 94.29241403699999 meters Centerline goodness [0,1] 0.7706224139448895 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.9996531 -0.02378289 -0.01131595 1.2464608 ] [ 0.02388246 0.99967651 0.00874692 0.04727425] [ 0.01110426 -0.00901414 0.99989772 -0.36822877] [ 0. 0. 0. 1. ]] SLAMing on 94.32241403699999 meters Centerline goodness [0,1] 0.7739612920272145 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99967484 -0.02271879 -0.01157914 1.24760214] [ 0.02282669 0.99969643 0.00927263 0.04734417] [ 0.01136497 -0.00953393 0.99988996 -0.36864357] [ 0. 0. 0. 1. ]] SLAMing on 94.35241403699999 meters Centerline goodness [0,1] 0.7784341385998942 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99968137 -0.02229733 -0.01183169 1.24826948] [ 0.02240708 0.99970636 0.00922569 0.04848974] [ 0.01162251 -0.00948786 0.99988744 -0.36863192] [ 0. 0. 0. 1. ]] SLAMing on 94.38241403699999 meters Centerline goodness [0,1] 0.7782502368415255 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99968872 -0.02191532 -0.01192412 1.24845128] [ 0.02202529 0.99971535 0.00917062 0.04958088] [ 0.01171975 -0.0094304 0.99988685 -0.36835443] [ 0. 0. 0. 1. ]] SLAMing on 94.41241403699999 meters Centerline goodness [0,1] 0.7791727236685608 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99973374 -0.02003833 -0.01144175 1.24688228] [ 0.02015944 0.99974091 0.01056928 0.04826794] [ 0.011227 -0.01079712 0.99987868 -0.36700244] [ 0. 0. 0. 1. ]] SLAMing on 94.44241403699999 meters Centerline goodness [0,1] 0.7799472875027454 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99974127 -0.01958132 -0.01157402 1.24738568] [ 0.01970832 0.99974567 0.01096273 0.04696889] [ 0.01135641 -0.011188 0.99987292 -0.36712783] [ 0. 0. 0. 1. ]] SLAMing on 94.472414037 meters Centerline goodness [0,1] 0.7799472875027454 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99974127 -0.01958132 -0.01157402 1.24738568] [ 0.01970832 0.99974567 0.01096273 0.04696889] [ 0.01135641 -0.011188 0.99987292 -0.36712783] [ 0. 0. 0. 1. ]] SLAMing on 94.502414037 meters Centerline goodness [0,1] 0.77823945829486 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99975061 -0.01896907 -0.01178564 1.24814799] [ 0.0191044 0.9997516 0.011479 0.04577675] [ 0.01156496 -0.01170129 0.99986466 -0.36741348] [ 0. 0. 0. 1. ]] SLAMing on 94.532414037 meters Centerline goodness [0,1] 0.7826525687711139 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99976463 -0.01809316 -0.01197193 1.24890769] [ 0.01823473 0.99976382 0.01182382 0.04620015] [ 0.01175517 -0.01203934 0.99985843 -0.36750135] [ 0. 0. 0. 1. ]] SLAMing on 94.562414037 meters Centerline goodness [0,1] 0.7814321856781432 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99976833 -0.0177909 -0.0121147 1.24919443] [ 0.01793478 0.99976867 0.01187263 0.04676179] [ 0.01190067 -0.01208716 0.99985613 -0.36732679] [ 0. 0. 0. 1. ]] SLAMing on 94.592414037 meters Centerline goodness [0,1] 0.7840049269751892 Centerline is valid? [False, False] Translation: X:1.25, Y:0.05, Z:-0.37 [[ 0.99977238 -0.01742856 -0.01230614 1.24973737] [ 0.0175776 0.99977218 0.01210834 0.04649448] [ 0.0120923 -0.0123219 0.99985096 -0.36741873] [ 0. 0. 0. 1. ]] SLAMing on 94.62241403699998 meters Centerline goodness [0,1] 0.7846214545613959 Centerline is valid? [False, False] Translation: X:1.25, Y:0.04, Z:-0.37 [[ 0.99978135 -0.01679999 -0.01245049 1.25070448] [ 0.01696142 0.99977194 0.01297628 0.04348403] [ 0.01222965 -0.01318462 0.99983829 -0.36824421] [ 0. 0. 0. 1. ]] SLAMing on 94.65241403699999 meters Centerline goodness [0,1] 0.7858206014971764 Centerline is valid? [False, False] Translation: X:1.25, Y:0.04, Z:-0.37 [[ 0.99978433 -0.01667232 -0.01238252 1.25056723] [ 0.01683698 0.9997696 0.0133143 0.04155007] [ 0.01215768 -0.01351991 0.99983469 -0.36814892] [ 0. 0. 0. 1. ]] SLAMing on 94.68241403699999 meters Centerline goodness [0,1] 0.7855212102716136 Centerline is valid? [False, False] Translation: X:1.25, Y:0.04, Z:-0.37 [[ 0.99978729 -0.01662214 -0.0122098 1.24962845] [ 0.01679042 0.99976363 0.01381153 0.03807383] [ 0.01197734 -0.01401359 0.99983007 -0.36729953] [ 0. 0. 0. 1. ]] SLAMing on 94.71241403699999 meters Centerline goodness [0,1] 0.7877964480577353 Centerline is valid? [False, False] Translation: X:1.25, Y:0.04, Z:-0.37 [[ 0.99978795 -0.0165361 -0.0122723 1.24955143] [ 0.01671041 0.99975897 0.01423923 0.0359942 ] [ 0.01203388 -0.01444128 0.9998233 -0.36703348] [ 0. 0. 0. 1. ]] SLAMing on 94.74241403699999 meters Centerline goodness [0,1] 0.787030790991187 Centerline is valid? [False, False] Translation: X:1.25, Y:0.03, Z:-0.37 [[ 0.99978854 -0.01647885 -0.01230104 1.24943033] [ 0.01665931 0.99975293 0.01471526 0.03376263] [ 0.01205551 -0.01491707 0.99981606 -0.36679122] [ 0. 0. 0. 1. ]] SLAMing on 94.77241403699999 meters Centerline goodness [0,1] 0.7853740238835838 Centerline is valid? [False, False] Translation: X:1.25, Y:0.03, Z:-0.37 [[ 0.99979032 -0.01634019 -0.01234176 1.2495667 ] [ 0.01652928 0.99974512 0.01537793 0.03126333] [ 0.01208733 -0.0155787 0.99980558 -0.36692386] [ 0. 0. 0. 1. ]] SLAMing on 94.80241403699999 meters Centerline goodness [0,1] 0.7900705536077566 Centerline is valid? [False, False] Translation: X:1.25, Y:0.03, Z:-0.37 [[ 0.99973576 -0.01926614 -0.01253874 1.25077852] [ 0.01942901 0.99972671 0.01300039 0.0276538 ] [ 0.01228484 -0.01324057 0.99983687 -0.36759731] [ 0. 0. 0. 1. ]] SLAMing on 94.83241403699999 meters Centerline goodness [0,1] 0.7892939727270762 Centerline is valid? [False, False] Translation: X:1.25, Y:0.02, Z:-0.37 [[ 0.99973326 -0.01946601 -0.01242908 1.25033655] [ 0.01963344 0.99971618 0.01349423 0.02478742] [ 0.01216287 -0.01373465 0.9998317 -0.36743786] [ 0. 0. 0. 1. ]] SLAMing on 94.862414037 meters Centerline goodness [0,1] 0.7889758010644946 Centerline is valid? [False, False] Translation: X:1.25, Y:0.02, Z:-0.37 [[ 0.99972855 -0.01973969 -0.01237598 1.24994892] [ 0.01991284 0.99970332 0.01402697 0.02168724] [ 0.01209542 -0.01426961 0.99982502 -0.36726904] [ 0. 0. 0. 1. ]] SLAMing on 94.892414037 meters Centerline goodness [0,1] 0.7869887514545533 Centerline is valid? [False, False] Translation: X:1.25, Y:0.02, Z:-0.37 [[ 0.99972663 -0.0199288 -0.01222706 1.24943756] [ 0.0201066 0.9996913 0.01459545 0.01860198] [ 0.01193242 -0.01483731 0.99981872 -0.36711585] [ 0. 0. 0. 1. ]] SLAMing on 94.922414037 meters Centerline goodness [0,1] 0.7902490204055415 Centerline is valid? [False, False] Translation: X:1.25, Y:0.01, Z:-0.37 [[ 0.99965689 -0.0232479 -0.01206829 1.24980572] [ 0.02339305 0.99965398 0.01202854 0.01453993] [ 0.01178448 -0.01230673 0.99985482 -0.36761653] [ 0. 0. 0. 1. ]] SLAMing on 94.952414037 meters Centerline goodness [0,1] 0.7894060445091782 Centerline is valid? [False, False] Translation: X:1.25, Y:0.01, Z:-0.37 [[ 0.99965256 -0.02350799 -0.01192236 1.24913032] [ 0.02365575 0.99964317 0.01240721 0.01182196] [ 0.01162643 -0.01268493 0.99985195 -0.36716864] [ 0. 0. 0. 1. ]] SLAMing on 94.98241403699998 meters Centerline goodness [0,1] 0.7911519555460569 Centerline is valid? [False, False] Translation: X:1.25, Y:0.01, Z:-0.37 [[ 0.99964547 -0.02385079 -0.01183533 1.24857437] [ 0.02400111 0.99963093 0.01272615 0.00923869] [ 0.01152743 -0.0130057 0.99984897 -0.36677626] [ 0. 0. 0. 1. ]] SLAMing on 95.01241403699999 meters Centerline goodness [0,1] 0.7902661661832452 Centerline is valid? [False, False] Translation: X:1.25, Y:0.01, Z:-0.37 [[ 0.99956128 -0.02709319 -0.01196727 1.24911461] [ 0.02721416 0.99957896 0.01006432 0.00602555] [ 0.01168955 -0.01038558 0.99987774 -0.36675468] [ 0. 0. 0. 1. ]] SLAMing on 95.04241403699999 meters Centerline goodness [0,1] 0.7922163588390502 Centerline is valid? [False, False] Translation: X:1.25, Y:0.00, Z:-0.37 [[ 0.99955855 -0.02723827 -0.01186554 1.24885148] [ 0.02736531 0.99956845 0.01067976 0.00306768] [ 0.01156952 -0.01099975 0.99987257 -0.36677622] [ 0. 0. 0. 1. ]] SLAMing on 95.07241403699999 meters Centerline goodness [0,1] 0.7892502335059862 Centerline is valid? [False, False] Translation: X:1.25, Y:0.00, Z:-0.37 [[ 9.99552652e-01 -2.74950680e-02 -1.17693653e-02 1.24835233e+00] [ 2.76255104e-02 9.99557068e-01 1.10679385e-02 5.58599957e-04] [ 1.14598385e-02 -1.13881220e-02 9.99869483e-01 -3.66503987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10241403699999 meters Centerline goodness [0,1] 0.7890419110771062 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.00, Z:-0.37 [[ 0.99954534 -0.02784407 -0.01156768 1.24760846] [ 0.02797605 0.99954349 0.01140879 -0.00186231] [ 0.01124473 -0.01172722 0.99986801 -0.36616392] [ 0. 0. 0. 1. ]] SLAMing on 95.13241403699999 meters Centerline goodness [0,1] 0.7856207493769273 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.01, Z:-0.37 [[ 0.99945208 -0.03097418 -0.0116683 1.2484922 ] [ 0.03107847 0.99947763 0.00886532 -0.00527138] [ 0.01138761 -0.0092231 0.99989262 -0.36657846] [ 0. 0. 0. 1. ]] SLAMing on 95.16241403699999 meters Centerline goodness [0,1] 0.7880046624986754 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.01, Z:-0.37 [[ 0.99944657 -0.03120939 -0.01151209 1.24799434] [ 0.03131601 0.99946719 0.00920031 -0.00743246] [ 0.01121882 -0.00955573 0.99989141 -0.36636582] [ 0. 0. 0. 1. ]] SLAMing on 95.19241403699999 meters Centerline goodness [0,1] 0.7872943965790977 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.01, Z:-0.37 [[ 0.99944559 -0.03127513 -0.01141852 1.24782181] [ 0.03138624 0.99946041 0.0096849 -0.00944605] [ 0.01110946 -0.01003792 0.9998879 -0.36646895] [ 0. 0. 0. 1. ]] SLAMing on 95.222414037 meters Centerline goodness [0,1] 0.7894023752566843 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.01, Z:-0.37 [[ 0.99943643 -0.03159743 -0.01133245 1.24734935] [ 0.03171356 0.99944475 0.01021935 -0.01285182] [ 0.01100325 -0.01057299 0.99988356 -0.36622323] [ 0. 0. 0. 1. ]] SLAMing on 95.252414037 meters Centerline goodness [0,1] 0.790363482671175 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.01, Z:-0.37 [[ 0.9994399 -0.03148653 -0.01133538 1.24770541] [ 0.031608 0.99944306 0.010701 -0.01438677] [ 0.01099213 -0.01105329 0.99987849 -0.36675265] [ 0. 0. 0. 1. ]] SLAMing on 95.282414037 meters Centerline goodness [0,1] 0.7900558306120299 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.02, Z:-0.37 [[ 0.99944637 -0.03128119 -0.01133334 1.24811719] [ 0.03140777 0.99944425 0.01116902 -0.01566663] [ 0.01097766 -0.01151879 0.9998734 -0.36727893] [ 0. 0. 0. 1. ]] SLAMing on 95.312414037 meters Centerline goodness [0,1] 0.7873689550219818 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.02, Z:-0.37 [[ 0.99945604 -0.03095229 -0.01138354 1.24863011] [ 0.03108502 0.99944856 0.01167456 -0.01678899] [ 0.01101591 -0.01202206 0.99986705 -0.36780894] [ 0. 0. 0. 1. ]] SLAMing on 95.342414037 meters Centerline goodness [0,1] 0.7905889817066722 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.02, Z:-0.37 [[ 0.99946352 -0.03070795 -0.01138874 1.24881687] [ 0.03084411 0.99945242 0.01197948 -0.01746971] [ 0.01101463 -0.01232433 0.99986339 -0.36800722] [ 0. 0. 0. 1. ]] SLAMing on 95.37241403699998 meters Centerline goodness [0,1] 0.7925305071148081 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.02, Z:-0.37 [[ 0.99947881 -0.03024555 -0.01128314 1.24844653] [ 0.03038597 0.99946021 0.01248895 -0.01874879] [ 0.01089931 -0.01282529 0.99985835 -0.36762387] [ 0. 0. 0. 1. ]] SLAMing on 95.40241403699999 meters Centerline goodness [0,1] 0.7928176795580111 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.02, Z:-0.37 [[ 0.99947983 -0.03020413 -0.01130397 1.24827117] [ 0.03034517 0.99946105 0.01252135 -0.01898834] [ 0.01091968 -0.01285786 0.99985771 -0.36726217] [ 0. 0. 0. 1. ]] SLAMing on 95.43241403699999 meters Centerline goodness [0,1] 0.793365029054411 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.02, Z:-0.37 [[ 0.99948267 -0.03011471 -0.01129119 1.24798717] [ 0.03025716 0.99946191 0.01266497 -0.01973655] [ 0.01090371 -0.01300006 0.99985604 -0.36683431] [ 0. 0. 0. 1. ]] SLAMing on 95.46241403699999 meters Centerline goodness [0,1] 0.7955266162107311 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.02, Z:-0.37 [[ 0.99948439 -0.03005219 -0.01130587 1.2474868 ] [ 0.03019639 0.99946193 0.01280757 -0.02077565] [ 0.01091489 -0.01314237 0.99985406 -0.3660264 ] [ 0. 0. 0. 1. ]] SLAMing on 95.49241403699999 meters Centerline goodness [0,1] 0.7928991587780143 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.02, Z:-0.37 [[ 0.9994802 -0.03014477 -0.01142939 1.24741554] [ 0.03028945 0.99946044 0.01270368 -0.02085441] [ 0.01104027 -0.01304327 0.99985398 -0.36554535] [ 0. 0. 0. 1. ]] SLAMing on 95.52241403699999 meters Centerline goodness [0,1] 0.7942256553121438 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.02, Z:-0.37 [[ 0.99947498 -0.03035623 -0.01132541 1.24685757] [ 0.03049816 0.99945569 0.01257722 -0.02100929] [ 0.01093745 -0.01291602 0.99985676 -0.36501082] [ 0. 0. 0. 1. ]] SLAMing on 95.55241403699999 meters Centerline goodness [0,1] 0.7922557501582612 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.02, Z:-0.36 [[ 0.99947175 -0.03046171 -0.01132759 1.24664594] [ 0.03060409 0.99945197 0.01261529 -0.02149684] [ 0.0109371 -0.0129553 0.99985626 -0.36471314] [ 0. 0. 0. 1. ]] SLAMing on 95.58241403699999 meters Centerline goodness [0,1] 0.7929415233001327 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.02, Z:-0.36 [[ 0.99946206 -0.03072106 -0.01148099 1.24674214] [ 0.0308663 0.99944289 0.01269537 -0.0228153 ] [ 0.01108458 -0.01304292 0.9998535 -0.36447479] [ 0. 0. 0. 1. ]] SLAMing on 95.612414037 meters Centerline goodness [0,1] 0.7935701486244334 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.02, Z:-0.36 [[ 0.99945443 -0.03102586 -0.01132466 1.24616527] [ 0.03116777 0.99943502 0.01257809 -0.02307686] [ 0.01092801 -0.01292419 0.99985676 -0.3641142 ] [ 0. 0. 0. 1. ]] SLAMing on 95.642414037 meters Centerline goodness [0,1] 0.7938068217773746 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.02, Z:-0.36 [[ 0.9994421 -0.03144482 -0.01125627 1.2454895 ] [ 0.03158342 0.99942476 0.0123545 -0.02338885] [ 0.01086131 -0.01270312 0.99986032 -0.36337915] [ 0. 0. 0. 1. ]] SLAMing on 95.672414037 meters Centerline goodness [0,1] 0.7906618887015178 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.02, Z:-0.36 [[ 0.99942329 -0.03209117 -0.01110145 1.24424104] [ 0.03222384 0.99940881 0.01198564 -0.02394595] [ 0.01071026 -0.01233646 0.99986654 -0.36213211] [ 0. 0. 0. 1. ]] SLAMing on 95.702414037 meters Centerline goodness [0,1] 0.7919688846841164 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.36 [[ 0.9993796 -0.03342535 -0.0110976 1.2429285 ] [ 0.03354919 0.99937468 0.01116706 -0.02546181] [ 0.0107174 -0.01153245 0.99987606 -0.36047368] [ 0. 0. 0. 1. ]] SLAMing on 95.73241403699998 meters Centerline goodness [0,1] 0.7917752922378269 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.36 [[ 0.99937256 -0.03361917 -0.01114648 1.2431107 ] [ 0.03374591 0.9993656 0.01138461 -0.0265995 ] [ 0.01075667 -0.01175361 0.99987307 -0.36065664] [ 0. 0. 0. 1. ]] SLAMing on 95.76241403699999 meters Centerline goodness [0,1] 0.792004208311415 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.36 [[ 0.99936577 -0.03379592 -0.01121982 1.24335199] [ 0.03392573 0.99935717 0.0115886 -0.02771654] [ 0.01082096 -0.01196189 0.9998699 -0.36082694] [ 0. 0. 0. 1. ]] SLAMing on 95.79241403699999 meters Centerline goodness [0,1] 0.7878221419419882 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.03, Z:-0.36 [[ 0.99925052 -0.03694219 -0.01156145 1.24538593] [ 0.03704179 0.99927737 0.00852305 -0.02838771] [ 0.01123824 -0.00894492 0.99989684 -0.36208713] [ 0. 0. 0. 1. ]] SLAMing on 95.82241403699999 meters Centerline goodness [0,1] 0.7882237241321588 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.03, Z:-0.36 [[ 0.99925036 -0.03685174 -0.01186061 1.24648159] [ 0.03696054 0.9992754 0.00908853 -0.02985792] [ 0.01151709 -0.00952009 0.99988836 -0.36283915] [ 0. 0. 0. 1. ]] SLAMing on 95.85241403699999 meters Centerline goodness [0,1] 0.7892954072079275 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.03, Z:-0.36 [[ 0.99924263 -0.03708198 -0.01179406 1.24663327] [ 0.03719301 0.99926447 0.00933845 -0.0310878 ] [ 0.0114391 -0.00977003 0.99988684 -0.36331427] [ 0. 0. 0. 1. ]] SLAMing on 95.88241403699999 meters Centerline goodness [0,1] 0.7842873929830452 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.03, Z:-0.36 [[ 0.99923752 -0.03722644 -0.01177186 1.24689098] [ 0.03734024 0.99925649 0.00960042 -0.03210597] [ 0.01140572 -0.01003267 0.99988462 -0.36375117] [ 0. 0. 0. 1. ]] SLAMing on 95.91241403699999 meters Centerline goodness [0,1] 0.7862930310663307 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.03, Z:-0.36 [[ 0.99922275 -0.03765674 -0.01165613 1.24715276] [ 0.03777117 0.99923877 0.00975771 -0.03347405] [ 0.01127982 -0.0101904 0.99988445 -0.36452669] [ 0. 0. 0. 1. ]] SLAMing on 95.94241403699999 meters Centerline goodness [0,1] 0.780550972242528 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.03, Z:-0.37 [[ 0.99922372 -0.03760358 -0.01174433 1.24789489] [ 0.03772283 0.99923717 0.01010269 -0.03423565] [ 0.01135548 -0.01053788 0.99988 -0.36534522] [ 0. 0. 0. 1. ]] SLAMing on 95.972414037 meters Centerline goodness [0,1] 0.7847926267281106 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.03, Z:-0.37 [[ 0.99921924 -0.03774768 -0.01166326 1.24774316] [ 0.03786655 0.99923131 0.01014501 -0.03477683] [ 0.01127134 -0.01057873 0.99988052 -0.36538328] [ 0. 0. 0. 1. ]] SLAMing on 96.002414037 meters Centerline goodness [0,1] 0.7817264198358184 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.03, Z:-0.36 [[ 0.99919271 -0.03853879 -0.01134421 1.24610125] [ 0.03864677 0.99920817 0.00945784 -0.03400799] [ 0.01097073 -0.00988862 0.99989092 -0.36405254] [ 0. 0. 0. 1. ]] SLAMing on 96.032414037 meters Centerline goodness [0,1] 0.776570806647411 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.03, Z:-0.36 [[ 0.99918078 -0.03890874 -0.01113021 1.24528566] [ 0.039011 0.99919713 0.00912371 -0.03314615] [ 0.01076628 -0.00955044 0.99989643 -0.36354833] [ 0. 0. 0. 1. ]] SLAMing on 96.062414037 meters Centerline goodness [0,1] 0.7566055526453641 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.36 [[ 0.99914857 -0.0398094 -0.0108329 1.24424455] [ 0.03990251 0.99916726 0.00851955 -0.03256089] [ 0.01048472 -0.00894455 0.99990503 -0.36298462] [ 0. 0. 0. 1. ]] SLAMing on 96.092414037 meters Centerline goodness [0,1] 0.7474482845346132 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.36 [[ 0.99913125 -0.04026925 -0.01072997 1.24393978] [ 0.04035945 0.99915053 0.00832621 -0.03271236] [ 0.01038557 -0.00875203 0.99990777 -0.36292587] [ 0. 0. 0. 1. ]] SLAMing on 96.12241403699998 meters Centerline goodness [0,1] 0.739895547119156 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.36 [[ 0.99911012 -0.04082189 -0.01060841 1.24344638] [ 0.04090786 0.99913075 0.0080176 -0.03292243] [ 0.0102719 -0.00844443 0.99991159 -0.36266797] [ 0. 0. 0. 1. ]] SLAMing on 96.15241403699999 meters Centerline goodness [0,1] 0.7575370036479517 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.36 [[ 0.9990918 -0.04127649 -0.01057441 1.24343086] [ 0.04136106 0.99911297 0.00790808 -0.03320103] [ 0.01023862 -0.00833827 0.99991282 -0.36282424] [ 0. 0. 0. 1. ]] SLAMing on 96.18241403699999 meters Centerline goodness [0,1] 0.7418127548661033 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.36 [[ 0.99902963 -0.04281313 -0.01033638 1.24246941] [ 0.04288706 0.99905512 0.00704039 -0.03317274] [ 0.01002519 -0.00747686 0.99992179 -0.36242094] [ 0. 0. 0. 1. ]] SLAMing on 96.21241403699999 meters Centerline goodness [0,1] 0.710026301946344 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.36 [[ 0.99900667 -0.04339321 -0.01013429 1.24203734] [ 0.04346298 0.99903211 0.00676832 -0.03310304] [ 0.00983078 -0.00720206 0.99992574 -0.36245607] [ 0. 0. 0. 1. ]] SLAMing on 96.24241403699999 meters Centerline goodness [0,1] 0.6915982312065698 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.36 [[ 0.99896243 -0.04445757 -0.00987816 1.24133 ] [ 0.04451769 0.99899087 0.0059513 -0.03130581] [ 0.00960361 -0.00638487 0.9999335 -0.36237605] [ 0. 0. 0. 1. ]] SLAMing on 96.27241403699999 meters Centerline goodness [0,1] 0.7006051150140209 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.36 [[ 0.99894226 -0.04488302 -0.00999429 1.2415772 ] [ 0.04493893 0.99897491 0.00544238 -0.02977337] [ 0.00973977 -0.00588575 0.99993525 -0.36246207] [ 0. 0. 0. 1. ]] SLAMing on 96.30241403699999 meters Centerline goodness [0,1] 0.7097433089768157 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.36 [[ 0.99893573 -0.04503694 -0.00995401 1.2417837 ] [ 0.04509097 0.99896898 0.00527097 -0.02860156] [ 0.00970636 -0.00571419 0.99993657 -0.36291784] [ 0. 0. 0. 1. ]] SLAMing on 96.33241403699999 meters Centerline goodness [0,1] 0.6810126582278482 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.36 [[ 0.99892224 -0.04535376 -0.00986853 1.24169134] [ 0.04540296 0.99895713 0.00482003 -0.02711402] [ 0.00963964 -0.0052629 0.99993969 -0.36303687] [ 0. 0. 0. 1. ]] SLAMing on 96.362414037 meters Centerline goodness [0,1] 0.6810126582278482 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.03, Z:-0.36 [[ 0.99892224 -0.04535376 -0.00986853 1.24169134] [ 0.04540296 0.99895713 0.00482003 -0.02711402] [ 0.00963964 -0.0052629 0.99993969 -0.36303687] [ 0. 0. 0. 1. ]] SLAMing on 96.392414037 meters Centerline goodness [0,1] 0.6871750433275563 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.02, Z:-0.36 [[ 0.99889187 -0.04603183 -0.00980368 1.24188629] [ 0.04606949 0.99893157 0.00365004 -0.02334156] [ 0.00962518 -0.00409765 0.99994528 -0.36351157] [ 0. 0. 0. 1. ]] SLAMing on 96.422414037 meters Centerline goodness [0,1] 0.680688983875746 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.02, Z:-0.36 [[ 0.99888096 -0.04624044 -0.00993195 1.24257733] [ 0.04627338 0.99892396 0.00311318 -0.02090154] [ 0.00977731 -0.00356928 0.99994583 -0.36415494] [ 0. 0. 0. 1. ]] SLAMing on 96.452414037 meters Centerline goodness [0,1] 0.6873807403638215 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.02, Z:-0.36 [[ 0.99885054 -0.04687993 -0.0099935 1.24315875] [ 0.04690005 0.99889798 0.00178898 -0.01558142] [ 0.00989862 -0.00225562 0.99994846 -0.36481722] [ 0. 0. 0. 1. ]] SLAMing on 96.48241403699998 meters Centerline goodness [0,1] 0.6693950253398079 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.01, Z:-0.36 [[ 9.98832693e-01 -4.72519425e-02 -1.00252651e-02 1.24320039e+00] [ 4.72646435e-02 9.98881867e-01 1.03363781e-03 -1.30716767e-02] [ 9.96521415e-03 -1.50627182e-03 9.99949212e-01 -3.64756284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51241403699999 meters Centerline goodness [0,1] 0.6765990838140482 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.01, Z:-0.36 [[ 0.99892841 -0.04522305 -0.00984436 1.24157754] [ 0.04525899 0.9989693 0.00345968 -0.01182641] [ 0.00967776 -0.00390152 0.99994556 -0.36390229] [ 0. 0. 0. 1. ]] SLAMing on 96.54241403699999 meters Centerline goodness [0,1] 0.6571179447917996 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.01, Z:-0.36 [[ 0.99890761 -0.04566698 -0.00990526 1.24147979] [ 0.04569415 0.99895226 0.00253328 -0.00887594] [ 0.00977919 -0.00298312 0.99994773 -0.36358468] [ 0. 0. 0. 1. ]] SLAMing on 96.57241403699999 meters Centerline goodness [0,1] 0.6726962457337884 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.01, Z:-0.36 [[ 0.99901239 -0.04334236 -0.00978219 1.2400416 ] [ 0.04339402 0.99904486 0.0051317 -0.00758094] [ 0.00955042 -0.00555112 0.99993899 -0.36281226] [ 0. 0. 0. 1. ]] SLAMing on 96.60241403699999 meters Centerline goodness [0,1] 0.6821421691388942 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.00, Z:-0.36 [[ 0.99909608 -0.04144434 -0.00945483 1.24002097] [ 0.04150825 0.99911592 0.00666711 -0.00320947] [ 0.00917016 -0.00705354 0.99993308 -0.36388968] [ 0. 0. 0. 1. ]] SLAMing on 96.63241403699999 meters Centerline goodness [0,1] 0.6820530411851724 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.00, Z:-0.36 [[ 9.99096831e-01 -4.13628477e-02 -9.72814612e-03 1.24122293e+00] [ 4.14239039e-02 9.99122668e-01 6.16071052e-03 -3.60410727e-04] [ 9.46478677e-03 -6.55812415e-03 9.99933702e-01 -3.64719026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66241403699999 meters Centerline goodness [0,1] 0.676037626690094 Centerline is valid? [False, False] Translation: X:1.24, Y:0.00, Z:-0.37 [[ 0.99910534 -0.04106882 -0.01009333 1.2429258 ] [ 0.04113028 0.99913602 0.0059589 0.00226459] [ 0.00983988 -0.00636871 0.99993131 -0.36599898] [ 0. 0. 0. 1. ]] SLAMing on 96.69241403699999 meters Centerline goodness [0,1] 0.6691404901622369 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99920829 -0.03856559 -0.00977212 1.2426847 ] [ 0.03864252 0.99922258 0.00780977 0.00722468] [ 0.00946333 -0.0081812 0.99992175 -0.36689909] [ 0. 0. 0. 1. ]] SLAMing on 96.722414037 meters Centerline goodness [0,1] 0.6668250642590232 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99921015 -0.03846046 -0.00999373 1.24347279] [ 0.03853266 0.99923187 0.00713475 0.0106642 ] [ 0.00971165 -0.0075142 0.99992461 -0.36725936] [ 0. 0. 0. 1. ]] SLAMing on 96.752414037 meters Centerline goodness [0,1] 0.6729900827517663 Centerline is valid? [False, False] Translation: X:1.24, Y:0.01, Z:-0.37 [[ 0.99921099 -0.03837667 -0.01022832 1.24406295] [ 0.03844182 0.99924129 0.00625013 0.01461241] [ 0.0099807 -0.0066384 0.99992816 -0.36719269] [ 0. 0. 0. 1. ]] SLAMing on 96.782414037 meters Centerline goodness [0,1] 0.6800320769847634 Centerline is valid? [False, False] Translation: X:1.24, Y:0.02, Z:-0.37 [[ 0.99932063 -0.03545425 -0.01006394 1.2426654 ] [ 0.03554356 0.99932904 0.00883887 0.0174388 ] [ 0.00974381 -0.00919057 0.99991029 -0.36628981] [ 0. 0. 0. 1. ]] SLAMing on 96.812414037 meters Centerline goodness [0,1] 0.689635646928153 Centerline is valid? [False, False] Translation: X:1.24, Y:0.02, Z:-0.37 [[ 0.9994164 -0.03271576 -0.00982557 1.24095647] [ 0.03282426 0.99939958 0.01109229 0.02095436] [ 0.00945678 -0.01140834 0.9998902 -0.36513811] [ 0. 0. 0. 1. ]] SLAMing on 96.842414037 meters Centerline goodness [0,1] 0.6903050108932463 Centerline is valid? [False, False] Translation: X:1.24, Y:0.03, Z:-0.36 [[ 0.99942452 -0.03246625 -0.00982679 1.2411865 ] [ 0.03256489 0.99941909 0.01005062 0.02612374] [ 0.00949477 -0.01036485 0.9999012 -0.3649664 ] [ 0. 0. 0. 1. ]] SLAMing on 96.87241403699998 meters Centerline goodness [0,1] 0.6907705483212192 Centerline is valid? [False, False] Translation: X:1.24, Y:0.03, Z:-0.36 [[ 0.99950975 -0.02974133 -0.00978291 1.2408914 ] [ 0.02985289 0.99948858 0.01146194 0.03366769] [ 0.00943701 -0.01174837 0.99988645 -0.36497538] [ 0. 0. 0. 1. ]] SLAMing on 96.90241403699999 meters Centerline goodness [0,1] 0.6882663150955834 Centerline is valid? [False, False] Translation: X:1.24, Y:0.04, Z:-0.37 [[ 0.99950044 -0.02998981 -0.00997383 1.24168273] [ 0.03009457 0.99949164 0.01052478 0.03688305] [ 0.00965312 -0.01081968 0.99989487 -0.36544044] [ 0. 0. 0. 1. ]] SLAMing on 96.93241403699999 meters Centerline goodness [0,1] 0.6860780722466182 Centerline is valid? [False, False] Translation: X:1.24, Y:0.04, Z:-0.37 [[ 0.99948887 -0.03040018 -0.00989125 1.24187684] [ 0.03049621 0.99948774 0.00970794 0.03955462] [ 0.00959106 -0.01000463 0.99990395 -0.36596429] [ 0. 0. 0. 1. ]] SLAMing on 96.96241403699999 meters Centerline goodness [0,1] 0.6701359670490279 Centerline is valid? [False, False] Translation: X:1.24, Y:0.05, Z:-0.37 [[ 0.99945834 -0.03144055 -0.0097219 1.2420981 ] [ 0.03151876 0.99947115 0.00799948 0.04559234] [ 0.00946525 -0.00830157 0.99992074 -0.36681025] [ 0. 0. 0. 1. ]] SLAMing on 96.99241403699999 meters Centerline goodness [0,1] 0.6636867790594498 Centerline is valid? [False, False] Translation: X:1.24, Y:0.05, Z:-0.37 [[ 0.99943781 -0.03211519 -0.00962675 1.24205862] [ 0.03218254 0.99945802 0.00692491 0.04907445] [ 0.00939914 -0.00723083 0.99992968 -0.36704391] [ 0. 0. 0. 1. ]] SLAMing on 97.02241403699999 meters Centerline goodness [0,1] 0.6770480854853071 Centerline is valid? [False, False] Translation: X:1.24, Y:0.05, Z:-0.37 [[ 0.99941452 -0.03286015 -0.00953034 1.24155541] [ 0.03291633 0.99944129 0.00579917 0.05229992] [ 0.00933445 -0.00610947 0.99993777 -0.36669321] [ 0. 0. 0. 1. ]] SLAMing on 97.05241403699999 meters Centerline goodness [0,1] 0.663041779246589 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.37 [[ 0.99939281 -0.03354271 -0.00942854 1.24096926] [ 0.03358963 0.99942388 0.00486215 0.05506183] [ 0.00926002 -0.0051759 0.99994373 -0.36624463] [ 0. 0. 0. 1. ]] SLAMing on 97.08241403699999 meters Centerline goodness [0,1] 0.6559442433990081 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.37 [[ 0.9993485 -0.03491491 -0.00913882 1.23992178] [ 0.03494408 0.99938461 0.00305202 0.060059 ] [ 0.00902663 -0.00336938 0.99995358 -0.36572578] [ 0. 0. 0. 1. ]] SLAMing on 97.112414037 meters Centerline goodness [0,1] 0.64940755644981 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.37 [[ 0.99933478 -0.03532205 -0.00907464 1.23999235] [ 0.03534562 0.99937215 0.00244973 0.06218712] [ 0.00898241 -0.00276885 0.99995582 -0.36604037] [ 0. 0. 0. 1. ]] SLAMing on 97.142414037 meters Centerline goodness [0,1] 0.6492671119279214 Centerline is valid? [False, False] Translation: X:1.24, Y:0.06, Z:-0.37 [[ 0.99932233 -0.03569695 -0.00897787 1.24003065] [ 0.03571548 0.99936017 0.00191232 0.06403267] [ 0.00890386 -0.00223167 0.99995787 -0.36639032] [ 0. 0. 0. 1. ]] SLAMing on 97.172414037 meters Centerline goodness [0,1] 0.6554948636680378 Centerline is valid? [False, False] Translation: X:1.24, Y:0.07, Z:-0.37 [[ 9.99294351e-01 -3.64994029e-02 -8.86531303e-03 1.23986255e+00] [ 3.65065979e-02 9.99333200e-01 6.51077771e-04 6.79453879e-02] [ 8.83563769e-03 -9.74260757e-04 9.99960490e-01 -3.66551667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.202414037 meters Centerline goodness [0,1] 0.6456069299133761 Centerline is valid? [False, False] Translation: X:1.24, Y:0.07, Z:-0.37 [[ 9.99288978e-01 -3.66174332e-02 -8.98344885e-03 1.24039040e+00] [ 3.66204318e-02 9.99329233e-01 1.69473605e-04 7.03345309e-02] [ 8.97121735e-03 -4.98330881e-04 9.99959634e-01 -3.66884951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23241403699998 meters Centerline goodness [0,1] 0.646852988983204 Centerline is valid? [False, False] Translation: X:1.24, Y:0.07, Z:-0.37 [[ 0.99938986 -0.03381549 -0.00874225 1.2394085 ] [ 0.03384655 0.99942116 0.00342957 0.07119329] [ 0.00862122 -0.00372337 0.9999559 -0.36712666] [ 0. 0. 0. 1. ]] SLAMing on 97.26241403699999 meters Centerline goodness [0,1] 0.6551708459317526 Centerline is valid? [False, False] Translation: X:1.24, Y:0.07, Z:-0.37 [[ 0.99949317 -0.03067728 -0.00850333 1.23896909] [ 0.03073087 0.99950819 0.0062448 0.07484619] [ 0.00830757 -0.00650295 0.99994435 -0.36771422] [ 0. 0. 0. 1. ]] SLAMing on 97.29241403699999 meters Centerline goodness [0,1] 0.6520014589222212 Centerline is valid? [False, False] Translation: X:1.24, Y:0.08, Z:-0.37 [[ 0.99949342 -0.03060653 -0.00872601 1.2394801 ] [ 0.03065465 0.99951526 0.00543419 0.07823354] [ 0.00855546 -0.00569893 0.99994716 -0.36745647] [ 0. 0. 0. 1. ]] SLAMing on 97.32241403699999 meters Centerline goodness [0,1] 0.6541320707243989 Centerline is valid? [False, False] Translation: X:1.24, Y:0.08, Z:-0.37 [[ 0.99958659 -0.0274721 -0.00848109 1.23800266] [ 0.02754398 0.99958464 0.00847751 0.07957779] [ 0.00824467 -0.00870761 0.9999281 -0.36660569] [ 0. 0. 0. 1. ]] SLAMing on 97.35241403699999 meters Centerline goodness [0,1] 0.6558848511283029 Centerline is valid? [False, False] Translation: X:1.24, Y:0.08, Z:-0.37 [[ 0.99959479 -0.0271144 -0.00866354 1.23841921] [ 0.02718181 0.99960039 0.0077598 0.08274623] [ 0.00844968 -0.00799214 0.99993236 -0.36608186] [ 0. 0. 0. 1. ]] SLAMing on 97.38241403699999 meters Centerline goodness [0,1] 0.6610600837517062 Centerline is valid? [False, False] Translation: X:1.24, Y:0.09, Z:-0.37 [[ 0.99968193 -0.02370622 -0.00860547 1.23779091] [ 0.02379318 0.9996654 0.01014803 0.08740746] [ 0.00836202 -0.01034956 0.99991148 -0.36545243] [ 0. 0. 0. 1. ]] SLAMing on 97.41241403699999 meters Centerline goodness [0,1] 0.6723913850724099 Centerline is valid? [False, False] Translation: X:1.24, Y:0.09, Z:-0.37 [[ 0.99969843 -0.02284694 -0.00900422 1.23972891] [ 0.02293738 0.99968617 0.0100717 0.090322 ] [ 0.00877129 -0.0102752 0.99990874 -0.36647225] [ 0. 0. 0. 1. ]] SLAMing on 97.44241403699999 meters Centerline goodness [0,1] 0.6672867640219515 Centerline is valid? [False, False] Translation: X:1.24, Y:0.09, Z:-0.37 [[ 0.9997099 -0.02218772 -0.0093713 1.24152438] [ 0.02228049 0.99970261 0.00991359 0.0931266 ] [ 0.00914856 -0.01011952 0.99990695 -0.36752842] [ 0. 0. 0. 1. ]] SLAMing on 97.472414037 meters Centerline goodness [0,1] 0.6698373375712816 Centerline is valid? [False, False] Translation: X:1.24, Y:0.10, Z:-0.37 [[ 0.99971703 -0.02172477 -0.00968982 1.24305317] [ 0.02181846 0.99971518 0.0096704 0.09537332] [ 0.00947697 -0.00987908 0.99990629 -0.3684046 ] [ 0. 0. 0. 1. ]] SLAMing on 97.502414037 meters Centerline goodness [0,1] 0.677711125691255 Centerline is valid? [False, False] Translation: X:1.24, Y:0.10, Z:-0.37 [[ 0.99971811 -0.02158133 -0.00989686 1.24391171] [ 0.02167224 0.99972306 0.0091717 0.09746817] [ 0.00969618 -0.0093836 0.99990896 -0.36872638] [ 0. 0. 0. 1. ]] SLAMing on 97.532414037 meters Centerline goodness [0,1] 0.6695414487016353 Centerline is valid? [False, False] Translation: X:1.24, Y:0.10, Z:-0.37 [[ 0.99972427 -0.02134 -0.00979765 1.24406975] [ 0.02141963 0.99973779 0.00809636 0.10212047] [ 0.0096223 -0.00830399 0.99991922 -0.36847449] [ 0. 0. 0. 1. ]] SLAMing on 97.562414037 meters Centerline goodness [0,1] 0.6681649357715691 Centerline is valid? [False, False] Translation: X:1.24, Y:0.11, Z:-0.37 [[ 0.99971831 -0.02158933 -0.00985958 1.24358957] [ 0.02165901 0.99974079 0.00701686 0.10542706] [ 0.00970554 -0.00722843 0.99992677 -0.36726114] [ 0. 0. 0. 1. ]] SLAMing on 97.592414037 meters Centerline goodness [0,1] 0.6658191150610713 Centerline is valid? [False, False] Translation: X:1.24, Y:0.11, Z:-0.37 [[ 0.99971137 -0.0218844 -0.0099121 1.24303322] [ 0.02194395 0.99974156 0.00593895 0.10881589] [ 0.00977957 -0.00615475 0.99993324 -0.36604884] [ 0. 0. 0. 1. ]] SLAMing on 97.62241403699998 meters Centerline goodness [0,1] 0.6785168925367436 Centerline is valid? [False, False] Translation: X:1.24, Y:0.11, Z:-0.37 [[ 0.99971015 -0.02185204 -0.01010462 1.24308546] [ 0.02190604 0.99974617 0.00526424 0.11118241] [ 0.00998702 -0.00548407 0.99993509 -0.36521398] [ 0. 0. 0. 1. ]] SLAMing on 97.65241403699999 meters Centerline goodness [0,1] 0.66862163067937 Centerline is valid? [False, False] Translation: X:1.25, Y:0.11, Z:-0.37 [[ 0.99971985 -0.02118135 -0.01056274 1.24513324] [ 0.02123663 0.99976122 0.00514954 0.11396065] [ 0.01045114 -0.00537242 0.99993095 -0.36630868] [ 0. 0. 0. 1. ]] SLAMing on 97.68241403699999 meters Centerline goodness [0,1] 0.6817034169331762 Centerline is valid? [False, False] Translation: X:1.25, Y:0.12, Z:-0.37 [[ 0.99972269 -0.02093556 -0.0107814 1.246239 ] [ 0.02099107 0.99976686 0.00506066 0.11520291] [ 0.01067294 -0.00528557 0.99992907 -0.36702471] [ 0. 0. 0. 1. ]] SLAMing on 97.71241403699999 meters Centerline goodness [0,1] 0.6726394927101098 Centerline is valid? [False, False] Translation: X:1.25, Y:0.12, Z:-0.37 [[ 0.99972675 -0.02056155 -0.01111998 1.24790469] [ 0.02062018 0.99977394 0.00518354 0.11628786] [ 0.01101089 -0.00541142 0.99992474 -0.36822523] [ 0. 0. 0. 1. ]] SLAMing on 97.74241403699999 meters Centerline goodness [0,1] 0.6854225505105367 Centerline is valid? [False, False] Translation: X:1.25, Y:0.12, Z:-0.37 [[ 0.99972667 -0.02054633 -0.01115499 1.24844462] [ 0.02060236 0.99977559 0.00493162 0.11763288] [ 0.01105116 -0.0051601 0.99992562 -0.36876068] [ 0. 0. 0. 1. ]] SLAMing on 97.77241403699999 meters Centerline goodness [0,1] 0.6804973254300998 Centerline is valid? [False, False] Translation: X:1.25, Y:0.12, Z:-0.37 [[ 0.99972783 -0.02042406 -0.01127472 1.24921906] [ 0.02047763 0.99977947 0.00465607 0.11959099] [ 0.01117714 -0.00488568 0.9999256 -0.36931033] [ 0. 0. 0. 1. ]] SLAMing on 97.80241403699999 meters Centerline goodness [0,1] 0.6820591011399114 Centerline is valid? [False, False] Translation: X:1.25, Y:0.12, Z:-0.37 [[ 0.99972273 -0.02071863 -0.01118898 1.2485376 ] [ 0.02076546 0.99977603 0.00408541 0.12075427] [ 0.01110183 -0.00431662 0.99992906 -0.36848724] [ 0. 0. 0. 1. ]] SLAMing on 97.83241403699999 meters Centerline goodness [0,1] 0.6848070914771489 Centerline is valid? [False, False] Translation: X:1.25, Y:0.12, Z:-0.37 [[ 0.99971935 -0.02090929 -0.01113695 1.2480188 ] [ 0.0209508 0.99977394 0.00362303 0.12169915] [ 0.01105867 -0.00385534 0.99993142 -0.36774232] [ 0. 0. 0. 1. ]] SLAMing on 97.862414037 meters Centerline goodness [0,1] 0.6623250388802489 Centerline is valid? [False, False] Translation: X:1.25, Y:0.12, Z:-0.37 [[ 0.99972296 -0.0206776 -0.01124416 1.24827435] [ 0.02071814 0.99977923 0.00350081 0.12268077] [ 0.01116929 -0.0037328 0.99993065 -0.36758454] [ 0. 0. 0. 1. ]] SLAMing on 97.892414037 meters Centerline goodness [0,1] 0.699005035638699 Centerline is valid? [False, False] Translation: X:1.25, Y:0.12, Z:-0.37 [[ 0.99972468 -0.02054223 -0.0113391 1.24871041] [ 0.02058442 0.99978157 0.0036173 0.12300778] [ 0.01126231 -0.00384971 0.99992917 -0.36786941] [ 0. 0. 0. 1. ]] SLAMing on 97.922414037 meters Centerline goodness [0,1] 0.6875562583627296 Centerline is valid? [False, False] Translation: X:1.25, Y:0.12, Z:-0.37 [[ 0.9997236 -0.02058063 -0.01136452 1.24866359] [ 0.02062173 0.99978118 0.00351101 0.12366871] [ 0.01128977 -0.00374439 0.99992926 -0.36770159] [ 0. 0. 0. 1. ]] SLAMing on 97.952414037 meters Centerline goodness [0,1] 0.6848234777088725 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99971751 -0.02095588 -0.01121402 1.24751603] [ 0.02098828 0.99977586 0.00277962 0.125464 ] [ 0.01115325 -0.0030142 0.99993326 -0.36631633] [ 0. 0. 0. 1. ]] SLAMing on 97.98241403699998 meters Centerline goodness [0,1] 0.6926892440013683 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99971788 -0.02092804 -0.0112333 1.24749454] [ 0.02095975 0.99977664 0.00271262 0.12593986] [ 0.01117402 -0.0029473 0.99993323 -0.36621227] [ 0. 0. 0. 1. ]] SLAMing on 98.01241403699999 meters Centerline goodness [0,1] 0.6971432749963438 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99972458 -0.02049275 -0.011437 1.24850238] [ 0.02053112 0.99978394 0.00324765 0.12538512] [ 0.01136797 -0.00348157 0.99992932 -0.36698995] [ 0. 0. 0. 1. ]] SLAMing on 98.04241403699999 meters Centerline goodness [0,1] 0.6975142843189921 Centerline is valid? [False, False] Translation: X:1.25, Y:0.12, Z:-0.37 [[ 0.99972602 -0.02043405 -0.01141667 1.24875566] [ 0.02047444 0.99978449 0.00343166 0.12473545] [ 0.01134409 -0.00366447 0.99992894 -0.36740213] [ 0. 0. 0. 1. ]] SLAMing on 98.07241403699999 meters Centerline goodness [0,1] 0.7000781555295037 Centerline is valid? [False, False] Translation: X:1.25, Y:0.12, Z:-0.37 [[ 0.99972801 -0.02038854 -0.01132316 1.24874247] [ 0.02043127 0.99978452 0.00367064 0.12402807] [ 0.01124588 -0.00390099 0.99992915 -0.36769865] [ 0. 0. 0. 1. ]] SLAMing on 98.10241403699999 meters Centerline goodness [0,1] 0.6934149326805386 Centerline is valid? [False, False] Translation: X:1.25, Y:0.12, Z:-0.37 [[ 0.99972876 -0.0203557 -0.01131636 1.24899207] [ 0.02039816 0.99978528 0.00364941 0.12426852] [ 0.01123964 -0.00387925 0.99992931 -0.36798987] [ 0. 0. 0. 1. ]] SLAMing on 98.13241403699999 meters Centerline goodness [0,1] 0.7015900195694716 Centerline is valid? [False, False] Translation: X:1.25, Y:0.12, Z:-0.37 [[ 0.99973153 -0.02015716 -0.01142603 1.24954722] [ 0.02020136 0.99978884 0.00376654 0.12480841] [ 0.01134769 -0.00399635 0.99992763 -0.36839703] [ 0. 0. 0. 1. ]] SLAMing on 98.16241403699999 meters Centerline goodness [0,1] 0.7004645476772616 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99973422 -0.01987163 -0.01168814 1.25036732] [ 0.01991451 0.99979534 0.00356337 0.12650966] [ 0.01161493 -0.00379518 0.99992534 -0.36847502] [ 0. 0. 0. 1. ]] SLAMing on 98.19241403699999 meters Centerline goodness [0,1] 0.6994614443084455 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99973676 -0.01961596 -0.01190096 1.25100146] [ 0.01966116 0.99979988 0.00369246 0.12692816] [ 0.01182614 -0.00392548 0.99992236 -0.36864386] [ 0. 0. 0. 1. ]] SLAMing on 98.222414037 meters Centerline goodness [0,1] 0.6963680981595093 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99974055 -0.01926736 -0.0121489 1.25183195] [ 0.0193157 0.99980593 0.00387421 0.12692466] [ 0.0120719 -0.00410787 0.99991869 -0.36889748] [ 0. 0. 0. 1. ]] SLAMing on 98.252414037 meters Centerline goodness [0,1] 0.6981775368539822 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99974889 -0.01862028 -0.01246768 1.25303366] [ 0.0186722 0.99981741 0.00406032 0.12676652] [ 0.0123898 -0.0042921 0.99991403 -0.36923683] [ 0. 0. 0. 1. ]] SLAMing on 98.282414037 meters Centerline goodness [0,1] 0.6981775368539822 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99974889 -0.01862028 -0.01246768 1.25303366] [ 0.0186722 0.99981741 0.00406032 0.12676652] [ 0.0123898 -0.0042921 0.99991403 -0.36923683] [ 0. 0. 0. 1. ]] SLAMing on 98.312414037 meters Centerline goodness [0,1] 0.6986798841831476 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99975365 -0.01830802 -0.01254776 1.25373001] [ 0.01836317 0.99982216 0.00429441 0.126681 ] [ 0.0124669 -0.00452376 0.99991205 -0.36984431] [ 0. 0. 0. 1. ]] SLAMing on 98.342414037 meters Centerline goodness [0,1] 0.7203098106712564 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99975653 -0.01798462 -0.01278394 1.25465438] [ 0.01804358 0.99982702 0.00451177 0.12683709] [ 0.01270059 -0.00474134 0.9999081 -0.37032436] [ 0. 0. 0. 1. ]] SLAMing on 98.37241403699998 meters Centerline goodness [0,1] 0.7052922181961596 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99975611 -0.01796195 -0.01284843 1.25493539] [ 0.01802109 0.99982747 0.00450211 0.12773127] [ 0.01276535 -0.00473255 0.99990732 -0.37053369] [ 0. 0. 0. 1. ]] SLAMing on 98.40241403699999 meters Centerline goodness [0,1] 0.7052922181961596 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99975611 -0.01796195 -0.01284843 1.25493539] [ 0.01802109 0.99982747 0.00450211 0.12773127] [ 0.01276535 -0.00473255 0.99990732 -0.37053369] [ 0. 0. 0. 1. ]] SLAMing on 98.43241403699999 meters Centerline goodness [0,1] 0.7237354085603113 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99975419 -0.01812151 -0.01277408 1.25458161] [ 0.0181816 0.9998241 0.00460352 0.12692597] [ 0.01268841 -0.00483464 0.99990781 -0.3703874 ] [ 0. 0. 0. 1. ]] SLAMing on 98.46241403699999 meters Centerline goodness [0,1] 0.717561383653988 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99975315 -0.01831796 -0.0125737 1.25398442] [ 0.01837704 0.99982055 0.00459948 0.12617649] [ 0.0124872 -0.00482941 0.99991037 -0.37017632] [ 0. 0. 0. 1. ]] SLAMing on 98.49241403699999 meters Centerline goodness [0,1] 0.7102161100196464 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99975251 -0.0185623 -0.01226199 1.25305761] [ 0.01861957 0.99981618 0.00457273 0.12549354] [ 0.01217486 -0.00479991 0.99991436 -0.36984978] [ 0. 0. 0. 1. ]] SLAMing on 98.52241403699999 meters Centerline goodness [0,1] 0.7025370756220125 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99974209 -0.01938666 -0.01182801 1.2507412 ] [ 0.01943338 0.99980375 0.00384836 0.1252559 ] [ 0.01175108 -0.00407723 0.99992264 -0.36788903] [ 0. 0. 0. 1. ]] SLAMing on 98.55241403699999 meters Centerline goodness [0,1] 0.7126902307314679 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99974038 -0.01949206 -0.0117999 1.25039147] [ 0.01953609 0.99980257 0.00362791 0.12579738] [ 0.01172686 -0.00385749 0.9999238 -0.36739824] [ 0. 0. 0. 1. ]] SLAMing on 98.58241403699999 meters Centerline goodness [0,1] 0.7107543510813266 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.9997409 -0.01936839 -0.01195836 1.25079053] [ 0.01941304 0.99980496 0.00362926 0.12644669] [ 0.01188574 -0.00386046 0.99992191 -0.36746706] [ 0. 0. 0. 1. ]] SLAMing on 98.612414037 meters Centerline goodness [0,1] 0.699840549490985 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99974678 -0.01875376 -0.01243677 1.25262926] [ 0.01880541 0.99981496 0.004049 0.12636497] [ 0.01235854 -0.00428185 0.99991446 -0.36839844] [ 0. 0. 0. 1. ]] SLAMing on 98.642414037 meters Centerline goodness [0,1] 0.6982085889570553 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99975326 -0.01819185 -0.01274627 1.2541586 ] [ 0.01825081 0.9998232 0.0045248 0.12609786] [ 0.01266171 -0.00475631 0.99990853 -0.36947678] [ 0. 0. 0. 1. ]] SLAMing on 98.672414037 meters Centerline goodness [0,1] 0.7150542917506019 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.99976054 -0.01767132 -0.01290663 1.25535554] [ 0.01773611 0.99983059 0.00492223 0.1260433 ] [ 0.01281746 -0.00514996 0.99990459 -0.37049834] [ 0. 0. 0. 1. ]] SLAMing on 98.702414037 meters Centerline goodness [0,1] 0.717922857423989 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.99976046 -0.01761543 -0.01298941 1.25563834] [ 0.01768078 0.99983151 0.00493357 0.12645382] [ 0.01290032 -0.00516205 0.99990346 -0.37065417] [ 0. 0. 0. 1. ]] SLAMing on 98.73241403699998 meters Centerline goodness [0,1] 0.718009303699328 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.9997592 -0.01765755 -0.01302903 1.25566574] [ 0.01772164 0.99983134 0.00481954 0.12701872] [ 0.01294173 -0.00504927 0.9999035 -0.37054626] [ 0. 0. 0. 1. ]] SLAMing on 98.76241403699999 meters Centerline goodness [0,1] 0.7112450787401574 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.99976037 -0.01769284 -0.01289041 1.25535221] [ 0.01775651 0.99983062 0.00484224 0.12717914] [ 0.01280255 -0.00506997 0.99990519 -0.37043448] [ 0. 0. 0. 1. ]] SLAMing on 98.79241403699999 meters Centerline goodness [0,1] 0.7065899195631319 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99975215 -0.01827818 -0.01271015 1.25391725] [ 0.01833191 0.99982345 0.0041234 0.1282602 ] [ 0.01263253 -0.00435538 0.99991072 -0.36893302] [ 0. 0. 0. 1. ]] SLAMing on 98.82241403699999 meters Centerline goodness [0,1] 0.7030096536059057 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99975354 -0.01819634 -0.01271849 1.25413832] [ 0.01825213 0.99982424 0.0042844 0.12811101] [ 0.01263829 -0.00451548 0.99990994 -0.36921775] [ 0. 0. 0. 1. ]] SLAMing on 98.85241403699999 meters Centerline goodness [0,1] 0.7093966516261065 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99975659 -0.0179584 -0.01281604 1.25484366] [ 0.01801816 0.99982725 0.00456313 0.12776024] [ 0.01273188 -0.00479295 0.99990746 -0.36982342] [ 0. 0. 0. 1. ]] SLAMing on 98.88241403699999 meters Centerline goodness [0,1] 0.6989159690841297 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.99975557 -0.0179472 -0.01291117 1.25527184] [ 0.01800494 0.99982835 0.00437012 0.12842305] [ 0.01283052 -0.00460152 0.9999071 -0.370018 ] [ 0. 0. 0. 1. ]] SLAMing on 98.91241403699999 meters Centerline goodness [0,1] 0.6999677970720106 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.99975615 -0.01790897 -0.01291959 1.25560142] [ 0.01796598 0.99982931 0.00431 0.12947094] [ 0.0128402 -0.00454106 0.99990725 -0.37038737] [ 0. 0. 0. 1. ]] SLAMing on 98.94241403699999 meters Centerline goodness [0,1] 0.6981178862796638 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.99975595 -0.01780053 -0.01308398 1.25638839] [ 0.0178589 0.99983102 0.00435825 0.13057062] [ 0.01300419 -0.00459085 0.9999049 -0.37101342] [ 0. 0. 0. 1. ]] SLAMing on 98.972414037 meters Centerline goodness [0,1] 0.7079184565341544 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.99975759 -0.01760872 -0.01321691 1.25732388] [ 0.01766951 0.99983377 0.0044962 0.13126205] [ 0.01313554 -0.00472865 0.99990254 -0.37184562] [ 0. 0. 0. 1. ]] SLAMing on 99.002414037 meters Centerline goodness [0,1] 0.694283367760882 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.99975493 -0.01803917 -0.01283263 1.25656654] [ 0.01809463 0.99982738 0.00421904 0.13153701] [ 0.01275431 -0.00445021 0.99990876 -0.37208191] [ 0. 0. 0. 1. ]] SLAMing on 99.032414037 meters Centerline goodness [0,1] 0.6902167167291413 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.99974949 -0.01850929 -0.01258445 1.25543178] [ 0.01855805 0.99982068 0.00376946 0.13165382] [ 0.01251242 -0.00400206 0.99991371 -0.37124566] [ 0. 0. 0. 1. ]] SLAMing on 99.062414037 meters Centerline goodness [0,1] 0.6905145691258525 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99974353 -0.01905011 -0.01224574 1.25402813] [ 0.0190923 0.99981216 0.0033371 0.13210835] [ 0.01217986 -0.00357004 0.99991945 -0.37036558] [ 0. 0. 0. 1. ]] SLAMing on 99.092414037 meters Centerline goodness [0,1] 0.69527332307234 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99973459 -0.01965254 -0.01202167 1.25257935] [ 0.0196879 0.99980217 0.00283028 0.1326051 ] [ 0.01196367 -0.00306621 0.99992373 -0.36907496] [ 0. 0. 0. 1. ]] SLAMing on 99.12241403699998 meters Centerline goodness [0,1] 0.6962006419347615 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99971936 -0.02066938 -0.01157489 1.25084977] [ 0.02069987 0.99978256 0.00251996 0.13264085] [ 0.01152029 -0.00275885 0.99992983 -0.36860346] [ 0. 0. 0. 1. ]] SLAMing on 99.15241403699999 meters Centerline goodness [0,1] 0.6972776407880645 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99971648 -0.02087225 -0.01145934 1.2508032 ] [ 0.02090526 0.99977763 0.00276893 0.13180748] [ 0.011399 -0.0030077 0.99993051 -0.36912028] [ 0. 0. 0. 1. ]] SLAMing on 99.18241403699999 meters Centerline goodness [0,1] 0.6895660386737585 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.9997165 -0.0209917 -0.01123694 1.25092368] [ 0.02103012 0.99977336 0.00331158 0.13063156] [ 0.01116487 -0.00354696 0.99993138 -0.37028912] [ 0. 0. 0. 1. ]] SLAMing on 99.21241403699999 meters Centerline goodness [0,1] 0.6909329764029348 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99970043 -0.02192482 -0.01087894 1.24984793] [ 0.02196208 0.9997533 0.00331734 0.12895428] [ 0.01080352 -0.00355527 0.99993532 -0.37047621] [ 0. 0. 0. 1. ]] SLAMing on 99.24241403699999 meters Centerline goodness [0,1] 0.6870893357466961 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99969488 -0.02232577 -0.01056883 1.24895575] [ 0.02235957 0.99974522 0.0030909 0.12926905] [ 0.01049713 -0.00332627 0.99993937 -0.37023236] [ 0. 0. 0. 1. ]] SLAMing on 99.27241403699999 meters Centerline goodness [0,1] 0.6864375232659139 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99969604 -0.02220764 -0.01070739 1.24941249] [ 0.02224385 0.99974721 0.00327437 0.12958148] [ 0.01063196 -0.00351155 0.99993731 -0.37049166] [ 0. 0. 0. 1. ]] SLAMing on 99.30241403699999 meters Centerline goodness [0,1] 0.6797151252552418 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99969515 -0.02218522 -0.01083654 1.24972503] [ 0.02222176 0.99974774 0.00326324 0.13010241] [ 0.01076141 -0.00350305 0.99993596 -0.37051097] [ 0. 0. 0. 1. ]] SLAMing on 99.33241403699999 meters Centerline goodness [0,1] 0.687881277856627 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99969682 -0.02201434 -0.01102856 1.25044638] [ 0.02205375 0.99975078 0.00346518 0.13016511] [ 0.01094953 -0.00370735 0.99993318 -0.37096565] [ 0. 0. 0. 1. ]] SLAMing on 99.362414037 meters Centerline goodness [0,1] 0.6891753988600443 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99970054 -0.02180437 -0.0111083 1.25107746] [ 0.02184742 0.99975421 0.0037688 0.12961712] [ 0.0110234 -0.00401036 0.9999312 -0.37160686] [ 0. 0. 0. 1. ]] SLAMing on 99.392414037 meters Centerline goodness [0,1] 0.6860505537071063 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99970811 -0.02140139 -0.01121052 1.25224563] [ 0.02145163 0.99976029 0.00438039 0.12808855] [ 0.01111409 -0.00461959 0.99992757 -0.3729284 ] [ 0. 0. 0. 1. ]] SLAMing on 99.422414037 meters Centerline goodness [0,1] 0.6948058397060284 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99971262 -0.02109304 -0.01139121 1.25312693] [ 0.02114792 0.99976522 0.00471931 0.12773493] [ 0.01128899 -0.00495885 0.99992398 -0.37357417] [ 0. 0. 0. 1. ]] SLAMing on 99.452414037 meters Centerline goodness [0,1] 0.6907929088241875 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.9997114 -0.02114924 -0.01139372 1.25300081] [ 0.0212025 0.99976474 0.00457447 0.12830509] [ 0.01129429 -0.00481473 0.99992463 -0.37332093] [ 0. 0. 0. 1. ]] SLAMing on 99.48241403699998 meters Centerline goodness [0,1] 0.6890348585504218 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99970259 -0.02157085 -0.01137692 1.25169917] [ 0.0216118 0.99976035 0.00348885 0.13117004] [ 0.01129894 -0.00373369 0.99992919 -0.37109326] [ 0. 0. 0. 1. ]] SLAMing on 99.51241403699999 meters Centerline goodness [0,1] 0.6941545665114194 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99970183 -0.02156445 -0.01145561 1.2515591 ] [ 0.02160327 0.99976125 0.00327635 0.13184496] [ 0.01138223 -0.00352285 0.99992901 -0.3705128 ] [ 0. 0. 0. 1. ]] SLAMing on 99.54241403699999 meters Centerline goodness [0,1] 0.6893058908439312 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99970731 -0.02124037 -0.01158195 1.25206367] [ 0.0212821 0.99976741 0.00349237 0.13139462] [ 0.01150508 -0.00373783 0.99992683 -0.37064382] [ 0. 0. 0. 1. ]] SLAMing on 99.57241403699999 meters Centerline goodness [0,1] 0.6819673761686891 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99971286 -0.02095619 -0.01162077 1.25260868] [ 0.02100214 0.99977203 0.00384623 0.13032247] [ 0.01153752 -0.00408918 0.99992508 -0.37119357] [ 0. 0. 0. 1. ]] SLAMing on 99.60241403699999 meters Centerline goodness [0,1] 0.7006958250497017 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99971824 -0.02055131 -0.01187788 1.25316381] [ 0.02060052 0.99977964 0.00403577 0.12949715] [ 0.01179232 -0.00427932 0.99992131 -0.37098193] [ 0. 0. 0. 1. ]] SLAMing on 99.63241403699999 meters Centerline goodness [0,1] 0.6926606642359303 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99971876 -0.02043463 -0.01203404 1.2533452 ] [ 0.02048105 0.99978322 0.00374635 0.13060791] [ 0.01195488 -0.00399177 0.99992057 -0.37046367] [ 0. 0. 0. 1. ]] SLAMing on 99.66241403699999 meters Centerline goodness [0,1] 0.700064657316224 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99978184 -0.01725365 -0.01177178 1.2517519 ] [ 0.01734107 0.99982251 0.00736506 0.12992997] [ 0.01164261 -0.00756759 0.99990359 -0.36968365] [ 0. 0. 0. 1. ]] SLAMing on 99.69241403699999 meters Centerline goodness [0,1] 0.69279176201373 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99978605 -0.01678056 -0.01209377 1.25252997] [ 0.01686918 0.99983132 0.00726322 0.13107185] [ 0.01196985 -0.00746568 0.99990049 -0.36932862] [ 0. 0. 0. 1. ]] SLAMing on 99.722414037 meters Centerline goodness [0,1] 0.6988861478657398 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99978781 -0.01635039 -0.01252978 1.25341992] [ 0.01643968 0.99983996 0.00705685 0.13207878] [ 0.01241239 -0.00726134 0.9998966 -0.36882739] [ 0. 0. 0. 1. ]] SLAMing on 99.752414037 meters Centerline goodness [0,1] 0.7178534005289157 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99979127 -0.01584596 -0.01289674 1.25432791] [ 0.01593812 0.99984795 0.0070752 0.13251572] [ 0.01278267 -0.00727927 0.9998918 -0.36863821] [ 0. 0. 0. 1. ]] SLAMing on 99.782414037 meters Centerline goodness [0,1] 0.6973130462932988 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.99979844 -0.01498195 -0.01336518 1.25622134] [ 0.01508463 0.99985722 0.00761518 0.13168348] [ 0.01324918 -0.00781525 0.99988168 -0.36952966] [ 0. 0. 0. 1. ]] SLAMing on 99.812414037 meters Centerline goodness [0,1] 0.7060582650085977 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.99980299 -0.01448847 -0.01356729 1.25762845] [ 0.01460017 0.99986003 0.0081702 0.13073487] [ 0.01344702 -0.00836668 0.99987458 -0.37077694] [ 0. 0. 0. 1. ]] SLAMing on 99.842414037 meters Centerline goodness [0,1] 0.7155784907635929 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.99980524 -0.01410555 -0.01380255 1.25912386] [ 0.01422516 0.99986178 0.00860667 0.13041198] [ 0.01367924 -0.00880133 0.9998677 -0.37206291] [ 0. 0. 0. 1. ]] SLAMing on 99.87241403699998 meters Centerline goodness [0,1] 0.7229952124476362 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.99980679 -0.01385931 -0.01393949 1.26030366] [ 0.01398363 0.99986296 0.00886073 0.1305426 ] [ 0.01381478 -0.00905395 0.99986358 -0.37319722] [ 0. 0. 0. 1. ]] SLAMing on 99.90241403699999 meters Centerline goodness [0,1] 0.7024462305015149 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.99980657 -0.01405997 -0.0137526 1.26028216] [ 0.01418213 0.99986048 0.0088258 0.13124219] [ 0.01362659 -0.00901913 0.99986648 -0.37377665] [ 0. 0. 0. 1. ]] SLAMing on 99.93241403699999 meters Centerline goodness [0,1] 0.7199489131523591 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.99980444 -0.01453003 -0.01341519 1.25907961] [ 0.01464266 0.99985804 0.00833616 0.13136831] [ 0.01329216 -0.00853096 0.99987526 -0.37301533] [ 0. 0. 0. 1. ]] SLAMing on 99.96241403699999 meters Centerline goodness [0,1] 0.711972731146144 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.99980003 -0.01507814 -0.01313596 1.25774639] [ 0.01518159 0.99985423 0.00781211 0.13140462] [ 0.01301625 -0.00800998 0.9998832 -0.37199209] [ 0. 0. 0. 1. ]] SLAMing on 99.99241403699999 meters Centerline goodness [0,1] 0.7130039239209218 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.99979411 -0.01565464 -0.01291046 1.25664247] [ 0.01574825 0.9998502 0.0071817 0.13207369] [ 0.0127961 -0.00738354 0.99989087 -0.37107364] [ 0. 0. 0. 1. ]] SLAMing on 100.02241403699999 meters Centerline goodness [0,1] 0.7103037581944653 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.99978969 -0.0160046 -0.01282288 1.25592782] [ 0.01609185 0.99984787 0.00672987 0.13301994] [ 0.01271322 -0.00693479 0.99989514 -0.37028754] [ 0. 0. 0. 1. ]] SLAMing on 100.05241403699999 meters Centerline goodness [0,1] 0.7047809762202754 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.9997831 -0.01644416 -0.01278054 1.25514208] [ 0.01652203 0.99984543 0.00601194 0.13439555] [ 0.0126797 -0.0062218 0.99990025 -0.36919591] [ 0. 0. 0. 1. ]] SLAMing on 100.08241403699999 meters Centerline goodness [0,1] 0.7100439974858579 Centerline is valid? [False, False] Translation: X:1.25, Y:0.14, Z:-0.37 [[ 0.99977145 -0.01748839 -0.01229651 1.25302999] [ 0.01755222 0.99983293 0.00510204 0.13596721] [ 0.01220523 -0.00531671 0.99991138 -0.36797148] [ 0. 0. 0. 1. ]] SLAMing on 100.112414037 meters Centerline goodness [0,1] 0.6991821115029639 Centerline is valid? [False, False] Translation: X:1.25, Y:0.14, Z:-0.37 [[ 0.99976927 -0.01757241 -0.01235395 1.25323825] [ 0.01763731 0.99983111 0.00516414 0.13543394] [ 0.01226112 -0.00538084 0.99991035 -0.36814138] [ 0. 0. 0. 1. ]] SLAMing on 100.142414037 meters Centerline goodness [0,1] 0.6928852073375209 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99976896 -0.01778617 -0.01206961 1.25278846] [ 0.01785033 0.99982699 0.00522951 0.13449172] [ 0.01197451 -0.00544375 0.99991348 -0.36846812] [ 0. 0. 0. 1. ]] SLAMing on 100.172414037 meters Centerline goodness [0,1] 0.6928852073375209 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99976896 -0.01778617 -0.01206961 1.25278846] [ 0.01785033 0.99982699 0.00522951 0.13449172] [ 0.01197451 -0.00544375 0.99991348 -0.36846812] [ 0. 0. 0. 1. ]] SLAMing on 100.202414037 meters Centerline goodness [0,1] 0.6963407018858498 Centerline is valid? [False, False] Translation: X:1.25, Y:0.13, Z:-0.37 [[ 0.99976771 -0.01783785 -0.01209658 1.25276727] [ 0.01790071 0.99982672 0.00510755 0.13455127] [ 0.01200338 -0.0053229 0.99991379 -0.36826679] [ 0. 0. 0. 1. ]] SLAMing on 100.23241403699998 meters Centerline goodness [0,1] 0.701836009805393 Centerline is valid? [False, False] Translation: X:1.25, Y:0.14, Z:-0.37 [[ 0.99976648 -0.01788519 -0.01212877 1.25280444] [ 0.01794668 0.99982654 0.00497979 0.13517848] [ 0.0120376 -0.0051963 0.99991404 -0.36819668] [ 0. 0. 0. 1. ]] SLAMing on 100.26241403699999 meters Centerline goodness [0,1] 0.7009639038104323 Centerline is valid? [False, False] Translation: X:1.25, Y:0.14, Z:-0.37 [[ 0.99976561 -0.01793816 -0.01212225 1.25277961] [ 0.0179975 0.99982649 0.00480428 0.13630705] [ 0.01203397 -0.00502132 0.99991498 -0.36812373] [ 0. 0. 0. 1. ]] SLAMing on 100.29241403699999 meters Centerline goodness [0,1] 0.6924585218702866 Centerline is valid? [False, False] Translation: X:1.25, Y:0.14, Z:-0.37 [[ 0.99976786 -0.01760994 -0.01241402 1.25372579] [ 0.01766959 0.99983278 0.00471199 0.13837453] [ 0.01232897 -0.00493024 0.99991184 -0.36828643] [ 0. 0. 0. 1. ]] SLAMing on 100.32241403699999 meters Centerline goodness [0,1] 0.7057147180470089 Centerline is valid? [False, False] Translation: X:1.25, Y:0.14, Z:-0.37 [[ 0.99976842 -0.01757128 -0.01242438 1.2537979 ] [ 0.01762976 0.99983394 0.00461292 0.13853383] [ 0.01234126 -0.00483089 0.99991217 -0.36821081] [ 0. 0. 0. 1. ]] SLAMing on 100.35241403699999 meters Centerline goodness [0,1] 0.6888463861485806 Centerline is valid? [False, False] Translation: X:1.25, Y:0.14, Z:-0.37 [[ 0.99976941 -0.01760554 -0.01229493 1.25362713] [ 0.01766355 0.99983329 0.00462546 0.13819002] [ 0.01221144 -0.00484157 0.99991372 -0.36825135] [ 0. 0. 0. 1. ]] SLAMing on 100.38241403699999 meters Centerline goodness [0,1] 0.6946232773362842 Centerline is valid? [False, False] Translation: X:1.25, Y:0.14, Z:-0.37 [[ 0.99977089 -0.01757557 -0.0122175 1.25373698] [ 0.01763508 0.99983306 0.00478047 0.13775849] [ 0.01213144 -0.00499483 0.99991394 -0.36862432] [ 0. 0. 0. 1. ]] SLAMing on 100.41241403699999 meters Centerline goodness [0,1] 0.6971809715580166 Centerline is valid? [False, False] Translation: X:1.25, Y:0.14, Z:-0.37 [[ 0.99976803 -0.01784691 -0.01205738 1.25351092] [ 0.0179054 0.99982835 0.00476017 0.13765187] [ 0.01197035 -0.00497496 0.99991598 -0.36900917] [ 0. 0. 0. 1. ]] SLAMing on 100.44241403699999 meters Centerline goodness [0,1] 0.691348382545601 Centerline is valid? [False, False] Translation: X:1.25, Y:0.14, Z:-0.37 [[ 0.99976619 -0.01804248 -0.01191801 1.25343081] [ 0.0181003 0.99982484 0.00476169 0.13789037] [ 0.01183001 -0.00497629 0.99991764 -0.36941126] [ 0. 0. 0. 1. ]] SLAMing on 100.472414037 meters Centerline goodness [0,1] 0.6920078462931294 Centerline is valid? [False, False] Translation: X:1.25, Y:0.14, Z:-0.37 [[ 0.99976247 -0.01817627 -0.01202573 1.25368397] [ 0.01823424 0.99982256 0.00472818 0.13828799] [ 0.01193766 -0.00494634 0.99991651 -0.36952916] [ 0. 0. 0. 1. ]] SLAMing on 100.502414037 meters Centerline goodness [0,1] 0.6948541461815798 Centerline is valid? [False, False] Translation: X:1.25, Y:0.14, Z:-0.37 [[ 0.99975748 -0.01844331 -0.0120346 1.25350941] [ 0.01849887 0.99981866 0.00452192 0.13901609] [ 0.01194902 -0.00474345 0.99991736 -0.36935669] [ 0. 0. 0. 1. ]] SLAMing on 100.532414037 meters Centerline goodness [0,1] 0.6903411239694426 Centerline is valid? [False, False] Translation: X:1.25, Y:0.14, Z:-0.37 [[ 0.99975655 -0.01858795 -0.0118884 1.25332122] [ 0.01864227 0.9998162 0.00447487 0.13920979] [ 0.01180304 -0.00469541 0.99991932 -0.36955056] [ 0. 0. 0. 1. ]] SLAMing on 100.562414037 meters Centerline goodness [0,1] 0.6849623299792689 Centerline is valid? [False, False] Translation: X:1.25, Y:0.14, Z:-0.37 [[ 0.99975022 -0.01912577 -0.01156301 1.25256473] [ 0.01917503 0.99980747 0.00416411 0.13924818] [ 0.01148115 -0.00438479 0.99992448 -0.36967477] [ 0. 0. 0. 1. ]] SLAMing on 100.59241403699998 meters Centerline goodness [0,1] 0.6942578657643553 Centerline is valid? [False, False] Translation: X:1.25, Y:0.14, Z:-0.37 [[ 0.99974867 -0.01920437 -0.01156684 1.25279294] [ 0.01925369 0.99980594 0.00416822 0.13955748] [ 0.01148455 -0.00438987 0.99992441 -0.37002991] [ 0. 0. 0. 1. ]] SLAMing on 100.62241403699998 meters Centerline goodness [0,1] 0.6918780956231678 Centerline is valid? [False, False] Translation: X:1.25, Y:0.14, Z:-0.37 [[ 0.99974659 -0.01932651 -0.01154289 1.25296541] [ 0.01937438 0.9998041 0.00405022 0.14047873] [ 0.01146236 -0.00427283 0.99992518 -0.37037107] [ 0. 0. 0. 1. ]] SLAMing on 100.65241403699999 meters Centerline goodness [0,1] 0.6885162987127937 Centerline is valid? [False, False] Translation: X:1.25, Y:0.14, Z:-0.37 [[ 0.99974664 -0.01934144 -0.01151383 1.25335347] [ 0.01938901 0.99980388 0.00403446 0.14140167] [ 0.01143354 -0.00425668 0.99992557 -0.37098301] [ 0. 0. 0. 1. ]] SLAMing on 100.68241403699999 meters Centerline goodness [0,1] 0.691495289231081 Centerline is valid? [False, False] Translation: X:1.25, Y:0.14, Z:-0.37 [[ 0.99974157 -0.01979934 -0.01117031 1.25214158] [ 0.01983717 0.99979782 0.00328664 0.14412249] [ 0.01110298 -0.00350738 0.99993221 -0.37017715] [ 0. 0. 0. 1. ]] SLAMing on 100.71241403699999 meters Centerline goodness [0,1] 0.6945418508919042 Centerline is valid? [False, False] Translation: X:1.25, Y:0.15, Z:-0.37 [[ 0.99973165 -0.02037959 -0.01101401 1.2508108 ] [ 0.02040613 0.99978912 0.00230243 0.14616828] [ 0.01096476 -0.00252657 0.99993669 -0.36862117] [ 0. 0. 0. 1. ]] SLAMing on 100.74241403699999 meters Centerline goodness [0,1] 0.6889393282497258 Centerline is valid? [False, False] Translation: X:1.25, Y:0.15, Z:-0.37 [[ 0.99972282 -0.0208918 -0.01085446 1.24954065] [ 0.02090792 0.99978046 0.0013736 0.14817483] [ 0.01082338 -0.00160017 0.99994015 -0.36710171] [ 0. 0. 0. 1. ]] SLAMing on 100.77241403699999 meters Centerline goodness [0,1] 0.6876452115301146 Centerline is valid? [False, False] Translation: X:1.25, Y:0.15, Z:-0.37 [[ 9.99715937e-01 -2.12869725e-02 -1.07196357e-02 1.24866327e+00] [ 2.12968569e-02 9.99772869e-01 8.08761986e-04 1.49573193e-01] [ 1.06999848e-02 -1.03682679e-03 9.99942216e-01 -3.66254681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80241403699999 meters Centerline goodness [0,1] 0.6811197750223699 Centerline is valid? [False, False] Translation: X:1.25, Y:0.15, Z:-0.37 [[ 9.99711243e-01 -2.16989244e-02 -1.03240865e-02 1.24835065e+00] [ 2.17115096e-02 9.99763663e-01 1.10849191e-03 1.48487414e-01] [ 1.02975934e-02 -1.33232333e-03 9.99946091e-01 -3.67460292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83241403699999 meters Centerline goodness [0,1] 0.6750165807866946 Centerline is valid? [False, False] Translation: X:1.25, Y:0.15, Z:-0.37 [[ 0.99971352 -0.02166378 -0.01017623 1.24938568] [ 0.02168348 0.99976321 0.00182945 0.14654299] [ 0.01013419 -0.00204958 0.99994655 -0.36957461] [ 0. 0. 0. 1. ]] SLAMing on 100.862414037 meters Centerline goodness [0,1] 0.6739396723319553 Centerline is valid? [False, False] Translation: X:1.25, Y:0.14, Z:-0.37 [[ 0.99971649 -0.02159733 -0.01002477 1.25035728] [ 0.02162543 0.99976249 0.00270337 0.14476936] [ 0.009964 -0.00291939 0.9999461 -0.37177297] [ 0. 0. 0. 1. ]] SLAMing on 100.892414037 meters Centerline goodness [0,1] 0.668794668972709 Centerline is valid? [False, False] Translation: X:1.25, Y:0.15, Z:-0.37 [[ 0.99971216 -0.02185654 -0.00989424 1.25115224] [ 0.02188872 0.99975543 0.00315576 0.14510384] [ 0.00982284 -0.00337142 0.99994607 -0.37381773] [ 0. 0. 0. 1. ]] SLAMing on 100.922414037 meters Centerline goodness [0,1] 0.6614002951203379 Centerline is valid? [False, False] Translation: X:1.25, Y:0.15, Z:-0.37 [[ 0.99971159 -0.02187769 -0.0099046 1.25128087] [ 0.02190775 0.99975568 0.00293718 0.14684142] [ 0.00983792 -0.00315332 0.99994663 -0.37383048] [ 0. 0. 0. 1. ]] SLAMing on 100.952414037 meters Centerline goodness [0,1] 0.669204435133616 Centerline is valid? [False, False] Translation: X:1.25, Y:0.15, Z:-0.37 [[ 0.99976859 -0.01939005 -0.00931643 1.2485553 ] [ 0.01944728 0.99979232 0.00609183 0.14740317] [ 0.00919638 -0.00627159 0.99993804 -0.37289898] [ 0. 0. 0. 1. ]] SLAMing on 100.98241403699998 meters Centerline goodness [0,1] 0.661716509627202 Centerline is valid? [False, False] Translation: X:1.25, Y:0.15, Z:-0.37 [[ 0.9997638 -0.01965072 -0.00928392 1.24796745] [ 0.01970107 0.99979153 0.00536382 0.14908763] [ 0.00917658 -0.00554546 0.99994252 -0.37190062] [ 0. 0. 0. 1. ]] SLAMing on 101.01241403699999 meters Centerline goodness [0,1] 0.6758735868448098 Centerline is valid? [False, False] Translation: X:1.25, Y:0.15, Z:-0.37 [[ 0.99975911 -0.01994736 -0.00915582 1.2470457 ] [ 0.01999057 0.99978935 0.00465211 0.15023031] [ 0.00906109 -0.00483402 0.99994726 -0.37074257] [ 0. 0. 0. 1. ]] SLAMing on 101.04241403699999 meters Centerline goodness [0,1] 0.6857414253440132 Centerline is valid? [False, False] Translation: X:1.25, Y:0.15, Z:-0.37 [[ 0.99976501 -0.01956146 -0.0093418 1.24797303] [ 0.01960889 0.99979516 0.00501229 0.14983097] [ 0.00924184 -0.0051943 0.9999438 -0.37137739] [ 0. 0. 0. 1. ]] SLAMing on 101.07241403699999 meters Centerline goodness [0,1] 0.68561101284319 Centerline is valid? [False, False] Translation: X:1.25, Y:0.15, Z:-0.37 [[ 0.99977209 -0.01907471 -0.00958739 1.24950079] [ 0.0191283 0.99980175 0.005529 0.14941234] [ 0.00948002 -0.00571113 0.99993875 -0.37269005] [ 0. 0. 0. 1. ]] SLAMing on 101.10241403699999 meters Centerline goodness [0,1] 0.6843691245782574 Centerline is valid? [False, False] Translation: X:1.25, Y:0.15, Z:-0.37 [[ 0.99977749 -0.01859325 -0.00996263 1.25107889] [ 0.01865174 0.99980916 0.00581063 0.14968978] [ 0.00985269 -0.00599516 0.99993349 -0.37358818] [ 0. 0. 0. 1. ]] SLAMing on 101.13241403699999 meters Centerline goodness [0,1] 0.6862684411430929 Centerline is valid? [False, False] Translation: X:1.25, Y:0.15, Z:-0.37 [[ 0.99978665 -0.0179291 -0.01025727 1.25249017] [ 0.01799021 0.99982077 0.00589681 0.15164872] [ 0.01014971 -0.00608008 0.99993001 -0.37414807] [ 0. 0. 0. 1. ]] SLAMing on 101.16241403699999 meters Centerline goodness [0,1] 0.6819280827203045 Centerline is valid? [False, False] Translation: X:1.25, Y:0.15, Z:-0.37 [[ 0.99978639 -0.01788725 -0.01035504 1.25252882] [ 0.01794731 0.99982247 0.00573703 0.15176404] [ 0.01025058 -0.00592165 0.99992993 -0.37367538] [ 0. 0. 0. 1. ]] SLAMing on 101.19241403699999 meters Centerline goodness [0,1] 0.6858206082381624 Centerline is valid? [False, False] Translation: X:1.25, Y:0.15, Z:-0.37 [[ 0.99978332 -0.0180274 -0.01040766 1.25217472] [ 0.01808504 0.99982148 0.0054712 0.15153691] [ 0.01030718 -0.00565824 0.99993087 -0.37293135] [ 0. 0. 0. 1. ]] SLAMing on 101.222414037 meters Centerline goodness [0,1] 0.6817356618681122 Centerline is valid? [False, False] Translation: X:1.25, Y:0.15, Z:-0.37 [[ 0.99978446 -0.01804476 -0.01026697 1.25177581] [ 0.01810308 0.99982035 0.00561606 0.14985743] [ 0.01016379 -0.00580071 0.99993152 -0.37276319] [ 0. 0. 0. 1. ]] SLAMing on 101.252414037 meters Centerline goodness [0,1] 0.6778022202895585 Centerline is valid? [False, False] Translation: X:1.25, Y:0.15, Z:-0.37 [[ 0.99978645 -0.01783159 -0.01044444 1.25255053] [ 0.01789463 0.99982203 0.00597428 0.14913946] [ 0.01033605 -0.0061599 0.99992761 -0.37339518] [ 0. 0. 0. 1. ]] SLAMing on 101.282414037 meters Centerline goodness [0,1] 0.6759979529170932 Centerline is valid? [False, False] Translation: X:1.25, Y:0.15, Z:-0.37 [[ 0.99979267 -0.01733778 -0.01067798 1.25393583] [ 0.01740815 0.99982713 0.00653252 0.14853106] [ 0.01056288 -0.00671705 0.99992165 -0.37453184] [ 0. 0. 0. 1. ]] SLAMing on 101.312414037 meters Centerline goodness [0,1] 0.6808238454650122 Centerline is valid? [False, False] Translation: X:1.26, Y:0.15, Z:-0.38 [[ 0.99979692 -0.01691572 -0.0109536 1.25519387] [ 0.01699134 0.99983219 0.00684788 0.1484791 ] [ 0.01083593 -0.00703261 0.99991656 -0.37533451] [ 0. 0. 0. 1. ]] SLAMing on 101.34241403699998 meters Centerline goodness [0,1] 0.6750012809345698 Centerline is valid? [False, False] Translation: X:1.26, Y:0.15, Z:-0.38 [[ 0.99979979 -0.01665103 -0.01109615 1.25588507] [ 0.01672862 0.999836 0.00693721 0.14901706] [ 0.01097882 -0.00712144 0.99991437 -0.37571677] [ 0. 0. 0. 1. ]] SLAMing on 101.37241403699998 meters Centerline goodness [0,1] 0.6790117141541767 Centerline is valid? [False, False] Translation: X:1.26, Y:0.15, Z:-0.38 [[ 0.99980804 -0.01588927 -0.01146317 1.25700778] [ 0.01596801 0.99984931 0.00681092 0.14975709] [ 0.01135323 -0.00699266 0.9999111 -0.37531007] [ 0. 0. 0. 1. ]] SLAMing on 101.40241403699999 meters Centerline goodness [0,1] 0.6790660761373237 Centerline is valid? [False, False] Translation: X:1.26, Y:0.15, Z:-0.37 [[ 0.99981061 -0.01558152 -0.01166022 1.2573895 ] [ 0.01566087 0.99985461 0.00674505 0.14944527] [ 0.01155343 -0.00692639 0.99990927 -0.37490431] [ 0. 0. 0. 1. ]] SLAMing on 101.43241403699999 meters Centerline goodness [0,1] 0.6853465955701394 Centerline is valid? [False, False] Translation: X:1.26, Y:0.15, Z:-0.37 [[ 0.99981272 -0.01530792 -0.01184031 1.2576014 ] [ 0.01538735 0.99985952 0.00664624 0.14928443] [ 0.01173691 -0.00682719 0.99990781 -0.37432059] [ 0. 0. 0. 1. ]] SLAMing on 101.46241403699999 meters Centerline goodness [0,1] 0.7003562914925794 Centerline is valid? [False, False] Translation: X:1.26, Y:0.15, Z:-0.37 [[ 0.99981331 -0.01497589 -0.01220913 1.25766537] [ 0.01505033 0.99986857 0.00602792 0.15043501] [ 0.01211725 -0.00621055 0.9999073 -0.37252374] [ 0. 0. 0. 1. ]] SLAMing on 101.49241403699999 meters Centerline goodness [0,1] 0.705148606334377 Centerline is valid? [False, False] Translation: X:1.26, Y:0.15, Z:-0.37 [[ 0.99981256 -0.01477318 -0.0125141 1.25821483] [ 0.0148492 0.99987172 0.00600329 0.15064192] [ 0.01242381 -0.00618799 0.99990367 -0.37218309] [ 0. 0. 0. 1. ]] SLAMing on 101.52241403699999 meters Centerline goodness [0,1] 0.6981552651806302 Centerline is valid? [False, False] Translation: X:1.26, Y:0.15, Z:-0.37 [[ 0.9998149 -0.01436143 -0.01280332 1.2593492 ] [ 0.01444537 0.99987461 0.00648799 0.14991964] [ 0.01270854 -0.00667174 0.99989699 -0.37282923] [ 0. 0. 0. 1. ]] SLAMing on 101.55241403699999 meters Centerline goodness [0,1] 0.6938226017385953 Centerline is valid? [False, False] Translation: X:1.26, Y:0.15, Z:-0.37 [[ 0.99981712 -0.01384207 -0.01319534 1.26078137] [ 0.01393632 0.99987783 0.0070779 0.14859866] [ 0.01309576 -0.0072605 0.99988789 -0.37355422] [ 0. 0. 0. 1. ]] SLAMing on 101.58241403699999 meters Centerline goodness [0,1] 0.6941996781855797 Centerline is valid? [False, False] Translation: X:1.26, Y:0.15, Z:-0.37 [[ 0.9998197 -0.01332235 -0.01353084 1.26219503] [ 0.01342603 0.99988098 0.00760092 0.14698293] [ 0.01342797 -0.00778121 0.99987956 -0.37432001] [ 0. 0. 0. 1. ]] SLAMing on 101.612414037 meters Centerline goodness [0,1] 0.6975302342195233 Centerline is valid? [False, False] Translation: X:1.26, Y:0.14, Z:-0.38 [[ 0.99982734 -0.01253732 -0.01371499 1.26353743] [ 0.01265427 0.99988402 0.00847423 0.14451111] [ 0.01360716 -0.00864632 0.99987003 -0.37540203] [ 0. 0. 0. 1. ]] SLAMing on 101.642414037 meters Centerline goodness [0,1] 0.710632639492661 Centerline is valid? [False, False] Translation: X:1.26, Y:0.14, Z:-0.38 [[ 0.99982866 -0.01251272 -0.01364121 1.26331172] [ 0.01262858 0.99988463 0.00844067 0.14445506] [ 0.01353402 -0.00861149 0.99987133 -0.37519918] [ 0. 0. 0. 1. ]] SLAMing on 101.672414037 meters Centerline goodness [0,1] 0.7132088007563948 Centerline is valid? [False, False] Translation: X:1.26, Y:0.15, Z:-0.37 [[ 0.99982675 -0.01255089 -0.01374589 1.26297005] [ 0.01266153 0.9998879 0.00799218 0.14512229] [ 0.01364404 -0.00816484 0.99987358 -0.37407879] [ 0. 0. 0. 1. ]] SLAMing on 101.702414037 meters Centerline goodness [0,1] 0.7157251361788097 Centerline is valid? [False, False] Translation: X:1.26, Y:0.15, Z:-0.37 [[ 0.99982762 -0.01246788 -0.01375766 1.26199941] [ 0.01256406 0.99989708 0.00692703 0.14688047] [ 0.01366988 -0.00709869 0.99988136 -0.3716344 ] [ 0. 0. 0. 1. ]] SLAMing on 101.73241403699998 meters Centerline goodness [0,1] 0.7218106575384458 Centerline is valid? [False, False] Translation: X:1.26, Y:0.15, Z:-0.37 [[ 0.99982734 -0.01231661 -0.01391396 1.26199409] [ 0.01241069 0.99990057 0.00669519 0.14670291] [ 0.01383011 -0.00686672 0.99988078 -0.37082405] [ 0. 0. 0. 1. ]] SLAMing on 101.76241403699999 meters Centerline goodness [0,1] 0.7079197789829121 Centerline is valid? [False, False] Translation: X:1.26, Y:0.15, Z:-0.37 [[ 0.99982752 -0.01212379 -0.0140691 1.26205163] [ 0.01221769 0.99990353 0.00660759 0.14606926] [ 0.01398764 -0.00677835 0.99987919 -0.37015021] [ 0. 0. 0. 1. ]] SLAMing on 101.79241403699999 meters Centerline goodness [0,1] 0.7203095469173009 Centerline is valid? [False, False] Translation: X:1.26, Y:0.15, Z:-0.37 [[ 0.99982692 -0.01205946 -0.01416708 1.26197431] [ 0.0121516 0.99990546 0.00643575 0.14578599] [ 0.01408813 -0.00660679 0.99987893 -0.36950907] [ 0. 0. 0. 1. ]] SLAMing on 101.82241403699999 meters Centerline goodness [0,1] 0.7277026508857589 Centerline is valid? [False, False] Translation: X:1.26, Y:0.15, Z:-0.37 [[ 0.99982862 -0.01166984 -0.01437201 1.26275063] [ 0.01176468 0.99990946 0.0065322 0.1458845 ] [ 0.01429448 -0.00670016 0.99987538 -0.36964558] [ 0. 0. 0. 1. ]] SLAMing on 101.85241403699999 meters Centerline goodness [0,1] 0.722269004057261 Centerline is valid? [False, False] Translation: X:1.26, Y:0.15, Z:-0.37 [[ 0.99983028 -0.01144225 -0.01443888 1.26348786] [ 0.0115409 0.9999105 0.00676777 0.14539433] [ 0.01436015 -0.00693325 0.99987285 -0.37030285] [ 0. 0. 0. 1. ]] SLAMing on 101.88241403699999 meters Centerline goodness [0,1] 0.7202970297029703 Centerline is valid? [False, False] Translation: X:1.26, Y:0.14, Z:-0.37 [[ 0.99983071 -0.011243 -0.01456541 1.26425485] [ 0.01134805 0.99991005 0.0071494 0.14476215] [ 0.01448371 -0.00731348 0.99986836 -0.37102012] [ 0. 0. 0. 1. ]] SLAMing on 101.91241403699999 meters Centerline goodness [0,1] 0.7180531514102433 Centerline is valid? [False, False] Translation: X:1.26, Y:0.14, Z:-0.37 [[ 0.99983136 -0.01126087 -0.01450664 1.26476083] [ 0.01137328 0.99990575 0.00768987 0.14329203] [ 0.01441868 -0.00785356 0.9998652 -0.37215261] [ 0. 0. 0. 1. ]] SLAMing on 101.94241403699999 meters Centerline goodness [0,1] 0.7200091633364727 Centerline is valid? [False, False] Translation: X:1.26, Y:0.14, Z:-0.37 [[ 0.99983064 -0.01151629 -0.01435507 1.26425854] [ 0.01162824 0.99990244 0.00773979 0.1422222 ] [ 0.01426454 -0.00790541 0.999867 -0.37203911] [ 0. 0. 0. 1. ]] SLAMing on 101.972414037 meters Centerline goodness [0,1] 0.7131268436578171 Centerline is valid? [False, False] Translation: X:1.26, Y:0.14, Z:-0.37 [[ 0.99982946 -0.01182443 -0.01418547 1.26363015] [ 0.01193661 0.99989794 0.00784971 0.14077795] [ 0.01409121 -0.0080177 0.99986857 -0.37186555] [ 0. 0. 0. 1. ]] SLAMing on 102.002414037 meters Centerline goodness [0,1] 0.705655396486953 Centerline is valid? [False, False] Translation: X:1.26, Y:0.14, Z:-0.37 [[ 0.99982653 -0.01228199 -0.01400216 1.26276082] [ 0.01239052 0.99989366 0.00769066 0.13974706] [ 0.01390622 -0.00786282 0.99987239 -0.37135417] [ 0. 0. 0. 1. ]] SLAMing on 102.032414037 meters Centerline goodness [0,1] 0.7043694620052301 Centerline is valid? [False, False] Translation: X:1.26, Y:0.14, Z:-0.37 [[ 0.99981676 -0.01335581 -0.01371405 1.26068139] [ 0.01345271 0.99988502 0.00699789 0.13971754] [ 0.01361901 -0.0071811 0.99988147 -0.36962345] [ 0. 0. 0. 1. ]] SLAMing on 102.062414037 meters Centerline goodness [0,1] 0.7110576314122863 Centerline is valid? [False, False] Translation: X:1.26, Y:0.14, Z:-0.37 [[ 0.99981524 -0.01339532 -0.0137857 1.26095716] [ 0.01349522 0.99988317 0.00717879 0.13890214] [ 0.01368793 -0.0073635 0.9998792 -0.36980148] [ 0. 0. 0. 1. ]] SLAMing on 102.09241403699998 meters Centerline goodness [0,1] 0.7110576314122863 Centerline is valid? [False, False] Translation: X:1.26, Y:0.14, Z:-0.37 [[ 0.99981524 -0.01339532 -0.0137857 1.26095716] [ 0.01349522 0.99988317 0.00717879 0.13890214] [ 0.01368793 -0.0073635 0.9998792 -0.36980148] [ 0. 0. 0. 1. ]] SLAMing on 102.12241403699998 meters Centerline goodness [0,1] 0.71197853381936 Centerline is valid? [False, False] Translation: X:1.26, Y:0.14, Z:-0.37 [[ 0.99981609 -0.01343801 -0.01368214 1.26121438] [ 0.01354121 0.99988035 0.00747771 0.13785713] [ 0.01358001 -0.00766161 0.99987843 -0.37055319] [ 0. 0. 0. 1. ]] SLAMing on 102.15241403699999 meters Centerline goodness [0,1] 0.714318239311915 Centerline is valid? [False, False] Translation: X:1.26, Y:0.14, Z:-0.37 [[ 0.99981841 -0.01321892 -0.01372627 1.2619844 ] [ 0.01332974 0.99987904 0.00801404 0.13624523] [ 0.01361867 -0.00819555 0.99987367 -0.37157828] [ 0. 0. 0. 1. ]] SLAMing on 102.18241403699999 meters Centerline goodness [0,1] 0.7051127214170693 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.99982088 -0.01311252 -0.01364781 1.262185 ] [ 0.01322634 0.99987822 0.00828357 0.13446874] [ 0.01353753 -0.00846259 0.99987255 -0.37205413] [ 0. 0. 0. 1. ]] SLAMing on 102.21241403699999 meters Centerline goodness [0,1] 0.7099725295496357 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.99982137 -0.01309467 -0.01362921 1.26207958] [ 0.01320761 0.99987891 0.00823005 0.13441208] [ 0.01351979 -0.00840859 0.99987325 -0.37187878] [ 0. 0. 0. 1. ]] SLAMing on 102.24241403699999 meters Centerline goodness [0,1] 0.7080770293002586 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.99982038 -0.01308662 -0.01370924 1.26222416] [ 0.01319709 0.99988092 0.00799927 0.13471437] [ 0.01360292 -0.00817875 0.99987403 -0.37160722] [ 0. 0. 0. 1. ]] SLAMing on 102.27241403699999 meters Centerline goodness [0,1] 0.7092588409507317 Centerline is valid? [False, False] Translation: X:1.26, Y:0.14, Z:-0.37 [[ 0.99982013 -0.0129557 -0.01385116 1.26230881] [ 0.01306455 0.99988425 0.00779762 0.13520062] [ 0.01374854 -0.00797718 0.99987366 -0.37104697] [ 0. 0. 0. 1. ]] SLAMing on 102.30241403699999 meters Centerline goodness [0,1] 0.7184682988072819 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.99982095 -0.0127721 -0.01396213 1.26252342] [ 0.01288348 0.99988566 0.00791682 0.13477782] [ 0.01385942 -0.00809528 0.99987118 -0.37092256] [ 0. 0. 0. 1. ]] SLAMing on 102.33241403699999 meters Centerline goodness [0,1] 0.7237951807228915 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.99982158 -0.0126646 -0.01401497 1.26278599] [ 0.01277795 0.99988613 0.00802767 0.13436302] [ 0.01391171 -0.00820532 0.99986956 -0.37104175] [ 0. 0. 0. 1. ]] SLAMing on 102.362414037 meters Centerline goodness [0,1] 0.7125894314045438 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.9998225 -0.01253877 -0.01406253 1.26312801] [ 0.01265529 0.99988607 0.00822801 0.13389316] [ 0.01395776 -0.00840451 0.99986726 -0.37135134] [ 0. 0. 0. 1. ]] SLAMing on 102.392414037 meters Centerline goodness [0,1] 0.7271318604418675 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.99982094 -0.012412 -0.01428409 1.26359788] [ 0.0125293 0.99988828 0.00815176 0.13367095] [ 0.01418132 -0.00832927 0.99986475 -0.37111701] [ 0. 0. 0. 1. ]] SLAMing on 102.422414037 meters Centerline goodness [0,1] 0.7209913631242959 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.37 [[ 0.99981952 -0.01242668 -0.01437035 1.26352185] [ 0.0125406 0.99989044 0.00786432 0.13452327] [ 0.01427105 -0.00804311 0.99986581 -0.37062401] [ 0. 0. 0. 1. ]] SLAMing on 102.452414037 meters Centerline goodness [0,1] 0.7322602414456747 Centerline is valid? [False, False] Translation: X:1.26, Y:0.14, Z:-0.37 [[ 0.99981799 -0.01224284 -0.01463236 1.2639566 ] [ 0.01235329 0.9998957 0.00748201 0.13580243] [ 0.01453923 -0.0076614 0.99986495 -0.37005584] [ 0. 0. 0. 1. ]] SLAMing on 102.48241403699998 meters Centerline goodness [0,1] 0.7370175438596491 Centerline is valid? [False, False] Translation: X:1.27, Y:0.14, Z:-0.37 [[ 0.99982135 -0.01133611 -0.01512512 1.26541203] [ 0.01144815 0.99990751 0.00734193 0.13737338] [ 0.01504049 -0.00751377 0.99985865 -0.36985809] [ 0. 0. 0. 1. ]] SLAMing on 102.51241403699999 meters Centerline goodness [0,1] 0.7544823089846786 Centerline is valid? [False, False] Translation: X:1.27, Y:0.14, Z:-0.37 [[ 0.99982134 -0.01098446 -0.01538297 1.26656952] [ 0.01110057 0.99991038 0.00748347 0.13733299] [ 0.01529939 -0.00765289 0.99985367 -0.37050507] [ 0. 0. 0. 1. ]] SLAMing on 102.54241403699999 meters Centerline goodness [0,1] 0.7468975180144115 Centerline is valid? [False, False] Translation: X:1.27, Y:0.14, Z:-0.37 [[ 0.99981993 -0.0108897 -0.01554075 1.26731453] [ 0.01100791 0.99991097 0.00754164 0.1372515 ] [ 0.01545724 -0.00771135 0.99985079 -0.37103302] [ 0. 0. 0. 1. ]] SLAMing on 102.57241403699999 meters Centerline goodness [0,1] 0.732474498107722 Centerline is valid? [False, False] Translation: X:1.27, Y:0.14, Z:-0.37 [[ 0.99981927 -0.01089798 -0.01557751 1.26783097] [ 0.01101543 0.9999114 0.00747383 0.13786539] [ 0.01549468 -0.00764408 0.99985073 -0.37155066] [ 0. 0. 0. 1. ]] SLAMing on 102.60241403699999 meters Centerline goodness [0,1] 0.7249881223275236 Centerline is valid? [False, False] Translation: X:1.27, Y:0.14, Z:-0.37 [[ 0.9998179 -0.01093896 -0.01563648 1.26816013] [ 0.01105349 0.99991257 0.00725714 0.1385883 ] [ 0.01555572 -0.00742866 0.99985141 -0.37169562] [ 0. 0. 0. 1. ]] SLAMing on 102.63241403699999 meters Centerline goodness [0,1] 0.7257664251873762 Centerline is valid? [False, False] Translation: X:1.27, Y:0.14, Z:-0.37 [[ 0.99981703 -0.0111515 -0.01554181 1.26813709] [ 0.01125814 0.99991356 0.006791 0.14051429] [ 0.01546474 -0.00696473 0.99985616 -0.37190225] [ 0. 0. 0. 1. ]] SLAMing on 102.66241403699999 meters Centerline goodness [0,1] 0.7160850038889028 Centerline is valid? [False, False] Translation: X:1.27, Y:0.14, Z:-0.37 [[ 0.99981685 -0.0112849 -0.0154572 1.26821768] [ 0.01138896 0.99991296 0.00666051 0.14113086] [ 0.01538069 -0.00683534 0.99985835 -0.37227767] [ 0. 0. 0. 1. ]] SLAMing on 102.69241403699999 meters Centerline goodness [0,1] 0.7213419848096172 Centerline is valid? [False, False] Translation: X:1.27, Y:0.14, Z:-0.37 [[ 0.99981458 -0.01168541 -0.01530544 1.26759519] [ 0.01178184 0.99991121 0.00622541 0.14181929] [ 0.01523134 -0.00640458 0.99986348 -0.37190668] [ 0. 0. 0. 1. ]] SLAMing on 102.722414037 meters Centerline goodness [0,1] 0.7177166637418837 Centerline is valid? [False, False] Translation: X:1.27, Y:0.14, Z:-0.37 [[ 0.99981323 -0.0121381 -0.01503919 1.2667402 ] [ 0.01222791 0.99990786 0.0058943 0.14200343] [ 0.01496626 -0.0060771 0.99986953 -0.3716333 ] [ 0. 0. 0. 1. ]] SLAMing on 102.752414037 meters Centerline goodness [0,1] 0.7020139951343081 Centerline is valid? [False, False] Translation: X:1.27, Y:0.14, Z:-0.37 [[ 0.99980927 -0.01300277 -0.0145724 1.26527021] [ 0.01308297 0.99989971 0.00542209 0.1422518 ] [ 0.01450043 -0.00561171 0.99987912 -0.37130331] [ 0. 0. 0. 1. ]] SLAMing on 102.782414037 meters Centerline goodness [0,1] 0.6993693942667638 Centerline is valid? [False, False] Translation: X:1.26, Y:0.14, Z:-0.37 [[ 0.99980608 -0.01341923 -0.01441257 1.2646349 ] [ 0.0134942 0.99989586 0.00511665 0.14305797] [ 0.01434241 -0.00531014 0.99988304 -0.3710032 ] [ 0. 0. 0. 1. ]] SLAMing on 102.812414037 meters Centerline goodness [0,1] 0.7079391508362975 Centerline is valid? [False, False] Translation: X:1.26, Y:0.14, Z:-0.37 [[ 0.99980254 -0.01376607 -0.0143308 1.26406852] [ 0.01383484 0.9998932 0.0047106 0.14433722] [ 0.01426442 -0.00490794 0.99988621 -0.37046562] [ 0. 0. 0. 1. ]] SLAMing on 102.84241403699998 meters Centerline goodness [0,1] 0.7017441565684733 Centerline is valid? [False, False] Translation: X:1.26, Y:0.15, Z:-0.37 [[ 0.99979858 -0.01381153 -0.01456175 1.26461236] [ 0.01387556 0.99989446 0.00430564 0.14654232] [ 0.01450075 -0.00450683 0.9998847 -0.37042849] [ 0. 0. 0. 1. ]] SLAMing on 102.87241403699998 meters Centerline goodness [0,1] 0.6962795769825771 Centerline is valid? [False, False] Translation: X:1.27, Y:0.15, Z:-0.37 [[ 0.99979887 -0.01345708 -0.01487034 1.26622749] [ 0.01352642 0.99989806 0.00457236 0.14693386] [ 0.01480729 -0.00477258 0.99987898 -0.37165397] [ 0. 0. 0. 1. ]] SLAMing on 102.90241403699999 meters Centerline goodness [0,1] 0.6988623348858517 Centerline is valid? [False, False] Translation: X:1.27, Y:0.15, Z:-0.37 [[ 0.99979959 -0.01322826 -0.0150263 1.26748958] [ 0.01330129 0.99990015 0.00477057 0.14742622] [ 0.01496169 -0.00496949 0.99987572 -0.37295955] [ 0. 0. 0. 1. ]] SLAMing on 102.93241403699999 meters Centerline goodness [0,1] 0.7078416881164148 Centerline is valid? [False, False] Translation: X:1.27, Y:0.15, Z:-0.37 [[ 0.99980036 -0.01315707 -0.01503768 1.26876994] [ 0.01323352 0.99989995 0.0049956 0.14791773] [ 0.01497045 -0.0051936 0.99987445 -0.3749004 ] [ 0. 0. 0. 1. ]] SLAMing on 102.96241403699999 meters Centerline goodness [0,1] 0.7053931387712671 Centerline is valid? [False, False] Translation: X:1.27, Y:0.15, Z:-0.38 [[ 0.9997754 -0.01461639 -0.01534643 1.27151607] [ 0.0146628 0.99988824 0.00291635 0.14921569] [ 0.01530209 -0.00314071 0.99987798 -0.3766168 ] [ 0. 0. 0. 1. ]] SLAMing on 102.99241403699999 meters Centerline goodness [0,1] 0.7039599175970905 Centerline is valid? [False, False] Translation: X:1.27, Y:0.15, Z:-0.38 [[ 0.99977187 -0.01513282 -0.01507314 1.27065548] [ 0.01517204 0.9998818 0.00249098 0.15030893] [ 0.01503366 -0.0027191 0.99988329 -0.37642989] [ 0. 0. 0. 1. ]] SLAMing on 103.02241403699999 meters Centerline goodness [0,1] 0.7095603271983639 Centerline is valid? [False, False] Translation: X:1.27, Y:0.15, Z:-0.38 [[ 0.99976419 -0.01584209 -0.01485233 1.26940775] [ 0.01586861 0.99987269 0.00166927 0.15227988] [ 0.014824 -0.00190456 0.9998883 -0.37542205] [ 0. 0. 0. 1. ]] SLAMing on 103.05241403699999 meters Centerline goodness [0,1] 0.7000463726298434 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.38 [[ 0.99981174 -0.01778758 -0.00775101 1.27659194] [ 0.01786321 0.99979241 0.00980013 0.15262842] [ 0.00757508 -0.00993674 0.99992194 -0.37593809] [ 0. 0. 0. 1. ]] SLAMing on 103.08241403699999 meters Centerline goodness [0,1] 0.7043003834572921 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.37 [[ 0.99979931 -0.01854504 -0.00757725 1.27515485] [ 0.01861274 0.99978658 0.00896439 0.15354815] [ 0.00740939 -0.00910363 0.99993111 -0.37455352] [ 0. 0. 0. 1. ]] SLAMing on 103.112414037 meters Centerline goodness [0,1] 0.7015544842875925 Centerline is valid? [False, False] Translation: X:1.27, Y:0.15, Z:-0.37 [[ 0.99978961 -0.01918285 -0.00726278 1.27390888] [ 0.01924417 0.99977895 0.0084689 0.15377978] [ 0.00709871 -0.00860688 0.99993776 -0.37390217] [ 0. 0. 0. 1. ]] SLAMing on 103.142414037 meters Centerline goodness [0,1] 0.7115622423742787 Centerline is valid? [False, False] Translation: X:1.27, Y:0.15, Z:-0.37 [[ 0.99978275 -0.01954019 -0.00725511 1.27420926] [ 0.01959974 0.99977403 0.00823054 0.15408893] [ 0.00709264 -0.00837095 0.99993981 -0.37444912] [ 0. 0. 0. 1. ]] SLAMing on 103.172414037 meters Centerline goodness [0,1] 0.698917228725741 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.9997835 -0.01945182 -0.00738813 1.27500154] [ 0.01951227 0.999776 0.00819929 0.15525954] [ 0.00722698 -0.00834167 0.99993909 -0.37511742] [ 0. 0. 0. 1. ]] SLAMing on 103.202414037 meters Centerline goodness [0,1] 0.7121885661118578 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99978617 -0.0191554 -0.00778958 1.27639092] [ 0.01921823 0.99978272 0.00807279 0.15705806] [ 0.00763325 -0.00822077 0.99993707 -0.37564991] [ 0. 0. 0. 1. ]] SLAMing on 103.23241403699998 meters Centerline goodness [0,1] 0.7146377525874815 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99984144 -0.01624341 -0.00729704 1.27741476] [ 0.01632162 0.99980858 0.01078905 0.15934408] [ 0.0071204 -0.01090644 0.99991517 -0.37803767] [ 0. 0. 0. 1. ]] SLAMing on 103.26241403699999 meters Centerline goodness [0,1] 0.717239227108418 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99984248 -0.01606369 -0.00754819 1.27822404] [ 0.01614205 0.99981523 0.01043734 0.16063535] [ 0.00737914 -0.01055754 0.99991704 -0.37805337] [ 0. 0. 0. 1. ]] SLAMing on 103.29241403699999 meters Centerline goodness [0,1] 0.7129277566539924 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99984812 -0.0155898 -0.00779056 1.27890456] [ 0.01566368 0.99983206 0.00951342 0.16353562] [ 0.00764094 -0.00963401 0.9999244 -0.37714911] [ 0. 0. 0. 1. ]] SLAMing on 103.32241403699999 meters Centerline goodness [0,1] 0.7184106098579783 Centerline is valid? [False, False] Translation: X:1.28, Y:0.17, Z:-0.38 [[ 0.99985027 -0.01527134 -0.00813791 1.28003363] [ 0.01534582 0.9998402 0.00916991 0.16564181] [ 0.00799657 -0.00929342 0.99992484 -0.37727707] [ 0. 0. 0. 1. ]] SLAMing on 103.35241403699999 meters Centerline goodness [0,1] 0.7237626870356806 Centerline is valid? [False, False] Translation: X:1.28, Y:0.17, Z:-0.38 [[ 0.99985339 -0.01483947 -0.00854334 1.28154003] [ 0.01491646 0.99984806 0.00902008 0.16736774] [ 0.00840819 -0.00914619 0.99992282 -0.37779791] [ 0. 0. 0. 1. ]] SLAMing on 103.38241403699999 meters Centerline goodness [0,1] 0.7206541394763739 Centerline is valid? [False, False] Translation: X:1.28, Y:0.17, Z:-0.38 [[ 0.99985739 -0.01433775 -0.00892326 1.28323179] [ 0.01441915 0.9998544 0.00912529 0.16829645] [ 0.00879113 -0.00925266 0.99991855 -0.37874972] [ 0. 0. 0. 1. ]] SLAMing on 103.41241403699999 meters Centerline goodness [0,1] 0.7323999159398971 Centerline is valid? [False, False] Translation: X:1.29, Y:0.17, Z:-0.38 [[ 0.99986875 -0.01333411 -0.00920198 1.28521567] [ 0.01341842 0.99986799 0.00916283 0.17056998] [ 0.00907858 -0.0092851 0.99991568 -0.37985981] [ 0. 0. 0. 1. ]] SLAMing on 103.44241403699999 meters Centerline goodness [0,1] 0.7285984549897525 Centerline is valid? [False, False] Translation: X:1.29, Y:0.17, Z:-0.38 [[ 0.99986739 -0.01329308 -0.00940752 1.28532819] [ 0.0133717 0.99987578 0.00834357 0.17283373] [ 0.00929544 -0.00846825 0.99992094 -0.37882444] [ 0. 0. 0. 1. ]] SLAMing on 103.472414037 meters Centerline goodness [0,1] 0.7429926238145417 Centerline is valid? [False, False] Translation: X:1.29, Y:0.18, Z:-0.38 [[ 0.99986664 -0.01329336 -0.00948597 1.28512918] [ 0.01336446 0.99988278 0.00747165 0.17524819] [ 0.00938553 -0.00759743 0.99992709 -0.37764687] [ 0. 0. 0. 1. ]] SLAMing on 103.502414037 meters Centerline goodness [0,1] 0.7587271431963905 Centerline is valid? [False, False] Translation: X:1.28, Y:0.18, Z:-0.37 [[ 0.99990358 -0.01074178 -0.00880017 1.28152645] [ 0.01082729 0.99989406 0.00972792 0.17696969] [ 0.00869474 -0.00982226 0.99991396 -0.37490771] [ 0. 0. 0. 1. ]] SLAMing on 103.532414037 meters Centerline goodness [0,1] 0.7602031369852144 Centerline is valid? [False, False] Translation: X:1.28, Y:0.18, Z:-0.37 [[ 0.99990114 -0.01105158 -0.00869346 1.28064633] [ 0.01113051 0.9998968 0.00908339 0.17801355] [ 0.00859218 -0.00917926 0.99992095 -0.37381696] [ 0. 0. 0. 1. ]] SLAMing on 103.562414037 meters Centerline goodness [0,1] 0.7534899737755292 Centerline is valid? [False, False] Translation: X:1.28, Y:0.18, Z:-0.37 [[ 0.99989845 -0.01126111 -0.00873391 1.28031304] [ 0.01133734 0.99989764 0.00872818 0.17831617] [ 0.00863473 -0.00882631 0.99992377 -0.37316937] [ 0. 0. 0. 1. ]] SLAMing on 103.59241403699998 meters Centerline goodness [0,1] 0.7460598688385869 Centerline is valid? [False, False] Translation: X:1.28, Y:0.18, Z:-0.37 [[ 0.99989862 -0.01115264 -0.00885259 1.28134893] [ 0.01123494 0.99989362 0.00930166 0.17657323] [ 0.00874791 -0.00940017 0.99991755 -0.3745177 ] [ 0. 0. 0. 1. ]] SLAMing on 103.62241403699998 meters Centerline goodness [0,1] 0.7448184818481849 Centerline is valid? [False, False] Translation: X:1.28, Y:0.18, Z:-0.38 [[ 0.9998991 -0.01091796 -0.00908737 1.28248644] [ 0.0110054 0.99989308 0.00962885 0.17597817] [ 0.00898127 -0.00972789 0.99991235 -0.37535049] [ 0. 0. 0. 1. ]] SLAMing on 103.65241403699999 meters Centerline goodness [0,1] 0.7440831146802365 Centerline is valid? [False, False] Translation: X:1.28, Y:0.18, Z:-0.38 [[ 0.99989826 -0.01085081 -0.00925908 1.28330846] [ 0.01094161 0.99989199 0.00981321 0.17597839] [ 0.0091516 -0.00991352 0.99990898 -0.37604967] [ 0. 0. 0. 1. ]] SLAMing on 103.68241403699999 meters Centerline goodness [0,1] 0.7368769883351007 Centerline is valid? [False, False] Translation: X:1.28, Y:0.18, Z:-0.38 [[ 0.99989842 -0.01087699 -0.0092108 1.28372742] [ 0.01096895 0.99988991 0.00999259 0.17592735] [ 0.0091011 -0.01009261 0.99990765 -0.37687902] [ 0. 0. 0. 1. ]] SLAMing on 103.71241403699999 meters Centerline goodness [0,1] 0.7393011489406556 Centerline is valid? [False, False] Translation: X:1.29, Y:0.18, Z:-0.38 [[ 0.99985563 -0.01381242 -0.00989646 1.28593293] [ 0.01387119 0.99988642 0.00589447 0.17718838] [ 0.00981392 -0.0060309 0.99993366 -0.37656947] [ 0. 0. 0. 1. ]] SLAMing on 103.74241403699999 meters Centerline goodness [0,1] 0.7368976340569198 Centerline is valid? [False, False] Translation: X:1.29, Y:0.18, Z:-0.38 [[ 0.99985389 -0.01405903 -0.00972381 1.28524229] [ 0.01411722 0.99988269 0.0059424 0.17598605] [ 0.00963912 -0.0060788 0.99993507 -0.37626667] [ 0. 0. 0. 1. ]] SLAMing on 103.77241403699999 meters Centerline goodness [0,1] 0.7233634548702322 Centerline is valid? [False, False] Translation: X:1.28, Y:0.17, Z:-0.38 [[ 0.99985033 -0.01436843 -0.00963717 1.28444242] [ 0.01442596 0.99987837 0.00592687 0.17466638] [ 0.00955084 -0.00606501 0.999936 -0.37551369] [ 0. 0. 0. 1. ]] SLAMing on 103.80241403699999 meters Centerline goodness [0,1] 0.7231816628551901 Centerline is valid? [False, False] Translation: X:1.28, Y:0.17, Z:-0.37 [[ 0.99984617 -0.01474554 -0.00949773 1.2836327 ] [ 0.01480054 0.99987395 0.00574676 0.17450066] [ 0.0094118 -0.00588645 0.99993838 -0.37495826] [ 0. 0. 0. 1. ]] SLAMing on 103.83241403699999 meters Centerline goodness [0,1] 0.7247518512683158 Centerline is valid? [False, False] Translation: X:1.28, Y:0.17, Z:-0.37 [[ 0.9998335 -0.01589705 -0.00895911 1.28081687] [ 0.01594215 0.99986049 0.00498507 0.17408442] [ 0.00887861 -0.00512707 0.99994744 -0.37296291] [ 0. 0. 0. 1. ]] SLAMing on 103.862414037 meters Centerline goodness [0,1] 0.706790770844258 Centerline is valid? [False, False] Translation: X:1.28, Y:0.17, Z:-0.37 [[ 0.9998298 -0.01621378 -0.00880265 1.27990775] [ 0.01625726 0.99985588 0.00489115 0.17321562] [ 0.00872208 -0.00503343 0.99994929 -0.37228191] [ 0. 0. 0. 1. ]] SLAMing on 103.892414037 meters Centerline goodness [0,1] 0.7095684508222478 Centerline is valid? [False, False] Translation: X:1.28, Y:0.17, Z:-0.37 [[ 0.99983063 -0.01615023 -0.00882503 1.28009608] [ 0.01619682 0.99985513 0.00523324 0.17170148] [ 0.00873923 -0.00537529 0.99994736 -0.37255137] [ 0. 0. 0. 1. ]] SLAMing on 103.922414037 meters Centerline goodness [0,1] 0.7002346193952034 Centerline is valid? [False, False] Translation: X:1.28, Y:0.17, Z:-0.37 [[ 0.99978029 -0.01862698 -0.00961271 1.28364881] [ 0.01865241 0.99982274 0.00256262 0.1698012 ] [ 0.00956327 -0.00274135 0.99995051 -0.37438809] [ 0. 0. 0. 1. ]] SLAMing on 103.952414037 meters Centerline goodness [0,1] 0.6959724181162827 Centerline is valid? [False, False] Translation: X:1.28, Y:0.17, Z:-0.37 [[ 0.99977833 -0.01887635 -0.0093258 1.28314771] [ 0.01890341 0.99981733 0.00282193 0.1689974 ] [ 0.00927083 -0.00299759 0.99995253 -0.37482006] [ 0. 0. 0. 1. ]] SLAMing on 103.98241403699998 meters Centerline goodness [0,1] 0.6959724181162827 Centerline is valid? [False, False] Translation: X:1.28, Y:0.17, Z:-0.37 [[ 0.99977833 -0.01887635 -0.0093258 1.28314771] [ 0.01890341 0.99981733 0.00282193 0.1689974 ] [ 0.00927083 -0.00299759 0.99995253 -0.37482006] [ 0. 0. 0. 1. ]] SLAMing on 104.01241403699999 meters Centerline goodness [0,1] 0.7147177682179637 Centerline is valid? [False, False] Translation: X:1.28, Y:0.17, Z:-0.38 [[ 0.99977819 -0.01892691 -0.00923789 1.28307403] [ 0.01895745 0.99981508 0.00322959 0.16816542] [ 0.00917505 -0.003404 0.99995211 -0.37519658] [ 0. 0. 0. 1. ]] SLAMing on 104.04241403699999 meters Centerline goodness [0,1] 0.7096286250782391 Centerline is valid? [False, False] Translation: X:1.28, Y:0.17, Z:-0.38 [[ 0.99977544 -0.0191753 -0.0090205 1.282692 ] [ 0.01920714 0.99980955 0.00345734 0.16768558] [ 0.00895248 -0.00362982 0.99995334 -0.37556818] [ 0. 0. 0. 1. ]] SLAMing on 104.07241403699999 meters Centerline goodness [0,1] 0.7053269520886438 Centerline is valid? [False, False] Translation: X:1.28, Y:0.17, Z:-0.38 [[ 0.99975794 -0.0202746 -0.00854447 1.28142418] [ 0.02030722 0.99978676 0.00374918 0.16545042] [ 0.00846663 -0.00392178 0.99995647 -0.3763198 ] [ 0. 0. 0. 1. ]] SLAMing on 104.10241403699999 meters Centerline goodness [0,1] 0.7005643866825455 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99975537 -0.02046601 -0.00838756 1.28137868] [ 0.020502 0.99978087 0.0042282 0.16379643] [ 0.00829918 -0.00439913 0.99995588 -0.37708416] [ 0. 0. 0. 1. ]] SLAMing on 104.13241403699999 meters Centerline goodness [0,1] 0.6970943620792258 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99971877 -0.02244994 -0.007641 1.27823569] [ 0.02247629 0.99974166 0.0033796 0.16249805] [ 0.00756316 -0.00355039 0.9999651 -0.37596506] [ 0. 0. 0. 1. ]] SLAMing on 104.16241403699999 meters Centerline goodness [0,1] 0.6929665666080116 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99969896 -0.02349547 -0.00706699 1.27610254] [ 0.0235168 0.99971909 0.00295074 0.16187587] [ 0.00699568 -0.00311604 0.99997067 -0.37519155] [ 0. 0. 0. 1. ]] SLAMing on 104.19241403699999 meters Centerline goodness [0,1] 0.6817793428445664 Centerline is valid? [False, False] Translation: X:1.27, Y:0.16, Z:-0.37 [[ 0.99966536 -0.02503556 -0.00651 1.2732279 ] [ 0.0250505 0.99968371 0.00222317 0.16184734] [ 0.00645228 -0.0023855 0.99997634 -0.37358705] [ 0. 0. 0. 1. ]] SLAMing on 104.222414037 meters Centerline goodness [0,1] 0.6804785601938994 Centerline is valid? [False, False] Translation: X:1.27, Y:0.16, Z:-0.37 [[ 0.99965786 -0.02534441 -0.00646676 1.27269801] [ 0.0253587 0.99967613 0.00213823 0.16170197] [ 0.00641047 -0.00230149 0.9999768 -0.3731198 ] [ 0. 0. 0. 1. ]] SLAMing on 104.252414037 meters Centerline goodness [0,1] 0.6740826573966783 Centerline is valid? [False, False] Translation: X:1.27, Y:0.16, Z:-0.37 [[ 0.99965494 -0.02551954 -0.00622464 1.27217086] [ 0.02553435 0.99967127 0.0023127 0.16109598] [ 0.00616358 -0.00247084 0.99997795 -0.37326406] [ 0. 0. 0. 1. ]] SLAMing on 104.282414037 meters Centerline goodness [0,1] 0.6736050059471479 Centerline is valid? [False, False] Translation: X:1.27, Y:0.16, Z:-0.37 [[ 0.99966096 -0.02523301 -0.0064237 1.27318923] [ 0.02525159 0.99967713 0.00282742 0.15989016] [ 0.00635028 -0.00298867 0.99997537 -0.37414551] [ 0. 0. 0. 1. ]] SLAMing on 104.312414037 meters Centerline goodness [0,1] 0.6725494749335603 Centerline is valid? [False, False] Translation: X:1.27, Y:0.16, Z:-0.38 [[ 0.99967236 -0.02470695 -0.00668834 1.27472024] [ 0.0247309 0.99968794 0.00352214 0.15902782] [ 0.00659923 -0.00368639 0.99997143 -0.37547307] [ 0. 0. 0. 1. ]] SLAMing on 104.34241403699998 meters Centerline goodness [0,1] 0.6710587505813053 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99967887 -0.02439801 -0.00684741 1.27584593] [ 0.02442584 0.9996936 0.0040115 0.1587274 ] [ 0.00674744 -0.00417746 0.99996851 -0.37664896] [ 0. 0. 0. 1. ]] SLAMing on 104.37241403699998 meters Centerline goodness [0,1] 0.6712697181277476 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99968437 -0.02410962 -0.00706248 1.27673739] [ 0.02414029 0.99969937 0.0042906 0.15873486] [ 0.00695691 -0.00445974 0.99996586 -0.37717897] [ 0. 0. 0. 1. ]] SLAMing on 104.40241403699999 meters Centerline goodness [0,1] 0.6678584382610497 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99968911 -0.02388955 -0.00713963 1.27697165] [ 0.02392025 0.99970485 0.00424561 0.15977727] [ 0.0070361 -0.00441508 0.9999655 -0.37707732] [ 0. 0. 0. 1. ]] SLAMing on 104.43241403699999 meters Centerline goodness [0,1] 0.6728860556117029 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99969417 -0.0236151 -0.0073417 1.2776365 ] [ 0.02364728 0.999711 0.00432684 0.15995957] [ 0.0072374 -0.00449913 0.99996369 -0.37724529] [ 0. 0. 0. 1. ]] SLAMing on 104.46241403699999 meters Centerline goodness [0,1] 0.6882256681991741 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99970224 -0.02322872 -0.00747343 1.27848226] [ 0.02326291 0.99971916 0.00452157 0.16009438] [ 0.0073663 -0.00469408 0.99996185 -0.37789432] [ 0. 0. 0. 1. ]] SLAMing on 104.49241403699999 meters Centerline goodness [0,1] 0.6653530037076408 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99970248 -0.02323681 -0.00741636 1.27840841] [ 0.0232709 0.99971887 0.00454372 0.16004967] [ 0.00730869 -0.00471496 0.99996218 -0.37793955] [ 0. 0. 0. 1. ]] SLAMing on 104.52241403699999 meters Centerline goodness [0,1] 0.6804909124002184 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99969675 -0.02351378 -0.00731475 1.27772539] [ 0.02354534 0.9997137 0.00425824 0.16040024] [ 0.00721253 -0.00442917 0.99996418 -0.37732965] [ 0. 0. 0. 1. ]] SLAMing on 104.55241403699999 meters Centerline goodness [0,1] 0.6825017532012155 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.9996883 -0.02393514 -0.00709967 1.27652549] [ 0.0239622 0.99970583 0.00375128 0.16097871] [ 0.00700779 -0.00392024 0.99996776 -0.37617027] [ 0. 0. 0. 1. ]] SLAMing on 104.58241403699999 meters Centerline goodness [0,1] 0.6602517424321231 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99968567 -0.02401782 -0.00719041 1.27628809] [ 0.02404326 0.99970489 0.00347267 0.16159266] [ 0.00710488 -0.00364446 0.99996812 -0.37542451] [ 0. 0. 0. 1. ]] SLAMing on 104.612414037 meters Centerline goodness [0,1] 0.6793126825198164 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99968595 -0.02392124 -0.00746841 1.27670536] [ 0.0239464 0.9997078 0.00329787 0.16224858] [ 0.00738733 -0.00347568 0.99996667 -0.37503059] [ 0. 0. 0. 1. ]] SLAMing on 104.642414037 meters Centerline goodness [0,1] 0.6554134830292635 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99970044 -0.0231937 -0.00781572 1.2787072 ] [ 0.02322671 0.99972157 0.00416036 0.16116098] [ 0.00771705 -0.00434065 0.9999608 -0.37675821] [ 0. 0. 0. 1. ]] SLAMing on 104.672414037 meters Centerline goodness [0,1] 0.6760046820132657 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99970255 -0.02309022 -0.00785214 1.27935016] [ 0.02312537 0.99972282 0.0044155 0.16097216] [ 0.00774801 -0.00459577 0.99995942 -0.37762629] [ 0. 0. 0. 1. ]] SLAMing on 104.702414037 meters Centerline goodness [0,1] 0.675280869723152 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99970111 -0.02317649 -0.00778017 1.27966297] [ 0.02321177 0.99972055 0.00447506 0.16157485] [ 0.00767428 -0.00465432 0.99995972 -0.37844662] [ 0. 0. 0. 1. ]] SLAMing on 104.73241403699998 meters Centerline goodness [0,1] 0.6802533880263772 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99969347 -0.02356822 -0.00758362 1.27907348] [ 0.02360085 0.99971246 0.0042423 0.16210844] [ 0.00748145 -0.00441998 0.99996225 -0.37837783] [ 0. 0. 0. 1. ]] SLAMing on 104.76241403699999 meters Centerline goodness [0,1] 0.6401464022427578 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99968738 -0.02385441 -0.00749037 1.27876634] [ 0.0238854 0.99970639 0.00407576 0.16218092] [ 0.00739095 -0.0042534 0.99996364 -0.37829128] [ 0. 0. 0. 1. ]] SLAMing on 104.79241403699999 meters Centerline goodness [0,1] 0.6351330284764083 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.999678 -0.02431157 -0.00726957 1.27788135] [ 0.02434005 0.9996963 0.00385559 0.16190208] [ 0.00717363 -0.00403129 0.99996614 -0.37789693] [ 0. 0. 0. 1. ]] SLAMing on 104.82241403699999 meters Centerline goodness [0,1] 0.6284566541402099 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99965374 -0.02542682 -0.00677296 1.27592697] [ 0.02545085 0.99967 0.00348624 0.16067682] [ 0.00668208 -0.00365741 0.99997099 -0.37719428] [ 0. 0. 0. 1. ]] SLAMing on 104.85241403699999 meters Centerline goodness [0,1] 0.6651455832404263 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99964457 -0.02581393 -0.00666197 1.27554811] [ 0.02583714 0.99966031 0.00342151 0.16053251] [ 0.00657138 -0.00359242 0.99997196 -0.37721401] [ 0. 0. 0. 1. ]] SLAMing on 104.88241403699999 meters Centerline goodness [0,1] 0.6665195263813877 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.9996352 -0.02623262 -0.00642806 1.27542019] [ 0.02625674 0.99964839 0.00369785 0.16072176] [ 0.0063288 -0.00386528 0.9999725 -0.3783041 ] [ 0. 0. 0. 1. ]] SLAMing on 104.91241403699999 meters Centerline goodness [0,1] 0.6595733664699182 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99963212 -0.02640959 -0.00617651 1.27512998] [ 0.02643363 0.99964318 0.0038442 0.16037823] [ 0.00607278 -0.00400605 0.99997354 -0.3787992 ] [ 0. 0. 0. 1. ]] SLAMing on 104.94241403699999 meters Centerline goodness [0,1] 0.6620424190756671 Centerline is valid? [False, False] Translation: X:1.27, Y:0.16, Z:-0.38 [[ 0.99961836 -0.0270312 -0.00569674 1.27345131] [ 0.02705161 0.99962778 0.00353743 0.15945763] [ 0.005599 -0.00369019 0.99997752 -0.37801962] [ 0. 0. 0. 1. ]] SLAMing on 104.972414037 meters Centerline goodness [0,1] 0.661978397699899 Centerline is valid? [False, False] Translation: X:1.27, Y:0.16, Z:-0.38 [[ 0.99961038 -0.02738014 -0.00542433 1.2722191 ] [ 0.02739791 0.99961939 0.00323049 0.15920014] [ 0.00533382 -0.00337785 0.99998007 -0.37713764] [ 0. 0. 0. 1. ]] SLAMing on 105.002414037 meters Centerline goodness [0,1] 0.6590415070903632 Centerline is valid? [False, False] Translation: X:1.27, Y:0.16, Z:-0.38 [[ 0.99960465 -0.02760833 -0.00532241 1.2714533 ] [ 0.02762405 0.99961417 0.00290324 0.15961032] [ 0.0052402 -0.00304912 0.99998162 -0.37630297] [ 0. 0. 0. 1. ]] SLAMing on 105.032414037 meters Centerline goodness [0,1] 0.6547903259290014 Centerline is valid? [False, False] Translation: X:1.27, Y:0.16, Z:-0.38 [[ 0.99967944 -0.02483615 -0.00491667 1.26912714] [ 0.02486706 0.99967073 0.00632982 0.1600994 ] [ 0.00475784 -0.00645005 0.99996788 -0.37529584] [ 0. 0. 0. 1. ]] SLAMing on 105.062414037 meters Centerline goodness [0,1] 0.6591984197120133 Centerline is valid? [False, False] Translation: X:1.27, Y:0.16, Z:-0.38 [[ 0.99968743 -0.02445274 -0.00520542 1.27032636] [ 0.02448718 0.99967796 0.00666001 0.16023598] [ 0.00504089 -0.00678539 0.99996427 -0.37599586] [ 0. 0. 0. 1. ]] SLAMing on 105.09241403699998 meters Centerline goodness [0,1] 0.659502585826035 Centerline is valid? [False, False] Translation: X:1.27, Y:0.16, Z:-0.38 [[ 0.99970196 -0.02378837 -0.00548763 1.27264439] [ 0.02383086 0.99968549 0.00781077 0.15742493] [ 0.0053001 -0.00793922 0.99995444 -0.37853251] [ 0. 0. 0. 1. ]] SLAMing on 105.12241403699998 meters Centerline goodness [0,1] 0.6694296223384966 Centerline is valid? [False, False] Translation: X:1.27, Y:0.16, Z:-0.38 [[ 0.99970594 -0.0236419 -0.00539417 1.27314499] [ 0.02368617 0.99968501 0.00829787 0.15558944] [ 0.00519629 -0.0084232 0.99995102 -0.37954451] [ 0. 0. 0. 1. ]] SLAMing on 105.15241403699999 meters Centerline goodness [0,1] 0.6603339536807279 Centerline is valid? [False, False] Translation: X:1.27, Y:0.15, Z:-0.38 [[ 0.9997088 -0.02354604 -0.00528264 1.27345472] [ 0.02359166 0.99968341 0.00874716 0.15425537] [ 0.005075 -0.00886924 0.99994779 -0.38039955] [ 0. 0. 0. 1. ]] SLAMing on 105.18241403699999 meters Centerline goodness [0,1] 0.6617144631949476 Centerline is valid? [False, False] Translation: X:1.27, Y:0.15, Z:-0.38 [[ 0.99970139 -0.02387403 -0.0052117 1.27276967] [ 0.02391742 0.9996784 0.0084291 0.1546735 ] [ 0.00500879 -0.00855123 0.99995089 -0.37966512] [ 0. 0. 0. 1. ]] SLAMing on 105.21241403699999 meters Centerline goodness [0,1] 0.6677454432477217 Centerline is valid? [False, False] Translation: X:1.27, Y:0.16, Z:-0.38 [[ 0.99969756 -0.02402485 -0.00525297 1.27226575] [ 0.02406655 0.99967816 0.00802391 0.15554106] [ 0.00505851 -0.0081479 0.99995401 -0.37866214] [ 0. 0. 0. 1. ]] SLAMing on 105.24241403699999 meters Centerline goodness [0,1] 0.6690852552474734 Centerline is valid? [False, False] Translation: X:1.27, Y:0.16, Z:-0.38 [[ 0.9997003 -0.02381098 -0.00568777 1.27229682] [ 0.02385327 0.99968744 0.00748663 0.1568288 ] [ 0.00550773 -0.00762006 0.9999558 -0.37684276] [ 0. 0. 0. 1. ]] SLAMing on 105.27241403699999 meters Centerline goodness [0,1] 0.6641879987563478 Centerline is valid? [False, False] Translation: X:1.27, Y:0.16, Z:-0.38 [[ 0.99971103 -0.02323395 -0.00616821 1.2735878 ] [ 0.0232814 0.99969903 0.00773468 0.15664462] [ 0.00598664 -0.00787605 0.99995106 -0.37687074] [ 0. 0. 0. 1. ]] SLAMing on 105.30241403699999 meters Centerline goodness [0,1] 0.6734857290455896 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.38 [[ 0.99973578 -0.0219661 -0.00677195 1.27676974] [ 0.02202653 0.99971704 0.00898198 0.15451589] [ 0.00657273 -0.00912877 0.99993673 -0.37914877] [ 0. 0. 0. 1. ]] SLAMing on 105.33241403699999 meters Centerline goodness [0,1] 0.6726966437734871 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.38 [[ 0.99974643 -0.02139551 -0.00702176 1.2784221 ] [ 0.0214623 0.99972377 0.00957867 0.15366009] [ 0.00681488 -0.00972695 0.99992947 -0.38056661] [ 0. 0. 0. 1. ]] SLAMing on 105.362414037 meters Centerline goodness [0,1] 0.6683701263327194 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.38 [[ 0.99975248 -0.02109071 -0.00708278 1.27921653] [ 0.02116024 0.99972718 0.00989018 0.15334548] [ 0.00687225 -0.0100376 0.99992601 -0.38140415] [ 0. 0. 0. 1. ]] SLAMing on 105.392414037 meters Centerline goodness [0,1] 0.6714019562179786 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.38 [[ 0.99974267 -0.02163816 -0.00681065 1.27728016] [ 0.02169724 0.99972652 0.00872393 0.15462508] [ 0.00662002 -0.00886946 0.99993875 -0.37907202] [ 0. 0. 0. 1. ]] SLAMing on 105.422414037 meters Centerline goodness [0,1] 0.6696467905361632 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99973077 -0.0222517 -0.00657696 1.27517674] [ 0.02230152 0.99972239 0.0076018 0.15580445] [ 0.00640598 -0.00774643 0.99994948 -0.37651484] [ 0. 0. 0. 1. ]] SLAMing on 105.452414037 meters Centerline goodness [0,1] 0.6670292952055327 Centerline is valid? [False, False] Translation: X:1.27, Y:0.16, Z:-0.37 [[ 0.99971155 -0.02315441 -0.00637905 1.27204562] [ 0.02319235 0.99971337 0.00594017 0.15672922] [ 0.00623968 -0.00608641 0.99996201 -0.37218126] [ 0. 0. 0. 1. ]] SLAMing on 105.48241403699998 meters Centerline goodness [0,1] 0.6879118028534371 Centerline is valid? [False, False] Translation: X:1.27, Y:0.16, Z:-0.37 [[ 0.9997131 -0.0230353 -0.00656473 1.27217873] [ 0.02307432 0.99971615 0.00593171 0.15624365] [ 0.00642623 -0.00608149 0.99996086 -0.3716407 ] [ 0. 0. 0. 1. ]] SLAMing on 105.51241403699999 meters Centerline goodness [0,1] 0.6805843348528802 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.37 [[ 0.99973908 -0.02167161 -0.00721924 1.27564162] [ 0.02172543 0.99973614 0.00746077 0.15427704] [ 0.00705565 -0.00761566 0.99994611 -0.37434717] [ 0. 0. 0. 1. ]] SLAMing on 105.54241403699999 meters Centerline goodness [0,1] 0.684224142391473 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.38 [[ 0.99975278 -0.02090112 -0.00758474 1.27776561] [ 0.02096433 0.99974533 0.00835246 0.15317304] [ 0.00740824 -0.0085094 0.99993635 -0.37610099] [ 0. 0. 0. 1. ]] SLAMing on 105.57241403699999 meters Centerline goodness [0,1] 0.6843237917444513 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.38 [[ 0.99976318 -0.02030041 -0.00784063 1.27931472] [ 0.02037098 0.99975173 0.00902777 0.15239856] [ 0.00765541 -0.00918535 0.99992851 -0.37740425] [ 0. 0. 0. 1. ]] SLAMing on 105.60241403699999 meters Centerline goodness [0,1] 0.6803667158728925 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.38 [[ 0.99977834 -0.01951581 -0.00790015 1.28045336] [ 0.0195909 0.99976255 0.00954158 0.15229688] [ 0.00771206 -0.00969423 0.99992327 -0.37845705] [ 0. 0. 0. 1. ]] SLAMing on 105.63241403699999 meters Centerline goodness [0,1] 0.6846161831110189 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.38 [[ 0.99978152 -0.01933159 -0.00794976 1.28061544] [ 0.01940628 0.99976723 0.00942784 0.15265643] [ 0.00776566 -0.00958006 0.99992396 -0.37827121] [ 0. 0. 0. 1. ]] SLAMing on 105.66241403699999 meters Centerline goodness [0,1] 0.6909569798068481 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.38 [[ 0.99978033 -0.019385 -0.00796923 1.28018713] [ 0.01945634 0.99977044 0.00897331 0.15333836] [ 0.00779345 -0.00912639 0.99992798 -0.37729247] [ 0. 0. 0. 1. ]] SLAMing on 105.69241403699999 meters Centerline goodness [0,1] 0.6986759256860052 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.38 [[ 0.99977263 -0.01980695 -0.00789784 1.27928945] [ 0.0198725 0.999768 0.00830898 0.15447978] [ 0.00773143 -0.00846404 0.99993429 -0.37619567] [ 0. 0. 0. 1. ]] SLAMing on 105.722414037 meters Centerline goodness [0,1] 0.6836297546410489 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99977021 -0.01988593 -0.00800465 1.27915797] [ 0.01994938 0.99976958 0.00792582 0.15537682] [ 0.00784519 -0.00808369 0.99993655 -0.37550948] [ 0. 0. 0. 1. ]] SLAMing on 105.752414037 meters Centerline goodness [0,1] 0.6948300559968745 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99977217 -0.01969502 -0.00822912 1.27987529] [ 0.01975791 0.99977567 0.00763174 0.15686361] [ 0.00807696 -0.00779259 0.99993702 -0.37555515] [ 0. 0. 0. 1. ]] SLAMing on 105.782414037 meters Centerline goodness [0,1] 0.7029172196632576 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99977506 -0.01944661 -0.00846465 1.28075679] [ 0.01951095 0.99978086 0.00758633 0.15721698] [ 0.00831526 -0.00774978 0.9999354 -0.37582592] [ 0. 0. 0. 1. ]] SLAMing on 105.812414037 meters Centerline goodness [0,1] 0.7037914691943128 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99977967 -0.01913719 -0.008624 1.28176562] [ 0.01920122 0.99978823 0.00740391 0.15835379] [ 0.00848049 -0.00756787 0.9999354 -0.37635836] [ 0. 0. 0. 1. ]] SLAMing on 105.84241403699998 meters Centerline goodness [0,1] 0.7006534239414532 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.9997823 -0.01892077 -0.00879503 1.28235776] [ 0.01898446 0.99979374 0.00721607 0.15931978] [ 0.00865668 -0.00738146 0.99993529 -0.37635846] [ 0. 0. 0. 1. ]] SLAMing on 105.87241403699998 meters Centerline goodness [0,1] 0.7062043317706833 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99978349 -0.01872273 -0.00907905 1.28299422] [ 0.01878593 0.99979954 0.00692665 0.16078442] [ 0.00894755 -0.00709571 0.99993479 -0.37611189] [ 0. 0. 0. 1. ]] SLAMing on 105.90241403699999 meters Centerline goodness [0,1] 0.7062043317706833 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99978349 -0.01872273 -0.00907905 1.28299422] [ 0.01878593 0.99979954 0.00692665 0.16078442] [ 0.00894755 -0.00709571 0.99993479 -0.37611189] [ 0. 0. 0. 1. ]] SLAMing on 105.93241403699999 meters Centerline goodness [0,1] 0.7073075011119542 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.37 [[ 0.99979726 -0.01779839 -0.00941608 1.28398304] [ 0.01785538 0.99982255 0.00600405 0.16456564] [ 0.00930755 -0.00617096 0.99993764 -0.37477886] [ 0. 0. 0. 1. ]] SLAMing on 105.96241403699999 meters Centerline goodness [0,1] 0.7126745011436233 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.37 [[ 0.99985404 -0.0145165 -0.00900913 1.28247151] [ 0.01460372 0.99984639 0.00969207 0.16429443] [ 0.00886705 -0.00982222 0.99991245 -0.37453618] [ 0. 0. 0. 1. ]] SLAMing on 105.99241403699999 meters Centerline goodness [0,1] 0.7230174183023733 Centerline is valid? [False, False] Translation: X:1.28, Y:0.17, Z:-0.37 [[ 0.99986353 -0.01369255 -0.00924323 1.28353292] [ 0.01377866 0.99986165 0.00931847 0.16640307] [ 0.00911436 -0.00944456 0.99991386 -0.37425249] [ 0. 0. 0. 1. ]] SLAMing on 106.02241403699999 meters Centerline goodness [0,1] 0.715227075041514 Centerline is valid? [False, False] Translation: X:1.28, Y:0.17, Z:-0.37 [[ 0.99986633 -0.01336577 -0.00941735 1.28427131] [ 0.01345265 0.99986697 0.00922276 0.16680034] [ 0.00929283 -0.00934822 0.99991312 -0.37433991] [ 0. 0. 0. 1. ]] SLAMing on 106.05241403699999 meters Centerline goodness [0,1] 0.7291864014314282 Centerline is valid? [False, False] Translation: X:1.29, Y:0.17, Z:-0.38 [[ 0.99987554 -0.0122028 -0.0100003 1.28698793] [ 0.01230053 0.99987661 0.00977033 0.16683697] [ 0.00987984 -0.00989212 0.99990226 -0.37572012] [ 0. 0. 0. 1. ]] SLAMing on 106.08241403699999 meters Centerline goodness [0,1] 0.7319693769799367 Centerline is valid? [False, False] Translation: X:1.29, Y:0.17, Z:-0.38 [[ 0.99988062 -0.01153872 -0.01027672 1.28871931] [ 0.01164245 0.9998813 0.0100918 0.16758422] [ 0.01015905 -0.01021024 0.99989627 -0.37692779] [ 0. 0. 0. 1. ]] SLAMing on 106.112414037 meters Centerline goodness [0,1] 0.7333262952308057 Centerline is valid? [False, False] Translation: X:1.29, Y:0.17, Z:-0.38 [[ 0.99988448 -0.01082502 -0.01066984 1.29083556] [ 0.0109364 0.99988573 0.01043612 0.16857891] [ 0.01055565 -0.01055161 0.99988861 -0.3783123 ] [ 0. 0. 0. 1. ]] SLAMing on 106.142414037 meters Centerline goodness [0,1] 0.7267690023595536 Centerline is valid? [False, False] Translation: X:1.29, Y:0.17, Z:-0.38 [[ 0.99989061 -0.00989957 -0.01098933 1.29299572] [ 0.01001753 0.99989224 0.01073084 0.17034944] [ 0.01088191 -0.01083975 0.99988203 -0.37978571] [ 0. 0. 0. 1. ]] SLAMing on 106.172414037 meters Centerline goodness [0,1] 0.7255451301704771 Centerline is valid? [False, False] Translation: X:1.29, Y:0.17, Z:-0.38 [[ 0.99989013 -0.00985757 -0.0110703 1.29319595] [ 0.00997386 0.99989514 0.01049878 0.17033485] [ 0.01096565 -0.01060804 0.99988361 -0.37953707] [ 0. 0. 0. 1. ]] SLAMing on 106.202414037 meters Centerline goodness [0,1] 0.7487197085687134 Centerline is valid? [False, False] Translation: X:1.29, Y:0.17, Z:-0.38 [[ 0.99988725 -0.01045821 -0.01077515 1.29125608] [ 0.01056152 0.99989837 0.00957655 0.1701209 ] [ 0.0106739 -0.00968927 0.99989609 -0.37742208] [ 0. 0. 0. 1. ]] SLAMing on 106.23241403699998 meters Centerline goodness [0,1] 0.7327959830866808 Centerline is valid? [False, False] Translation: X:1.29, Y:0.17, Z:-0.38 [[ 0.99988393 -0.01079464 -0.01075178 1.29034347] [ 0.01088988 0.99990163 0.00883962 0.17090657] [ 0.0106553 -0.00895568 0.99990313 -0.37595453] [ 0. 0. 0. 1. ]] SLAMing on 106.26241403699999 meters Centerline goodness [0,1] 0.7301373481246698 Centerline is valid? [False, False] Translation: X:1.29, Y:0.17, Z:-0.37 [[ 0.99988093 -0.01092281 -0.01090019 1.2901228 ] [ 0.01101188 0.99990619 0.00814587 0.17201673] [ 0.01081019 -0.00826494 0.99990741 -0.37473478] [ 0. 0. 0. 1. ]] SLAMing on 106.29241403699999 meters Centerline goodness [0,1] 0.7381071871945905 Centerline is valid? [False, False] Translation: X:1.29, Y:0.17, Z:-0.37 [[ 0.99988134 -0.01032753 -0.01143054 1.29118027] [ 0.01041442 0.99991713 0.00756848 0.17385508] [ 0.01135143 -0.00768662 0.99990603 -0.37357513] [ 0. 0. 0. 1. ]] SLAMing on 106.32241403699999 meters Centerline goodness [0,1] 0.7457437752713343 Centerline is valid? [False, False] Translation: X:1.29, Y:0.17, Z:-0.37 [[ 0.9998877 -0.0088017 -0.01212923 1.29389305] [ 0.00890136 0.99992687 0.00818697 0.17447855] [ 0.01205628 -0.00829401 0.99989292 -0.37428889] [ 0. 0. 0. 1. ]] SLAMing on 106.35241403699999 meters Centerline goodness [0,1] 0.7649250751909717 Centerline is valid? [False, False] Translation: X:1.30, Y:0.17, Z:-0.37 [[ 0.99988665 -0.00800579 -0.01275145 1.29598582] [ 0.00811228 0.99993247 0.00832173 0.17476708] [ 0.01268396 -0.00842423 0.99988407 -0.37465887] [ 0. 0. 0. 1. ]] SLAMing on 106.38241403699999 meters Centerline goodness [0,1] 0.7719861922464153 Centerline is valid? [False, False] Translation: X:1.30, Y:0.18, Z:-0.37 [[ 0.99988324 -0.00738789 -0.01337593 1.29774125] [ 0.00749681 0.999939 0.00811113 0.17584001] [ 0.01331519 -0.00821046 0.99987764 -0.37452889] [ 0. 0. 0. 1. ]] SLAMing on 106.41241403699999 meters Centerline goodness [0,1] 0.7979300938678362 Centerline is valid? [False, False] Translation: X:1.30, Y:0.18, Z:-0.37 [[ 0.99990841 -0.00387686 -0.01296703 1.29625852] [ 0.00402664 0.99992524 0.01154527 0.17664506] [ 0.0129213 -0.01159642 0.99984927 -0.37388095] [ 0. 0. 0. 1. ]] SLAMing on 106.44241403699999 meters Centerline goodness [0,1] 0.7724640388567159 Centerline is valid? [False, False] Translation: X:1.30, Y:0.18, Z:-0.37 [[ 0.99990716 -0.00387571 -0.01306297 1.29634199] [ 0.00401993 0.99993106 0.01103221 0.17738795] [ 0.01301932 -0.0110837 0.99985381 -0.37328558] [ 0. 0. 0. 1. ]] SLAMing on 106.472414037 meters Centerline goodness [0,1] 0.7912369073318941 Centerline is valid? [False, False] Translation: X:1.30, Y:0.18, Z:-0.37 [[ 0.99990908 -0.00395317 -0.01289206 1.29583867] [ 0.00409457 0.99993156 0.01095956 0.17596369] [ 0.01284785 -0.01101135 0.99985683 -0.37298363] [ 0. 0. 0. 1. ]] SLAMing on 106.502414037 meters Centerline goodness [0,1] 0.7878900643240657 Centerline is valid? [False, False] Translation: X:1.30, Y:0.17, Z:-0.37 [[ 0.9999083 -0.00400516 -0.01293629 1.29551802] [ 0.0041451 0.99993299 0.01080873 0.17475745] [ 0.01289213 -0.01086136 0.9998579 -0.3721837 ] [ 0. 0. 0. 1. ]] SLAMing on 106.532414037 meters Centerline goodness [0,1] 0.7816892053455193 Centerline is valid? [False, False] Translation: X:1.30, Y:0.17, Z:-0.37 [[ 0.99990701 -0.00415887 -0.01298779 1.29511679] [ 0.00429588 0.99993523 0.01053922 0.17418353] [ 0.01294311 -0.01059403 0.99986011 -0.37133126] [ 0. 0. 0. 1. ]] SLAMing on 106.562414037 meters Centerline goodness [0,1] 0.7998145695364238 Centerline is valid? [False, False] Translation: X:1.30, Y:0.17, Z:-0.37 [[ 0.9999038 -0.00388629 -0.01331478 1.29568044] [ 0.00402847 0.99993498 0.01066827 0.17300191] [ 0.01327246 -0.01072089 0.99985444 -0.37077223] [ 0. 0. 0. 1. ]] SLAMing on 106.59241403699998 meters Centerline goodness [0,1] 0.7967755621552821 Centerline is valid? [False, False] Translation: X:1.30, Y:0.17, Z:-0.37 [[ 0.9999021 -0.0038551 -0.01345064 1.29589976] [ 0.00399823 0.99993551 0.01063014 0.17274563] [ 0.01340879 -0.01068288 0.99985303 -0.37054116] [ 0. 0. 0. 1. ]] SLAMing on 106.62241403699998 meters Centerline goodness [0,1] 0.7956713617504823 Centerline is valid? [False, False] Translation: X:1.30, Y:0.17, Z:-0.37 [[ 0.9998962 -0.00302621 -0.01408634 1.29764337] [ 0.00318543 0.99993114 0.01129445 0.17079704] [ 0.01405119 -0.01133815 0.99983699 -0.37067542] [ 0. 0. 0. 1. ]] SLAMing on 106.65241403699999 meters Centerline goodness [0,1] 0.8059827928524156 Centerline is valid? [False, False] Translation: X:1.30, Y:0.17, Z:-0.37 [[ 0.99989355 -0.00250988 -0.01437287 1.29887666] [ 0.00267858 0.99992762 0.01172966 0.16962076] [ 0.01434239 -0.01176691 0.9998279 -0.37131905] [ 0. 0. 0. 1. ]] SLAMing on 106.68241403699999 meters Centerline goodness [0,1] 0.8091328071197754 Centerline is valid? [False, False] Translation: X:1.30, Y:0.17, Z:-0.37 [[ 0.99988856 -0.00180251 -0.01481977 1.30069091] [ 0.00198457 0.99992264 0.01227928 0.16828103] [ 0.01479649 -0.01230732 0.99981478 -0.37219645] [ 0. 0. 0. 1. ]] SLAMing on 106.71241403699999 meters Centerline goodness [0,1] 0.8105293683433512 Centerline is valid? [False, False] Translation: X:1.30, Y:0.17, Z:-0.37 [[ 0.99988086 -0.00264941 -0.0152067 1.30432573] [ 0.00279949 0.9999475 0.00985663 0.16764624] [ 0.01517979 -0.00989803 0.99983579 -0.3736715 ] [ 0. 0. 0. 1. ]] SLAMing on 106.74241403699999 meters Centerline goodness [0,1] 0.7464421429103644 Centerline is valid? [False, False] Translation: X:1.36, Y:0.17, Z:-0.37 [[ 0.999866 -0.00513159 -0.01554504 1.3556893 ] [ 0.0052134 0.99997275 0.00522674 0.16845689] [ 0.01551779 -0.00530708 0.99986551 -0.36919906] [ 0. 0. 0. 1. ]] SLAMing on 106.77241403699999 meters Centerline goodness [0,1] 0.8130151958073266 Centerline is valid? [False, False] Translation: X:1.28, Y:0.17, Z:-0.37 [[ 0.99993536 -0.00170359 -0.01124139 1.28013777] [ 0.0017439 0.99999208 0.00357667 0.1690662 ] [ 0.01123521 -0.00359604 0.99993042 -0.37116569] [ 0. 0. 0. 1. ]] SLAMing on 106.80241403699999 meters Centerline goodness [0,1] 0.8144460249723408 Centerline is valid? [False, False] Translation: X:1.28, Y:0.17, Z:-0.37 [[ 9.99932090e-01 -1.26229821e-03 -1.15853799e-02 1.28026073e+00] [ 1.30474120e-03 9.99992463e-01 3.65666904e-03 1.67566376e-01] [ 1.15806767e-02 -3.67153664e-03 9.99926201e-01 -3.69859394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83241403699999 meters Centerline goodness [0,1] 0.8158704283122551 Centerline is valid? [False, False] Translation: X:1.28, Y:0.17, Z:-0.37 [[ 9.99929380e-01 -9.27773651e-04 -1.18479281e-02 1.28083357e+00] [ 9.73439954e-04 9.99992118e-01 3.84918540e-03 1.66296076e-01] [ 1.18442635e-02 -3.86044682e-03 9.99922402e-01 -3.69595542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.862414037 meters Centerline goodness [0,1] 0.8181865896863929 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.37 [[ 9.99923477e-01 -1.56881970e-04 -1.23699760e-02 1.28235610e+00] [ 2.15536647e-04 9.99988741e-01 4.74050629e-03 1.63146358e-01] [ 1.23690931e-02 -4.74280972e-03 9.99912252e-01 -3.69982287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.892414037 meters Centerline goodness [0,1] 0.8165067882790795 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.37 [[ 9.99921645e-01 3.42945200e-05 -1.25180657e-02 1.28292146e+00] [ 2.92815561e-05 9.99987104e-01 5.07852740e-03 1.61619681e-01] [ 1.25180784e-02 -5.07849602e-03 9.99908749e-01 -3.70243520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.922414037 meters Centerline goodness [0,1] 0.8163099785463869 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.37 [[ 9.99920978e-01 7.19379265e-05 -1.25711192e-02 1.28300087e+00] [-4.32376360e-06 9.99985536e-01 5.37847611e-03 1.59915784e-01] [ 1.25713243e-02 -5.37799673e-03 9.99906515e-01 -3.70256084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.952414037 meters Centerline goodness [0,1] 0.812309456184694 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.37 [[ 9.99921901e-01 -1.87367487e-04 -1.24962564e-02 1.28175340e+00] [ 2.55295987e-04 9.99985200e-01 5.43453434e-03 1.56573173e-01] [ 1.24950532e-02 -5.43730015e-03 9.99907150e-01 -3.68783256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98241403699998 meters Centerline goodness [0,1] 0.8150089524353219 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.37 [[ 9.99923694e-01 -8.40924204e-04 -1.23247474e-02 1.27979415e+00] [ 9.05287289e-04 9.99985978e-01 5.21761588e-03 1.53746454e-01] [ 1.23201869e-02 -5.22837519e-03 9.99910435e-01 -3.66702610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01241403699999 meters Centerline goodness [0,1] 0.811405664037243 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.37 [[ 9.99923036e-01 -1.00649620e-03 -1.23656376e-02 1.27944612e+00] [ 1.07361859e-03 9.99984721e-01 5.42269948e-03 1.51553780e-01] [ 1.23599907e-02 -5.43555811e-03 9.99908839e-01 -3.66196223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04241403699999 meters Centerline goodness [0,1] 0.7974174592128663 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.37 [[ 9.99922943e-01 -1.21222625e-03 -1.23547256e-02 1.27917208e+00] [ 1.28169203e-03 9.99983407e-01 5.61624199e-03 1.49472040e-01] [ 1.23477125e-02 -5.63164417e-03 9.99907905e-01 -3.65984113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07241403699999 meters Centerline goodness [0,1] 0.7866461617326669 Centerline is valid? [False, False] Translation: X:1.28, Y:0.14, Z:-0.37 [[ 9.99921326e-01 -8.93497608e-04 -1.25117157e-02 1.27978869e+00] [ 9.75952956e-04 9.99977838e-01 6.58569689e-03 1.44830306e-01] [ 1.25055541e-02 -6.59738961e-03 9.99900038e-01 -3.66508290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10241403699999 meters Centerline goodness [0,1] 0.8031315346559902 Centerline is valid? [False, False] Translation: X:1.28, Y:0.14, Z:-0.37 [[ 0.99990648 -0.0035403 -0.0132099 1.28202701] [ 0.00358048 0.99998903 0.00301894 0.14456592] [ 0.01319907 -0.00306595 0.99990819 -0.36639695] [ 0. 0. 0. 1. ]] SLAMing on 107.13241403699999 meters Centerline goodness [0,1] 0.8042676568580076 Centerline is valid? [False, False] Translation: X:1.28, Y:0.14, Z:-0.37 [[ 0.99990424 -0.00344599 -0.01340254 1.28195025] [ 0.00349363 0.99998766 0.00353214 0.14099511] [ 0.0133902 -0.00357862 0.99990394 -0.36579787] [ 0. 0. 0. 1. ]] SLAMing on 107.16241403699999 meters Centerline goodness [0,1] 0.8045632400020326 Centerline is valid? [False, False] Translation: X:1.28, Y:0.14, Z:-0.37 [[ 0.99990299 -0.00311154 -0.0135771 1.28244227] [ 0.0031649 0.99998734 0.00391081 0.13959235] [ 0.01356476 -0.0039534 0.99990018 -0.36579267] [ 0. 0. 0. 1. ]] SLAMing on 107.19241403699999 meters Centerline goodness [0,1] 0.8027948348621535 Centerline is valid? [False, False] Translation: X:1.28, Y:0.14, Z:-0.37 [[ 0.99990174 -0.00303137 -0.01368653 1.2823489 ] [ 0.00308508 0.99998762 0.0039044 0.13848538] [ 0.01367453 -0.00394625 0.99989871 -0.36510954] [ 0. 0. 0. 1. ]] SLAMing on 107.222414037 meters Centerline goodness [0,1] 0.8040636042402827 Centerline is valid? [False, False] Translation: X:1.28, Y:0.14, Z:-0.36 [[ 0.99990124 -0.00259312 -0.01381227 1.28206144] [ 0.00265558 0.99998632 0.00450559 0.13551846] [ 0.0138004 -0.00454183 0.99989445 -0.36421203] [ 0. 0. 0. 1. ]] SLAMing on 107.252414037 meters Centerline goodness [0,1] 0.8014530279795873 Centerline is valid? [False, False] Translation: X:1.28, Y:0.13, Z:-0.36 [[ 0.99989907 -0.00216077 -0.01404188 1.28286704] [ 0.00223121 0.999985 0.00500208 0.13353873] [ 0.01403087 -0.00503291 0.9998889 -0.36444395] [ 0. 0. 0. 1. ]] SLAMing on 107.282414037 meters Centerline goodness [0,1] 0.799658737328114 Centerline is valid? [False, False] Translation: X:1.28, Y:0.13, Z:-0.36 [[ 0.9998976 -0.00188234 -0.01418628 1.28318457] [ 0.00196441 0.9999814 0.00577362 0.12999955] [ 0.01417515 -0.0058009 0.9998827 -0.36457888] [ 0. 0. 0. 1. ]] SLAMing on 107.312414037 meters Centerline goodness [0,1] 0.8005001875703389 Centerline is valid? [False, False] Translation: X:1.28, Y:0.13, Z:-0.36 [[ 0.99989644 -0.00203422 -0.01424647 1.28318232] [ 0.00211831 0.99998041 0.00588987 0.12869381] [ 0.0142342 -0.00591943 0.99988117 -0.36448972] [ 0. 0. 0. 1. ]] SLAMing on 107.34241403699998 meters Centerline goodness [0,1] 0.7974816107717242 Centerline is valid? [False, False] Translation: X:1.28, Y:0.13, Z:-0.36 [[ 0.99989526 -0.00218032 -0.01430792 1.28318426] [ 0.00226761 0.9999789 0.00608766 0.1270238 ] [ 0.01429434 -0.00611947 0.9998791 -0.36444938] [ 0. 0. 0. 1. ]] SLAMing on 107.37241403699998 meters Centerline goodness [0,1] 0.7967249720878303 Centerline is valid? [False, False] Translation: X:1.28, Y:0.12, Z:-0.36 [[ 0.99987664 -0.0057647 -0.01461047 1.28424372] [ 0.00580608 0.99997925 0.0027918 0.12474194] [ 0.01459408 -0.00287629 0.99988936 -0.36483688] [ 0. 0. 0. 1. ]] SLAMing on 107.40241403699999 meters Centerline goodness [0,1] 0.7974889617917664 Centerline is valid? [False, False] Translation: X:1.28, Y:0.12, Z:-0.36 [[ 0.9998768 -0.00624541 -0.01440077 1.28353296] [ 0.00628872 0.99997583 0.00296442 0.12246412] [ 0.01438191 -0.00305461 0.99989191 -0.36475247] [ 0. 0. 0. 1. ]] SLAMing on 107.43241403699999 meters Centerline goodness [0,1] 0.791072566024793 Centerline is valid? [False, False] Translation: X:1.28, Y:0.12, Z:-0.36 [[ 9.99842624e-01 -1.04035604e-02 -1.43698553e-02 1.28293944e+00] [ 1.03924482e-02 9.99945638e-01 -8.47760147e-04 1.20642963e-01] [ 1.43778939e-02 6.98288753e-04 9.99896389e-01 -3.63838391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46241403699999 meters Centerline goodness [0,1] 0.783137235756481 Centerline is valid? [False, False] Translation: X:1.28, Y:0.12, Z:-0.36 [[ 9.99838267e-01 -1.08735587e-02 -1.43249705e-02 1.28231596e+00] [ 1.08665600e-02 9.99940797e-01 -5.66312933e-04 1.18789930e-01] [ 1.43302803e-02 4.10558190e-04 9.99897232e-01 -3.63557915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49241403699999 meters Centerline goodness [0,1] 0.7628463322348347 Centerline is valid? [False, False] Translation: X:1.28, Y:0.12, Z:-0.36 [[ 9.99833809e-01 -1.15635248e-02 -1.40939781e-02 1.28100285e+00] [ 1.15572073e-02 9.99933073e-01 -5.29604290e-04 1.17271515e-01] [ 1.40991589e-02 3.66629247e-04 9.99900535e-01 -3.62883842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52241403699999 meters Centerline goodness [0,1] 0.7762346428397999 Centerline is valid? [False, False] Translation: X:1.28, Y:0.12, Z:-0.36 [[ 0.99977307 -0.01596235 -0.01410738 1.28049982] [ 0.01590159 0.99986384 -0.00440876 0.11582439] [ 0.01417583 0.00418343 0.99989077 -0.36209141] [ 0. 0. 0. 1. ]] SLAMing on 107.55241403699999 meters Centerline goodness [0,1] 0.7637313684413302 Centerline is valid? [False, False] Translation: X:1.28, Y:0.11, Z:-0.36 [[ 0.99969863 -0.02004789 -0.0141679 1.28116184] [ 0.01994169 0.99977227 -0.00759816 0.11321651] [ 0.014317 0.00731333 0.99987076 -0.36295329] [ 0. 0. 0. 1. ]] SLAMing on 107.58241403699999 meters Centerline goodness [0,1] 0.7423786723129857 Centerline is valid? [False, False] Translation: X:1.28, Y:0.11, Z:-0.36 [[ 0.99969438 -0.02039493 -0.01397115 1.28100442] [ 0.02029939 0.99976982 -0.0069463 0.11113885] [ 0.0141096 0.00666058 0.99987827 -0.3638514 ] [ 0. 0. 0. 1. ]] SLAMing on 107.612414037 meters Centerline goodness [0,1] 0.7339390006489293 Centerline is valid? [False, False] Translation: X:1.28, Y:0.11, Z:-0.36 [[ 0.9996924 -0.02058971 -0.01382609 1.28105564] [ 0.02050352 0.99976963 -0.00634714 0.10938291] [ 0.01395359 0.0060617 0.99988427 -0.36475641] [ 0. 0. 0. 1. ]] SLAMing on 107.642414037 meters Centerline goodness [0,1] 0.734854841416345 Centerline is valid? [False, False] Translation: X:1.28, Y:0.11, Z:-0.37 [[ 0.99969164 -0.02071693 -0.0136907 1.28125874] [ 0.02063833 0.99976985 -0.00585754 0.10833339] [ 0.0138089 0.00557318 0.99988912 -0.36572068] [ 0. 0. 0. 1. ]] SLAMing on 107.672414037 meters Centerline goodness [0,1] 0.7125087049444084 Centerline is valid? [False, False] Translation: X:1.28, Y:0.11, Z:-0.37 [[ 0.99968513 -0.02118025 -0.01345528 1.28112257] [ 0.02110415 0.99976061 -0.00577305 0.10896266] [ 0.01357433 0.00548727 0.99989281 -0.3665924 ] [ 0. 0. 0. 1. ]] SLAMing on 107.702414037 meters Centerline goodness [0,1] 0.7026051814967165 Centerline is valid? [False, False] Translation: X:1.28, Y:0.11, Z:-0.37 [[ 0.99970955 -0.02021141 -0.01312679 1.27828512] [ 0.02016118 0.99978895 -0.00394812 0.10946633] [ 0.01320381 0.00368233 0.99990605 -0.36503622] [ 0. 0. 0. 1. ]] SLAMing on 107.73241403699998 meters Centerline goodness [0,1] 0.688556832082124 Centerline is valid? [False, False] Translation: X:1.28, Y:0.11, Z:-0.37 [[ 0.99970723 -0.02033373 -0.01311466 1.27852666] [ 0.02028542 0.99978698 -0.00380694 0.10934804] [ 0.01318927 0.00353979 0.99990675 -0.36560715] [ 0. 0. 0. 1. ]] SLAMing on 107.76241403699999 meters Centerline goodness [0,1] 0.6998456790123457 Centerline is valid? [False, False] Translation: X:1.28, Y:0.11, Z:-0.37 [[ 0.99970596 -0.02048328 -0.0129781 1.27881303] [ 0.02043702 0.99978434 -0.00368672 0.10948936] [ 0.01305082 0.0034204 0.99990898 -0.36654322] [ 0. 0. 0. 1. ]] SLAMing on 107.79241403699999 meters Centerline goodness [0,1] 0.6998456790123457 Centerline is valid? [False, False] Translation: X:1.28, Y:0.11, Z:-0.37 [[ 0.99970596 -0.02048328 -0.0129781 1.27881303] [ 0.02043702 0.99978434 -0.00368672 0.10948936] [ 0.01305082 0.0034204 0.99990898 -0.36654322] [ 0. 0. 0. 1. ]] SLAMing on 107.82241403699999 meters Centerline goodness [0,1] 0.6870009889765298 Centerline is valid? [False, False] Translation: X:1.28, Y:0.11, Z:-0.37 [[ 0.99969512 -0.02109197 -0.012837 1.27919319] [ 0.021041 0.99977024 -0.00409297 0.11209111] [ 0.01292038 0.00382162 0.99990923 -0.36775198] [ 0. 0. 0. 1. ]] SLAMing on 107.85241403699999 meters Centerline goodness [0,1] 0.6809242394884713 Centerline is valid? [False, False] Translation: X:1.28, Y:0.11, Z:-0.37 [[ 9.99748521e-01 -1.88182767e-02 -1.21970233e-02 1.27701997e+00] [ 1.88104615e-02 9.99822782e-01 -7.55158852e-04 1.12386494e-01] [ 1.22090725e-02 5.25537309e-04 9.99925328e-01 -3.67800156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88241403699999 meters Centerline goodness [0,1] 0.6953408509705545 Centerline is valid? [False, False] Translation: X:1.28, Y:0.12, Z:-0.37 [[ 0.99973806 -0.01948301 -0.01200951 1.27669219] [ 0.01946378 0.99980909 -0.00171625 0.11677092] [ 0.01204065 0.00148205 0.99992641 -0.36797338] [ 0. 0. 0. 1. ]] SLAMing on 107.91241403699999 meters Centerline goodness [0,1] 0.7080962266455 Centerline is valid? [False, False] Translation: X:1.28, Y:0.12, Z:-0.37 [[ 0.99973565 -0.01960134 -0.01201729 1.27692068] [ 0.01957789 0.9998062 -0.00206577 0.11859702] [ 0.01205545 0.00182995 0.99992566 -0.36822327] [ 0. 0. 0. 1. ]] SLAMing on 107.94241403699999 meters Centerline goodness [0,1] 0.6977143839147619 Centerline is valid? [False, False] Translation: X:1.28, Y:0.12, Z:-0.37 [[ 0.99972624 -0.02014621 -0.01189858 1.2764256 ] [ 0.02011147 0.99979315 -0.00303235 0.12164787] [ 0.01195721 0.00279222 0.99992461 -0.36785841] [ 0. 0. 0. 1. ]] SLAMing on 107.972414037 meters Centerline goodness [0,1] 0.6952751855389816 Centerline is valid? [False, False] Translation: X:1.28, Y:0.12, Z:-0.37 [[ 0.99972441 -0.02014837 -0.01204801 1.27703984] [ 0.02011124 0.99979264 -0.00319474 0.12310696] [ 0.01210988 0.00295156 0.99992232 -0.36823406] [ 0. 0. 0. 1. ]] SLAMing on 108.002414037 meters Centerline goodness [0,1] 0.7001110973953832 Centerline is valid? [False, False] Translation: X:1.28, Y:0.12, Z:-0.37 [[ 9.99783050e-01 -1.73693715e-02 -1.14959998e-02 1.27531968e+00] [ 1.73753712e-02 9.99848948e-01 4.22216056e-04 1.23493573e-01] [ 1.14869297e-02 -6.21871720e-04 9.99933830e-01 -3.68516577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.032414037 meters Centerline goodness [0,1] 0.6952234283017462 Centerline is valid? [False, False] Translation: X:1.27, Y:0.13, Z:-0.37 [[ 0.99983256 -0.01463817 -0.01098051 1.27432561] [ 0.01467806 0.99988593 0.0035613 0.12707773] [ 0.01092713 -0.00372188 0.99993337 -0.36946263] [ 0. 0. 0. 1. ]] SLAMing on 108.062414037 meters Centerline goodness [0,1] 0.6953889843808385 Centerline is valid? [False, False] Translation: X:1.27, Y:0.13, Z:-0.37 [[ 0.99983174 -0.01469663 -0.01097759 1.27487439] [ 0.01473345 0.99988607 0.00328095 0.1290467 ] [ 0.01092812 -0.00344213 0.99993436 -0.37013074] [ 0. 0. 0. 1. ]] SLAMing on 108.09241403699998 meters Centerline goodness [0,1] 0.656292894756545 Centerline is valid? [False, False] Translation: X:1.27, Y:0.13, Z:-0.37 [[ 0.99982706 -0.01537098 -0.01046814 1.27437886] [ 0.01540179 0.99987727 0.00286865 0.1308597 ] [ 0.01042277 -0.00302938 0.99994109 -0.37123956] [ 0. 0. 0. 1. ]] SLAMing on 108.12241403699998 meters Centerline goodness [0,1] 0.671900743921314 Centerline is valid? [False, False] Translation: X:1.27, Y:0.13, Z:-0.37 [[ 0.99982651 -0.0155575 -0.01024315 1.274343 ] [ 0.01558907 0.99987395 0.00300922 0.1306338 ] [ 0.01019504 -0.00316838 0.99994301 -0.37205408] [ 0. 0. 0. 1. ]] SLAMing on 108.15241403699999 meters Centerline goodness [0,1] 0.6795361971162256 Centerline is valid? [False, False] Translation: X:1.27, Y:0.13, Z:-0.37 [[ 0.9998229 -0.01587604 -0.01010514 1.27435444] [ 0.01590545 0.99986948 0.00283638 0.13125959] [ 0.01005879 -0.0029966 0.99994492 -0.37258202] [ 0. 0. 0. 1. ]] SLAMing on 108.18241403699999 meters Centerline goodness [0,1] 0.6895216057145732 Centerline is valid? [False, False] Translation: X:1.28, Y:0.13, Z:-0.37 [[ 0.99982 -0.01601078 -0.01017962 1.27543133] [ 0.01603974 0.99986752 0.00277031 0.13426046] [ 0.01013392 -0.00293309 0.99994435 -0.37405927] [ 0. 0. 0. 1. ]] SLAMing on 108.21241403699999 meters Centerline goodness [0,1] 0.6760431436094794 Centerline is valid? [False, False] Translation: X:1.28, Y:0.14, Z:-0.37 [[ 0.9998193 -0.01600291 -0.01026009 1.27606342] [ 0.01603032 0.99986814 0.00259445 0.1360554 ] [ 0.01021722 -0.00275845 0.999944 -0.37461274] [ 0. 0. 0. 1. ]] SLAMing on 108.24241403699999 meters Centerline goodness [0,1] 0.6699891219104961 Centerline is valid? [False, False] Translation: X:1.28, Y:0.14, Z:-0.37 [[ 0.99981639 -0.01616357 -0.01029248 1.27615811] [ 0.01618762 0.99986642 0.00225763 0.13760793] [ 0.01025462 -0.00242382 0.99994448 -0.37462295] [ 0. 0. 0. 1. ]] SLAMing on 108.27241403699999 meters Centerline goodness [0,1] 0.6733869943884417 Centerline is valid? [False, False] Translation: X:1.28, Y:0.14, Z:-0.37 [[ 0.99981436 -0.01620751 -0.01041965 1.27637653] [ 0.01622697 0.99986674 0.0017858 0.13983302] [ 0.01038932 -0.00195455 0.99994412 -0.37439645] [ 0. 0. 0. 1. ]] SLAMing on 108.30241403699999 meters Centerline goodness [0,1] 0.6904409890390008 Centerline is valid? [False, False] Translation: X:1.28, Y:0.14, Z:-0.37 [[ 0.99981492 -0.01601883 -0.0106544 1.27719887] [ 0.01603885 0.99986976 0.00179574 0.14065853] [ 0.01062425 -0.00196629 0.99994163 -0.37475871] [ 0. 0. 0. 1. ]] SLAMing on 108.33241403699999 meters Centerline goodness [0,1] 0.6806870677113908 Centerline is valid? [False, False] Translation: X:1.28, Y:0.14, Z:-0.38 [[ 0.99982292 -0.01516675 -0.01114027 1.27928162] [ 0.01518768 0.99988305 0.00179716 0.14327292] [ 0.01111171 -0.00196604 0.99993633 -0.3755799 ] [ 0. 0. 0. 1. ]] SLAMing on 108.362414037 meters Centerline goodness [0,1] 0.6801670996994242 Centerline is valid? [False, False] Translation: X:1.28, Y:0.14, Z:-0.38 [[ 0.999826 -0.0145966 -0.01161467 1.28101028] [ 0.01462025 0.99989121 0.00195397 0.14444247] [ 0.01158489 -0.00212344 0.99993064 -0.37626666] [ 0. 0. 0. 1. ]] SLAMing on 108.392414037 meters Centerline goodness [0,1] 0.6911787345409761 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.38 [[ 0.99986859 -0.01193476 -0.01097062 1.27887139] [ 0.01199207 0.99991471 0.00517247 0.14579024] [ 0.01090795 -0.00530335 0.99992644 -0.37612428] [ 0. 0. 0. 1. ]] SLAMing on 108.422414037 meters Centerline goodness [0,1] 0.6916917690069772 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.38 [[ 0.99986685 -0.0121158 -0.01093101 1.27866598] [ 0.01216861 0.99991455 0.00477758 0.14695516] [ 0.0108722 -0.00490996 0.99992884 -0.37588078] [ 0. 0. 0. 1. ]] SLAMing on 108.452414037 meters Centerline goodness [0,1] 0.688366718027735 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.38 [[ 0.99986663 -0.0121108 -0.01095707 1.27879812] [ 0.0121616 0.99991555 0.00458173 0.14722385] [ 0.01090065 -0.00471437 0.99992947 -0.37578554] [ 0. 0. 0. 1. ]] SLAMing on 108.48241403699998 meters Centerline goodness [0,1] 0.6881598599165679 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.37 [[ 0.99986173 -0.01234039 -0.01114588 1.27871685] [ 0.01238437 0.99991576 0.00388492 0.14914804] [ 0.011097 -0.00402241 0.99993034 -0.37491493] [ 0. 0. 0. 1. ]] SLAMing on 108.51241403699999 meters Centerline goodness [0,1] 0.6831467022806657 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.37 [[ 0.9998603 -0.01221436 -0.01141016 1.27923628] [ 0.01225799 0.99991779 0.0037618 0.15009071] [ 0.01136327 -0.00390114 0.99992783 -0.37469435] [ 0. 0. 0. 1. ]] SLAMing on 108.54241403699999 meters Centerline goodness [0,1] 0.6758998475491589 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.37 [[ 0.99985839 -0.01232988 -0.01145316 1.27929556] [ 0.01236955 0.99991772 0.00339935 0.15126078] [ 0.0114103 -0.00354054 0.99992863 -0.37450603] [ 0. 0. 0. 1. ]] SLAMing on 108.57241403699999 meters Centerline goodness [0,1] 0.6926773810139011 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.38 [[ 0.99986147 -0.01189265 -0.01164505 1.28057001] [ 0.01193804 0.99992138 0.00383559 0.15099792] [ 0.01159852 -0.00397407 0.99992484 -0.37556584] [ 0. 0. 0. 1. ]] SLAMing on 108.60241403699999 meters Centerline goodness [0,1] 0.6840308313072267 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.38 [[ 0.99986342 -0.01157995 -0.01179199 1.28170488] [ 0.01163109 0.99992321 0.00427795 0.15087902] [ 0.01174154 -0.00441451 0.99992132 -0.37672442] [ 0. 0. 0. 1. ]] SLAMing on 108.63241403699999 meters Centerline goodness [0,1] 0.6966330053736922 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.38 [[ 0.99987111 -0.01059436 -0.01206297 1.28454402] [ 0.01066226 0.99992759 0.00557863 0.14988955] [ 0.012003 -0.00570653 0.99991168 -0.37988993] [ 0. 0. 0. 1. ]] SLAMing on 108.66241403699999 meters Centerline goodness [0,1] 0.6960029050916919 Centerline is valid? [False, False] Translation: X:1.29, Y:0.15, Z:-0.38 [[ 0.99987292 -0.01037037 -0.01210786 1.28542561] [ 0.01044132 0.9999286 0.00581204 0.149774 ] [ 0.01204672 -0.00593772 0.99990981 -0.38085014] [ 0. 0. 0. 1. ]] SLAMing on 108.69241403699999 meters Centerline goodness [0,1] 0.6968417761100688 Centerline is valid? [False, False] Translation: X:1.28, Y:0.15, Z:-0.38 [[ 0.99987025 -0.01059302 -0.0121358 1.28488478] [ 0.01065406 0.99993086 0.00497652 0.1525194 ] [ 0.01208225 -0.00510517 0.99991397 -0.37964112] [ 0. 0. 0. 1. ]] SLAMing on 108.722414037 meters Centerline goodness [0,1] 0.69568159929198 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99986644 -0.01095403 -0.01212859 1.28393851] [ 0.01100182 0.99993195 0.00388047 0.15503766] [ 0.01208526 -0.00401339 0.99991892 -0.37784055] [ 0. 0. 0. 1. ]] SLAMing on 108.752414037 meters Centerline goodness [0,1] 0.6936094643649944 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99986285 -0.0111907 -0.01220873 1.28337232] [ 0.01123003 0.99993196 0.0031575 0.15676601] [ 0.01217257 -0.00329417 0.99992049 -0.37656563] [ 0. 0. 0. 1. ]] SLAMing on 108.782414037 meters Centerline goodness [0,1] 0.69409650790344 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99986216 -0.01116672 -0.01228639 1.28310974] [ 0.01120112 0.99993353 0.00273385 0.1565006 ] [ 0.01225505 -0.00287109 0.99992078 -0.37555521] [ 0. 0. 0. 1. ]] SLAMing on 108.812414037 meters Centerline goodness [0,1] 0.69352105331769 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.999861 -0.01119015 -0.01235963 1.2832302 ] [ 0.01122352 0.99993355 0.00263384 0.15625607] [ 0.01232934 -0.00277219 0.99992015 -0.37541969] [ 0. 0. 0. 1. ]] SLAMing on 108.84241403699998 meters Centerline goodness [0,1] 0.6904569296208345 Centerline is valid? [False, False] Translation: X:1.28, Y:0.16, Z:-0.38 [[ 0.99986282 -0.01077031 -0.01258347 1.28442184] [ 0.01080908 0.99993703 0.00301677 0.15612956] [ 0.01255018 -0.00315237 0.99991627 -0.37628432] [ 0. 0. 0. 1. ]] SLAMing on 108.87241403699998 meters Centerline goodness [0,1] 0.6947843556761553 Centerline is valid? [False, False] Translation: X:1.29, Y:0.16, Z:-0.38 [[ 0.99986318 -0.01037529 -0.01288275 1.28553898] [ 0.01041782 0.99994049 0.00323929 0.15619402] [ 0.01284837 -0.00337306 0.99991177 -0.37676715] [ 0. 0. 0. 1. ]] SLAMing on 108.90241403699999 meters Centerline goodness [0,1] 0.6913147993311037 Centerline is valid? [False, False] Translation: X:1.29, Y:0.16, Z:-0.38 [[ 0.99986284 -0.00993473 -0.01325123 1.28661432] [ 0.00997953 0.99994469 0.0033192 0.15651133] [ 0.01321752 -0.00345099 0.99990669 -0.37684162] [ 0. 0. 0. 1. ]] SLAMing on 108.93241403699999 meters Centerline goodness [0,1] 0.6976859720224866 Centerline is valid? [False, False] Translation: X:1.29, Y:0.16, Z:-0.38 [[ 0.99986961 -0.00835145 -0.01382063 1.28899727] [ 0.00840492 0.9999574 0.003815 0.15834729] [ 0.01378818 -0.00393067 0.99989721 -0.37734226] [ 0. 0. 0. 1. ]] SLAMing on 108.96241403699999 meters Centerline goodness [0,1] 0.7143155804108086 Centerline is valid? [False, False] Translation: X:1.29, Y:0.16, Z:-0.38 [[ 0.99987401 -0.0067247 -0.01437829 1.29184383] [ 0.00678945 0.99996701 0.0044592 0.15960069] [ 0.01434783 -0.00455626 0.99988668 -0.37855681] [ 0. 0. 0. 1. ]] SLAMing on 108.99241403699999 meters Centerline goodness [0,1] 0.7233813892529488 Centerline is valid? [False, False] Translation: X:1.29, Y:0.16, Z:-0.38 [[ 0.99987459 -0.00633593 -0.01451433 1.29264399] [ 0.00640398 0.9999687 0.00464715 0.15959269] [ 0.01448443 -0.00473952 0.99988386 -0.37898081] [ 0. 0. 0. 1. ]] SLAMing on 109.02241403699999 meters Centerline goodness [0,1] 0.7235523458146897 Centerline is valid? [False, False] Translation: X:1.29, Y:0.16, Z:-0.38 [[ 0.99987387 -0.00618475 -0.0146285 1.2930582 ] [ 0.00624995 0.99997072 0.00441615 0.15982081] [ 0.01460076 -0.00450702 0.99988325 -0.37884562] [ 0. 0. 0. 1. ]] SLAMing on 109.05241403699999 meters Centerline goodness [0,1] 0.7193611729283937 Centerline is valid? [False, False] Translation: X:1.29, Y:0.16, Z:-0.38 [[ 0.9998734 -0.00593929 -0.01476164 1.29349043] [ 0.00600091 0.99997345 0.00413339 0.16127971] [ 0.0147367 -0.00422145 0.9998825 -0.37862408] [ 0. 0. 0. 1. ]] SLAMing on 109.08241403699999 meters Centerline goodness [0,1] 0.717074958123953 Centerline is valid? [False, False] Translation: X:1.29, Y:0.16, Z:-0.38 [[ 0.999873 -0.00605924 -0.01474007 1.29340609] [ 0.00611684 0.99997382 0.0038656 0.16178817] [ 0.01471626 -0.00395527 0.99988389 -0.37845265] [ 0. 0. 0. 1. ]] SLAMing on 109.112414037 meters Centerline goodness [0,1] 0.7181186868686869 Centerline is valid? [False, False] Translation: X:1.29, Y:0.16, Z:-0.38 [[ 0.99987245 -0.00638457 -0.01464001 1.29274292] [ 0.00643522 0.99997346 0.00341534 0.16224025] [ 0.01461782 -0.00350911 0.999887 -0.37777137] [ 0. 0. 0. 1. ]] SLAMing on 109.142414037 meters Centerline goodness [0,1] 0.6967679107227457 Centerline is valid? [False, False] Translation: X:1.29, Y:0.16, Z:-0.38 [[ 0.99986995 -0.00646605 -0.0147744 1.29287898] [ 0.00651085 0.99997435 0.00298633 0.1634549 ] [ 0.01475471 -0.00308213 0.99988639 -0.37732404] [ 0. 0. 0. 1. ]] SLAMing on 109.172414037 meters Centerline goodness [0,1] 0.716966256701356 Centerline is valid? [False, False] Translation: X:1.29, Y:0.16, Z:-0.38 [[ 0.99986645 -0.00603623 -0.01518732 1.29412657] [ 0.00608233 0.99997703 0.00299109 0.16424436] [ 0.01516892 -0.00308307 0.99988019 -0.37742966] [ 0. 0. 0. 1. ]] SLAMing on 109.202414037 meters Centerline goodness [0,1] 0.7234703821739932 Centerline is valid? [False, False] Translation: X:1.30, Y:0.16, Z:-0.38 [[ 0.99986211 -0.00560752 -0.01563053 1.29534499] [ 0.0056548 0.99997956 0.00298266 0.16489111] [ 0.01561348 -0.00307063 0.99987339 -0.37746621] [ 0. 0. 0. 1. ]] SLAMing on 109.23241403699998 meters Centerline goodness [0,1] 0.7228085914824001 Centerline is valid? [False, False] Translation: X:1.30, Y:0.17, Z:-0.38 [[ 0.99986201 -0.00471041 -0.01592994 1.29722548] [ 0.00476599 0.99998268 0.00345294 0.16506676] [ 0.0159134 -0.00352838 0.99986715 -0.3786536 ] [ 0. 0. 0. 1. ]] SLAMing on 109.26241403699999 meters Centerline goodness [0,1] 0.7299202619211068 Centerline is valid? [False, False] Translation: X:1.30, Y:0.17, Z:-0.38 [[ 0.99985951 -0.00414264 -0.01624206 1.29866309] [ 0.00420288 0.99998441 0.00367644 0.16557384] [ 0.01622658 -0.00374419 0.99986133 -0.37932339] [ 0. 0. 0. 1. ]] SLAMing on 109.29241403699999 meters Centerline goodness [0,1] 0.7291023713434095 Centerline is valid? [False, False] Translation: X:1.30, Y:0.17, Z:-0.38 [[ 0.99985932 -0.00405122 -0.01627652 1.2988227 ] [ 0.00410951 0.99998526 0.00354924 0.16597785] [ 0.0162619 -0.00361562 0.99986123 -0.37916029] [ 0. 0. 0. 1. ]] SLAMing on 109.32241403699999 meters Centerline goodness [0,1] 0.7336059087312055 Centerline is valid? [False, False] Translation: X:1.30, Y:0.17, Z:-0.38 [[ 0.99985761 -0.00409117 -0.01637122 1.29857741] [ 0.00414358 0.99998639 0.00316886 0.16676011] [ 0.01635804 -0.00323624 0.99986096 -0.3783229 ] [ 0. 0. 0. 1. ]] SLAMing on 109.35241403699999 meters Centerline goodness [0,1] 0.7486906840184098 Centerline is valid? [False, False] Translation: X:1.30, Y:0.17, Z:-0.38 [[ 9.99874246e-01 -1.19636348e-03 -1.58133194e-02 1.29549268e+00] [ 1.29594298e-03 9.99979388e-01 6.28844498e-03 1.66327856e-01] [ 1.58054702e-02 -6.30814734e-03 9.99855187e-01 -3.76229484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38241403699999 meters Centerline goodness [0,1] 0.7527661601990576 Centerline is valid? [False, False] Translation: X:1.30, Y:0.17, Z:-0.38 [[ 9.99868324e-01 -9.12756337e-04 -1.62019175e-02 1.29605859e+00] [ 1.00768520e-03 9.99982370e-01 5.85191643e-03 1.66983619e-01] [ 1.61962905e-02 -5.86747230e-03 9.99851615e-01 -3.75303903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41241403699999 meters Centerline goodness [0,1] 0.7671772892028468 Centerline is valid? [False, False] Translation: X:1.30, Y:0.17, Z:-0.38 [[ 9.99861032e-01 7.14071527e-04 -1.66555629e-02 1.29825654e+00] [-6.13126794e-04 9.99981420e-01 6.06504092e-03 1.67794373e-01] [ 1.66595843e-02 -6.05398610e-03 9.99842891e-01 -3.75474017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44241403699999 meters Centerline goodness [0,1] 0.7678888153540702 Centerline is valid? [False, False] Translation: X:1.30, Y:0.17, Z:-0.38 [[ 0.99985026 0.00168677 -0.01722272 1.30020928] [-0.00158111 0.99997986 0.0061465 0.16877592] [ 0.01723274 -0.00611835 0.99983279 -0.37568208] [ 0. 0. 0. 1. ]] SLAMing on 109.472414037 meters Centerline goodness [0,1] 0.7809000689911373 Centerline is valid? [False, False] Translation: X:1.30, Y:0.17, Z:-0.38 [[ 0.99983542 0.00261945 -0.0179518 1.30248039] [-0.00250972 0.99997805 0.00613226 0.16978827] [ 0.01796747 -0.0060862 0.99982005 -0.37586639] [ 0. 0. 0. 1. ]] SLAMing on 109.502414037 meters Centerline goodness [0,1] 0.8176339404237243 Centerline is valid? [False, False] Translation: X:1.31, Y:0.17, Z:-0.38 [[ 0.99981195 0.0054015 -0.0186249 1.30689 ] [-0.00526613 0.99995942 0.00730986 0.16991474] [ 0.01866363 -0.0072104 0.99979982 -0.37797622] [ 0. 0. 0. 1. ]] SLAMing on 109.532414037 meters Centerline goodness [0,1] 0.8233791121047589 Centerline is valid? [False, False] Translation: X:1.31, Y:0.17, Z:-0.38 [[ 0.99979804 0.00631014 -0.01908023 1.30851372] [-0.00617336 0.99995489 0.00721893 0.1709683 ] [ 0.01912493 -0.00709968 0.99979189 -0.37794858] [ 0. 0. 0. 1. ]] SLAMing on 109.562414037 meters Centerline goodness [0,1] 0.8338266272031571 Centerline is valid? [False, False] Translation: X:1.31, Y:0.17, Z:-0.38 [[ 0.99977503 0.00840092 -0.01947586 1.30995101] [-0.00826971 0.99994263 0.00680805 0.17332249] [ 0.01953194 -0.00664546 0.99978715 -0.37605587] [ 0. 0. 0. 1. ]] SLAMing on 109.59241403699998 meters Centerline goodness [0,1] 0.8382458662832495 Centerline is valid? [False, False] Translation: X:1.31, Y:0.17, Z:-0.38 [[ 0.99976099 0.00903773 -0.0199066 1.31092299] [-0.00890891 0.99993886 0.00655063 0.17414655] [ 0.01996459 -0.00637172 0.99978038 -0.37526993] [ 0. 0. 0. 1. ]] SLAMing on 109.62241403699998 meters Centerline goodness [0,1] 0.8342584191706249 Centerline is valid? [False, False] Translation: X:1.31, Y:0.17, Z:-0.37 [[ 0.99974966 0.00942603 -0.02029227 1.31158341] [-0.00930144 0.99993736 0.00622528 0.17437935] [ 0.02034968 -0.00603498 0.99977471 -0.37441117] [ 0. 0. 0. 1. ]] SLAMing on 109.65241403699999 meters Centerline goodness [0,1] 0.8316436497166121 Centerline is valid? [False, False] Translation: X:1.31, Y:0.17, Z:-0.37 [[ 0.99972556 0.01052172 -0.0209309 1.31362031] [-0.01037522 0.999921 0.00709576 0.17172747] [ 0.0210039 -0.00687665 0.99975574 -0.37489071] [ 0. 0. 0. 1. ]] SLAMing on 109.68241403699999 meters Centerline goodness [0,1] 0.82663577534553 Centerline is valid? [False, False] Translation: X:1.31, Y:0.17, Z:-0.38 [[ 0.99971916 0.01091237 -0.02103604 1.31428424] [-0.01075393 0.99991306 0.00763043 0.16972714] [ 0.02111747 -0.00740207 0.9997496 -0.37536185] [ 0. 0. 0. 1. ]] SLAMing on 109.71241403699999 meters Centerline goodness [0,1] 0.82663577534553 Centerline is valid? [False, False] Translation: X:1.31, Y:0.17, Z:-0.38 [[ 0.99971916 0.01091237 -0.02103604 1.31428424] [-0.01075393 0.99991306 0.00763043 0.16972714] [ 0.02111747 -0.00740207 0.9997496 -0.37536185] [ 0. 0. 0. 1. ]] SLAMing on 109.74241403699999 meters Centerline goodness [0,1] 0.8287378021218326 Centerline is valid? [False, False] Translation: X:1.32, Y:0.17, Z:-0.37 [[ 0.99972744 0.00800858 -0.02192942 1.31655283] [-0.00792895 0.99996166 0.00371602 0.1699229 ] [ 0.02195834 -0.00354113 0.99975262 -0.37482522] [ 0. 0. 0. 1. ]] SLAMing on 109.77241403699999 meters Centerline goodness [0,1] 0.8310726844874541 Centerline is valid? [False, False] Translation: X:1.32, Y:0.17, Z:-0.37 [[ 9.99730619e-01 5.20820500e-03 -2.26177789e-02 1.31847368e+00] [-5.20158244e-03 9.99986410e-01 3.51625265e-04 1.68657154e-01] [ 2.26193029e-02 -2.33882302e-04 9.99744123e-01 -3.74476305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80241403699999 meters Centerline goodness [0,1] 0.8273892559155633 Centerline is valid? [False, False] Translation: X:1.32, Y:0.17, Z:-0.37 [[ 9.99732681e-01 4.65504553e-03 -2.26472105e-02 1.31754684e+00] [-4.64100673e-03 9.99989004e-01 6.72411095e-04 1.65260146e-01] [ 2.26500916e-02 -5.67125490e-04 9.99743293e-01 -3.73745225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83241403699999 meters Centerline goodness [0,1] 0.8285684282376414 Centerline is valid? [False, False] Translation: X:1.32, Y:0.16, Z:-0.37 [[ 9.99734454e-01 4.35813879e-03 -2.26280443e-02 1.31690555e+00] [-4.33488170e-03 9.99990025e-01 1.07674922e-03 1.61818548e-01] [ 2.26325112e-02 -9.78373403e-04 9.99743373e-01 -3.73367907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.862414037 meters Centerline goodness [0,1] 0.8257997127562344 Centerline is valid? [False, False] Translation: X:1.32, Y:0.16, Z:-0.37 [[ 9.99732597e-01 1.04821776e-03 -2.31005762e-02 1.31802654e+00] [-1.10154756e-03 9.99996758e-01 -2.29598786e-03 1.59694198e-01] [ 2.30980946e-02 2.32082029e-03 9.99730510e-01 -3.73142743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.892414037 meters Centerline goodness [0,1] 0.8232122587968218 Centerline is valid? [False, False] Translation: X:1.32, Y:0.15, Z:-0.37 [[ 0.99972782 -0.00355709 -0.02305711 1.31600654] [ 0.00342365 0.99997718 -0.00582426 0.15430442] [ 0.0230773 0.00574374 0.99971718 -0.37103424] [ 0. 0. 0. 1. ]] SLAMing on 109.922414037 meters Centerline goodness [0,1] 0.8204158303741445 Centerline is valid? [False, False] Translation: X:1.33, Y:0.15, Z:-0.38 [[ 0.99982914 -0.00678291 -0.01719526 1.32631393] [ 0.006834 0.9999724 0.00291449 0.14930971] [ 0.01717501 -0.00303151 0.9998479 -0.37560089] [ 0. 0. 0. 1. ]] SLAMing on 109.952414037 meters Centerline goodness [0,1] 0.8120981732829881 Centerline is valid? [False, False] Translation: X:1.33, Y:0.15, Z:-0.38 [[ 9.99790384e-01 -1.04627148e-02 -1.75988519e-02 1.32699396e+00] [ 1.04686317e-02 9.99945173e-01 2.44112968e-04 1.45106237e-01] [ 1.75953329e-02 -4.28297697e-04 9.99845098e-01 -3.75642677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98241403699998 meters Centerline goodness [0,1] 0.8084334905421168 Centerline is valid? [False, False] Translation: X:1.33, Y:0.14, Z:-0.38 [[ 9.99788429e-01 -1.06836503e-02 -1.75771594e-02 1.32682592e+00] [ 1.07014837e-02 9.99942313e-01 9.20827058e-04 1.41744917e-01] [ 1.75663076e-02 -1.10873392e-03 9.99845086e-01 -3.75903840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01241403699999 meters Centerline goodness [0,1] 0.8102427921092564 Centerline is valid? [False, False] Translation: X:1.33, Y:0.14, Z:-0.38 [[ 0.99978866 -0.01110985 -0.01729767 1.32587849] [ 0.01113625 0.99993697 0.00143038 0.13849223] [ 0.01728069 -0.00162271 0.99984936 -0.37590385] [ 0. 0. 0. 1. ]] SLAMing on 110.04241403699999 meters Centerline goodness [0,1] 0.8000901058744024 Centerline is valid? [False, False] Translation: X:1.33, Y:0.13, Z:-0.38 [[ 9.99740861e-01 -1.42870230e-02 -1.77226556e-02 1.32678239e+00] [ 1.42636231e-02 9.99897224e-01 -1.44604764e-03 1.34178601e-01] [ 1.77414939e-02 1.19288364e-03 9.99841896e-01 -3.75506480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07241403699999 meters Centerline goodness [0,1] 0.7988178961544217 Centerline is valid? [False, False] Translation: X:1.33, Y:0.13, Z:-0.38 [[ 9.99743092e-01 -1.40534983e-02 -1.77833789e-02 1.32692511e+00] [ 1.40432099e-02 9.99901142e-01 -7.03291517e-04 1.31479246e-01] [ 1.77915046e-02 4.53375113e-04 9.99841616e-01 -3.75679965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10241403699999 meters Centerline goodness [0,1] 0.7908284610048558 Centerline is valid? [False, False] Translation: X:1.33, Y:0.13, Z:-0.37 [[ 9.99743247e-01 -1.37534984e-02 -1.80078057e-02 1.32668126e+00] [ 1.37554208e-02 9.99905390e-01 -1.71094644e-05 1.27655101e-01] [ 1.80063373e-02 -2.30599873e-04 9.99837846e-01 -3.74734298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13241403699999 meters Centerline goodness [0,1] 0.7991633870448751 Centerline is valid? [False, False] Translation: X:1.33, Y:0.13, Z:-0.37 [[ 9.99746344e-01 -1.33328721e-02 -1.81516606e-02 1.32698573e+00] [ 1.33448281e-02 9.99910809e-01 5.37705894e-04 1.26011652e-01] [ 1.81428725e-02 -7.79800293e-04 9.99835100e-01 -3.74646897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16241403699999 meters Centerline goodness [0,1] 0.7998910702349417 Centerline is valid? [False, False] Translation: X:1.33, Y:0.12, Z:-0.37 [[ 9.99748046e-01 -1.27834795e-02 -1.84506760e-02 1.32776111e+00] [ 1.28078419e-02 9.99917253e-01 1.20283717e-03 1.24482782e-01] [ 1.84337728e-02 -1.43884745e-03 9.99829048e-01 -3.74760316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19241403699999 meters Centerline goodness [0,1] 0.8012101753519387 Centerline is valid? [False, False] Translation: X:1.33, Y:0.12, Z:-0.37 [[ 0.99975117 -0.01192086 -0.01885433 1.32876653] [ 0.01196504 0.99992592 0.00223248 0.12155794] [ 0.01882632 -0.00245752 0.99981975 -0.37479619] [ 0. 0. 0. 1. ]] SLAMing on 110.222414037 meters Centerline goodness [0,1] 0.8046873078720213 Centerline is valid? [False, False] Translation: X:1.33, Y:0.12, Z:-0.37 [[ 0.99975347 -0.01174583 -0.01884261 1.32801024] [ 0.01179782 0.99992689 0.00265034 0.11813118] [ 0.0188101 -0.00287199 0.99981895 -0.37371893] [ 0. 0. 0. 1. ]] SLAMing on 110.252414037 meters Centerline goodness [0,1] 0.8055241280928722 Centerline is valid? [False, False] Translation: X:1.33, Y:0.12, Z:-0.37 [[ 0.99975441 -0.01171339 -0.01881269 1.32764997] [ 0.01176965 0.99992658 0.0028828 0.11644745] [ 0.01877754 -0.00310351 0.99981887 -0.37328469] [ 0. 0. 0. 1. ]] SLAMing on 110.282414037 meters Centerline goodness [0,1] 0.803790958514963 Centerline is valid? [False, False] Translation: X:1.33, Y:0.11, Z:-0.37 [[ 0.99975407 -0.0114487 -0.01899287 1.32804928] [ 0.01151493 0.99992798 0.00338146 0.11430356] [ 0.01895279 -0.00359933 0.9998139 -0.37330586] [ 0. 0. 0. 1. ]] SLAMing on 110.312414037 meters Centerline goodness [0,1] 0.8025215207159753 Centerline is valid? [False, False] Translation: X:1.33, Y:0.11, Z:-0.37 [[ 0.99975377 -0.01098832 -0.01927846 1.32918357] [ 0.01107128 0.99992988 0.0042016 0.1118846 ] [ 0.01923094 -0.004414 0.99980532 -0.37403845] [ 0. 0. 0. 1. ]] SLAMing on 110.34241403699998 meters Centerline goodness [0,1] 0.806793796332423 Centerline is valid? [False, False] Translation: X:1.33, Y:0.11, Z:-0.37 [[ 0.99975478 -0.01054283 -0.01947378 1.32972987] [ 0.0106431 0.9999306 0.00505264 0.10929591] [ 0.01941916 -0.00525866 0.9997976 -0.37420407] [ 0. 0. 0. 1. ]] SLAMing on 110.37241403699998 meters Centerline goodness [0,1] 0.8037181569188259 Centerline is valid? [False, False] Translation: X:1.33, Y:0.11, Z:-0.37 [[ 0.99975155 -0.01062482 -0.01959469 1.32946941] [ 0.01073244 0.99992785 0.00539538 0.10729758] [ 0.01953596 -0.00560434 0.99979345 -0.37364907] [ 0. 0. 0. 1. ]] SLAMing on 110.40241403699999 meters Centerline goodness [0,1] 0.8015828835588257 Centerline is valid? [False, False] Translation: X:1.33, Y:0.11, Z:-0.37 [[ 0.99975174 -0.01071142 -0.01953785 1.32970249] [ 0.01082581 0.99992482 0.00575862 0.10532888] [ 0.0194747 -0.00596871 0.99979253 -0.37422003] [ 0. 0. 0. 1. ]] SLAMing on 110.43241403699999 meters Centerline goodness [0,1] 0.7952150109736391 Centerline is valid? [False, False] Translation: X:1.33, Y:0.10, Z:-0.37 [[ 0.9997499 -0.010928 -0.01951192 1.32992047] [ 0.01105058 0.99991981 0.00618556 0.10274241] [ 0.01944276 -0.00639963 0.99979049 -0.37481904] [ 0. 0. 0. 1. ]] SLAMing on 110.46241403699999 meters Centerline goodness [0,1] 0.7896188625842508 Centerline is valid? [False, False] Translation: X:1.33, Y:0.10, Z:-0.37 [[ 0.99969805 -0.01521799 -0.01929284 1.32913376] [ 0.01526724 0.99988055 0.00240773 0.1008136 ] [ 0.01925389 -0.00270155 0.99981098 -0.37421119] [ 0. 0. 0. 1. ]] SLAMing on 110.49241403699999 meters Centerline goodness [0,1] 0.7910000957946164 Centerline is valid? [False, False] Translation: X:1.33, Y:0.10, Z:-0.37 [[ 0.99969435 -0.01592325 -0.01891172 1.32745843] [ 0.01596757 0.9998701 0.002195 0.09994383] [ 0.01887431 -0.0024963 0.99981875 -0.37325916] [ 0. 0. 0. 1. ]] SLAMing on 110.52241403699999 meters Centerline goodness [0,1] 0.7862631855281371 Centerline is valid? [False, False] Translation: X:1.33, Y:0.10, Z:-0.38 [[ 0.99984682 -0.01549254 -0.0081441 1.32583626] [ 0.01551121 0.9998772 0.00223424 0.09657465] [ 0.00810849 -0.00236023 0.99996434 -0.3778284 ] [ 0. 0. 0. 1. ]] SLAMing on 110.55241403699999 meters Centerline goodness [0,1] 0.7698028652475507 Centerline is valid? [False, False] Translation: X:1.33, Y:0.09, Z:-0.38 [[ 0.99984615 -0.01555785 -0.00810131 1.32546453] [ 0.01557885 0.99987543 0.00253503 0.0949988 ] [ 0.00806086 -0.00266085 0.99996397 -0.37751164] [ 0. 0. 0. 1. ]] SLAMing on 110.58241403699999 meters Centerline goodness [0,1] 0.7519822844488893 Centerline is valid? [False, False] Translation: X:1.33, Y:0.09, Z:-0.38 [[ 0.99984484 -0.01563429 -0.00811579 1.32508731] [ 0.01565596 0.99987402 0.00261372 0.09394193] [ 0.0080739 -0.00274038 0.99996365 -0.37693763] [ 0. 0. 0. 1. ]] SLAMing on 110.612414037 meters Centerline goodness [0,1] 0.7883856864515516 Centerline is valid? [False, False] Translation: X:1.33, Y:0.09, Z:-0.38 [[ 0.99984684 -0.01544809 -0.00822505 1.32515274] [ 0.01547209 0.9998762 0.00286229 0.09306832] [ 0.00817982 -0.00298911 0.99996208 -0.37660839] [ 0. 0. 0. 1. ]] SLAMing on 110.642414037 meters Centerline goodness [0,1] 0.788591639566074 Centerline is valid? [False, False] Translation: X:1.33, Y:0.09, Z:-0.38 [[ 0.99985784 -0.01439109 -0.00878634 1.32673911] [ 0.01442197 0.99989001 0.00346108 0.09255721] [ 0.00873556 -0.0035873 0.99995541 -0.3767548 ] [ 0. 0. 0. 1. ]] SLAMing on 110.672414037 meters Centerline goodness [0,1] 0.795452385478046 Centerline is valid? [False, False] Translation: X:1.33, Y:0.09, Z:-0.38 [[ 0.9999117 -0.00971765 -0.00906434 1.32812268] [ 0.00979285 0.99991769 0.0082894 0.0905504 ] [ 0.00898304 -0.00837743 0.99992456 -0.37801071] [ 0. 0. 0. 1. ]] SLAMing on 110.702414037 meters Centerline goodness [0,1] 0.7984492436495101 Centerline is valid? [False, False] Translation: X:1.33, Y:0.09, Z:-0.38 [[ 0.99991659 -0.00878153 -0.009471 1.32971414] [ 0.00886416 0.99992271 0.00871755 0.09065226] [ 0.00939372 -0.00880077 0.99991715 -0.37860896] [ 0. 0. 0. 1. ]] SLAMing on 110.73241403699998 meters Centerline goodness [0,1] 0.8005986316989737 Centerline is valid? [False, False] Translation: X:1.33, Y:0.09, Z:-0.38 [[ 0.99991965 -0.00802263 -0.00981489 1.33102562] [ 0.00811117 0.99992647 0.0090148 0.09093697] [ 0.00974184 -0.00909369 0.9999112 -0.37910114] [ 0. 0. 0. 1. ]] SLAMing on 110.76241403699999 meters Centerline goodness [0,1] 0.7971121191250861 Centerline is valid? [False, False] Translation: X:1.33, Y:0.09, Z:-0.38 [[ 0.99993018 -0.00602201 -0.01016761 1.33380473] [ 0.00612838 0.99992648 0.01046302 0.08917858] [ 0.01010386 -0.0105246 0.99989357 -0.38116196] [ 0. 0. 0. 1. ]] SLAMing on 110.79241403699999 meters Centerline goodness [0,1] 0.7985175361735383 Centerline is valid? [False, False] Translation: X:1.34, Y:0.09, Z:-0.38 [[ 0.99993128 -0.0053925 -0.01040961 1.33519927] [ 0.00550545 0.99992595 0.01085284 0.08889162] [ 0.01035032 -0.0109094 0.99988692 -0.38213582] [ 0. 0. 0. 1. ]] SLAMing on 110.82241403699999 meters Centerline goodness [0,1] 0.7977575829104213 Centerline is valid? [False, False] Translation: X:1.34, Y:0.09, Z:-0.38 [[ 0.99993265 -0.00505945 -0.01044483 1.33500206] [ 0.00516968 0.99993095 0.01055349 0.09013319] [ 0.01039072 -0.01060678 0.99988976 -0.38123571] [ 0. 0. 0. 1. ]] SLAMing on 110.85241403699999 meters Centerline goodness [0,1] 0.7958574272442885 Centerline is valid? [False, False] Translation: X:1.33, Y:0.09, Z:-0.38 [[ 0.99993231 -0.00553704 -0.01023286 1.33321459] [ 0.00563736 0.99993608 0.00980054 0.09057466] [ 0.01017794 -0.00985756 0.99989961 -0.37913994] [ 0. 0. 0. 1. ]] SLAMing on 110.88241403699999 meters Centerline goodness [0,1] 0.7963514343778062 Centerline is valid? [False, False] Translation: X:1.33, Y:0.09, Z:-0.38 [[ 0.99993087 -0.00605399 -0.01007943 1.3314341 ] [ 0.00614767 0.99993796 0.00928884 0.08935081] [ 0.01002257 -0.00935016 0.99990606 -0.37701875] [ 0. 0. 0. 1. ]] SLAMing on 110.91241403699999 meters Centerline goodness [0,1] 0.7984499754150179 Centerline is valid? [False, False] Translation: X:1.33, Y:0.09, Z:-0.38 [[ 0.99989966 -0.00945686 -0.01054688 1.33128886] [ 0.00951995 0.999937 0.00594747 0.08567494] [ 0.01048997 -0.00604728 0.99992669 -0.37514426] [ 0. 0. 0. 1. ]] SLAMing on 110.94241403699999 meters Centerline goodness [0,1] 0.7977756489637609 Centerline is valid? [False, False] Translation: X:1.33, Y:0.08, Z:-0.37 [[ 0.99989599 -0.00997872 -0.01041284 1.33033042] [ 0.010042 0.99993132 0.00604279 0.08357274] [ 0.01035183 -0.00614673 0.99992753 -0.37441541] [ 0. 0. 0. 1. ]] SLAMing on 110.972414037 meters Centerline goodness [0,1] 0.7979061723809745 Centerline is valid? [False, False] Translation: X:1.33, Y:0.08, Z:-0.37 [[ 0.99984923 -0.01360895 -0.01078469 1.3313648 ] [ 0.01364214 0.99990241 0.00301051 0.08129528] [ 0.01074267 -0.00315718 0.99993731 -0.37472412] [ 0. 0. 0. 1. ]] SLAMing on 111.002414037 meters Centerline goodness [0,1] 0.7952946094711661 Centerline is valid? [False, False] Translation: X:1.33, Y:0.08, Z:-0.38 [[ 0.99984817 -0.01375507 -0.0106972 1.33149316] [ 0.01379405 0.99989845 0.00357837 0.07927273] [ 0.01064689 -0.00372538 0.99993638 -0.37537466] [ 0. 0. 0. 1. ]] SLAMing on 111.032414037 meters Centerline goodness [0,1] 0.7924986134220743 Centerline is valid? [False, False] Translation: X:1.33, Y:0.08, Z:-0.38 [[ 0.99984735 -0.0137366 -0.01079736 1.33233982] [ 0.01378386 0.99989569 0.00431421 0.07728919] [ 0.01073697 -0.00446238 0.9999324 -0.37656908] [ 0. 0. 0. 1. ]] SLAMing on 111.062414037 meters Centerline goodness [0,1] 0.7906944636200469 Centerline is valid? [False, False] Translation: X:1.33, Y:0.07, Z:-0.38 [[ 0.99983985 -0.01437494 -0.01065992 1.33225377] [ 0.01442624 0.99988465 0.0047508 0.07411233] [ 0.0105904 -0.00490382 0.9999319 -0.37738419] [ 0. 0. 0. 1. ]] SLAMing on 111.09241403699998 meters Centerline goodness [0,1] 0.7853571264736915 Centerline is valid? [False, False] Translation: X:1.33, Y:0.07, Z:-0.38 [[ 0.99983724 -0.01460718 -0.01058893 1.33218223] [ 0.01466223 0.99987929 0.00513969 0.07198014] [ 0.01051257 -0.00529411 0.99993073 -0.37769449] [ 0. 0. 0. 1. ]] SLAMing on 111.12241403699998 meters Centerline goodness [0,1] 0.7878046549910833 Centerline is valid? [False, False] Translation: X:1.33, Y:0.07, Z:-0.38 [[ 0.99977726 -0.0181834 -0.01071388 1.33282146] [ 0.01820449 0.99983253 0.00187477 0.06982633] [ 0.01067799 -0.00206939 0.99994085 -0.37791061] [ 0. 0. 0. 1. ]] SLAMing on 111.15241403699999 meters Centerline goodness [0,1] 0.7748560723750343 Centerline is valid? [False, False] Translation: X:1.33, Y:0.07, Z:-0.38 [[ 0.99977511 -0.01844101 -0.01047219 1.33208068] [ 0.01846491 0.99982711 0.00219021 0.06814028] [ 0.01042999 -0.00238308 0.99994277 -0.37775158] [ 0. 0. 0. 1. ]] SLAMing on 111.18241403699999 meters Centerline goodness [0,1] 0.7806059778899959 Centerline is valid? [False, False] Translation: X:1.33, Y:0.07, Z:-0.38 [[ 0.99977356 -0.01860902 -0.01032112 1.33154207] [ 0.01863791 0.99982263 0.00271037 0.0659916 ] [ 0.01026885 -0.00290212 0.99994306 -0.37767364] [ 0. 0. 0. 1. ]] SLAMing on 111.21241403699999 meters Centerline goodness [0,1] 0.7867531580744281 Centerline is valid? [False, False] Translation: X:1.33, Y:0.07, Z:-0.38 [[ 0.9997766 -0.01836561 -0.01046193 1.33190943] [ 0.01839866 0.99982601 0.00307142 0.06542399] [ 0.0104037 -0.00326322 0.99994056 -0.37778423] [ 0. 0. 0. 1. ]] SLAMing on 111.24241403699999 meters Centerline goodness [0,1] 0.782500056788497 Centerline is valid? [False, False] Translation: X:1.33, Y:0.07, Z:-0.38 [[ 0.99978054 -0.01816805 -0.01043078 1.33178436] [ 0.01820255 0.99982913 0.00322213 0.06537432] [ 0.01037046 -0.00341129 0.99994041 -0.37756665] [ 0. 0. 0. 1. ]] SLAMing on 111.27241403699999 meters Centerline goodness [0,1] 0.7882135860403663 Centerline is valid? [False, False] Translation: X:1.33, Y:0.07, Z:-0.38 [[ 0.99978616 -0.01776009 -0.01059279 1.33167495] [ 0.0177953 0.9998364 0.00323963 0.06526218] [ 0.01053353 -0.00342744 0.99993865 -0.37665366] [ 0. 0. 0. 1. ]] SLAMing on 111.30241403699999 meters Centerline goodness [0,1] 0.788546255506608 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.38 [[ 0.99979186 -0.01733142 -0.01076352 1.33237173] [ 0.01737133 0.99984253 0.00362531 0.06470036] [ 0.01069899 -0.00381153 0.9999355 -0.37702855] [ 0. 0. 0. 1. ]] SLAMing on 111.33241403699999 meters Centerline goodness [0,1] 0.7897357769793988 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.38 [[ 0.99980161 -0.01654344 -0.01109343 1.33358609] [ 0.01658888 0.99985433 0.00401621 0.0643358 ] [ 0.01102537 -0.00419944 0.9999304 -0.37742705] [ 0. 0. 0. 1. ]] SLAMing on 111.362414037 meters Centerline goodness [0,1] 0.7879712256419595 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.38 [[ 0.99980614 -0.01606835 -0.01137977 1.33452917] [ 0.01611799 0.99986092 0.00428369 0.06478463] [ 0.01130935 -0.00446628 0.99992607 -0.37779238] [ 0. 0. 0. 1. ]] SLAMing on 111.392414037 meters Centerline goodness [0,1] 0.7894856778251259 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.38 [[ 0.99985136 -0.01316198 -0.011136 1.33261005] [ 0.01324524 0.99988462 0.00743656 0.06469546] [ 0.01103684 -0.00758295 0.99991034 -0.37630308] [ 0. 0. 0. 1. ]] SLAMing on 111.422414037 meters Centerline goodness [0,1] 0.7900289379542917 Centerline is valid? [False, False] Translation: X:1.33, Y:0.07, Z:-0.38 [[ 0.99984969 -0.0133678 -0.0110406 1.33174777] [ 0.01344645 0.99988452 0.00708037 0.06505728] [ 0.01094467 -0.00722776 0.99991398 -0.37521521] [ 0. 0. 0. 1. ]] SLAMing on 111.452414037 meters Centerline goodness [0,1] 0.7872325898953118 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.37 [[ 0.99983979 -0.01428865 -0.01078091 1.33024637] [ 0.01436195 0.99987406 0.00675219 0.06457059] [ 0.01068307 -0.00690595 0.99991909 -0.3742484 ] [ 0. 0. 0. 1. ]] SLAMing on 111.48241403699998 meters Centerline goodness [0,1] 0.7871715469739059 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.37 [[ 0.99983327 -0.01484898 -0.01062779 1.32995917] [ 0.01492073 0.99986621 0.00670353 0.0635861 ] [ 0.01052682 -0.00686099 0.99992105 -0.37450179] [ 0. 0. 0. 1. ]] SLAMing on 111.51241403699999 meters Centerline goodness [0,1] 0.7556014150943396 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.38 [[ 0.99982547 -0.01543655 -0.01052382 1.3300159 ] [ 0.01550917 0.99985623 0.00685399 0.06194248] [ 0.01041651 -0.00701601 0.99992113 -0.37521367] [ 0. 0. 0. 1. ]] SLAMing on 111.54241403699999 meters Centerline goodness [0,1] 0.7694757527161024 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.38 [[ 0.99975641 -0.01942883 -0.01047054 1.33080543] [ 0.01946426 0.99980513 0.003292 0.0611113 ] [ 0.01040454 -0.003495 0.99993976 -0.37631132] [ 0. 0. 0. 1. ]] SLAMing on 111.57241403699999 meters Centerline goodness [0,1] 0.769377599018338 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.38 [[ 0.99974649 -0.02012011 -0.01010613 1.32978523] [ 0.02015136 0.99979244 0.00299999 0.06094959] [ 0.01004367 -0.00320288 0.99994443 -0.37615785] [ 0. 0. 0. 1. ]] SLAMing on 111.60241403699999 meters Centerline goodness [0,1] 0.769377599018338 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.38 [[ 0.99974649 -0.02012011 -0.01010613 1.32978523] [ 0.02015136 0.99979244 0.00299999 0.06094959] [ 0.01004367 -0.00320288 0.99994443 -0.37615785] [ 0. 0. 0. 1. ]] SLAMing on 111.63241403699999 meters Centerline goodness [0,1] 0.7490514166269057 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.38 [[ 0.99972611 -0.02127064 -0.00976039 1.32868962] [ 0.02129508 0.99977034 0.00240689 0.06170702] [ 0.00970695 -0.00261408 0.99994947 -0.37593193] [ 0. 0. 0. 1. ]] SLAMing on 111.66241403699999 meters Centerline goodness [0,1] 0.7400072674418605 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.38 [[ 0.99971727 -0.02178815 -0.0095209 1.3280399 ] [ 0.02180986 0.99975975 0.00218279 0.06211034] [ 0.00947105 -0.00238983 0.99995229 -0.37587441] [ 0. 0. 0. 1. ]] SLAMing on 111.69241403699999 meters Centerline goodness [0,1] 0.7418042104305915 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.38 [[ 0.99971061 -0.02214042 -0.00940783 1.32760873] [ 0.02216192 0.999752 0.00218796 0.06205535] [ 0.00935706 -0.00239583 0.99995335 -0.37580823] [ 0. 0. 0. 1. ]] SLAMing on 111.722414037 meters Centerline goodness [0,1] 0.7239093290807609 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.38 [[ 0.99968873 -0.02325181 -0.00904412 1.32671772] [ 0.02326861 0.9997277 0.00175725 0.06192396] [ 0.0090008 -0.00196715 0.99995756 -0.37602886] [ 0. 0. 0. 1. ]] SLAMing on 111.752414037 meters Centerline goodness [0,1] 0.7244529279432818 Centerline is valid? [False, False] Translation: X:1.33, Y:0.06, Z:-0.38 [[ 0.9996803 -0.02360878 -0.00905112 1.32672889] [ 0.0236238 0.99971971 0.00155673 0.06230833] [ 0.00901183 -0.00177006 0.99995783 -0.37614086] [ 0. 0. 0. 1. ]] SLAMing on 111.782414037 meters Centerline goodness [0,1] 0.7191678708227254 Centerline is valid? [False, False] Translation: X:1.32, Y:0.06, Z:-0.37 [[ 0.99972383 -0.0220039 -0.00825185 1.32347124] [ 0.02203541 0.99975017 0.00374667 0.06465978] [ 0.00816735 -0.00392747 0.99995893 -0.37487138] [ 0. 0. 0. 1. ]] SLAMing on 111.812414037 meters Centerline goodness [0,1] 0.709001884970806 Centerline is valid? [False, False] Translation: X:1.32, Y:0.07, Z:-0.37 [[ 0.99971964 -0.02210496 -0.00848625 1.32391589] [ 0.02213227 0.99975013 0.00313714 0.06749334] [ 0.00841478 -0.00332408 0.99995907 -0.37469348] [ 0. 0. 0. 1. ]] SLAMing on 111.84241403699998 meters Centerline goodness [0,1] 0.6973380164525371 Centerline is valid? [False, False] Translation: X:1.32, Y:0.07, Z:-0.37 [[ 0.99978228 -0.01918444 -0.00820693 1.32281554] [ 0.01923685 0.99979476 0.00635465 0.06870236] [ 0.00808333 -0.00651115 0.99994613 -0.37459898] [ 0. 0. 0. 1. ]] SLAMing on 111.87241403699998 meters Centerline goodness [0,1] 0.693597915600428 Centerline is valid? [False, False] Translation: X:1.32, Y:0.07, Z:-0.37 [[ 0.99983643 -0.01615177 -0.00813838 1.32244824] [ 0.01622357 0.99982936 0.00883491 0.07299836] [ 0.00799429 -0.0089655 0.99992785 -0.37456038] [ 0. 0. 0. 1. ]] SLAMing on 111.90241403699999 meters Centerline goodness [0,1] 0.7267073484370251 Centerline is valid? [False, False] Translation: X:1.32, Y:0.08, Z:-0.37 [[ 0.99983505 -0.01610987 -0.00838681 1.32327372] [ 0.01617898 0.99983517 0.0082386 0.0753618 ] [ 0.00825271 -0.00837293 0.99993089 -0.3747987 ] [ 0. 0. 0. 1. ]] SLAMing on 111.93241403699999 meters Centerline goodness [0,1] 0.7287984414243128 Centerline is valid? [False, False] Translation: X:1.32, Y:0.08, Z:-0.38 [[ 0.99983341 -0.0162148 -0.00837992 1.32444557] [ 0.01627861 0.99983859 0.00760298 0.07811174] [ 0.00825529 -0.00773812 0.99993598 -0.37626999] [ 0. 0. 0. 1. ]] SLAMing on 111.96241403699999 meters Centerline goodness [0,1] 0.7225896029934342 Centerline is valid? [False, False] Translation: X:1.32, Y:0.08, Z:-0.38 [[ 0.99982904 -0.01654204 -0.00826167 1.32460391] [ 0.01660185 0.99983609 0.00722309 0.07953501] [ 0.00814083 -0.00735902 0.99993978 -0.3768774 ] [ 0. 0. 0. 1. ]] SLAMing on 111.99241403699999 meters Centerline goodness [0,1] 0.726461960635882 Centerline is valid? [False, False] Translation: X:1.32, Y:0.08, Z:-0.38 [[ 0.99982331 -0.0169265 -0.00817529 1.32467438] [ 0.01698134 0.99983346 0.00668487 0.08183191] [ 0.00806078 -0.00682251 0.99994424 -0.37725411] [ 0. 0. 0. 1. ]] SLAMing on 112.02241403699999 meters Centerline goodness [0,1] 0.7090332880596659 Centerline is valid? [False, False] Translation: X:1.32, Y:0.09, Z:-0.38 [[ 0.99981359 -0.01753418 -0.00808313 1.32461083] [ 0.01758142 0.99982855 0.00581088 0.08851921] [ 0.00797986 -0.00595191 0.99995045 -0.37769074] [ 0. 0. 0. 1. ]] SLAMing on 112.05241403699999 meters Centerline goodness [0,1] 0.7107141998605735 Centerline is valid? [False, False] Translation: X:1.32, Y:0.10, Z:-0.38 [[ 0.99979697 -0.01858217 -0.00779286 1.32348744] [ 0.01861448 0.99981835 0.0040949 0.09513334] [ 0.00771535 -0.00423913 0.99996125 -0.37690293] [ 0. 0. 0. 1. ]] SLAMing on 112.08241403699999 meters Centerline goodness [0,1] 0.6810857679616561 Centerline is valid? [False, False] Translation: X:1.32, Y:0.10, Z:-0.38 [[ 0.99978932 -0.01908689 -0.00755008 1.32290817] [ 0.01911245 0.9998118 0.0033278 0.09791753] [ 0.00748514 -0.0034714 0.99996596 -0.37681299] [ 0. 0. 0. 1. ]] SLAMing on 112.112414037 meters Centerline goodness [0,1] 0.6930219062817351 Centerline is valid? [False, False] Translation: X:1.32, Y:0.10, Z:-0.38 [[ 0.99978135 -0.01951668 -0.00750713 1.32262623] [ 0.01953634 0.99980588 0.00255512 0.10034651] [ 0.00745581 -0.00270123 0.99996856 -0.37651138] [ 0. 0. 0. 1. ]] SLAMing on 112.142414037 meters Centerline goodness [0,1] 0.6909837858861851 Centerline is valid? [False, False] Translation: X:1.32, Y:0.11, Z:-0.38 [[ 9.99764033e-01 -2.05279296e-02 -7.10504805e-03 1.32175724e+00] [ 2.05358417e-02 9.99788574e-01 1.04242001e-03 1.05126125e-01] [ 7.08214713e-03 -1.18808218e-03 9.99974215e-01 -3.76540702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.172414037 meters Centerline goodness [0,1] 0.6888617489008304 Centerline is valid? [False, False] Translation: X:1.32, Y:0.11, Z:-0.38 [[ 9.99758931e-01 -2.07688381e-02 -7.12284402e-03 1.32224890e+00] [ 2.07737041e-02 9.99784017e-01 6.09841934e-04 1.07236394e-01] [ 7.10863990e-03 -7.57662775e-04 9.99974446e-01 -3.77173815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.202414037 meters Centerline goodness [0,1] 0.6818315737785416 Centerline is valid? [False, False] Translation: X:1.32, Y:0.11, Z:-0.38 [[ 9.99750213e-01 -2.11421633e-02 -7.24716986e-03 1.32381810e+00] [ 2.11416362e-02 9.99776479e-01 -1.49335906e-04 1.12757900e-01] [ 7.24870726e-03 -3.91842516e-06 9.99973728e-01 -3.79025397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23241403699998 meters Centerline goodness [0,1] 0.6768018574321988 Centerline is valid? [False, False] Translation: X:1.32, Y:0.11, Z:-0.38 [[ 0.99980764 -0.01841077 -0.00676186 1.32303717] [ 0.01843274 0.99982498 0.00320133 0.11417851] [ 0.00670173 -0.00332535 0.99997201 -0.38007923] [ 0. 0. 0. 1. ]] SLAMing on 112.26241403699999 meters Centerline goodness [0,1] 0.6823720349563046 Centerline is valid? [False, False] Translation: X:1.32, Y:0.12, Z:-0.38 [[ 0.99985659 -0.01571832 -0.00630358 1.32223441] [ 0.01575866 0.99985533 0.00640147 0.11589795] [ 0.00620205 -0.00649989 0.99995964 -0.38104154] [ 0. 0. 0. 1. ]] SLAMing on 112.29241403699999 meters Centerline goodness [0,1] 0.6894923258559622 Centerline is valid? [False, False] Translation: X:1.32, Y:0.12, Z:-0.38 [[ 0.99985664 -0.01574664 -0.00622483 1.32308251] [ 0.0157813 0.99986001 0.0055596 0.12089469] [ 0.00613641 -0.00565704 0.99996517 -0.38211011] [ 0. 0. 0. 1. ]] SLAMing on 112.32241403699999 meters Centerline goodness [0,1] 0.6774648952529811 Centerline is valid? [False, False] Translation: X:1.32, Y:0.13, Z:-0.38 [[ 0.99985496 -0.01583554 -0.00626823 1.32351291] [ 0.01586398 0.99986397 0.00451399 0.1256128 ] [ 0.0061959 -0.00461278 0.99997017 -0.38213074] [ 0. 0. 0. 1. ]] SLAMing on 112.35241403699999 meters Centerline goodness [0,1] 0.6970203709334144 Centerline is valid? [False, False] Translation: X:1.32, Y:0.13, Z:-0.38 [[ 0.99985342 -0.01586177 -0.00644558 1.32382972] [ 0.01588669 0.99986645 0.00383272 0.12884544] [ 0.00638392 -0.00393456 0.99997188 -0.38177185] [ 0. 0. 0. 1. ]] SLAMing on 112.38241403699999 meters Centerline goodness [0,1] 0.6958734035516206 Centerline is valid? [False, False] Translation: X:1.32, Y:0.13, Z:-0.38 [[ 0.99988155 -0.0142339 -0.00585577 1.32305153] [ 0.01426532 0.99988389 0.00535835 0.13139278] [ 0.00577882 -0.00544125 0.9999685 -0.38219472] [ 0. 0. 0. 1. ]] SLAMing on 112.41241403699999 meters Centerline goodness [0,1] 0.6923037716615699 Centerline is valid? [False, False] Translation: X:1.32, Y:0.13, Z:-0.38 [[ 0.99988302 -0.01400363 -0.00615127 1.32417933] [ 0.01403457 0.99988894 0.00501473 0.13398859] [ 0.00608037 -0.00510047 0.99996851 -0.3825927 ] [ 0. 0. 0. 1. ]] SLAMing on 112.44241403699999 meters Centerline goodness [0,1] 0.69485784665914 Centerline is valid? [False, False] Translation: X:1.33, Y:0.14, Z:-0.39 [[ 0.99989278 -0.01319546 -0.00634964 1.32672788] [ 0.01322861 0.99989894 0.00520764 0.13724623] [ 0.00628028 -0.00529108 0.99996628 -0.38508618] [ 0. 0. 0. 1. ]] SLAMing on 112.472414037 meters Centerline goodness [0,1] 0.6902359495750854 Centerline is valid? [False, False] Translation: X:1.33, Y:0.14, Z:-0.39 [[ 0.99989324 -0.01310603 -0.00646104 1.32773744] [ 0.01313979 0.99990009 0.00521077 0.13833844] [ 0.0063921 -0.00529511 0.99996555 -0.38608995] [ 0. 0. 0. 1. ]] SLAMing on 112.502414037 meters Centerline goodness [0,1] 0.6882454468172802 Centerline is valid? [False, False] Translation: X:1.33, Y:0.14, Z:-0.39 [[ 0.99988456 -0.01390787 -0.006119 1.32648973] [ 0.01393184 0.99989538 0.00389095 0.14211765] [ 0.00606425 -0.00397575 0.99997371 -0.38522215] [ 0. 0. 0. 1. ]] SLAMing on 112.532414037 meters Centerline goodness [0,1] 0.6834331749638505 Centerline is valid? [False, False] Translation: X:1.33, Y:0.14, Z:-0.38 [[ 0.99987991 -0.01424061 -0.00611242 1.32599894] [ 0.01426015 0.99989331 0.00316523 0.14457156] [ 0.00606669 -0.00325202 0.99997631 -0.38445414] [ 0. 0. 0. 1. ]] SLAMing on 112.562414037 meters Centerline goodness [0,1] 0.6876516442104177 Centerline is valid? [False, False] Translation: X:1.33, Y:0.15, Z:-0.38 [[ 0.99987914 -0.01422887 -0.00626532 1.32635929] [ 0.01424651 0.99989465 0.00278013 0.146576 ] [ 0.0062251 -0.00286905 0.99997651 -0.38426832] [ 0. 0. 0. 1. ]] SLAMing on 112.59241403699998 meters Centerline goodness [0,1] 0.6801129592206849 Centerline is valid? [False, False] Translation: X:1.33, Y:0.15, Z:-0.38 [[ 0.99987576 -0.0144435 -0.00631285 1.32673019] [ 0.01445731 0.99989318 0.00214766 0.1498089 ] [ 0.00628115 -0.00223866 0.99997777 -0.38449638] [ 0. 0. 0. 1. ]] SLAMing on 112.62241403699998 meters Centerline goodness [0,1] 0.6848973873336274 Centerline is valid? [False, False] Translation: X:1.33, Y:0.15, Z:-0.39 [[ 0.99987795 -0.01421137 -0.00649052 1.3282449 ] [ 0.0142252 0.99989663 0.00208971 0.15190732] [ 0.00646015 -0.00218179 0.99997675 -0.38593949] [ 0. 0. 0. 1. ]] SLAMing on 112.65241403699999 meters Centerline goodness [0,1] 0.6833098921706517 Centerline is valid? [False, False] Translation: X:1.33, Y:0.15, Z:-0.39 [[ 0.99988067 -0.01392174 -0.00669592 1.32960583] [ 0.01393595 0.99990073 0.00208017 0.1535714 ] [ 0.00666629 -0.00217323 0.99997542 -0.38703669] [ 0. 0. 0. 1. ]] SLAMing on 112.68241403699999 meters Centerline goodness [0,1] 0.6947382164773469 Centerline is valid? [False, False] Translation: X:1.33, Y:0.16, Z:-0.39 [[ 0.99988311 -0.01361593 -0.00695514 1.33098797] [ 0.01363061 0.99990496 0.00206794 0.15521508] [ 0.00692632 -0.0021625 0.99997367 -0.38803271] [ 0. 0. 0. 1. ]] SLAMing on 112.71241403699999 meters Centerline goodness [0,1] 0.6899285453502321 Centerline is valid? [False, False] Translation: X:1.33, Y:0.16, Z:-0.39 [[ 0.99988561 -0.01329118 -0.00721863 1.33233165] [ 0.01330686 0.99990919 0.00212864 0.15641288] [ 0.00718968 -0.00222446 0.99997168 -0.38899419] [ 0. 0. 0. 1. ]] SLAMing on 112.74241403699999 meters Centerline goodness [0,1] 0.700102273621273 Centerline is valid? [False, False] Translation: X:1.33, Y:0.16, Z:-0.39 [[ 0.99992513 -0.01043914 -0.00638351 1.33016667] [ 0.01047369 0.99993055 0.00540427 0.15768261] [ 0.00632665 -0.00547072 0.99996502 -0.38911635] [ 0. 0. 0. 1. ]] SLAMing on 112.77241403699999 meters Centerline goodness [0,1] 0.6889005372821386 Centerline is valid? [False, False] Translation: X:1.33, Y:0.16, Z:-0.39 [[ 0.9999225 -0.01056518 -0.00658573 1.33005561] [ 0.01059429 0.9999342 0.00440063 0.16063365] [ 0.00653881 -0.00447006 0.99996863 -0.38779566] [ 0. 0. 0. 1. ]] SLAMing on 112.80241403699999 meters Centerline goodness [0,1] 0.696590998971763 Centerline is valid? [False, False] Translation: X:1.33, Y:0.16, Z:-0.39 [[ 0.99995109 -0.0079308 -0.00591011 1.32726059] [ 0.00797333 0.99994224 0.00720771 0.16241522] [ 0.00585261 -0.00725449 0.99995656 -0.38646338] [ 0. 0. 0. 1. ]] SLAMing on 112.83241403699999 meters Centerline goodness [0,1] 0.698184128328657 Centerline is valid? [False, False] Translation: X:1.33, Y:0.17, Z:-0.39 [[ 0.99995903 -0.0066734 -0.00611575 1.32813444] [ 0.0067137 0.99995573 0.00659244 0.16767436] [ 0.00607148 -0.00663323 0.99995957 -0.38534333] [ 0. 0. 0. 1. ]] SLAMing on 112.862414037 meters Centerline goodness [0,1] 0.7016238339490259 Centerline is valid? [False, False] Translation: X:1.33, Y:0.17, Z:-0.39 [[ 0.99995753 -0.00670126 -0.00632684 1.32864597] [ 0.00673896 0.99995955 0.00595675 0.16970971] [ 0.00628667 -0.00599914 0.99996224 -0.38506125] [ 0. 0. 0. 1. ]] SLAMing on 112.892414037 meters Centerline goodness [0,1] 0.6930103362623862 Centerline is valid? [False, False] Translation: X:1.33, Y:0.17, Z:-0.39 [[ 0.99996015 -0.00596906 -0.00663911 1.33090853] [ 0.00600916 0.99996373 0.00603529 0.17158152] [ 0.00660284 -0.00607495 0.99995975 -0.38675163] [ 0. 0. 0. 1. ]] SLAMing on 112.922414037 meters Centerline goodness [0,1] 0.6975868880465539 Centerline is valid? [False, False] Translation: X:1.33, Y:0.17, Z:-0.39 [[ 0.99996109 -0.00522328 -0.00710863 1.33364159] [ 0.00527099 0.99996361 0.00670826 0.17124246] [ 0.00707333 -0.00674547 0.99995223 -0.38897093] [ 0. 0. 0. 1. ]] SLAMing on 112.952414037 meters Centerline goodness [0,1] 0.6990568048598529 Centerline is valid? [False, False] Translation: X:1.34, Y:0.17, Z:-0.39 [[ 0.99996194 -0.00498692 -0.00715876 1.33540413] [ 0.00503635 0.99996349 0.00690263 0.17169612] [ 0.00712408 -0.00693842 0.99995055 -0.39115068] [ 0. 0. 0. 1. ]] SLAMing on 112.98241403699998 meters Centerline goodness [0,1] 0.6968826470901159 Centerline is valid? [False, False] Translation: X:1.33, Y:0.17, Z:-0.39 [[ 0.9999591 -0.00554544 -0.00714425 1.33439189] [ 0.00558663 0.99996782 0.00575799 0.17365793] [ 0.00711209 -0.00579766 0.9999579 -0.3893562 ] [ 0. 0. 0. 1. ]] SLAMing on 113.01241403699999 meters Centerline goodness [0,1] 0.6932741659538066 Centerline is valid? [False, False] Translation: X:1.33, Y:0.18, Z:-0.39 [[ 0.99995512 -0.00633196 -0.00704673 1.33249077] [ 0.00636251 0.99997042 0.00432158 0.17613794] [ 0.00701915 -0.00436622 0.99996583 -0.38666083] [ 0. 0. 0. 1. ]] SLAMing on 113.04241403699999 meters Centerline goodness [0,1] 0.7107814257404531 Centerline is valid? [False, False] Translation: X:1.33, Y:0.18, Z:-0.38 [[ 0.9999534 -0.00640985 -0.00721944 1.33176727] [ 0.00643426 0.99997365 0.00336234 0.17780386] [ 0.0071977 -0.00340864 0.99996829 -0.38436437] [ 0. 0. 0. 1. ]] SLAMing on 113.07241403699999 meters Centerline goodness [0,1] 0.7081182292363247 Centerline is valid? [False, False] Translation: X:1.33, Y:0.18, Z:-0.38 [[ 0.99995425 -0.0058061 -0.00760123 1.33330216] [ 0.0058335 0.99997655 0.00358828 0.17769015] [ 0.00758021 -0.00363246 0.99996467 -0.38487697] [ 0. 0. 0. 1. ]] SLAMing on 113.10241403699999 meters Centerline goodness [0,1] 0.7092164418754014 Centerline is valid? [False, False] Translation: X:1.34, Y:0.18, Z:-0.39 [[ 0.99995364 -0.00526097 -0.00806448 1.33506936] [ 0.00529208 0.99997862 0.00384164 0.1779357 ] [ 0.0080441 -0.00388414 0.9999601 -0.38566981] [ 0. 0. 0. 1. ]] SLAMing on 113.13241403699999 meters Centerline goodness [0,1] 0.7151966563069339 Centerline is valid? [False, False] Translation: X:1.34, Y:0.18, Z:-0.39 [[ 0.9999548 -0.00412802 -0.00856528 1.33777023] [ 0.00416768 0.99998065 0.00461754 0.17791194] [ 0.00854606 -0.00465303 0.99995266 -0.38744229] [ 0. 0. 0. 1. ]] SLAMing on 113.16241403699999 meters Centerline goodness [0,1] 0.7157030998605599 Centerline is valid? [False, False] Translation: X:1.34, Y:0.18, Z:-0.39 [[ 0.99995339 -0.00359364 -0.00896109 1.33940297] [ 0.00363659 0.99998196 0.00478118 0.17813213] [ 0.00894374 -0.00481354 0.99994842 -0.38813554] [ 0. 0. 0. 1. ]] SLAMing on 113.19241403699999 meters Centerline goodness [0,1] 0.7110366098967413 Centerline is valid? [False, False] Translation: X:1.34, Y:0.18, Z:-0.39 [[ 0.99995233 -0.00286635 -0.00933421 1.34122278] [ 0.0029121 0.9999838 0.00489118 0.17899506] [ 0.00932004 -0.00491813 0.99994447 -0.38892037] [ 0. 0. 0. 1. ]] SLAMing on 113.222414037 meters Centerline goodness [0,1] 0.7183673469387755 Centerline is valid? [False, False] Translation: X:1.34, Y:0.18, Z:-0.39 [[ 0.99995113 -0.00299697 -0.00942131 1.34117595] [ 0.00304054 0.99998473 0.00461382 0.17937504] [ 0.00940733 -0.00464224 0.99994497 -0.38849281] [ 0. 0. 0. 1. ]] SLAMing on 113.252414037 meters Centerline goodness [0,1] 0.7162227343373171 Centerline is valid? [False, False] Translation: X:1.34, Y:0.18, Z:-0.39 [[ 0.99995006 -0.00297689 -0.00954064 1.34148723] [ 0.00302023 0.99998517 0.00453134 0.1794068 ] [ 0.00952701 -0.00455993 0.99994422 -0.38842972] [ 0. 0. 0. 1. ]] SLAMing on 113.282414037 meters Centerline goodness [0,1] 0.7203749462827675 Centerline is valid? [False, False] Translation: X:1.34, Y:0.18, Z:-0.39 [[ 0.99995113 -0.00268592 -0.0095145 1.34177049] [ 0.0027304 0.99998539 0.00466528 0.17931072] [ 0.00950183 -0.00469103 0.99994385 -0.38861554] [ 0. 0. 0. 1. ]] SLAMing on 113.312414037 meters Centerline goodness [0,1] 0.7349514041776298 Centerline is valid? [False, False] Translation: X:1.34, Y:0.18, Z:-0.39 [[ 0.99995042 -0.00200577 -0.00975418 1.34330312] [ 0.0020525 0.99998645 0.00478317 0.18015256] [ 0.00974446 -0.00480295 0.99994099 -0.38944129] [ 0. 0. 0. 1. ]] SLAMing on 113.34241403699998 meters Centerline goodness [0,1] 0.7314463887320914 Centerline is valid? [False, False] Translation: X:1.34, Y:0.18, Z:-0.39 [[ 0.99995023 -0.00210452 -0.00975197 1.34310532] [ 0.00214569 0.99998882 0.00421295 0.18162227] [ 0.00974299 -0.00423366 0.99994357 -0.38881559] [ 0. 0. 0. 1. ]] SLAMing on 113.37241403699998 meters Centerline goodness [0,1] 0.7301510638868765 Centerline is valid? [False, False] Translation: X:1.34, Y:0.18, Z:-0.39 [[ 0.99995016 -0.00242707 -0.00968454 1.34227496] [ 0.0024566 0.99999237 0.00303878 0.18393273] [ 0.00967709 -0.00306242 0.99994849 -0.38706103] [ 0. 0. 0. 1. ]] SLAMing on 113.40241403699999 meters Centerline goodness [0,1] 0.725145415069558 Centerline is valid? [False, False] Translation: X:1.34, Y:0.18, Z:-0.39 [[ 0.99994949 -0.00256463 -0.00971796 1.34212862] [ 0.00259235 0.9999926 0.00284123 0.18371011] [ 0.0097106 -0.00286627 0.99994874 -0.38670489] [ 0. 0. 0. 1. ]] SLAMing on 113.43241403699999 meters Centerline goodness [0,1] 0.7227355753733749 Centerline is valid? [False, False] Translation: X:1.34, Y:0.18, Z:-0.39 [[ 0.99994992 -0.00268359 -0.00964173 1.34199916] [ 0.00271071 0.9999924 0.00280101 0.18302915] [ 0.00963414 -0.00282701 0.99994959 -0.38673432] [ 0. 0. 0. 1. ]] SLAMing on 113.46241403699999 meters Centerline goodness [0,1] 0.7182044887780549 Centerline is valid? [False, False] Translation: X:1.34, Y:0.18, Z:-0.39 [[ 0.9999494 -0.0029517 -0.00961684 1.34201201] [ 0.00297925 0.9999915 0.00285191 0.18146223] [ 0.00960834 -0.00288041 0.99994969 -0.38699484] [ 0. 0. 0. 1. ]] SLAMing on 113.49241403699999 meters Centerline goodness [0,1] 0.7226291079812206 Centerline is valid? [False, False] Translation: X:1.34, Y:0.18, Z:-0.39 [[ 0.99995032 -0.00339038 -0.0093731 1.34157067] [ 0.00341869 0.99998964 0.00300591 0.18040284] [ 0.00936281 -0.0030378 0.99995155 -0.38750401] [ 0. 0. 0. 1. ]] SLAMing on 113.52241403699999 meters Centerline goodness [0,1] 0.7226291079812206 Centerline is valid? [False, False] Translation: X:1.34, Y:0.18, Z:-0.39 [[ 0.99995032 -0.00339038 -0.0093731 1.34157067] [ 0.00341869 0.99998964 0.00300591 0.18040284] [ 0.00936281 -0.0030378 0.99995155 -0.38750401] [ 0. 0. 0. 1. ]] SLAMing on 113.55241403699999 meters Centerline goodness [0,1] 0.7113235926085089 Centerline is valid? [False, False] Translation: X:1.34, Y:0.18, Z:-0.39 [[ 0.99994971 -0.00346848 -0.00940992 1.34176314] [ 0.00349669 0.99998944 0.00298217 0.1806193 ] [ 0.00939948 -0.00301493 0.99995128 -0.3876876 ] [ 0. 0. 0. 1. ]] SLAMing on 113.58241403699999 meters Centerline goodness [0,1] 0.7166299618628136 Centerline is valid? [False, False] Translation: X:1.34, Y:0.18, Z:-0.39 [[ 0.99994929 -0.00348298 -0.00944922 1.34209116] [ 0.00351199 0.99998917 0.00305538 0.18053826] [ 0.00943847 -0.00308842 0.99995069 -0.38801077] [ 0. 0. 0. 1. ]] SLAMing on 113.612414037 meters Centerline goodness [0,1] 0.7181096448878876 Centerline is valid? [False, False] Translation: X:1.34, Y:0.18, Z:-0.39 [[ 0.99994887 -0.00315076 -0.00960886 1.34310904] [ 0.00318458 0.99998878 0.00350709 0.1792703 ] [ 0.00959771 -0.00353751 0.99994768 -0.38883457] [ 0. 0. 0. 1. ]] SLAMing on 113.642414037 meters Centerline goodness [0,1] 0.7182467253596736 Centerline is valid? [False, False] Translation: X:1.34, Y:0.18, Z:-0.39 [[ 0.99994783 -0.00312495 -0.00972456 1.34331073] [ 0.00315791 0.99998932 0.00337533 0.1793289 ] [ 0.00971391 -0.00340586 0.99994702 -0.38860499] [ 0. 0. 0. 1. ]] SLAMing on 113.672414037 meters Centerline goodness [0,1] 0.7152609794119228 Centerline is valid? [False, False] Translation: X:1.34, Y:0.18, Z:-0.39 [[ 0.99994646 -0.00321432 -0.00983568 1.34311274] [ 0.00324362 0.99999035 0.00296453 0.17975256] [ 0.00982605 -0.00299628 0.99994723 -0.38776154] [ 0. 0. 0. 1. ]] SLAMing on 113.702414037 meters Centerline goodness [0,1] 0.7153171045921791 Centerline is valid? [False, False] Translation: X:1.34, Y:0.18, Z:-0.39 [[ 0.99994537 -0.00303221 -0.01000311 1.34378098] [ 0.00306456 0.99999012 0.00322005 0.17911028] [ 0.00999325 -0.00325053 0.99994478 -0.38815608] [ 0. 0. 0. 1. ]] SLAMing on 113.73241403699998 meters Centerline goodness [0,1] 0.7126717475311293 Centerline is valid? [False, False] Translation: X:1.34, Y:0.18, Z:-0.39 [[ 0.99994596 -0.00350957 -0.00978619 1.34290368] [ 0.0035384 0.99998945 0.00293029 0.17866977] [ 0.00977581 -0.00296476 0.99994782 -0.38771787] [ 0. 0. 0. 1. ]] SLAMing on 113.76241403699999 meters Centerline goodness [0,1] 0.7094458876777632 Centerline is valid? [False, False] Translation: X:1.34, Y:0.18, Z:-0.39 [[ 0.99994532 -0.00412277 -0.00961033 1.34223275] [ 0.00415311 0.99998645 0.00313922 0.17642329] [ 0.00959726 -0.00317896 0.99994889 -0.38794588] [ 0. 0. 0. 1. ]] SLAMing on 113.79241403699999 meters Centerline goodness [0,1] 0.7140980970249262 Centerline is valid? [False, False] Translation: X:1.34, Y:0.17, Z:-0.39 [[ 0.99994616 -0.0044021 -0.00939713 1.34193236] [ 0.00443487 0.99998415 0.00346976 0.1749143 ] [ 0.00938171 -0.00351125 0.99994983 -0.38852424] [ 0. 0. 0. 1. ]] SLAMing on 113.82241403699999 meters Centerline goodness [0,1] 0.7127548702600144 Centerline is valid? [False, False] Translation: X:1.34, Y:0.17, Z:-0.39 [[ 0.99994577 -0.00451525 -0.00938501 1.34216973] [ 0.00455219 0.99998196 0.0039185 0.17335227] [ 0.00936715 -0.00396101 0.99994828 -0.38920194] [ 0. 0. 0. 1. ]] SLAMing on 113.85241403699999 meters Centerline goodness [0,1] 0.7048210430935693 Centerline is valid? [False, False] Translation: X:1.34, Y:0.17, Z:-0.39 [[ 0.99994545 -0.00543291 -0.00892091 1.34099915] [ 0.00547011 0.99997642 0.00415099 0.17184611] [ 0.00889815 -0.00419957 0.99995159 -0.38986205] [ 0. 0. 0. 1. ]] SLAMing on 113.88241403699999 meters Centerline goodness [0,1] 0.6992945326278659 Centerline is valid? [False, False] Translation: X:1.34, Y:0.17, Z:-0.39 [[ 0.99994553 -0.005951 -0.00857499 1.33996406] [ 0.00598665 0.99997352 0.0041373 0.17115701] [ 0.00855014 -0.00418841 0.99995468 -0.38980506] [ 0. 0. 0. 1. ]] SLAMing on 113.91241403699999 meters Centerline goodness [0,1] 0.701608386012643 Centerline is valid? [False, False] Translation: X:1.34, Y:0.17, Z:-0.39 [[ 0.99994367 -0.00681656 -0.00813639 1.33810015] [ 0.00684772 0.9999693 0.00380865 0.17022197] [ 0.00811018 -0.00386415 0.99995965 -0.38891038] [ 0. 0. 0. 1. ]] SLAMing on 113.94241403699999 meters Centerline goodness [0,1] 0.6928261274940728 Centerline is valid? [False, False] Translation: X:1.34, Y:0.17, Z:-0.39 [[ 0.99994256 -0.0069877 -0.00812713 1.33777058] [ 0.00701688 0.99996902 0.00356682 0.16996981] [ 0.00810195 -0.00362364 0.99996061 -0.38830248] [ 0. 0. 0. 1. ]] SLAMing on 113.972414037 meters Centerline goodness [0,1] 0.6965046888320545 Centerline is valid? [False, False] Translation: X:1.34, Y:0.17, Z:-0.39 [[ 0.99994182 -0.0071359 -0.00808864 1.33737349] [ 0.00716373 0.9999685 0.0034173 0.16971166] [ 0.008064 -0.00347504 0.99996145 -0.38782449] [ 0. 0. 0. 1. ]] SLAMing on 114.002414037 meters Centerline goodness [0,1] 0.6897377241049103 Centerline is valid? [False, False] Translation: X:1.34, Y:0.17, Z:-0.39 [[ 0.99994101 -0.00725025 -0.00808754 1.33713837] [ 0.00727663 0.99996829 0.00323699 0.16956968] [ 0.00806382 -0.00329565 0.99996206 -0.38736619] [ 0. 0. 0. 1. ]] SLAMing on 114.032414037 meters Centerline goodness [0,1] 0.6920853005145615 Centerline is valid? [False, False] Translation: X:1.34, Y:0.17, Z:-0.39 [[ 0.99994175 -0.00669944 -0.00846233 1.33889668] [ 0.00673312 0.9999695 0.00395827 0.16836818] [ 0.00843556 -0.00401502 0.99995636 -0.38868166] [ 0. 0. 0. 1. ]] SLAMing on 114.062414037 meters Centerline goodness [0,1] 0.694706540860387 Centerline is valid? [False, False] Translation: X:1.34, Y:0.17, Z:-0.39 [[ 0.99994219 -0.00648772 -0.00857463 1.33982451] [ 0.00652494 0.99996938 0.00431981 0.16812826] [ 0.00854634 -0.00437551 0.99995391 -0.38964294] [ 0. 0. 0. 1. ]] SLAMing on 114.09241403699998 meters Centerline goodness [0,1] 0.6950937375349022 Centerline is valid? [False, False] Translation: X:1.34, Y:0.17, Z:-0.39 [[ 0.99994171 -0.00612507 -0.00889181 1.34103239] [ 0.00616495 0.99997103 0.00446411 0.16823603] [ 0.00886421 -0.00451867 0.9999505 -0.39010579] [ 0. 0. 0. 1. ]] SLAMing on 114.12241403699998 meters Centerline goodness [0,1] 0.6985405534731637 Centerline is valid? [False, False] Translation: X:1.34, Y:0.17, Z:-0.39 [[ 0.99994092 -0.0056656 -0.00927708 1.34222099] [ 0.00570705 0.99997382 0.00444758 0.16883802] [ 0.00925164 -0.00450026 0.99994708 -0.39017493] [ 0. 0. 0. 1. ]] SLAMing on 114.15241403699999 meters Centerline goodness [0,1] 0.6975996172147053 Centerline is valid? [False, False] Translation: X:1.35, Y:0.17, Z:-0.39 [[ 0.99994256 -0.00369944 -0.01005925 1.34509017] [ 0.00374401 0.99998324 0.00441594 0.17073698] [ 0.01004275 -0.00445335 0.99993965 -0.38977383] [ 0. 0. 0. 1. ]] SLAMing on 114.18241403699999 meters Centerline goodness [0,1] 0.7152383238643941 Centerline is valid? [False, False] Translation: X:1.35, Y:0.17, Z:-0.39 [[ 0.99993938 -0.0028687 -0.01063059 1.34656441] [ 0.00291305 0.99998711 0.00415945 0.17203957] [ 0.01061853 -0.00419016 0.99993484 -0.38921124] [ 0. 0. 0. 1. ]] SLAMing on 114.21241403699999 meters Centerline goodness [0,1] 0.7190250688926345 Centerline is valid? [False, False] Translation: X:1.35, Y:0.17, Z:-0.39 [[ 0.99994126 0.00158852 -0.01072151 1.34677728] [-0.00150261 0.99996674 0.00801612 0.17210304] [ 0.01073389 -0.00799954 0.99991039 -0.3887806 ] [ 0. 0. 0. 1. ]] SLAMing on 114.24241403699999 meters Centerline goodness [0,1] 0.7313824095869891 Centerline is valid? [False, False] Translation: X:1.35, Y:0.17, Z:-0.39 [[ 0.99993337 0.0021807 -0.01133539 1.34817895] [-0.00209549 0.9999695 0.00752341 0.17343569] [ 0.01135145 -0.00749916 0.99990745 -0.388037 ] [ 0. 0. 0. 1. ]] SLAMing on 114.27241403699999 meters Centerline goodness [0,1] 0.7293077501881113 Centerline is valid? [False, False] Translation: X:1.35, Y:0.17, Z:-0.39 [[ 0.99992495 0.00286569 -0.01191184 1.34980481] [-0.00277692 0.9999683 0.00746265 0.17422852] [ 0.01193285 -0.00742901 0.9999012 -0.38799444] [ 0. 0. 0. 1. ]] SLAMing on 114.30241403699999 meters Centerline goodness [0,1] 0.7582104782620371 Centerline is valid? [False, False] Translation: X:1.35, Y:0.17, Z:-0.39 [[ 0.99990769 0.00480016 -0.01271122 1.353428 ] [-0.00469646 0.99995555 0.00817559 0.17435727] [ 0.01274989 -0.00811514 0.99988579 -0.38924954] [ 0. 0. 0. 1. ]] SLAMing on 114.33241403699999 meters Centerline goodness [0,1] 0.7537417520519285 Centerline is valid? [False, False] Translation: X:1.36, Y:0.17, Z:-0.39 [[ 0.99989002 0.00635274 -0.01340144 1.35655004] [-0.00623601 0.99994241 0.00873451 0.17438895] [ 0.01345615 -0.00864998 0.99987205 -0.3903789 ] [ 0. 0. 0. 1. ]] SLAMing on 114.362414037 meters Centerline goodness [0,1] 0.7848682620256224 Centerline is valid? [False, False] Translation: X:1.36, Y:0.17, Z:-0.39 [[ 0.99988375 0.00668965 -0.01370159 1.35747964] [-0.00657136 0.9999409 0.00866055 0.17452014] [ 0.01375872 -0.0085695 0.99986862 -0.39039184] [ 0. 0. 0. 1. ]] SLAMing on 114.392414037 meters Centerline goodness [0,1] 0.7849421988573881 Centerline is valid? [False, False] Translation: X:1.36, Y:0.17, Z:-0.39 [[ 0.99987875 0.0070378 -0.01389051 1.35811393] [-0.00691741 0.99993826 0.00869623 0.17423766] [ 0.01395086 -0.00859909 0.99986571 -0.39030651] [ 0. 0. 0. 1. ]] SLAMing on 114.422414037 meters Centerline goodness [0,1] 0.7989073672370852 Centerline is valid? [False, False] Translation: X:1.36, Y:0.18, Z:-0.39 [[ 0.9998861 0.00479785 -0.01430972 1.3601765 ] [-0.00472796 0.99997675 0.00491423 0.17574488] [ 0.01433296 -0.00484602 0.99988553 -0.3901816 ] [ 0. 0. 0. 1. ]] SLAMing on 114.452414037 meters Centerline goodness [0,1] 0.8015864508521814 Centerline is valid? [False, False] Translation: X:1.36, Y:0.18, Z:-0.39 [[ 0.99988792 0.0047335 -0.01420358 1.35919051] [-0.00466884 0.9999786 0.00458238 0.17529089] [ 0.01422497 -0.00451555 0.99988862 -0.38875578] [ 0. 0. 0. 1. ]] SLAMing on 114.48241403699998 meters Centerline goodness [0,1] 0.7870983303406319 Centerline is valid? [False, False] Translation: X:1.36, Y:0.18, Z:-0.39 [[ 0.99989088 0.00432098 -0.01412668 1.35778984] [-0.00426573 0.99998314 0.00393904 0.17536893] [ 0.01414346 -0.00387835 0.99989245 -0.38686252] [ 0. 0. 0. 1. ]] SLAMing on 114.51241403699999 meters Centerline goodness [0,1] 0.797931200384893 Centerline is valid? [False, False] Translation: X:1.35, Y:0.17, Z:-0.38 [[ 0.99989774 0.00333251 -0.01390675 1.35479631] [-0.0032951 0.99999089 0.00271223 0.1744311 ] [ 0.01391566 -0.00266613 0.99989962 -0.38309449] [ 0. 0. 0. 1. ]] SLAMing on 114.54241403699999 meters Centerline goodness [0,1] 0.798614257161892 Centerline is valid? [False, False] Translation: X:1.36, Y:0.17, Z:-0.38 [[ 0.99989484 0.00340722 -0.01409613 1.35514062] [-0.00336704 0.9999902 0.00287328 0.17305578] [ 0.01410578 -0.00282552 0.99989652 -0.38295322] [ 0. 0. 0. 1. ]] SLAMing on 114.57241403699999 meters Centerline goodness [0,1] 0.7807211576899502 Centerline is valid? [False, False] Translation: X:1.36, Y:0.17, Z:-0.38 [[ 0.99989125 0.00358602 -0.01430516 1.35640215] [-0.00353033 0.9999861 0.00391651 0.16936794] [ 0.01431901 -0.00386558 0.99989001 -0.38453873] [ 0. 0. 0. 1. ]] SLAMing on 114.60241403699999 meters Centerline goodness [0,1] 0.789428995966886 Centerline is valid? [False, False] Translation: X:1.36, Y:0.17, Z:-0.38 [[ 9.99887626e-01 6.60308138e-04 -1.49766011e-02 1.35858441e+00] [-6.55052465e-04 9.99999722e-01 3.55828442e-04 1.69283748e-01] [ 1.49768319e-02 -3.45977997e-04 9.99887781e-01 -3.84739640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63241403699999 meters Centerline goodness [0,1] 0.7820030718711932 Centerline is valid? [False, False] Translation: X:1.36, Y:0.17, Z:-0.38 [[ 9.99890774e-01 3.77599233e-04 -1.47749269e-02 1.35786722e+00] [-3.70437856e-04 9.99999813e-01 4.87431702e-04 1.67698441e-01] [ 1.47751082e-02 -4.81905269e-04 9.99890726e-01 -3.84510356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66241403699999 meters Centerline goodness [0,1] 0.761835416225376 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.38 [[ 9.99889143e-01 6.31541800e-04 -1.48762606e-02 1.35832341e+00] [-6.13227288e-04 9.99999049e-01 1.23565269e-03 1.64638045e-01] [ 1.48770268e-02 -1.22639318e-03 9.99888579e-01 -3.84977941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69241403699999 meters Centerline goodness [0,1] 0.766780252000951 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.39 [[ 9.99887939e-01 9.65270919e-04 -1.49391345e-02 1.35904938e+00] [-9.39148688e-04 9.99998018e-01 1.75549394e-03 1.63257776e-01] [ 1.49407994e-02 -1.74126715e-03 9.99886864e-01 -3.85753250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.722414037 meters Centerline goodness [0,1] 0.7713528269200483 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.39 [[ 0.99988507 0.00156517 -0.01507976 1.35983014] [-0.00152658 0.99999553 0.00257042 0.16034141] [ 0.01508372 -0.00254711 0.99988299 -0.38622345] [ 0. 0. 0. 1. ]] SLAMing on 114.752414037 meters Centerline goodness [0,1] 0.7744763504645913 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.39 [[ 0.99988599 0.00150996 -0.0150242 1.35922332] [-0.0014743 0.99999607 0.00238374 0.15981828] [ 0.01502774 -0.00236132 0.99988429 -0.38537359] [ 0. 0. 0. 1. ]] SLAMing on 114.782414037 meters Centerline goodness [0,1] 0.7854532067632596 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.38 [[ 0.99987909 0.00230187 -0.01537875 1.36001585] [-0.00226152 0.99999396 0.0026409 0.1592724 ] [ 0.01538473 -0.0026058 0.99987825 -0.38475588] [ 0. 0. 0. 1. ]] SLAMing on 114.812414037 meters Centerline goodness [0,1] 0.8081614373402882 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.38 [[ 0.99987592 0.00239573 -0.01556939 1.36041773] [-0.00235596 0.99999392 0.00257165 0.15922388] [ 0.01557546 -0.00253465 0.99987548 -0.38456151] [ 0. 0. 0. 1. ]] SLAMing on 114.84241403699998 meters Centerline goodness [0,1] 0.8036767984054969 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.38 [[ 0.99987427 0.00257091 -0.01564732 1.36082769] [-0.00252562 0.99999257 0.00291377 0.15771691] [ 0.0156547 -0.00287388 0.99987333 -0.38480803] [ 0. 0. 0. 1. ]] SLAMing on 114.87241403699998 meters Centerline goodness [0,1] 0.7949920113151209 Centerline is valid? [False, False] Translation: X:1.36, Y:0.16, Z:-0.38 [[ 0.99987905 0.00207445 -0.01541355 1.35978655] [-0.00203345 0.99999435 0.00267519 0.15673272] [ 0.01541902 -0.00264352 0.99987763 -0.38418706] [ 0. 0. 0. 1. ]] SLAMing on 114.90241403699999 meters Centerline goodness [0,1] 0.8000208746477403 Centerline is valid? [False, False] Translation: X:1.36, Y:0.15, Z:-0.38 [[ 9.99875297e-01 -1.72121506e-03 -1.56980312e-02 1.35994357e+00] [ 1.70182183e-03 9.99997772e-01 -1.24866770e-03 1.54863337e-01] [ 1.57001454e-02 1.22179674e-03 9.99875999e-01 -3.83186801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93241403699999 meters Centerline goodness [0,1] 0.794879119166948 Centerline is valid? [False, False] Translation: X:1.36, Y:0.15, Z:-0.38 [[ 9.99876373e-01 -1.88216479e-03 -1.56107635e-02 1.35967274e+00] [ 1.86895724e-03 9.99997883e-01 -8.60599398e-04 1.52630818e-01] [ 1.56123503e-02 8.31317155e-04 9.99877774e-01 -3.83337905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96241403699999 meters Centerline goodness [0,1] 0.7702214012540001 Centerline is valid? [False, False] Translation: X:1.36, Y:0.15, Z:-0.38 [[ 9.99878708e-01 -2.07800830e-03 -1.54353886e-02 1.35927885e+00] [ 2.06751713e-03 9.99997621e-01 -6.95609278e-04 1.51649074e-01] [ 1.54367973e-02 6.63611976e-04 9.99880625e-01 -3.83497438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99241403699999 meters Centerline goodness [0,1] 0.7827011330343021 Centerline is valid? [False, False] Translation: X:1.36, Y:0.15, Z:-0.38 [[ 9.99879338e-01 -2.01550825e-03 -1.54028559e-02 1.35941520e+00] [ 2.01111281e-03 9.99997932e-01 -3.00849377e-04 1.50939371e-01] [ 1.54034305e-02 2.69836194e-04 9.99881324e-01 -3.83807655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02241403699999 meters Centerline goodness [0,1] 0.784026734366095 Centerline is valid? [False, False] Translation: X:1.36, Y:0.15, Z:-0.38 [[ 9.99881064e-01 -1.80637080e-03 -1.53164838e-02 1.35955532e+00] [ 1.81124359e-03 9.99998313e-01 3.04273957e-04 1.48953024e-01] [ 1.53159084e-02 -3.31979651e-04 9.99882649e-01 -3.84266605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05241403699999 meters Centerline goodness [0,1] 0.7748727620327073 Centerline is valid? [False, False] Translation: X:1.36, Y:0.15, Z:-0.38 [[ 9.99880469e-01 -1.50302318e-03 -1.53879122e-02 1.35999400e+00] [ 1.51399539e-03 9.99998608e-01 7.01416781e-04 1.47919867e-01] [ 1.53868365e-02 -7.24630168e-04 9.99881353e-01 -3.84546464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08241403699999 meters Centerline goodness [0,1] 0.784886117695558 Centerline is valid? [False, False] Translation: X:1.36, Y:0.15, Z:-0.38 [[ 9.99881115e-01 -1.53919397e-03 -1.53423451e-02 1.35960010e+00] [ 1.54990189e-03 9.99998564e-01 6.86066729e-04 1.47216964e-01] [ 1.53412671e-02 -7.09764296e-04 9.99882064e-01 -3.84049767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.112414037 meters Centerline goodness [0,1] 0.7869766001909135 Centerline is valid? [False, False] Translation: X:1.36, Y:0.14, Z:-0.38 [[ 9.99885979e-01 -1.87399949e-03 -1.49839169e-02 1.35808696e+00] [ 1.88576305e-03 9.99997925e-01 7.70988914e-04 1.44548659e-01] [ 1.49824410e-02 -7.99157122e-04 9.99887438e-01 -3.83124616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.142414037 meters Centerline goodness [0,1] 0.7863381801366696 Centerline is valid? [False, False] Translation: X:1.36, Y:0.14, Z:-0.38 [[ 9.99885142e-01 -1.55941621e-03 -1.50755213e-02 1.35878129e+00] [ 1.57935198e-03 9.99997894e-01 1.31057889e-03 1.42818248e-01] [ 1.50734458e-02 -1.33423792e-03 9.99885499e-01 -3.83753669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.172414037 meters Centerline goodness [0,1] 0.7930183538121434 Centerline is valid? [False, False] Translation: X:1.36, Y:0.14, Z:-0.39 [[ 9.99879392e-01 -5.79790076e-04 -1.55198438e-02 1.36098156e+00] [ 6.13021200e-04 9.99997530e-01 2.13653056e-03 1.42071400e-01] [ 1.55185668e-02 -2.14578687e-03 9.99877277e-01 -3.85119114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20241403699998 meters Centerline goodness [0,1] 0.7946246811142319 Centerline is valid? [False, False] Translation: X:1.36, Y:0.14, Z:-0.39 [[ 9.99875429e-01 2.01170525e-06 -1.57837672e-02 1.36229963e+00] [ 3.57812715e-05 9.99997133e-01 2.39413780e-03 1.42177833e-01] [ 1.57837267e-02 -2.39440432e-03 9.99872562e-01 -3.85777380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23241403699998 meters Centerline goodness [0,1] 0.8003605459696111 Centerline is valid? [False, False] Translation: X:1.36, Y:0.14, Z:-0.39 [[ 9.99871046e-01 5.57789630e-04 -1.60493257e-02 1.36357255e+00] [-5.16269714e-04 9.99996510e-01 2.59104623e-03 1.42115427e-01] [ 1.60507149e-02 -2.58242632e-03 9.99867844e-01 -3.86329723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26241403699999 meters Centerline goodness [0,1] 0.8029995112288735 Centerline is valid? [False, False] Translation: X:1.36, Y:0.14, Z:-0.39 [[ 9.99865489e-01 1.07907288e-03 -1.63658035e-02 1.36480220e+00] [-1.03283457e-03 9.99995452e-01 2.83348945e-03 1.41690737e-01] [ 1.63687866e-02 -2.81620515e-03 9.99862056e-01 -3.86760449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29241403699999 meters Centerline goodness [0,1] 0.802995273325113 Centerline is valid? [False, False] Translation: X:1.37, Y:0.14, Z:-0.39 [[ 0.99985567 0.00259242 -0.01679018 1.3671654 ] [-0.0025288 0.99998955 0.00380923 0.14004141] [ 0.01679988 -0.00376622 0.99985178 -0.38796291] [ 0. 0. 0. 1. ]] SLAMing on 115.32241403699999 meters Centerline goodness [0,1] 0.8068646355572695 Centerline is valid? [False, False] Translation: X:1.37, Y:0.14, Z:-0.39 [[ 0.99984679 0.00367646 -0.01711384 1.36872309] [-0.00360092 0.99998365 0.00444245 0.13935441] [ 0.01712989 -0.00438014 0.99984368 -0.38856427] [ 0. 0. 0. 1. ]] SLAMing on 115.35241403699999 meters Centerline goodness [0,1] 0.8056917036618851 Centerline is valid? [False, False] Translation: X:1.37, Y:0.14, Z:-0.39 [[ 0.99984493 0.0036485 -0.01722772 1.36853378] [-0.00357943 0.99998544 0.0040382 0.13999267] [ 0.01724221 -0.00397591 0.99984344 -0.38761828] [ 0. 0. 0. 1. ]] SLAMing on 115.38241403699999 meters Centerline goodness [0,1] 0.8044119533153777 Centerline is valid? [False, False] Translation: X:1.37, Y:0.14, Z:-0.39 [[ 0.99984446 0.00353092 -0.01727967 1.36793382] [-0.00346883 0.99998742 0.00362184 0.14045657] [ 0.01729224 -0.00356134 0.99984414 -0.38641794] [ 0. 0. 0. 1. ]] SLAMing on 115.41241403699999 meters Centerline goodness [0,1] 0.8044119533153777 Centerline is valid? [False, False] Translation: X:1.37, Y:0.14, Z:-0.39 [[ 0.99984446 0.00353092 -0.01727967 1.36793382] [-0.00346883 0.99998742 0.00362184 0.14045657] [ 0.01729224 -0.00356134 0.99984414 -0.38641794] [ 0. 0. 0. 1. ]] SLAMing on 115.44241403699999 meters Centerline goodness [0,1] 0.8032329846279765 Centerline is valid? [False, False] Translation: X:1.37, Y:0.14, Z:-0.38 [[ 0.99984502 0.00344571 -0.01726434 1.36707597] [-0.0033894 0.99998884 0.00329022 0.13961752] [ 0.01727548 -0.00323119 0.99984555 -0.38496699] [ 0. 0. 0. 1. ]] SLAMing on 115.472414037 meters Centerline goodness [0,1] 0.8039446721311475 Centerline is valid? [False, False] Translation: X:1.37, Y:0.14, Z:-0.38 [[ 0.99984703 0.00326913 -0.01718228 1.366618 ] [-0.0032134 0.99998949 0.00327029 0.13865348] [ 0.01719279 -0.00321458 0.99984703 -0.38457764] [ 0. 0. 0. 1. ]] SLAMing on 115.502414037 meters Centerline goodness [0,1] 0.800433341830232 Centerline is valid? [False, False] Translation: X:1.37, Y:0.14, Z:-0.38 [[ 9.99843840e-01 -2.97202362e-04 -1.76693751e-02 1.36756501e+00] [ 2.89594880e-04 9.99999864e-01 -4.33103321e-04 1.37166262e-01] [ 1.76695014e-02 4.27918727e-04 9.99843791e-01 -3.84079443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.532414037 meters Centerline goodness [0,1] 0.8018627850162866 Centerline is valid? [False, False] Translation: X:1.37, Y:0.13, Z:-0.38 [[ 9.99847769e-01 -6.72708104e-04 -1.74351941e-02 1.36696133e+00] [ 6.71404963e-04 9.99999771e-01 -8.05953574e-05 1.34283426e-01] [ 1.74352443e-02 6.88770124e-05 9.99847992e-01 -3.84297742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.562414037 meters Centerline goodness [0,1] 0.7982338841932635 Centerline is valid? [False, False] Translation: X:1.37, Y:0.13, Z:-0.39 [[ 0.99983299 -0.00414956 -0.01779814 1.36863813] [ 0.00410033 0.99998767 -0.00280145 0.13126864] [ 0.01780954 0.002728 0.99983768 -0.38571729] [ 0. 0. 0. 1. ]] SLAMing on 115.59241403699998 meters Centerline goodness [0,1] 0.7938146926234669 Centerline is valid? [False, False] Translation: X:1.37, Y:0.13, Z:-0.39 [[ 0.9998368 -0.00430547 -0.01754546 1.36853945] [ 0.00426933 0.99998869 -0.00209682 0.12942556] [ 0.01755429 0.00202157 0.99984387 -0.38668069] [ 0. 0. 0. 1. ]] SLAMing on 115.62241403699998 meters Centerline goodness [0,1] 0.7953634085213033 Centerline is valid? [False, False] Translation: X:1.37, Y:0.13, Z:-0.39 [[ 9.99839225e-01 -4.42300024e-03 -1.73770266e-02 1.36856111e+00] [ 4.39908737e-03 9.99989324e-01 -1.41410323e-03 1.27813058e-01] [ 1.73830956e-02 1.33743282e-03 9.99848008e-01 -3.87595211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65241403699999 meters Centerline goodness [0,1] 0.7916687503125469 Centerline is valid? [False, False] Translation: X:1.37, Y:0.13, Z:-0.39 [[ 9.99843671e-01 -4.81928431e-03 -1.70119965e-02 1.36774110e+00] [ 4.80084450e-03 9.99987844e-01 -1.12460233e-03 1.26696914e-01] [ 1.70172095e-02 1.04275457e-03 9.99854653e-01 -3.87854625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68241403699999 meters Centerline goodness [0,1] 0.7814179104477612 Centerline is valid? [False, False] Translation: X:1.37, Y:0.12, Z:-0.39 [[ 9.99849161e-01 -5.66770190e-03 -1.64174515e-02 1.36613210e+00] [ 5.65275967e-03 9.99983566e-01 -9.56405605e-04 1.24784249e-01] [ 1.64226024e-02 8.63457433e-04 9.99864767e-01 -3.87963421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71241403699999 meters Centerline goodness [0,1] 0.7779679940454038 Centerline is valid? [False, False] Translation: X:1.37, Y:0.12, Z:-0.39 [[ 9.99853317e-01 -5.86273407e-03 -1.60926127e-02 1.36540903e+00] [ 5.85157507e-03 9.99982605e-01 -7.40423177e-04 1.23411327e-01] [ 1.60966737e-02 6.46147439e-04 9.99870231e-01 -3.88044636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74241403699999 meters Centerline goodness [0,1] 0.7662829594647776 Centerline is valid? [False, False] Translation: X:1.36, Y:0.12, Z:-0.39 [[ 0.99982302 -0.00993698 -0.01597473 1.36477964] [ 0.00986171 0.99993993 -0.00478352 0.12230157] [ 0.0160213 0.00462514 0.99986095 -0.38716126] [ 0. 0. 0. 1. ]] SLAMing on 115.77241403699999 meters Centerline goodness [0,1] 0.7526547909429128 Centerline is valid? [False, False] Translation: X:1.36, Y:0.12, Z:-0.39 [[ 0.99982403 -0.01055146 -0.0155103 1.36335312] [ 0.01047937 0.99993394 -0.00472167 0.12059656] [ 0.01555909 0.0045583 0.99986856 -0.38688685] [ 0. 0. 0. 1. ]] SLAMing on 115.80241403699999 meters Centerline goodness [0,1] 0.745046655727266 Centerline is valid? [False, False] Translation: X:1.36, Y:0.12, Z:-0.39 [[ 0.99982315 -0.01082228 -0.01537985 1.36303637] [ 0.0107565 0.99993267 -0.00435385 0.11912474] [ 0.01542593 0.00418764 0.99987224 -0.38716052] [ 0. 0. 0. 1. ]] SLAMing on 115.83241403699999 meters Centerline goodness [0,1] 0.7276682562312571 Centerline is valid? [False, False] Translation: X:1.36, Y:0.12, Z:-0.39 [[ 0.99981589 -0.01173564 -0.01518079 1.3619597 ] [ 0.01166948 0.99992205 -0.00443934 0.11895558] [ 0.01523171 0.00426137 0.99987491 -0.386891 ] [ 0. 0. 0. 1. ]] SLAMing on 115.862414037 meters Centerline goodness [0,1] 0.743952904083945 Centerline is valid? [False, False] Translation: X:1.36, Y:0.12, Z:-0.39 [[ 0.99981547 -0.01154957 -0.01535039 1.36290148] [ 0.01149077 0.99992632 -0.0039131 0.11855179] [ 0.01539445 0.00373599 0.99987452 -0.38786529] [ 0. 0. 0. 1. ]] SLAMing on 115.892414037 meters Centerline goodness [0,1] 0.7258450235447844 Centerline is valid? [False, False] Translation: X:1.37, Y:0.12, Z:-0.39 [[ 0.99981971 -0.01081482 -0.01560707 1.36506041] [ 0.01077376 0.99993828 -0.00271271 0.11718336] [ 0.01563544 0.00254408 0.99987452 -0.39024257] [ 0. 0. 0. 1. ]] SLAMing on 115.922414037 meters Centerline goodness [0,1] 0.7449951983452758 Centerline is valid? [False, False] Translation: X:1.37, Y:0.12, Z:-0.39 [[ 0.99981926 -0.01050278 -0.01584767 1.3659351 ] [ 0.01046559 0.99994229 -0.00242789 0.11707547] [ 0.01587226 0.0022616 0.99987147 -0.39073552] [ 0. 0. 0. 1. ]] SLAMing on 115.95241403699998 meters Centerline goodness [0,1] 0.7647465836360492 Centerline is valid? [False, False] Translation: X:1.37, Y:0.12, Z:-0.39 [[ 0.99981881 -0.010437 -0.01591894 1.36583951] [ 0.01039694 0.99994258 -0.00259754 0.11742888] [ 0.01594513 0.00243156 0.99986991 -0.39027031] [ 0. 0. 0. 1. ]] SLAMing on 115.98241403699998 meters Centerline goodness [0,1] 0.7651758769108989 Centerline is valid? [False, False] Translation: X:1.37, Y:0.12, Z:-0.39 [[ 0.99981832 -0.00977071 -0.01636665 1.36723284] [ 0.0097323 0.9999497 -0.00242452 0.11862387] [ 0.01638951 0.00226479 0.99986312 -0.39047815] [ 0. 0. 0. 1. ]] SLAMing on 116.01241403699999 meters Centerline goodness [0,1] 0.7585294044879883 Centerline is valid? [False, False] Translation: X:1.37, Y:0.12, Z:-0.39 [[ 0.99981851 -0.00918835 -0.01668917 1.3688645 ] [ 0.00915814 0.99995629 -0.00188567 0.11901877] [ 0.01670577 0.00173248 0.99985895 -0.39169544] [ 0. 0. 0. 1. ]] SLAMing on 116.04241403699999 meters Centerline goodness [0,1] 0.7685091215129087 Centerline is valid? [False, False] Translation: X:1.37, Y:0.12, Z:-0.39 [[ 9.99819195e-01 -8.55065308e-03 -1.69841904e-02 1.37032916e+00] [ 8.52710329e-03 9.99962580e-01 -1.45850725e-03 1.19443731e-01] [ 1.69960260e-02 1.31341760e-03 9.99854694e-01 -3.92622120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07241403699999 meters Centerline goodness [0,1] 0.7607598693974473 Centerline is valid? [False, False] Translation: X:1.37, Y:0.12, Z:-0.39 [[ 9.99821276e-01 -8.47693658e-03 -1.68984310e-02 1.37021570e+00] [ 8.45455759e-03 9.99963286e-01 -1.39532443e-03 1.19374205e-01] [ 1.69096387e-02 1.25220629e-03 9.99856238e-01 -3.92620498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10241403699999 meters Centerline goodness [0,1] 0.7606361927377066 Centerline is valid? [False, False] Translation: X:1.37, Y:0.12, Z:-0.39 [[ 9.99821254e-01 -8.38398932e-03 -1.69460415e-02 1.37028104e+00] [ 8.36212431e-03 9.99964111e-01 -1.36071970e-03 1.19313896e-01] [ 1.69568416e-02 1.21877158e-03 9.99855480e-01 -3.92514492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13241403699999 meters Centerline goodness [0,1] 0.7732938417869925 Centerline is valid? [False, False] Translation: X:1.37, Y:0.12, Z:-0.39 [[ 9.99825991e-01 -7.88607553e-03 -1.69055232e-02 1.37091664e+00] [ 7.87104191e-03 9.99968566e-01 -9.55626091e-04 1.18854444e-01] [ 1.69125279e-02 8.22395722e-04 9.99856635e-01 -3.93229784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16241403699999 meters Centerline goodness [0,1] 0.7503698224852071 Centerline is valid? [False, False] Translation: X:1.37, Y:0.12, Z:-0.39 [[ 9.99825600e-01 -7.62447045e-03 -1.70480826e-02 1.37135359e+00] [ 7.61130371e-03 9.99970683e-01 -8.37081026e-04 1.19254277e-01] [ 1.70539651e-02 7.07176905e-04 9.99854320e-01 -3.93279471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19241403699999 meters Centerline goodness [0,1] 0.7694246115077699 Centerline is valid? [False, False] Translation: X:1.37, Y:0.12, Z:-0.39 [[ 9.99822806e-01 -7.44954423e-03 -1.72875858e-02 1.37167821e+00] [ 7.43247149e-03 9.99971826e-01 -1.05161274e-03 1.20655616e-01] [ 1.72949328e-02 9.22936913e-04 9.99850005e-01 -3.92785813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.222414037 meters Centerline goodness [0,1] 0.7622105419745129 Centerline is valid? [False, False] Translation: X:1.37, Y:0.12, Z:-0.39 [[ 9.99833751e-01 -4.83881232e-03 -1.75799767e-02 1.37433403e+00] [ 4.85503202e-03 9.99987827e-01 8.80061611e-04 1.22025055e-01] [ 1.75755042e-02 -9.65266652e-04 9.99845073e-01 -3.94576651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.252414037 meters Centerline goodness [0,1] 0.7791157664269898 Centerline is valid? [False, False] Translation: X:1.38, Y:0.12, Z:-0.40 [[ 9.99829049e-01 -4.12223542e-03 -1.80244114e-02 1.37620036e+00] [ 4.14558589e-03 9.99990615e-01 1.25831938e-03 1.22031481e-01] [ 1.80190552e-02 -1.33282602e-03 9.99836755e-01 -3.95582725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.282414037 meters Centerline goodness [0,1] 0.7835233779813773 Centerline is valid? [False, False] Translation: X:1.38, Y:0.12, Z:-0.40 [[ 0.99982475 -0.00353185 -0.01838481 1.37750667] [ 0.00356033 0.99999251 0.00151664 0.12187543] [ 0.01837932 -0.00158183 0.99982983 -0.39605939] [ 0. 0. 0. 1. ]] SLAMing on 116.312414037 meters Centerline goodness [0,1] 0.7884312401530498 Centerline is valid? [False, False] Translation: X:1.38, Y:0.12, Z:-0.40 [[ 9.99824412e-01 -2.78577616e-03 -1.85306505e-02 1.37778167e+00] [ 2.81120249e-03 9.99995142e-01 1.34621561e-03 1.23085256e-01] [ 1.85268103e-02 -1.39807264e-03 9.99827386e-01 -3.95205012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34241403699998 meters Centerline goodness [0,1] 0.7947254625905068 Centerline is valid? [False, False] Translation: X:1.38, Y:0.12, Z:-0.39 [[ 9.99820383e-01 -2.56330569e-03 -1.87784799e-02 1.37772146e+00] [ 2.58143163e-03 9.99996225e-01 9.41074135e-04 1.24679670e-01] [ 1.87759967e-02 -9.89380464e-04 9.99823226e-01 -3.94017254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37241403699998 meters Centerline goodness [0,1] 0.7966869744725844 Centerline is valid? [False, False] Translation: X:1.38, Y:0.13, Z:-0.39 [[ 9.99808068e-01 -1.16923761e-03 -1.95566060e-02 1.38012762e+00] [ 1.19665419e-03 9.99998318e-01 1.39026534e-03 1.25865227e-01] [ 1.95549475e-02 -1.41340100e-03 9.99807785e-01 -3.94186873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40241403699999 meters Centerline goodness [0,1] 0.7949207945687704 Centerline is valid? [False, False] Translation: X:1.38, Y:0.13, Z:-0.40 [[ 9.99797616e-01 -1.88325871e-04 -2.01169252e-02 1.38241469e+00] [ 2.32329770e-04 9.99997586e-01 2.18509209e-03 1.25050685e-01] [ 2.01164651e-02 -2.18932363e-03 9.99795246e-01 -3.95404424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43241403699999 meters Centerline goodness [0,1] 0.7934486584627799 Centerline is valid? [False, False] Translation: X:1.38, Y:0.12, Z:-0.40 [[ 9.99790267e-01 3.71803507e-04 -2.04764035e-02 1.38361204e+00] [-3.17936890e-04 9.99996481e-01 2.63386052e-03 1.23998319e-01] [ 2.04773107e-02 -2.62679791e-03 9.99786867e-01 -3.95823855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46241403699999 meters Centerline goodness [0,1] 0.7913008477774144 Centerline is valid? [False, False] Translation: X:1.38, Y:0.12, Z:-0.40 [[ 9.99787219e-01 6.85864831e-04 -2.06166529e-02 1.38411160e+00] [-6.27437427e-04 9.99995769e-01 2.84032569e-03 1.22926741e-01] [ 2.06185138e-02 -2.82678566e-03 9.99783420e-01 -3.95951911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49241403699999 meters Centerline goodness [0,1] 0.7898201185810472 Centerline is valid? [False, False] Translation: X:1.38, Y:0.12, Z:-0.40 [[ 0.99978082 0.00145074 -0.02088581 1.3848512 ] [-0.00138488 0.99999403 0.00316726 0.12215781] [ 0.02089028 -0.00313765 0.99977685 -0.3956765 ] [ 0. 0. 0. 1. ]] SLAMing on 116.52241403699999 meters Centerline goodness [0,1] 0.7896058247552096 Centerline is valid? [False, False] Translation: X:1.39, Y:0.12, Z:-0.40 [[ 0.99977698 0.00167524 -0.02105177 1.38545967] [-0.00160619 0.99999328 0.00329604 0.12224109] [ 0.02105715 -0.0032615 0.99977295 -0.39590194] [ 0. 0. 0. 1. ]] SLAMing on 116.55241403699999 meters Centerline goodness [0,1] 0.7951746796077546 Centerline is valid? [False, False] Translation: X:1.39, Y:0.12, Z:-0.40 [[ 0.99977376 0.00174863 -0.02119831 1.38568695] [-0.00167646 0.99999274 0.00342191 0.12166708] [ 0.02120414 -0.0033856 0.99976943 -0.39579626] [ 0. 0. 0. 1. ]] SLAMing on 116.58241403699999 meters Centerline goodness [0,1] 0.7920252151290774 Centerline is valid? [False, False] Translation: X:1.39, Y:0.12, Z:-0.40 [[ 0.99977719 0.00152905 -0.02105301 1.3850408 ] [-0.00145608 0.99999288 0.00348071 0.12049738] [ 0.02105819 -0.00344928 0.9997723 -0.39540411] [ 0. 0. 0. 1. ]] SLAMing on 116.612414037 meters Centerline goodness [0,1] 0.7920205215052425 Centerline is valid? [False, False] Translation: X:1.38, Y:0.12, Z:-0.39 [[ 9.99781540e-01 1.09733308e-03 -2.08726525e-02 1.38389304e+00] [-1.02589138e-03 9.99993581e-01 3.43314130e-03 1.18333198e-01] [ 2.08762858e-02 -3.41097822e-03 9.99776248e-01 -3.94507094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.642414037 meters Centerline goodness [0,1] 0.7850867478774456 Centerline is valid? [False, False] Translation: X:1.38, Y:0.11, Z:-0.39 [[ 9.99781130e-01 -3.09325074e-03 -2.06911768e-02 1.38268027e+00] [ 3.08837361e-03 9.99995195e-01 -2.67661003e-04 1.14769824e-01] [ 2.06919054e-02 2.03700336e-04 9.99785879e-01 -3.93268688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.672414037 meters Centerline goodness [0,1] 0.782925572378592 Centerline is valid? [False, False] Translation: X:1.38, Y:0.11, Z:-0.39 [[ 9.99786250e-01 -3.56262183e-03 -2.03657173e-02 1.38159668e+00] [ 3.56536158e-03 9.99993639e-01 9.82197950e-05 1.11809804e-01] [ 2.03652379e-02 -1.70809947e-04 9.99792592e-01 -3.93110348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70241403699998 meters Centerline goodness [0,1] 0.7797381485447289 Centerline is valid? [False, False] Translation: X:1.39, Y:0.11, Z:-0.40 [[ 0.99986036 -0.00931285 -0.01387542 1.38977065] [ 0.00940925 0.99993193 0.00689884 0.10673679] [ 0.01381023 -0.00702843 0.99987993 -0.39684824] [ 0. 0. 0. 1. ]] SLAMing on 116.73241403699998 meters Centerline goodness [0,1] 0.7713111782477342 Centerline is valid? [False, False] Translation: X:1.39, Y:0.11, Z:-0.40 [[ 0.99981445 -0.01284552 -0.01435471 1.39101133] [ 0.01289387 0.99991149 0.00328075 0.10663096] [ 0.01431129 -0.00346523 0.99989158 -0.39676688] [ 0. 0. 0. 1. ]] SLAMing on 116.76241403699999 meters Centerline goodness [0,1] 0.7642777697180715 Centerline is valid? [False, False] Translation: X:1.39, Y:0.10, Z:-0.40 [[ 0.99980751 -0.0135084 -0.01422926 1.39045945] [ 0.01356187 0.9999013 0.00366826 0.1039554 ] [ 0.0141783 -0.00386053 0.99989203 -0.39699613] [ 0. 0. 0. 1. ]] SLAMing on 116.79241403699999 meters Centerline goodness [0,1] 0.755930252080685 Centerline is valid? [False, False] Translation: X:1.39, Y:0.10, Z:-0.40 [[ 9.99750287e-01 -1.68302357e-02 -1.47005540e-02 1.39233655e+00] [ 1.68390918e-02 9.99858098e-01 4.78853341e-04 1.02572922e-01] [ 1.46904087e-02 -7.26277742e-04 9.99891826e-01 -3.97869128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82241403699999 meters Centerline goodness [0,1] 0.7623883021933388 Centerline is valid? [False, False] Translation: X:1.39, Y:0.10, Z:-0.40 [[ 0.99968196 -0.02041214 -0.0148097 1.39349056] [ 0.02038058 0.9997897 -0.00227868 0.09925853] [ 0.0148531 0.00197612 0.99988773 -0.39909779] [ 0. 0. 0. 1. ]] SLAMing on 116.85241403699999 meters Centerline goodness [0,1] 0.7323933581448612 Centerline is valid? [False, False] Translation: X:1.39, Y:0.10, Z:-0.40 [[ 0.9996777 -0.02067168 -0.01473692 1.39312639] [ 0.02064338 0.99978476 -0.00206967 0.09805845] [ 0.01477653 0.00176478 0.99988926 -0.39904971] [ 0. 0. 0. 1. ]] SLAMing on 116.88241403699999 meters Centerline goodness [0,1] 0.7219635651696392 Centerline is valid? [False, False] Translation: X:1.39, Y:0.10, Z:-0.40 [[ 0.9996733 -0.02101094 -0.01455439 1.39245671] [ 0.02098375 0.99977778 -0.00201797 0.09767589] [ 0.01459355 0.0017119 0.99989204 -0.39884593] [ 0. 0. 0. 1. ]] SLAMing on 116.91241403699999 meters Centerline goodness [0,1] 0.7535143922731184 Centerline is valid? [False, False] Translation: X:1.39, Y:0.10, Z:-0.40 [[ 0.99966955 -0.02120468 -0.0145312 1.39225022] [ 0.02117936 0.9997739 -0.00189445 0.09757949] [ 0.01456809 0.00158606 0.99989262 -0.39877167] [ 0. 0. 0. 1. ]] SLAMing on 116.94241403699999 meters Centerline goodness [0,1] 0.7271576936850901 Centerline is valid? [False, False] Translation: X:1.39, Y:0.10, Z:-0.40 [[ 9.99656440e-01 -2.17643209e-02 -1.46053356e-02 1.39251556e+00] [ 2.17445294e-02 9.99762416e-01 -1.51254442e-03 9.67180964e-02] [ 1.46347851e-02 1.19443862e-03 9.99892192e-01 -3.99672385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.972414037 meters Centerline goodness [0,1] 0.7256114970971733 Centerline is valid? [False, False] Translation: X:1.39, Y:0.09, Z:-0.40 [[ 9.99651917e-01 -2.21340242e-02 -1.43571897e-02 1.39231132e+00] [ 2.21196879e-02 9.99754661e-01 -1.15659674e-03 9.49763580e-02] [ 1.43792675e-02 8.38617597e-04 9.99896261e-01 -4.00437962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.002414037 meters Centerline goodness [0,1] 0.7183901222842217 Centerline is valid? [False, False] Translation: X:1.39, Y:0.09, Z:-0.40 [[ 9.99646765e-01 -2.25003519e-02 -1.41449143e-02 1.39217410e+00] [ 2.24917845e-02 9.99746736e-01 -7.64499508e-04 9.32817979e-02] [ 1.41585334e-02 4.46085096e-04 9.99899663e-01 -4.01259308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.032414037 meters Centerline goodness [0,1] 0.7156778855295683 Centerline is valid? [False, False] Translation: X:1.39, Y:0.09, Z:-0.40 [[ 9.99638483e-01 -2.30555667e-02 -1.38327322e-02 1.39140329e+00] [ 2.30452166e-02 9.99734012e-01 -9.07180800e-04 9.28543547e-02] [ 1.38499684e-02 5.88074529e-04 9.99903912e-01 -4.01287562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.062414037 meters Centerline goodness [0,1] 0.7041559554413025 Centerline is valid? [False, False] Translation: X:1.39, Y:0.10, Z:-0.40 [[ 0.99961573 -0.02412392 -0.01365372 1.38992733] [ 0.02409784 0.99970746 -0.00207131 0.09530677] [ 0.0136997 0.00174149 0.99990464 -0.39985108] [ 0. 0. 0. 1. ]] SLAMing on 117.09241403699998 meters Centerline goodness [0,1] 0.6973756477302577 Centerline is valid? [False, False] Translation: X:1.39, Y:0.10, Z:-0.40 [[ 0.99960849 -0.02432808 -0.01382051 1.3900683 ] [ 0.02429671 0.99970183 -0.00243359 0.09702404] [ 0.01387559 0.00209684 0.99990153 -0.3995802 ] [ 0. 0. 0. 1. ]] SLAMing on 117.12241403699998 meters Centerline goodness [0,1] 0.7090678594493744 Centerline is valid? [False, False] Translation: X:1.39, Y:0.10, Z:-0.40 [[ 0.9996065 -0.02424042 -0.01411534 1.39107244] [ 0.02420803 0.99970391 -0.00246139 0.09839245] [ 0.01417082 0.00211872 0.99989734 -0.40012101] [ 0. 0. 0. 1. ]] SLAMing on 117.15241403699999 meters Centerline goodness [0,1] 0.7099875335634829 Centerline is valid? [False, False] Translation: X:1.39, Y:0.10, Z:-0.40 [[ 0.99960538 -0.02421123 -0.0142443 1.39194248] [ 0.02417959 0.99970478 -0.00238923 0.09918719] [ 0.01429794 0.00204386 0.99989569 -0.40103532] [ 0. 0. 0. 1. ]] SLAMing on 117.18241403699999 meters Centerline goodness [0,1] 0.6989523147371197 Centerline is valid? [False, False] Translation: X:1.39, Y:0.10, Z:-0.40 [[ 0.99960033 -0.02454138 -0.01403197 1.39269717] [ 0.02451617 0.9996975 -0.00196582 0.0985883 ] [ 0.01407596 0.00162102 0.99989961 -0.40316738] [ 0. 0. 0. 1. ]] SLAMing on 117.21241403699999 meters Centerline goodness [0,1] 0.6820795400095832 Centerline is valid? [False, False] Translation: X:1.39, Y:0.10, Z:-0.40 [[ 0.9995947 -0.02492352 -0.01375728 1.39248003] [ 0.0248995 0.99968813 -0.00191456 0.09870685] [ 0.0138007 0.00157123 0.99990353 -0.40390019] [ 0. 0. 0. 1. ]] SLAMing on 117.24241403699999 meters Centerline goodness [0,1] 0.6955237500600355 Centerline is valid? [False, False] Translation: X:1.39, Y:0.10, Z:-0.40 [[ 0.99958669 -0.02534937 -0.01355961 1.39209933] [ 0.02532314 0.99967711 -0.00210271 0.09973676] [ 0.01360854 0.00175847 0.99990585 -0.40414634] [ 0. 0. 0. 1. ]] SLAMing on 117.27241403699999 meters Centerline goodness [0,1] 0.6849793891473616 Centerline is valid? [False, False] Translation: X:1.39, Y:0.10, Z:-0.40 [[ 0.99956875 -0.02617866 -0.01330386 1.39076093] [ 0.02614251 0.99965407 -0.00288359 0.10155763] [ 0.01337474 0.00253455 0.99990734 -0.40322295] [ 0. 0. 0. 1. ]] SLAMing on 117.30241403699999 meters Centerline goodness [0,1] 0.6734194392613952 Centerline is valid? [False, False] Translation: X:1.39, Y:0.10, Z:-0.40 [[ 9.99589581e-01 -2.57195301e-02 -1.26164316e-02 1.38615460e+00] [ 2.57039888e-02 9.99668628e-01 -1.39246161e-03 1.03417989e-01] [ 1.26480643e-02 1.06759750e-03 9.99919440e-01 -4.00519377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33241403699999 meters Centerline goodness [0,1] 0.6734194392613952 Centerline is valid? [False, False] Translation: X:1.39, Y:0.10, Z:-0.40 [[ 9.99589581e-01 -2.57195301e-02 -1.26164316e-02 1.38615460e+00] [ 2.57039888e-02 9.99668628e-01 -1.39246161e-03 1.03417989e-01] [ 1.26480643e-02 1.06759750e-03 9.99919440e-01 -4.00519377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.362414037 meters Centerline goodness [0,1] 0.6766831587116802 Centerline is valid? [False, False] Translation: X:1.39, Y:0.10, Z:-0.40 [[ 9.99583925e-01 -2.59149596e-02 -1.26645977e-02 1.38637490e+00] [ 2.58959369e-02 9.99663259e-01 -1.66375232e-03 1.04777633e-01] [ 1.27034491e-02 1.33509845e-03 9.99918417e-01 -4.00687848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.392414037 meters Centerline goodness [0,1] 0.6756276761385753 Centerline is valid? [False, False] Translation: X:1.39, Y:0.11, Z:-0.40 [[ 0.9995787 -0.02609155 -0.01271443 1.38673437] [ 0.02606984 0.99965837 -0.00187031 0.10614435] [ 0.01275888 0.00153806 0.99991742 -0.4010878 ] [ 0. 0. 0. 1. ]] SLAMing on 117.422414037 meters Centerline goodness [0,1] 0.6756994932804583 Centerline is valid? [False, False] Translation: X:1.39, Y:0.11, Z:-0.40 [[ 0.99957198 -0.02627427 -0.01286542 1.3879889 ] [ 0.02624615 0.99965275 -0.00234928 0.10936432] [ 0.01292268 0.00201061 0.99991448 -0.40235391] [ 0. 0. 0. 1. ]] SLAMing on 117.45241403699998 meters Centerline goodness [0,1] 0.6737627051903625 Centerline is valid? [False, False] Translation: X:1.39, Y:0.11, Z:-0.40 [[ 0.99957157 -0.02616903 -0.01310922 1.38924337] [ 0.02613806 0.99965514 -0.00252881 0.11141923] [ 0.01317087 0.00218508 0.99991087 -0.40330971] [ 0. 0. 0. 1. ]] SLAMing on 117.48241403699998 meters Centerline goodness [0,1] 0.6772367212137766 Centerline is valid? [False, False] Translation: X:1.39, Y:0.12, Z:-0.40 [[ 9.99655078e-01 -2.29379164e-02 -1.27897132e-02 1.38921588e+00] [ 2.29480588e-02 9.99736449e-01 6.46798701e-04 1.15090021e-01] [ 1.27715062e-02 -9.40074697e-04 9.99917999e-01 -4.04693978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51241403699999 meters Centerline goodness [0,1] 0.6856139826710488 Centerline is valid? [False, False] Translation: X:1.39, Y:0.12, Z:-0.41 [[ 0.99972584 -0.01989362 -0.01234867 1.38799271] [ 0.01994461 0.99979301 0.00401915 0.11641186] [ 0.01226615 -0.00426433 0.99991567 -0.40501528] [ 0. 0. 0. 1. ]] SLAMing on 117.54241403699999 meters Centerline goodness [0,1] 0.6752974631445035 Centerline is valid? [False, False] Translation: X:1.39, Y:0.12, Z:-0.41 [[ 0.99972463 -0.01982211 -0.0125594 1.38871871] [ 0.01986599 0.99979694 0.00337873 0.11962865] [ 0.01248988 -0.00362731 0.99991542 -0.40507584] [ 0. 0. 0. 1. ]] SLAMing on 117.57241403699999 meters Centerline goodness [0,1] 0.6749529190207156 Centerline is valid? [False, False] Translation: X:1.39, Y:0.12, Z:-0.40 [[ 0.99978113 -0.0170851 -0.01207442 1.38694699] [ 0.01716432 0.99983163 0.00648775 0.12091239] [ 0.01196154 -0.00669358 0.99990605 -0.40483918] [ 0. 0. 0. 1. ]] SLAMing on 117.60241403699999 meters Centerline goodness [0,1] 0.6919162510443302 Centerline is valid? [False, False] Translation: X:1.39, Y:0.13, Z:-0.41 [[ 0.99978973 -0.01651139 -0.01216043 1.38860409] [ 0.01658633 0.9998439 0.00608785 0.12527797] [ 0.01205802 -0.00628827 0.99990753 -0.40623065] [ 0. 0. 0. 1. ]] SLAMing on 117.63241403699999 meters Centerline goodness [0,1] 0.6789869430472997 Centerline is valid? [False, False] Translation: X:1.39, Y:0.13, Z:-0.41 [[ 0.99978853 -0.01658228 -0.01216208 1.38922991] [ 0.01665115 0.99984577 0.00558394 0.12800639] [ 0.01206761 -0.00578527 0.99991045 -0.40696765] [ 0. 0. 0. 1. ]] SLAMing on 117.66241403699999 meters Centerline goodness [0,1] 0.6877071330240148 Centerline is valid? [False, False] Translation: X:1.39, Y:0.13, Z:-0.41 [[ 0.99979046 -0.01641079 -0.01223588 1.3902034 ] [ 0.01647522 0.99985084 0.0051836 0.13093338] [ 0.01214899 -0.0053841 0.9999117 -0.4077618 ] [ 0. 0. 0. 1. ]] SLAMing on 117.69241403699999 meters Centerline goodness [0,1] 0.6799118129614439 Centerline is valid? [False, False] Translation: X:1.39, Y:0.13, Z:-0.41 [[ 0.99979013 -0.01649076 -0.01215568 1.39026926] [ 0.0165453 0.99985344 0.00440013 0.13452638] [ 0.01208134 -0.00460032 0.99991644 -0.40768784] [ 0. 0. 0. 1. ]] SLAMing on 117.722414037 meters Centerline goodness [0,1] 0.6845124774890661 Centerline is valid? [False, False] Translation: X:1.39, Y:0.14, Z:-0.41 [[ 0.99978507 -0.01673661 -0.01223497 1.39002512] [ 0.0167766 0.99985423 0.00317265 0.13842313] [ 0.01218008 -0.00337723 0.99992012 -0.40655921] [ 0. 0. 0. 1. ]] SLAMing on 117.752414037 meters Centerline goodness [0,1] 0.6921407533715702 Centerline is valid? [False, False] Translation: X:1.39, Y:0.14, Z:-0.41 [[ 0.99983261 -0.01423445 -0.01149519 1.38695779] [ 0.01430127 0.99988119 0.00575149 0.1406329 ] [ 0.01141195 -0.00591492 0.99991739 -0.40504329] [ 0. 0. 0. 1. ]] SLAMing on 117.782414037 meters Centerline goodness [0,1] 0.694174377687997 Centerline is valid? [False, False] Translation: X:1.38, Y:0.15, Z:-0.40 [[ 0.99987115 -0.01181443 -0.01086785 1.38411503] [ 0.01189699 0.99990063 0.00756312 0.14553977] [ 0.01077742 -0.00769144 0.99991234 -0.40311969] [ 0. 0. 0. 1. ]] SLAMing on 117.812414037 meters Centerline goodness [0,1] 0.6944299436207977 Centerline is valid? [False, False] Translation: X:1.38, Y:0.15, Z:-0.40 [[ 0.99987009 -0.01180032 -0.01097975 1.38465603] [ 0.01187916 0.99990392 0.00714348 0.14711847] [ 0.0108944 -0.00727299 0.9999142 -0.40328291] [ 0. 0. 0. 1. ]] SLAMing on 117.84241403699998 meters Centerline goodness [0,1] 0.6984093817744926 Centerline is valid? [False, False] Translation: X:1.38, Y:0.15, Z:-0.40 [[ 0.99986883 -0.01192271 -0.01096186 1.38493089] [ 0.01199845 0.99990442 0.00686956 0.14788551] [ 0.01087891 -0.00700018 0.99991632 -0.40362491] [ 0. 0. 0. 1. ]] SLAMing on 117.87241403699998 meters Centerline goodness [0,1] 0.6887389507819446 Centerline is valid? [False, False] Translation: X:1.39, Y:0.15, Z:-0.40 [[ 0.99986724 -0.01198854 -0.01103512 1.38556058] [ 0.01206394 0.99990416 0.00679238 0.14859167] [ 0.01095263 -0.00692461 0.99991604 -0.40432598] [ 0. 0. 0. 1. ]] SLAMing on 117.90241403699999 meters Centerline goodness [0,1] 0.6928714015549485 Centerline is valid? [False, False] Translation: X:1.39, Y:0.15, Z:-0.41 [[ 0.9998651 -0.01219936 -0.01099837 1.38628189] [ 0.01227044 0.99990412 0.00641814 0.15208975] [ 0.01091902 -0.00655223 0.99991892 -0.40550691] [ 0. 0. 0. 1. ]] SLAMing on 117.93241403699999 meters Centerline goodness [0,1] 0.6988603387326544 Centerline is valid? [False, False] Translation: X:1.39, Y:0.15, Z:-0.41 [[ 0.99986369 -0.01214094 -0.01118952 1.38708277] [ 0.01221034 0.99990651 0.00615489 0.15421528] [ 0.01111375 -0.00629068 0.99991845 -0.40589388] [ 0. 0. 0. 1. ]] SLAMing on 117.96241403699999 meters Centerline goodness [0,1] 0.684284204965663 Centerline is valid? [False, False] Translation: X:1.39, Y:0.16, Z:-0.41 [[ 0.99986207 -0.01234716 -0.01110838 1.38735157] [ 0.01240823 0.99990819 0.00544538 0.15756598] [ 0.01104012 -0.00558246 0.99992347 -0.40622328] [ 0. 0. 0. 1. ]] SLAMing on 117.99241403699999 meters Centerline goodness [0,1] 0.6850771596754521 Centerline is valid? [False, False] Translation: X:1.39, Y:0.16, Z:-0.41 [[ 0.9998628 -0.01226439 -0.0111338 1.3875753 ] [ 0.01232389 0.99991006 0.00529173 0.1581523 ] [ 0.0110679 -0.00542822 0.99992402 -0.4062796 ] [ 0. 0. 0. 1. ]] SLAMing on 118.02241403699999 meters Centerline goodness [0,1] 0.6969319956587341 Centerline is valid? [False, False] Translation: X:1.39, Y:0.16, Z:-0.41 [[ 0.99986531 -0.01189843 -0.01130446 1.3885032 ] [ 0.01195871 0.99991455 0.00528011 0.15878599] [ 0.01124067 -0.00541458 0.99992216 -0.40672689] [ 0. 0. 0. 1. ]] SLAMing on 118.05241403699999 meters Centerline goodness [0,1] 0.6860662251655629 Centerline is valid? [False, False] Translation: X:1.39, Y:0.16, Z:-0.41 [[ 0.99986672 -0.01155165 -0.01153701 1.38963781] [ 0.01161054 0.99991984 0.00505083 0.16039363] [ 0.01147774 -0.00518411 0.99992069 -0.40716891] [ 0. 0. 0. 1. ]] SLAMing on 118.08241403699999 meters Centerline goodness [0,1] 0.69194010831475 Centerline is valid? [False, False] Translation: X:1.39, Y:0.16, Z:-0.41 [[ 0.99987089 -0.01079785 -0.01190029 1.3915522 ] [ 0.01085949 0.99992789 0.0051273 0.1623837 ] [ 0.01184407 -0.00525587 0.99991604 -0.40816254] [ 0. 0. 0. 1. ]] SLAMing on 118.112414037 meters Centerline goodness [0,1] 0.7005989617995474 Centerline is valid? [False, False] Translation: X:1.39, Y:0.17, Z:-0.41 [[ 0.99990417 -0.00702551 -0.01192848 1.392087 ] [ 0.00712705 0.99993855 0.00849115 0.16603619] [ 0.01186809 -0.00857535 0.9998928 -0.40890676] [ 0. 0. 0. 1. ]] SLAMing on 118.142414037 meters Centerline goodness [0,1] 0.6894147813777077 Centerline is valid? [False, False] Translation: X:1.39, Y:0.17, Z:-0.41 [[ 0.99990127 -0.00700298 -0.01218235 1.392458 ] [ 0.00709693 0.99994528 0.00768588 0.16860491] [ 0.01212786 -0.00777158 0.99989625 -0.40810838] [ 0. 0. 0. 1. ]] SLAMing on 118.172414037 meters Centerline goodness [0,1] 0.6993390596986968 Centerline is valid? [False, False] Translation: X:1.39, Y:0.17, Z:-0.41 [[ 0.99989923 -0.00715747 -0.01225933 1.39247308] [ 0.00724291 0.99994969 0.00693931 0.17071915] [ 0.01220905 -0.0070274 0.99990077 -0.40752524] [ 0. 0. 0. 1. ]] SLAMing on 118.20241403699998 meters Centerline goodness [0,1] 0.7012335746849021 Centerline is valid? [False, False] Translation: X:1.39, Y:0.17, Z:-0.41 [[ 0.99989893 -0.00679929 -0.01248601 1.39390612] [ 0.00688202 0.99995457 0.00659474 0.17291237] [ 0.01244061 -0.00668 0.9999003 -0.40828333] [ 0. 0. 0. 1. ]] SLAMing on 118.23241403699998 meters Centerline goodness [0,1] 0.7000617930738025 Centerline is valid? [False, False] Translation: X:1.39, Y:0.17, Z:-0.41 [[ 0.99989794 -0.00698261 -0.01246422 1.39402193] [ 0.00705925 0.99995639 0.00611512 0.17440669] [ 0.01242098 -0.00620248 0.99990362 -0.40835298] [ 0. 0. 0. 1. ]] SLAMing on 118.26241403699999 meters Centerline goodness [0,1] 0.6976045494782586 Centerline is valid? [False, False] Translation: X:1.39, Y:0.18, Z:-0.41 [[ 0.99989556 -0.00713674 -0.01256735 1.39427239] [ 0.00720848 0.99995793 0.00567299 0.1759009 ] [ 0.01252633 -0.00576299 0.99990493 -0.40822006] [ 0. 0. 0. 1. ]] SLAMing on 118.29241403699999 meters Centerline goodness [0,1] 0.6948684245822044 Centerline is valid? [False, False] Translation: X:1.39, Y:0.18, Z:-0.41 [[ 0.99989441 -0.00727774 -0.0125776 1.39467895] [ 0.00734128 0.99996049 0.00501318 0.17858343] [ 0.01254062 -0.00510499 0.99990833 -0.40840708] [ 0. 0. 0. 1. ]] SLAMing on 118.32241403699999 meters Centerline goodness [0,1] 0.6925232385827833 Centerline is valid? [False, False] Translation: X:1.40, Y:0.18, Z:-0.41 [[ 0.99989456 -0.00699347 -0.01272611 1.39570788] [ 0.00705812 0.99996238 0.00504277 0.17912911] [ 0.01269036 -0.00513206 0.9999063 -0.40914559] [ 0. 0. 0. 1. ]] SLAMing on 118.35241403699999 meters Centerline goodness [0,1] 0.6955116986618561 Centerline is valid? [False, False] Translation: X:1.40, Y:0.18, Z:-0.41 [[ 0.99989455 -0.0067151 -0.0128761 1.39664931] [ 0.00677866 0.99996502 0.00489895 0.17996456] [ 0.01284275 -0.00498571 0.9999051 -0.40958283] [ 0. 0. 0. 1. ]] SLAMing on 118.38241403699999 meters Centerline goodness [0,1] 0.6955494711977237 Centerline is valid? [False, False] Translation: X:1.40, Y:0.18, Z:-0.41 [[ 0.99989289 -0.00635972 -0.01318209 1.39764271] [ 0.0064201 0.99996907 0.00454277 0.18124879] [ 0.01315279 -0.00462692 0.99990279 -0.40939817] [ 0. 0. 0. 1. ]] SLAMing on 118.41241403699999 meters Centerline goodness [0,1] 0.7097062165232917 Centerline is valid? [False, False] Translation: X:1.39, Y:0.18, Z:-0.41 [[ 0.99991612 -0.00371318 -0.01240826 1.39420384] [ 0.00380063 0.99996806 0.00703127 0.18343101] [ 0.01238176 -0.00707784 0.99989829 -0.40718215] [ 0. 0. 0. 1. ]] SLAMing on 118.44241403699999 meters Centerline goodness [0,1] 0.7153213852580516 Centerline is valid? [False, False] Translation: X:1.39, Y:0.18, Z:-0.41 [[ 0.99991213 -0.00351296 -0.01278236 1.39482618] [ 0.00359706 0.999972 0.00656263 0.18463467] [ 0.01275895 -0.00660804 0.99989677 -0.40638218] [ 0. 0. 0. 1. ]] SLAMing on 118.472414037 meters Centerline goodness [0,1] 0.7180763300965622 Centerline is valid? [False, False] Translation: X:1.40, Y:0.19, Z:-0.41 [[ 0.99990989 -0.00256558 -0.01317689 1.39617515] [ 0.00264882 0.99997662 0.00630364 0.18669658] [ 0.01316041 -0.00633798 0.99989331 -0.40584949] [ 0. 0. 0. 1. ]] SLAMing on 118.502414037 meters Centerline goodness [0,1] 0.7273937615476578 Centerline is valid? [False, False] Translation: X:1.40, Y:0.19, Z:-0.41 [[ 0.99990183 -0.00182972 -0.01389176 1.39829529] [ 0.00191772 0.99997817 0.00632365 0.18786777] [ 0.01387988 -0.00634967 0.99988351 -0.40604594] [ 0. 0. 0. 1. ]] SLAMing on 118.532414037 meters Centerline goodness [0,1] 0.7188322435358276 Centerline is valid? [False, False] Translation: X:1.40, Y:0.19, Z:-0.41 [[ 9.99893606e-01 -8.97313814e-04 -1.45592092e-02 1.40091976e+00] [ 9.92939076e-04 9.99977976e-01 6.56212716e-03 1.88701294e-01] [ 1.45530003e-02 -6.57588540e-03 9.99872476e-01 -4.06962151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.562414037 meters Centerline goodness [0,1] 0.7360155140391129 Centerline is valid? [False, False] Translation: X:1.40, Y:0.19, Z:-0.41 [[ 9.99887835e-01 9.61474809e-04 -1.49463398e-02 1.40459741e+00] [-8.42868443e-04 9.99968124e-01 7.93975386e-03 1.88171282e-01] [ 1.49534972e-02 -7.92626550e-03 9.99856773e-01 -4.10068816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59241403699998 meters Centerline goodness [0,1] 0.763579758035885 Centerline is valid? [False, False] Translation: X:1.41, Y:0.19, Z:-0.41 [[ 9.99884775e-01 1.31776479e-03 -1.51228509e-02 1.40554751e+00] [-1.19815209e-03 9.99967952e-01 7.91573818e-03 1.88070365e-01] [ 1.51327973e-02 -7.89670661e-03 9.99854310e-01 -4.10489150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62241403699998 meters Centerline goodness [0,1] 0.7620555085555222 Centerline is valid? [False, False] Translation: X:1.41, Y:0.19, Z:-0.41 [[ 0.99988104 0.00173509 -0.01532625 1.40631435] [-0.00161443 0.99996763 0.0078819 0.18800492] [ 0.01533943 -0.00785622 0.99985148 -0.41047515] [ 0. 0. 0. 1. ]] SLAMing on 118.65241403699999 meters Centerline goodness [0,1] 0.7478847098640755 Centerline is valid? [False, False] Translation: X:1.41, Y:0.19, Z:-0.41 [[ 0.99987575 0.00199231 -0.01563717 1.40673989] [-0.00187775 0.99997132 0.00733747 0.1887537 ] [ 0.01565134 -0.0073072 0.99985081 -0.40948486] [ 0. 0. 0. 1. ]] SLAMing on 118.68241403699999 meters Centerline goodness [0,1] 0.7703248703248703 Centerline is valid? [False, False] Translation: X:1.41, Y:0.19, Z:-0.41 [[ 0.99986844 0.00249272 -0.01602771 1.40662173] [-0.00239548 0.99997863 0.00608331 0.19045426] [ 0.01604253 -0.00604412 0.99985304 -0.40637852] [ 0. 0. 0. 1. ]] SLAMing on 118.71241403699999 meters Centerline goodness [0,1] 0.7935556285589137 Centerline is valid? [False, False] Translation: X:1.41, Y:0.19, Z:-0.40 [[ 0.99986229 0.0025834 -0.01639279 1.40660811] [-0.00249457 0.99998211 0.00543735 0.19132103] [ 0.01640654 -0.0053957 0.99985084 -0.40471211] [ 0. 0. 0. 1. ]] SLAMing on 118.74241403699999 meters Centerline goodness [0,1] 0.8077059902033221 Centerline is valid? [False, False] Translation: X:1.41, Y:0.19, Z:-0.40 [[ 0.99985502 0.00282002 -0.01679266 1.40708812] [-0.00273482 0.99998328 0.00509432 0.19176283] [ 0.01680675 -0.00504766 0.99984602 -0.40373965] [ 0. 0. 0. 1. ]] SLAMing on 118.77241403699999 meters Centerline goodness [0,1] 0.8011193011193012 Centerline is valid? [False, False] Translation: X:1.41, Y:0.19, Z:-0.40 [[ 0.99983797 0.00388313 -0.01757694 1.40921275] [-0.00378964 0.99997851 0.00534939 0.1909154 ] [ 0.01759734 -0.00528191 0.9998312 -0.40343455] [ 0. 0. 0. 1. ]] SLAMing on 118.80241403699999 meters Centerline goodness [0,1] 0.8147925106755721 Centerline is valid? [False, False] Translation: X:1.41, Y:0.19, Z:-0.40 [[ 0.99982931 0.00426221 -0.01797758 1.41035861] [-0.00416569 0.99997673 0.00540293 0.19091842] [ 0.01800019 -0.00532712 0.99982379 -0.4035122 ] [ 0. 0. 0. 1. ]] SLAMing on 118.83241403699999 meters Centerline goodness [0,1] 0.8170611709397038 Centerline is valid? [False, False] Translation: X:1.41, Y:0.19, Z:-0.40 [[ 0.99982386 0.00455417 -0.01820738 1.41135797] [-0.00445459 0.99997492 0.0055056 0.19091395] [ 0.01823199 -0.00542353 0.99981907 -0.40397387] [ 0. 0. 0. 1. ]] SLAMing on 118.862414037 meters Centerline goodness [0,1] 0.8177822668704957 Centerline is valid? [False, False] Translation: X:1.41, Y:0.19, Z:-0.40 [[ 0.99981936 0.00464592 -0.01843008 1.412018 ] [-0.00454543 0.9999746 0.00549048 0.19046502] [ 0.01845512 -0.00540572 0.99981508 -0.40407091] [ 0. 0. 0. 1. ]] SLAMing on 118.892414037 meters Centerline goodness [0,1] 0.8144127434400742 Centerline is valid? [False, False] Translation: X:1.41, Y:0.19, Z:-0.40 [[ 0.99981998 0.00472901 -0.01837519 1.41230673] [-0.00462375 0.99997268 0.00576671 0.18873406] [ 0.01840196 -0.00568071 0.99981453 -0.40457134] [ 0. 0. 0. 1. ]] SLAMing on 118.922414037 meters Centerline goodness [0,1] 0.8150560395126055 Centerline is valid? [False, False] Translation: X:1.41, Y:0.19, Z:-0.40 [[ 0.99981941 0.00162356 -0.0189342 1.41418638] [-0.00158681 0.99999683 0.00195567 0.18807257] [ 0.01893732 -0.00192527 0.99981882 -0.40466264] [ 0. 0. 0. 1. ]] SLAMing on 118.95241403699998 meters Centerline goodness [0,1] 0.809774069458742 Centerline is valid? [False, False] Translation: X:1.41, Y:0.18, Z:-0.40 [[ 9.99816432e-01 -1.78385756e-03 -1.90767144e-02 1.41498541e+00] [ 1.75878786e-03 9.99997568e-01 -1.33084887e-03 1.84940528e-01] [ 1.90790421e-02 1.29705268e-03 9.99817137e-01 -4.04993739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98241403699998 meters Centerline goodness [0,1] 0.8076080785140725 Centerline is valid? [False, False] Translation: X:1.41, Y:0.18, Z:-0.41 [[ 9.99819981e-01 -1.82118438e-03 -1.88861901e-02 1.41446359e+00] [ 1.80565846e-03 9.99998018e-01 -8.39098062e-04 1.83361095e-01] [ 1.88876808e-02 8.04845000e-04 9.99821288e-01 -4.05061056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01241403699999 meters Centerline goodness [0,1] 0.7941715147597501 Centerline is valid? [False, False] Translation: X:1.41, Y:0.18, Z:-0.40 [[ 9.99819190e-01 -1.93365326e-03 -1.89168980e-02 1.41398430e+00] [ 1.92054043e-03 9.99997903e-01 -7.11323176e-04 1.82865875e-01] [ 1.89182337e-02 6.74863894e-04 9.99820806e-01 -4.04419660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04241403699999 meters Centerline goodness [0,1] 0.8011128818778531 Centerline is valid? [False, False] Translation: X:1.41, Y:0.18, Z:-0.40 [[ 9.99821276e-01 -2.13324913e-03 -1.87847281e-02 1.41313783e+00] [ 2.11977297e-03 9.99997481e-01 -7.37282202e-04 1.82658162e-01] [ 1.87862536e-02 6.97331073e-04 9.99823280e-01 -4.03684724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07241403699999 meters Centerline goodness [0,1] 0.7989772574350693 Centerline is valid? [False, False] Translation: X:1.41, Y:0.18, Z:-0.40 [[ 9.99816181e-01 -1.62587981e-03 -1.91039252e-02 1.41405028e+00] [ 1.62672253e-03 9.99998676e-01 2.85724386e-05 1.81152128e-01] [ 1.91038535e-02 -5.96439720e-05 9.99817503e-01 -4.04048709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10241403699999 meters Centerline goodness [0,1] 0.8030503441760022 Centerline is valid? [False, False] Translation: X:1.41, Y:0.18, Z:-0.40 [[ 9.99814740e-01 -1.39255236e-03 -1.91975775e-02 1.41428485e+00] [ 1.40163036e-03 9.99998912e-01 4.59425117e-04 1.79329241e-01] [ 1.91969168e-02 -4.86247911e-04 9.99815604e-01 -4.04051626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13241403699999 meters Centerline goodness [0,1] 0.8023240211469822 Centerline is valid? [False, False] Translation: X:1.41, Y:0.17, Z:-0.40 [[ 9.99815853e-01 -1.06456516e-03 -1.91605506e-02 1.41446858e+00] [ 1.09052961e-03 9.99998501e-01 1.34470186e-03 1.74016260e-01] [ 1.91590904e-02 -1.36534939e-03 9.99815516e-01 -4.04428944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16241403699999 meters Centerline goodness [0,1] 0.8072996221561219 Centerline is valid? [False, False] Translation: X:1.41, Y:0.17, Z:-0.40 [[ 9.99817121e-01 -1.05405016e-03 -1.90948677e-02 1.41406524e+00] [ 1.08319278e-03 9.99998264e-01 1.51592292e-03 1.72133250e-01] [ 1.90932367e-02 -1.53632912e-03 9.99816527e-01 -4.04023777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19241403699999 meters Centerline goodness [0,1] 0.8052779638312123 Centerline is valid? [False, False] Translation: X:1.41, Y:0.17, Z:-0.40 [[ 9.99817398e-01 -1.09430453e-03 -1.90780948e-02 1.41345954e+00] [ 1.12163375e-03 9.99998360e-01 1.42185096e-03 1.71076180e-01] [ 1.90765076e-02 -1.44298996e-03 9.99816986e-01 -4.03074551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.222414037 meters Centerline goodness [0,1] 0.8052779638312123 Centerline is valid? [False, False] Translation: X:1.41, Y:0.17, Z:-0.40 [[ 9.99817398e-01 -1.09430453e-03 -1.90780948e-02 1.41345954e+00] [ 1.12163375e-03 9.99998360e-01 1.42185096e-03 1.71076180e-01] [ 1.90765076e-02 -1.44298996e-03 9.99816986e-01 -4.03074551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.252414037 meters Centerline goodness [0,1] 0.8065723682451402 Centerline is valid? [False, False] Translation: X:1.41, Y:0.17, Z:-0.40 [[ 9.99811550e-01 -7.15178446e-04 -1.93998225e-02 1.41402901e+00] [ 7.43787781e-04 9.99998647e-01 1.46754622e-03 1.70605918e-01] [ 1.93987467e-02 -1.48169901e-03 9.99810729e-01 -4.02522781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.282414037 meters Centerline goodness [0,1] 0.8076368106028218 Centerline is valid? [False, False] Translation: X:1.42, Y:0.17, Z:-0.40 [[ 9.99800118e-01 3.22750026e-05 -1.99930951e-02 1.41559444e+00] [ 2.52090111e-06 9.99998486e-01 1.74036840e-03 1.70466009e-01] [ 1.99931210e-02 -1.74007093e-03 9.99798603e-01 -4.02472282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.312414037 meters Centerline goodness [0,1] 0.8091815193864735 Centerline is valid? [False, False] Translation: X:1.42, Y:0.17, Z:-0.40 [[ 9.99783531e-01 1.31756976e-03 -2.07642937e-02 1.41836081e+00] [-1.26532753e-03 9.99996002e-01 2.52890221e-03 1.69587593e-01] [ 2.07675427e-02 -2.50208115e-03 9.99781200e-01 -4.03411353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34241403699998 meters Centerline goodness [0,1] 0.8074605682457221 Centerline is valid? [False, False] Translation: X:1.42, Y:0.17, Z:-0.41 [[ 0.99976473 0.00282061 -0.02150671 1.42147127] [-0.00274052 0.9999892 0.00375231 0.16750417] [ 0.02151706 -0.00369249 0.99976166 -0.40503135] [ 0. 0. 0. 1. ]] SLAMing on 119.37241403699998 meters Centerline goodness [0,1] 0.810430087407447 Centerline is valid? [False, False] Translation: X:1.42, Y:0.17, Z:-0.41 [[ 0.99974787 0.00418597 -0.02206079 1.42411919] [-0.00408051 0.99998004 0.00482335 0.16521976] [ 0.02208054 -0.00473211 0.999745 -0.40645324] [ 0. 0. 0. 1. ]] SLAMing on 119.40241403699999 meters Centerline goodness [0,1] 0.8044826576516624 Centerline is valid? [False, False] Translation: X:1.43, Y:0.16, Z:-0.41 [[ 0.99971002 0.00698536 -0.0230451 1.42795556] [-0.00684612 0.99995786 0.00611569 0.16315612] [ 0.02308685 -0.00595615 0.99971572 -0.40700653] [ 0. 0. 0. 1. ]] SLAMing on 119.43241403699999 meters Centerline goodness [0,1] 0.8078378449895478 Centerline is valid? [False, False] Translation: X:1.43, Y:0.16, Z:-0.41 [[ 0.99968368 0.00833135 -0.02373036 1.43000736] [-0.00817516 0.99994433 0.00667107 0.16297255] [ 0.02378462 -0.00647496 0.99969614 -0.40694703] [ 0. 0. 0. 1. ]] SLAMing on 119.46241403699999 meters Centerline goodness [0,1] 0.8057404547632994 Centerline is valid? [False, False] Translation: X:1.43, Y:0.16, Z:-0.41 [[ 0.99967209 0.00886215 -0.02402436 1.43039499] [-0.00870301 0.99993954 0.00672084 0.16298636] [ 0.02408247 -0.00650955 0.99968878 -0.40613162] [ 0. 0. 0. 1. ]] SLAMing on 119.49241403699999 meters Centerline goodness [0,1] 0.8052963630580002 Centerline is valid? [False, False] Translation: X:1.43, Y:0.16, Z:-0.41 [[ 0.99965833 0.00943492 -0.02437647 1.43092283] [-0.00926564 0.99993223 0.00704809 0.16157361] [ 0.02444132 -0.00681982 0.999678 -0.40544108] [ 0. 0. 0. 1. ]] SLAMing on 119.52241403699999 meters Centerline goodness [0,1] 0.8000474633477481 Centerline is valid? [False, False] Translation: X:1.43, Y:0.16, Z:-0.40 [[ 0.9996608 0.00681247 -0.02513713 1.43260343] [-0.00670745 0.99996843 0.00425991 0.15714591] [ 0.02516536 -0.00408986 0.99967494 -0.40496272] [ 0. 0. 0. 1. ]] SLAMing on 119.55241403699999 meters Centerline goodness [0,1] 0.8003128258602711 Centerline is valid? [False, False] Translation: X:1.44, Y:0.15, Z:-0.41 [[ 9.99652308e-01 4.17924666e-03 -2.60345483e-02 1.43539171e+00] [-4.14340146e-03 9.99990393e-01 1.43062519e-03 1.53766466e-01] [ 2.60402771e-02 -1.32225619e-03 9.99660020e-01 -4.05524909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58241403699999 meters Centerline goodness [0,1] 0.7983875162548765 Centerline is valid? [False, False] Translation: X:1.44, Y:0.15, Z:-0.41 [[ 9.99644647e-01 1.00240805e-03 -2.66378488e-02 1.43704228e+00] [-1.04919837e-03 9.99997931e-01 -1.74261670e-03 1.50977618e-01] [ 2.66360469e-02 1.76994584e-03 9.99643631e-01 -4.05655067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.612414037 meters Centerline goodness [0,1] 0.7981504028184339 Centerline is valid? [False, False] Translation: X:1.44, Y:0.15, Z:-0.41 [[ 9.99644873e-01 6.51483000e-04 -2.66402782e-02 1.43661203e+00] [-6.81335176e-04 9.99999150e-01 -1.11150376e-03 1.46914105e-01] [ 2.66395314e-02 1.12925999e-03 9.99644467e-01 -4.05580568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.642414037 meters Centerline goodness [0,1] 0.795854092986034 Centerline is valid? [False, False] Translation: X:1.43, Y:0.14, Z:-0.40 [[ 9.99647850e-01 -5.89681345e-04 -2.65297755e-02 1.43474134e+00] [ 5.66965473e-04 9.99999466e-01 -8.63754548e-04 1.42261772e-01] [ 2.65302707e-02 8.48408910e-04 9.99647650e-01 -4.04396628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.672414037 meters Centerline goodness [0,1] 0.7959979476654695 Centerline is valid? [False, False] Translation: X:1.44, Y:0.14, Z:-0.40 [[ 9.99640810e-01 -4.13323129e-04 -2.67970172e-02 1.43519517e+00] [ 4.14456055e-04 9.99999913e-01 3.67239902e-05 1.39158602e-01] [ 2.67969997e-02 -4.78169854e-05 9.99640895e-01 -4.04582070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70241403699998 meters Centerline goodness [0,1] 0.7951600512163892 Centerline is valid? [False, False] Translation: X:1.43, Y:0.14, Z:-0.40 [[ 9.99646664e-01 -6.88854114e-04 -2.65720389e-02 1.43413377e+00] [ 7.00061037e-04 9.99999670e-01 4.12455876e-04 1.36120776e-01] [ 2.65717460e-02 -4.30912189e-04 9.99646816e-01 -4.04034720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73241403699998 meters Centerline goodness [0,1] 0.7960695466232213 Centerline is valid? [False, False] Translation: X:1.44, Y:0.13, Z:-0.40 [[ 0.99961936 -0.00346814 -0.02736972 1.43641229] [ 0.00339981 0.99999099 -0.00254279 0.13396788] [ 0.02737829 0.00244877 0.99962214 -0.40427331] [ 0. 0. 0. 1. ]] SLAMing on 119.76241403699999 meters Centerline goodness [0,1] 0.7914173663834281 Centerline is valid? [False, False] Translation: X:1.44, Y:0.13, Z:-0.40 [[ 0.99959761 -0.00704859 -0.0274762 1.43668241] [ 0.00690923 0.9999628 -0.00516377 0.12708006] [ 0.02751158 0.00497185 0.99960912 -0.40437607] [ 0. 0. 0. 1. ]] SLAMing on 119.79241403699999 meters Centerline goodness [0,1] 0.7872728180547234 Centerline is valid? [False, False] Translation: X:1.45, Y:0.12, Z:-0.41 [[ 0.99971979 -0.01034513 -0.02129111 1.44665055] [ 0.01040978 0.99994153 0.00292779 0.12162235] [ 0.02125958 -0.0031486 0.99976903 -0.40848752] [ 0. 0. 0. 1. ]] SLAMing on 119.82241403699999 meters Centerline goodness [0,1] 0.7869344986840145 Centerline is valid? [False, False] Translation: X:1.45, Y:0.12, Z:-0.41 [[ 0.99971789 -0.01091444 -0.02109529 1.44536892] [ 0.01098147 0.99993501 0.00306445 0.1190648 ] [ 0.02106047 -0.00329524 0.99977277 -0.4076173 ] [ 0. 0. 0. 1. ]] SLAMing on 119.85241403699999 meters Centerline goodness [0,1] 0.7858366222354606 Centerline is valid? [False, False] Translation: X:1.44, Y:0.12, Z:-0.41 [[ 0.99971578 -0.01120935 -0.02104056 1.44457957] [ 0.01127875 0.99993133 0.00318263 0.11753627] [ 0.02100344 -0.00341904 0.99977356 -0.40680258] [ 0. 0. 0. 1. ]] SLAMing on 119.88241403699999 meters Centerline goodness [0,1] 0.7905410406335578 Centerline is valid? [False, False] Translation: X:1.45, Y:0.11, Z:-0.41 [[ 0.99970973 -0.01108966 -0.02138889 1.44516887] [ 0.01118029 0.999929 0.00412206 0.11367931] [ 0.02134166 -0.00436 0.99976273 -0.40692184] [ 0. 0. 0. 1. ]] SLAMing on 119.91241403699999 meters Centerline goodness [0,1] 0.7862124858784812 Centerline is valid? [False, False] Translation: X:1.45, Y:0.11, Z:-0.41 [[ 0.99971024 -0.01083838 -0.02149322 1.4455406 ] [ 0.01094422 0.99992853 0.00481299 0.11043282] [ 0.02143952 -0.00504682 0.99975741 -0.40721514] [ 0. 0. 0. 1. ]] SLAMing on 119.94241403699999 meters Centerline goodness [0,1] 0.7847887737140622 Centerline is valid? [False, False] Translation: X:1.45, Y:0.11, Z:-0.41 [[ 0.99971272 -0.01062731 -0.02148357 1.44566393] [ 0.01074624 0.99992753 0.00542778 0.10711646] [ 0.02142433 -0.00565708 0.99975447 -0.40739639] [ 0. 0. 0. 1. ]] SLAMing on 119.972414037 meters Centerline goodness [0,1] 0.7852244917738849 Centerline is valid? [False, False] Translation: X:1.45, Y:0.10, Z:-0.41 [[ 0.99971603 -0.01031906 -0.02147947 1.4452443 ] [ 0.01045246 0.99992672 0.00610745 0.10267035] [ 0.02141487 -0.00633023 0.99975063 -0.40672247] [ 0. 0. 0. 1. ]] SLAMing on 120.002414037 meters Centerline goodness [0,1] 0.7853715282826814 Centerline is valid? [False, False] Translation: X:1.44, Y:0.10, Z:-0.41 [[ 0.99971694 -0.01029238 -0.02145015 1.44464313] [ 0.01042641 0.99992676 0.00614608 0.10193528] [ 0.02138532 -0.00636799 0.99975103 -0.405879 ] [ 0. 0. 0. 1. ]] SLAMing on 120.032414037 meters Centerline goodness [0,1] 0.7843288809449047 Centerline is valid? [False, False] Translation: X:1.44, Y:0.10, Z:-0.40 [[ 0.99971497 -0.010241 -0.02156607 1.44427741] [ 0.01037516 0.99992746 0.00611803 0.10119145] [ 0.02150185 -0.00634004 0.99974871 -0.40486658] [ 0. 0. 0. 1. ]] SLAMing on 120.062414037 meters Centerline goodness [0,1] 0.7838440512156524 Centerline is valid? [False, False] Translation: X:1.44, Y:0.10, Z:-0.40 [[ 0.99971432 -0.01004473 -0.02168845 1.44431289] [ 0.01018979 0.99992638 0.00658808 0.09913799] [ 0.02162068 -0.0068072 0.99974307 -0.40452426] [ 0. 0. 0. 1. ]] SLAMing on 120.09241403699998 meters Centerline goodness [0,1] 0.7808502544105759 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.41 [[ 0.99967214 -0.01298283 -0.02206936 1.44589905] [ 0.01308645 0.99990398 0.00455699 0.09344373] [ 0.02200807 -0.0048443 0.99974606 -0.40548618] [ 0. 0. 0. 1. ]] SLAMing on 120.12241403699998 meters Centerline goodness [0,1] 0.780498180271305 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.41 [[ 0.99961688 -0.0161563 -0.02247352 1.44745637] [ 0.01619501 0.99986766 0.00154172 0.09146441] [ 0.02244563 -0.00190509 0.99974625 -0.40604626] [ 0. 0. 0. 1. ]] SLAMing on 120.15241403699999 meters Centerline goodness [0,1] 0.7788265126435162 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.41 [[ 0.99961095 -0.01658908 -0.02242198 1.44694731] [ 0.01663897 0.99985948 0.00204038 0.08791291] [ 0.02238498 -0.00241266 0.99974651 -0.40590924] [ 0. 0. 0. 1. ]] SLAMing on 120.18241403699999 meters Centerline goodness [0,1] 0.7791169367130162 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.41 [[ 0.99960903 -0.01727375 -0.02198655 1.44538738] [ 0.01732581 0.99984752 0.00217983 0.0851372 ] [ 0.02194555 -0.00255991 0.99975589 -0.40531917] [ 0. 0. 0. 1. ]] SLAMing on 120.21241403699999 meters Centerline goodness [0,1] 0.7759451445515196 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:-0.41 [[ 9.99540646e-01 -2.05689164e-02 -2.22579684e-02 1.44635670e+00] [ 2.05623844e-02 9.99788435e-01 -5.22318327e-04 8.24247043e-02] [ 2.22640029e-02 6.44014956e-05 9.99752124e-01 -4.05575593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24241403699999 meters Centerline goodness [0,1] 0.7766929499072356 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:-0.41 [[ 9.99538872e-01 -2.08376288e-02 -2.20870071e-02 1.44593615e+00] [ 2.08405875e-02 9.99782807e-01 -9.62404184e-05 8.02745692e-02] [ 2.20842154e-02 -3.64110165e-04 9.99756048e-01 -4.05709433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27241403699999 meters Centerline goodness [0,1] 0.7736556030993408 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:-0.41 [[ 9.99541637e-01 -2.08416757e-02 -2.19577035e-02 1.44596143e+00] [ 2.08627114e-02 9.99782084e-01 7.29344110e-04 7.72722440e-02] [ 2.19377178e-02 -1.18710704e-03 9.99758635e-01 -4.06394189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30241403699999 meters Centerline goodness [0,1] 0.7717611336032388 Centerline is valid? [False, False] Translation: X:1.45, Y:0.07, Z:-0.41 [[ 9.99463381e-01 -2.43338405e-02 -2.19274959e-02 1.44681254e+00] [ 2.42976088e-02 9.99702931e-01 -1.91729368e-03 7.30451636e-02] [ 2.19676370e-02 1.38347911e-03 9.99757725e-01 -4.07429895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33241403699999 meters Centerline goodness [0,1] 0.7666880469143721 Centerline is valid? [False, False] Translation: X:1.45, Y:0.07, Z:-0.41 [[ 9.99467593e-01 -2.43967408e-02 -2.16640233e-02 1.44657149e+00] [ 2.43785392e-02 9.99702190e-01 -1.10391927e-03 7.01353112e-02] [ 2.16845035e-02 5.75194299e-04 9.99764698e-01 -4.08097306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.362414037 meters Centerline goodness [0,1] 0.7691620470060018 Centerline is valid? [False, False] Translation: X:1.45, Y:0.07, Z:-0.41 [[ 9.99460463e-01 -2.48347216e-02 -2.14946239e-02 1.44573604e+00] [ 2.48208259e-02 9.99691499e-01 -9.13062529e-04 6.85835199e-02] [ 2.15106684e-02 3.79055581e-04 9.99768547e-01 -4.07695043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.392414037 meters Centerline goodness [0,1] 0.7584908244316626 Centerline is valid? [False, False] Translation: X:1.45, Y:0.07, Z:-0.41 [[ 9.99454394e-01 -2.51581768e-02 -2.14004995e-02 1.44506681e+00] [ 2.51462673e-02 9.99683442e-01 -8.25465653e-04 6.78039202e-02] [ 2.14144922e-02 2.86872592e-04 9.99770642e-01 -4.07192442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.422414037 meters Centerline goodness [0,1] 0.7593632958801498 Centerline is valid? [False, False] Translation: X:1.44, Y:0.07, Z:-0.41 [[ 9.99441333e-01 -2.57595019e-02 -2.12948184e-02 1.44389867e+00] [ 2.57501526e-02 9.99668155e-01 -7.13173041e-04 6.65485606e-02] [ 2.13061228e-02 1.64429791e-04 9.99772985e-01 -4.06259368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45241403699998 meters Centerline goodness [0,1] 0.758414394665936 Centerline is valid? [False, False] Translation: X:1.44, Y:0.07, Z:-0.41 [[ 9.99441694e-01 -2.58529326e-02 -2.11642837e-02 1.44405385e+00] [ 2.58514721e-02 9.99665736e-01 -3.42645839e-04 6.52978051e-02] [ 2.11660677e-02 -2.04673353e-04 9.99775953e-01 -4.06951808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48241403699998 meters Centerline goodness [0,1] 0.7515598670127978 Centerline is valid? [False, False] Translation: X:1.44, Y:0.06, Z:-0.41 [[ 9.99443405e-01 -2.58659287e-02 -2.10673867e-02 1.44456686e+00] [ 2.58759825e-02 9.99665140e-01 2.04715337e-04 6.36836899e-02] [ 2.10550369e-02 -7.49740722e-04 9.99778037e-01 -4.08099193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51241403699999 meters Centerline goodness [0,1] 0.7679282641844375 Centerline is valid? [False, False] Translation: X:1.44, Y:0.06, Z:-0.41 [[ 9.99442443e-01 -2.59764095e-02 -2.09768813e-02 1.44467217e+00] [ 2.59941263e-02 9.99661932e-01 5.72313005e-04 6.21506899e-02] [ 2.09549230e-02 -1.11726961e-03 9.99779797e-01 -4.08633163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54241403699999 meters Centerline goodness [0,1] 0.7522885764259591 Centerline is valid? [False, False] Translation: X:1.44, Y:0.06, Z:-0.41 [[ 9.99435248e-01 -2.64450481e-02 -2.07326735e-02 1.44429698e+00] [ 2.64668677e-02 9.99649388e-01 7.78693633e-04 6.11479955e-02] [ 2.07048118e-02 -1.32698279e-03 9.99784752e-01 -4.09119543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57241403699999 meters Centerline goodness [0,1] 0.7311620078695384 Centerline is valid? [False, False] Translation: X:1.44, Y:0.06, Z:-0.41 [[ 9.99437230e-01 -2.64756689e-02 -2.05976047e-02 1.44457370e+00] [ 2.65016474e-02 9.99648280e-01 9.89249986e-04 6.10577281e-02] [ 2.05641691e-02 -1.53456372e-03 9.99787357e-01 -4.09916236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60241403699999 meters Centerline goodness [0,1] 0.7354687535546102 Centerline is valid? [False, False] Translation: X:1.45, Y:0.06, Z:-0.41 [[ 0.9994423 -0.02648056 -0.02034355 1.44573234] [ 0.02651952 0.99964694 0.00164763 0.0598589 ] [ 0.02029273 -0.00218621 0.99979169 -0.41241735] [ 0. 0. 0. 1. ]] SLAMing on 120.63241403699999 meters Centerline goodness [0,1] 0.7536819102683754 Centerline is valid? [False, False] Translation: X:1.45, Y:0.06, Z:-0.41 [[ 0.999441 -0.02674675 -0.02005726 1.44514288] [ 0.0267832 0.99964006 0.00155056 0.05992327] [ 0.02000856 -0.00208689 0.99979763 -0.41246978] [ 0. 0. 0. 1. ]] SLAMing on 120.66241403699999 meters Centerline goodness [0,1] 0.7214329552428795 Centerline is valid? [False, False] Translation: X:1.44, Y:0.06, Z:-0.42 [[ 0.99963556 -0.02638589 -0.00570306 1.44498296] [ 0.02640738 0.99964431 0.00372744 0.05904379] [ 0.00560267 -0.00387669 0.99997679 -0.41757881] [ 0. 0. 0. 1. ]] SLAMing on 120.69241403699999 meters Centerline goodness [0,1] 0.7379056114322122 Centerline is valid? [False, False] Translation: X:1.44, Y:0.06, Z:-0.41 [[ 0.99967592 -0.02490243 -0.00528457 1.44150673] [ 0.02493104 0.99967449 0.00541797 0.05988288] [ 0.00514793 -0.00554796 0.99997136 -0.41467695] [ 0. 0. 0. 1. ]] SLAMing on 120.722414037 meters Centerline goodness [0,1] 0.7350353316617279 Centerline is valid? [False, False] Translation: X:1.44, Y:0.06, Z:-0.41 [[ 0.99967944 -0.02472712 -0.00543919 1.44187098] [ 0.02475575 0.99967969 0.00526109 0.06120021] [ 0.00530736 -0.00539406 0.99997137 -0.41461881] [ 0. 0. 0. 1. ]] SLAMing on 120.752414037 meters Centerline goodness [0,1] 0.7494860432180548 Centerline is valid? [False, False] Translation: X:1.44, Y:0.06, Z:-0.41 [[ 0.9996842 -0.02446521 -0.00574085 1.44281265] [ 0.02449437 0.99968714 0.00506516 0.06298115] [ 0.00561514 -0.00520418 0.99997069 -0.41490803] [ 0. 0. 0. 1. ]] SLAMing on 120.782414037 meters Centerline goodness [0,1] 0.743306036069194 Centerline is valid? [False, False] Translation: X:1.44, Y:0.07, Z:-0.42 [[ 0.99975306 -0.02155983 -0.00538394 1.44387293] [ 0.02160173 0.99973584 0.00785006 0.06557634] [ 0.00521327 -0.00796442 0.99995469 -0.41721886] [ 0. 0. 0. 1. ]] SLAMing on 120.812414037 meters Centerline goodness [0,1] 0.735877334563062 Centerline is valid? [False, False] Translation: X:1.45, Y:0.07, Z:-0.42 [[ 0.99976265 -0.02101011 -0.0057637 1.44613629] [ 0.02105655 0.99974531 0.00811953 0.06741628] [ 0.00559164 -0.00823897 0.99995043 -0.41915809] [ 0. 0. 0. 1. ]] SLAMing on 120.84241403699998 meters Centerline goodness [0,1] 0.7344660194174757 Centerline is valid? [False, False] Translation: X:1.45, Y:0.07, Z:-0.42 [[ 0.9997644 -0.02090742 -0.00583383 1.44728635] [ 0.02095359 0.99974869 0.00796909 0.06943638] [ 0.00566575 -0.00808945 0.99995123 -0.42048447] [ 0. 0. 0. 1. ]] SLAMing on 120.87241403699998 meters Centerline goodness [0,1] 0.7343434108707272 Centerline is valid? [False, False] Translation: X:1.45, Y:0.07, Z:-0.42 [[ 0.9997649 -0.02088513 -0.005827 1.44802577] [ 0.02092668 0.99975534 0.00716444 0.07367638] [ 0.00567594 -0.0072847 0.99995736 -0.4212302 ] [ 0. 0. 0. 1. ]] SLAMing on 120.90241403699999 meters Centerline goodness [0,1] 0.7299437139453955 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:-0.42 [[ 0.99976412 -0.02088176 -0.00597154 1.44873893] [ 0.02092101 0.99975943 0.00658809 0.07634252] [ 0.00583253 -0.00671147 0.99996047 -0.42163577] [ 0. 0. 0. 1. ]] SLAMing on 120.93241403699999 meters Centerline goodness [0,1] 0.7284825521564224 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:-0.42 [[ 0.99977326 -0.02032856 -0.00633865 1.4508158 ] [ 0.02037044 0.99977062 0.00661436 0.07884779] [ 0.00620274 -0.00674198 0.99995804 -0.42321428] [ 0. 0. 0. 1. ]] SLAMing on 120.96241403699999 meters Centerline goodness [0,1] 0.7255445637615434 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:-0.42 [[ 0.9997747 -0.020222 -0.00645087 1.4519776 ] [ 0.02026341 0.99977407 0.00641874 0.08125903] [ 0.00631961 -0.00654801 0.99995859 -0.4244926 ] [ 0. 0. 0. 1. ]] SLAMing on 120.99241403699999 meters Centerline goodness [0,1] 0.707102346883083 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.42 [[ 0.99979409 -0.01953877 -0.00547927 1.4488387 ] [ 0.0195782 0.99978213 0.00723832 0.08561698] [ 0.00533665 -0.0073441 0.99995879 -0.42355813] [ 0. 0. 0. 1. ]] SLAMing on 121.02241403699999 meters Centerline goodness [0,1] 0.7063728409767719 Centerline is valid? [False, False] Translation: X:1.45, Y:0.09, Z:-0.42 [[ 0.99977829 -0.02039028 -0.00525501 1.44718676] [ 0.02042023 0.99977518 0.0057107 0.08991304] [ 0.00513739 -0.00581674 0.99996989 -0.4217356 ] [ 0. 0. 0. 1. ]] SLAMing on 121.05241403699999 meters Centerline goodness [0,1] 0.7346948570880031 Centerline is valid? [False, False] Translation: X:1.44, Y:0.09, Z:-0.42 [[ 0.99982137 -0.01828029 -0.00480285 1.44428097] [ 0.0183182 0.99980042 0.00797248 0.09305854] [ 0.00465616 -0.00805903 0.99995669 -0.41978457] [ 0. 0. 0. 1. ]] SLAMing on 121.08241403699999 meters Centerline goodness [0,1] 0.7233738211263849 Centerline is valid? [False, False] Translation: X:1.45, Y:0.10, Z:-0.42 [[ 0.99980989 -0.01879077 -0.00520474 1.44513975] [ 0.01882518 0.99980073 0.00664183 0.09980348] [ 0.0050789 -0.00673854 0.9999644 -0.41985531] [ 0. 0. 0. 1. ]] SLAMing on 121.112414037 meters Centerline goodness [0,1] 0.6952118984445363 Centerline is valid? [False, False] Translation: X:1.45, Y:0.10, Z:-0.42 [[ 0.99980687 -0.01896091 -0.00516741 1.44598043] [ 0.01899456 0.99979819 0.00654091 0.10066237] [ 0.00504235 -0.0066378 0.99996526 -0.4212048 ] [ 0. 0. 0. 1. ]] SLAMing on 121.142414037 meters Centerline goodness [0,1] 0.6952118984445363 Centerline is valid? [False, False] Translation: X:1.45, Y:0.10, Z:-0.42 [[ 0.99980687 -0.01896091 -0.00516741 1.44598043] [ 0.01899456 0.99979819 0.00654091 0.10066237] [ 0.00504235 -0.0066378 0.99996526 -0.4212048 ] [ 0. 0. 0. 1. ]] SLAMing on 121.172414037 meters Centerline goodness [0,1] 0.7160175267770205 Centerline is valid? [False, False] Translation: X:1.45, Y:0.10, Z:-0.42 [[ 0.99980142 -0.01927619 -0.00505467 1.44642442] [ 0.01930823 0.9997933 0.00636782 0.10103111] [ 0.00493088 -0.00646415 0.99996695 -0.42223093] [ 0. 0. 0. 1. ]] SLAMing on 121.20241403699998 meters Centerline goodness [0,1] 0.6884282404584807 Centerline is valid? [False, False] Translation: X:1.45, Y:0.10, Z:-0.42 [[ 0.99979415 -0.0196891 -0.00489836 1.44652053] [ 0.01971839 0.99978754 0.00600473 0.10236364] [ 0.0047791 -0.00610009 0.99996997 -0.42299705] [ 0. 0. 0. 1. ]] SLAMing on 121.23241403699998 meters Centerline goodness [0,1] 0.7106433150745499 Centerline is valid? [False, False] Translation: X:1.45, Y:0.11, Z:-0.43 [[ 0.99980448 -0.01917121 -0.00484445 1.44918753] [ 0.01920181 0.99979546 0.00635115 0.10744231] [ 0.0047217 -0.00644293 0.9999681 -0.42691123] [ 0. 0. 0. 1. ]] SLAMing on 121.26241403699999 meters Centerline goodness [0,1] 0.6861618154908733 Centerline is valid? [False, False] Translation: X:1.45, Y:0.11, Z:-0.43 [[ 0.99981544 -0.01849514 -0.00519682 1.45167246] [ 0.01852947 0.99980629 0.00663601 0.11052576] [ 0.00507308 -0.00673108 0.99996448 -0.42915175] [ 0. 0. 0. 1. ]] SLAMing on 121.29241403699999 meters Centerline goodness [0,1] 0.7114710924495018 Centerline is valid? [False, False] Translation: X:1.45, Y:0.11, Z:-0.43 [[ 0.99986174 -0.01598269 -0.00458921 1.44980919] [ 0.01602662 0.99982451 0.00969994 0.11261061] [ 0.00443337 -0.00977214 0.99994242 -0.42927455] [ 0. 0. 0. 1. ]] SLAMing on 121.32241403699999 meters Centerline goodness [0,1] 0.7143214696901437 Centerline is valid? [False, False] Translation: X:1.45, Y:0.12, Z:-0.43 [[ 0.99984956 -0.01678807 -0.00435982 1.44865275] [ 0.01682393 0.99982384 0.00832118 0.11709713] [ 0.00421936 -0.00839328 0.99995587 -0.42827215] [ 0. 0. 0. 1. ]] SLAMing on 121.35241403699999 meters Centerline goodness [0,1] 0.7038833731305769 Centerline is valid? [False, False] Translation: X:1.45, Y:0.12, Z:-0.43 [[ 0.99982162 -0.01856118 -0.00349362 1.44530919] [ 0.01858149 0.99981009 0.00587447 0.12267549] [ 0.00338391 -0.00593834 0.99997664 -0.42599072] [ 0. 0. 0. 1. ]] SLAMing on 121.38241403699999 meters Centerline goodness [0,1] 0.696271186440678 Centerline is valid? [False, False] Translation: X:1.44, Y:0.12, Z:-0.43 [[ 0.9998108 -0.01918426 -0.00321392 1.44449521] [ 0.01920118 0.99980149 0.00531918 0.12340236] [ 0.00311123 -0.00537989 0.99998069 -0.42578279] [ 0. 0. 0. 1. ]] SLAMing on 121.41241403699999 meters Centerline goodness [0,1] 0.6921077206531889 Centerline is valid? [False, False] Translation: X:1.44, Y:0.13, Z:-0.42 [[ 0.99979375 -0.02011693 -0.0027882 1.44278624] [ 0.02012901 0.99978782 0.00437415 0.12500052] [ 0.00269962 -0.00442937 0.99998655 -0.42477193] [ 0. 0. 0. 1. ]] SLAMing on 121.44241403699999 meters Centerline goodness [0,1] 0.6905306495882891 Centerline is valid? [False, False] Translation: X:1.44, Y:0.13, Z:-0.42 [[ 0.99975937 -0.02177552 -0.00265223 1.4405941 ] [ 0.02178132 0.99976038 0.0021792 0.13223099] [ 0.00260414 -0.00223645 0.99999411 -0.42241912] [ 0. 0. 0. 1. ]] SLAMing on 121.472414037 meters Centerline goodness [0,1] 0.6891950393440118 Centerline is valid? [False, False] Translation: X:1.44, Y:0.14, Z:-0.42 [[ 0.99975735 -0.021837 -0.00289567 1.4413536 ] [ 0.02184195 0.99976001 0.00168756 0.13542472] [ 0.00285813 -0.0017504 0.99999438 -0.42262588] [ 0. 0. 0. 1. ]] SLAMing on 121.502414037 meters Centerline goodness [0,1] 0.6900094563856161 Centerline is valid? [False, False] Translation: X:1.44, Y:0.14, Z:-0.42 [[ 0.99976113 -0.02162795 -0.00314905 1.44267884] [ 0.02163314 0.99976466 0.00162299 0.13728049] [ 0.0031132 -0.00169072 0.99999372 -0.42361739] [ 0. 0. 0. 1. ]] SLAMing on 121.532414037 meters Centerline goodness [0,1] 0.6954339544939772 Centerline is valid? [False, False] Translation: X:1.44, Y:0.14, Z:-0.42 [[ 9.99759712e-01 -2.16587347e-02 -3.37906222e-03 1.44354427e+00] [ 2.16628800e-02 9.99764618e-01 1.19501110e-03 1.39268025e-01] [ 3.35238442e-03 -1.26792417e-03 9.99993577e-01 -4.24005893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.562414037 meters Centerline goodness [0,1] 0.6966021928009929 Centerline is valid? [False, False] Translation: X:1.44, Y:0.14, Z:-0.42 [[ 0.9998254 -0.01844107 -0.00301558 1.44307102] [ 0.01845432 0.99981991 0.00442494 0.14173233] [ 0.00293343 -0.00447982 0.99998566 -0.42490527] [ 0. 0. 0. 1. ]] SLAMing on 121.59241403699998 meters Centerline goodness [0,1] 0.7014635912287961 Centerline is valid? [False, False] Translation: X:1.45, Y:0.14, Z:-0.43 [[ 0.99983529 -0.01782848 -0.00339711 1.44523187] [ 0.01784403 0.99983019 0.00460314 0.14333213] [ 0.00331447 -0.004663 0.99998364 -0.42653666] [ 0. 0. 0. 1. ]] SLAMing on 121.62241403699998 meters Centerline goodness [0,1] 0.7025751406861855 Centerline is valid? [False, False] Translation: X:1.45, Y:0.14, Z:-0.43 [[ 0.9998455 -0.01718024 -0.00371724 1.4472293 ] [ 0.01719801 0.99984056 0.00480369 0.14458636] [ 0.00363412 -0.00486688 0.99998155 -0.42806046] [ 0. 0. 0. 1. ]] SLAMing on 121.65241403699999 meters Centerline goodness [0,1] 0.70120463160081 Centerline is valid? [False, False] Translation: X:1.45, Y:0.15, Z:-0.43 [[ 0.9998518 -0.01674258 -0.00400849 1.44870094] [ 0.01676143 0.99984839 0.00471722 0.14680747] [ 0.00392891 -0.0047837 0.99998084 -0.42894428] [ 0. 0. 0. 1. ]] SLAMing on 121.68241403699999 meters Centerline goodness [0,1] 0.7096647869674185 Centerline is valid? [False, False] Translation: X:1.45, Y:0.15, Z:-0.43 [[ 0.99989936 -0.01375767 -0.00346307 1.4468488 ] [ 0.01378468 0.99987379 0.00789916 0.14850943] [ 0.00335396 -0.0079461 0.9999628 -0.4285037 ] [ 0. 0. 0. 1. ]] SLAMing on 121.71241403699999 meters Centerline goodness [0,1] 0.7195538955231733 Centerline is valid? [False, False] Translation: X:1.45, Y:0.16, Z:-0.43 [[ 0.9999401 -0.01038551 -0.00345391 1.44595911] [ 0.01041856 0.99989876 0.00969129 0.15538677] [ 0.00335291 -0.00972669 0.99994707 -0.42650817] [ 0. 0. 0. 1. ]] SLAMing on 121.74241403699999 meters Centerline goodness [0,1] 0.7164127971327676 Centerline is valid? [False, False] Translation: X:1.45, Y:0.16, Z:-0.43 [[ 0.99994318 -0.00989233 -0.00397245 1.44753565] [ 0.00992807 0.99990947 0.00908167 0.15792215] [ 0.00388225 -0.00912059 0.99995087 -0.42636158] [ 0. 0. 0. 1. ]] SLAMing on 121.77241403699999 meters Centerline goodness [0,1] 0.7175499841320216 Centerline is valid? [False, False] Translation: X:1.45, Y:0.16, Z:-0.43 [[ 0.99994348 -0.00985354 -0.00399237 1.44783117] [ 0.00988727 0.99991484 0.00851832 0.15953724] [ 0.00390809 -0.00855731 0.99995575 -0.42627347] [ 0. 0. 0. 1. ]] SLAMing on 121.80241403699999 meters Centerline goodness [0,1] 0.7187814569536424 Centerline is valid? [False, False] Translation: X:1.45, Y:0.16, Z:-0.43 [[ 0.99994139 -0.01003256 -0.00406929 1.44782002] [ 0.01006417 0.99991875 0.00782315 0.1606674 ] [ 0.00399047 -0.00786365 0.99996112 -0.42570454] [ 0. 0. 0. 1. ]] SLAMing on 121.83241403699999 meters Centerline goodness [0,1] 0.725714741205229 Centerline is valid? [False, False] Translation: X:1.45, Y:0.16, Z:-0.43 [[ 0.99993692 -0.01053733 -0.00388904 1.44756191] [ 0.01056447 0.99991952 0.00702409 0.16246416] [ 0.00381471 -0.00706473 0.99996777 -0.42576244] [ 0. 0. 0. 1. ]] SLAMing on 121.862414037 meters Centerline goodness [0,1] 0.7153748074164585 Centerline is valid? [False, False] Translation: X:1.45, Y:0.16, Z:-0.43 [[ 0.99993682 -0.01045651 -0.00412463 1.44848219] [ 0.01048398 0.99992262 0.00669622 0.16383559] [ 0.00405429 -0.00673904 0.99996907 -0.42603673] [ 0. 0. 0. 1. ]] SLAMing on 121.892414037 meters Centerline goodness [0,1] 0.7145136838745711 Centerline is valid? [False, False] Translation: X:1.45, Y:0.17, Z:-0.43 [[ 0.99994055 -0.00985068 -0.00467597 1.4505517 ] [ 0.00988157 0.9999292 0.00662904 0.16616874] [ 0.00461034 -0.00667485 0.9999671 -0.42682732] [ 0. 0. 0. 1. ]] SLAMing on 121.922414037 meters Centerline goodness [0,1] 0.7250681053362534 Centerline is valid? [False, False] Translation: X:1.45, Y:0.17, Z:-0.43 [[ 0.99994855 -0.00878934 -0.00506354 1.45274547] [ 0.00882329 0.99993848 0.00672161 0.16944882] [ 0.00500415 -0.00676594 0.99996459 -0.42782754] [ 0. 0. 0. 1. ]] SLAMing on 121.95241403699998 meters Centerline goodness [0,1] 0.7304730473047305 Centerline is valid? [False, False] Translation: X:1.45, Y:0.17, Z:-0.43 [[ 0.99997672 -0.00440886 -0.00520717 1.45419476] [ 0.00446348 0.99993465 0.01052471 0.17189614] [ 0.00516042 -0.01054771 0.99993106 -0.42909659] [ 0. 0. 0. 1. ]] SLAMing on 121.98241403699998 meters Centerline goodness [0,1] 0.7344349365594571 Centerline is valid? [False, False] Translation: X:1.46, Y:0.17, Z:-0.43 [[ 0.99997633 -0.00414694 -0.00549019 1.45500062] [ 0.0042028 0.99993913 0.01020141 0.17280312] [ 0.00544755 -0.01022424 0.99993289 -0.42895234] [ 0. 0. 0. 1. ]] SLAMing on 122.01241403699999 meters Centerline goodness [0,1] 0.7554517133956387 Centerline is valid? [False, False] Translation: X:1.46, Y:0.17, Z:-0.43 [[ 0.99997709 -0.00367151 -0.00568748 1.45542703] [ 0.00372421 0.99994997 0.00928391 0.17458492] [ 0.00565311 -0.00930488 0.99994073 -0.4276927 ] [ 0. 0. 0. 1. ]] SLAMing on 122.04241403699999 meters Centerline goodness [0,1] 0.7591366596695194 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:-0.43 [[ 0.99997576 -0.00364131 -0.00593384 1.45566338] [ 0.00369226 0.99995621 0.00859915 0.17621797] [ 0.00590227 -0.00862085 0.99994542 -0.42680576] [ 0. 0. 0. 1. ]] SLAMing on 122.07241403699999 meters Centerline goodness [0,1] 0.7605295798953783 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:-0.43 [[ 0.99997359 -0.00378417 -0.00620535 1.45567034] [ 0.00383166 0.99996332 0.00766021 0.17852766] [ 0.00617613 -0.00768378 0.99995141 -0.42544719] [ 0. 0. 0. 1. ]] SLAMing on 122.10241403699999 meters Centerline goodness [0,1] 0.7646581127172324 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:-0.42 [[ 0.9999713 -0.00415904 -0.00633246 1.45513125] [ 0.00420103 0.99996919 0.00663144 0.18088102] [ 0.00630468 -0.00665785 0.99995796 -0.42396562] [ 0. 0. 0. 1. ]] SLAMing on 122.13241403699999 meters Centerline goodness [0,1] 0.7420879239576583 Centerline is valid? [False, False] Translation: X:1.45, Y:0.18, Z:-0.42 [[ 0.99996846 -0.00445307 -0.00657599 1.45495091] [ 0.00449158 0.99997278 0.00585343 0.1821888 ] [ 0.00654974 -0.00588278 0.99996125 -0.42268526] [ 0. 0. 0. 1. ]] SLAMing on 122.16241403699999 meters Centerline goodness [0,1] 0.756149038071272 Centerline is valid? [False, False] Translation: X:1.45, Y:0.18, Z:-0.42 [[ 0.99996633 -0.00484807 -0.00662102 1.45438008] [ 0.00488224 0.9999748 0.00515423 0.18287219] [ 0.00659586 -0.00518638 0.9999648 -0.42151823] [ 0. 0. 0. 1. ]] SLAMing on 122.19241403699999 meters Centerline goodness [0,1] 0.7628807517822424 Centerline is valid? [False, False] Translation: X:1.45, Y:0.18, Z:-0.42 [[ 0.99996594 -0.00480659 -0.00670928 1.45476054] [ 0.00484084 0.99997529 0.00509755 0.18216444] [ 0.00668461 -0.00512985 0.9999645 -0.42158549] [ 0. 0. 0. 1. ]] SLAMing on 122.222414037 meters Centerline goodness [0,1] 0.7471549538859824 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:-0.42 [[ 0.99996619 -0.00434272 -0.00698212 1.45639147] [ 0.0043806 0.99997572 0.00541922 0.18141688] [ 0.00695842 -0.00544962 0.99996094 -0.42271822] [ 0. 0. 0. 1. ]] SLAMing on 122.252414037 meters Centerline goodness [0,1] 0.7502964959568733 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:-0.42 [[ 0.99996508 -0.0041599 -0.00724757 1.45706885] [ 0.00419704 0.9999781 0.0051172 0.18197297] [ 0.00722613 -0.00514744 0.99996064 -0.42240697] [ 0. 0. 0. 1. ]] SLAMing on 122.282414037 meters Centerline goodness [0,1] 0.7565337373518749 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:-0.42 [[ 0.99996424 -0.00409258 -0.00740109 1.45719993] [ 0.00412836 0.99997983 0.00482589 0.18271009] [ 0.00738119 -0.00485628 0.99996097 -0.42183968] [ 0. 0. 0. 1. ]] SLAMing on 122.312414037 meters Centerline goodness [0,1] 0.7771512226861139 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:-0.42 [[ 0.99996419 -0.00327499 -0.00780327 1.45857737] [ 0.00331397 0.99998207 0.00498699 0.182733 ] [ 0.00778679 -0.00501267 0.99995712 -0.42180754] [ 0. 0. 0. 1. ]] SLAMing on 122.34241403699998 meters Centerline goodness [0,1] 0.7696172442667675 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:-0.42 [[ 0.99996232 -0.00281667 -0.0082116 1.45985517] [ 0.00285943 0.99998239 0.00520062 0.18215128] [ 0.00819681 -0.00522391 0.99995276 -0.42199626] [ 0. 0. 0. 1. ]] SLAMing on 122.37241403699998 meters Centerline goodness [0,1] 0.7747453184532656 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:-0.42 [[ 0.99996086 -0.00282476 -0.00838418 1.45995003] [ 0.00286572 0.999984 0.00487703 0.18252153] [ 0.00837027 -0.00490086 0.99995296 -0.42128734] [ 0. 0. 0. 1. ]] SLAMing on 122.40241403699999 meters Centerline goodness [0,1] 0.7744533636044217 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:-0.42 [[ 0.99996002 -0.0027115 -0.00852104 1.46029613] [ 0.00275215 0.99998487 0.00476268 0.18255026] [ 0.008508 -0.00478594 0.99995235 -0.42100762] [ 0. 0. 0. 1. ]] SLAMing on 122.43241403699999 meters Centerline goodness [0,1] 0.771378139850645 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:-0.42 [[ 0.99996102 -0.00262877 -0.00842873 1.46071864] [ 0.00267143 0.99998366 0.00505426 0.18147897] [ 0.00841531 -0.00507658 0.9999517 -0.421858 ] [ 0. 0. 0. 1. ]] SLAMing on 122.46241403699999 meters Centerline goodness [0,1] 0.768840815441336 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:-0.42 [[ 0.99996105 -0.00235492 -0.00850635 1.46168653] [ 0.00240342 0.99998089 0.00569598 0.17964916] [ 0.00849277 -0.0057162 0.9999476 -0.42310117] [ 0. 0. 0. 1. ]] SLAMing on 122.49241403699999 meters Centerline goodness [0,1] 0.7604918254289961 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:-0.42 [[ 0.99996126 -0.00255449 -0.00842304 1.46153752] [ 0.00260311 0.99997998 0.00576658 0.17748509] [ 0.00840814 -0.00578828 0.9999479 -0.42312035] [ 0. 0. 0. 1. ]] SLAMing on 122.52241403699999 meters Centerline goodness [0,1] 0.755696987675629 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:-0.42 [[ 0.99996017 -0.0027595 -0.00848817 1.4612836 ] [ 0.00280364 0.99998259 0.00519303 0.17815487] [ 0.00847369 -0.00521662 0.99995049 -0.42223077] [ 0. 0. 0. 1. ]] SLAMing on 122.55241403699999 meters Centerline goodness [0,1] 0.7672537015561369 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:-0.42 [[ 0.9999579 -0.00265087 -0.00878469 1.46162041] [ 0.00269226 0.99998531 0.00470396 0.17931054] [ 0.00877209 -0.00472741 0.99995035 -0.42134643] [ 0. 0. 0. 1. ]] SLAMing on 122.58241403699999 meters Centerline goodness [0,1] 0.7868675414439225 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:-0.42 [[ 0.99995539 -0.00225117 -0.00917318 1.46241554] [ 0.00229116 0.99998791 0.00435109 0.18040694] [ 0.00916327 -0.00437192 0.99994846 -0.42065708] [ 0. 0. 0. 1. ]] SLAMing on 122.612414037 meters Centerline goodness [0,1] 0.8001458592188428 Centerline is valid? [False, False] Translation: X:1.46, Y:0.18, Z:-0.42 [[ 9.99953732e-01 -5.29474438e-04 -9.60485577e-03 1.46435272e+00] [ 5.74309189e-04 9.99988950e-01 4.66576814e-03 1.80349771e-01] [ 9.60227924e-03 -4.67106842e-03 9.99942987e-01 -4.20425956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.642414037 meters Centerline goodness [0,1] 0.8118568534773801 Centerline is valid? [False, False] Translation: X:1.47, Y:0.18, Z:-0.42 [[ 9.99949436e-01 8.08141859e-05 -1.00557450e-02 1.46514705e+00] [-3.74857196e-05 9.99990716e-01 4.30894096e-03 1.80743453e-01] [ 1.00559998e-02 -4.30834613e-03 9.99940156e-01 -4.19320483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.672414037 meters Centerline goodness [0,1] 0.8262540945883754 Centerline is valid? [False, False] Translation: X:1.47, Y:0.18, Z:-0.42 [[ 9.99946706e-01 4.01287968e-04 -1.03162481e-02 1.46528276e+00] [-3.63624975e-04 9.99993264e-01 3.65245862e-03 1.82294919e-01] [ 1.03176443e-02 -3.64851272e-03 9.99940115e-01 -4.17874593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70241403699998 meters Centerline goodness [0,1] 0.8248123763851635 Centerline is valid? [False, False] Translation: X:1.47, Y:0.18, Z:-0.42 [[ 9.99942736e-01 7.55140717e-04 -1.06749682e-02 1.46550824e+00] [-7.24437737e-04 9.99995591e-01 2.87974020e-03 1.84061410e-01] [ 1.06770958e-02 -2.87184194e-03 9.99938874e-01 -4.16095978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73241403699998 meters Centerline goodness [0,1] 0.832522303325223 Centerline is valid? [False, False] Translation: X:1.47, Y:0.18, Z:-0.42 [[ 0.99992961 0.00254996 -0.01158785 1.46819684] [-0.00251297 0.9999917 0.00320553 0.18397791] [ 0.01159593 -0.00317618 0.99992772 -0.41547869] [ 0. 0. 0. 1. ]] SLAMing on 122.76241403699999 meters Centerline goodness [0,1] 0.8323081903528651 Centerline is valid? [False, False] Translation: X:1.47, Y:0.18, Z:-0.42 [[ 0.99991933 0.00354336 -0.01219752 1.47062481] [-0.00349571 0.99998618 0.00392592 0.18233294] [ 0.01221126 -0.00388297 0.9999179 -0.41656805] [ 0. 0. 0. 1. ]] SLAMing on 122.79241403699999 meters Centerline goodness [0,1] 0.8323406548982617 Centerline is valid? [False, False] Translation: X:1.47, Y:0.18, Z:-0.42 [[ 0.99991037 0.00445961 -0.0126238 1.47289264] [-0.00439818 0.99997837 0.00488991 0.17994648] [ 0.01264534 -0.00483395 0.99990836 -0.41820305] [ 0. 0. 0. 1. ]] SLAMing on 122.82241403699999 meters Centerline goodness [0,1] 0.8294717580258874 Centerline is valid? [False, False] Translation: X:1.48, Y:0.18, Z:-0.42 [[ 0.99990238 0.00309274 -0.01362561 1.47766215] [-0.00305279 0.99999098 0.00295219 0.17607747] [ 0.01363461 -0.0029103 0.99990281 -0.42051119] [ 0. 0. 0. 1. ]] SLAMing on 122.85241403699999 meters Centerline goodness [0,1] 0.8308211292870338 Centerline is valid? [False, False] Translation: X:1.48, Y:0.17, Z:-0.42 [[ 0.99989976 0.00335626 -0.01375504 1.47787801] [-0.00331098 0.99998903 0.00331355 0.17389703] [ 0.01376601 -0.00326768 0.9998999 -0.4202299 ] [ 0. 0. 0. 1. ]] SLAMing on 122.88241403699999 meters Centerline goodness [0,1] 0.8276895896351419 Centerline is valid? [False, False] Translation: X:1.48, Y:0.17, Z:-0.42 [[ 0.99989847 0.00340349 -0.01383747 1.47748448] [-0.00335698 0.99998864 0.00338364 0.17255836] [ 0.01384883 -0.00333684 0.99989853 -0.41928924] [ 0. 0. 0. 1. ]] SLAMing on 122.91241403699999 meters Centerline goodness [0,1] 0.8280764699582307 Centerline is valid? [False, False] Translation: X:1.48, Y:0.17, Z:-0.42 [[ 0.99989974 0.00281835 -0.01387687 1.47522929] [-0.00278216 0.99999268 0.00262636 0.17208491] [ 0.01388417 -0.00258749 0.99990026 -0.41579858] [ 0. 0. 0. 1. ]] SLAMing on 122.94241403699999 meters Centerline goodness [0,1] 0.8236806857755157 Centerline is valid? [False, False] Translation: X:1.47, Y:0.17, Z:-0.42 [[ 0.99990242 0.00249431 -0.01374489 1.47432839] [-0.00245841 0.99999353 0.00262767 0.17035669] [ 0.01375135 -0.00259363 0.99990208 -0.41506369] [ 0. 0. 0. 1. ]] SLAMing on 122.972414037 meters Centerline goodness [0,1] 0.8254255319148937 Centerline is valid? [False, False] Translation: X:1.48, Y:0.17, Z:-0.42 [[ 9.99891482e-01 -4.66980263e-05 -1.47316501e-02 1.47738457e+00] [ 4.07262464e-05 9.99999917e-01 -4.05670484e-04 1.68233216e-01] [ 1.47316678e-02 4.05026497e-04 9.99891401e-01 -4.15565175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.002414037 meters Centerline goodness [0,1] 0.8218132496476158 Centerline is valid? [False, False] Translation: X:1.48, Y:0.17, Z:-0.42 [[ 0.99987534 -0.00279657 -0.01553979 1.48018892] [ 0.00274303 0.99999023 -0.00346618 0.16575895] [ 0.01554933 0.00342312 0.99987324 -0.41640354] [ 0. 0. 0. 1. ]] SLAMing on 123.032414037 meters Centerline goodness [0,1] 0.8218132496476158 Centerline is valid? [False, False] Translation: X:1.48, Y:0.17, Z:-0.42 [[ 0.99987534 -0.00279657 -0.01553979 1.48018892] [ 0.00274303 0.99999023 -0.00346618 0.16575895] [ 0.01554933 0.00342312 0.99987324 -0.41640354] [ 0. 0. 0. 1. ]] SLAMing on 123.062414037 meters Centerline goodness [0,1] 0.8195363801788021 Centerline is valid? [False, False] Translation: X:1.48, Y:0.16, Z:-0.42 [[ 0.99985607 -0.00523338 -0.01613832 1.483198 ] [ 0.00514994 0.99997318 -0.00520729 0.15934515] [ 0.01616514 0.00512343 0.99985621 -0.418649 ] [ 0. 0. 0. 1. ]] SLAMing on 123.09241403699998 meters Centerline goodness [0,1] 0.8155978203919103 Centerline is valid? [False, False] Translation: X:1.48, Y:0.16, Z:-0.42 [[ 0.99985602 -0.00460682 -0.01633164 1.48442305] [ 0.00454336 0.99998199 -0.003921 0.1563171 ] [ 0.01634941 0.00384623 0.99985894 -0.41999442] [ 0. 0. 0. 1. ]] SLAMing on 123.12241403699998 meters Centerline goodness [0,1] 0.8183270061526378 Centerline is valid? [False, False] Translation: X:1.48, Y:0.16, Z:-0.42 [[ 0.99985476 -0.00428525 -0.01649512 1.4848 ] [ 0.00422919 0.99998517 -0.00343196 0.1552592 ] [ 0.01650958 0.0033617 0.99985806 -0.41999633] [ 0. 0. 0. 1. ]] SLAMing on 123.15241403699999 meters Centerline goodness [0,1] 0.8208150010475592 Centerline is valid? [False, False] Translation: X:1.49, Y:0.15, Z:-0.42 [[ 0.99985372 -0.00389786 -0.01665352 1.48518766] [ 0.00384915 0.99998822 -0.00295632 0.1548963 ] [ 0.01666485 0.00289178 0.99985695 -0.41997613] [ 0. 0. 0. 1. ]] SLAMing on 123.18241403699999 meters Centerline goodness [0,1] 0.8239317131744499 Centerline is valid? [False, False] Translation: X:1.48, Y:0.15, Z:-0.42 [[ 0.99985438 -0.00350499 -0.01670124 1.48450514] [ 0.00346456 0.999991 -0.00244876 0.15274612] [ 0.01670967 0.00239054 0.99985753 -0.41860626] [ 0. 0. 0. 1. ]] SLAMing on 123.21241403699999 meters Centerline goodness [0,1] 0.8166132353324471 Centerline is valid? [False, False] Translation: X:1.48, Y:0.15, Z:-0.42 [[ 0.99985491 -0.00350767 -0.01666922 1.48378176] [ 0.00347319 0.99999177 -0.0020967 0.1496056 ] [ 0.01667643 0.0020385 0.99985886 -0.41777011] [ 0. 0. 0. 1. ]] SLAMing on 123.24241403699999 meters Centerline goodness [0,1] 0.8139824247608679 Centerline is valid? [False, False] Translation: X:1.48, Y:0.15, Z:-0.42 [[ 0.99985589 -0.00377584 -0.01655144 1.48295633] [ 0.0037464 0.99999135 -0.00180918 0.1453449 ] [ 0.01655813 0.00174691 0.99986138 -0.41715163] [ 0. 0. 0. 1. ]] SLAMing on 123.27241403699999 meters Centerline goodness [0,1] 0.8142680156927524 Centerline is valid? [False, False] Translation: X:1.48, Y:0.14, Z:-0.42 [[ 9.99858641e-01 -4.23489847e-03 -1.62715433e-02 1.48169558e+00] [ 4.21274336e-03 9.99990152e-01 -1.39562118e-03 1.41098617e-01] [ 1.62772934e-02 1.32687607e-03 9.99866636e-01 -4.16631578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30241403699999 meters Centerline goodness [0,1] 0.8136276145258565 Centerline is valid? [False, False] Translation: X:1.48, Y:0.14, Z:-0.42 [[ 9.99860493e-01 -4.76122994e-03 -1.60101587e-02 1.48026896e+00] [ 4.74201685e-03 9.99987990e-01 -1.23780525e-03 1.38438910e-01] [ 1.60158599e-02 1.16171213e-03 9.99871063e-01 -4.15742004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33241403699999 meters Centerline goodness [0,1] 0.8141210742851301 Centerline is valid? [False, False] Translation: X:1.48, Y:0.14, Z:-0.42 [[ 9.99856927e-01 -4.38810536e-03 -1.63361707e-02 1.48118625e+00] [ 4.38775194e-03 9.99990372e-01 -5.74761335e-05 1.35807487e-01] [ 1.63362656e-02 -1.42111545e-05 9.99866554e-01 -4.16299974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.362414037 meters Centerline goodness [0,1] 0.8132934835364141 Centerline is valid? [False, False] Translation: X:1.48, Y:0.13, Z:-0.42 [[ 9.99855946e-01 -4.03668637e-03 -1.64861502e-02 1.48209065e+00] [ 4.04781572e-03 9.99991602e-01 6.41759808e-04 1.34134542e-01] [ 1.64834212e-02 -7.08400258e-04 9.99863888e-01 -4.17134095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.392414037 meters Centerline goodness [0,1] 0.809884670340886 Centerline is valid? [False, False] Translation: X:1.48, Y:0.13, Z:-0.42 [[ 9.99856485e-01 -3.74541310e-03 -1.65221610e-02 1.48270641e+00] [ 3.76996804e-03 9.99991835e-01 1.45528606e-03 1.31258526e-01] [ 1.65165754e-02 -1.51736522e-03 9.99862441e-01 -4.17971340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.422414037 meters Centerline goodness [0,1] 0.8065088457444112 Centerline is valid? [False, False] Translation: X:1.48, Y:0.13, Z:-0.42 [[ 0.9998574 -0.00389527 -0.01643166 1.48238124] [ 0.00392545 0.99999067 0.00180527 0.12767377] [ 0.01642447 -0.00186951 0.99986336 -0.41791042] [ 0. 0. 0. 1. ]] SLAMing on 123.45241403699998 meters Centerline goodness [0,1] 0.802013422818792 Centerline is valid? [False, False] Translation: X:1.48, Y:0.12, Z:-0.42 [[ 9.99834863e-01 -7.02161205e-03 -1.67613734e-02 1.48258762e+00] [ 7.00284692e-03 9.99974786e-01 -1.17797742e-03 1.22754332e-01] [ 1.67692221e-02 1.06040556e-03 9.99858824e-01 -4.16810763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48241403699998 meters Centerline goodness [0,1] 0.800509655982212 Centerline is valid? [False, False] Translation: X:1.48, Y:0.12, Z:-0.42 [[ 9.99835636e-01 -6.99073203e-03 -1.67281475e-02 1.48206487e+00] [ 6.98026455e-03 9.99975404e-01 -6.84047001e-04 1.20391744e-01] [ 1.67325181e-02 5.67167673e-04 9.99859841e-01 -4.16271182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51241403699999 meters Centerline goodness [0,1] 0.8023648226383021 Centerline is valid? [False, False] Translation: X:1.48, Y:0.12, Z:-0.42 [[ 9.99834753e-01 -7.04258298e-03 -1.67591347e-02 1.48163909e+00] [ 7.03567374e-03 9.99975138e-01 -4.71191940e-04 1.19263642e-01] [ 1.67620365e-02 3.53202273e-04 9.99859445e-01 -4.15609324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54241403699999 meters Centerline goodness [0,1] 0.8002581477896096 Centerline is valid? [False, False] Translation: X:1.48, Y:0.12, Z:-0.42 [[ 9.99832106e-01 -6.57501967e-03 -1.71034883e-02 1.48246536e+00] [ 6.58124565e-03 9.99978296e-01 3.07757662e-04 1.17569572e-01] [ 1.71010936e-02 -4.20268249e-04 9.99853677e-01 -4.15705648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57241403699999 meters Centerline goodness [0,1] 0.7989218194917149 Centerline is valid? [False, False] Translation: X:1.48, Y:0.12, Z:-0.42 [[ 9.99831676e-01 -6.47835559e-03 -1.71654058e-02 1.48244266e+00] [ 6.49285236e-03 9.99978610e-01 7.88937784e-04 1.15727653e-01] [ 1.71599276e-02 -9.00257433e-04 9.99852352e-01 -4.15584960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60241403699999 meters Centerline goodness [0,1] 0.7926626987998829 Centerline is valid? [False, False] Translation: X:1.48, Y:0.11, Z:-0.42 [[ 9.99803502e-01 -8.97597558e-03 -1.76745562e-02 1.48440639e+00] [ 8.95194588e-03 9.99958896e-01 -1.43821415e-03 1.09628432e-01] [ 1.76867391e-02 1.27970987e-03 9.99842758e-01 -4.16259850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63241403699999 meters Centerline goodness [0,1] 0.7891699202172806 Centerline is valid? [False, False] Translation: X:1.48, Y:0.11, Z:-0.42 [[ 9.99806371e-01 -8.78520465e-03 -1.76079525e-02 1.48471341e+00] [ 8.77329414e-03 9.99961230e-01 -7.53561217e-04 1.05024313e-01] [ 1.76138900e-02 5.98935560e-04 9.99844684e-01 -4.16806088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66241403699999 meters Centerline goodness [0,1] 0.7942693826143823 Centerline is valid? [False, False] Translation: X:1.48, Y:0.10, Z:-0.42 [[ 9.99810996e-01 -8.43819762e-03 -1.75148462e-02 1.48499818e+00] [ 8.44246066e-03 9.99964347e-01 1.69468951e-04 1.01621390e-01] [ 1.75127917e-02 -3.17305321e-04 9.99846589e-01 -4.17527282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69241403699999 meters Centerline goodness [0,1] 0.7875665133749067 Centerline is valid? [False, False] Translation: X:1.48, Y:0.10, Z:-0.42 [[ 9.99814836e-01 -8.18737684e-03 -1.74143866e-02 1.48457709e+00] [ 8.20597328e-03 9.99965834e-01 9.96688446e-04 9.98626603e-02] [ 1.74056313e-02 -1.13940589e-03 9.99847861e-01 -4.17288289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.722414037 meters Centerline goodness [0,1] 0.792791492228478 Centerline is valid? [False, False] Translation: X:1.49, Y:0.10, Z:-0.42 [[ 9.99812345e-01 -7.86625990e-03 -1.77030105e-02 1.48514203e+00] [ 7.89283567e-03 9.99967826e-01 1.43183157e-03 9.97503571e-02] [ 1.76911778e-02 -1.57128983e-03 9.99842264e-01 -4.17186948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.752414037 meters Centerline goodness [0,1] 0.7883712012271115 Centerline is valid? [False, False] Translation: X:1.48, Y:0.10, Z:-0.42 [[ 0.99981215 -0.00806176 -0.01762597 1.48444866] [ 0.00809692 0.99996537 0.0019241 0.09627588] [ 0.01760985 -0.00206645 0.9998428 -0.41668715] [ 0. 0. 0. 1. ]] SLAMing on 123.782414037 meters Centerline goodness [0,1] 0.786463298379409 Centerline is valid? [False, False] Translation: X:1.49, Y:0.09, Z:-0.42 [[ 9.99775894e-01 -1.08219377e-02 -1.81946832e-02 1.48708037e+00] [ 1.08046814e-02 9.99941080e-01 -1.04646390e-03 9.46625816e-02] [ 1.82049359e-02 8.49641630e-04 9.99833915e-01 -4.18033698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.812414037 meters Centerline goodness [0,1] 0.7828734538534728 Centerline is valid? [False, False] Translation: X:1.49, Y:0.09, Z:-0.42 [[ 9.99776653e-01 -1.12025049e-02 -1.79206131e-02 1.48693415e+00] [ 1.11925805e-02 9.99937147e-01 -6.54005180e-04 9.17658488e-02] [ 1.79268132e-02 4.53281206e-04 9.99839199e-01 -4.18861194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84241403699998 meters Centerline goodness [0,1] 0.7816664295537535 Centerline is valid? [False, False] Translation: X:1.49, Y:0.09, Z:-0.42 [[ 9.99776741e-01 -1.14110532e-02 -1.77835735e-02 1.48698412e+00] [ 1.14114728e-02 9.99934884e-01 -7.78846412e-05 8.95809487e-02] [ 1.77833042e-02 -1.25069512e-04 9.99841857e-01 -4.19660128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87241403699998 meters Centerline goodness [0,1] 0.775871453250349 Centerline is valid? [False, False] Translation: X:1.49, Y:0.09, Z:-0.42 [[ 9.99766684e-01 -1.26035962e-02 -1.75421734e-02 1.48534072e+00] [ 1.26005013e-02 9.99920569e-01 -2.86950089e-04 8.82357886e-02] [ 1.75443966e-02 6.58429597e-05 9.99846083e-01 -4.18718833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90241403699999 meters Centerline goodness [0,1] 0.7803579037068598 Centerline is valid? [False, False] Translation: X:1.49, Y:0.09, Z:-0.42 [[ 9.99764773e-01 -1.27392335e-02 -1.75530857e-02 1.48508606e+00] [ 1.27389265e-02 9.99918848e-01 -1.29302209e-04 8.76359975e-02] [ 1.75533084e-02 -9.43356757e-05 9.99845924e-01 -4.18418043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93241403699999 meters Centerline goodness [0,1] 0.7805928133796987 Centerline is valid? [False, False] Translation: X:1.48, Y:0.09, Z:-0.42 [[ 9.99765880e-01 -1.27821591e-02 -1.74585850e-02 1.48478578e+00] [ 1.27848341e-02 9.99918270e-01 4.16132339e-05 8.72214526e-02] [ 1.74566262e-02 -2.64808605e-04 9.99847586e-01 -4.18317492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96241403699999 meters Centerline goodness [0,1] 0.7841081234614656 Centerline is valid? [False, False] Translation: X:1.48, Y:0.09, Z:-0.42 [[ 9.99770003e-01 -1.24460637e-02 -1.74652697e-02 1.48499510e+00] [ 1.24551033e-02 9.99922349e-01 4.08891759e-04 8.65013062e-02] [ 1.74588244e-02 -6.26329453e-04 9.99847387e-01 -4.18485119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99241403699999 meters Centerline goodness [0,1] 0.7775937536969123 Centerline is valid? [False, False] Translation: X:1.49, Y:0.09, Z:-0.42 [[ 9.99772096e-01 -1.21405719e-02 -1.75602619e-02 1.48558499e+00] [ 1.21548635e-02 9.99925877e-01 7.07357354e-04 8.60873462e-02] [ 1.75503726e-02 -9.20638732e-04 9.99845556e-01 -4.18903010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02241403699999 meters Centerline goodness [0,1] 0.7856551463108841 Centerline is valid? [False, False] Translation: X:1.49, Y:0.09, Z:-0.42 [[ 9.99773414e-01 -1.18216337e-02 -1.77022363e-02 1.48603256e+00] [ 1.18392319e-02 9.99929518e-01 8.89648244e-04 8.58648045e-02] [ 1.76904715e-02 -1.09902754e-03 9.99842907e-01 -4.18950130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05241403699999 meters Centerline goodness [0,1] 0.7882495198805036 Centerline is valid? [False, False] Translation: X:1.49, Y:0.09, Z:-0.42 [[ 9.99772337e-01 -1.16819025e-02 -1.78551724e-02 1.48591175e+00] [ 1.16977712e-02 9.99931271e-01 7.84561317e-04 8.62023343e-02] [ 1.78447801e-02 -9.93248424e-04 9.99840276e-01 -4.18186603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08241403699999 meters Centerline goodness [0,1] 0.7940136248190083 Centerline is valid? [False, False] Translation: X:1.49, Y:0.09, Z:-0.42 [[ 9.99776099e-01 -1.09129383e-02 -1.81289634e-02 1.48601887e+00] [ 1.09307627e-02 9.99939866e-01 8.84399413e-04 8.63931344e-02] [ 1.81182219e-02 -1.08236479e-03 9.99835266e-01 -4.16934105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.112414037 meters Centerline goodness [0,1] 0.7969440615940306 Centerline is valid? [False, False] Translation: X:1.49, Y:0.09, Z:-0.42 [[ 9.99776080e-01 -1.02715498e-02 -1.85009535e-02 1.48715207e+00] [ 1.02971633e-02 9.99946151e-01 1.28971008e-03 8.62806126e-02] [ 1.84867099e-02 -1.47992863e-03 9.99828011e-01 -4.17232341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.142414037 meters Centerline goodness [0,1] 0.7970378106382474 Centerline is valid? [False, False] Translation: X:1.49, Y:0.09, Z:-0.42 [[ 0.99977694 -0.00947288 -0.01887674 1.48864586] [ 0.00950724 0.99995331 0.00173146 0.08650714] [ 0.01885945 -0.00191054 0.99982032 -0.41786581] [ 0. 0. 0. 1. ]] SLAMing on 124.172414037 meters Centerline goodness [0,1] 0.7992275247618597 Centerline is valid? [False, False] Translation: X:1.49, Y:0.09, Z:-0.42 [[ 0.99977708 -0.00850619 -0.01932447 1.49081537] [ 0.00855452 0.99996048 0.00241937 0.08692753] [ 0.01930312 -0.00258414 0.99981034 -0.41924467] [ 0. 0. 0. 1. ]] SLAMing on 124.20241403699998 meters Centerline goodness [0,1] 0.7966013319744981 Centerline is valid? [False, False] Translation: X:1.49, Y:0.09, Z:-0.42 [[ 0.99978102 -0.00799653 -0.01933821 1.49145384] [ 0.0080506 0.9999639 0.00271963 0.08755575] [ 0.01931576 -0.00287472 0.9998093 -0.41986628] [ 0. 0. 0. 1. ]] SLAMing on 124.23241403699998 meters Centerline goodness [0,1] 0.7962606609174923 Centerline is valid? [False, False] Translation: X:1.49, Y:0.09, Z:-0.42 [[ 0.99978306 -0.00816253 -0.01916278 1.49096663] [ 0.00821643 0.9999625 0.00273586 0.08657299] [ 0.01913973 -0.00289272 0.99981263 -0.41971722] [ 0. 0. 0. 1. ]] SLAMing on 124.26241403699999 meters Centerline goodness [0,1] 0.7927259803340836 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:-0.42 [[ 0.99978497 -0.00854726 -0.01889322 1.49006728] [ 0.00860001 0.99995934 0.00271249 0.08431704] [ 0.01886927 -0.00287439 0.99981783 -0.41938398] [ 0. 0. 0. 1. ]] SLAMing on 124.29241403699999 meters Centerline goodness [0,1] 0.7946538207235289 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:-0.42 [[ 0.99978619 -0.00879069 -0.01871648 1.48954134] [ 0.00884565 0.9999568 0.00285602 0.08198274] [ 0.01869057 -0.00302097 0.99982075 -0.41928869] [ 0. 0. 0. 1. ]] SLAMing on 124.32241403699999 meters Centerline goodness [0,1] 0.793244867655031 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:-0.42 [[ 0.99978708 -0.00970007 -0.01821251 1.48726446] [ 0.00974619 0.99994951 0.00244536 0.08015312] [ 0.01818787 -0.00262234 0.99983115 -0.41771409] [ 0. 0. 0. 1. ]] SLAMing on 124.35241403699999 meters Centerline goodness [0,1] 0.7933778900880901 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:-0.42 [[ 0.99978501 -0.00981673 -0.01826398 1.48685486] [ 0.00986473 0.99994812 0.00253997 0.07989856] [ 0.0182381 -0.00271959 0.99982997 -0.4170991 ] [ 0. 0. 0. 1. ]] SLAMing on 124.38241403699999 meters Centerline goodness [0,1] 0.7946401261146796 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:-0.42 [[ 0.99978147 -0.00982493 -0.01845191 1.48696329] [ 0.00987421 0.99994792 0.00258139 0.07997461] [ 0.01842559 -0.00276302 0.99982642 -0.41667292] [ 0. 0. 0. 1. ]] SLAMing on 124.41241403699999 meters Centerline goodness [0,1] 0.7961813393528969 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:-0.42 [[ 0.99978036 -0.0095975 -0.01863119 1.48810388] [ 0.00966151 0.99994772 0.00334885 0.07821163] [ 0.01859808 -0.00352812 0.99982082 -0.41791123] [ 0. 0. 0. 1. ]] SLAMing on 124.44241403699999 meters Centerline goodness [0,1] 0.7929070367071398 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:-0.42 [[ 0.99977756 -0.0095199 -0.01882021 1.48931307] [ 0.009596 0.99994613 0.00395751 0.07605212] [ 0.01878152 -0.00413723 0.99981505 -0.41921942] [ 0. 0. 0. 1. ]] SLAMing on 124.472414037 meters Centerline goodness [0,1] 0.790289184096038 Centerline is valid? [False, False] Translation: X:1.49, Y:0.08, Z:-0.42 [[ 9.99733581e-01 -1.25503201e-02 -1.93715206e-02 1.49176838e+00] [ 1.25670976e-02 9.99920754e-01 7.44598399e-04 7.56243443e-02] [ 1.93606405e-02 -9.87843814e-04 9.99812077e-01 -4.20459220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.502414037 meters Centerline goodness [0,1] 0.783941129896139 Centerline is valid? [False, False] Translation: X:1.49, Y:0.07, Z:-0.42 [[ 9.99722348e-01 -1.43733921e-02 -1.86716934e-02 1.48924174e+00] [ 1.43753439e-02 9.99896669e-01 -2.96835374e-05 7.38295461e-02] [ 1.86701907e-02 -2.38736719e-04 9.99825668e-01 -4.19680472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.532414037 meters Centerline goodness [0,1] 0.7784798364616242 Centerline is valid? [False, False] Translation: X:1.49, Y:0.07, Z:-0.42 [[ 9.99718154e-01 -1.46287956e-02 -1.86978865e-02 1.48911989e+00] [ 1.46307467e-02 9.99892964e-01 -3.24510619e-05 7.34261813e-02] [ 1.86963599e-02 -2.41122125e-04 9.99825179e-01 -4.19513716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.562414037 meters Centerline goodness [0,1] 0.7842390167971564 Centerline is valid? [False, False] Translation: X:1.49, Y:0.07, Z:-0.42 [[ 9.99715755e-01 -1.49017208e-02 -1.86104181e-02 1.48873790e+00] [ 1.49027101e-02 9.99888945e-01 -8.55304782e-05 7.31114412e-02] [ 1.86096258e-02 -1.91839499e-04 9.99826808e-01 -4.19396201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59241403699998 meters Centerline goodness [0,1] 0.78165746369078 Centerline is valid? [False, False] Translation: X:1.49, Y:0.07, Z:-0.42 [[ 9.99717677e-01 -1.46783254e-02 -1.86845503e-02 1.48937835e+00] [ 1.46872416e-02 9.99892079e-01 3.40057335e-04 7.20991232e-02] [ 1.86775423e-02 -6.14385834e-04 9.99825371e-01 -4.20048457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62241403699998 meters Centerline goodness [0,1] 0.7828022818978712 Centerline is valid? [False, False] Translation: X:1.49, Y:0.07, Z:-0.42 [[ 9.99721680e-01 -1.44873121e-02 -1.86193795e-02 1.48981429e+00] [ 1.45050755e-02 9.99894460e-01 8.19321943e-04 7.11274751e-02] [ 1.86055446e-02 -1.08916941e-03 9.99826309e-01 -4.20864227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65241403699999 meters Centerline goodness [0,1] 0.787146090249873 Centerline is valid? [False, False] Translation: X:1.49, Y:0.07, Z:-0.42 [[ 9.99724060e-01 -1.40716236e-02 -1.88093743e-02 1.49021930e+00] [ 1.40939097e-02 9.99900122e-01 1.05279476e-03 7.10045881e-02] [ 1.87926811e-02 -1.31760187e-03 9.99822534e-01 -4.20663073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68241403699999 meters Centerline goodness [0,1] 0.7900210302512075 Centerline is valid? [False, False] Translation: X:1.49, Y:0.07, Z:-0.42 [[ 9.99724121e-01 -1.36393690e-02 -1.91219795e-02 1.49080996e+00] [ 1.36619880e-02 9.99906117e-01 1.05273784e-03 7.17950070e-02] [ 1.91058256e-02 -1.31369167e-03 9.99816604e-01 -4.20285627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71241403699999 meters Centerline goodness [0,1] 0.7933280786350149 Centerline is valid? [False, False] Translation: X:1.49, Y:0.07, Z:-0.42 [[ 9.99730715e-01 -1.28525480e-02 -1.93212066e-02 1.49172055e+00] [ 1.28811328e-02 9.99916116e-01 1.35572360e-03 7.21601599e-02] [ 1.93021614e-02 -1.60423756e-03 9.99812409e-01 -4.20580131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74241403699999 meters Centerline goodness [0,1] 0.7916001018730754 Centerline is valid? [False, False] Translation: X:1.49, Y:0.07, Z:-0.42 [[ 0.99977827 -0.00788918 -0.01952383 1.4932174 ] [ 0.00801229 0.99994846 0.00623531 0.0698623 ] [ 0.01947364 -0.00639036 0.99978995 -0.42202254] [ 0. 0. 0. 1. ]] SLAMing on 124.77241403699999 meters Centerline goodness [0,1] 0.7914757739830627 Centerline is valid? [False, False] Translation: X:1.49, Y:0.07, Z:-0.42 [[ 0.99977982 -0.00735753 -0.01965124 1.49367905] [ 0.00748305 0.99995202 0.00632128 0.06999089] [ 0.01960379 -0.00646694 0.99978691 -0.42194247] [ 0. 0. 0. 1. ]] SLAMing on 124.80241403699999 meters Centerline goodness [0,1] 0.7929025546179632 Centerline is valid? [False, False] Translation: X:1.49, Y:0.07, Z:-0.42 [[ 0.99978125 -0.00709627 -0.01967458 1.49339768] [ 0.00721917 0.99995483 0.00618252 0.07069727] [ 0.01962982 -0.0063232 0.99978732 -0.42120757] [ 0. 0. 0. 1. ]] SLAMing on 124.83241403699999 meters Centerline goodness [0,1] 0.7884211255571207 Centerline is valid? [False, False] Translation: X:1.49, Y:0.07, Z:-0.42 [[ 0.999787 -0.00677018 -0.01949687 1.49203981] [ 0.00688389 0.99995965 0.00577097 0.071833 ] [ 0.01945701 -0.00590395 0.99979326 -0.4191724 ] [ 0. 0. 0. 1. ]] SLAMing on 124.862414037 meters Centerline goodness [0,1] 0.789478550295858 Centerline is valid? [False, False] Translation: X:1.49, Y:0.07, Z:-0.42 [[ 0.99978645 -0.00682674 -0.01950521 1.49148419] [ 0.00694037 0.9999593 0.00576373 0.0710408 ] [ 0.01946506 -0.00589787 0.99979314 -0.4183666 ] [ 0. 0. 0. 1. ]] SLAMing on 124.892414037 meters Centerline goodness [0,1] 0.7894070818857419 Centerline is valid? [False, False] Translation: X:1.49, Y:0.07, Z:-0.42 [[ 0.99978537 -0.00691825 -0.01952808 1.49122514] [ 0.00703649 0.99995729 0.00599253 0.06875312] [ 0.01948579 -0.00612866 0.99979135 -0.4179707 ] [ 0. 0. 0. 1. ]] SLAMing on 124.922414037 meters Centerline goodness [0,1] 0.789470072959312 Centerline is valid? [False, False] Translation: X:1.49, Y:0.07, Z:-0.42 [[ 0.99974981 -0.00992074 -0.02004731 1.49307535] [ 0.00998132 0.99994591 0.00292394 0.06720413] [ 0.02001722 -0.0031233 0.99979476 -0.41861743] [ 0. 0. 0. 1. ]] SLAMing on 124.95241403699998 meters Centerline goodness [0,1] 0.789470072959312 Centerline is valid? [False, False] Translation: X:1.49, Y:0.07, Z:-0.42 [[ 0.99974981 -0.00992074 -0.02004731 1.49307535] [ 0.00998132 0.99994591 0.00292394 0.06720413] [ 0.02001722 -0.0031233 0.99979476 -0.41861743] [ 0. 0. 0. 1. ]] SLAMing on 124.98241403699998 meters Centerline goodness [0,1] 0.7923013960256469 Centerline is valid? [False, False] Translation: X:1.50, Y:0.06, Z:-0.42 [[ 9.99711031e-01 -1.28978020e-02 -2.02855132e-02 1.49515305e+00] [ 1.29174635e-02 9.99916215e-01 8.38499759e-04 6.28901118e-02] [ 2.02729988e-02 -1.10029483e-03 9.99793876e-01 -4.20730844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01241403699999 meters Centerline goodness [0,1] 0.7914485758955884 Centerline is valid? [False, False] Translation: X:1.50, Y:0.06, Z:-0.42 [[ 0.99971285 -0.0126236 -0.02036837 1.49605306] [ 0.01266192 0.9999183 0.0017535 0.06115483] [ 0.02034457 -0.0020109 0.99979101 -0.42190276] [ 0. 0. 0. 1. ]] SLAMing on 125.04241403699999 meters Centerline goodness [0,1] 0.792663874108457 Centerline is valid? [False, False] Translation: X:1.50, Y:0.06, Z:-0.42 [[ 0.99971327 -0.01262189 -0.02034875 1.49615569] [ 0.01266916 0.99991733 0.00219601 0.05997663] [ 0.02031935 -0.00245318 0.99979053 -0.42219873] [ 0. 0. 0. 1. ]] SLAMing on 125.07241403699999 meters Centerline goodness [0,1] 0.7908743527709318 Centerline is valid? [False, False] Translation: X:1.50, Y:0.06, Z:-0.42 [[ 0.99971308 -0.01268115 -0.02032113 1.49625733] [ 0.01273691 0.99991546 0.00261675 0.0585541 ] [ 0.02028622 -0.00287483 0.99979008 -0.42255535] [ 0. 0. 0. 1. ]] SLAMing on 125.10241403699999 meters Centerline goodness [0,1] 0.7910273140440085 Centerline is valid? [False, False] Translation: X:1.50, Y:0.06, Z:-0.42 [[ 9.99663562e-01 -1.58663237e-02 -2.05188371e-02 1.49720770e+00] [ 1.58663467e-02 9.99874109e-01 -1.61686586e-04 5.55961251e-02] [ 2.05188193e-02 -1.63926794e-04 9.99789453e-01 -4.22926005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13241403699999 meters Centerline goodness [0,1] 0.7881969424460431 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:-0.42 [[ 9.99662426e-01 -1.65252658e-02 -2.00486885e-02 1.49561917e+00] [ 1.65250274e-02 9.99863437e-01 -1.77569027e-04 5.34216389e-02] [ 2.00488849e-02 -1.53796042e-04 9.99798989e-01 -4.22293998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16241403699999 meters Centerline goodness [0,1] 0.7877992416593749 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:-0.42 [[ 9.99655698e-01 -1.69398440e-02 -2.00381306e-02 1.49507617e+00] [ 1.69438869e-02 9.99856442e-01 3.19846932e-05 5.12511549e-02] [ 2.00347122e-02 -3.71497499e-04 9.99799216e-01 -4.21847289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19241403699999 meters Centerline goodness [0,1] 0.7850346502662834 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:-0.42 [[ 0.99968457 -0.02095991 -0.01383648 1.50321904] [ 0.02106361 0.99975081 0.00739178 0.04730374] [ 0.0136781 -0.00768089 0.99987695 -0.42416878] [ 0. 0. 0. 1. ]] SLAMing on 125.222414037 meters Centerline goodness [0,1] 0.7883306757697577 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:-0.42 [[ 0.99968121 -0.02108259 -0.01389284 1.50342863] [ 0.02118943 0.99974668 0.00758855 0.04649524] [ 0.01372933 -0.00788051 0.99987469 -0.42436677] [ 0. 0. 0. 1. ]] SLAMing on 125.252414037 meters Centerline goodness [0,1] 0.7901165396683102 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:-0.43 [[ 0.99962201 -0.02321804 -0.01472251 1.50789638] [ 0.02330367 0.99971235 0.00567116 0.04594008] [ 0.0145866 -0.00601211 0.99987554 -0.42780318] [ 0. 0. 0. 1. ]] SLAMing on 125.282414037 meters Centerline goodness [0,1] 0.7868951612903226 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:-0.43 [[ 0.99962166 -0.02321483 -0.01475136 1.50867052] [ 0.02330618 0.99971006 0.00605143 0.04538899] [ 0.0146066 -0.00639294 0.99987288 -0.4289482 ] [ 0. 0. 0. 1. ]] SLAMing on 125.312414037 meters Centerline goodness [0,1] 0.7839397124264854 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:-0.43 [[ 0.99961421 -0.02389509 -0.01415855 1.50735348] [ 0.02397714 0.99969652 0.00565412 0.04549493] [ 0.01401914 -0.00599142 0.99988378 -0.42885348] [ 0. 0. 0. 1. ]] SLAMing on 125.34241403699998 meters Centerline goodness [0,1] 0.7804856195681391 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:-0.43 [[ 0.99960578 -0.0244906 -0.01372965 1.50586641] [ 0.02456371 0.99968484 0.00518162 0.04556335] [ 0.01359842 -0.00551683 0.99989232 -0.42799188] [ 0. 0. 0. 1. ]] SLAMing on 125.37241403699998 meters Centerline goodness [0,1] 0.780433859833337 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:-0.43 [[ 0.99959389 -0.02523528 -0.01323784 1.50415871] [ 0.02529972 0.99966875 0.00472311 0.04535376] [ 0.01311426 -0.0050561 0.99990122 -0.42710678] [ 0. 0. 0. 1. ]] SLAMing on 125.40241403699999 meters Centerline goodness [0,1] 0.775296954541395 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:-0.43 [[ 0.9995781 -0.02605256 -0.01284071 1.50257166] [ 0.02610979 0.99964979 0.00430967 0.04509697] [ 0.01272393 -0.00464312 0.99990827 -0.42623706] [ 0. 0. 0. 1. ]] SLAMing on 125.43241403699999 meters Centerline goodness [0,1] 0.7735819631956512 Centerline is valid? [False, False] Translation: X:1.50, Y:0.04, Z:-0.42 [[ 0.99951939 -0.028464 -0.01227975 1.49934232] [ 0.02850393 0.99958891 0.00308905 0.04425921] [ 0.01218677 -0.00343758 0.99991983 -0.42406795] [ 0. 0. 0. 1. ]] SLAMing on 125.46241403699999 meters Centerline goodness [0,1] 0.7709253065774805 Centerline is valid? [False, False] Translation: X:1.50, Y:0.04, Z:-0.42 [[ 0.99949413 -0.02942079 -0.01207919 1.4982751 ] [ 0.02945613 0.99956227 0.00275875 0.04356284] [ 0.01199273 -0.00311316 0.99992324 -0.42344433] [ 0. 0. 0. 1. ]] SLAMing on 125.49241403699999 meters Centerline goodness [0,1] 0.7428196400364858 Centerline is valid? [False, False] Translation: X:1.50, Y:0.04, Z:-0.42 [[ 0.99948237 -0.02980188 -0.01211782 1.49851413] [ 0.02984125 0.9995499 0.00308163 0.04218297] [ 0.01202053 -0.00344165 0.99992183 -0.42396432] [ 0. 0. 0. 1. ]] SLAMing on 125.52241403699999 meters Centerline goodness [0,1] 0.7404716266214951 Centerline is valid? [False, False] Translation: X:1.50, Y:0.04, Z:-0.42 [[ 0.99947024 -0.03025729 -0.01198876 1.49852537] [ 0.03029713 0.99953596 0.00315517 0.04176727] [ 0.01188773 -0.00351672 0.99992315 -0.42459493] [ 0. 0. 0. 1. ]] SLAMing on 125.55241403699999 meters Centerline goodness [0,1] 0.7342856507131255 Centerline is valid? [False, False] Translation: X:1.50, Y:0.04, Z:-0.43 [[ 0.99946632 -0.0303123 -0.01217561 1.49938429] [ 0.03035494 0.99953363 0.00333249 0.04210966] [ 0.01206892 -0.0037003 0.99992032 -0.42535535] [ 0. 0. 0. 1. ]] SLAMing on 125.58241403699999 meters Centerline goodness [0,1] 0.7352822490247949 Centerline is valid? [False, False] Translation: X:1.50, Y:0.04, Z:-0.42 [[ 0.99952777 -0.02839403 -0.01174764 1.49727999] [ 0.02846372 0.99957795 0.00580799 0.04467776] [ 0.01157777 -0.00613963 0.99991413 -0.42462654] [ 0. 0. 0. 1. ]] SLAMing on 125.612414037 meters Centerline goodness [0,1] 0.7246829049276013 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:-0.43 [[ 0.99952555 -0.02844925 -0.01180284 1.49782524] [ 0.02851632 0.9995779 0.0055536 0.04672062] [ 0.01163987 -0.00588754 0.99991492 -0.42521606] [ 0. 0. 0. 1. ]] SLAMing on 125.642414037 meters Centerline goodness [0,1] 0.7408961689454447 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:-0.43 [[ 0.999518 -0.02866909 -0.01191052 1.49845561] [ 0.02873139 0.99957419 0.0050932 0.04865904] [ 0.01175944 -0.00543295 0.9999161 -0.42585387] [ 0. 0. 0. 1. ]] SLAMing on 125.672414037 meters Centerline goodness [0,1] 0.7251965302249932 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:-0.43 [[ 0.99949789 -0.02942782 -0.01174643 1.4993321 ] [ 0.02947945 0.99955636 0.00424691 0.05105518] [ 0.01161624 -0.00459106 0.99992199 -0.42758217] [ 0. 0. 0. 1. ]] SLAMing on 125.70241403699998 meters Centerline goodness [0,1] 0.7138625726366247 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:-0.43 [[ 0.99948727 -0.02984667 -0.01159191 1.49934941] [ 0.02989313 0.99954566 0.00385613 0.05224142] [ 0.01147155 -0.00420067 0.99992538 -0.42817664] [ 0. 0. 0. 1. ]] SLAMing on 125.73241403699998 meters Centerline goodness [0,1] 0.7071111714647836 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:-0.43 [[ 0.99947289 -0.03035949 -0.01150001 1.49924971] [ 0.03039824 0.99953271 0.00320988 0.05410114] [ 0.01139719 -0.00355777 0.99992872 -0.42837179] [ 0. 0. 0. 1. ]] SLAMing on 125.76241403699999 meters Centerline goodness [0,1] 0.5859882005899705 Centerline is valid? [False, False] Translation: X:1.55, Y:0.06, Z:-0.43 [[ 9.99397660e-01 -3.30217333e-02 -1.06715305e-02 1.55135554e+00] [ 3.30109059e-02 9.99454284e-01 -1.18920801e-03 5.64382691e-02] [ 1.07049765e-02 8.36214813e-04 9.99942350e-01 -4.28013111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79241403699999 meters Centerline goodness [0,1] 0.6981024754277394 Centerline is valid? [False, False] Translation: X:1.48, Y:0.06, Z:-0.43 [[ 9.99493044e-01 -3.05928247e-02 -8.81671835e-03 1.47632872e+00] [ 3.06033636e-02 9.99531042e-01 1.06287707e-03 6.11291706e-02] [ 8.78006727e-03 -1.33215947e-03 9.99960567e-01 -4.31638381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82241403699999 meters Centerline goodness [0,1] 0.7218083033401343 Centerline is valid? [False, False] Translation: X:1.48, Y:0.07, Z:-0.43 [[ 0.99958646 -0.02737587 -0.00880142 1.47634171] [ 0.02741109 0.99961661 0.00390649 0.0656459 ] [ 0.0086911 -0.00414613 0.99995364 -0.43219087] [ 0. 0. 0. 1. ]] SLAMing on 125.85241403699999 meters Centerline goodness [0,1] 0.7249959680206437 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:-0.43 [[ 0.99965665 -0.02479672 -0.00846833 1.4742557 ] [ 0.02485384 0.99966859 0.00670772 0.06695014] [ 0.00829919 -0.00691589 0.99994165 -0.43096996] [ 0. 0. 0. 1. ]] SLAMing on 125.88241403699999 meters Centerline goodness [0,1] 0.7141699842607165 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:-0.43 [[ 0.99971315 -0.02255014 -0.00806901 1.47155223] [ 0.02262349 0.99970248 0.00911733 0.06829849] [ 0.00786101 -0.00929727 0.99992588 -0.42904967] [ 0. 0. 0. 1. ]] SLAMing on 125.91241403699999 meters Centerline goodness [0,1] 0.7151092515109252 Centerline is valid? [False, False] Translation: X:1.47, Y:0.07, Z:-0.43 [[ 0.99972283 -0.02200928 -0.00835811 1.47284569] [ 0.02208062 0.99971971 0.00854122 0.07310218] [ 0.00816778 -0.00872341 0.99992859 -0.4294878 ] [ 0. 0. 0. 1. ]] SLAMing on 125.94241403699999 meters Centerline goodness [0,1] 0.7126621861290021 Centerline is valid? [False, False] Translation: X:1.47, Y:0.08, Z:-0.43 [[ 0.99972249 -0.02192842 -0.0086079 1.47431437] [ 0.02200032 0.99972311 0.00834837 0.07530656] [ 0.00842245 -0.00853543 0.9999281 -0.43079064] [ 0. 0. 0. 1. ]] SLAMing on 125.972414037 meters Centerline goodness [0,1] 0.7029507734923355 Centerline is valid? [False, False] Translation: X:1.48, Y:0.08, Z:-0.43 [[ 0.9997166 -0.02226912 -0.00841445 1.47613803] [ 0.02233623 0.99971876 0.00796772 0.07792669] [ 0.00823465 -0.0081534 0.99993285 -0.43378905] [ 0. 0. 0. 1. ]] SLAMing on 126.002414037 meters Centerline goodness [0,1] 0.7079749988251327 Centerline is valid? [False, False] Translation: X:1.48, Y:0.08, Z:-0.43 [[ 0.99971201 -0.02250634 -0.00832876 1.47620753] [ 0.02256981 0.99971633 0.00760656 0.07895745] [ 0.0081552 -0.00779234 0.99993638 -0.43413785] [ 0. 0. 0. 1. ]] SLAMing on 126.032414037 meters Centerline goodness [0,1] 0.6901253109306801 Centerline is valid? [False, False] Translation: X:1.48, Y:0.08, Z:-0.43 [[ 0.99971089 -0.02253683 -0.00838036 1.47664803] [ 0.02259767 0.99971845 0.00723709 0.08047801] [ 0.0082149 -0.00742438 0.9999387 -0.43447077] [ 0. 0. 0. 1. ]] SLAMing on 126.062414037 meters Centerline goodness [0,1] 0.7058334915511677 Centerline is valid? [False, False] Translation: X:1.48, Y:0.08, Z:-0.43 [[ 0.99977975 -0.0194023 -0.00800073 1.4755413 ] [ 0.01948195 0.99976019 0.01000089 0.08426481] [ 0.00780477 -0.01015455 0.99991798 -0.43436141] [ 0. 0. 0. 1. ]] SLAMing on 126.09241403699998 meters Centerline goodness [0,1] 0.7112254866919245 Centerline is valid? [False, False] Translation: X:1.48, Y:0.09, Z:-0.43 [[ 0.99978187 -0.01912104 -0.00840173 1.47678026] [ 0.01920125 0.99976982 0.00957174 0.08718969] [ 0.00821678 -0.00973098 0.99991889 -0.43466123] [ 0. 0. 0. 1. ]] SLAMing on 126.12241403699998 meters Centerline goodness [0,1] 0.7101162207956471 Centerline is valid? [False, False] Translation: X:1.48, Y:0.09, Z:-0.43 [[ 0.99978205 -0.01902464 -0.00859788 1.47743251] [ 0.01910321 0.99977565 0.00915009 0.08930657] [ 0.00842187 -0.00931235 0.99992117 -0.43475071] [ 0. 0. 0. 1. ]] SLAMing on 126.15241403699999 meters Centerline goodness [0,1] 0.7105610007428886 Centerline is valid? [False, False] Translation: X:1.48, Y:0.09, Z:-0.43 [[ 0.99977949 -0.01911892 -0.00868532 1.47728531] [ 0.01919447 0.99977792 0.00870015 0.09040036] [ 0.00851706 -0.00886494 0.99992443 -0.43413955] [ 0. 0. 0. 1. ]] SLAMing on 126.18241403699999 meters Centerline goodness [0,1] 0.7186848973923039 Centerline is valid? [False, False] Translation: X:1.48, Y:0.09, Z:-0.43 [[ 0.99977944 -0.0190752 -0.00878721 1.47751118] [ 0.01914957 0.99978085 0.00845855 0.09079557] [ 0.00862393 -0.00862495 0.99992562 -0.43396341] [ 0. 0. 0. 1. ]] SLAMing on 126.21241403699999 meters Centerline goodness [0,1] 0.7343753751590674 Centerline is valid? [False, False] Translation: X:1.48, Y:0.09, Z:-0.43 [[ 0.99978414 -0.01868261 -0.00909083 1.47847871] [ 0.01875873 0.99978908 0.00836071 0.09140929] [ 0.00893271 -0.00852944 0.99992372 -0.43416763] [ 0. 0. 0. 1. ]] SLAMing on 126.24241403699999 meters Centerline goodness [0,1] 0.7274307651447474 Centerline is valid? [False, False] Translation: X:1.48, Y:0.09, Z:-0.44 [[ 0.99985317 -0.01418919 -0.00960784 1.48054316] [ 0.01430525 0.99982421 0.01212058 0.0946711 ] [ 0.00943417 -0.01225624 0.99988038 -0.43542788] [ 0. 0. 0. 1. ]] SLAMing on 126.27241403699999 meters Centerline goodness [0,1] 0.7294286130394679 Centerline is valid? [False, False] Translation: X:1.48, Y:0.10, Z:-0.44 [[ 0.9998604 -0.01346199 -0.00989683 1.4818343 ] [ 0.0135784 0.9998383 0.01179 0.09840055] [ 0.00973652 -0.01192273 0.99988152 -0.43573303] [ 0. 0. 0. 1. ]] SLAMing on 126.30241403699999 meters Centerline goodness [0,1] 0.7315757353838643 Centerline is valid? [False, False] Translation: X:1.48, Y:0.10, Z:-0.44 [[ 0.99987534 -0.01238114 -0.00979813 1.48288577] [ 0.0124942 0.99985508 0.01156323 0.10250856] [ 0.00965354 -0.01168421 0.99988514 -0.43646893] [ 0. 0. 0. 1. ]] SLAMing on 126.33241403699999 meters Centerline goodness [0,1] 0.760175588342885 Centerline is valid? [False, False] Translation: X:1.48, Y:0.10, Z:-0.44 [[ 0.99987612 -0.01222441 -0.00991511 1.48355794] [ 0.01233745 0.99985867 0.01142031 0.10278599] [ 0.0097741 -0.01154122 0.99988563 -0.43682856] [ 0. 0. 0. 1. ]] SLAMing on 126.362414037 meters Centerline goodness [0,1] 0.7637645451662479 Centerline is valid? [False, False] Translation: X:1.48, Y:0.10, Z:-0.44 [[ 0.99987674 -0.01224237 -0.00983011 1.48383443] [ 0.01235243 0.99986081 0.01121474 0.10305281] [ 0.00969145 -0.01133478 0.99988879 -0.43727646] [ 0. 0. 0. 1. ]] SLAMing on 126.392414037 meters Centerline goodness [0,1] 0.7357892168821664 Centerline is valid? [False, False] Translation: X:1.48, Y:0.10, Z:-0.44 [[ 0.99987589 -0.01223876 -0.00992013 1.48412292] [ 0.01234747 0.99986357 0.01097191 0.1032971 ] [ 0.00978449 -0.01109304 0.9998906 -0.43726922] [ 0. 0. 0. 1. ]] SLAMing on 126.422414037 meters Centerline goodness [0,1] 0.7620049414124612 Centerline is valid? [False, False] Translation: X:1.48, Y:0.10, Z:-0.44 [[ 0.99987565 -0.01223309 -0.00995144 1.48438891] [ 0.01234021 0.99986579 0.01077567 0.10417204] [ 0.00981829 -0.01089714 0.99989242 -0.4374381 ] [ 0. 0. 0. 1. ]] SLAMing on 126.45241403699998 meters Centerline goodness [0,1] 0.767037500920946 Centerline is valid? [False, False] Translation: X:1.48, Y:0.11, Z:-0.44 [[ 0.99987353 -0.01242758 -0.00992334 1.48413767] [ 0.01252972 0.99986847 0.01029835 0.1059269 ] [ 0.00979405 -0.01042138 0.99989773 -0.43702975] [ 0. 0. 0. 1. ]] SLAMing on 126.48241403699998 meters Centerline goodness [0,1] 0.7612531686067974 Centerline is valid? [False, False] Translation: X:1.48, Y:0.11, Z:-0.43 [[ 0.99986606 -0.01317347 -0.00971163 1.48247276] [ 0.01325762 0.99987468 0.00865244 0.11012985] [ 0.00959643 -0.00878004 0.99991541 -0.43464787] [ 0. 0. 0. 1. ]] SLAMing on 126.51241403699999 meters Centerline goodness [0,1] 0.7412230056752573 Centerline is valid? [False, False] Translation: X:1.48, Y:0.11, Z:-0.43 [[ 0.99986057 -0.01363358 -0.00964222 1.4813135 ] [ 0.01370873 0.99987583 0.00777149 0.11119635] [ 0.00953507 -0.00790259 0.99992331 -0.43292207] [ 0. 0. 0. 1. ]] SLAMing on 126.54241403699999 meters Centerline goodness [0,1] 0.740521210933673 Centerline is valid? [False, False] Translation: X:1.48, Y:0.11, Z:-0.43 [[ 0.9998567 -0.01391417 -0.00964228 1.48055871] [ 0.01398426 0.999876 0.00724099 0.11126915] [ 0.00954033 -0.00737479 0.99992729 -0.43166672] [ 0. 0. 0. 1. ]] SLAMing on 126.57241403699999 meters Centerline goodness [0,1] 0.751981157535759 Centerline is valid? [False, False] Translation: X:1.48, Y:0.11, Z:-0.43 [[ 0.99985726 -0.0137733 -0.00978507 1.48111046] [ 0.01384583 0.99987687 0.00738434 0.11004196] [ 0.00968216 -0.00751876 0.99992486 -0.43186705] [ 0. 0. 0. 1. ]] SLAMing on 126.60241403699999 meters Centerline goodness [0,1] 0.7505778214900418 Centerline is valid? [False, False] Translation: X:1.48, Y:0.11, Z:-0.43 [[ 0.99986041 -0.01335275 -0.01004353 1.4826443 ] [ 0.01343108 0.99987959 0.00777303 0.109895 ] [ 0.00993853 -0.00790684 0.99991935 -0.43312198] [ 0. 0. 0. 1. ]] SLAMing on 126.63241403699999 meters Centerline goodness [0,1] 0.7575675609216318 Centerline is valid? [False, False] Translation: X:1.48, Y:0.11, Z:-0.43 [[ 0.99986292 -0.01290864 -0.01036829 1.48442656] [ 0.01299282 0.99988284 0.00809336 0.11042449] [ 0.0102626 -0.00822697 0.99991349 -0.43453771] [ 0. 0. 0. 1. ]] SLAMing on 126.66241403699999 meters Centerline goodness [0,1] 0.7517161626848412 Centerline is valid? [False, False] Translation: X:1.49, Y:0.11, Z:-0.44 [[ 0.99987439 -0.01142878 -0.01098156 1.48838872] [ 0.01153191 0.99988956 0.0093747 0.11046367] [ 0.0108732 -0.00950016 0.99989575 -0.43792928] [ 0. 0. 0. 1. ]] SLAMing on 126.69241403699999 meters Centerline goodness [0,1] 0.7550698568366064 Centerline is valid? [False, False] Translation: X:1.49, Y:0.11, Z:-0.44 [[ 0.9998771 -0.01105151 -0.01111951 1.48950402] [ 0.01115926 0.99989093 0.00967509 0.11043491] [ 0.01101137 -0.00979799 0.99989137 -0.43896338] [ 0. 0. 0. 1. ]] SLAMing on 126.722414037 meters Centerline goodness [0,1] 0.7568352405561708 Centerline is valid? [False, False] Translation: X:1.49, Y:0.11, Z:-0.44 [[ 0.99987789 -0.01101567 -0.01108453 1.48965805] [ 0.01112175 0.99989251 0.0095541 0.11073252] [ 0.01097809 -0.00967621 0.99989292 -0.4391336 ] [ 0. 0. 0. 1. ]] SLAMing on 126.752414037 meters Centerline goodness [0,1] 0.7631281623028934 Centerline is valid? [False, False] Translation: X:1.49, Y:0.11, Z:-0.44 [[ 0.9998761 -0.01121021 -0.01105059 1.48906763] [ 0.01130977 0.99989564 0.00898898 0.11154408] [ 0.01094867 -0.00911284 0.99989854 -0.43812735] [ 0. 0. 0. 1. ]] SLAMing on 126.782414037 meters Centerline goodness [0,1] 0.75913973196689 Centerline is valid? [False, False] Translation: X:1.49, Y:0.11, Z:-0.44 [[ 0.99987169 -0.01170713 -0.01093402 1.48738794] [ 0.0117937 0.99989935 0.00788669 0.11369884] [ 0.01084059 -0.00801463 0.99990912 -0.43571106] [ 0. 0. 0. 1. ]] SLAMing on 126.812414037 meters Centerline goodness [0,1] 0.7462101604673519 Centerline is valid? [False, False] Translation: X:1.49, Y:0.11, Z:-0.44 [[ 0.99986905 -0.01183444 -0.01103739 1.48746678] [ 0.01191871 0.99990008 0.00760082 0.11474744] [ 0.01094633 -0.00773138 0.9999102 -0.43548219] [ 0. 0. 0. 1. ]] SLAMing on 126.84241403699998 meters Centerline goodness [0,1] 0.7462101604673519 Centerline is valid? [False, False] Translation: X:1.49, Y:0.11, Z:-0.44 [[ 0.99986905 -0.01183444 -0.01103739 1.48746678] [ 0.01191871 0.99990008 0.00760082 0.11474744] [ 0.01094633 -0.00773138 0.9999102 -0.43548219] [ 0. 0. 0. 1. ]] SLAMing on 126.87241403699998 meters Centerline goodness [0,1] 0.7455075039494471 Centerline is valid? [False, False] Translation: X:1.49, Y:0.12, Z:-0.44 [[ 0.99986722 -0.0118103 -0.01122784 1.48800965] [ 0.01189435 0.99990151 0.00744925 0.11565132] [ 0.01113875 -0.00758181 0.99990922 -0.43557666] [ 0. 0. 0. 1. ]] SLAMing on 126.90241403699999 meters Centerline goodness [0,1] 0.7450069210994661 Centerline is valid? [False, False] Translation: X:1.49, Y:0.12, Z:-0.44 [[ 0.99986604 -0.01178116 -0.0113628 1.48848909] [ 0.01186528 0.99990249 0.00736397 0.1161502 ] [ 0.01127493 -0.0074978 0.99990833 -0.43577486] [ 0. 0. 0. 1. ]] SLAMing on 126.93241403699999 meters Centerline goodness [0,1] 0.7431301385082587 Centerline is valid? [False, False] Translation: X:1.49, Y:0.12, Z:-0.44 [[ 0.99986436 -0.01218949 -0.01107564 1.48782535] [ 0.01226862 0.9998995 0.00710494 0.11520775] [ 0.01098792 -0.00723986 0.99991342 -0.43567422] [ 0. 0. 0. 1. ]] SLAMing on 126.96241403699999 meters Centerline goodness [0,1] 0.7357037401574803 Centerline is valid? [False, False] Translation: X:1.49, Y:0.11, Z:-0.44 [[ 0.99986251 -0.01252067 -0.01087139 1.48710063] [ 0.01259629 0.99989675 0.00691515 0.11432661] [ 0.01078368 -0.00705114 0.99991699 -0.43526912] [ 0. 0. 0. 1. ]] SLAMing on 126.99241403699999 meters Centerline goodness [0,1] 0.7330730125985412 Centerline is valid? [False, False] Translation: X:1.49, Y:0.11, Z:-0.43 [[ 0.99985996 -0.01289739 -0.01066387 1.48635043] [ 0.01296915 0.99989353 0.00668759 0.11409914] [ 0.01057649 -0.00682496 0.99992078 -0.43486076] [ 0. 0. 0. 1. ]] SLAMing on 127.02241403699999 meters Centerline goodness [0,1] 0.7276841716885991 Centerline is valid? [False, False] Translation: X:1.49, Y:0.11, Z:-0.43 [[ 0.99985821 -0.0130063 -0.01069556 1.48628652] [ 0.01307727 0.99989276 0.00659264 0.11495942] [ 0.01060867 -0.00673157 0.99992107 -0.43468236] [ 0. 0. 0. 1. ]] SLAMing on 127.05241403699999 meters Centerline goodness [0,1] 0.7173934345908868 Centerline is valid? [False, False] Translation: X:1.49, Y:0.11, Z:-0.43 [[ 0.99985803 -0.01273092 -0.01103842 1.48712112] [ 0.01280692 0.99989458 0.00684225 0.11486303] [ 0.01095015 -0.00698265 0.99991566 -0.43478379] [ 0. 0. 0. 1. ]] SLAMing on 127.08241403699999 meters Centerline goodness [0,1] 0.7639670640285118 Centerline is valid? [False, False] Translation: X:1.49, Y:0.11, Z:-0.43 [[ 0.99985847 -0.01263508 -0.01110872 1.48725265] [ 0.01271334 0.99989466 0.0070027 0.11429578] [ 0.01101907 -0.00714294 0.99991378 -0.43471264] [ 0. 0. 0. 1. ]] SLAMing on 127.112414037 meters Centerline goodness [0,1] 0.7151475023909365 Centerline is valid? [False, False] Translation: X:1.49, Y:0.11, Z:-0.43 [[ 0.99985927 -0.01251813 -0.01116811 1.48762872] [ 0.01259909 0.99989464 0.00720888 0.11338683] [ 0.0110767 -0.00734857 0.99991165 -0.43499561] [ 0. 0. 0. 1. ]] SLAMing on 127.142414037 meters Centerline goodness [0,1] 0.762359509292588 Centerline is valid? [False, False] Translation: X:1.49, Y:0.11, Z:-0.44 [[ 0.99986214 -0.0121826 -0.01128165 1.48860685] [ 0.01227016 0.99989488 0.00772469 0.11208073] [ 0.01118636 -0.00786205 0.99990652 -0.43599096] [ 0. 0. 0. 1. ]] SLAMing on 127.172414037 meters Centerline goodness [0,1] 0.7590077944997304 Centerline is valid? [False, False] Translation: X:1.49, Y:0.11, Z:-0.44 [[ 0.99986363 -0.01186833 -0.01148328 1.48983999] [ 0.01196365 0.99989425 0.008268 0.11110618] [ 0.01138393 -0.00840426 0.99989988 -0.43715777] [ 0. 0. 0. 1. ]] SLAMing on 127.20241403699998 meters Centerline goodness [0,1] 0.7613783975882944 Centerline is valid? [False, False] Translation: X:1.49, Y:0.11, Z:-0.44 [[ 0.99986175 -0.01183294 -0.01168187 1.49029844] [ 0.01192795 0.99989608 0.00809692 0.11184655] [ 0.01158484 -0.00823514 0.99989898 -0.43705677] [ 0. 0. 0. 1. ]] SLAMing on 127.23241403699998 meters Centerline goodness [0,1] 0.7663273335300482 Centerline is valid? [False, False] Translation: X:1.49, Y:0.11, Z:-0.44 [[ 0.99986139 -0.01173102 -0.01181433 1.49055133] [ 0.01182428 0.99989924 0.00785514 0.11304221] [ 0.01172099 -0.00799375 0.99989935 -0.43679563] [ 0. 0. 0. 1. ]] SLAMing on 127.26241403699999 meters Centerline goodness [0,1] 0.7713616181549088 Centerline is valid? [False, False] Translation: X:1.49, Y:0.11, Z:-0.44 [[ 0.99986194 -0.01136543 -0.01212107 1.49171006] [ 0.01146092 0.9999036 0.00783773 0.11425354] [ 0.01203082 -0.00797556 0.99989582 -0.43726753] [ 0. 0. 0. 1. ]] SLAMing on 127.29241403699999 meters Centerline goodness [0,1] 0.7766462329444335 Centerline is valid? [False, False] Translation: X:1.49, Y:0.12, Z:-0.44 [[ 0.99986427 -0.01083927 -0.0124078 1.49339631] [ 0.01093964 0.99990776 0.00804961 0.11509785] [ 0.0123194 -0.00818426 0.99989062 -0.43854408] [ 0. 0. 0. 1. ]] SLAMing on 127.32241403699999 meters Centerline goodness [0,1] 0.7709587141194244 Centerline is valid? [False, False] Translation: X:1.50, Y:0.12, Z:-0.44 [[ 0.99987348 -0.00951787 -0.01274462 1.49566908] [ 0.00962719 0.99991715 0.00854407 0.11543389] [ 0.01266224 -0.00866569 0.99988228 -0.4400191 ] [ 0. 0. 0. 1. ]] SLAMing on 127.35241403699999 meters Centerline goodness [0,1] 0.7822804926499801 Centerline is valid? [False, False] Translation: X:1.50, Y:0.12, Z:-0.44 [[ 0.99987373 -0.00940114 -0.01281169 1.49567175] [ 0.00950564 0.99992184 0.00812085 0.11644813] [ 0.01273434 -0.00824161 0.99988495 -0.43947607] [ 0. 0. 0. 1. ]] SLAMing on 127.38241403699999 meters Centerline goodness [0,1] 0.7868433459887342 Centerline is valid? [False, False] Translation: X:1.50, Y:0.12, Z:-0.44 [[ 0.99986903 -0.00937983 -0.01318904 1.49560851] [ 0.00947497 0.99992941 0.00716949 0.1184573 ] [ 0.01312086 -0.00729352 0.99988732 -0.43768818] [ 0. 0. 0. 1. ]] SLAMing on 127.41241403699999 meters Centerline goodness [0,1] 0.7880387203281722 Centerline is valid? [False, False] Translation: X:1.49, Y:0.12, Z:-0.43 [[ 0.9998884 -0.00783264 -0.0127216 1.49084949] [ 0.00794309 0.999931 0.00865455 0.12077209] [ 0.01265294 -0.00875464 0.99988162 -0.43311997] [ 0. 0. 0. 1. ]] SLAMing on 127.44241403699999 meters Centerline goodness [0,1] 0.7887920236484793 Centerline is valid? [False, False] Translation: X:1.49, Y:0.12, Z:-0.43 [[ 0.99988405 -0.00847079 -0.01265453 1.4896242 ] [ 0.00857122 0.99993204 0.00790296 0.12120587] [ 0.01258673 -0.00801051 0.9998887 -0.43159805] [ 0. 0. 0. 1. ]] SLAMing on 127.472414037 meters Centerline goodness [0,1] 0.766070806154459 Centerline is valid? [False, False] Translation: X:1.49, Y:0.12, Z:-0.43 [[ 0.99984276 -0.01173355 -0.01329609 1.49142956] [ 0.01178803 0.99992241 0.00402624 0.1219208 ] [ 0.01324781 -0.00418234 0.9999035 -0.43148982] [ 0. 0. 0. 1. ]] SLAMing on 127.502414037 meters Centerline goodness [0,1] 0.787304760714732 Centerline is valid? [False, False] Translation: X:1.49, Y:0.12, Z:-0.43 [[ 0.99983766 -0.01244089 -0.01303405 1.49067327] [ 0.01249453 0.99991377 0.00404164 0.11987247] [ 0.01298264 -0.00420384 0.99990689 -0.43157091] [ 0. 0. 0. 1. ]] SLAMing on 127.532414037 meters Centerline goodness [0,1] 0.7800143603456386 Centerline is valid? [False, False] Translation: X:1.49, Y:0.12, Z:-0.43 [[ 0.9997865 -0.01579935 -0.01331697 1.49336692] [ 0.01582276 0.99987344 0.00165491 0.1164999 ] [ 0.01328913 -0.00186527 0.99990996 -0.43466622] [ 0. 0. 0. 1. ]] SLAMing on 127.562414037 meters Centerline goodness [0,1] 0.7608561330664096 Centerline is valid? [False, False] Translation: X:1.49, Y:0.11, Z:-0.44 [[ 0.99979065 -0.01561651 -0.01322051 1.49426279] [ 0.01565083 0.9998744 0.00249625 0.1149029 ] [ 0.01317987 -0.00270264 0.99990949 -0.43644837] [ 0. 0. 0. 1. ]] SLAMing on 127.59241403699998 meters Centerline goodness [0,1] 0.7613832995501063 Centerline is valid? [False, False] Translation: X:1.50, Y:0.11, Z:-0.44 [[ 0.99979425 -0.01526252 -0.01336106 1.49534471] [ 0.01530514 0.99987808 0.00309381 0.11479973] [ 0.01331221 -0.00329766 0.99990595 -0.4376374 ] [ 0. 0. 0. 1. ]] SLAMing on 127.62241403699998 meters Centerline goodness [0,1] 0.7789854175435121 Centerline is valid? [False, False] Translation: X:1.50, Y:0.12, Z:-0.44 [[ 0.99979396 -0.01522133 -0.01342937 1.4954127 ] [ 0.01526225 0.99987917 0.0029504 0.11610311] [ 0.01338284 -0.00315476 0.99990547 -0.43742192] [ 0. 0. 0. 1. ]] SLAMing on 127.65241403699999 meters Centerline goodness [0,1] 0.7543166267322086 Centerline is valid? [False, False] Translation: X:1.50, Y:0.12, Z:-0.44 [[ 0.99979557 -0.01486163 -0.01370914 1.49608116] [ 0.01490419 0.99988441 0.00300694 0.11695967] [ 0.01366287 -0.00321065 0.9999015 -0.43728771] [ 0. 0. 0. 1. ]] SLAMing on 127.68241403699999 meters Centerline goodness [0,1] 0.7594946135133793 Centerline is valid? [False, False] Translation: X:1.50, Y:0.12, Z:-0.44 [[ 0.99979804 -0.01458582 -0.01382483 1.49623222] [ 0.01462835 0.99988856 0.00298039 0.11715872] [ 0.01377982 -0.00318203 0.99989999 -0.43689189] [ 0. 0. 0. 1. ]] SLAMing on 127.71241403699999 meters Centerline goodness [0,1] 0.7880430746379502 Centerline is valid? [False, False] Translation: X:1.50, Y:0.12, Z:-0.44 [[ 0.99980744 -0.01344564 -0.01429313 1.49774737] [ 0.01349665 0.99990287 0.00347845 0.11603135] [ 0.01424497 -0.00367069 0.9998918 -0.43695096] [ 0. 0. 0. 1. ]] SLAMing on 127.74241403699999 meters Centerline goodness [0,1] 0.7903050108932461 Centerline is valid? [False, False] Translation: X:1.50, Y:0.12, Z:-0.44 [[ 0.99981013 -0.01285021 -0.01464873 1.498832 ] [ 0.01290432 0.99991024 0.00360525 0.11625391] [ 0.01460108 -0.0037936 0.9998862 -0.4370177 ] [ 0. 0. 0. 1. ]] SLAMing on 127.77241403699999 meters Centerline goodness [0,1] 0.7926811127088809 Centerline is valid? [False, False] Translation: X:1.50, Y:0.12, Z:-0.44 [[ 0.99981153 -0.01226745 -0.01504719 1.49978641] [ 0.01232395 0.99991733 0.003668 0.11670336] [ 0.01500095 -0.00385275 0.99988006 -0.43676439] [ 0. 0. 0. 1. ]] SLAMing on 127.80241403699999 meters Centerline goodness [0,1] 0.7956617884562824 Centerline is valid? [False, False] Translation: X:1.50, Y:0.12, Z:-0.44 [[ 0.99981183 -0.01198241 -0.01525528 1.50013242] [ 0.01203774 0.99992128 0.00354054 0.11730217] [ 0.01521165 -0.00372352 0.99987736 -0.43635263] [ 0. 0. 0. 1. ]] SLAMing on 127.83241403699999 meters Centerline goodness [0,1] 0.7954455641177633 Centerline is valid? [False, False] Translation: X:1.50, Y:0.12, Z:-0.44 [[ 0.99981062 -0.01146945 -0.01572212 1.50110895] [ 0.01152588 0.99992744 0.0035035 0.11777711] [ 0.0156808 -0.00368405 0.99987026 -0.43591529] [ 0. 0. 0. 1. ]] SLAMing on 127.862414037 meters Centerline goodness [0,1] 0.7990310559006211 Centerline is valid? [False, False] Translation: X:1.50, Y:0.12, Z:-0.44 [[ 0.99981115 -0.01112562 -0.0159337 1.50150662] [ 0.011182 0.99993152 0.0034536 0.11824607] [ 0.01589419 -0.00363112 0.99986709 -0.43554813] [ 0. 0. 0. 1. ]] SLAMing on 127.892414037 meters Centerline goodness [0,1] 0.7980831305556935 Centerline is valid? [False, False] Translation: X:1.50, Y:0.12, Z:-0.44 [[ 0.99981266 -0.01022581 -0.01643381 1.50282033] [ 0.01028763 0.99994031 0.00368117 0.11801967] [ 0.01639518 -0.00384954 0.99985818 -0.43529251] [ 0. 0. 0. 1. ]] SLAMing on 127.922414037 meters Centerline goodness [0,1] 0.7994858611825193 Centerline is valid? [False, False] Translation: X:1.50, Y:0.12, Z:-0.44 [[ 0.99981251 -0.00979098 -0.0167059 1.50374572] [ 0.00985709 0.99994389 0.0038799 0.11779381] [ 0.01666698 -0.00404385 0.99985292 -0.43555418] [ 0. 0. 0. 1. ]] SLAMing on 127.95241403699998 meters Centerline goodness [0,1] 0.799316077178444 Centerline is valid? [False, False] Translation: X:1.51, Y:0.12, Z:-0.44 [[ 0.99981705 -0.00853177 -0.01711967 1.50560466] [ 0.0086088 0.99995313 0.0044307 0.11799661] [ 0.01708107 -0.00457727 0.99984363 -0.43617412] [ 0. 0. 0. 1. ]] SLAMing on 127.98241403699998 meters Centerline goodness [0,1] 0.798133779097328 Centerline is valid? [False, False] Translation: X:1.51, Y:0.12, Z:-0.44 [[ 0.99981565 -0.00811986 -0.01739913 1.5062469 ] [ 0.00819724 0.99995681 0.00438073 0.11873517] [ 0.01736281 -0.00452255 0.99983903 -0.43586397] [ 0. 0. 0. 1. ]] SLAMing on 128.01241403699999 meters Centerline goodness [0,1] 0.7994705823594046 Centerline is valid? [False, False] Translation: X:1.51, Y:0.12, Z:-0.44 [[ 0.99981701 -0.00789201 -0.01742579 1.50647926] [ 0.00797001 0.99995851 0.0044113 0.11886206] [ 0.01739025 -0.00454938 0.99983843 -0.43584122] [ 0. 0. 0. 1. ]] SLAMing on 128.042414037 meters Centerline goodness [0,1] 0.7965001622606656 Centerline is valid? [False, False] Translation: X:1.51, Y:0.12, Z:-0.44 [[ 0.99981801 -0.00761313 -0.01749233 1.50674879] [ 0.00769852 0.99995875 0.00481944 0.11725621] [ 0.01745491 -0.00495323 0.99983538 -0.43596207] [ 0. 0. 0. 1. ]] SLAMing on 128.072414037 meters Centerline goodness [0,1] 0.7980215160133548 Centerline is valid? [False, False] Translation: X:1.51, Y:0.11, Z:-0.44 [[ 0.99981557 -0.00886363 -0.01703714 1.50573961] [ 0.00892792 0.9999533 0.00370119 0.11257429] [ 0.01700354 -0.00385261 0.99984801 -0.43530162] [ 0. 0. 0. 1. ]] SLAMing on 128.102414037 meters Centerline goodness [0,1] 0.797408918825901 Centerline is valid? [False, False] Translation: X:1.50, Y:0.11, Z:-0.43 [[ 0.99981594 -0.00899599 -0.01694597 1.50498876] [ 0.00906378 0.99995121 0.00392746 0.11064857] [ 0.01690981 -0.00408033 0.99984869 -0.43455553] [ 0. 0. 0. 1. ]] SLAMing on 128.132414037 meters Centerline goodness [0,1] 0.7991801266630665 Centerline is valid? [False, False] Translation: X:1.50, Y:0.11, Z:-0.43 [[ 0.99981571 -0.00933742 -0.01677352 1.50384771] [ 0.00940307 0.99994842 0.00383952 0.1099659 ] [ 0.0167368 -0.00399654 0.99985194 -0.43353468] [ 0. 0. 0. 1. ]] SLAMing on 128.162414037 meters Centerline goodness [0,1] 0.8022072348252606 Centerline is valid? [False, False] Translation: X:1.50, Y:0.11, Z:-0.43 [[ 0.99981351 -0.00924722 -0.01695372 1.50388431] [ 0.00931572 0.99994874 0.00396565 0.10980949] [ 0.01691618 -0.00412284 0.99984841 -0.43297999] [ 0. 0. 0. 1. ]] SLAMing on 128.192414037 meters Centerline goodness [0,1] 0.8015229673298944 Centerline is valid? [False, False] Translation: X:1.50, Y:0.11, Z:-0.43 [[ 0.99981232 -0.00919374 -0.01705276 1.50401078] [ 0.00926471 0.99994873 0.00408742 0.10968474] [ 0.01701431 -0.00424464 0.99984624 -0.4328504 ] [ 0. 0. 0. 1. ]] SLAMing on 128.222414037 meters Centerline goodness [0,1] 0.802771045996426 Centerline is valid? [False, False] Translation: X:1.51, Y:0.11, Z:-0.43 [[ 0.99981254 -0.00868114 -0.01730676 1.50526825] [ 0.00876473 0.99995026 0.00475984 0.10788798] [ 0.01726458 -0.00491063 0.9998389 -0.43375814] [ 0. 0. 0. 1. ]] SLAMing on 128.252414037 meters Centerline goodness [0,1] 0.7977519906778014 Centerline is valid? [False, False] Translation: X:1.51, Y:0.10, Z:-0.44 [[ 0.99978288 -0.0107712 -0.01783723 1.50888478] [ 0.01082109 0.9999378 0.00270297 0.10307504] [ 0.01780701 -0.0028954 0.99983725 -0.43637625] [ 0. 0. 0. 1. ]] SLAMing on 128.282414037 meters Centerline goodness [0,1] 0.7967601547388782 Centerline is valid? [False, False] Translation: X:1.51, Y:0.10, Z:-0.44 [[ 0.99978669 -0.01061461 -0.01771717 1.5090916 ] [ 0.01067845 0.99993681 0.00351251 0.09904451] [ 0.01767876 -0.00370095 0.99983687 -0.43709646] [ 0. 0. 0. 1. ]] SLAMing on 128.312414037 meters Centerline goodness [0,1] 0.8003564203833927 Centerline is valid? [False, False] Translation: X:1.51, Y:0.10, Z:-0.44 [[ 0.99978791 -0.01064753 -0.01762874 1.50883855] [ 0.01071825 0.99993487 0.00392214 0.09633676] [ 0.01758583 -0.00411026 0.99983691 -0.43705476] [ 0. 0. 0. 1. ]] SLAMing on 128.342414037 meters Centerline goodness [0,1] 0.7998655365332437 Centerline is valid? [False, False] Translation: X:1.51, Y:0.10, Z:-0.44 [[ 0.99979013 -0.010729 -0.01745228 1.5080639 ] [ 0.01080181 0.99993332 0.00408321 0.09534255] [ 0.01740731 -0.00427087 0.99983936 -0.43650307] [ 0. 0. 0. 1. ]] SLAMing on 128.372414037 meters Centerline goodness [0,1] 0.8070277053769669 Centerline is valid? [False, False] Translation: X:1.50, Y:0.09, Z:-0.43 [[ 0.99982353 -0.00802211 -0.0169867 1.50442963] [ 0.00814551 0.99994085 0.00720777 0.09488222] [ 0.01692787 -0.00734486 0.99982974 -0.43326178] [ 0. 0. 0. 1. ]] SLAMing on 128.402414037 meters Centerline goodness [0,1] 0.7990597039986567 Centerline is valid? [False, False] Translation: X:1.50, Y:0.09, Z:-0.43 [[ 0.9998222 -0.00784987 -0.01714493 1.50440236] [ 0.0079763 0.99994141 0.00731834 0.09405391] [ 0.01708648 -0.00745379 0.99982623 -0.43259615] [ 0. 0. 0. 1. ]] SLAMing on 128.432414037 meters Centerline goodness [0,1] 0.8062482017838304 Centerline is valid? [False, False] Translation: X:1.50, Y:0.09, Z:-0.43 [[ 0.9998241 -0.00740971 -0.01722959 1.50484127] [ 0.00754706 0.99994015 0.00792024 0.09133063] [ 0.01716987 -0.00804888 0.99982019 -0.43280075] [ 0. 0. 0. 1. ]] SLAMing on 128.462414037 meters Centerline goodness [0,1] 0.798653102843186 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:-0.43 [[ 0.99979859 -0.00950013 -0.01767835 1.50752213] [ 0.00960163 0.99993785 0.00566541 0.0876969 ] [ 0.01762343 -0.00583401 0.99982767 -0.43440423] [ 0. 0. 0. 1. ]] SLAMing on 128.492414037 meters Centerline goodness [0,1] 0.8031901087751587 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:-0.43 [[ 0.99979992 -0.00943368 -0.01763877 1.50740971] [ 0.0095396 0.99993691 0.00593053 0.08630761] [ 0.01758171 -0.00609761 0.99982684 -0.43431018] [ 0. 0. 0. 1. ]] SLAMing on 128.52241403699998 meters Centerline goodness [0,1] 0.8013237233842095 Centerline is valid? [False, False] Translation: X:1.51, Y:0.09, Z:-0.43 [[ 0.99979987 -0.00927725 -0.0177243 1.50746242] [ 0.00938782 0.99993692 0.00616564 0.08530834] [ 0.01766598 -0.0063308 0.9998239 -0.43407335] [ 0. 0. 0. 1. ]] SLAMing on 128.55241403699998 meters Centerline goodness [0,1] 0.7988349880904653 Centerline is valid? [False, False] Translation: X:1.51, Y:0.08, Z:-0.43 [[ 0.99979983 -0.00924702 -0.01774261 1.50744676] [ 0.00936154 0.99993581 0.00638203 0.08400644] [ 0.01768246 -0.00654685 0.99982222 -0.43397317] [ 0. 0. 0. 1. ]] SLAMing on 128.58241403699998 meters Centerline goodness [0,1] 0.8003610192934336 Centerline is valid? [False, False] Translation: X:1.51, Y:0.08, Z:-0.44 [[ 0.99976315 -0.01197419 -0.01817298 1.50947366] [ 0.01204748 0.99991971 0.00392927 0.08065871] [ 0.01812447 -0.00414728 0.99982714 -0.43508075] [ 0. 0. 0. 1. ]] SLAMing on 128.61241403699998 meters Centerline goodness [0,1] 0.8029402201681453 Centerline is valid? [False, False] Translation: X:1.51, Y:0.08, Z:-0.44 [[ 9.99715007e-01 -1.48266106e-02 -1.87103034e-02 1.51146350e+00] [ 1.48467454e-02 9.99889341e-01 9.37677330e-04 7.94116412e-02] [ 1.86943304e-02 -1.21519721e-03 9.99824507e-01 -4.35704330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64241403699998 meters Centerline goodness [0,1] 0.8018323089412037 Centerline is valid? [False, False] Translation: X:1.51, Y:0.08, Z:-0.44 [[ 9.99718500e-01 -1.49792546e-02 -1.83995535e-02 1.51068372e+00] [ 1.50093260e-02 9.99886233e-01 1.49734032e-03 7.69524435e-02] [ 1.83750312e-02 -1.77308371e-03 9.99829593e-01 -4.35709856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67241403699998 meters Centerline goodness [0,1] 0.7974791661857383 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:-0.43 [[ 0.99971788 -0.01546816 -0.018025 1.50900876] [ 0.01550349 0.99987815 0.00182195 0.07348956] [ 0.01799462 -0.00210089 0.99983588 -0.43467045] [ 0. 0. 0. 1. ]] SLAMing on 128.70241403699998 meters Centerline goodness [0,1] 0.7982957162597881 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:-0.43 [[ 0.99972009 -0.01571241 -0.01768805 1.50793689] [ 0.0157525 0.99987365 0.00212965 0.0713394 ] [ 0.01765235 -0.00240769 0.99984129 -0.43426205] [ 0. 0. 0. 1. ]] SLAMing on 128.73241403699998 meters Centerline goodness [0,1] 0.7987372287911836 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:-0.43 [[ 0.99972266 -0.01581053 -0.01745372 1.50717186] [ 0.01585811 0.9998709 0.00259109 0.06896057] [ 0.0174105 -0.00286715 0.99984431 -0.43396858] [ 0. 0. 0. 1. ]] SLAMing on 128.76241403699999 meters Centerline goodness [0,1] 0.7987372287911836 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:-0.43 [[ 0.99972266 -0.01581053 -0.01745372 1.50717186] [ 0.01585811 0.9998709 0.00259109 0.06896057] [ 0.0174105 -0.00286715 0.99984431 -0.43396858] [ 0. 0. 0. 1. ]] SLAMing on 128.792414037 meters Centerline goodness [0,1] 0.7974854577932488 Centerline is valid? [False, False] Translation: X:1.51, Y:0.07, Z:-0.43 [[ 0.99972393 -0.01590853 -0.01729083 1.5064805 ] [ 0.01596188 0.99986824 0.00295222 0.06703871] [ 0.01724158 -0.0032274 0.99984614 -0.43354321] [ 0. 0. 0. 1. ]] SLAMing on 128.822414037 meters Centerline goodness [0,1] 0.7991924814088234 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:-0.43 [[ 0.99972121 -0.01639263 -0.01699355 1.50531919] [ 0.01645099 0.99985923 0.00330054 0.06351535] [ 0.01693706 -0.00357919 0.99985015 -0.43293292] [ 0. 0. 0. 1. ]] SLAMing on 128.852414037 meters Centerline goodness [0,1] 0.7958808719123551 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:-0.43 [[ 0.9997214 -0.01631235 -0.01705945 1.505637 ] [ 0.01638094 0.99985826 0.00388871 0.06141055] [ 0.0169936 -0.00416707 0.99984691 -0.43332024] [ 0. 0. 0. 1. ]] SLAMing on 128.882414037 meters Centerline goodness [0,1] 0.7980033503871056 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:-0.43 [[ 0.99972472 -0.01621987 -0.01695266 1.50566007] [ 0.01629889 0.99985688 0.00453392 0.05907766] [ 0.01687669 -0.00480898 0.99984601 -0.4337254 ] [ 0. 0. 0. 1. ]] SLAMing on 128.912414037 meters Centerline goodness [0,1] 0.7937399860086205 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:-0.43 [[ 0.99972809 -0.01615134 -0.01681898 1.50559501] [ 0.01623952 0.99985502 0.00511959 0.05646838] [ 0.01673386 -0.00539133 0.99984544 -0.43406606] [ 0. 0. 0. 1. ]] SLAMing on 128.942414037 meters Centerline goodness [0,1] 0.7968415598459078 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:-0.43 [[ 0.99972619 -0.01647257 -0.01661955 1.50496272] [ 0.01656803 0.99984693 0.00562264 0.0516084 ] [ 0.01652439 -0.00589645 0.99984608 -0.43386786] [ 0. 0. 0. 1. ]] SLAMing on 128.972414037 meters Centerline goodness [0,1] 0.7977666936281118 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:-0.43 [[ 0.99973047 -0.01640762 -0.01642505 1.50457826] [ 0.01650909 0.99984534 0.0060611 0.04997497] [ 0.01632306 -0.00633063 0.99984673 -0.4339016 ] [ 0. 0. 0. 1. ]] SLAMing on 129.002414037 meters Centerline goodness [0,1] 0.7995149555375909 Centerline is valid? [False, False] Translation: X:1.50, Y:0.05, Z:-0.43 [[ 0.99973489 -0.01615291 -0.01640843 1.50476005] [ 0.01626211 0.99984635 0.00654376 0.0488474 ] [ 0.01630021 -0.00680886 0.99984396 -0.43415959] [ 0. 0. 0. 1. ]] SLAMing on 129.032414037 meters Centerline goodness [0,1] 0.8002911860230709 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:-0.44 [[ 0.99974093 -0.01565461 -0.01652292 1.5056444 ] [ 0.01577659 0.99984905 0.00727826 0.04751395] [ 0.01640649 -0.00753705 0.999837 -0.43502021] [ 0. 0. 0. 1. ]] SLAMing on 129.062414037 meters Centerline goodness [0,1] 0.803081194858704 Centerline is valid? [False, False] Translation: X:1.51, Y:0.05, Z:-0.44 [[ 0.99974567 -0.01515881 -0.01669751 1.5068158 ] [ 0.01529392 0.99985109 0.00799357 0.04623034] [ 0.01657385 -0.00824691 0.99982863 -0.43608262] [ 0. 0. 0. 1. ]] SLAMing on 129.092414037 meters Centerline goodness [0,1] 0.8007785409069554 Centerline is valid? [False, False] Translation: X:1.51, Y:0.04, Z:-0.44 [[ 0.99975414 -0.01444082 -0.01682646 1.5078437 ] [ 0.01459597 0.99985174 0.00913487 0.04365077] [ 0.01669205 -0.00937822 0.9998167 -0.43709734] [ 0. 0. 0. 1. ]] SLAMing on 129.122414037 meters Centerline goodness [0,1] 0.799888442659527 Centerline is valid? [False, False] Translation: X:1.51, Y:0.04, Z:-0.44 [[ 0.99975723 -0.01429709 -0.01676541 1.5074731 ] [ 0.01445507 0.9998519 0.00934008 0.04226873] [ 0.0166294 -0.00958015 0.99981582 -0.43665239] [ 0. 0. 0. 1. ]] SLAMing on 129.152414037 meters Centerline goodness [0,1] 0.7986278178740087 Centerline is valid? [False, False] Translation: X:1.51, Y:0.04, Z:-0.44 [[ 0.99975838 -0.01428168 -0.01670971 1.50690568] [ 0.01444022 0.99985149 0.00940601 0.04068554] [ 0.0165729 -0.00964503 0.99981614 -0.43593465] [ 0. 0. 0. 1. ]] SLAMing on 129.182414037 meters Centerline goodness [0,1] 0.7983176447025836 Centerline is valid? [False, False] Translation: X:1.51, Y:0.04, Z:-0.44 [[ 0.99976034 -0.0141006 -0.01674628 1.50657802] [ 0.01426386 0.99985151 0.00966972 0.03865593] [ 0.01660745 -0.00990627 0.99981301 -0.43523207] [ 0. 0. 0. 1. ]] SLAMing on 129.212414037 meters Centerline goodness [0,1] 0.7997957779306977 Centerline is valid? [False, False] Translation: X:1.51, Y:0.04, Z:-0.43 [[ 0.99976438 -0.01358805 -0.01692769 1.50643867] [ 0.01376418 0.99985189 0.01033221 0.03584804] [ 0.01678479 -0.01056277 0.99980333 -0.43435966] [ 0. 0. 0. 1. ]] SLAMing on 129.242414037 meters Centerline goodness [0,1] 0.8012729530737159 Centerline is valid? [False, False] Translation: X:1.51, Y:0.04, Z:-0.43 [[ 0.99976359 -0.01340187 -0.01712203 1.50666731] [ 0.01358187 0.99985326 0.01044032 0.03562383] [ 0.0169796 -0.0106704 0.9997989 -0.4340291 ] [ 0. 0. 0. 1. ]] SLAMing on 129.27241403699998 meters Centerline goodness [0,1] 0.8001330082021725 Centerline is valid? [False, False] Translation: X:1.51, Y:0.04, Z:-0.43 [[ 0.9997627 -0.01335633 -0.01720928 1.50638606] [ 0.01353645 0.99985437 0.01039292 0.03568622] [ 0.01706796 -0.01062341 0.99979789 -0.43331417] [ 0. 0. 0. 1. ]] SLAMing on 129.30241403699998 meters Centerline goodness [0,1] 0.8051076459643838 Centerline is valid? [False, False] Translation: X:1.51, Y:0.04, Z:-0.43 [[ 0.9997597 -0.0133735 -0.01736943 1.50594794] [ 0.01355425 0.99985477 0.01033025 0.03536649] [ 0.01722876 -0.0105632 0.99979577 -0.4322364 ] [ 0. 0. 0. 1. ]] SLAMing on 129.33241403699998 meters Centerline goodness [0,1] 0.8026693139201412 Centerline is valid? [False, False] Translation: X:1.51, Y:0.03, Z:-0.43 [[ 0.99976299 -0.01305734 -0.01742047 1.50579904] [ 0.01325093 0.99985121 0.01104428 0.03164408] [ 0.01727367 -0.0112725 0.99978725 -0.43177961] [ 0. 0. 0. 1. ]] SLAMing on 129.36241403699998 meters Centerline goodness [0,1] 0.800489461151777 Centerline is valid? [False, False] Translation: X:1.51, Y:0.03, Z:-0.43 [[ 0.99976327 -0.01319066 -0.01730364 1.50543237] [ 0.01338953 0.99984504 0.01142838 0.02874318] [ 0.01715021 -0.01165736 0.99978497 -0.43166184] [ 0. 0. 0. 1. ]] SLAMing on 129.39241403699998 meters Centerline goodness [0,1] 0.7998861372046684 Centerline is valid? [False, False] Translation: X:1.51, Y:0.02, Z:-0.43 [[ 0.99971003 -0.01678108 -0.01727011 1.50570515] [ 0.01693356 0.99981858 0.00872139 0.02399183] [ 0.01712062 -0.0090113 0.99981282 -0.43193196] [ 0. 0. 0. 1. ]] SLAMing on 129.42241403699998 meters Centerline goodness [0,1] 0.7988592738839531 Centerline is valid? [False, False] Translation: X:1.51, Y:0.02, Z:-0.43 [[ 0.99970057 -0.01744128 -0.01716306 1.50514867] [ 0.01759589 0.99980558 0.00889839 0.02117517] [ 0.01700452 -0.00919772 0.99981311 -0.43168903] [ 0. 0. 0. 1. ]] SLAMing on 129.45241403699998 meters Centerline goodness [0,1] 0.8016438834020101 Centerline is valid? [False, False] Translation: X:1.51, Y:0.02, Z:-0.43 [[ 0.99963889 -0.0204368 -0.01744762 1.50699838] [ 0.02054738 0.99976977 0.00618216 0.01943409] [ 0.01731726 -0.00653843 0.99982867 -0.43302047] [ 0. 0. 0. 1. ]] SLAMing on 129.48241403699998 meters Centerline goodness [0,1] 0.8019918495434437 Centerline is valid? [False, False] Translation: X:1.51, Y:0.02, Z:-0.43 [[ 0.99963712 -0.02061904 -0.01733465 1.5071691 ] [ 0.02074198 0.99976076 0.00694231 0.01624857] [ 0.01718736 -0.00729935 0.99982564 -0.43373425] [ 0. 0. 0. 1. ]] SLAMing on 129.51241403699999 meters Centerline goodness [0,1] 0.8001433598331813 Centerline is valid? [False, False] Translation: X:1.51, Y:0.01, Z:-0.43 [[ 0.99955641 -0.02427213 -0.01725811 1.50725654] [ 0.02435079 0.99969396 0.00436282 0.0128579 ] [ 0.01714693 -0.00478113 0.99984155 -0.43388136] [ 0. 0. 0. 1. ]] SLAMing on 129.542414037 meters Centerline goodness [0,1] 0.7984238634883418 Centerline is valid? [False, False] Translation: X:1.51, Y:0.01, Z:-0.43 [[ 0.99953893 -0.02517112 -0.0169804 1.50556994] [ 0.02524886 0.9996716 0.00437933 0.00999964] [ 0.01686459 -0.00480605 0.99984623 -0.43260548] [ 0. 0. 0. 1. ]] SLAMing on 129.572414037 meters Centerline goodness [0,1] 0.7992001729355815 Centerline is valid? [False, False] Translation: X:1.50, Y:0.01, Z:-0.43 [[ 0.99952542 -0.02579846 -0.01683389 1.50488287] [ 0.02588179 0.99965372 0.00475172 0.00652788] [ 0.01670548 -0.00518516 0.99984701 -0.43232804] [ 0. 0. 0. 1. ]] SLAMing on 129.602414037 meters Centerline goodness [0,1] 0.7953494402904439 Centerline is valid? [False, False] Translation: X:1.50, Y:0.00, Z:-0.43 [[ 0.99952018 -0.02608761 -0.01669898 1.50494738] [ 0.02617862 0.99964347 0.00525505 0.00364384] [ 0.01655594 -0.00568968 0.99984675 -0.43289239] [ 0. 0. 0. 1. ]] SLAMing on 129.632414037 meters Centerline goodness [0,1] 0.7969002608264534 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:-0.44 [[ 9.99437519e-01 -2.88155644e-02 -1.71554471e-02 1.50847241e+00] [ 2.88748623e-02 9.99577852e-01 3.21884959e-03 1.16558667e-03] [ 1.70554519e-02 -3.71240022e-03 9.99847653e-01 -4.36162605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.662414037 meters Centerline goodness [0,1] 0.7939805825242718 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.00, Z:-0.44 [[ 9.99434116e-01 -2.90667695e-02 -1.69283860e-02 1.50829757e+00] [ 2.91314613e-02 9.99569151e-01 3.58747564e-03 -8.13509619e-04] [ 1.68168161e-02 -4.07859417e-03 9.99850269e-01 -4.36703813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.692414037 meters Centerline goodness [0,1] 0.796609074066095 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.00, Z:-0.44 [[ 0.99943412 -0.02915754 -0.0167716 1.50798845] [ 0.02922834 0.99956479 0.00399191 -0.00264073] [ 0.01664791 -0.00447986 0.99985138 -0.43674601] [ 0. 0. 0. 1. ]] SLAMing on 129.722414037 meters Centerline goodness [0,1] 0.7935707668110228 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.00, Z:-0.43 [[ 0.9994282 -0.02944861 -0.01661502 1.50637896] [ 0.029514 0.9995575 0.0037043 -0.00300968] [ 0.01649858 -0.00419256 0.9998551 -0.43492082] [ 0. 0. 0. 1. ]] SLAMing on 129.752414037 meters Centerline goodness [0,1] 0.7965765959737323 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.00, Z:-0.43 [[ 0.9994299 -0.02927263 -0.01682222 1.50660669] [ 0.02933888 0.99956265 0.00370526 -0.0022716 ] [ 0.0167064 -0.00419669 0.99985163 -0.43460177] [ 0. 0. 0. 1. ]] SLAMing on 129.782414037 meters Centerline goodness [0,1] 0.7937393627334812 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.00, Z:-0.43 [[ 9.99429694e-01 -2.91858684e-02 -1.69844791e-02 1.50663622e+00] [ 2.92493561e-02 9.99566013e-01 3.50160569e-03 -1.04656599e-03] [ 1.68749106e-02 -3.99639378e-03 9.99849622e-01 -4.34127634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.812414037 meters Centerline goodness [0,1] 0.7916792412157793 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:-0.43 [[ 9.99428379e-01 -2.90834693e-02 -1.72356500e-02 1.50671171e+00] [ 2.91446839e-02 9.99569719e-01 3.31110062e-03 1.19465604e-04] [ 1.71319356e-02 -3.81153550e-03 9.99845973e-01 -4.33493333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.842414037 meters Centerline goodness [0,1] 0.7896028943061417 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:-0.43 [[ 9.99427763e-01 -2.90655320e-02 -1.73015090e-02 1.50600412e+00] [ 2.91207755e-02 9.99571548e-01 2.94960966e-03 8.43526718e-04] [ 1.72083642e-02 -3.45175514e-03 9.99845967e-01 -4.32136905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.872414037 meters Centerline goodness [0,1] 0.7954506289850077 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.00, Z:-0.43 [[ 9.99432099e-01 -2.88955444e-02 -1.73357288e-02 1.50624842e+00] [ 2.89555278e-02 9.99575517e-01 3.21908538e-03 -7.05315910e-06] [ 1.72353529e-02 -3.71922243e-03 9.99844543e-01 -4.32316851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.902414037 meters Centerline goodness [0,1] 0.7940079749973057 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.00, Z:-0.43 [[ 9.99435262e-01 -2.87137631e-02 -1.74549935e-02 1.50692751e+00] [ 2.87785413e-02 9.99579784e-01 3.47131793e-03 -3.79854231e-04] [ 1.73479840e-02 -3.97168680e-03 9.99841624e-01 -4.32912341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.932414037 meters Centerline goodness [0,1] 0.7967384973791497 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:-0.43 [[ 9.99437722e-01 -2.85352582e-02 -1.76061979e-02 1.50780182e+00] [ 2.86020957e-02 9.99584551e-01 3.55614685e-03 4.58205622e-04] [ 1.74974079e-02 -4.05772147e-03 9.99838675e-01 -4.33679772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.962414037 meters Centerline goodness [0,1] 0.8005354752342704 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:-0.44 [[ 0.9994468 -0.02809346 -0.0178005 1.50932492] [ 0.02816253 0.99959672 0.00364179 0.00257122] [ 0.01769101 -0.00414108 0.99983493 -0.43515311] [ 0. 0. 0. 1. ]] SLAMing on 129.992414037 meters Centerline goodness [0,1] 0.7998748138395458 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:-0.44 [[ 0.99945524 -0.02773067 -0.01789481 1.51004723] [ 0.02780389 0.99960596 0.00385599 0.00250513] [ 0.01778083 -0.00435144 0.99983244 -0.4357888 ] [ 0. 0. 0. 1. ]] SLAMing on 130.02241403699998 meters Centerline goodness [0,1] 0.7999138395261174 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:-0.44 [[ 0.99947883 -0.02675801 -0.01805768 1.51125093] [ 0.02684137 0.99963007 0.00438981 0.00237959] [ 0.01793354 -0.00487221 0.99982731 -0.4366546 ] [ 0. 0. 0. 1. ]] SLAMing on 130.05241403699998 meters Centerline goodness [0,1] 0.8008167851509324 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:-0.44 [[ 0.99955607 -0.02383839 -0.01787139 1.50989803] [ 0.02397686 0.99968382 0.00757475 0.00249916] [ 0.01768517 -0.00799989 0.9998116 -0.4358893 ] [ 0. 0. 0. 1. ]] SLAMing on 130.08241403699998 meters Centerline goodness [0,1] 0.8019199654837665 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:-0.44 [[ 0.99956273 -0.02345465 -0.01800649 1.51003522] [ 0.02359052 0.99969453 0.00737074 0.00457622] [ 0.01782811 -0.0077923 0.9998107 -0.43550017] [ 0. 0. 0. 1. ]] SLAMing on 130.11241403699998 meters Centerline goodness [0,1] 0.8034106648199446 Centerline is valid? [False, False] Translation: X:1.51, Y:0.01, Z:-0.43 [[ 0.99962924 -0.02060494 -0.0177992 1.50790836] [ 0.02078883 0.99973176 0.01020922 0.00532966] [ 0.01758407 -0.01057546 0.99978946 -0.43364739] [ 0. 0. 0. 1. ]] SLAMing on 130.14241403699998 meters Centerline goodness [0,1] 0.8021076776594824 Centerline is valid? [False, False] Translation: X:1.51, Y:0.01, Z:-0.43 [[ 0.99962953 -0.02045256 -0.01795828 1.5078171 ] [ 0.02063003 0.99973961 0.00975308 0.0071386 ] [ 0.01775413 -0.01011995 0.99979117 -0.43283703] [ 0. 0. 0. 1. ]] SLAMing on 130.17241403699998 meters Centerline goodness [0,1] 0.8025416928715491 Centerline is valid? [False, False] Translation: X:1.51, Y:0.01, Z:-0.43 [[ 0.9996327 -0.02011078 -0.0181665 1.50778306] [ 0.02028441 0.99974983 0.00942473 0.0077786 ] [ 0.01797242 -0.00978977 0.99979055 -0.43186499] [ 0. 0. 0. 1. ]] SLAMing on 130.20241403699998 meters Centerline goodness [0,1] 0.8022781514428292 Centerline is valid? [False, False] Translation: X:1.51, Y:0.01, Z:-0.43 [[ 0.99962897 -0.02019635 -0.01827646 1.50812187] [ 0.02036837 0.99974952 0.00927555 0.00757993] [ 0.01808455 -0.00964437 0.99978995 -0.43197171] [ 0. 0. 0. 1. ]] SLAMing on 130.23241403699998 meters Centerline goodness [0,1] 0.8030431290833713 Centerline is valid? [False, False] Translation: X:1.51, Y:0.01, Z:-0.43 [[ 0.99962672 -0.02032159 -0.01826068 1.50870203] [ 0.02049408 0.99974663 0.00930913 0.00734167] [ 0.01806688 -0.0096799 0.99978992 -0.43282704] [ 0. 0. 0. 1. ]] SLAMing on 130.26241403699999 meters Centerline goodness [0,1] 0.802176321105102 Centerline is valid? [False, False] Translation: X:1.51, Y:0.01, Z:-0.43 [[ 0.99962284 -0.02051737 -0.01825391 1.50918007] [ 0.02068973 0.99974265 0.00930393 0.00722848] [ 0.01805832 -0.00967809 0.99979009 -0.43354236] [ 0. 0. 0. 1. ]] SLAMing on 130.292414037 meters Centerline goodness [0,1] 0.802017054062243 Centerline is valid? [False, False] Translation: X:1.51, Y:0.01, Z:-0.43 [[ 0.99954998 -0.02361434 -0.01849865 1.51055968] [ 0.0237277 0.99970086 0.00593258 0.00838759] [ 0.01835303 -0.00636884 0.99981128 -0.43414745] [ 0. 0. 0. 1. ]] SLAMing on 130.322414037 meters Centerline goodness [0,1] 0.8010483678818203 Centerline is valid? [False, False] Translation: X:1.51, Y:0.01, Z:-0.43 [[ 0.99954266 -0.0240746 -0.01830005 1.50960402] [ 0.02418362 0.99969094 0.00575912 0.00774858] [ 0.01815575 -0.00619905 0.99981595 -0.43351478] [ 0. 0. 0. 1. ]] SLAMing on 130.352414037 meters Centerline goodness [0,1] 0.7984129737230076 Centerline is valid? [False, False] Translation: X:1.51, Y:0.01, Z:-0.43 [[ 0.99953134 -0.02467346 -0.01811943 1.5089822 ] [ 0.02478094 0.99967648 0.00573098 0.00683861] [ 0.01797216 -0.00617731 0.9998194 -0.4333277 ] [ 0. 0. 0. 1. ]] SLAMing on 130.382414037 meters Centerline goodness [0,1] 0.800090985897186 Centerline is valid? [False, False] Translation: X:1.51, Y:0.01, Z:-0.43 [[ 0.99953287 -0.02449232 -0.01828027 1.51007702] [ 0.02460702 0.99967873 0.00607654 0.00658869] [ 0.01812557 -0.00652353 0.99981444 -0.43438469] [ 0. 0. 0. 1. ]] SLAMing on 130.412414037 meters Centerline goodness [0,1] 0.8002989666153946 Centerline is valid? [False, False] Translation: X:1.51, Y:0.01, Z:-0.44 [[ 0.99953577 -0.02434472 -0.0183186 1.51069073] [ 0.02446437 0.99968062 0.0063362 0.00649043] [ 0.0181585 -0.00678141 0.99981212 -0.4350815 ] [ 0. 0. 0. 1. ]] SLAMing on 130.442414037 meters Centerline goodness [0,1] 0.7969774612411517 Centerline is valid? [False, False] Translation: X:1.51, Y:0.01, Z:-0.44 [[ 0.99953437 -0.02443009 -0.01828145 1.5107006 ] [ 0.02454885 0.99967878 0.00630028 0.00643035] [ 0.01812166 -0.00674613 0.99981303 -0.43520011] [ 0. 0. 0. 1. ]] SLAMing on 130.472414037 meters Centerline goodness [0,1] 0.7957821041941269 Centerline is valid? [False, False] Translation: X:1.51, Y:0.01, Z:-0.44 [[ 0.99953547 -0.02457894 -0.01802002 1.51034219] [ 0.0246975 0.99967457 0.00638671 0.00535702] [ 0.01785718 -0.00682879 0.99981723 -0.43532124] [ 0. 0. 0. 1. ]] SLAMing on 130.502414037 meters Centerline goodness [0,1] 0.7941469543367126 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:-0.44 [[ 0.99953837 -0.02448195 -0.01799117 1.51083088] [ 0.02460365 0.99967567 0.00657437 0.00487769] [ 0.01782438 -0.00701398 0.99981653 -0.43603601] [ 0. 0. 0. 1. ]] SLAMing on 130.532414037 meters Centerline goodness [0,1] 0.7951574794615568 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:-0.44 [[ 0.99954111 -0.02440847 -0.01793886 1.51122622] [ 0.02453402 0.99967578 0.00681262 0.00430772] [ 0.01776676 -0.0072496 0.99981588 -0.43673141] [ 0. 0. 0. 1. ]] SLAMing on 130.562414037 meters Centerline goodness [0,1] 0.7940271336309652 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:-0.44 [[ 0.99954305 -0.02445694 -0.01776376 1.5111948 ] [ 0.02458516 0.99967298 0.00703622 0.00328843] [ 0.01758586 -0.00746973 0.99981745 -0.43712918] [ 0. 0. 0. 1. ]] SLAMing on 130.592414037 meters Centerline goodness [0,1] 0.7931839806245135 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:-0.44 [[ 9.99530133e-01 -2.52491091e-02 -1.73780021e-02 1.50964109e+00] [ 2.53727496e-02 9.99654030e-01 6.93141436e-03 1.26096893e-03] [ 1.71969778e-02 -7.36908521e-03 9.99824965e-01 -4.36190345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.622414037 meters Centerline goodness [0,1] 0.7855922859057791 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:-0.44 [[ 9.99526163e-01 -2.54676686e-02 -1.72872257e-02 1.50927476e+00] [ 2.55917211e-02 9.99648019e-01 6.99304613e-03 7.43769396e-04] [ 1.71030444e-02 -7.43214242e-03 9.99826109e-01 -4.35954112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.652414037 meters Centerline goodness [0,1] 0.7855922859057791 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:-0.44 [[ 9.99526163e-01 -2.54676686e-02 -1.72872257e-02 1.50927476e+00] [ 2.55917211e-02 9.99648019e-01 6.99304613e-03 7.43769396e-04] [ 1.71030444e-02 -7.43214242e-03 9.99826109e-01 -4.35954112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.682414037 meters Centerline goodness [0,1] 0.7885376776789771 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:-0.44 [[ 9.99534716e-01 -2.50634848e-02 -1.73831121e-02 1.51014654e+00] [ 2.51966138e-02 9.99654514e-01 7.48223229e-03 9.84544729e-05] [ 1.71895756e-02 -7.91674649e-03 9.99820906e-01 -4.36788303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.712414037 meters Centerline goodness [0,1] 0.79302300464413 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.00, Z:-0.44 [[ 9.99548270e-01 -2.44104268e-02 -1.75324349e-02 1.51122262e+00] [ 2.45544681e-02 9.99666099e-01 8.04793895e-03 -4.94536396e-04] [ 1.73301272e-02 -8.47480307e-03 9.99813905e-01 -4.37667263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.742414037 meters Centerline goodness [0,1] 0.7991145664615052 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.00, Z:-0.44 [[ 9.99557281e-01 -2.39025951e-02 -1.77174302e-02 1.51174204e+00] [ 2.40511786e-02 9.99676924e-01 8.22116536e-03 -4.70886984e-04] [ 1.75151989e-02 -8.64365077e-03 9.99809234e-01 -4.37715430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77241403699998 meters Centerline goodness [0,1] 0.7978615401231235 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:-0.44 [[ 9.99563410e-01 -2.34759606e-02 -1.79407139e-02 1.51181367e+00] [ 2.36252044e-02 9.99687644e-01 8.15252567e-03 4.21820153e-05] [ 1.77437216e-02 -8.57281939e-03 9.99805815e-01 -4.36980546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80241403699998 meters Centerline goodness [0,1] 0.8015138408304499 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:-0.44 [[ 9.99575555e-01 -2.28110808e-02 -1.81208494e-02 1.51206625e+00] [ 2.29623194e-02 9.99702847e-01 8.18232911e-03 1.07434687e-03] [ 1.79288169e-02 -8.59495289e-03 9.99802323e-01 -4.36513321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83241403699998 meters Centerline goodness [0,1] 0.8022711081366982 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:-0.44 [[ 0.99965785 -0.01862112 -0.01836941 1.51229343] [ 0.01884113 0.99975194 0.01187752 0.0022563 ] [ 0.01814368 -0.01221956 0.99976072 -0.43625277] [ 0. 0. 0. 1. ]] SLAMing on 130.86241403699998 meters Centerline goodness [0,1] 0.8017745076823198 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:-0.44 [[ 0.99966601 -0.01793677 -0.01860463 1.51341602] [ 0.01816651 0.99975988 0.01225408 0.00254536] [ 0.01838036 -0.01258797 0.99975182 -0.43693097] [ 0. 0. 0. 1. ]] SLAMing on 130.89241403699998 meters Centerline goodness [0,1] 0.8027885862516213 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:-0.44 [[ 0.99967036 -0.01752418 -0.0187638 1.51428906] [ 0.01776231 0.99976284 0.01260029 0.00179092] [ 0.01853854 -0.01292943 0.99974454 -0.43755228] [ 0. 0. 0. 1. ]] SLAMing on 130.92241403699998 meters Centerline goodness [0,1] 0.8011192981697962 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:-0.44 [[ 9.99673487e-01 -1.72481745e-02 -1.88526032e-02 1.51489549e+00] [ 1.74925824e-02 9.99764068e-01 1.28770430e-02 2.24464108e-04] [ 1.86260498e-02 -1.32026192e-02 9.99739347e-01 -4.37980300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95241403699998 meters Centerline goodness [0,1] 0.804097918688666 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.00, Z:-0.44 [[ 0.99967815 -0.01682054 -0.01899108 1.51582056] [ 0.01707856 0.99976291 0.01350697 -0.00226087] [ 0.01875939 -0.01382696 0.99972841 -0.43874305] [ 0. 0. 0. 1. ]] SLAMing on 130.98241403699998 meters Centerline goodness [0,1] 0.8043632455668995 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.00, Z:-0.44 [[ 0.99967588 -0.01689612 -0.01904337 1.51576503] [ 0.01715144 0.99976412 0.01332442 -0.00206624] [ 0.01881375 -0.01364672 0.99972987 -0.43845278] [ 0. 0. 0. 1. ]] SLAMing on 131.01241403699999 meters Centerline goodness [0,1] 0.8023195654048461 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.00, Z:-0.44 [[ 9.99672342e-01 -1.71425632e-02 -1.90089947e-02 1.51523008e+00] [ 1.73911160e-02 9.99764400e-01 1.29882289e-02 -1.32872409e-03] [ 1.87818646e-02 -1.33145608e-02 9.99734947e-01 -4.37783966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.042414037 meters Centerline goodness [0,1] 0.8041237113402062 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.00, Z:-0.44 [[ 9.99669998e-01 -1.73327071e-02 -1.89597655e-02 1.51494782e+00] [ 1.75769503e-02 9.99763676e-01 1.27922954e-02 -1.13581022e-03] [ 1.87335597e-02 -1.31213288e-02 9.99738408e-01 -4.37498912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.072414037 meters Centerline goodness [0,1] 0.8023706062040185 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.00, Z:-0.44 [[ 0.99966947 -0.01726798 -0.01904668 1.51537936] [ 0.01752058 0.99975968 0.01317617 -0.00271332] [ 0.01881457 -0.01350552 0.99973177 -0.43787798] [ 0. 0. 0. 1. ]] SLAMing on 131.102414037 meters Centerline goodness [0,1] 0.8017950152813051 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.00, Z:-0.44 [[ 0.99966686 -0.01740273 -0.01906079 1.5152856 ] [ 0.01765487 0.99975778 0.01314101 -0.00361322] [ 0.01882748 -0.01347314 0.99973196 -0.43766504] [ 0. 0. 0. 1. ]] SLAMing on 131.132414037 meters Centerline goodness [0,1] 0.8038722168441432 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.00, Z:-0.44 [[ 0.99966173 -0.01775188 -0.01900789 1.51456743] [ 0.01799902 0.99975465 0.01291046 -0.0043989 ] [ 0.01877404 -0.01324821 0.99973598 -0.43682702] [ 0. 0. 0. 1. ]] SLAMing on 131.162414037 meters Centerline goodness [0,1] 0.8018744784199602 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.00, Z:-0.44 [[ 0.99959526 -0.02090768 -0.01929229 1.51575078] [ 0.02109701 0.99973073 0.00966333 -0.00475934] [ 0.01908505 -0.01006643 0.99976719 -0.4370765 ] [ 0. 0. 0. 1. ]] SLAMing on 131.192414037 meters Centerline goodness [0,1] 0.8040710282781869 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.01, Z:-0.44 [[ 0.99958937 -0.02129385 -0.01917468 1.51528971] [ 0.02148303 0.99972201 0.00971464 -0.00618303] [ 0.01896249 -0.01012258 0.99976895 -0.43686501] [ 0. 0. 0. 1. ]] SLAMing on 131.222414037 meters Centerline goodness [0,1] 0.8042798389169736 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.01, Z:-0.44 [[ 0.99957758 -0.02195536 -0.01904261 1.51437849] [ 0.02214108 0.99970879 0.00959727 -0.00819371] [ 0.01882635 -0.01001484 0.99977261 -0.43610477] [ 0. 0. 0. 1. ]] SLAMing on 131.252414037 meters Centerline goodness [0,1] 0.8018089291823469 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.01, Z:-0.43 [[ 0.99955439 -0.02323061 -0.0187445 1.51237377] [ 0.02340332 0.99968516 0.0090475 -0.01110722] [ 0.01852842 -0.00948215 0.99978337 -0.43433198] [ 0. 0. 0. 1. ]] SLAMing on 131.282414037 meters Centerline goodness [0,1] 0.8023101604278075 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.01, Z:-0.43 [[ 0.99955313 -0.02335018 -0.01866279 1.51186127] [ 0.02352304 0.99968191 0.00909689 -0.01161548] [ 0.01844444 -0.00953183 0.99978445 -0.43383513] [ 0. 0. 0. 1. ]] SLAMing on 131.312414037 meters Centerline goodness [0,1] 0.804397060080335 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.01, Z:-0.43 [[ 0.99955287 -0.0232746 -0.01877105 1.51215243] [ 0.02345268 0.99968148 0.00932289 -0.01253799] [ 0.01854809 -0.00975895 0.99978034 -0.43382979] [ 0. 0. 0. 1. ]] SLAMing on 131.342414037 meters Centerline goodness [0,1] 0.8033245134858313 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.01, Z:-0.43 [[ 0.99955261 -0.02319643 -0.01888144 1.51278231] [ 0.02338226 0.99967972 0.00968096 -0.01403998] [ 0.01865083 -0.01011812 0.99977486 -0.43436898] [ 0. 0. 0. 1. ]] SLAMing on 131.372414037 meters Centerline goodness [0,1] 0.8009269146982188 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.02, Z:-0.44 [[ 0.99955336 -0.0233996 -0.01858858 1.51408373] [ 0.02357883 0.99967701 0.00948218 -0.01770553] [ 0.01836069 -0.00991624 0.99978225 -0.43605902] [ 0. 0. 0. 1. ]] SLAMing on 131.402414037 meters Centerline goodness [0,1] 0.8048120364845281 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.02, Z:-0.44 [[ 0.99955344 -0.02340806 -0.01857351 1.5140025 ] [ 0.02359228 0.999674 0.00976183 -0.01903915] [ 0.01833895 -0.01019566 0.99977984 -0.43597596] [ 0. 0. 0. 1. ]] SLAMing on 131.432414037 meters Centerline goodness [0,1] 0.8025400729369858 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.02, Z:-0.44 [[ 0.99955291 -0.02336405 -0.0186575 1.51434061] [ 0.02355608 0.99967109 0.01013984 -0.02054082] [ 0.01841445 -0.0105748 0.99977452 -0.43617307] [ 0. 0. 0. 1. ]] SLAMing on 131.462414037 meters Centerline goodness [0,1] 0.8028660860677554 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.02, Z:-0.44 [[ 0.99955531 -0.02324516 -0.01867762 1.51443687] [ 0.02344863 0.99966725 0.01074921 -0.02259458] [ 0.01842154 -0.01118239 0.99976777 -0.43633837] [ 0. 0. 0. 1. ]] SLAMing on 131.492414037 meters Centerline goodness [0,1] 0.803562687551876 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.02, Z:-0.44 [[ 0.99955791 -0.02293815 -0.01891627 1.51541947] [ 0.02315064 0.99967046 0.01109168 -0.02296812] [ 0.01865562 -0.0115247 0.99975955 -0.436937 ] [ 0. 0. 0. 1. ]] SLAMing on 131.52241403699998 meters Centerline goodness [0,1] 0.8027229668018946 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.02, Z:-0.44 [[ 0.99955779 -0.02291098 -0.01895571 1.51547141] [ 0.02312401 0.99967102 0.01109687 -0.02300304] [ 0.01869524 -0.01153029 0.99975874 -0.43686311] [ 0. 0. 0. 1. ]] SLAMing on 131.55241403699998 meters Centerline goodness [0,1] 0.8019415000955881 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.02, Z:-0.44 [[ 0.99955628 -0.02302891 -0.01889229 1.51485256] [ 0.02324013 0.99966898 0.01103795 -0.02343137] [ 0.01863185 -0.01147211 0.99976059 -0.43612354] [ 0. 0. 0. 1. ]] SLAMing on 131.58241403699998 meters Centerline goodness [0,1] 0.8033239819773867 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.02, Z:-0.43 [[ 0.999555 -0.02331071 -0.01861236 1.51307156] [ 0.02351272 0.99966617 0.01070953 -0.02464258] [ 0.0183565 -0.01114239 0.99976942 -0.43426945] [ 0. 0. 0. 1. ]] SLAMing on 131.61241403699998 meters Centerline goodness [0,1] 0.8018297212965125 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.03, Z:-0.43 [[ 0.99955756 -0.02320281 -0.01860977 1.51317523] [ 0.02340787 0.99966681 0.01087806 -0.02570086] [ 0.01835117 -0.01130887 0.99976765 -0.43431517] [ 0. 0. 0. 1. ]] SLAMing on 131.64241403699998 meters Centerline goodness [0,1] 0.8040431495795464 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.03, Z:-0.43 [[ 0.9995584 -0.02308442 -0.01871121 1.51384075] [ 0.0232961 0.99966614 0.01117545 -0.02680318] [ 0.01844698 -0.01160641 0.99976247 -0.43489516] [ 0. 0. 0. 1. ]] SLAMing on 131.67241403699998 meters Centerline goodness [0,1] 0.8042952336488265 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.03, Z:-0.44 [[ 0.99955905 -0.0229852 -0.01879845 1.51458028] [ 0.02320519 0.99966377 0.01156969 -0.02803061] [ 0.0185262 -0.01200081 0.99975635 -0.43565369] [ 0. 0. 0. 1. ]] SLAMing on 131.70241403699998 meters Centerline goodness [0,1] 0.8023157180422428 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.03, Z:-0.43 [[ 0.99954311 -0.02380177 -0.01862906 1.51352469] [ 0.02401954 0.99964471 0.01155457 -0.02963936] [ 0.01834742 -0.01199675 0.9997597 -0.43488858] [ 0. 0. 0. 1. ]] SLAMing on 131.73241403699998 meters Centerline goodness [0,1] 0.8022877198917456 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.03, Z:-0.43 [[ 0.99952628 -0.02451773 -0.01860392 1.51270653] [ 0.02473129 0.99962985 0.0113371 -0.03110792] [ 0.01831908 -0.01179182 0.99976265 -0.43394979] [ 0. 0. 0. 1. ]] SLAMing on 131.76241403699999 meters Centerline goodness [0,1] 0.8018180277153876 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.03, Z:-0.43 [[ 0.99946884 -0.0268602 -0.01845439 1.51144163] [ 0.02704097 0.99958807 0.00961655 -0.03381334] [ 0.01818848 -0.01011047 0.99978346 -0.43265417] [ 0. 0. 0. 1. ]] SLAMing on 131.792414037 meters Centerline goodness [0,1] 0.8029059684446512 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.04, Z:-0.43 [[ 0.99946701 -0.02688064 -0.0185237 1.51207684] [ 0.0270709 0.99958251 0.01009815 -0.03555013] [ 0.01824452 -0.01059422 0.99977743 -0.43336957] [ 0. 0. 0. 1. ]] SLAMing on 131.822414037 meters Centerline goodness [0,1] 0.8022509396511677 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.04, Z:-0.43 [[ 0.99946619 -0.02682073 -0.0186544 1.51295158] [ 0.02702273 0.99957795 0.01066252 -0.03765302] [ 0.01836055 -0.01116092 0.99976914 -0.43428761] [ 0. 0. 0. 1. ]] SLAMing on 131.852414037 meters Centerline goodness [0,1] 0.8015960374243258 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.04, Z:-0.43 [[ 0.99946156 -0.02702694 -0.01860451 1.51310514] [ 0.02723472 0.99956846 0.01100711 -0.04002866] [ 0.01829899 -0.01150787 0.99976633 -0.43472734] [ 0. 0. 0. 1. ]] SLAMing on 131.882414037 meters Centerline goodness [0,1] 0.8031291569012479 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.04, Z:-0.44 [[ 0.99937136 -0.03023579 -0.01851171 1.51365944] [ 0.03038846 0.99950597 0.00802184 -0.04194049] [ 0.01826002 -0.00857934 0.99979646 -0.4351267 ] [ 0. 0. 0. 1. ]] SLAMing on 131.912414037 meters Centerline goodness [0,1] 0.7995438900268176 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.04, Z:-0.43 [[ 0.99936929 -0.03033299 -0.01846411 1.51317312] [ 0.03048648 0.99950245 0.00808925 -0.0422196 ] [ 0.01820955 -0.00864705 0.9997968 -0.43457633] [ 0. 0. 0. 1. ]] SLAMing on 131.942414037 meters Centerline goodness [0,1] 0.7998356025797749 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.04, Z:-0.43 [[ 0.99936788 -0.03040034 -0.01842975 1.51287904] [ 0.03055235 0.99950096 0.0080236 -0.04155485] [ 0.01817664 -0.0085816 0.99979796 -0.43425861] [ 0. 0. 0. 1. ]] SLAMing on 131.972414037 meters Centerline goodness [0,1] 0.7984785265731024 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.04, Z:-0.43 [[ 0.99937283 -0.03021072 -0.0184734 1.51338575] [ 0.03036702 0.99950485 0.0082395 -0.04134394] [ 0.01821533 -0.00879531 0.9997954 -0.43478379] [ 0. 0. 0. 1. ]] SLAMing on 132.002414037 meters Centerline goodness [0,1] 0.8001096444987981 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.04, Z:-0.44 [[ 0.99937946 -0.02991509 -0.01859533 1.51462688] [ 0.03007987 0.99951011 0.00864559 -0.04186537] [ 0.01832759 -0.00919957 0.99978971 -0.43606293] [ 0. 0. 0. 1. ]] SLAMing on 132.032414037 meters Centerline goodness [0,1] 0.7997887844545358 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.04, Z:-0.44 [[ 0.99937546 -0.03010301 -0.01850677 1.51455972] [ 0.03026721 0.99950435 0.00865747 -0.04262625] [ 0.01823698 -0.00921221 0.99979125 -0.43621276] [ 0. 0. 0. 1. ]] SLAMing on 132.062414037 meters Centerline goodness [0,1] 0.7980038825118163 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.04, Z:-0.44 [[ 0.99936841 -0.03044323 -0.01832978 1.51407068] [ 0.03060242 0.99949577 0.00846758 -0.04323393] [ 0.01806276 -0.00902316 0.99979614 -0.4359947 ] [ 0. 0. 0. 1. ]] SLAMing on 132.092414037 meters Centerline goodness [0,1] 0.7982334092250611 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.04, Z:-0.43 [[ 0.99935788 -0.03091404 -0.01811515 1.51294822] [ 0.03106077 0.99948647 0.00787554 -0.04272022] [ 0.01786238 -0.00843315 0.99980489 -0.43493978] [ 0. 0. 0. 1. ]] SLAMing on 132.122414037 meters Centerline goodness [0,1] 0.7978469656992084 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.04, Z:-0.43 [[ 0.99935381 -0.03100444 -0.018185 1.51259005] [ 0.03114414 0.99948714 0.00744954 -0.04149274] [ 0.0179447 -0.00801108 0.99980689 -0.43417414] [ 0. 0. 0. 1. ]] SLAMing on 132.152414037 meters Centerline goodness [0,1] 0.7978200830645331 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.04, Z:-0.43 [[ 0.99935362 -0.03087328 -0.01841702 1.51261103] [ 0.03101164 0.99949255 0.00727462 -0.04061976] [ 0.01818309 -0.00784106 0.99980393 -0.43346229] [ 0. 0. 0. 1. ]] SLAMing on 132.182414037 meters Centerline goodness [0,1] 0.7998690850735869 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.04, Z:-0.43 [[ 0.99936182 -0.03046192 -0.01865531 1.51337687] [ 0.03060454 0.99950412 0.00740766 -0.04009032] [ 0.0184204 -0.00797387 0.99979853 -0.43374009] [ 0. 0. 0. 1. ]] SLAMing on 132.212414037 meters Centerline goodness [0,1] 0.8026529793211246 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.04, Z:-0.44 [[ 0.99940839 -0.0283778 -0.01943095 1.51757068] [ 0.02855988 0.99955013 0.00915807 -0.03959931] [ 0.01916232 -0.0097076 0.99976926 -0.43717809] [ 0. 0. 0. 1. ]] SLAMing on 132.242414037 meters Centerline goodness [0,1] 0.8027051054102108 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.04, Z:-0.44 [[ 0.99941665 -0.0279468 -0.01963007 1.51890875] [ 0.02813732 0.99955895 0.00949721 -0.03953789] [ 0.019356 -0.01004401 0.9997622 -0.43840519] [ 0. 0. 0. 1. ]] SLAMing on 132.27241403699998 meters Centerline goodness [0,1] 0.8049319799519858 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.04, Z:-0.44 [[ 0.99942305 -0.02759048 -0.01980759 1.51981517] [ 0.02778889 0.99956565 0.00981254 -0.04002759] [ 0.01952825 -0.01035731 0.99975566 -0.43903314] [ 0. 0. 0. 1. ]] SLAMing on 132.30241403699998 meters Centerline goodness [0,1] 0.805101566789138 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.04, Z:-0.44 [[ 0.99942851 -0.02741429 -0.0197764 1.51946102] [ 0.02761415 0.99956958 0.0099049 -0.04057404] [ 0.01949635 -0.01044535 0.99975536 -0.438571 ] [ 0. 0. 0. 1. ]] SLAMing on 132.33241403699998 meters Centerline goodness [0,1] 0.8043189158381356 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.04, Z:-0.44 [[ 0.99948549 -0.02560457 -0.01931749 1.51700728] [ 0.02582712 0.99960187 0.01136042 -0.04215652] [ 0.01901892 -0.01185349 0.99974886 -0.43629201] [ 0. 0. 0. 1. ]] SLAMing on 132.36241403699998 meters Centerline goodness [0,1] 0.8035506710345557 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.04, Z:-0.44 [[ 0.99948955 -0.02534297 -0.01945195 1.51723697] [ 0.02556904 0.99960734 0.01146276 -0.04213967] [ 0.01915381 -0.01195428 0.99974508 -0.43612604] [ 0. 0. 0. 1. ]] SLAMing on 132.39241403699998 meters Centerline goodness [0,1] 0.8075032177747768 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.04, Z:-0.44 [[ 0.99949327 -0.0250717 -0.01961159 1.51790674] [ 0.02530413 0.99961139 0.01169476 -0.04235763] [ 0.01931076 -0.01218509 0.99973928 -0.43649434] [ 0. 0. 0. 1. ]] SLAMing on 132.42241403699998 meters Centerline goodness [0,1] 0.8044316195210313 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.04, Z:-0.44 [[ 0.99949286 -0.02515488 -0.01952556 1.51799396] [ 0.02538789 0.99960828 0.01177882 -0.04223759] [ 0.01922162 -0.01226856 0.99973997 -0.43678897] [ 0. 0. 0. 1. ]] SLAMing on 132.45241403699998 meters Centerline goodness [0,1] 0.8043519554251705 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.04, Z:-0.44 [[ 0.99949052 -0.0253551 -0.01938584 1.51762684] [ 0.02558426 0.9996046 0.0116656 -0.04244564] [ 0.01908239 -0.01215563 0.99974402 -0.43656952] [ 0. 0. 0. 1. ]] SLAMing on 132.48241403699998 meters Centerline goodness [0,1] 0.8019288145564567 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.04, Z:-0.44 [[ 0.99948288 -0.02563411 -0.01941287 1.51739577] [ 0.02586308 0.99959776 0.01163665 -0.04364978] [ 0.01910676 -0.01213271 0.99974383 -0.4361794 ] [ 0. 0. 0. 1. ]] SLAMing on 132.51241403699999 meters Centerline goodness [0,1] 0.8021913190054784 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:-0.44 [[ 0.99947173 -0.02616254 -0.01928162 1.51670242] [ 0.02638619 0.99958639 0.01143733 -0.04516236] [ 0.01897441 -0.01194005 0.99974867 -0.43560275] [ 0. 0. 0. 1. ]] SLAMing on 132.542414037 meters Centerline goodness [0,1] 0.8030890471574866 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:-0.43 [[ 0.99941255 -0.02842541 -0.01914577 1.51538398] [ 0.02861171 0.99954519 0.00952819 -0.04795465] [ 0.01886622 -0.01007039 0.9997713 -0.43398788] [ 0. 0. 0. 1. ]] SLAMing on 132.572414037 meters Centerline goodness [0,1] 0.8030890471574866 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:-0.43 [[ 0.99941255 -0.02842541 -0.01914577 1.51538398] [ 0.02861171 0.99954519 0.00952819 -0.04795465] [ 0.01886622 -0.01007039 0.9997713 -0.43398788] [ 0. 0. 0. 1. ]] SLAMing on 132.602414037 meters Centerline goodness [0,1] 0.8037463916222424 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.05, Z:-0.43 [[ 0.99940254 -0.02886002 -0.01901765 1.51482933] [ 0.02904442 0.99953305 0.00949247 -0.04885029] [ 0.01873482 -0.01003915 0.99977409 -0.43355689] [ 0. 0. 0. 1. ]] SLAMing on 132.632414037 meters Centerline goodness [0,1] 0.8039988201584358 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:-0.43 [[ 0.99939678 -0.02906289 -0.01901122 1.5150742 ] [ 0.0292509 0.99952516 0.00968729 -0.04938651] [ 0.01872066 -0.01023754 0.99977234 -0.43391322] [ 0. 0. 0. 1. ]] SLAMing on 132.662414037 meters Centerline goodness [0,1] 0.7998653566995562 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:-0.43 [[ 0.99939329 -0.02908049 -0.01916716 1.51611727] [ 0.02927639 0.99952113 0.0100203 -0.0498838 ] [ 0.01886659 -0.01057537 0.99976608 -0.43492679] [ 0. 0. 0. 1. ]] SLAMing on 132.692414037 meters Centerline goodness [0,1] 0.8005987518974532 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:-0.44 [[ 0.99932265 -0.03114466 -0.01960256 1.51993922] [ 0.03130829 0.99947698 0.00809648 -0.05023492] [ 0.01934015 -0.00870472 0.99977507 -0.4384197 ] [ 0. 0. 0. 1. ]] SLAMing on 132.722414037 meters Centerline goodness [0,1] 0.7995917766134293 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:-0.44 [[ 0.99931975 -0.03129325 -0.01951313 1.52013878] [ 0.03146228 0.9994695 0.00841654 -0.05207457] [ 0.0192394 -0.00902474 0.99977417 -0.43901399] [ 0. 0. 0. 1. ]] SLAMing on 132.752414037 meters Centerline goodness [0,1] 0.7974880937328781 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:-0.44 [[ 0.99929935 -0.03211673 -0.01921788 1.5188121 ] [ 0.03227565 0.99944685 0.00801715 -0.05409473] [ 0.01894976 -0.0086318 0.99978318 -0.43803684] [ 0. 0. 0. 1. ]] SLAMing on 132.782414037 meters Centerline goodness [0,1] 0.7962400944191537 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.06, Z:-0.43 [[ 0.9992225 -0.03466984 -0.01877215 1.51590963] [ 0.03477771 0.99938021 0.00545039 -0.05501341] [ 0.01857155 -0.00609901 0.99980893 -0.43490816] [ 0. 0. 0. 1. ]] SLAMing on 132.812414037 meters Centerline goodness [0,1] 0.7936424454074977 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:-0.43 [[ 0.9992199 -0.03472885 -0.01880138 1.51572085] [ 0.03483622 0.99937837 0.00541386 -0.05444064] [ 0.01860168 -0.00606461 0.99980858 -0.43453438] [ 0. 0. 0. 1. ]] SLAMing on 132.842414037 meters Centerline goodness [0,1] 0.7960686926508965 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:-0.43 [[ 0.99921367 -0.03482621 -0.01895205 1.51594041] [ 0.03493092 0.99937608 0.00522228 -0.05344585] [ 0.01875836 -0.00588018 0.99980676 -0.43440336] [ 0. 0. 0. 1. ]] SLAMing on 132.872414037 meters Centerline goodness [0,1] 0.7962639260366868 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:-0.43 [[ 0.9992118 -0.03475936 -0.01917175 1.51662766] [ 0.03486852 0.99937738 0.00538907 -0.05308841] [ 0.01897249 -0.00605331 0.99980168 -0.43479031] [ 0. 0. 0. 1. ]] SLAMing on 132.902414037 meters Centerline goodness [0,1] 0.7919228501642381 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:-0.44 [[ 0.99921612 -0.0345881 -0.01925666 1.51703607] [ 0.034702 0.99938194 0.0056127 -0.0535731 ] [ 0.01905062 -0.00627654 0.99979882 -0.43508716] [ 0. 0. 0. 1. ]] SLAMing on 132.932414037 meters Centerline goodness [0,1] 0.7930649711566803 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:-0.44 [[ 0.99922371 -0.0343216 -0.01933912 1.51765573] [ 0.03444297 0.99938878 0.00597821 -0.05449572] [ 0.01912212 -0.00663966 0.99979511 -0.43564432] [ 0. 0. 0. 1. ]] SLAMing on 132.962414037 meters Centerline goodness [0,1] 0.7940613631106345 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.06, Z:-0.44 [[ 0.99923138 -0.03397111 -0.01956034 1.51875263] [ 0.03410105 0.99939823 0.00634808 -0.05536469] [ 0.01933292 -0.00701022 0.99978853 -0.43645541] [ 0. 0. 0. 1. ]] SLAMing on 132.992414037 meters Centerline goodness [0,1] 0.7976535889996216 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:-0.44 [[ 0.99925857 -0.03309568 -0.01967219 1.52004724] [ 0.03323815 0.99942323 0.00695984 -0.0548854 ] [ 0.01943051 -0.00760855 0.99978226 -0.43776544] [ 0. 0. 0. 1. ]] SLAMing on 133.02241403699998 meters Centerline goodness [0,1] 0.7932307176110389 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:-0.44 [[ 0.99926823 -0.03278783 -0.01969655 1.52004249] [ 0.03292926 0.99943387 0.00689977 -0.05320626] [ 0.01945917 -0.00754331 0.9997822 -0.43757157] [ 0. 0. 0. 1. ]] SLAMing on 133.05241403699998 meters Centerline goodness [0,1] 0.7965132173876469 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:-0.44 [[ 0.99935657 -0.03015145 -0.01942526 1.51764619] [ 0.03034187 0.99949363 0.00958388 -0.0524719 ] [ 0.01912646 -0.01016711 0.99976538 -0.43555574] [ 0. 0. 0. 1. ]] SLAMing on 133.08241403699998 meters Centerline goodness [0,1] 0.7981363846703967 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:-0.43 [[ 0.99936436 -0.02978878 -0.01958306 1.51749516] [ 0.02997313 0.99950847 0.00918831 -0.0504138 ] [ 0.01929973 -0.00976943 0.99976601 -0.43467507] [ 0. 0. 0. 1. ]] SLAMing on 133.11241403699998 meters Centerline goodness [0,1] 0.7956365935919055 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:-0.43 [[ 0.99939029 -0.02877419 -0.01977618 1.51804969] [ 0.02895695 0.99953998 0.00901801 -0.04873372] [ 0.0195076 -0.00958516 0.99976376 -0.4343876 ] [ 0. 0. 0. 1. ]] SLAMing on 133.14241403699998 meters Centerline goodness [0,1] 0.8003247780331948 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:-0.44 [[ 0.99940444 -0.02815263 -0.01995482 1.51933681] [ 0.0283401 0.99955623 0.00917497 -0.04824729] [ 0.01968767 -0.00973503 0.99975878 -0.43542248] [ 0. 0. 0. 1. ]] SLAMing on 133.17241403699998 meters Centerline goodness [0,1] 0.80243583800413 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:-0.44 [[ 0.99941498 -0.02755439 -0.02025967 1.52114459] [ 0.02774753 0.99957156 0.00931486 -0.04741068] [ 0.01999433 -0.00987157 0.99975136 -0.43686637] [ 0. 0. 0. 1. ]] SLAMing on 133.20241403699998 meters Centerline goodness [0,1] 0.8013635020473637 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.05, Z:-0.44 [[ 0.99947029 -0.02540706 -0.02033751 1.52342494] [ 0.02562831 0.99961434 0.01069359 -0.04539625] [ 0.02005798 -0.01120915 0.99973598 -0.43939333] [ 0. 0. 0. 1. ]] SLAMing on 133.23241403699998 meters Centerline goodness [0,1] 0.8017814551364586 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.04, Z:-0.44 [[ 0.99947624 -0.02507321 -0.02045939 1.52400753] [ 0.02529212 0.99962483 0.01051207 -0.04366988] [ 0.02018814 -0.01102403 0.99973542 -0.43969482] [ 0. 0. 0. 1. ]] SLAMing on 133.26241403699999 meters Centerline goodness [0,1] 0.8025456160010149 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.04, Z:-0.44 [[ 0.99948108 -0.02483905 -0.02050852 1.52411818] [ 0.02505337 0.99963346 0.01026016 -0.04205484] [ 0.02024615 -0.01076864 0.99973703 -0.43954659] [ 0. 0. 0. 1. ]] SLAMing on 133.292414037 meters Centerline goodness [0,1] 0.804287340331352 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.04, Z:-0.44 [[ 0.99948382 -0.02463453 -0.02062142 1.52393311] [ 0.02484062 0.9996434 0.00979854 -0.04038373] [ 0.02037268 -0.01030573 0.99973934 -0.43869207] [ 0. 0. 0. 1. ]] SLAMing on 133.322414037 meters Centerline goodness [0,1] 0.8043281286216997 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.04, Z:-0.44 [[ 0.99948149 -0.02468947 -0.02066822 1.52351253] [ 0.02489306 0.99964352 0.00965209 -0.04067473] [ 0.02042254 -0.01016158 0.9997398 -0.43792977] [ 0. 0. 0. 1. ]] SLAMing on 133.352414037 meters Centerline goodness [0,1] 0.8065604893998524 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.04, Z:-0.44 [[ 0.99947746 -0.02488014 -0.02063453 1.5226829 ] [ 0.02507931 0.99964079 0.00945038 -0.04131489] [ 0.02039199 -0.00996295 0.99974242 -0.43683782] [ 0. 0. 0. 1. ]] SLAMing on 133.382414037 meters Centerline goodness [0,1] 0.8068788089664917 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.04, Z:-0.44 [[ 0.99947702 -0.02481956 -0.02072877 1.5220172 ] [ 0.02501603 0.99964404 0.00927296 -0.04129054] [ 0.02049124 -0.00978667 0.99974213 -0.43551225] [ 0. 0. 0. 1. ]] SLAMing on 133.412414037 meters Centerline goodness [0,1] 0.8076549978911851 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.04, Z:-0.44 [[ 0.99947689 -0.02454936 -0.02105415 1.52266288] [ 0.02475067 0.99964988 0.00935513 -0.04100882] [ 0.02081712 -0.00987134 0.99973457 -0.43543085] [ 0. 0. 0. 1. ]] SLAMing on 133.442414037 meters Centerline goodness [0,1] 0.8080224392095662 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.04, Z:-0.44 [[ 0.9994794 -0.02423051 -0.02130293 1.52322852] [ 0.02443645 0.99965662 0.00946067 -0.04062979] [ 0.02106638 -0.00997631 0.9997283 -0.435416 ] [ 0. 0. 0. 1. ]] SLAMing on 133.472414037 meters Centerline goodness [0,1] 0.8073044138745886 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.04, Z:-0.43 [[ 0.99956066 -0.02048667 -0.02141915 1.52260653] [ 0.02076997 0.9996986 0.01308862 -0.04180715] [ 0.02114455 -0.01352775 0.9996849 -0.43452041] [ 0. 0. 0. 1. ]] SLAMing on 133.502414037 meters Centerline goodness [0,1] 0.8103299251607463 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.04, Z:-0.43 [[ 0.99956671 -0.01985963 -0.02172544 1.5233718 ] [ 0.02015319 0.99970739 0.01337814 -0.04214096] [ 0.02145339 -0.01381018 0.99967446 -0.43454472] [ 0. 0. 0. 1. ]] SLAMing on 133.532414037 meters Centerline goodness [0,1] 0.813044487101061 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.04, Z:-0.43 [[ 0.99957559 -0.01927754 -0.0218408 1.52378186] [ 0.01958082 0.99971361 0.01375834 -0.04307521] [ 0.02156932 -0.01418017 0.99966679 -0.43461189] [ 0. 0. 0. 1. ]] SLAMing on 133.562414037 meters Centerline goodness [0,1] 0.8128208364891021 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.04, Z:-0.43 [[ 0.99958269 -0.01870964 -0.02200916 1.52445421] [ 0.01902664 0.99971695 0.01428302 -0.04479627] [ 0.0217357 -0.01469582 0.99965574 -0.43486718] [ 0. 0. 0. 1. ]] SLAMing on 133.592414037 meters Centerline goodness [0,1] 0.8109972864385031 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.05, Z:-0.44 [[ 0.99961391 -0.01675292 -0.02216681 1.5262742 ] [ 0.01711827 0.99971902 0.01639624 -0.04889836] [ 0.0218859 -0.01676937 0.99961983 -0.43651556] [ 0. 0. 0. 1. ]] SLAMing on 133.622414037 meters Centerline goodness [0,1] 0.8121343490887664 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.05, Z:-0.44 [[ 0.99962292 -0.01590044 -0.02238732 1.52731748] [ 0.01628636 0.99972005 0.01716315 -0.04957802] [ 0.02210816 -0.01752129 0.99960204 -0.43719516] [ 0. 0. 0. 1. ]] SLAMing on 133.652414037 meters Centerline goodness [0,1] 0.8146403029028186 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.05, Z:-0.44 [[ 0.99963055 -0.01514203 -0.02257152 1.52816508] [ 0.01554468 0.99972123 0.01777125 -0.04981513] [ 0.02229614 -0.01811555 0.99958727 -0.43770816] [ 0. 0. 0. 1. ]] SLAMing on 133.682414037 meters Centerline goodness [0,1] 0.8141704488149268 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.05, Z:-0.44 [[ 0.99963546 -0.01455893 -0.02273723 1.52885245] [ 0.01497707 0.99971982 0.01832923 -0.05063229] [ 0.02246401 -0.01866308 0.99957344 -0.43807843] [ 0. 0. 0. 1. ]] SLAMing on 133.712414037 meters Centerline goodness [0,1] 0.8163453478625314 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.06, Z:-0.44 [[ 0.99964835 -0.013649 -0.02273524 1.52849385] [ 0.01409626 0.99970793 0.01963019 -0.05674673] [ 0.02246066 -0.01994377 0.99954878 -0.43727708] [ 0. 0. 0. 1. ]] SLAMing on 133.742414037 meters Centerline goodness [0,1] 0.8140679314821795 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.06, Z:-0.44 [[ 0.99965008 -0.01374867 -0.02259829 1.52746413] [ 0.01419946 0.99970094 0.01991009 -0.06065069] [ 0.0223178 -0.02022401 0.99954635 -0.436098 ] [ 0. 0. 0. 1. ]] SLAMing on 133.77241403699998 meters Centerline goodness [0,1] 0.8148754433461353 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.06, Z:-0.43 [[ 0.99965142 -0.01395929 -0.02240944 1.52604987] [ 0.01441098 0.99969366 0.02012259 -0.06407306] [ 0.02212168 -0.02043852 0.99954635 -0.43460729] [ 0. 0. 0. 1. ]] SLAMing on 133.80241403699998 meters Centerline goodness [0,1] 0.816710914145954 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.06, Z:-0.43 [[ 0.99960291 -0.01693796 -0.02251948 1.5260779 ] [ 0.01731653 0.9997102 0.01672313 -0.06462586] [ 0.0222297 -0.01710645 0.99960653 -0.43370506] [ 0. 0. 0. 1. ]] SLAMing on 133.83241403699998 meters Centerline goodness [0,1] 0.8204941254895426 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.07, Z:-0.43 [[ 0.99959792 -0.01703751 -0.02266556 1.52463124] [ 0.01742986 0.99969967 0.01722724 -0.0687885 ] [ 0.02236525 -0.01761537 0.99959467 -0.43128853] [ 0. 0. 0. 1. ]] SLAMing on 133.86241403699998 meters Centerline goodness [0,1] 0.8187278415015642 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.07, Z:-0.43 [[ 0.99959462 -0.01700325 -0.02283588 1.52474651] [ 0.01740875 0.99969218 0.01767705 -0.07136255] [ 0.02252828 -0.01806743 0.99958294 -0.43093682] [ 0. 0. 0. 1. ]] SLAMing on 133.89241403699998 meters Centerline goodness [0,1] 0.8181609483262375 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.07, Z:-0.43 [[ 0.99953731 -0.01971175 -0.02316473 1.52631853] [ 0.02006383 0.99968517 0.01506639 -0.07378392] [ 0.02286045 -0.0155242 0.99961813 -0.43169466] [ 0. 0. 0. 1. ]] SLAMing on 133.92241403699998 meters Centerline goodness [0,1] 0.8222586876596806 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.08, Z:-0.43 [[ 0.99946867 -0.0226712 -0.02341783 1.52776144] [ 0.02296872 0.99965785 0.01251492 -0.07702416] [ 0.02312609 -0.01304615 0.99964743 -0.43248496] [ 0. 0. 0. 1. ]] SLAMing on 133.95241403699998 meters Centerline goodness [0,1] 0.8198437759680904 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.08, Z:-0.43 [[ 0.99931068 -0.02875551 -0.02347947 1.52854668] [ 0.02894489 0.99955084 0.00776586 -0.08434375] [ 0.02324561 -0.00844012 0.99969416 -0.43274691] [ 0. 0. 0. 1. ]] SLAMing on 133.98241403699998 meters Centerline goodness [0,1] 0.81891644854377 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.09, Z:-0.43 [[ 0.99927879 -0.02990368 -0.02340231 1.52810411] [ 0.03009029 0.99951781 0.00766267 -0.08813408] [ 0.02316189 -0.00836133 0.99969676 -0.43242113] [ 0. 0. 0. 1. ]] SLAMing on 134.01241403699999 meters Centerline goodness [0,1] 0.8188795088257866 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.09, Z:-0.43 [[ 0.99925415 -0.03058774 -0.02356982 1.52846748] [ 0.03079038 0.99949154 0.00828282 -0.09172882] [ 0.02330448 -0.00900236 0.99968788 -0.43266374] [ 0. 0. 0. 1. ]] SLAMing on 134.042414037 meters Centerline goodness [0,1] 0.8185037168947881 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.09, Z:-0.43 [[ 0.99915212 -0.03363269 -0.02374628 1.52993675] [ 0.03378134 0.99941191 0.00588699 -0.09457584] [ 0.02353432 -0.00668418 0.99970068 -0.43365262] [ 0. 0. 0. 1. ]] SLAMing on 134.072414037 meters Centerline goodness [0,1] 0.8146186002235007 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.10, Z:-0.43 [[ 9.98914128e-01 -4.00662175e-02 -2.37752808e-02 1.53110837e+00] [ 4.01018936e-02 9.99195069e-01 1.02548406e-03 -1.02595048e-01] [ 2.37150560e-02 -1.97780429e-03 9.99716802e-01 -4.34247510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.102414037 meters Centerline goodness [0,1] 0.8119026484734637 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.11, Z:-0.43 [[ 9.98777631e-01 -4.32975398e-02 -2.38446290e-02 1.53194794e+00] [ 4.32784481e-02 9.99062182e-01 -1.31638447e-03 -1.06972584e-01] [ 2.38792633e-02 2.82816827e-04 9.99714810e-01 -4.34646465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.132414037 meters Centerline goodness [0,1] 0.8111056227875195 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.11, Z:-0.44 [[ 0.99862902 -0.04661524 -0.02381388 1.53264892] [ 0.04653795 0.99890933 -0.00378988 -0.1109572 ] [ 0.02396458 0.00267644 0.99970923 -0.4350614 ] [ 0. 0. 0. 1. ]] SLAMing on 134.162414037 meters Centerline goodness [0,1] 0.8113530102366584 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.12, Z:-0.44 [[ 0.9984404 -0.05057784 -0.02363589 1.53304512] [ 0.05046112 0.99871083 -0.00550905 -0.11774832] [ 0.02388406 0.00430776 0.99970545 -0.43576389] [ 0. 0. 0. 1. ]] SLAMing on 134.192414037 meters Centerline goodness [0,1] 0.8101784207601919 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.12, Z:-0.44 [[ 0.99843313 -0.05071859 -0.02364121 1.53309044] [ 0.05062456 0.99870735 -0.00455973 -0.1205795 ] [ 0.02384191 0.00335576 0.99971011 -0.43589977] [ 0. 0. 0. 1. ]] SLAMing on 134.222414037 meters Centerline goodness [0,1] 0.80871730496162 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.12, Z:-0.44 [[ 0.99842571 -0.05084541 -0.02368214 1.53321453] [ 0.05076809 0.99870303 -0.00385519 -0.12278864] [ 0.02384744 0.00264683 0.99971211 -0.43599407] [ 0. 0. 0. 1. ]] SLAMing on 134.252414037 meters Centerline goodness [0,1] 0.8073574317075184 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.13, Z:-0.44 [[ 0.99825719 -0.05405365 -0.0236811 1.53457046] [ 0.05392069 0.99852586 -0.00621793 -0.12668228] [ 0.02398229 0.0049302 0.99970023 -0.43713451] [ 0. 0. 0. 1. ]] SLAMing on 134.282414037 meters Centerline goodness [0,1] 0.8031064601186553 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.13, Z:-0.44 [[ 0.99826825 -0.05377427 -0.02385017 1.5355599 ] [ 0.05366625 0.99854567 -0.00514651 -0.13072144] [ 0.02409223 0.00385765 0.9997023 -0.4380067 ] [ 0. 0. 0. 1. ]] SLAMing on 134.312414037 meters Centerline goodness [0,1] 0.8041519216525389 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.13, Z:-0.44 [[ 0.99828844 -0.05342009 -0.02380102 1.53591185] [ 0.05333851 0.99856828 -0.00404993 -0.13436643] [ 0.02398329 0.00277348 0.99970851 -0.43858831] [ 0. 0. 0. 1. ]] SLAMing on 134.342414037 meters Centerline goodness [0,1] 0.8059422226791405 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.14, Z:-0.44 [[ 0.9983175 -0.05289297 -0.02375938 1.53558191] [ 0.05283583 0.99859863 -0.00302663 -0.13720789] [ 0.02388617 0.00176619 0.99971312 -0.43819928] [ 0. 0. 0. 1. ]] SLAMing on 134.372414037 meters Centerline goodness [0,1] 0.8051079417999218 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.14, Z:-0.44 [[ 9.98504662e-01 -4.92327808e-02 -2.37607370e-02 1.53500273e+00] [ 4.92737231e-02 9.98784661e-01 1.14036858e-03 -1.38262241e-01] [ 2.36757162e-02 -2.30944332e-03 9.99717023e-01 -4.38037189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.402414037 meters Centerline goodness [0,1] 0.8084909158324064 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.14, Z:-0.44 [[ 0.9986814 -0.04546101 -0.02384878 1.53472238] [ 0.04559646 0.99894658 0.00516652 -0.13847055] [ 0.02358878 -0.00624713 0.99970223 -0.43798416] [ 0. 0. 0. 1. ]] SLAMing on 134.432414037 meters Centerline goodness [0,1] 0.808389648920389 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.14, Z:-0.44 [[ 0.99887121 -0.04082 -0.02429075 1.53540095] [ 0.04106284 0.9991106 0.00958394 -0.13915207] [ 0.02387793 -0.01057057 0.999659 -0.43812398] [ 0. 0. 0. 1. ]] SLAMing on 134.462414037 meters Centerline goodness [0,1] 0.808389648920389 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.14, Z:-0.44 [[ 0.99887121 -0.04082 -0.02429075 1.53540095] [ 0.04106284 0.9991106 0.00958394 -0.13915207] [ 0.02387793 -0.01057057 0.999659 -0.43812398] [ 0. 0. 0. 1. ]] SLAMing on 134.492414037 meters Centerline goodness [0,1] 0.806587750900669 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.14, Z:-0.44 [[ 0.99889801 -0.04003255 -0.02449825 1.53584457] [ 0.04028971 0.99913704 0.01009505 -0.14022103] [ 0.02407298 -0.01107096 0.9996489 -0.43805206] [ 0. 0. 0. 1. ]] SLAMing on 134.52241403699998 meters Centerline goodness [0,1] 0.8066257365363221 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.14, Z:-0.44 [[ 0.99892387 -0.03922443 -0.02474966 1.5363179 ] [ 0.03949687 0.99916329 0.01061648 -0.14114731] [ 0.02431253 -0.01158259 0.99963731 -0.43790358] [ 0. 0. 0. 1. ]] SLAMing on 134.55241403699998 meters Centerline goodness [0,1] 0.8063050973429403 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.14, Z:-0.44 [[ 0.99907663 -0.0350368 -0.02486566 1.53582346] [ 0.03540324 0.9992686 0.01445231 -0.14167794] [ 0.02434111 -0.01531929 0.99958633 -0.43722209] [ 0. 0. 0. 1. ]] SLAMing on 134.58241403699998 meters Centerline goodness [0,1] 0.8096170090030697 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.14, Z:-0.44 [[ 0.99910684 -0.03411712 -0.02493067 1.53613749] [ 0.03448763 0.99929868 0.0145857 -0.1398135 ] [ 0.02441557 -0.01543248 0.99958277 -0.43731009] [ 0. 0. 0. 1. ]] SLAMing on 134.61241403699998 meters Centerline goodness [0,1] 0.8096821495693839 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.14, Z:-0.44 [[ 0.99913623 -0.03311488 -0.02510365 1.53640898] [ 0.03349416 0.99932871 0.01484161 -0.13847023] [ 0.02459532 -0.01566961 0.99957468 -0.43709199] [ 0. 0. 0. 1. ]] SLAMing on 134.64241403699998 meters Centerline goodness [0,1] 0.8110571458096517 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.14, Z:-0.44 [[ 0.99915962 -0.03225314 -0.02529408 1.53654806] [ 0.03264399 0.99935154 0.01519448 -0.13846201] [ 0.02478761 -0.01600741 0.99956457 -0.43661803] [ 0. 0. 0. 1. ]] SLAMing on 134.67241403699998 meters Centerline goodness [0,1] 0.8123582064925958 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.14, Z:-0.44 [[ 0.9992388 -0.02977098 -0.02520929 1.53618988] [ 0.03021429 0.99939214 0.01739079 -0.14301151] [ 0.02467622 -0.01813923 0.99953092 -0.43604797] [ 0. 0. 0. 1. ]] SLAMing on 134.70241403699998 meters Centerline goodness [0,1] 0.8142067486181008 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.14, Z:-0.44 [[ 0.99925586 -0.02903289 -0.0253934 1.53704005] [ 0.02949832 0.99940003 0.01815026 -0.14496952] [ 0.02485121 -0.01888582 0.99951275 -0.43653885] [ 0. 0. 0. 1. ]] SLAMing on 134.73241403699998 meters Centerline goodness [0,1] 0.8147020712067299 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.15, Z:-0.44 [[ 0.99926887 -0.02832275 -0.02568148 1.53833984] [ 0.02881234 0.99940617 0.01889876 -0.14648452] [ 0.02513096 -0.01962489 0.99949152 -0.43738936] [ 0. 0. 0. 1. ]] SLAMing on 134.76241403699999 meters Centerline goodness [0,1] 0.8176434172513414 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.15, Z:-0.44 [[ 0.99930326 -0.02682715 -0.02594794 1.5397113 ] [ 0.02737097 0.99940819 0.02083502 -0.1500502 ] [ 0.02537364 -0.02153072 0.99944615 -0.43834292] [ 0. 0. 0. 1. ]] SLAMing on 134.792414037 meters Centerline goodness [0,1] 0.8167983007856804 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.15, Z:-0.44 [[ 0.99931348 -0.0263396 -0.02605368 1.53994806] [ 0.02690988 0.99940044 0.02178578 -0.15299179] [ 0.02546423 -0.02247192 0.99942313 -0.43825516] [ 0. 0. 0. 1. ]] SLAMing on 134.822414037 meters Centerline goodness [0,1] 0.8158334192351304 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.16, Z:-0.44 [[ 0.99926055 -0.02830424 -0.0260235 1.54014629] [ 0.02882228 0.99938939 0.01975176 -0.15557961] [ 0.02544855 -0.02048721 0.99946618 -0.43807131] [ 0. 0. 0. 1. ]] SLAMing on 134.852414037 meters Centerline goodness [0,1] 0.8178820231666598 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.16, Z:-0.44 [[ 0.99918443 -0.03067526 -0.02625841 1.54085255] [ 0.03116361 0.99934501 0.01839508 -0.16364458] [ 0.02567694 -0.01919839 0.99948593 -0.43772176] [ 0. 0. 0. 1. ]] SLAMing on 134.882414037 meters Centerline goodness [0,1] 0.8194810001645008 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.17, Z:-0.44 [[ 0.99908614 -0.03367738 -0.02631954 1.54149761] [ 0.03409757 0.99929546 0.0156825 -0.16619915] [ 0.02577286 -0.0165656 0.99953056 -0.43785126] [ 0. 0. 0. 1. ]] SLAMing on 134.912414037 meters Centerline goodness [0,1] 0.8163000494315373 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.17, Z:-0.44 [[ 0.99902334 -0.03572793 -0.02599758 1.53992045] [ 0.03610543 0.99924711 0.01419876 -0.16970141] [ 0.02547072 -0.01512354 0.99956116 -0.43634406] [ 0. 0. 0. 1. ]] SLAMing on 134.942414037 meters Centerline goodness [0,1] 0.8136211739139348 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.17, Z:-0.44 [[ 0.9989083 -0.03873148 -0.02611663 1.54051938] [ 0.03904302 0.99917106 0.01152585 -0.17266 ] [ 0.02564856 -0.01253294 0.99959246 -0.43620404] [ 0. 0. 0. 1. ]] SLAMing on 134.972414037 meters Centerline goodness [0,1] 0.8182192316398131 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.18, Z:-0.43 [[ 0.99881474 -0.04097954 -0.02626383 1.53945733] [ 0.04126583 0.99909352 0.01045276 -0.181623 ] [ 0.02581167 -0.01152417 0.9996004 -0.4339821 ] [ 0. 0. 0. 1. ]] SLAMing on 135.002414037 meters Centerline goodness [0,1] 0.8190499661142259 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.19, Z:-0.43 [[ 0.99882881 -0.04055581 -0.0263863 1.53985376] [ 0.04087744 0.99909489 0.01176609 -0.18631617] [ 0.02588523 -0.01283092 0.99958257 -0.4339733 ] [ 0. 0. 0. 1. ]] SLAMing on 135.032414037 meters Centerline goodness [0,1] 0.8214425432907118 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.19, Z:-0.43 [[ 0.99884551 -0.04009267 -0.02646165 1.54013493] [ 0.04044833 0.99909647 0.01304491 -0.19037312] [ 0.02591473 -0.01410018 0.99956471 -0.43402142] [ 0. 0. 0. 1. ]] SLAMing on 135.062414037 meters Centerline goodness [0,1] 0.8214881136153134 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.20, Z:-0.43 [[ 0.99876323 -0.04203979 -0.02654564 1.54138528] [ 0.04237431 0.99902772 0.01216726 -0.19688681] [ 0.02600832 -0.01327707 0.99957355 -0.43474383] [ 0. 0. 0. 1. ]] SLAMing on 135.092414037 meters Centerline goodness [0,1] 0.8233439131770247 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.20, Z:-0.44 [[ 0.99867956 -0.04375411 -0.02692052 1.54364977] [ 0.04405862 0.99897031 0.01082371 -0.2003915 ] [ 0.02641922 -0.0119955 0.99957898 -0.43610602] [ 0. 0. 0. 1. ]] SLAMing on 135.122414037 meters Centerline goodness [0,1] 0.8238085498056862 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.20, Z:-0.44 [[ 0.99854099 -0.04680639 -0.02692692 1.54410275] [ 0.04704136 0.99885962 0.00815945 -0.20309592] [ 0.0265143 -0.00941423 0.9996041 -0.43612149] [ 0. 0. 0. 1. ]] SLAMing on 135.152414037 meters Centerline goodness [0,1] 0.8233418497700562 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.21, Z:-0.43 [[ 0.99825641 -0.05260425 -0.02677543 1.54359828] [ 0.05272745 0.99860126 0.00391592 -0.21207284] [ 0.02653199 -0.0053209 0.9996338 -0.43470649] [ 0. 0. 0. 1. ]] SLAMing on 135.182414037 meters Centerline goodness [0,1] 0.8254374296531259 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.22, Z:-0.43 [[ 0.99807582 -0.05595855 -0.02670774 1.54360549] [ 0.0560219 0.99842821 0.00162889 -0.2174242 ] [ 0.02657461 -0.00312197 0.99964196 -0.43412535] [ 0. 0. 0. 1. ]] SLAMing on 135.212414037 meters Centerline goodness [0,1] 0.8238522340991932 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.23, Z:-0.43 [[ 9.97692535e-01 -6.24249638e-02 -2.66970029e-02 1.54540529e+00] [ 6.23659010e-02 9.98048722e-01 -3.04009670e-03 -2.25444353e-01] [ 2.68346876e-02 1.36809914e-03 9.99638949e-01 -4.34994296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.242414037 meters Centerline goodness [0,1] 0.8341305195738304 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.23, Z:-0.44 [[ 9.97698685e-01 -6.22768206e-02 -2.68129018e-02 1.54636632e+00] [ 6.22557071e-02 9.98058914e-01 -1.62231024e-03 -2.29692607e-01] [ 2.68618880e-02 -5.06793699e-05 9.99639153e-01 -4.35800795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27241403699998 meters Centerline goodness [0,1] 0.8249526007748743 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.23, Z:-0.44 [[ 9.97714485e-01 -6.20024777e-02 -2.68607261e-02 1.54709960e+00] [ 6.20174837e-02 9.98075025e-01 -2.74849544e-04 -2.33373102e-01] [ 2.68260612e-02 -1.39161327e-03 9.99639148e-01 -4.36522688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30241403699998 meters Centerline goodness [0,1] 0.8386812194821714 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.24, Z:-0.44 [[ 9.97741430e-01 -6.14747712e-02 -2.70719660e-02 1.54807928e+00] [ 6.15279668e-02 9.98104714e-01 1.13559386e-03 -2.36966725e-01] [ 2.69508465e-02 -2.79871207e-03 9.99632842e-01 -4.37137737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33241403699998 meters Centerline goodness [0,1] 0.8264192585932072 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.24, Z:-0.44 [[ 9.97605031e-01 -6.36413121e-02 -2.70921698e-02 1.54844405e+00] [ 6.36614031e-02 9.97971548e-01 -1.21170479e-04 -2.43444031e-01] [ 2.70449260e-02 -1.60384526e-03 9.99632932e-01 -4.36781072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36241403699998 meters Centerline goodness [0,1] 0.835369222269965 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.25, Z:-0.44 [[ 9.97622401e-01 -6.33734368e-02 -2.70804781e-02 1.54825297e+00] [ 6.34246620e-02 9.97986092e-01 1.03599057e-03 -2.48215698e-01] [ 2.69602862e-02 -2.75109757e-03 9.99632720e-01 -4.36348305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39241403699998 meters Centerline goodness [0,1] 0.8348917272708754 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.25, Z:-0.44 [[ 9.97472214e-01 -6.56994389e-02 -2.70696555e-02 1.54853174e+00] [ 6.57124022e-02 9.97838519e-01 -4.11368342e-04 -2.54643995e-01] [ 2.70381716e-02 -1.36848360e-03 9.99633465e-01 -4.35865131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42241403699998 meters Centerline goodness [0,1] 0.8387142857142857 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.26, Z:-0.44 [[ 9.97501150e-01 -6.52099891e-02 -2.71866490e-02 1.54888868e+00] [ 6.52517956e-02 9.97868617e-01 6.52508329e-04 -2.57453778e-01] [ 2.70861538e-02 -2.42485547e-03 9.99630162e-01 -4.35932217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45241403699998 meters Centerline goodness [0,1] 0.8358001471911032 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.26, Z:-0.44 [[ 0.99753213 -0.06468024 -0.02731512 1.54951512] [ 0.06474987 0.99790013 0.00167133 -0.25959918] [ 0.02714966 -0.00343585 0.99962548 -0.43634989] [ 0. 0. 0. 1. ]] SLAMing on 135.48241403699998 meters Centerline goodness [0,1] 0.8360200791739787 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.26, Z:-0.44 [[ 0.99758958 -0.06372239 -0.02746806 1.55062269] [ 0.06384773 0.99795276 0.00370947 -0.26447153] [ 0.02717545 -0.00545431 0.9996158 -0.43722984] [ 0. 0. 0. 1. ]] SLAMing on 135.51241403699999 meters Centerline goodness [0,1] 0.8350058010543671 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.27, Z:-0.44 [[ 0.99761334 -0.06335927 -0.02744499 1.55076271] [ 0.06351384 0.99796943 0.00479654 -0.26784185] [ 0.02708535 -0.00652823 0.99961181 -0.4372515 ] [ 0. 0. 0. 1. ]] SLAMing on 135.542414037 meters Centerline goodness [0,1] 0.8364340295466124 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.27, Z:-0.44 [[ 0.99760686 -0.06345106 -0.02746839 1.55037121] [ 0.0636252 0.99795864 0.0055118 -0.27125123] [ 0.02706258 -0.00724629 0.99960748 -0.436527 ] [ 0. 0. 0. 1. ]] SLAMing on 135.572414037 meters Centerline goodness [0,1] 0.8362167455524727 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.28, Z:-0.44 [[ 0.99738531 -0.06694884 -0.02721014 1.54932355] [ 0.06706341 0.9977432 0.00331896 -0.27661538] [ 0.02692653 -0.00513509 0.99962423 -0.43501857] [ 0. 0. 0. 1. ]] SLAMing on 135.602414037 meters Centerline goodness [0,1] 0.8363160905450682 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.28, Z:-0.43 [[ 0.99735077 -0.06751765 -0.02707039 1.54904388] [ 0.06764312 0.99770255 0.00374559 -0.27982078] [ 0.0267553 -0.00556679 0.99962651 -0.43473593] [ 0. 0. 0. 1. ]] SLAMing on 135.632414037 meters Centerline goodness [0,1] 0.816934856487737 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.28, Z:-0.43 [[ 9.97065593e-01 -7.16709140e-02 -2.68976634e-02 1.54931497e+00] [ 7.17233124e-02 9.97424078e-01 9.87137812e-04 -2.84589061e-01] [ 2.67576281e-02 -2.91343066e-03 9.99637705e-01 -4.34554473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.662414037 meters Centerline goodness [0,1] 0.8039499134683905 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.29, Z:-0.44 [[ 9.96876623e-01 -7.41586330e-02 -2.71568684e-02 1.55195044e+00] [ 7.41593033e-02 9.97245922e-01 -9.83859026e-04 -2.86532204e-01] [ 2.71550379e-02 -1.03314838e-03 9.99630700e-01 -4.36461247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.692414037 meters Centerline goodness [0,1] 0.8004070004070004 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.29, Z:-0.44 [[ 9.96854289e-01 -7.44131910e-02 -2.72800902e-02 1.55310607e+00] [ 7.44343678e-02 9.97225886e-01 -2.39792354e-04 -2.89716260e-01] [ 2.72222559e-02 -1.79153823e-03 9.99627800e-01 -4.37380604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.722414037 meters Centerline goodness [0,1] 0.7809283593018999 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.29, Z:-0.44 [[ 9.96640933e-01 -7.72228573e-02 -2.72668375e-02 1.55541062e+00] [ 7.71939018e-02 9.97013857e-01 -2.11452384e-03 -2.93661355e-01] [ 2.73487044e-02 2.58743521e-06 9.99625954e-01 -4.39372868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.752414037 meters Centerline goodness [0,1] 0.7629323507257588 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.44 [[ 9.96656537e-01 -7.70225621e-02 -2.72630226e-02 1.55536411e+00] [ 7.70143406e-02 9.97029067e-01 -1.35301535e-03 -2.95842503e-01] [ 2.72862387e-02 -7.51152116e-04 9.99627379e-01 -4.39232519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.782414037 meters Centerline goodness [0,1] 0.7589302107346131 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.44 [[ 9.96676087e-01 -7.67691447e-02 -2.72630901e-02 1.55524529e+00] [ 7.67770595e-02 9.97047997e-01 -7.57902702e-04 -2.97296945e-01] [ 2.72407929e-02 -1.33779639e-03 9.99628006e-01 -4.39039435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.812414037 meters Centerline goodness [0,1] 0.7843888911545206 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.44 [[ 9.96708074e-01 -7.63330048e-02 -2.73182507e-02 1.55517144e+00] [ 7.63571631e-02 9.97080517e-01 -1.59268039e-04 -2.98269579e-01] [ 2.72506529e-02 -1.92720038e-03 9.99626774e-01 -4.38804701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.842414037 meters Centerline goodness [0,1] 0.7900139607456681 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.44 [[ 9.96758091e-01 -7.56183483e-02 -2.74804232e-02 1.55574479e+00] [ 7.56629859e-02 9.97133275e-01 5.86674642e-04 -2.99381828e-01] [ 2.73572810e-02 -2.66402357e-03 9.99622170e-01 -4.39134016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.872414037 meters Centerline goodness [0,1] 0.7978135364205872 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.44 [[ 9.96787468e-01 -7.51189690e-02 -2.77827880e-02 1.55678087e+00] [ 7.51747110e-02 9.97169910e-01 9.65862635e-04 -2.99652836e-01] [ 2.76316056e-02 -3.05132283e-03 9.99613517e-01 -4.39719701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.902414037 meters Centerline goodness [0,1] 0.7957650412297669 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.44 [[ 0.99685308 -0.07416666 -0.02798664 1.55728174] [ 0.07423985 0.99723916 0.00158385 -0.30039691] [ 0.0277919 -0.00365659 0.99960704 -0.43979772] [ 0. 0. 0. 1. ]] SLAMing on 135.932414037 meters Centerline goodness [0,1] 0.7981173887409274 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.44 [[ 0.99688558 -0.07369008 -0.02808763 1.55758 ] [ 0.07377479 0.99727294 0.00199023 -0.30087886] [ 0.02786437 -0.00405619 0.99960348 -0.43993946] [ 0. 0. 0. 1. ]] SLAMing on 135.962414037 meters Centerline goodness [0,1] 0.8195758564437194 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.44 [[ 0.99690746 -0.07338019 -0.02812224 1.55770678] [ 0.07346935 0.99729516 0.00214896 -0.30060251] [ 0.02788849 -0.00420844 0.99960218 -0.44003761] [ 0. 0. 0. 1. ]] SLAMing on 135.992414037 meters Centerline goodness [0,1] 0.8250677203201695 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.44 [[ 0.9971665 -0.069745 -0.02818863 1.55716169] [ 0.06994149 0.99753278 0.00604452 -0.30118684] [ 0.02769751 -0.00799895 0.99958435 -0.43971087] [ 0. 0. 0. 1. ]] SLAMing on 136.02241403699998 meters Centerline goodness [0,1] 0.8212765957446808 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.44 [[ 0.99718552 -0.06943841 -0.02827274 1.55697102] [ 0.0696408 0.99755264 0.00623656 -0.30113383] [ 0.02777049 -0.00818794 0.99958079 -0.43926771] [ 0. 0. 0. 1. ]] SLAMing on 136.05241403699998 meters Centerline goodness [0,1] 0.8278219816446551 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.44 [[ 0.99722449 -0.06886538 -0.02829982 1.55617791] [ 0.06908486 0.99758726 0.00685096 -0.30293696] [ 0.02775974 -0.00878704 0.999576 -0.43804804] [ 0. 0. 0. 1. ]] SLAMing on 136.08241403699998 meters Centerline goodness [0,1] 0.8325140234574196 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.44 [[ 0.99723347 -0.06869772 -0.02839051 1.55604369] [ 0.06892435 0.99759675 0.00708162 -0.30340159] [ 0.02783579 -0.00901882 0.99957182 -0.43759128] [ 0. 0. 0. 1. ]] SLAMing on 136.11241403699998 meters Centerline goodness [0,1] 0.8328766002699497 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.44 [[ 0.9972355 -0.06862695 -0.02849031 1.55612463] [ 0.06885732 0.99760065 0.00718374 -0.30325882] [ 0.02792895 -0.00912565 0.99956825 -0.43744062] [ 0. 0. 0. 1. ]] SLAMing on 136.14241403699998 meters Centerline goodness [0,1] 0.8206113894284838 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.44 [[ 0.99719109 -0.06931545 -0.02837774 1.5570028 ] [ 0.06954116 0.99755421 0.00704456 -0.3032424 ] [ 0.02782004 -0.00899819 0.99957245 -0.43868299] [ 0. 0. 0. 1. ]] SLAMing on 136.17241403699998 meters Centerline goodness [0,1] 0.8088730927140143 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.44 [[ 0.99716649 -0.06969232 -0.02831894 1.55775027] [ 0.06991797 0.99752778 0.00705661 -0.30417363] [ 0.02775714 -0.00901661 0.99957403 -0.43958205] [ 0. 0. 0. 1. ]] SLAMing on 136.20241403699998 meters Centerline goodness [0,1] 0.7770173353551084 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.31, Z:-0.44 [[ 0.99714066 -0.07012194 -0.02816783 1.55795316] [ 0.07034742 0.99749733 0.00709399 -0.3057001 ] [ 0.02759989 -0.00905524 0.99957804 -0.44005719] [ 0. 0. 0. 1. ]] SLAMing on 136.23241403699998 meters Centerline goodness [0,1] 0.7976598872825288 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.31, Z:-0.44 [[ 0.99731177 -0.07189936 -0.01413223 1.55821668] [ 0.07194879 0.99740375 0.00302027 -0.30649432] [ 0.01387838 -0.00402895 0.99989557 -0.44410254] [ 0. 0. 0. 1. ]] SLAMing on 136.26241403699999 meters Centerline goodness [0,1] 0.800744117586933 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.31, Z:-0.44 [[ 0.99738545 -0.07091998 -0.01387856 1.5559329 ] [ 0.07098201 0.99746946 0.00402816 -0.30650855] [ 0.01355777 -0.00500276 0.99989557 -0.44210468] [ 0. 0. 0. 1. ]] SLAMing on 136.292414037 meters Centerline goodness [0,1] 0.7943227600875309 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.31, Z:-0.44 [[ 0.99751359 -0.06913677 -0.0136652 1.55368363] [ 0.06922446 0.99758276 0.00605148 -0.30586263] [ 0.01321378 -0.00698239 0.99988831 -0.44026794] [ 0. 0. 0. 1. ]] SLAMing on 136.322414037 meters Centerline goodness [0,1] 0.8085829528469933 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.30, Z:-0.44 [[ 0.9977301 -0.06589462 -0.01387643 1.55398055] [ 0.06602853 0.99777323 0.00942368 -0.30473158] [ 0.01322456 -0.01031853 0.99985931 -0.44070595] [ 0. 0. 0. 1. ]] SLAMing on 136.352414037 meters Centerline goodness [0,1] 0.8089140706498394 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.30, Z:-0.44 [[ 0.99773589 -0.06577909 -0.01400752 1.55472773] [ 0.06591424 0.99778087 0.00941529 -0.30432599] [ 0.01335711 -0.01031726 0.99985756 -0.44136499] [ 0. 0. 0. 1. ]] SLAMing on 136.382414037 meters Centerline goodness [0,1] 0.8089140706498394 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.30, Z:-0.44 [[ 0.99773589 -0.06577909 -0.01400752 1.55472773] [ 0.06591424 0.99778087 0.00941529 -0.30432599] [ 0.01335711 -0.01031726 0.99985756 -0.44136499] [ 0. 0. 0. 1. ]] SLAMing on 136.412414037 meters Centerline goodness [0,1] 0.804778017020404 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.44 [[ 0.99771807 -0.06602812 -0.01410487 1.55547657] [ 0.06616115 0.9977667 0.0091827 -0.30449356] [ 0.01346706 -0.01009494 0.99985836 -0.44197503] [ 0. 0. 0. 1. ]] SLAMing on 136.442414037 meters Centerline goodness [0,1] 0.8037899562067695 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.44 [[ 0.99769942 -0.06629742 -0.01416038 1.55609521] [ 0.06642823 0.99775083 0.00897624 -0.30443451] [ 0.01353343 -0.00989623 0.99985945 -0.44255028] [ 0. 0. 0. 1. ]] SLAMing on 136.472414037 meters Centerline goodness [0,1] 0.7886738351254481 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.44 [[ 0.99768731 -0.06646868 -0.01421096 1.55670735] [ 0.06659855 0.99774043 0.00886937 -0.30434443] [ 0.01358931 -0.00979528 0.99985968 -0.44316261] [ 0. 0. 0. 1. ]] SLAMing on 136.502414037 meters Centerline goodness [0,1] 0.7788792397181714 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.45 [[ 0.99769562 -0.06634744 -0.01419415 1.55829663] [ 0.06647895 0.99774721 0.00900264 -0.30295949] [ 0.01356488 -0.00992551 0.99985873 -0.4452083 ] [ 0. 0. 0. 1. ]] SLAMing on 136.532414037 meters Centerline goodness [0,1] 0.776439555046622 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.45 [[ 0.99768817 -0.06646384 -0.01417318 1.55844663] [ 0.06659331 0.9977408 0.00886721 -0.30213209] [ 0.01355181 -0.00979055 0.99986024 -0.44544875] [ 0. 0. 0. 1. ]] SLAMing on 136.562414037 meters Centerline goodness [0,1] 0.7692558613659531 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.45 [[ 0.99766368 -0.06684625 -0.01409851 1.55824881] [ 0.06697061 0.99771839 0.00854114 -0.30146579] [ 0.0134954 -0.00946537 0.99986413 -0.44531485] [ 0. 0. 0. 1. ]] SLAMing on 136.592414037 meters Centerline goodness [0,1] 0.7515192437542202 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.44 [[ 0.99761049 -0.06765446 -0.01400626 1.55742821] [ 0.06776788 0.99767072 0.00778735 -0.30055137] [ 0.01344678 -0.00871791 0.99987158 -0.4444327 ] [ 0. 0. 0. 1. ]] SLAMing on 136.622414037 meters Centerline goodness [0,1] 0.746631445304501 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.44 [[ 0.99746087 -0.06992575 -0.01349792 1.55535942] [ 0.07000866 0.99752969 0.00577076 -0.2988283 ] [ 0.01306106 -0.00670108 0.99989225 -0.44280627] [ 0. 0. 0. 1. ]] SLAMing on 136.652414037 meters Centerline goodness [0,1] 0.7407074401781883 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.44 [[ 0.99743154 -0.0703215 -0.01360897 1.55604761] [ 0.07040077 0.99750397 0.00543615 -0.29798844] [ 0.01319273 -0.00638027 0.99989262 -0.44338383] [ 0. 0. 0. 1. ]] SLAMing on 136.682414037 meters Centerline goodness [0,1] 0.811774358974359 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.44 [[ 0.99739783 -0.07078472 -0.01367846 1.55668487] [ 0.07085693 0.99747461 0.00486835 -0.2964255 ] [ 0.01329931 -0.00582489 0.99989459 -0.44406432] [ 0. 0. 0. 1. ]] SLAMing on 136.712414037 meters Centerline goodness [0,1] 0.8124793593130779 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.29, Z:-0.45 [[ 0.9974222 -0.07037426 -0.01401517 1.55930513] [ 0.07045255 0.99750172 0.00517269 -0.2921983 ] [ 0.01361613 -0.00614676 0.9998884 -0.4468327 ] [ 0. 0. 0. 1. ]] SLAMing on 136.742414037 meters Centerline goodness [0,1] 0.7979107743760193 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.29, Z:-0.45 [[ 0.99746398 -0.06973336 -0.01424302 1.56136139] [ 0.06982027 0.99754332 0.00569745 -0.29026769] [ 0.01381073 -0.00667745 0.99988233 -0.44899513] [ 0. 0. 0. 1. ]] SLAMing on 136.77241403699998 meters Centerline goodness [0,1] 0.7875275824379782 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.29, Z:-0.45 [[ 0.99753832 -0.06872066 -0.01395615 1.56091197] [ 0.06881427 0.99760933 0.00634121 -0.28576777] [ 0.01348701 -0.00728598 0.9998825 -0.44940016] [ 0. 0. 0. 1. ]] SLAMing on 136.80241403699998 meters Centerline goodness [0,1] 0.7858462675535847 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.28, Z:-0.45 [[ 0.99751023 -0.06911033 -0.01403938 1.56091625] [ 0.06919066 0.99758928 0.00531815 -0.2827923 ] [ 0.01363799 -0.0062763 0.9998873 -0.4492204 ] [ 0. 0. 0. 1. ]] SLAMing on 136.83241403699998 meters Centerline goodness [0,1] 0.7883570664252202 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.28, Z:-0.45 [[ 0.99757618 -0.06819726 -0.01381647 1.55871007] [ 0.06828258 0.99764916 0.00579997 -0.28020023] [ 0.01338845 -0.00672934 0.99988773 -0.44737113] [ 0. 0. 0. 1. ]] SLAMing on 136.86241403699998 meters Centerline goodness [0,1] 0.779074290159471 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.27, Z:-0.45 [[ 0.99765993 -0.06690048 -0.01410618 1.5593233 ] [ 0.06699392 0.99773375 0.00625885 -0.27357392] [ 0.0136555 -0.00718923 0.99988091 -0.44794899] [ 0. 0. 0. 1. ]] SLAMing on 136.89241403699998 meters Centerline goodness [0,1] 0.7777273851735796 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.27, Z:-0.45 [[ 0.99762816 -0.06737251 -0.01410689 1.55939843] [ 0.06744918 0.99771003 0.00503074 -0.26947934] [ 0.01373565 -0.00597031 0.99988784 -0.44813549] [ 0. 0. 0. 1. ]] SLAMing on 136.92241403699998 meters Centerline goodness [0,1] 0.7696640805546385 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.27, Z:-0.45 [[ 0.99778141 -0.06507257 -0.01406489 1.55884999] [ 0.06518054 0.99784635 0.00735893 -0.26721532] [ 0.01355573 -0.00825936 0.999874 -0.4480761 ] [ 0. 0. 0. 1. ]] SLAMing on 136.95241403699998 meters Centerline goodness [0,1] 0.7659684030567055 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.26, Z:-0.45 [[ 0.99783084 -0.0643671 -0.01380165 1.55854519] [ 0.0644729 0.9978923 0.00736265 -0.25994709] [ 0.01329865 -0.00823651 0.99987765 -0.44873881] [ 0. 0. 0. 1. ]] SLAMing on 136.98241403699998 meters Centerline goodness [0,1] 0.7215573179524153 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.26, Z:-0.45 [[ 0.99778255 -0.06513393 -0.01369489 1.55810068] [ 0.06522023 0.99785314 0.00595205 -0.25549834] [ 0.01327781 -0.00683204 0.99988851 -0.44852603] [ 0. 0. 0. 1. ]] SLAMing on 137.01241403699999 meters Centerline goodness [0,1] 0.7016974230405655 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.25, Z:-0.45 [[ 0.99762612 -0.0675524 -0.01337127 1.55754497] [ 0.06760027 0.99770748 0.00316048 -0.24580529] [ 0.01312712 -0.00405688 0.99990561 -0.44885184] [ 0. 0. 0. 1. ]] SLAMing on 137.042414037 meters Centerline goodness [0,1] 0.7172680200542452 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.24, Z:-0.45 [[ 0.99756957 -0.06838077 -0.0133796 1.55820831] [ 0.06841102 0.99765557 0.00181585 -0.24181581] [ 0.01322406 -0.00272675 0.99990884 -0.44975307] [ 0. 0. 0. 1. ]] SLAMing on 137.072414037 meters Centerline goodness [0,1] 0.699370140128434 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.24, Z:-0.45 [[ 9.97507685e-01 -6.92802653e-02 -1.33664981e-02 1.55899799e+00] [ 6.92905424e-02 9.97596475e-01 3.06745808e-04 -2.38025232e-01] [ 1.33131199e-02 -1.23215320e-03 9.99910617e-01 -4.50773572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.102414037 meters Centerline goodness [0,1] 0.7067122525899532 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.23, Z:-0.45 [[ 9.97454644e-01 -7.00546164e-02 -1.32884644e-02 1.55929149e+00] [ 7.00456447e-02 9.97543136e-01 -1.13994484e-03 -2.34127034e-01] [ 1.33356748e-02 2.06244222e-04 9.99911055e-01 -4.51406796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.132414037 meters Centerline goodness [0,1] 0.6640747140623715 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.23, Z:-0.45 [[ 9.97577683e-01 -6.82865926e-02 -1.32554986e-02 1.55933002e+00] [ 6.82827197e-02 9.97665733e-01 -7.45066415e-04 -2.25183917e-01] [ 1.32754348e-02 -1.61859870e-04 9.99911864e-01 -4.52106295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.162414037 meters Centerline goodness [0,1] 0.7475628527449975 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.22, Z:-0.45 [[ 0.99778868 -0.06508905 -0.01345973 1.55932553] [ 0.06511755 0.99787617 0.00168973 -0.22052545] [ 0.01332116 -0.00256246 0.99990799 -0.45231719] [ 0. 0. 0. 1. ]] SLAMing on 137.192414037 meters Centerline goodness [0,1] 0.754727418000041 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.21, Z:-0.45 [[ 0.99818412 -0.05857835 -0.01403709 1.55845733] [ 0.05865703 0.99826433 0.00526063 -0.20875529] [ 0.01370456 -0.00607445 0.99988764 -0.45058645] [ 0. 0. 0. 1. ]] SLAMing on 137.222414037 meters Centerline goodness [0,1] 0.7663837570128029 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.20, Z:-0.45 [[ 0.99839088 -0.05490966 -0.01416249 1.55788531] [ 0.05502199 0.99845571 0.0076672 -0.20339687] [ 0.01371962 -0.00843411 0.99987031 -0.45016821] [ 0. 0. 0. 1. ]] SLAMing on 137.252414037 meters Centerline goodness [0,1] 0.7863605588724072 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.20, Z:-0.45 [[ 0.99855953 -0.05170402 -0.01433762 1.55712431] [ 0.05184367 0.99860959 0.00954532 -0.19798806] [ 0.01382415 -0.01027488 0.99985165 -0.44925431] [ 0. 0. 0. 1. ]] SLAMing on 137.282414037 meters Centerline goodness [0,1] 0.7861832656243588 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.19, Z:-0.45 [[ 0.99884546 -0.04584988 -0.01433642 1.55473393] [ 0.04603712 0.99885494 0.01301515 -0.18814155] [ 0.01372326 -0.01366013 0.99981252 -0.44684562] [ 0. 0. 0. 1. ]] SLAMing on 137.312414037 meters Centerline goodness [0,1] 0.7876883906205084 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.18, Z:-0.45 [[ 0.99886695 -0.04541386 -0.01422668 1.55419647] [ 0.04558866 0.99888563 0.01221382 -0.18300655] [ 0.01365615 -0.01284856 0.9998242 -0.44642906] [ 0. 0. 0. 1. ]] SLAMing on 137.342414037 meters Centerline goodness [0,1] 0.789186304294277 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.18, Z:-0.45 [[ 0.99885951 -0.04557806 -0.01422379 1.55529541] [ 0.04573352 0.99889527 0.0108025 -0.1755595 ] [ 0.01371572 -0.01144069 0.99984048 -0.44793081] [ 0. 0. 0. 1. ]] SLAMing on 137.372414037 meters Centerline goodness [0,1] 0.7854517076376482 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.17, Z:-0.45 [[ 0.99883243 -0.04620431 -0.0141042 1.55587141] [ 0.04634554 0.99887685 0.00985578 -0.17278557] [ 0.01363298 -0.01049794 0.99985196 -0.44898348] [ 0. 0. 0. 1. ]] SLAMing on 137.402414037 meters Centerline goodness [0,1] 0.7838369756857599 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.17, Z:-0.45 [[ 0.9987962 -0.04700252 -0.01403263 1.55643367] [ 0.04712977 0.99884931 0.0088793 -0.17014686] [ 0.01359913 -0.00952997 0.99986211 -0.44992707] [ 0. 0. 0. 1. ]] SLAMing on 137.432414037 meters Centerline goodness [0,1] 0.7666864644561411 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.16, Z:-0.45 [[ 0.99867524 -0.049623 -0.0136131 1.55599297] [ 0.04971078 0.99874449 0.00618735 -0.16378396] [ 0.01328897 -0.00685587 0.99988819 -0.45041128] [ 0. 0. 0. 1. ]] SLAMing on 137.462414037 meters Centerline goodness [0,1] 0.7618685987561832 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.16, Z:-0.45 [[ 0.99863018 -0.05056888 -0.01343721 1.55587434] [ 0.05063946 0.99870466 0.00496447 -0.16021691] [ 0.01316876 -0.00563812 0.99989739 -0.45073163] [ 0. 0. 0. 1. ]] SLAMing on 137.492414037 meters Centerline goodness [0,1] 0.7089106472073403 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.15, Z:-0.45 [[ 0.99851726 -0.05280795 -0.01321376 1.55730681] [ 0.0528438 0.99859996 0.002378 -0.1520447 ] [ 0.01306969 -0.00307274 0.99990987 -0.45305963] [ 0. 0. 0. 1. ]] SLAMing on 137.52241403699998 meters Centerline goodness [0,1] 0.7210349863222196 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.15, Z:-0.45 [[ 9.98479900e-01 -5.34964352e-02 -1.32672760e-02 1.55834479e+00] [ 5.35178200e-02 9.98566097e-01 1.26183352e-03 -1.48081695e-01] [ 1.31807485e-02 -1.96995110e-03 9.99911190e-01 -4.54312533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55241403699998 meters Centerline goodness [0,1] 0.683644130452641 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.14, Z:-0.46 [[ 9.98437720e-01 -5.42929969e-02 -1.32056652e-02 1.55887499e+00] [ 5.42969375e-02 9.98524831e-01 -6.02128471e-05 -1.43834855e-01] [ 1.31894538e-02 -6.56908402e-04 9.99912800e-01 -4.55134103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58241403699998 meters Centerline goodness [0,1] 0.6715927075411587 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.14, Z:-0.46 [[ 9.98392083e-01 -5.51537996e-02 -1.30884464e-02 1.55892558e+00] [ 5.51379419e-02 9.98477513e-01 -1.56962694e-03 -1.39175005e-01] [ 1.31550903e-02 8.45433107e-04 9.99913111e-01 -4.55481562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61241403699998 meters Centerline goodness [0,1] 0.6853077840371726 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.13, Z:-0.46 [[ 9.98458231e-01 -5.55055848e-02 -5.40115018e-04 1.55903314e+00] [ 5.55025991e-02 9.98448373e-01 -4.50634853e-03 -1.27257737e-01] [ 7.89404472e-04 4.46942300e-03 9.99989700e-01 -4.56912126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64241403699998 meters Centerline goodness [0,1] 0.6868383110195675 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.12, Z:-0.45 [[ 9.98723145e-01 -5.05172779e-02 -2.90369736e-04 1.55600712e+00] [ 5.05169238e-02 9.98722578e-01 -1.11933226e-03 -1.17304701e-01] [ 3.46544430e-04 1.10323445e-03 9.99999331e-01 -4.54370364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67241403699998 meters Centerline goodness [0,1] 0.6915086562242374 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.11, Z:-0.45 [[ 9.98885877e-01 -4.71872974e-02 -6.02333405e-04 1.55626491e+00] [ 4.71879843e-02 9.98885327e-01 1.18227756e-03 -1.12280584e-01] [ 5.45873517e-04 -1.20938326e-03 9.99999120e-01 -4.54435037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70241403699998 meters Centerline goodness [0,1] 0.6999132876372947 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.11, Z:-0.46 [[ 9.99047887e-01 -4.36185909e-02 -8.58982646e-04 1.55684329e+00] [ 4.36215885e-02 9.99040702e-01 3.85130685e-03 -1.07511160e-01] [ 6.90170048e-04 -3.88511016e-03 9.99992215e-01 -4.55078677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73241403699998 meters Centerline goodness [0,1] 0.7609763172616704 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.10, Z:-0.46 [[ 9.99189216e-01 -4.02480249e-02 -1.00312299e-03 1.55711127e+00] [ 4.02535107e-02 9.99170058e-01 6.23296868e-03 -1.02486072e-01] [ 7.51425782e-04 -6.26829432e-03 9.99980072e-01 -4.55583322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76241403699999 meters Centerline goodness [0,1] 0.7152216278973338 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.10, Z:-0.46 [[ 9.99323311e-01 -3.67601058e-02 -1.27105938e-03 1.55815282e+00] [ 3.67698907e-02 9.99285004e-01 8.80089664e-03 -9.74176239e-02] [ 9.46628684e-04 -8.84167788e-03 9.99960464e-01 -4.56730340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.792414037 meters Centerline goodness [0,1] 0.7308051366097545 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.09, Z:-0.46 [[ 9.99524502e-01 -3.07972876e-02 -1.51561298e-03 1.55932285e+00] [ 3.08142106e-02 9.99442938e-01 1.28179043e-02 -8.74615643e-02] [ 1.12001201e-03 -1.28585118e-02 9.99916699e-01 -4.58120451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.822414037 meters Centerline goodness [0,1] 0.7385552944112814 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.08, Z:-0.46 [[ 9.99543681e-01 -3.01630708e-02 -1.61809332e-03 1.56010300e+00] [ 3.01808731e-02 9.99467269e-01 1.24214490e-02 -8.28791736e-02] [ 1.24256227e-03 -1.24646163e-02 9.99921542e-01 -4.58766459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.852414037 meters Centerline goodness [0,1] 0.7801008921871091 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.08, Z:-0.46 [[ 9.99531074e-01 -3.05832621e-02 -1.51538658e-03 1.55924892e+00] [ 3.05978025e-02 9.99474061e-01 1.07413454e-02 -7.58853695e-02] [ 1.18608420e-03 -1.07826760e-02 9.99941162e-01 -4.57855367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.882414037 meters Centerline goodness [0,1] 0.7728499647024625 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.07, Z:-0.46 [[ 9.99513969e-01 -3.11352805e-02 -1.55539850e-03 1.55897105e+00] [ 3.11489955e-02 9.99467201e-01 9.74957902e-03 -7.31220933e-02] [ 1.25101391e-03 -9.79328952e-03 9.99951262e-01 -4.57348686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.912414037 meters Centerline goodness [0,1] 0.7508925775133104 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.07, Z:-0.46 [[ 9.99467544e-01 -3.25929245e-02 -1.52643998e-03 1.55814877e+00] [ 3.26037077e-02 9.99438913e-01 7.67188548e-03 -6.73117572e-02] [ 1.27553433e-03 -7.71756814e-03 9.99969406e-01 -4.56406659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.942414037 meters Centerline goodness [0,1] 0.7547236778921436 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.06, Z:-0.46 [[ 0.99946267 -0.03272487 -0.00185857 1.55955978] [ 0.03273752 0.99943774 0.00724337 -0.06485285] [ 0.00162048 -0.00730032 0.99997204 -0.45744593] [ 0. 0. 0. 1. ]] SLAMing on 137.972414037 meters Centerline goodness [0,1] 0.7472311203232628 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.06, Z:-0.46 [[ 0.99946866 -0.03250985 -0.00234773 1.56192438] [ 0.03252578 0.99944567 0.0071013 -0.06250794] [ 0.00211557 -0.00717389 0.99997203 -0.45938227] [ 0. 0. 0. 1. ]] SLAMing on 138.002414037 meters Centerline goodness [0,1] 0.7343049796875654 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.06, Z:-0.46 [[ 0.9994836 -0.03201576 -0.00274283 1.56435052] [ 0.03203492 0.99946043 0.00725372 -0.06056686] [ 0.00250911 -0.00733784 0.99996993 -0.46161148] [ 0. 0. 0. 1. ]] SLAMing on 138.032414037 meters Centerline goodness [0,1] 0.7460890746068076 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.05, Z:-0.46 [[ 0.99956782 -0.02927274 -0.00269885 1.56564879] [ 0.0292955 0.99953186 0.00882192 -0.05481265] [ 0.00243934 -0.00889718 0.99995744 -0.46347555] [ 0. 0. 0. 1. ]] SLAMing on 138.062414037 meters Centerline goodness [0,1] 0.767296389588581 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.05, Z:-0.46 [[ 0.99966031 -0.02592725 -0.0026535 1.56512091] [ 0.02595617 0.99959672 0.01151806 -0.05148077] [ 0.0023538 -0.01158302 0.99993014 -0.46322543] [ 0. 0. 0. 1. ]] SLAMing on 138.092414037 meters Centerline goodness [0,1] 0.773561863050619 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.04, Z:-0.46 [[ 0.99981954 -0.01878654 -0.00282185 1.56415835] [ 0.01883055 0.99968695 0.01647447 -0.04353453] [ 0.00251147 -0.01652463 0.9998603 -0.46150755] [ 0. 0. 0. 1. ]] SLAMing on 138.122414037 meters Centerline goodness [0,1] 0.7860015581899729 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.04, Z:-0.46 [[ 0.99987947 -0.01524339 -0.00294673 1.56387683] [ 0.01529755 0.9996962 0.01932574 -0.04080575] [ 0.00265125 -0.01936849 0.9998089 -0.46098137] [ 0. 0. 0. 1. ]] SLAMing on 138.152414037 meters Centerline goodness [0,1] 0.7894959225926396 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.03, Z:-0.46 [[ 0.99992648 -0.01174124 -0.00303006 1.56324936] [ 0.01180273 0.99970676 0.02114473 -0.03492395] [ 0.0027809 -0.02117893 0.99977183 -0.45968378] [ 0. 0. 0. 1. ]] SLAMing on 138.182414037 meters Centerline goodness [0,1] 0.7889636494435276 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.03, Z:-0.46 [[ 0.99992608 -0.01174518 -0.00314429 1.56323489] [ 0.01180611 0.99972792 0.020117 -0.03160746] [ 0.00290716 -0.02015264 0.99979269 -0.45906737] [ 0. 0. 0. 1. ]] SLAMing on 138.212414037 meters Centerline goodness [0,1] 0.7923184239452101 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.03, Z:-0.46 [[ 0.99992449 -0.01184722 -0.00326365 1.56281738] [ 0.01190737 0.99974723 0.01907044 -0.02881761] [ 0.00303689 -0.01910786 0.99981282 -0.4578865 ] [ 0. 0. 0. 1. ]] SLAMing on 138.242414037 meters Centerline goodness [0,1] 0.791349568746829 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.03, Z:-0.46 [[ 0.99992234 -0.01198946 -0.00339979 1.56224716] [ 0.01204898 0.9997642 0.01806575 -0.02646929] [ 0.00318239 -0.01810531 0.99983102 -0.45650525] [ 0. 0. 0. 1. ]] SLAMing on 138.27241403699998 meters Centerline goodness [0,1] 0.791349568746829 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.03, Z:-0.46 [[ 0.99992234 -0.01198946 -0.00339979 1.56224716] [ 0.01204898 0.9997642 0.01806575 -0.02646929] [ 0.00318239 -0.01810531 0.99983102 -0.45650525] [ 0. 0. 0. 1. ]] SLAMing on 138.30241403699998 meters Centerline goodness [0,1] 0.7929690808979246 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.03, Z:-0.45 [[ 0.99995744 -0.00852369 -0.0035296 1.56113168] [ 0.00859614 0.99974152 0.02104763 -0.0257668 ] [ 0.00334929 -0.02107708 0.99977224 -0.45470929] [ 0. 0. 0. 1. ]] SLAMing on 138.33241403699998 meters Centerline goodness [0,1] 0.7961463455994573 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.03, Z:-0.45 [[ 0.9999593 -0.00814425 -0.00388276 1.56210177] [ 0.00822448 0.99974319 0.02111673 -0.02557361] [ 0.00370979 -0.02114781 0.99976948 -0.45495309] [ 0. 0. 0. 1. ]] SLAMing on 138.36241403699998 meters Centerline goodness [0,1] 0.795659652177606 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.03, Z:-0.46 [[ 0.9999608 -0.00780026 -0.0041903 1.56323495] [ 0.00788809 0.99974052 0.02137001 -0.02591322] [ 0.00402253 -0.02140222 0.99976285 -0.45559286] [ 0. 0. 0. 1. ]] SLAMing on 138.39241403699998 meters Centerline goodness [0,1] 0.7993380574532185 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.03, Z:-0.46 [[ 0.99996563 -0.00701297 -0.00442207 1.564648 ] [ 0.00710922 0.99972962 0.02213944 -0.02709339] [ 0.00426561 -0.02217012 0.99974511 -0.45674156] [ 0. 0. 0. 1. ]] SLAMing on 138.42241403699998 meters Centerline goodness [0,1] 0.8014890961778455 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.03, Z:-0.46 [[ 0.99996753 -0.0065704 -0.00466522 1.56561232] [ 0.00667391 0.99972392 0.02252884 -0.02774567] [ 0.00451591 -0.02255925 0.99973531 -0.4573239 ] [ 0. 0. 0. 1. ]] SLAMing on 138.45241403699998 meters Centerline goodness [0,1] 0.8011464590912937 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.03, Z:-0.46 [[ 9.99987946e-01 -1.56370866e-03 -4.65438730e-03 1.56636330e+00] [ 1.69211129e-03 9.99614501e-01 2.77125712e-02 -3.06384792e-02] [ 4.60925865e-03 -2.77201129e-02 9.99605097e-01 -4.58352933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48241403699998 meters Centerline goodness [0,1] 0.8036476849611881 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.03, Z:-0.46 [[ 9.99988591e-01 -5.97520145e-04 -4.73921703e-03 1.56688775e+00] [ 7.29744381e-04 9.99609125e-01 2.79475417e-02 -3.02703128e-02] [ 4.72066537e-03 -2.79506813e-02 9.99598157e-01 -4.58425339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51241403699999 meters Centerline goodness [0,1] 0.8052175380137925 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.03, Z:-0.46 [[ 9.99988267e-01 6.45483763e-04 -4.80092496e-03 1.56724237e+00] [-5.07766016e-04 9.99589898e-01 2.86317722e-02 -3.06573364e-02] [ 4.81743744e-03 -2.86289986e-02 9.99578498e-01 -4.58324299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.542414037 meters Centerline goodness [0,1] 0.8064971156680281 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.03, Z:-0.46 [[ 0.9999762 0.00515622 -0.00458333 1.56525008] [-0.0050015 0.99943789 0.03314955 -0.03411877] [ 0.00475168 -0.03312583 0.99943989 -0.45593361] [ 0. 0. 0. 1. ]] SLAMing on 138.572414037 meters Centerline goodness [0,1] 0.8081428361128051 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.04, Z:-0.45 [[ 0.9999714 0.00575852 -0.00490364 1.56526722] [-0.00559043 0.99941877 0.03362826 -0.0357629 ] [ 0.00509444 -0.03359989 0.99942238 -0.45490529] [ 0. 0. 0. 1. ]] SLAMing on 138.602414037 meters Centerline goodness [0,1] 0.8083138444683227 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.04, Z:-0.45 [[ 0.99996574 0.00648282 -0.00514699 1.56554101] [-0.00630112 0.99938257 0.03456538 -0.03872651] [ 0.00536789 -0.03453177 0.99938918 -0.45444575] [ 0. 0. 0. 1. ]] SLAMing on 138.632414037 meters Centerline goodness [0,1] 0.8124290936593974 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.05, Z:-0.45 [[ 0.99995832 0.00739589 -0.00535376 1.56539519] [-0.00719703 0.99931661 0.03625626 -0.04574658] [ 0.00561825 -0.03621622 0.99932818 -0.45336169] [ 0. 0. 0. 1. ]] SLAMing on 138.662414037 meters Centerline goodness [0,1] 0.813759162303665 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.05, Z:-0.45 [[ 0.99997249 0.00468716 -0.00574914 1.56654334] [-0.00449286 0.99943344 0.03335572 -0.04736609] [ 0.00590223 -0.03332897 0.99942701 -0.45346418] [ 0. 0. 0. 1. ]] SLAMing on 138.692414037 meters Centerline goodness [0,1] 0.8146133490149956 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.05, Z:-0.45 [[ 0.99997941 0.00212177 -0.00605625 1.56800721] [-0.00193311 0.99951787 0.03098859 -0.0502543 ] [ 0.00611908 -0.03097624 0.99950139 -0.45429048] [ 0. 0. 0. 1. ]] SLAMing on 138.722414037 meters Centerline goodness [0,1] 0.8110316863138534 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.06, Z:-0.46 [[ 0.99997231 -0.00293182 -0.0068399 1.57237707] [ 0.00311699 0.9996246 0.02722011 -0.05990368] [ 0.00675753 -0.02724068 0.99960606 -0.45760262] [ 0. 0. 0. 1. ]] SLAMing on 138.752414037 meters Centerline goodness [0,1] 0.8145847711065102 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.06, Z:-0.46 [[ 0.9999576 -0.00586181 -0.00710239 1.57392358] [ 0.00603706 0.99967146 0.02491029 -0.06393877] [ 0.00695404 -0.02495211 0.99966446 -0.45877365] [ 0. 0. 0. 1. ]] SLAMing on 138.782414037 meters Centerline goodness [0,1] 0.8112512487512488 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.07, Z:-0.46 [[ 0.99993807 -0.00849813 -0.00718534 1.57415556] [ 0.00866627 0.99968151 0.02370183 -0.07187876] [ 0.00698163 -0.02376264 0.99969325 -0.45859653] [ 0. 0. 0. 1. ]] SLAMing on 138.812414037 meters Centerline goodness [0,1] 0.8117588316065409 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.07, Z:-0.46 [[ 0.99990533 -0.01159909 -0.00740209 1.57473482] [ 0.01175178 0.9997119 0.02092852 -0.07483108] [ 0.0071572 -0.02101353 0.99975357 -0.45843819] [ 0. 0. 0. 1. ]] SLAMing on 138.842414037 meters Centerline goodness [0,1] 0.8110042868439672 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.08, Z:-0.46 [[ 0.99986557 -0.01449594 -0.0076624 1.57573921] [ 0.01463535 0.99972243 0.01846269 -0.07849816] [ 0.00739264 -0.01857235 0.99980019 -0.45871605] [ 0. 0. 0. 1. ]] SLAMing on 138.872414037 meters Centerline goodness [0,1] 0.8109175570614893 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.08, Z:-0.46 [[ 0.99981746 -0.01734561 -0.00801127 1.57700722] [ 0.01747413 0.99971508 0.01626096 -0.08278873] [ 0.00772693 -0.01639798 0.99983569 -0.45914688] [ 0. 0. 0. 1. ]] SLAMing on 138.902414037 meters Centerline goodness [0,1] 0.807455220937714 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.09, Z:-0.46 [[ 0.99975972 -0.02030458 -0.00826002 1.57811492] [ 0.0204193 0.99969278 0.01405018 -0.08743099] [ 0.0079722 -0.01421547 0.99986717 -0.45961098] [ 0. 0. 0. 1. ]] SLAMing on 138.932414037 meters Centerline goodness [0,1] 0.8086760540082294 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.10, Z:-0.46 [[ 0.99962323 -0.02612727 -0.00841192 1.5788635 ] [ 0.02621138 0.99960591 0.01004882 -0.0962888 ] [ 0.00814606 -0.01026552 0.99991413 -0.4597379 ] [ 0. 0. 0. 1. ]] SLAMing on 138.962414037 meters Centerline goodness [0,1] 0.8065810427912556 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.10, Z:-0.46 [[ 0.99952893 -0.02951834 -0.00840151 1.57895614] [ 0.02958196 0.99953383 0.00755137 -0.10026498] [ 0.00817469 -0.00779635 0.99993619 -0.45946787] [ 0. 0. 0. 1. ]] SLAMing on 138.99241403699997 meters Centerline goodness [0,1] 0.8032982890125747 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.11, Z:-0.46 [[ 0.99931693 -0.03602749 -0.00822712 1.57775367] [ 0.03605589 0.99934423 0.00333017 -0.10998498] [ 0.00810175 -0.00362454 0.99996061 -0.45761758] [ 0. 0. 0. 1. ]] SLAMing on 139.02241403699998 meters Centerline goodness [0,1] 0.8045939091527661 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.11, Z:-0.46 [[ 9.99198980e-01 -3.91459699e-02 -8.30610671e-03 1.57847697e+00] [ 3.91574699e-02 9.99232300e-01 1.22638515e-03 -1.14976161e-01] [ 8.25172207e-03 -1.55064891e-03 9.99964752e-01 -4.57902009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05241403699998 meters Centerline goodness [0,1] 0.8025106154924352 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.12, Z:-0.46 [[ 9.99074774e-01 -4.21865065e-02 -8.36032704e-03 1.57939299e+00] [ 4.21798643e-02 9.99109563e-01 -9.69309003e-04 -1.19296770e-01] [ 8.39377446e-03 6.15774714e-04 9.99964582e-01 -4.58467084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08241403699998 meters Centerline goodness [0,1] 0.806046482852488 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.13, Z:-0.46 [[ 9.98958905e-01 -4.48060623e-02 -8.57460330e-03 1.58127761e+00] [ 4.47933232e-02 9.98994876e-01 -1.67208713e-03 -1.27329647e-01] [ 8.64090440e-03 1.28626135e-03 9.99961839e-01 -4.60094940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11241403699998 meters Centerline goodness [0,1] 0.8069290625385978 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.13, Z:-0.46 [[ 9.98995761e-01 -4.39299998e-02 -8.81053427e-03 1.58265784e+00] [ 4.39332038e-02 9.99034456e-01 1.70355835e-04 -1.31638240e-01] [ 8.79454358e-03 -5.57259754e-04 9.99961172e-01 -4.61366140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14241403699998 meters Centerline goodness [0,1] 0.8038236022792964 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.14, Z:-0.46 [[ 0.99903394 -0.04304889 -0.00883045 1.58395963] [ 0.0430736 0.99906845 0.00262791 -0.13818919] [ 0.00870909 -0.00300573 0.99995756 -0.46315436] [ 0. 0. 0. 1. ]] SLAMing on 139.17241403699998 meters Centerline goodness [0,1] 0.8034286656226819 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.14, Z:-0.46 [[ 0.99905373 -0.04258683 -0.00883184 1.58404118] [ 0.04262123 0.99908428 0.00374492 -0.14121118] [ 0.00866427 -0.0041178 0.99995399 -0.46321993] [ 0. 0. 0. 1. ]] SLAMing on 139.20241403699998 meters Centerline goodness [0,1] 0.8062601743287519 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.14, Z:-0.46 [[ 0.99906076 -0.04244327 -0.00872725 1.58333775] [ 0.04248301 0.99908741 0.00441954 -0.14353816] [ 0.0085317 -0.00478614 0.99995215 -0.46252157] [ 0. 0. 0. 1. ]] SLAMing on 139.23241403699998 meters Centerline goodness [0,1] 0.8045269184825143 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.15, Z:-0.46 [[ 0.99907079 -0.04222037 -0.00865965 1.58272159] [ 0.04226653 0.99909274 0.00521861 -0.14588026] [ 0.00843146 -0.00557977 0.99994889 -0.4617956 ] [ 0. 0. 0. 1. ]] SLAMing on 139.26241403699999 meters Centerline goodness [0,1] 0.8031736218444101 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.15, Z:-0.46 [[ 0.99905731 -0.04251728 -0.00876162 1.58293218] [ 0.04257167 0.99907468 0.00611864 -0.15005493] [ 0.00849336 -0.00648587 0.9999429 -0.46181963] [ 0. 0. 0. 1. ]] SLAMing on 139.292414037 meters Centerline goodness [0,1] 0.8033817919373132 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.15, Z:-0.46 [[ 0.99906052 -0.04243342 -0.00880228 1.58360972] [ 0.04249537 0.99907232 0.0069745 -0.15294308] [ 0.00849816 -0.007342 0.99993694 -0.46258514] [ 0. 0. 0. 1. ]] SLAMing on 139.322414037 meters Centerline goodness [0,1] 0.8011979992178012 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.16, Z:-0.46 [[ 0.99906486 -0.04233866 -0.00876627 1.58429355] [ 0.04240747 0.99906981 0.00781827 -0.15596529] [ 0.0084271 -0.00818271 0.99993101 -0.46353168] [ 0. 0. 0. 1. ]] SLAMing on 139.352414037 meters Centerline goodness [0,1] 0.8036115520191297 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.16, Z:-0.46 [[ 0.99906947 -0.04225028 -0.00866611 1.58445675] [ 0.04232348 0.99906827 0.0084447 -0.15807806] [ 0.00830125 -0.00880362 0.99992679 -0.46393386] [ 0. 0. 0. 1. ]] SLAMing on 139.382414037 meters Centerline goodness [0,1] 0.8050800321364564 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.16, Z:-0.46 [[ 0.99908841 -0.04175738 -0.00886934 1.58523521] [ 0.04183451 0.9990867 0.00869658 -0.15719394] [ 0.00849809 -0.0090597 0.99992285 -0.46441299] [ 0. 0. 0. 1. ]] SLAMing on 139.412414037 meters Centerline goodness [0,1] 0.8069875648521783 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.16, Z:-0.47 [[ 0.99926398 -0.03724332 -0.00918827 1.58652699] [ 0.03735942 0.99921984 0.01280552 -0.156545 ] [ 0.00870418 -0.01313936 0.99987579 -0.46572218] [ 0. 0. 0. 1. ]] SLAMing on 139.442414037 meters Centerline goodness [0,1] 0.8053120904325033 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.16, Z:-0.47 [[ 0.99931284 -0.03579385 -0.00962512 1.58867621] [ 0.03592246 0.99926288 0.0135379 -0.15580328] [ 0.00913345 -0.01387435 0.99986203 -0.46733479] [ 0. 0. 0. 1. ]] SLAMing on 139.472414037 meters Centerline goodness [0,1] 0.806253087436193 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.16, Z:-0.47 [[ 0.99944244 -0.0319622 -0.00965489 1.58824368] [ 0.03212622 0.9993334 0.01733973 -0.15628513] [ 0.00909423 -0.01764024 0.99980304 -0.46707957] [ 0. 0. 0. 1. ]] SLAMing on 139.502414037 meters Centerline goodness [0,1] 0.8063289838693106 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.15, Z:-0.47 [[ 0.99946593 -0.03123569 -0.00960146 1.58778377] [ 0.03139759 0.99935895 0.01720103 -0.15479915] [ 0.00905802 -0.01749331 0.99980595 -0.46643037] [ 0. 0. 0. 1. ]] SLAMing on 139.532414037 meters Centerline goodness [0,1] 0.8048634970271772 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.15, Z:-0.46 [[ 0.99956894 -0.02785568 -0.00927385 1.58461995] [ 0.02803579 0.99940896 0.01989272 -0.15367202] [ 0.00871424 -0.02014415 0.99975911 -0.46317028] [ 0. 0. 0. 1. ]] SLAMing on 139.562414037 meters Centerline goodness [0,1] 0.8063430845607844 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.15, Z:-0.46 [[ 0.99957015 -0.02776691 -0.00940825 1.58412844] [ 0.02794547 0.99942096 0.01941112 -0.15214785] [ 0.00886382 -0.01966569 0.99976732 -0.46208994] [ 0. 0. 0. 1. ]] SLAMing on 139.592414037 meters Centerline goodness [0,1] 0.8052196446199408 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.15, Z:-0.46 [[ 0.99956853 -0.02780774 -0.00945994 1.58366713] [ 0.02798444 0.99942606 0.01908979 -0.15121737] [ 0.00892366 -0.01934629 0.99977302 -0.46131914] [ 0. 0. 0. 1. ]] SLAMing on 139.622414037 meters Centerline goodness [0,1] 0.806669680282732 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.15, Z:-0.46 [[ 0.99956343 -0.02791545 -0.00967883 1.58397387] [ 0.02809748 0.99942055 0.01921167 -0.15228913] [ 0.00913692 -0.01947524 0.99976859 -0.46112077] [ 0. 0. 0. 1. ]] SLAMing on 139.652414037 meters Centerline goodness [0,1] 0.8045551718467358 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.15, Z:-0.46 [[ 0.99956029 -0.02799648 -0.00976856 1.58467863] [ 0.02818411 0.99940999 0.01962961 -0.15412937] [ 0.00921323 -0.0198963 0.9997596 -0.46187296] [ 0. 0. 0. 1. ]] SLAMing on 139.682414037 meters Centerline goodness [0,1] 0.8015814335592524 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.16, Z:-0.46 [[ 0.99945088 -0.03172358 -0.00956874 1.58553063] [ 0.03188056 0.99935174 0.01672511 -0.15727782] [ 0.00903196 -0.01702098 0.99981434 -0.46311784] [ 0. 0. 0. 1. ]] SLAMing on 139.712414037 meters Centerline goodness [0,1] 0.8005919957244754 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.16, Z:-0.46 [[ 0.99932979 -0.03536224 -0.0094591 1.58589484] [ 0.03548715 0.99928055 0.01338073 -0.15862298] [ 0.00897912 -0.01370744 0.99986573 -0.46343715] [ 0. 0. 0. 1. ]] SLAMing on 139.74241403699997 meters Centerline goodness [0,1] 0.7981889277629142 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.16, Z:-0.46 [[ 0.99919472 -0.03900948 -0.0093905 1.5861046 ] [ 0.03910373 0.9991844 0.01007128 -0.16008221] [ 0.00898997 -0.01043038 0.99990519 -0.46338849] [ 0. 0. 0. 1. ]] SLAMing on 139.77241403699998 meters Centerline goodness [0,1] 0.7974034497610599 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.16, Z:-0.46 [[ 0.99902946 -0.0430403 -0.00936334 1.58660605] [ 0.04310809 0.99904474 0.00716291 -0.16307353] [ 0.0090461 -0.00755959 0.99993051 -0.46366102] [ 0. 0. 0. 1. ]] SLAMing on 139.80241403699998 meters Centerline goodness [0,1] 0.7956863228883955 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.46 [[ 0.99902635 -0.04311203 -0.00936501 1.5871336 ] [ 0.04318593 0.99903631 0.00783725 -0.16526775] [ 0.0090181 -0.00823406 0.99992543 -0.46433848] [ 0. 0. 0. 1. ]] SLAMing on 139.83241403699998 meters Centerline goodness [0,1] 0.7970141867370505 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.47 [[ 0.99902981 -0.04302675 -0.00938839 1.58791778] [ 0.04310753 0.99903361 0.00857819 -0.16743716] [ 0.00901022 -0.00897458 0.99991913 -0.46529421] [ 0. 0. 0. 1. ]] SLAMing on 139.86241403699998 meters Centerline goodness [0,1] 0.7971038375182813 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.47 [[ 0.99903583 -0.04284862 -0.00956039 1.58930889] [ 0.04293882 0.99903312 0.0094386 -0.16984301] [ 0.00914671 -0.00984001 0.99990975 -0.46668881] [ 0. 0. 0. 1. ]] SLAMing on 139.89241403699998 meters Centerline goodness [0,1] 0.7984968598785134 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.47 [[ 0.99903935 -0.04274766 -0.00964441 1.58940211] [ 0.0428397 0.99903634 0.00954736 -0.16984543] [ 0.00922699 -0.00995136 0.99990791 -0.46655766] [ 0. 0. 0. 1. ]] SLAMing on 139.92241403699998 meters Centerline goodness [0,1] 0.7992758542656709 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.47 [[ 0.99904289 -0.04265207 -0.00970053 1.58922959] [ 0.04274136 0.99904389 0.00919179 -0.16780284] [ 0.00929921 -0.00959761 0.9999107 -0.46615251] [ 0. 0. 0. 1. ]] SLAMing on 139.95241403699998 meters Centerline goodness [0,1] 0.7997651566652246 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.47 [[ 0.9990481 -0.04249486 -0.00985296 1.58982737] [ 0.0425842 0.99905197 0.00904117 -0.16669413] [ 0.00945941 -0.00945214 0.99991058 -0.4665475 ] [ 0. 0. 0. 1. ]] SLAMing on 139.98241403699998 meters Centerline goodness [0,1] 0.7982601148902757 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.47 [[ 0.99905304 -0.04234012 -0.01001669 1.59046289] [ 0.0424309 0.99905859 0.00903054 -0.16639034] [ 0.00962491 -0.009447 0.99990905 -0.46696739] [ 0. 0. 0. 1. ]] SLAMing on 140.01241403699999 meters Centerline goodness [0,1] 0.7975573649148778 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.47 [[ 0.99904673 -0.04250139 -0.00996295 1.59032212] [ 0.04258958 0.99905377 0.00881398 -0.16726847] [ 0.00957892 -0.0092299 0.99991152 -0.46683171] [ 0. 0. 0. 1. ]] SLAMing on 140.042414037 meters Centerline goodness [0,1] 0.7950929337422555 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.47 [[ 0.99904221 -0.04261242 -0.00994238 1.58995725] [ 0.04269778 0.99905156 0.00853724 -0.16656876] [ 0.00956916 -0.00895358 0.99991413 -0.46640021] [ 0. 0. 0. 1. ]] SLAMing on 140.072414037 meters Centerline goodness [0,1] 0.7974462310317885 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.16, Z:-0.47 [[ 0.99917043 -0.03949544 -0.00992758 1.58946904] [ 0.03961053 0.99914696 0.01167702 -0.16498674] [ 0.00945793 -0.01206057 0.99988254 -0.46627616] [ 0. 0. 0. 1. ]] SLAMing on 140.102414037 meters Centerline goodness [0,1] 0.7993053271950017 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.16, Z:-0.47 [[ 0.99917876 -0.03924519 -0.01008029 1.59022038] [ 0.03936217 0.99915673 0.01168111 -0.16369802] [ 0.00961336 -0.0120683 0.99988096 -0.4669095 ] [ 0. 0. 0. 1. ]] SLAMing on 140.132414037 meters Centerline goodness [0,1] 0.7969887695915093 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.16, Z:-0.47 [[ 0.99918464 -0.03908041 -0.01013783 1.59067075] [ 0.03919972 0.99916113 0.01185022 -0.16344345] [ 0.00966621 -0.01223796 0.99987839 -0.46734658] [ 0. 0. 0. 1. ]] SLAMing on 140.162414037 meters Centerline goodness [0,1] 0.7943256578947369 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.47 [[ 0.99915587 -0.03986194 -0.00992841 1.58934958] [ 0.03997639 0.9991332 0.01160786 -0.16553026] [ 0.00945709 -0.01199496 0.99988334 -0.46606618] [ 0. 0. 0. 1. ]] SLAMing on 140.192414037 meters Centerline goodness [0,1] 0.7943256578947369 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.47 [[ 0.99915587 -0.03986194 -0.00992841 1.58934958] [ 0.03997639 0.9991332 0.01160786 -0.16553026] [ 0.00945709 -0.01199496 0.99988334 -0.46606618] [ 0. 0. 0. 1. ]] SLAMing on 140.222414037 meters Centerline goodness [0,1] 0.7954002635480152 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.47 [[ 0.9991484 -0.04007543 -0.00982029 1.58899328] [ 0.04019083 0.99912176 0.01184957 -0.16734959] [ 0.00933679 -0.01223417 0.99988157 -0.46576264] [ 0. 0. 0. 1. ]] SLAMing on 140.252414037 meters Centerline goodness [0,1] 0.7936788459167318 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.47 [[ 0.99914005 -0.0403027 -0.00973971 1.58925699] [ 0.04041943 0.99910953 0.01210053 -0.16861642] [ 0.00924335 -0.0124838 0.99987935 -0.46624155] [ 0. 0. 0. 1. ]] SLAMing on 140.282414037 meters Centerline goodness [0,1] 0.7920018102898521 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.47 [[ 0.99913025 -0.04055679 -0.00968979 1.58972338] [ 0.04067409 0.99909759 0.01223173 -0.1689724 ] [ 0.00918496 -0.01261522 0.99987824 -0.46699966] [ 0. 0. 0. 1. ]] SLAMing on 140.312414037 meters Centerline goodness [0,1] 0.7935297753966619 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.47 [[ 0.99910947 -0.04111325 -0.00948463 1.5894477 ] [ 0.04122711 0.99907606 0.01213874 -0.16914757] [ 0.00897681 -0.01251895 0.99988134 -0.46714026] [ 0. 0. 0. 1. ]] SLAMing on 140.342414037 meters Centerline goodness [0,1] 0.791594667983214 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.47 [[ 0.99910517 -0.04124759 -0.00935352 1.5886337 ] [ 0.04135751 0.99907379 0.01187946 -0.16868439] [ 0.00885486 -0.01225567 0.99988569 -0.46630702] [ 0. 0. 0. 1. ]] SLAMing on 140.372414037 meters Centerline goodness [0,1] 0.7930006986971354 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.46 [[ 0.99917728 -0.03951337 -0.00913524 1.58515694] [ 0.03963053 0.99912957 0.01302029 -0.16699188] [ 0.00861281 -0.01337161 0.9998735 -0.46250513] [ 0. 0. 0. 1. ]] SLAMing on 140.402414037 meters Centerline goodness [0,1] 0.7933414118178644 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.46 [[ 0.99919833 -0.03890011 -0.00945928 1.5860679 ] [ 0.03902131 0.99915401 0.01298455 -0.16592834] [ 0.00894618 -0.01334325 0.99987095 -0.46283821] [ 0. 0. 0. 1. ]] SLAMing on 140.432414037 meters Centerline goodness [0,1] 0.7965529312439512 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.16, Z:-0.47 [[ 0.99939943 -0.03294696 -0.01073676 1.58597932] [ 0.03302316 0.99943008 0.00699882 -0.16349695] [ 0.01050005 -0.00734918 0.99991787 -0.47088036] [ 0. 0. 0. 1. ]] SLAMing on 140.462414037 meters Centerline goodness [0,1] 0.7961907896090006 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.16, Z:-0.47 [[ 0.99947726 -0.03042468 -0.01093348 1.58850394] [ 0.0305263 0.99949115 0.00925084 -0.16239342] [ 0.01064646 -0.00957976 0.99989744 -0.47368246] [ 0. 0. 0. 1. ]] SLAMing on 140.49241403699997 meters Centerline goodness [0,1] 0.7977546606241631 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.16, Z:-0.47 [[ 0.99953298 -0.02845149 -0.0111502 1.58989729] [ 0.02857185 0.99953352 0.01078842 -0.16072772] [ 0.01083805 -0.01110197 0.99987963 -0.47496995] [ 0. 0. 0. 1. ]] SLAMing on 140.52241403699998 meters Centerline goodness [0,1] 0.7983965464076472 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.16, Z:-0.47 [[ 0.99955361 -0.02777458 -0.01100731 1.58927142] [ 0.02788935 0.99955677 0.01041369 -0.15826496] [ 0.0107132 -0.01071603 0.99988519 -0.47428976] [ 0. 0. 0. 1. ]] SLAMing on 140.55241403699998 meters Centerline goodness [0,1] 0.7985007002224236 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.16, Z:-0.47 [[ 0.99963382 -0.02477656 -0.01087902 1.58690112] [ 0.024919 0.99960287 0.01315877 -0.15807412] [ 0.01054867 -0.01342504 0.99985424 -0.47182323] [ 0. 0. 0. 1. ]] SLAMing on 140.58241403699998 meters Centerline goodness [0,1] 0.7990829083730877 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.16, Z:-0.47 [[ 0.99972684 -0.02063681 -0.01097117 1.58401983] [ 0.02081655 0.99964667 0.01652912 -0.15819196] [ 0.01062619 -0.01675299 0.99980319 -0.46787922] [ 0. 0. 0. 1. ]] SLAMing on 140.61241403699998 meters Centerline goodness [0,1] 0.8027170215836237 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.16, Z:-0.47 [[ 0.9997421 -0.01978145 -0.01115509 1.58414792] [ 0.01996739 0.99965928 0.01681139 -0.15754651] [ 0.01081874 -0.01702979 0.99979645 -0.46748683] [ 0. 0. 0. 1. ]] SLAMing on 140.64241403699998 meters Centerline goodness [0,1] 0.8037960351606728 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.16, Z:-0.47 [[ 0.99979658 -0.01645628 -0.01166178 1.58666375] [ 0.01668552 0.99966391 0.01984088 -0.15790695] [ 0.01133135 -0.02003143 0.99973514 -0.46933908] [ 0. 0. 0. 1. ]] SLAMing on 140.67241403699998 meters Centerline goodness [0,1] 0.8025638915181694 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.16, Z:-0.47 [[ 0.99980279 -0.01589031 -0.01191171 1.5876965 ] [ 0.01613055 0.99966276 0.02035104 -0.15887721] [ 0.01158431 -0.02053917 0.99972193 -0.47002498] [ 0. 0. 0. 1. ]] SLAMing on 140.70241403699998 meters Centerline goodness [0,1] 0.8024157869827355 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.16, Z:-0.47 [[ 0.9998087 -0.01537903 -0.01208511 1.58837739] [ 0.01562987 0.99965849 0.02094289 -0.16050878] [ 0.0117589 -0.02112777 0.99970763 -0.47044199] [ 0. 0. 0. 1. ]] SLAMing on 140.73241403699998 meters Centerline goodness [0,1] 0.8049578949535712 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.16, Z:-0.47 [[ 0.99981481 -0.01489681 -0.01218357 1.58871469] [ 0.0151589 0.99964938 0.02171001 -0.16284959] [ 0.01185589 -0.02189068 0.99969007 -0.47062301] [ 0. 0. 0. 1. ]] SLAMing on 140.76241403699999 meters Centerline goodness [0,1] 0.8025920592470686 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.47 [[ 0.99977848 -0.01721456 -0.01211021 1.58936524] [ 0.01744984 0.99965565 0.01959813 -0.16633093] [ 0.01176867 -0.01980511 0.99973459 -0.47125275] [ 0. 0. 0. 1. ]] SLAMing on 140.792414037 meters Centerline goodness [0,1] 0.8035420437715979 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.47 [[ 0.99972114 -0.02025916 -0.01213326 1.58980608] [ 0.02045745 0.99965542 0.01644815 -0.16712383] [ 0.01179586 -0.01669178 0.9997911 -0.47144408] [ 0. 0. 0. 1. ]] SLAMing on 140.822414037 meters Centerline goodness [0,1] 0.8021867357214789 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.47 [[ 0.99964471 -0.02381495 -0.01197088 1.58982398] [ 0.02398386 0.99961191 0.01417046 -0.17245134] [ 0.01162877 -0.01445254 0.99982793 -0.47149535] [ 0. 0. 0. 1. ]] SLAMing on 140.852414037 meters Centerline goodness [0,1] 0.8018559288903521 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.18, Z:-0.47 [[ 0.99955585 -0.027281 -0.01199415 1.59002611] [ 0.02741717 0.99955976 0.01133928 -0.17560496] [ 0.01167952 -0.01166309 0.99986377 -0.47131961] [ 0. 0. 0. 1. ]] SLAMing on 140.882414037 meters Centerline goodness [0,1] 0.801706239079042 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.18, Z:-0.47 [[ 0.9994581 -0.03064705 -0.01201104 1.59040158] [ 0.03075367 0.9994883 0.00879464 -0.17960521] [ 0.01173537 -0.00915925 0.99988919 -0.47135358] [ 0. 0. 0. 1. ]] SLAMing on 140.912414037 meters Centerline goodness [0,1] 0.8011832860840626 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.19, Z:-0.47 [[ 0.99921256 -0.03779634 -0.01207068 1.59074656] [ 0.03784152 0.99927749 0.00353685 -0.18760091] [ 0.01192828 -0.00399084 0.99992089 -0.4707835 ] [ 0. 0. 0. 1. ]] SLAMing on 140.942414037 meters Centerline goodness [0,1] 0.8040444727594073 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.19, Z:-0.47 [[ 9.99068308e-01 -4.14439748e-02 -1.20379634e-02 1.59100989e+00] [ 4.14572226e-02 9.99139916e-01 8.52941049e-04 -1.91305237e-01] [ 1.19922604e-02 -1.35120690e-03 9.99927177e-01 -4.70743637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.972414037 meters Centerline goodness [0,1] 0.8051364168257683 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.19, Z:-0.47 [[ 9.98914145e-01 -4.50166842e-02 -1.20011922e-02 1.59133849e+00] [ 4.49965991e-02 9.98985259e-01 -1.93852394e-03 -1.94363888e-01] [ 1.20762800e-02 1.39640615e-03 9.99926104e-01 -4.70748651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.002414037 meters Centerline goodness [0,1] 0.8074172728204078 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.20, Z:-0.47 [[ 9.98888943e-01 -4.55267891e-02 -1.21734095e-02 1.59149557e+00] [ 4.55187258e-02 9.98963045e-01 -9.38761026e-04 -1.98779059e-01] [ 1.22035250e-02 3.83599917e-04 9.99925461e-01 -4.70470754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.032414037 meters Centerline goodness [0,1] 0.8102407163982912 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.20, Z:-0.47 [[ 0.99872709 -0.04893732 -0.01222056 1.59233076] [ 0.04890289 0.99879873 -0.00310066 -0.20364797] [ 0.01235762 0.00249909 0.99992052 -0.47087481] [ 0. 0. 0. 1. ]] SLAMing on 141.062414037 meters Centerline goodness [0,1] 0.8094278724585243 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.21, Z:-0.47 [[ 9.98737583e-01 -4.87006779e-02 -1.23078671e-02 1.59292951e+00] [ 4.86784678e-02 9.98812297e-01 -2.09790040e-03 -2.06413328e-01] [ 1.23954182e-02 1.49612386e-03 9.99922055e-01 -4.71412675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.092414037 meters Centerline goodness [0,1] 0.8086589880707528 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.21, Z:-0.47 [[ 9.98737597e-01 -4.87056464e-02 -1.22870671e-02 1.59320477e+00] [ 4.86920738e-02 9.98812854e-01 -1.40154878e-03 -2.08764944e-01] [ 1.23407439e-02 8.01496679e-04 9.99923529e-01 -4.71802583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.122414037 meters Centerline goodness [0,1] 0.8099326322707854 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.21, Z:-0.47 [[ 0.99852499 -0.05295151 -0.01199908 1.59268957] [ 0.0528946 0.99858752 -0.00501212 -0.21084767] [ 0.01224753 0.00437004 0.99991545 -0.47122911] [ 0. 0. 0. 1. ]] SLAMing on 141.152414037 meters Centerline goodness [0,1] 0.8104593929450369 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.21, Z:-0.47 [[ 0.99848871 -0.05363876 -0.01196578 1.5922986 ] [ 0.05358401 0.99855157 -0.00484979 -0.2128891 ] [ 0.01220858 0.00420129 0.99991665 -0.47075312] [ 0. 0. 0. 1. ]] SLAMing on 141.182414037 meters Centerline goodness [0,1] 0.8087142211818816 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.21, Z:-0.47 [[ 0.99843767 -0.05462011 -0.01178437 1.59167671] [ 0.05456502 0.99849797 -0.00494679 -0.21465522] [ 0.01203686 0.00429605 0.99991833 -0.47027759] [ 0. 0. 0. 1. ]] SLAMing on 141.212414037 meters Centerline goodness [0,1] 0.8010493738599331 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.21, Z:-0.47 [[ 0.99812868 -0.06009612 -0.01129611 1.59059303] [ 0.05998758 0.99815186 -0.00971387 -0.21378792] [ 0.011859 0.00901807 0.99988901 -0.4693302 ] [ 0. 0. 0. 1. ]] SLAMing on 141.24241403699997 meters Centerline goodness [0,1] 0.7974215798981771 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.21, Z:-0.47 [[ 0.9980635 -0.06121788 -0.01102816 1.58961938] [ 0.06110539 0.99807854 -0.01026444 -0.21362949] [ 0.01163534 0.00957068 0.9998865 -0.46859108] [ 0. 0. 0. 1. ]] SLAMing on 141.27241403699998 meters Centerline goodness [0,1] 0.7971817118946527 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.21, Z:-0.47 [[ 0.99800828 -0.0621401 -0.01086669 1.58889837] [ 0.06202422 0.99801734 -0.01069484 -0.21363487] [ 0.01150973 0.00999954 0.99988376 -0.46794839] [ 0. 0. 0. 1. ]] SLAMing on 141.30241403699998 meters Centerline goodness [0,1] 0.7867465200416982 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.21, Z:-0.47 [[ 0.99797417 -0.06269793 -0.01079452 1.58857821] [ 0.06258002 0.99798004 -0.01093549 -0.21368623] [ 0.01145835 0.01023782 0.99988194 -0.46759037] [ 0. 0. 0. 1. ]] SLAMing on 141.33241403699998 meters Centerline goodness [0,1] 0.7800536654308596 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.21, Z:-0.47 [[ 0.99791178 -0.06370372 -0.01067326 1.58812487] [ 0.06357103 0.997901 -0.0123418 -0.21062455] [ 0.01143708 0.01163752 0.99986687 -0.46711258] [ 0. 0. 0. 1. ]] SLAMing on 141.36241403699998 meters Centerline goodness [0,1] 0.7729100833093938 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.21, Z:-0.47 [[ 0.99810873 -0.06052374 -0.01076328 1.58823855] [ 0.06042788 0.99813182 -0.00901921 -0.20946063] [ 0.01128905 0.00835175 0.9999014 -0.46763559] [ 0. 0. 0. 1. ]] SLAMing on 141.39241403699998 meters Centerline goodness [0,1] 0.7719708148876865 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.21, Z:-0.47 [[ 0.99830493 -0.05717504 -0.01087545 1.58888012] [ 0.05711358 0.99835037 -0.0058802 -0.20702491] [ 0.01119371 0.0052491 0.99992357 -0.4687607 ] [ 0. 0. 0. 1. ]] SLAMing on 141.42241403699998 meters Centerline goodness [0,1] 0.7908777969018933 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.20, Z:-0.47 [[ 9.98628505e-01 -5.12004305e-02 -1.09373340e-02 1.59057493e+00] [ 5.11927795e-02 9.98688311e-01 -9.78541336e-04 -1.99199443e-01] [ 1.09730894e-02 4.17286742e-04 9.99939707e-01 -4.71593026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45241403699998 meters Centerline goodness [0,1] 0.7905905003789198 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.20, Z:-0.47 [[ 0.99879515 -0.04783491 -0.01095761 1.59065077] [ 0.0478577 0.99885249 0.00182729 -0.19576145] [ 0.01085763 -0.0023495 0.99993829 -0.47217375] [ 0. 0. 0. 1. ]] SLAMing on 141.48241403699998 meters Centerline goodness [0,1] 0.7957112691937104 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.19, Z:-0.47 [[ 0.99894485 -0.04462227 -0.01086504 1.59031937] [ 0.04467293 0.99899169 0.00446468 -0.1925456 ] [ 0.01065486 -0.00494534 0.99993101 -0.47246375] [ 0. 0. 0. 1. ]] SLAMing on 141.51241403699999 meters Centerline goodness [0,1] 0.7922802001429592 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.19, Z:-0.47 [[ 0.99907357 -0.04164999 -0.01082965 1.59011511] [ 0.0417254 0.99910575 0.00683355 -0.18906182] [ 0.01053535 -0.00727909 0.99991801 -0.4727222 ] [ 0. 0. 0. 1. ]] SLAMing on 141.542414037 meters Centerline goodness [0,1] 0.7891568731829164 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.18, Z:-0.47 [[ 0.99916246 -0.03950518 -0.0106636 1.58956854] [ 0.03958313 0.99919033 0.00720073 -0.17882731] [ 0.0103705 -0.0076168 0.99991722 -0.47284347] [ 0. 0. 0. 1. ]] SLAMing on 141.572414037 meters Centerline goodness [0,1] 0.790113086945833 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.18, Z:-0.47 [[ 0.9992509 -0.03726189 -0.01044932 1.58857784] [ 0.03735739 0.99926055 0.00909783 -0.17506936] [ 0.01010259 -0.00948137 0.99990402 -0.47248672] [ 0. 0. 0. 1. ]] SLAMing on 141.602414037 meters Centerline goodness [0,1] 0.7912676114107586 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.17, Z:-0.47 [[ 0.99922511 -0.0379537 -0.01042547 1.58826658] [ 0.03803259 0.99924853 0.00747637 -0.17038474] [ 0.01013388 -0.00786709 0.9999177 -0.47213119] [ 0. 0. 0. 1. ]] SLAMing on 141.632414037 meters Centerline goodness [0,1] 0.7892816886976124 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.16, Z:-0.47 [[ 0.99926731 -0.03689297 -0.01018597 1.58736739] [ 0.03697294 0.999286 0.00777723 -0.16291441] [ 0.00989177 -0.00814813 0.99991788 -0.47191115] [ 0. 0. 0. 1. ]] SLAMing on 141.662414037 meters Centerline goodness [0,1] 0.7833963807381659 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.16, Z:-0.47 [[ 0.99923985 -0.0376045 -0.01027783 1.58778649] [ 0.03767226 0.99926913 0.00648109 -0.15855081] [ 0.0100266 -0.00686336 0.99992618 -0.47226784] [ 0. 0. 0. 1. ]] SLAMing on 141.692414037 meters Centerline goodness [0,1] 0.7891823177232838 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.15, Z:-0.47 [[ 0.99920636 -0.03846653 -0.01034334 1.58799433] [ 0.03851969 0.99924538 0.0049905 -0.15420675] [ 0.01014357 -0.00538496 0.99993405 -0.47238193] [ 0. 0. 0. 1. ]] SLAMing on 141.722414037 meters Centerline goodness [0,1] 0.7793668055071096 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.15, Z:-0.47 [[ 0.99923778 -0.03778138 -0.00981974 1.58727243] [ 0.03783384 0.99927045 0.00521324 -0.14653329] [ 0.00961561 -0.00558079 0.9999382 -0.47303972] [ 0. 0. 0. 1. ]] SLAMing on 141.752414037 meters Centerline goodness [0,1] 0.7778119931842911 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.14, Z:-0.47 [[ 0.99921227 -0.03842242 -0.00992737 1.58778489] [ 0.03846253 0.99925251 0.00388093 -0.1423998 ] [ 0.00977084 -0.0042597 0.99994319 -0.47346093] [ 0. 0. 0. 1. ]] SLAMing on 141.782414037 meters Centerline goodness [0,1] 0.7730324620659919 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.14, Z:-0.47 [[ 0.99919136 -0.03896286 -0.00992545 1.58827208] [ 0.03899202 0.99923571 0.00276155 -0.1388951 ] [ 0.00981027 -0.00314633 0.99994693 -0.47410175] [ 0. 0. 0. 1. ]] SLAMing on 141.812414037 meters Centerline goodness [0,1] 0.7631421805827242 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.13, Z:-0.47 [[ 9.99138636e-01 -4.03281239e-02 -9.77898692e-03 1.58795148e+00] [ 4.03316233e-02 9.99186336e-01 1.60829285e-04 -1.32378783e-01] [ 9.76454417e-03 -5.55093169e-04 9.99952172e-01 -4.73953499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.842414037 meters Centerline goodness [0,1] 0.7574260482924721 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.13, Z:-0.47 [[ 0.99924038 -0.03777774 -0.00956561 1.58705608] [ 0.03780457 0.99928167 0.00263971 -0.12953274] [ 0.00945901 -0.00299933 0.99995076 -0.47381929] [ 0. 0. 0. 1. ]] SLAMing on 141.872414037 meters Centerline goodness [0,1] 0.7497325102880659 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.13, Z:-0.47 [[ 0.9993455 -0.03493218 -0.00939747 1.5865709 ] [ 0.03498139 0.99937483 0.0051244 -0.12559144] [ 0.00921259 -0.00544978 0.99994271 -0.47404406] [ 0. 0. 0. 1. ]] SLAMing on 141.902414037 meters Centerline goodness [0,1] 0.7670284855100822 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.12, Z:-0.47 [[ 0.99943951 -0.03216309 -0.00928494 1.58582156] [ 0.03223228 0.99945301 0.00740048 -0.12125375] [ 0.00904184 -0.00769561 0.99992951 -0.47380433] [ 0. 0. 0. 1. ]] SLAMing on 141.932414037 meters Centerline goodness [0,1] 0.7736870377257138 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.11, Z:-0.47 [[ 0.99951302 -0.02990602 -0.00890764 1.58337551] [ 0.02997635 0.99951963 0.00786918 -0.11257828] [ 0.00866802 -0.00813237 0.99992936 -0.47157913] [ 0. 0. 0. 1. ]] SLAMing on 141.962414037 meters Centerline goodness [0,1] 0.7739980207817911 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.11, Z:-0.47 [[ 0.99952745 -0.02937607 -0.00905133 1.58382781] [ 0.02944248 0.99953987 0.00729346 -0.10877313] [ 0.00883292 -0.0075565 0.99993244 -0.47160613] [ 0. 0. 0. 1. ]] SLAMing on 141.99241403699997 meters Centerline goodness [0,1] 0.7744267968605154 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.10, Z:-0.47 [[ 0.99962968 -0.02551559 -0.00945865 1.58491039] [ 0.02560021 0.99963232 0.00893564 -0.10095078] [ 0.00922717 -0.00917447 0.99991534 -0.47190587] [ 0. 0. 0. 1. ]] SLAMing on 142.02241403699998 meters Centerline goodness [0,1] 0.7931498066144077 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.10, Z:-0.47 [[ 0.99971282 -0.0220117 -0.00947422 1.58503277] [ 0.02212074 0.99968844 0.01156293 -0.09698868] [ 0.00921675 -0.01176919 0.99988826 -0.47228156] [ 0. 0. 0. 1. ]] SLAMing on 142.05241403699998 meters Centerline goodness [0,1] 0.791035183380673 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.09, Z:-0.47 [[ 0.99978036 -0.01869719 -0.00946793 1.58487267] [ 0.01882729 0.99972691 0.01384314 -0.09208915] [ 0.00920652 -0.01401835 0.99985935 -0.47234131] [ 0. 0. 0. 1. ]] SLAMing on 142.08241403699998 meters Centerline goodness [0,1] 0.791035183380673 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.09, Z:-0.47 [[ 0.99978036 -0.01869719 -0.00946793 1.58487267] [ 0.01882729 0.99972691 0.01384314 -0.09208915] [ 0.00920652 -0.01401835 0.99985935 -0.47234131] [ 0. 0. 0. 1. ]] SLAMing on 142.11241403699998 meters Centerline goodness [0,1] 0.7958080346003493 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.09, Z:-0.47 [[ 0.99983601 -0.01545384 -0.0094413 1.58433194] [ 0.01560321 0.99975092 0.01595721 -0.08696505] [ 0.00919234 -0.01610191 0.9998281 -0.47188439] [ 0. 0. 0. 1. ]] SLAMing on 142.14241403699998 meters Centerline goodness [0,1] 0.7999626253607691 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.08, Z:-0.47 [[ 0.99991762 -0.00876082 -0.00938131 1.58398676] [ 0.00895288 0.99974711 0.02062932 -0.07879817] [ 0.00919821 -0.02071161 0.99974318 -0.47164602] [ 0. 0. 0. 1. ]] SLAMing on 142.17241403699998 meters Centerline goodness [0,1] 0.8017751479289941 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.07, Z:-0.47 [[ 0.99991908 -0.00838212 -0.00956906 1.58455032] [ 0.00856876 0.99977053 0.01963347 -0.07492338] [ 0.0094023 -0.01971388 0.99976145 -0.4716381 ] [ 0. 0. 0. 1. ]] SLAMing on 142.20241403699998 meters Centerline goodness [0,1] 0.8035561848050137 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.07, Z:-0.47 [[ 0.99991791 -0.00836209 -0.00970869 1.5848274 ] [ 0.00854124 0.99979126 0.01856023 -0.07181527] [ 0.00955147 -0.01864163 0.99978061 -0.47143222] [ 0. 0. 0. 1. ]] SLAMing on 142.23241403699998 meters Centerline goodness [0,1] 0.8051395436152017 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.07, Z:-0.47 [[ 0.99991515 -0.00847085 -0.00989676 1.58508235] [ 0.00864364 0.99980864 0.01754921 -0.06896208] [ 0.00974621 -0.01763326 0.99979702 -0.47113424] [ 0. 0. 0. 1. ]] SLAMing on 142.26241403699999 meters Centerline goodness [0,1] 0.8072306761016135 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.06, Z:-0.47 [[ 0.99993791 -0.00504168 -0.00993797 1.58509179] [ 0.00524064 0.99978431 0.02009659 -0.06494566] [ 0.0098345 -0.02014742 0.99974865 -0.47114503] [ 0. 0. 0. 1. ]] SLAMing on 142.292414037 meters Centerline goodness [0,1] 0.8076304969423747 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.06, Z:-0.47 [[ 0.99993699 -0.0049416 -0.01007953 1.58552986] [ 0.00513385 0.99980369 0.01913713 -0.06127332] [ 0.00998299 -0.01918767 0.99976606 -0.47113532] [ 0. 0. 0. 1. ]] SLAMing on 142.322414037 meters Centerline goodness [0,1] 0.809795321637427 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.06, Z:-0.47 [[ 0.99993581 -0.00481766 -0.0102553 1.58597448] [ 0.00500398 0.99982147 0.01822046 -0.05769159] [ 0.01016569 -0.01827061 0.9997814 -0.47107041] [ 0. 0. 0. 1. ]] SLAMing on 142.352414037 meters Centerline goodness [0,1] 0.8099615577469497 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.05, Z:-0.47 [[ 0.99993853 -0.00439607 -0.01017937 1.58592364] [ 0.00457262 0.99983839 0.01738654 -0.05373336] [ 0.01010129 -0.01743202 0.99979702 -0.47077026] [ 0. 0. 0. 1. ]] SLAMing on 142.382414037 meters Centerline goodness [0,1] 0.8069662545940528 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.05, Z:-0.47 [[ 0.99991995 -0.00744023 -0.01023387 1.58638766] [ 0.00757738 0.99988112 0.01342883 -0.05180289] [ 0.01013274 -0.0135053 0.99985746 -0.4707098 ] [ 0. 0. 0. 1. ]] SLAMing on 142.412414037 meters Centerline goodness [0,1] 0.8059931649579062 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.05, Z:-0.47 [[ 0.99988094 -0.0117386 -0.01001575 1.58610979] [ 0.0118323 0.99988631 0.00934724 -0.0523955 ] [ 0.00990489 -0.00946463 0.99990615 -0.47067367] [ 0. 0. 0. 1. ]] SLAMing on 142.442414037 meters Centerline goodness [0,1] 0.8062041430631911 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.05, Z:-0.47 [[ 0.99982805 -0.01557459 -0.0100646 1.58723703] [ 0.01563262 0.99986148 0.00571326 -0.05239098] [ 0.00997422 -0.00586961 0.99993303 -0.47183516] [ 0. 0. 0. 1. ]] SLAMing on 142.472414037 meters Centerline goodness [0,1] 0.8023311678816869 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.05, Z:-0.47 [[ 0.99980928 -0.01662796 -0.01024291 1.58817507] [ 0.01668769 0.99984408 0.00577372 -0.05415538] [ 0.0101453 -0.00594355 0.99993087 -0.47304323] [ 0. 0. 0. 1. ]] SLAMing on 142.502414037 meters Centerline goodness [0,1] 0.7987177077459642 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.06, Z:-0.47 [[ 0.99977713 -0.01861352 -0.00996143 1.58749388] [ 0.0186656 0.99981246 0.00516048 -0.05560754] [ 0.00986351 -0.00534527 0.99993707 -0.47332295] [ 0. 0. 0. 1. ]] SLAMing on 142.532414037 meters Centerline goodness [0,1] 0.7958028816036751 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.06, Z:-0.47 [[ 0.99977101 -0.01909479 -0.00966055 1.5864647 ] [ 0.01914416 0.99980401 0.00504429 -0.0558816 ] [ 0.00956234 -0.00522807 0.99994061 -0.47276552] [ 0. 0. 0. 1. ]] SLAMing on 142.562414037 meters Centerline goodness [0,1] 0.7954606975533576 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.06, Z:-0.47 [[ 0.99976661 -0.01934429 -0.00961874 1.58597482] [ 0.01939408 0.99979886 0.00510998 -0.05652454] [ 0.00951795 -0.00529534 0.99994068 -0.47224213] [ 0. 0. 0. 1. ]] SLAMing on 142.592414037 meters Centerline goodness [0,1] 0.7954075343181296 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.06, Z:-0.47 [[ 0.9997654 -0.0193622 -0.00970816 1.58592117] [ 0.01941438 0.99979742 0.0053102 -0.05740266] [ 0.00960338 -0.00549743 0.99993877 -0.47191407] [ 0. 0. 0. 1. ]] SLAMing on 142.622414037 meters Centerline goodness [0,1] 0.797486062681394 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.06, Z:-0.47 [[ 0.99977356 -0.01881065 -0.009949 1.58684044] [ 0.0188709 0.99980394 0.0059971 -0.05883162] [ 0.00983424 -0.00618349 0.99993252 -0.47240353] [ 0. 0. 0. 1. ]] SLAMing on 142.652414037 meters Centerline goodness [0,1] 0.7964522262384823 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.06, Z:-0.47 [[ 0.99978105 -0.01833407 -0.01008577 1.58739338] [ 0.01839927 0.99981017 0.00641086 -0.05943557] [ 0.00996632 -0.00659502 0.99992859 -0.47268732] [ 0. 0. 0. 1. ]] SLAMing on 142.682414037 meters Centerline goodness [0,1] 0.7966909996025853 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.06, Z:-0.47 [[ 0.99979111 -0.01769308 -0.01023156 1.58817016] [ 0.01776571 0.99981731 0.00705231 -0.06029674] [ 0.01010491 -0.0072326 0.99992279 -0.47328139] [ 0. 0. 0. 1. ]] SLAMing on 142.712414037 meters Centerline goodness [0,1] 0.7971624081863269 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.06, Z:-0.48 [[ 0.99983014 -0.01508057 -0.0105953 1.59081536] [ 0.01517809 0.99984262 0.00918471 -0.0612455 ] [ 0.01045512 -0.00934397 0.99990169 -0.47543822] [ 0. 0. 0. 1. ]] SLAMing on 142.74241403699997 meters Centerline goodness [0,1] 0.8022424608715587 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.06, Z:-0.48 [[ 0.99984617 -0.01360947 -0.01106456 1.59320895] [ 0.01372173 0.99985449 0.01013472 -0.06077383] [ 0.01092503 -0.01028499 0.99988743 -0.47709799] [ 0. 0. 0. 1. ]] SLAMing on 142.77241403699998 meters Centerline goodness [0,1] 0.8033932344511621 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.06, Z:-0.48 [[ 0.99986461 -0.0118434 -0.01142381 1.59543481] [ 0.01197166 0.99986533 0.01122513 -0.05995785] [ 0.01128933 -0.01136037 0.99987174 -0.4787923 ] [ 0. 0. 0. 1. ]] SLAMing on 142.80241403699998 meters Centerline goodness [0,1] 0.8032155278338922 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.06, Z:-0.48 [[ 0.99991383 -0.00654213 -0.01138114 1.59592268] [ 0.00672029 0.99985438 0.01568622 -0.0599557 ] [ 0.01127687 -0.01576135 0.99981219 -0.4792998 ] [ 0. 0. 0. 1. ]] SLAMing on 142.83241403699998 meters Centerline goodness [0,1] 0.8049821170860263 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.06, Z:-0.48 [[ 0.9999325 -0.00301771 -0.01121983 1.59416304] [ 0.00323191 0.99981192 0.01912294 -0.06116518] [ 0.01116001 -0.01915791 0.99975418 -0.47751151] [ 0. 0. 0. 1. ]] SLAMing on 142.86241403699998 meters Centerline goodness [0,1] 0.8050100284138392 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.06, Z:-0.47 [[ 0.99993981 0.00225507 -0.01073779 1.59028571] [-0.00199668 0.99970964 0.02401339 -0.06448061] [ 0.01078882 -0.0239905 0.99965397 -0.47347061] [ 0. 0. 0. 1. ]] SLAMing on 142.89241403699998 meters Centerline goodness [0,1] 0.8083792355199466 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.06, Z:-0.47 [[ 0.9999367 0.00252975 -0.01096299 1.59025511] [-0.00226624 0.99970981 0.02398234 -0.06464733] [ 0.01102048 -0.02395597 0.99965227 -0.47267341] [ 0. 0. 0. 1. ]] SLAMing on 142.92241403699998 meters Centerline goodness [0,1] 0.809138157757415 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.07, Z:-0.47 [[ 0.999933 0.00278109 -0.01123639 1.59073481] [-0.00250796 0.9997028 0.02424921 -0.06535493] [ 0.01130049 -0.0242194 0.9996428 -0.4725367 ] [ 0. 0. 0. 1. ]] SLAMing on 142.95241403699998 meters Centerline goodness [0,1] 0.8107910360398026 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.07, Z:-0.47 [[ 9.99933762e-01 -5.54512184e-04 -1.14962527e-02 1.59167465e+00] [ 7.99949357e-04 9.99771620e-01 2.13557263e-02 -6.79030639e-02] [ 1.14817852e-02 -2.13635082e-02 9.99705841e-01 -4.72933966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98241403699998 meters Centerline goodness [0,1] 0.8096844033641435 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.07, Z:-0.47 [[ 0.99992326 -0.0040184 -0.01171831 1.59245588] [ 0.00422874 0.9998294 0.01798034 -0.06943655] [ 0.01164406 -0.01802851 0.99976967 -0.47312321] [ 0. 0. 0. 1. ]] SLAMing on 143.01241403699999 meters Centerline goodness [0,1] 0.8106831320058845 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.07, Z:-0.47 [[ 0.9999017 -0.00722087 -0.01201839 1.59382281] [ 0.00740088 0.99986008 0.01500143 -0.07152938] [ 0.01190839 -0.0150889 0.99981524 -0.47389039] [ 0. 0. 0. 1. ]] SLAMing on 143.042414037 meters Centerline goodness [0,1] 0.8098601790871128 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.07, Z:-0.47 [[ 0.99987076 -0.01053789 -0.0121418 1.59466222] [ 0.01068274 0.9998718 0.01192748 -0.07351617] [ 0.01201455 -0.01205565 0.99985515 -0.4744445 ] [ 0. 0. 0. 1. ]] SLAMing on 143.072414037 meters Centerline goodness [0,1] 0.8077266219889205 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.08, Z:-0.48 [[ 0.99983048 -0.01404648 -0.0119042 1.59512222] [ 0.01416177 0.99985309 0.00965607 -0.07821326] [ 0.01176682 -0.00982302 0.99988252 -0.47548653] [ 0. 0. 0. 1. ]] SLAMing on 143.102414037 meters Centerline goodness [0,1] 0.808824444582737 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.08, Z:-0.48 [[ 0.99982463 -0.01465776 -0.01165601 1.59424641] [ 0.01477331 0.99984196 0.00988958 -0.08072566] [ 0.01150921 -0.01006005 0.99988316 -0.47505706] [ 0. 0. 0. 1. ]] SLAMing on 143.132414037 meters Centerline goodness [0,1] 0.8093670414311448 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.08, Z:-0.47 [[ 0.999822 -0.01496184 -0.01149426 1.59363144] [ 0.01508125 0.99983246 0.01037308 -0.08375747] [ 0.01133713 -0.01054458 0.99988013 -0.4746905 ] [ 0. 0. 0. 1. ]] SLAMing on 143.162414037 meters Centerline goodness [0,1] 0.8098691959580931 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.09, Z:-0.47 [[ 0.99978745 -0.01718595 -0.01138878 1.59270859] [ 0.01728927 0.99980969 0.00903659 -0.089751 ] [ 0.01123131 -0.00923157 0.99989431 -0.47354487] [ 0. 0. 0. 1. ]] SLAMing on 143.192414037 meters Centerline goodness [0,1] 0.8079742313807272 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.09, Z:-0.47 [[ 0.99979254 -0.01693603 -0.01131566 1.59259576] [ 0.0170491 0.99980492 0.009972 -0.09339287] [ 0.01114457 -0.01016285 0.99988625 -0.47349878] [ 0. 0. 0. 1. ]] SLAMing on 143.222414037 meters Centerline goodness [0,1] 0.8058783463022973 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.10, Z:-0.47 [[ 0.99980062 -0.01645473 -0.01131166 1.59312029] [ 0.01657984 0.99980141 0.01105697 -0.09693079] [ 0.01112747 -0.01124232 0.99987489 -0.474126 ] [ 0. 0. 0. 1. ]] SLAMing on 143.252414037 meters Centerline goodness [0,1] 0.8084763948497854 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.10, Z:-0.47 [[ 0.99980724 -0.01588749 -0.01153556 1.59424582] [ 0.01602719 0.9997981 0.01211999 -0.09980516] [ 0.01134068 -0.01230254 0.99986001 -0.4749741 ] [ 0. 0. 0. 1. ]] SLAMing on 143.282414037 meters Centerline goodness [0,1] 0.8084961521797438 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.10, Z:-0.48 [[ 0.99982806 -0.01414823 -0.01198657 1.59652395] [ 0.01432094 0.99979307 0.01444768 -0.10430506] [ 0.01177968 -0.01461686 0.99982378 -0.47664885] [ 0. 0. 0. 1. ]] SLAMing on 143.312414037 meters Centerline goodness [0,1] 0.8096689805755247 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.11, Z:-0.48 [[ 0.9998371 -0.01324806 -0.01225835 1.59761508] [ 0.01343976 0.99978657 0.01569026 -0.10718379] [ 0.01204787 -0.01585245 0.99980175 -0.477305 ] [ 0. 0. 0. 1. ]] SLAMing on 143.342414037 meters Centerline goodness [0,1] 0.8103160368606592 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.11, Z:-0.48 [[ 0.99984467 -0.01242105 -0.01250442 1.59848545] [ 0.01263145 0.99977756 0.01688995 -0.1106987 ] [ 0.01229185 -0.01704528 0.99977916 -0.47774128] [ 0. 0. 0. 1. ]] SLAMing on 143.372414037 meters Centerline goodness [0,1] 0.8083865535864632 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.12, Z:-0.48 [[ 0.99982982 -0.01351026 -0.01256211 1.59881031] [ 0.0137109 0.99977757 0.01602582 -0.11654959] [ 0.01234281 -0.01619533 0.99979266 -0.47744608] [ 0. 0. 0. 1. ]] SLAMing on 143.402414037 meters Centerline goodness [0,1] 0.8107880233610265 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.12, Z:-0.48 [[ 0.99983446 -0.01308398 -0.01264341 1.5986284 ] [ 0.01329584 0.99977011 0.01682095 -0.11893254] [ 0.01242042 -0.01698627 0.99977858 -0.47694394] [ 0. 0. 0. 1. ]] SLAMing on 143.432414037 meters Centerline goodness [0,1] 0.8101206007437388 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.12, Z:-0.48 [[ 0.99983827 -0.0126749 -0.01275883 1.59871293] [ 0.01289816 0.99976242 0.01757094 -0.12107237] [ 0.01253309 -0.01773267 0.99976421 -0.47668098] [ 0. 0. 0. 1. ]] SLAMing on 143.462414037 meters Centerline goodness [0,1] 0.807966681786318 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.12, Z:-0.48 [[ 0.99984438 -0.01196624 -0.01296268 1.59961064] [ 0.01220589 0.99975307 0.01856921 -0.1236342 ] [ 0.01273728 -0.01872454 0.99974354 -0.47722305] [ 0. 0. 0. 1. ]] SLAMing on 143.49241403699997 meters Centerline goodness [0,1] 0.8102431304848223 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.13, Z:-0.48 [[ 0.99985068 -0.01115713 -0.01319578 1.60273557] [ 0.01140832 0.99975218 0.01911603 -0.12947356] [ 0.01297923 -0.01926372 0.99973019 -0.47984975] [ 0. 0. 0. 1. ]] SLAMing on 143.52241403699998 meters Centerline goodness [0,1] 0.8096933525416752 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.13, Z:-0.48 [[ 0.99985847 -0.01040766 -0.01321808 1.60270732] [ 0.01067315 0.99973948 0.02017558 -0.13278678] [ 0.01300465 -0.0203138 0.99970907 -0.47966216] [ 0. 0. 0. 1. ]] SLAMing on 143.55241403699998 meters Centerline goodness [0,1] 0.8130441046327358 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.14, Z:-0.48 [[ 0.9999693 -0.00669683 -0.00406854 1.59525151] [ 0.00674495 0.99990605 0.01193282 -0.13739544] [ 0.00398825 -0.0119599 0.99992052 -0.4781253 ] [ 0. 0. 0. 1. ]] SLAMing on 143.58241403699998 meters Centerline goodness [0,1] 0.8156128504194803 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.14, Z:-0.48 [[ 0.99995538 -0.0083523 -0.00441237 1.5963336 ] [ 0.00839584 0.99991532 0.00994276 -0.13885952] [ 0.00432895 -0.00997936 0.99994083 -0.47827299] [ 0. 0. 0. 1. ]] SLAMing on 143.61241403699998 meters Centerline goodness [0,1] 0.8152220829136949 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.14, Z:-0.48 [[ 0.99995892 -0.00784257 -0.00454548 1.59645869] [ 0.0078927 0.99990705 0.01111771 -0.14237581] [ 0.00445787 -0.01115313 0.99992786 -0.47807368] [ 0. 0. 0. 1. ]] SLAMing on 143.64241403699998 meters Centerline goodness [0,1] 0.8138937416503956 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.15, Z:-0.48 [[ 0.99994496 -0.00930921 -0.00483952 1.5996865 ] [ 0.009361 0.99989797 0.01079004 -0.15176508] [ 0.00473858 -0.01083475 0.99993007 -0.48109003] [ 0. 0. 0. 1. ]] SLAMing on 143.67241403699998 meters Centerline goodness [0,1] 0.8117122118725968 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.16, Z:-0.48 [[ 0.99992059 -0.01156037 -0.00501807 1.60137067] [ 0.01160638 0.99988995 0.00924038 -0.15731501] [ 0.0049107 -0.00929789 0.99994472 -0.48257215] [ 0. 0. 0. 1. ]] SLAMing on 143.70241403699998 meters Centerline goodness [0,1] 0.8146352440571172 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.16, Z:-0.48 [[ 0.99989184 -0.01372312 -0.00528933 1.60294975] [ 0.01376362 0.99987563 0.0076992 -0.1623813 ] [ 0.00518301 -0.00777117 0.99995637 -0.48363962] [ 0. 0. 0. 1. ]] SLAMing on 143.73241403699998 meters Centerline goodness [0,1] 0.8141703557960321 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.17, Z:-0.48 [[ 0.99989228 -0.01387997 -0.0047726 1.60154845] [ 0.01391933 0.99986856 0.00831362 -0.16798672] [ 0.00465658 -0.00837915 0.99995405 -0.48295535] [ 0. 0. 0. 1. ]] SLAMing on 143.76241403699999 meters Centerline goodness [0,1] 0.8124334943112057 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.18, Z:-0.48 [[ 0.99988271 -0.01454166 -0.00480763 1.60114496] [ 0.01458553 0.99985113 0.00921851 -0.17808038] [ 0.00467286 -0.00928755 0.99994595 -0.48208401] [ 0. 0. 0. 1. ]] SLAMing on 143.792414037 meters Centerline goodness [0,1] 0.8111044923279174 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.18, Z:-0.48 [[ 0.9998809 -0.01478822 -0.00441588 1.5996026 ] [ 0.01483057 0.99984282 0.0097151 -0.18428509] [ 0.00427152 -0.00977943 0.99994306 -0.48084116] [ 0. 0. 0. 1. ]] SLAMing on 143.822414037 meters Centerline goodness [0,1] 0.8145566774312227 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.19, Z:-0.48 [[ 0.99985058 -0.01657865 -0.00489501 1.60115417] [ 0.01662032 0.9998249 0.00859812 -0.19018882] [ 0.00475161 -0.00867819 0.99995105 -0.48133471] [ 0. 0. 0. 1. ]] SLAMing on 143.852414037 meters Centerline goodness [0,1] 0.8239357691602307 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.20, Z:-0.48 [[ 0.99981736 -0.01832437 -0.00542875 1.60280398] [ 0.01836739 0.99979943 0.0079839 -0.20475408] [ 0.00528136 -0.00808216 0.99995339 -0.48134102] [ 0. 0. 0. 1. ]] SLAMing on 143.882414037 meters Centerline goodness [0,1] 0.8203339198755984 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.21, Z:-0.48 [[ 0.99976827 -0.02078653 -0.00559766 1.6039397 ] [ 0.02082325 0.9997615 0.00658294 -0.21093561] [ 0.00545949 -0.00669797 0.99996266 -0.48207785] [ 0. 0. 0. 1. ]] SLAMing on 143.912414037 meters Centerline goodness [0,1] 0.8259918200408998 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.22, Z:-0.48 [[ 0.9997158 -0.02310475 -0.00587297 1.60563017] [ 0.02313605 0.99971818 0.00531852 -0.21678795] [ 0.00574843 -0.00545289 0.99996861 -0.48318863] [ 0. 0. 0. 1. ]] SLAMing on 143.942414037 meters Centerline goodness [0,1] 0.8270385039402229 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.22, Z:-0.48 [[ 0.99965292 -0.02563075 -0.00609127 1.60712171] [ 0.02565382 0.99966389 0.00373923 -0.22200314] [ 0.00599338 -0.0038942 0.99997446 -0.48418839] [ 0. 0. 0. 1. ]] SLAMing on 143.972414037 meters Centerline goodness [0,1] 0.8231673765513868 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.23, Z:-0.48 [[ 9.99490675e-01 -3.12850397e-02 -6.29574931e-03 1.60847113e+00] [ 3.12879190e-02 9.99510349e-01 3.59356937e-04 -2.32945164e-01] [ 6.28142409e-03 -5.56154802e-04 9.99980117e-01 -4.84724162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.002414037 meters Centerline goodness [0,1] 0.8231673765513868 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.23, Z:-0.48 [[ 9.99490675e-01 -3.12850397e-02 -6.29574931e-03 1.60847113e+00] [ 3.12879190e-02 9.99510349e-01 3.59356937e-04 -2.32945164e-01] [ 6.28142409e-03 -5.56154802e-04 9.99980117e-01 -4.84724162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.032414037 meters Centerline goodness [0,1] 0.8235233945047975 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.24, Z:-0.49 [[ 9.99385251e-01 -3.44795035e-02 -6.34701195e-03 1.60927881e+00] [ 3.44706649e-02 9.99404589e-01 -1.49675918e-03 -2.39190857e-01] [ 6.39484039e-03 1.27705332e-03 9.99978737e-01 -4.85204767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.062414037 meters Centerline goodness [0,1] 0.8236314296790517 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.25, Z:-0.49 [[ 0.99926627 -0.03774731 -0.00648496 1.61087761] [ 0.03772659 0.99928269 -0.00328863 -0.24573723] [ 0.00660445 0.00304156 0.99997356 -0.48642361] [ 0. 0. 0. 1. ]] SLAMing on 144.092414037 meters Centerline goodness [0,1] 0.8279521521316839 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.26, Z:-0.49 [[ 0.99880365 -0.04852237 -0.00607016 1.61205661] [ 0.04844893 0.99875701 -0.01171019 -0.25542264] [ 0.00663082 0.01140208 0.99991301 -0.48761854] [ 0. 0. 0. 1. ]] SLAMing on 144.122414037 meters Centerline goodness [0,1] 0.833095664928292 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.26, Z:-0.49 [[ 0.99860746 -0.0524412 -0.00575014 1.6113531 ] [ 0.05235439 0.99852573 -0.01433118 -0.25989828] [ 0.0064932 0.01401017 0.99988077 -0.48689972] [ 0. 0. 0. 1. ]] SLAMing on 144.152414037 meters Centerline goodness [0,1] 0.8322190189944592 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.26, Z:-0.49 [[ 0.99840723 -0.05615227 -0.00547027 1.61014159] [ 0.05605226 0.99828339 -0.01698299 -0.26358371] [ 0.00641452 0.01664932 0.99984081 -0.48545208] [ 0. 0. 0. 1. ]] SLAMing on 144.182414037 meters Centerline goodness [0,1] 0.8237322018685488 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.27, Z:-0.48 [[ 0.99798293 -0.0632675 -0.00522441 1.60943896] [ 0.06313327 0.99774545 -0.0227641 -0.26843062] [ 0.00665286 0.02238835 0.99972721 -0.4840133 ] [ 0. 0. 0. 1. ]] SLAMing on 144.212414037 meters Centerline goodness [0,1] 0.8162810204791424 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.27, Z:-0.48 [[ 0.99797565 -0.0633501 -0.00560136 1.61091799] [ 0.06321444 0.99776268 -0.02176182 -0.27177666] [ 0.00696744 0.02136368 0.99974749 -0.48497216] [ 0. 0. 0. 1. ]] SLAMing on 144.24241403699997 meters Centerline goodness [0,1] 0.8167751442957141 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.27, Z:-0.49 [[ 0.99797883 -0.06327015 -0.00592823 1.6126913 ] [ 0.06313394 0.99778664 -0.02087892 -0.27459305] [ 0.00723612 0.02046244 0.99976444 -0.48637909] [ 0. 0. 0. 1. ]] SLAMing on 144.27241403699998 meters Centerline goodness [0,1] 0.8056514016211029 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.28, Z:-0.49 [[ 0.99797998 -0.06323137 -0.00614477 1.61379944] [ 0.06309659 0.99780518 -0.02009077 -0.27726301] [ 0.00740165 0.01966247 0.99977928 -0.48724495] [ 0. 0. 0. 1. ]] SLAMing on 144.30241403699998 meters Centerline goodness [0,1] 0.7970767556914992 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.28, Z:-0.49 [[ 0.99797676 -0.06327909 -0.00617576 1.61410455] [ 0.06314829 0.99781421 -0.01947024 -0.27959802] [ 0.00739432 0.01904086 0.99979136 -0.48753028] [ 0. 0. 0. 1. ]] SLAMing on 144.33241403699998 meters Centerline goodness [0,1] 0.7749253364971567 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.28, Z:-0.49 [[ 0.99794356 -0.06380659 -0.00611305 1.61449739] [ 0.06368112 0.99779143 -0.01889398 -0.28317634] [ 0.00730511 0.01846584 0.9998028 -0.48805961] [ 0. 0. 0. 1. ]] SLAMing on 144.36241403699998 meters Centerline goodness [0,1] 0.7712774646736911 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.28, Z:-0.49 [[ 0.99795012 -0.06369564 -0.00619922 1.61497999] [ 0.06357284 0.99780906 -0.0183188 -0.28485521] [ 0.00735247 0.01788715 0.99981298 -0.48848529] [ 0. 0. 0. 1. ]] SLAMing on 144.39241403699998 meters Centerline goodness [0,1] 0.7580569253749667 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.29, Z:-0.49 [[ 0.99795442 -0.0636206 -0.0062769 1.61544947] [ 0.06349984 0.99782208 -0.01785699 -0.28600789] [ 0.0073993 0.01742188 0.99982085 -0.48888705] [ 0. 0. 0. 1. ]] SLAMing on 144.42241403699998 meters Centerline goodness [0,1] 0.7514441394567577 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.29, Z:-0.49 [[ 0.99793742 -0.06388984 -0.00624423 1.61456432] [ 0.06376948 0.99780453 -0.01787656 -0.28593787] [ 0.00737265 0.0174415 0.9998207 -0.48776369] [ 0. 0. 0. 1. ]] SLAMing on 144.45241403699998 meters Centerline goodness [0,1] 0.736333421691169 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.29, Z:-0.49 [[ 0.99793569 -0.06390659 -0.00634943 1.6138523 ] [ 0.06378432 0.99780341 -0.01788612 -0.28558707] [ 0.00747852 0.01744421 0.99981987 -0.48654043] [ 0. 0. 0. 1. ]] SLAMing on 144.48241403699998 meters Centerline goodness [0,1] 0.7534252177825038 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.29, Z:-0.49 [[ 0.99810629 -0.06116461 -0.00653566 1.61312999] [ 0.06106597 0.99803051 -0.01435403 -0.28677571] [ 0.00740074 0.01392774 0.99987562 -0.48555827] [ 0. 0. 0. 1. ]] SLAMing on 144.51241403699999 meters Centerline goodness [0,1] 0.7576665708772938 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.28, Z:-0.49 [[ 0.99814475 -0.06046793 -0.00711895 1.61576867] [ 0.06036727 0.99808366 -0.01359389 -0.2845266 ] [ 0.0079273 0.01313892 0.99988226 -0.48752209] [ 0. 0. 0. 1. ]] SLAMing on 144.542414037 meters Centerline goodness [0,1] 0.8364843204142863 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.28, Z:-0.49 [[ 0.99811906 -0.0608613 -0.0073646 1.61702004] [ 0.06075325 0.99805322 -0.01409987 -0.28314314] [ 0.0082084 0.01362592 0.99987347 -0.48852496] [ 0. 0. 0. 1. ]] SLAMing on 144.572414037 meters Centerline goodness [0,1] 0.8253238355264508 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.28, Z:-0.49 [[ 0.99808217 -0.06145899 -0.00740076 1.61783231] [ 0.06134621 0.99800966 -0.01460675 -0.28231175] [ 0.00828375 0.01412472 0.99986593 -0.48947936] [ 0. 0. 0. 1. ]] SLAMing on 144.602414037 meters Centerline goodness [0,1] 0.7663300078006323 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.28, Z:-0.49 [[ 0.99802976 -0.06231597 -0.0073025 1.61809611] [ 0.06219985 0.99794834 -0.0151753 -0.28185828] [ 0.00823318 0.01469119 0.99985818 -0.49000013] [ 0. 0. 0. 1. ]] SLAMing on 144.632414037 meters Centerline goodness [0,1] 0.7725570449196767 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.28, Z:-0.49 [[ 0.99760138 -0.0689034 -0.00661898 1.61839471] [ 0.0687444 0.9973956 -0.02182252 -0.27665192] [ 0.00810539 0.02131516 0.99973995 -0.4911741 ] [ 0. 0. 0. 1. ]] SLAMing on 144.662414037 meters Centerline goodness [0,1] 0.7456471747700395 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.27, Z:-0.49 [[ 0.99750101 -0.07035811 -0.00643992 1.61866715] [ 0.07019256 0.99726641 -0.02308042 -0.27408301] [ 0.00804621 0.02257071 0.99971287 -0.49188808] [ 0. 0. 0. 1. ]] SLAMing on 144.692414037 meters Centerline goodness [0,1] 0.7330855629247859 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.27, Z:-0.49 [[ 0.99741038 -0.07164174 -0.00632401 1.6188499 ] [ 0.0714675 0.99714314 -0.02445325 -0.27077 ] [ 0.00805782 0.02393796 0.99968097 -0.49234059] [ 0. 0. 0. 1. ]] SLAMing on 144.722414037 meters Centerline goodness [0,1] 0.7316592811422944 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.26, Z:-0.49 [[ 0.99720286 -0.07450997 -0.00589324 1.61845383] [ 0.07431636 0.99683754 -0.0281424 -0.26100758] [ 0.00797149 0.02762572 0.99958655 -0.49261227] [ 0. 0. 0. 1. ]] SLAMing on 144.752414037 meters Centerline goodness [0,1] 0.7045305721535565 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.26, Z:-0.49 [[ 0.99737178 -0.07221557 -0.00586912 1.61798092] [ 0.07204126 0.99706629 -0.02586264 -0.25780183] [ 0.00771959 0.02537185 0.99964828 -0.49262315] [ 0. 0. 0. 1. ]] SLAMing on 144.782414037 meters Centerline goodness [0,1] 0.7034767332597949 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.25, Z:-0.49 [[ 0.99743176 -0.07140822 -0.00554451 1.61565768] [ 0.07123735 0.99710611 -0.02654512 -0.24698816] [ 0.00742401 0.02608197 0.99963224 -0.49083005] [ 0. 0. 0. 1. ]] SLAMing on 144.812414037 meters Centerline goodness [0,1] 0.7031988702646282 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.24, Z:-0.49 [[ 0.99760025 -0.06901776 -0.00550374 1.61440673] [ 0.06886133 0.99731764 -0.02481198 -0.24186761] [ 0.00720144 0.02437344 0.99967699 -0.48987406] [ 0. 0. 0. 1. ]] SLAMing on 144.842414037 meters Centerline goodness [0,1] 0.6996757910288505 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.24, Z:-0.49 [[ 0.9977846 -0.06628622 -0.00565858 1.61376359] [ 0.06614021 0.99754626 -0.02295504 -0.23634919] [ 0.0071663 0.02252993 0.99972048 -0.48922099] [ 0. 0. 0. 1. ]] SLAMing on 144.872414037 meters Centerline goodness [0,1] 0.699749311634406 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.23, Z:-0.49 [[ 0.99795996 -0.06357327 -0.00586182 1.61364065] [ 0.06343629 0.9977614 -0.02116643 -0.23020612] [ 0.00719432 0.02075139 0.99975878 -0.48912016] [ 0. 0. 0. 1. ]] SLAMing on 144.902414037 meters Centerline goodness [0,1] 0.7067448680351907 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.22, Z:-0.49 [[ 0.99827512 -0.05840116 -0.00600821 1.61435128] [ 0.05829162 0.99815438 -0.0170268 -0.21700289] [ 0.0069915 0.0166472 0.99983698 -0.49068464] [ 0. 0. 0. 1. ]] SLAMing on 144.932414037 meters Centerline goodness [0,1] 0.7199606040709127 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.21, Z:-0.49 [[ 0.99843802 -0.05552944 -0.00616425 1.61444354] [ 0.05543169 0.9983493 -0.01503356 -0.21116815] [ 0.00698888 0.01466838 0.99986799 -0.49097304] [ 0. 0. 0. 1. ]] SLAMing on 144.962414037 meters Centerline goodness [0,1] 0.7140192280097575 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.21, Z:-0.49 [[ 0.99858816 -0.05275281 -0.0062308 1.61422416] [ 0.05266841 0.9985273 -0.01301064 -0.20597611] [ 0.00690797 0.0126641 0.99989594 -0.49104181] [ 0. 0. 0. 1. ]] SLAMing on 144.99241403699997 meters Centerline goodness [0,1] 0.6888278238044458 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.20, Z:-0.49 [[ 0.99873621 -0.04987636 -0.00619165 1.61402076] [ 0.0498087 0.9987021 -0.01064 -0.2018509 ] [ 0.0067143 0.01031815 0.99992422 -0.49135573] [ 0. 0. 0. 1. ]] SLAMing on 145.02241403699998 meters Centerline goodness [0,1] 0.7001146788990826 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.19, Z:-0.49 [[ 0.9988276 -0.04802979 -0.00604642 1.61471435] [ 0.04796764 0.99879848 -0.01003496 -0.19089123] [ 0.00652113 0.00973317 0.99993137 -0.49292999] [ 0. 0. 0. 1. ]] SLAMing on 145.05241403699998 meters Centerline goodness [0,1] 0.6939456604082636 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.19, Z:-0.49 [[ 0.99895243 -0.04536774 -0.00598414 1.61475612] [ 0.04532074 0.99894229 -0.00776768 -0.18660909] [ 0.00633021 0.00748834 0.99995193 -0.49359178] [ 0. 0. 0. 1. ]] SLAMing on 145.08241403699998 meters Centerline goodness [0,1] 0.690062315513283 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.18, Z:-0.49 [[ 0.99907499 -0.04259311 -0.00591602 1.61475301] [ 0.0425615 0.99907942 -0.0053692 -0.18256509] [ 0.00613926 0.00511244 0.99996809 -0.49419056] [ 0. 0. 0. 1. ]] SLAMing on 145.11241403699998 meters Centerline goodness [0,1] 0.679099427915274 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.17, Z:-0.49 [[ 0.99915699 -0.04065404 -0.00570669 1.61406198] [ 0.04062723 0.99916313 -0.00473924 -0.17204253] [ 0.00589459 0.0045034 0.99997249 -0.4942063 ] [ 0. 0. 0. 1. ]] SLAMing on 145.14241403699998 meters Centerline goodness [0,1] 0.6841889369731526 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.17, Z:-0.49 [[ 0.9992694 -0.03781019 -0.00557207 1.61366537] [ 0.03779724 0.99928252 -0.00241088 -0.16760506] [ 0.00565923 0.00219851 0.99998157 -0.49443576] [ 0. 0. 0. 1. ]] SLAMing on 145.17241403699998 meters Centerline goodness [0,1] 0.6767382748442112 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.16, Z:-0.49 [[ 9.99369122e-01 -3.50777768e-02 -5.55951097e-03 1.61365034e+00] [ 3.50766889e-02 9.99384581e-01 -2.93097320e-04 -1.62549298e-01] [ 5.56637074e-03 9.79031748e-05 9.99984503e-01 -4.94790899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20241403699998 meters Centerline goodness [0,1] 0.7006109562079712 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.16, Z:-0.50 [[ 0.99946228 -0.03232338 -0.00550945 1.61363351] [ 0.03233403 0.9994754 0.00185562 -0.15750984] [ 0.00544658 -0.00203276 0.9999831 -0.49521432] [ 0. 0. 0. 1. ]] SLAMing on 145.23241403699998 meters Centerline goodness [0,1] 0.6860904572156267 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.15, Z:-0.50 [[ 0.99952127 -0.03047531 -0.00533648 1.61342128] [ 0.0304902 0.99953133 0.00273186 -0.14509631] [ 0.00525073 -0.00289327 0.99998203 -0.49583932] [ 0. 0. 0. 1. ]] SLAMing on 145.26241403699999 meters Centerline goodness [0,1] 0.6825347949254834 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.14, Z:-0.50 [[ 0.9995805 -0.02849551 -0.0051789 1.61319878] [ 0.02851806 0.99958389 0.00433196 -0.14042701] [ 0.00505331 -0.00447784 0.99997721 -0.49618029] [ 0. 0. 0. 1. ]] SLAMing on 145.292414037 meters Centerline goodness [0,1] 0.7175507842367382 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.14, Z:-0.50 [[ 0.99963248 -0.02668919 -0.00475299 1.6117734 ] [ 0.02671601 0.99962698 0.00567064 -0.13545921] [ 0.00459987 -0.00579554 0.99997263 -0.49569458] [ 0. 0. 0. 1. ]] SLAMing on 145.322414037 meters Centerline goodness [0,1] 0.7273664035611977 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.12, Z:-0.50 [[ 0.99965525 -0.02583734 -0.00467092 1.61210125] [ 0.02585829 0.99965557 0.00448199 -0.12303617] [ 0.0045535 -0.00460123 0.99997905 -0.49619247] [ 0. 0. 0. 1. ]] SLAMing on 145.352414037 meters Centerline goodness [0,1] 0.7027104781867126 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.12, Z:-0.50 [[ 0.9997156 -0.02341911 -0.0045019 1.61169165] [ 0.02344577 0.99970733 0.00596236 -0.11731803] [ 0.00436095 -0.00606622 0.99997209 -0.49622086] [ 0. 0. 0. 1. ]] SLAMing on 145.382414037 meters Centerline goodness [0,1] 0.7198685624535008 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.11, Z:-0.50 [[ 0.99977333 -0.02083495 -0.00438014 1.61047281] [ 0.0208661 0.99975642 0.00719043 -0.11044579] [ 0.00422926 -0.0072802 0.99996456 -0.49506011] [ 0. 0. 0. 1. ]] SLAMing on 145.412414037 meters Centerline goodness [0,1] 0.7710993201790748 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.10, Z:-0.49 [[ 0.99988844 -0.01437049 -0.00407454 1.6094902 ] [ 0.01440359 0.99986251 0.00821548 -0.09524391] [ 0.00395592 -0.00827325 0.99995795 -0.49195182] [ 0. 0. 0. 1. ]] SLAMing on 145.442414037 meters Centerline goodness [0,1] 0.7455881742307853 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.09, Z:-0.49 [[ 0.99993561 -0.01050079 -0.00430314 1.6102258 ] [ 0.01054455 0.99989161 0.01027551 -0.08880864] [ 0.00419477 -0.01032023 0.99993795 -0.4921707 ] [ 0. 0. 0. 1. ]] SLAMing on 145.472414037 meters Centerline goodness [0,1] 0.8031125814035744 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.08, Z:-0.49 [[ 0.99997029 -0.0062502 -0.00451099 1.61121695] [ 0.00630708 0.99989937 0.0127069 -0.08296398] [ 0.00443112 -0.01273497 0.99990909 -0.49271742] [ 0. 0. 0. 1. ]] SLAMing on 145.502414037 meters Centerline goodness [0,1] 0.8110014398697857 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.08, Z:-0.49 [[ 0.99998702 -0.00192447 -0.00471834 1.61202086] [ 0.0019956 0.99988373 0.01511756 -0.07717943] [ 0.0046887 -0.01512678 0.99987459 -0.49288683] [ 0. 0. 0. 1. ]] SLAMing on 145.532414037 meters Centerline goodness [0,1] 0.8198860196647392 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.07, Z:-0.49 [[ 0.99994324 0.00975805 -0.00427746 1.61114376] [-0.00965962 0.99970112 0.02245818 -0.06594525] [ 0.00449533 -0.02241559 0.99973863 -0.49058727] [ 0. 0. 0. 1. ]] SLAMing on 145.562414037 meters Centerline goodness [0,1] 0.82092176315459 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.06, Z:-0.49 [[ 0.99989322 0.01397597 -0.00426895 1.61068876] [-0.01386716 0.99960277 0.02453561 -0.05949975] [ 0.00461017 -0.02447379 0.99968984 -0.48917578] [ 0. 0. 0. 1. ]] SLAMing on 145.592414037 meters Centerline goodness [0,1] 0.82061084737218 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.05, Z:-0.49 [[ 0.99982768 0.01805442 -0.00431824 1.6103714 ] [-0.01793254 0.99948076 0.02677016 -0.05386241] [ 0.00479931 -0.02668811 0.99963229 -0.48789283] [ 0. 0. 0. 1. ]] SLAMing on 145.622414037 meters Centerline goodness [0,1] 0.8205526625230977 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.05, Z:-0.49 [[ 0.99964651 0.02625952 -0.00415743 1.60987988] [-0.02610964 0.99912306 0.03273209 -0.04811918] [ 0.00501332 -0.03261197 0.99945551 -0.4864345 ] [ 0. 0. 0. 1. ]] SLAMing on 145.652414037 meters Centerline goodness [0,1] 0.8184515667417244 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.05, Z:-0.49 [[ 0.99961653 0.02733713 -0.00441326 1.61103552] [-0.02717928 0.99910032 0.03255519 -0.04587554] [ 0.00529926 -0.03242276 0.9994602 -0.48677346] [ 0. 0. 0. 1. ]] SLAMing on 145.682414037 meters Centerline goodness [0,1] 0.8193675972482275 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.04, Z:-0.49 [[ 0.99959392 0.02809396 -0.00476691 1.61225809] [-0.02792531 0.99908581 0.03236838 -0.04416663] [ 0.00567191 -0.03222212 0.99946464 -0.48715029] [ 0. 0. 0. 1. ]] SLAMing on 145.712414037 meters Centerline goodness [0,1] 0.8218924713102694 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.04, Z:-0.49 [[ 0.99957023 0.02887595 -0.00505272 1.61324513] [-0.02869805 0.99906579 0.03231047 -0.04293947] [ 0.005981 -0.03215158 0.99946511 -0.48734426] [ 0. 0. 0. 1. ]] SLAMing on 145.74241403699997 meters Centerline goodness [0,1] 0.8223020675743823 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.04, Z:-0.49 [[ 0.99944302 0.03300826 -0.0049094 1.61265706] [-0.03281133 0.99881721 0.03588314 -0.04186953] [ 0.00608803 -0.03570207 0.99934393 -0.48648064] [ 0. 0. 0. 1. ]] SLAMing on 145.77241403699998 meters Centerline goodness [0,1] 0.8203747712885655 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.04, Z:-0.49 [[ 0.99942572 0.03348699 -0.00518232 1.61345173] [-0.03327947 0.99879865 0.03596849 -0.04145285] [ 0.00638057 -0.03577536 0.99933949 -0.48664554] [ 0. 0. 0. 1. ]] SLAMing on 145.80241403699998 meters Centerline goodness [0,1] 0.8208442993999369 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.04, Z:-0.49 [[ 0.99940401 0.03409021 -0.00542992 1.61478896] [-0.03386947 0.99875706 0.03656753 -0.04267126] [ 0.00666977 -0.03636183 0.99931643 -0.48772597] [ 0. 0. 0. 1. ]] SLAMing on 145.83241403699998 meters Centerline goodness [0,1] 0.8207852193995381 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.05, Z:-0.49 [[ 0.99945505 0.03248936 -0.00583409 1.61766206] [-0.0322682 0.99887766 0.03467253 -0.04672918] [ 0.00695403 -0.03446538 0.9993817 -0.49014454] [ 0. 0. 0. 1. ]] SLAMing on 145.86241403699998 meters Centerline goodness [0,1] 0.8182218217630912 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.05, Z:-0.49 [[ 0.99953559 0.0298452 -0.00615339 1.61864043] [-0.02963792 0.99906742 0.03139881 -0.04703232] [ 0.00708475 -0.03120185 0.99948799 -0.49038966] [ 0. 0. 0. 1. ]] SLAMing on 145.89241403699998 meters Centerline goodness [0,1] 0.8182218217630912 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.05, Z:-0.49 [[ 0.99953559 0.0298452 -0.00615339 1.61864043] [-0.02963792 0.99906742 0.03139881 -0.04703232] [ 0.00708475 -0.03120185 0.99948799 -0.49038966] [ 0. 0. 0. 1. ]] SLAMing on 145.92241403699998 meters Centerline goodness [0,1] 0.8199819604388228 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.05, Z:-0.49 [[ 0.99960359 0.02740717 -0.00644273 1.61906154] [-0.02721474 0.99922987 0.02826697 -0.04712047] [ 0.00721249 -0.02808043 0.99957965 -0.48987773] [ 0. 0. 0. 1. ]] SLAMing on 145.95241403699998 meters Centerline goodness [0,1] 0.8231051472900723 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.05, Z:-0.49 [[ 0.99958111 0.02815061 -0.00671949 1.61885842] [-0.02794293 0.99918228 0.02922266 -0.05002222] [ 0.00753663 -0.02902265 0.99955034 -0.48862187] [ 0. 0. 0. 1. ]] SLAMing on 145.98241403699998 meters Centerline goodness [0,1] 0.8259489706435044 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.05, Z:-0.49 [[ 0.99962804 0.02626519 -0.00734302 1.62094809] [-0.02605981 0.99930133 0.02679074 -0.05117538] [ 0.00804155 -0.02658941 0.99961409 -0.48938815] [ 0. 0. 0. 1. ]] SLAMing on 146.01241403699999 meters Centerline goodness [0,1] 0.823844272063897 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.05, Z:-0.49 [[ 0.99969349 0.02343938 -0.00797046 1.62241701] [-0.02324419 0.99944748 0.02375802 -0.05302914] [ 0.00852293 -0.02356547 0.99968596 -0.48962883] [ 0. 0. 0. 1. ]] SLAMing on 146.042414037 meters Centerline goodness [0,1] 0.8251822758894437 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.06, Z:-0.49 [[ 0.9997524 0.02055235 -0.00852875 1.62358983] [-0.02036927 0.99957143 0.02102485 -0.05668425] [ 0.0089572 -0.02084592 0.99974257 -0.48968335] [ 0. 0. 0. 1. ]] SLAMing on 146.072414037 meters Centerline goodness [0,1] 0.8245269621151998 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.07, Z:-0.49 [[ 0.99985346 0.01455897 -0.0090058 1.62401248] [-0.01441537 0.9997711 0.01580983 -0.06761543] [ 0.00923391 -0.01567769 0.99983446 -0.48894911] [ 0. 0. 0. 1. ]] SLAMing on 146.102414037 meters Centerline goodness [0,1] 0.8214471737816946 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.07, Z:-0.49 [[ 0.99989111 0.01148742 -0.00926313 1.62496534] [-0.01136092 0.99984303 0.01359594 -0.07244185] [ 0.00941786 -0.01348922 0.99986466 -0.4896155 ] [ 0. 0. 0. 1. ]] SLAMing on 146.132414037 meters Centerline goodness [0,1] 0.8201129896391419 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.08, Z:-0.49 [[ 0.99991929 0.00831358 -0.00960694 1.62613751] [-0.00820513 0.99990279 0.01127352 -0.07640753] [ 0.00969972 -0.01119378 0.9998903 -0.49034733] [ 0. 0. 0. 1. ]] SLAMing on 146.162414037 meters Centerline goodness [0,1] 0.8227966365618188 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.08, Z:-0.49 [[ 0.99993739 0.00511491 -0.00995223 1.62751151] [-0.00502523 0.99994673 0.00901599 -0.08020892] [ 0.00999782 -0.00896541 0.99990983 -0.49127633] [ 0. 0. 0. 1. ]] SLAMing on 146.192414037 meters Centerline goodness [0,1] 0.8167704441677044 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.09, Z:-0.49 [[ 9.99949414e-01 -1.29966991e-03 -9.97394440e-03 1.62803117e+00] [ 1.35053170e-03 9.99986111e-01 5.09442597e-03 -8.95866662e-02] [ 9.96718481e-03 -5.10763839e-03 9.99937282e-01 -4.92291142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.222414037 meters Centerline goodness [0,1] 0.8180632067265874 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.10, Z:-0.49 [[ 0.99994124 -0.00431539 -0.00994477 1.62846684] [ 0.00435056 0.99998435 0.00351735 -0.09673457] [ 0.00992944 -0.00356041 0.99994436 -0.49296518] [ 0. 0. 0. 1. ]] SLAMing on 146.252414037 meters Centerline goodness [0,1] 0.8140111081287552 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.11, Z:-0.49 [[ 0.99992409 -0.00706972 -0.01009121 1.62944534] [ 0.00709434 0.99997194 0.00240557 -0.10522475] [ 0.01007392 -0.00247698 0.99994619 -0.49386156] [ 0. 0. 0. 1. ]] SLAMing on 146.282414037 meters Centerline goodness [0,1] 0.8123929242264742 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.12, Z:-0.49 [[ 9.99864790e-01 -1.31113001e-02 -9.92444689e-03 1.62840658e+00] [ 1.31051513e-02 9.99913890e-01 -6.84346517e-04 -1.19427494e-01] [ 9.93256497e-03 5.54192609e-04 9.99950517e-01 -4.93055230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.312414037 meters Centerline goodness [0,1] 0.8148324074265298 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.13, Z:-0.49 [[ 9.99854490e-01 -1.38725345e-02 -9.92734980e-03 1.62725765e+00] [ 1.38726672e-02 9.99903768e-01 -5.54986383e-05 -1.25298277e-01] [ 9.92716438e-03 -8.22282575e-05 9.99950721e-01 -4.91677294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.342414037 meters Centerline goodness [0,1] 0.8134494715984149 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.13, Z:-0.49 [[ 0.99986052 -0.01340412 -0.00996305 1.62692393] [ 0.01342311 0.99990821 0.00184246 -0.13065408] [ 0.00993744 -0.00197594 0.99994867 -0.49120327] [ 0. 0. 0. 1. ]] SLAMing on 146.372414037 meters Centerline goodness [0,1] 0.8144555436308099 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.14, Z:-0.49 [[ 0.99986851 -0.01272664 -0.01005 1.62672859] [ 0.01276475 0.99991155 0.00373645 -0.13575042] [ 0.01000156 -0.00386425 0.99994252 -0.49076203] [ 0. 0. 0. 1. ]] SLAMing on 146.402414037 meters Centerline goodness [0,1] 0.8141864731710333 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.15, Z:-0.49 [[ 0.99985026 -0.01376839 -0.01048302 1.62698478] [ 0.01381404 0.99989536 0.00429488 -0.14705038] [ 0.01042279 -0.00443905 0.99993583 -0.48988264] [ 0. 0. 0. 1. ]] SLAMing on 146.432414037 meters Centerline goodness [0,1] 0.8144517141029081 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.15, Z:-0.49 [[ 0.99981192 -0.01619938 -0.01066369 1.62769191] [ 0.0162266 0.99986529 0.00247137 -0.15197149] [ 0.01062222 -0.00264394 0.99994009 -0.49010829] [ 0. 0. 0. 1. ]] SLAMing on 146.462414037 meters Centerline goodness [0,1] 0.8101354411098761 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.16, Z:-0.49 [[ 0.99982339 -0.01540643 -0.01076289 1.6280605 ] [ 0.01545491 0.99987073 0.00443575 -0.15843697] [ 0.01069316 -0.0046013 0.99993224 -0.49034272] [ 0. 0. 0. 1. ]] SLAMing on 146.49241403699997 meters Centerline goodness [0,1] 0.8101077972669374 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.16, Z:-0.49 [[ 0.99983525 -0.01469459 -0.01065568 1.62765623] [ 0.01475954 0.99987281 0.00604279 -0.16296053] [ 0.01056553 -0.00619907 0.99992497 -0.49005244] [ 0. 0. 0. 1. ]] SLAMing on 146.52241403699998 meters Centerline goodness [0,1] 0.8123484194516382 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.17, Z:-0.49 [[ 0.99985327 -0.01322129 -0.010892 1.62783112] [ 0.01330959 0.99987882 0.00807433 -0.16731143] [ 0.01078393 -0.00821812 0.99990808 -0.48955297] [ 0. 0. 0. 1. ]] SLAMing on 146.55241403699998 meters Centerline goodness [0,1] 0.8108891951375033 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.17, Z:-0.49 [[ 0.99986494 -0.01210309 -0.01111792 1.62913373] [ 0.01220657 0.99988237 0.00928666 -0.16928813] [ 0.01100421 -0.00942112 0.99989507 -0.49059171] [ 0. 0. 0. 1. ]] SLAMing on 146.58241403699998 meters Centerline goodness [0,1] 0.8119763683896334 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.17, Z:-0.49 [[ 0.99987733 -0.01060717 -0.01152471 1.63167931] [ 0.01073408 0.99988181 0.01100698 -0.17265081] [ 0.0114066 -0.01112934 0.99987301 -0.4927772 ] [ 0. 0. 0. 1. ]] SLAMing on 146.61241403699998 meters Centerline goodness [0,1] 0.8105455892034233 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.18, Z:-0.50 [[ 0.9998826 -0.00946824 -0.01204721 1.63644944] [ 0.00961191 0.9998827 0.01192455 -0.18008545] [ 0.0119329 -0.01203894 0.99985632 -0.49692057] [ 0. 0. 0. 1. ]] SLAMing on 146.64241403699998 meters Centerline goodness [0,1] 0.8119990981204009 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.18, Z:-0.50 [[ 0.99985806 -0.01144317 -0.01236601 1.63761537] [ 0.01156099 0.99988805 0.00949883 -0.18162225] [ 0.01225593 -0.00964045 0.99987842 -0.49733796] [ 0. 0. 0. 1. ]] SLAMing on 146.67241403699998 meters Centerline goodness [0,1] 0.8095502156500308 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.18, Z:-0.49 [[ 0.9998632 -0.0114365 -0.01194972 1.634815 ] [ 0.01155623 0.99988323 0.00999878 -0.1841016 ] [ 0.01183398 -0.0101355 0.99987861 -0.49487301] [ 0. 0. 0. 1. ]] SLAMing on 146.70241403699998 meters Centerline goodness [0,1] 0.8111591517397571 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.19, Z:-0.49 [[ 0.9998599 -0.01192815 -0.01174303 1.63258084] [ 0.01204603 0.99987725 0.01001906 -0.18650715] [ 0.01162208 -0.01015911 0.99988085 -0.49251479] [ 0. 0. 0. 1. ]] SLAMing on 146.73241403699998 meters Centerline goodness [0,1] 0.8116433429915952 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.19, Z:-0.49 [[ 0.99983043 -0.01398277 -0.01198278 1.63224331] [ 0.01409463 0.99985739 0.00930226 -0.19409418] [ 0.011851 -0.00946958 0.99988493 -0.49123018] [ 0. 0. 0. 1. ]] SLAMing on 146.76241403699999 meters Centerline goodness [0,1] 0.8121720447878362 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.20, Z:-0.49 [[ 0.99978525 -0.01661264 -0.01238883 1.63356835] [ 0.01670184 0.99983508 0.00713203 -0.19799754] [ 0.01226831 -0.00733741 0.99989782 -0.49165109] [ 0. 0. 0. 1. ]] SLAMing on 146.792414037 meters Centerline goodness [0,1] 0.813023789521136 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.20, Z:-0.49 [[ 0.99974702 -0.01842455 -0.01290111 1.63613793] [ 0.01850223 0.99981124 0.00592824 -0.20301429] [ 0.01278945 -0.00616544 0.9998992 -0.49336749] [ 0. 0. 0. 1. ]] SLAMing on 146.822414037 meters Centerline goodness [0,1] 0.8110580176780624 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.21, Z:-0.49 [[ 0.99975036 -0.01838868 -0.01269184 1.63659113] [ 0.01847599 0.9998062 0.00679661 -0.20941958] [ 0.0125644 -0.0070294 0.99989636 -0.49417454] [ 0. 0. 0. 1. ]] SLAMing on 146.852414037 meters Centerline goodness [0,1] 0.8202892604369679 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.22, Z:-0.49 [[ 0.99975586 -0.01816342 -0.01258183 1.63669226] [ 0.01826356 0.99980208 0.00789005 -0.21537727] [ 0.01243603 -0.00811792 0.99988972 -0.49437894] [ 0. 0. 0. 1. ]] SLAMing on 146.882414037 meters Centerline goodness [0,1] 0.8243398392652124 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.23, Z:-0.49 [[ 0.99975256 -0.01853175 -0.01230432 1.63505009] [ 0.01864103 0.99978727 0.00882751 -0.22568931] [ 0.01213811 -0.00905469 0.99988533 -0.49266273] [ 0. 0. 0. 1. ]] SLAMing on 146.912414037 meters Centerline goodness [0,1] 0.8249121085765677 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.23, Z:-0.49 [[ 0.99976631 -0.01774002 -0.0123536 1.63471002] [ 0.01787147 0.99978396 0.01061322 -0.2311227 ] [ 0.01216265 -0.01083151 0.99986737 -0.49197502] [ 0. 0. 0. 1. ]] SLAMing on 146.942414037 meters Centerline goodness [0,1] 0.8259351519111402 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.24, Z:-0.49 [[ 0.99978041 -0.01686653 -0.01243553 1.63448064] [ 0.01702094 0.99977802 0.01241764 -0.23646902] [ 0.01222333 -0.01262657 0.99984557 -0.49136686] [ 0. 0. 0. 1. ]] SLAMing on 146.972414037 meters Centerline goodness [0,1] 0.827852245983833 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.24, Z:-0.49 [[ 0.99979671 -0.01579077 -0.01253758 1.63475727] [ 0.01597068 0.99976903 0.01438115 -0.241934 ] [ 0.01230759 -0.01457846 0.99981798 -0.49134993] [ 0. 0. 0. 1. ]] SLAMing on 147.002414037 meters Centerline goodness [0,1] 0.8322303042721033 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.25, Z:-0.49 [[ 0.99980184 -0.01513415 -0.01293234 1.63858925] [ 0.01533425 0.99976202 0.01551627 -0.25331757] [ 0.01269444 -0.01571151 0.99979598 -0.49446614] [ 0. 0. 0. 1. ]] SLAMing on 147.032414037 meters Centerline goodness [0,1] 0.833732130805571 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.26, Z:-0.50 [[ 0.99978383 -0.01593699 -0.0133531 1.64160243] [ 0.01613601 0.99975831 0.01493171 -0.25850623] [ 0.0131119 -0.01514395 0.99979935 -0.49692416] [ 0. 0. 0. 1. ]] SLAMing on 147.062414037 meters Centerline goodness [0,1] 0.8331317273193234 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.26, Z:-0.50 [[ 0.9997572 -0.01738579 -0.01353765 1.64309588] [ 0.017573 0.99974986 0.01383474 -0.26347013] [ 0.01329374 -0.01406928 0.99981265 -0.49807589] [ 0. 0. 0. 1. ]] SLAMing on 147.092414037 meters Centerline goodness [0,1] 0.8256067461949814 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.27, Z:-0.50 [[ 0.99975781 -0.01745481 -0.01340359 1.64299507] [ 0.01765436 0.99973287 0.01491668 -0.27456276] [ 0.01313964 -0.0151497 0.9997989 -0.49784303] [ 0. 0. 0. 1. ]] SLAMing on 147.122414037 meters Centerline goodness [0,1] 0.826968605249614 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.28, Z:-0.50 [[ 0.99974283 -0.01859783 -0.01297676 1.64164905] [ 0.01878168 0.99972287 0.01419262 -0.2795477 ] [ 0.01270921 -0.01443269 0.99981507 -0.49687835] [ 0. 0. 0. 1. ]] SLAMing on 147.152414037 meters Centerline goodness [0,1] 0.8292185730464326 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.28, Z:-0.50 [[ 0.99972168 -0.01946272 -0.01333294 1.64273757] [ 0.01964525 0.99971316 0.01369874 -0.28467198] [ 0.0130625 -0.01395686 0.99981727 -0.49720038] [ 0. 0. 0. 1. ]] SLAMing on 147.182414037 meters Centerline goodness [0,1] 0.8306338896653787 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.29, Z:-0.50 [[ 0.99968687 -0.0209509 -0.01368269 1.64400912] [ 0.02112452 0.99969656 0.01267033 -0.2898124 ] [ 0.01341308 -0.0129554 0.99982611 -0.49770033] [ 0. 0. 0. 1. ]] SLAMing on 147.212414037 meters Centerline goodness [0,1] 0.8301948920582001 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.30, Z:-0.50 [[ 0.99967253 -0.02197585 -0.0131105 1.64191918] [ 0.02214119 0.99967542 0.01260252 -0.30278573] [ 0.01282929 -0.01288868 0.99983463 -0.49617884] [ 0. 0. 0. 1. ]] SLAMing on 147.24241403699997 meters Centerline goodness [0,1] 0.8330657775582448 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.31, Z:-0.50 [[ 0.99962604 -0.02403793 -0.01303677 1.64141995] [ 0.02418856 0.99964101 0.01152217 -0.30948125] [ 0.01275512 -0.0118332 0.99984863 -0.49536035] [ 0. 0. 0. 1. ]] SLAMing on 147.27241403699998 meters Centerline goodness [0,1] 0.8368152656686956 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.32, Z:-0.49 [[ 0.9995711 -0.02624916 -0.01298479 1.64126229] [ 0.02638545 0.99959734 0.01043851 -0.3164754 ] [ 0.01270556 -0.01077664 0.99986121 -0.49482858] [ 0. 0. 0. 1. ]] SLAMing on 147.30241403699998 meters Centerline goodness [0,1] 0.8347018995287193 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.32, Z:-0.49 [[ 0.99950685 -0.02862138 -0.01291763 1.64089625] [ 0.02874289 0.99954338 0.00932109 -0.32347921] [ 0.01264495 -0.00968778 0.99987312 -0.49407479] [ 0. 0. 0. 1. ]] SLAMing on 147.33241403699998 meters Centerline goodness [0,1] 0.8370568286918096 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.34, Z:-0.49 [[ 0.99934784 -0.03371147 -0.01293939 1.64183746] [ 0.03380838 0.99940134 0.00734512 -0.33758791] [ 0.01268403 -0.00777779 0.9998893 -0.4941477 ] [ 0. 0. 0. 1. ]] SLAMing on 147.36241403699998 meters Centerline goodness [0,1] 0.8363173455978975 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.35, Z:-0.50 [[ 0.99925429 -0.03631253 -0.01312475 1.64369958] [ 0.03640082 0.99931579 0.00655162 -0.34572799] [ 0.01287787 -0.00702448 0.9998924 -0.49543817] [ 0. 0. 0. 1. ]] SLAMing on 147.39241403699998 meters Centerline goodness [0,1] 0.8371026769192812 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.35, Z:-0.50 [[ 0.99910111 -0.04021012 -0.01342102 1.64664527] [ 0.04027118 0.99917949 0.00431067 -0.35353377] [ 0.01323668 -0.00484727 0.99990064 -0.49762413] [ 0. 0. 0. 1. ]] SLAMing on 147.42241403699998 meters Centerline goodness [0,1] 0.8373147806099412 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.37, Z:-0.50 [[ 9.98678273e-01 -4.95980704e-02 -1.34810681e-02 1.64857363e+00] [ 4.95850731e-02 9.98769062e-01 -1.29685711e-03 -3.68399664e-01] [ 1.35287953e-02 6.26683271e-04 9.99908285e-01 -4.98226114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45241403699998 meters Centerline goodness [0,1] 0.8404336132383435 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.38, Z:-0.50 [[ 9.98538168e-01 -5.23659123e-02 -1.33917479e-02 1.64784620e+00] [ 5.23392479e-02 9.98626634e-01 -2.33413311e-03 -3.76153286e-01] [ 1.34955852e-02 1.62980698e-03 9.99907602e-01 -4.96767307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48241403699998 meters Centerline goodness [0,1] 0.839103786155013 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.38, Z:-0.50 [[ 0.99838968 -0.05514014 -0.01332728 1.64707587] [ 0.05509721 0.99847462 -0.00356778 -0.38326237] [ 0.01350368 0.00282773 0.99990482 -0.4952068 ] [ 0. 0. 0. 1. ]] SLAMing on 147.51241403699999 meters Centerline goodness [0,1] 0.8429211727455899 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.40, Z:-0.49 [[ 0.99807794 -0.06052932 -0.01329026 1.64792362] [ 0.06044512 0.99814938 -0.00664851 -0.395185 ] [ 0.0136681 0.0058324 0.99988958 -0.49494937] [ 0. 0. 0. 1. ]] SLAMing on 147.542414037 meters Centerline goodness [0,1] 0.8452764386090881 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.40, Z:-0.50 [[ 0.998052 -0.06085807 -0.0137292 1.65051495] [ 0.06078255 0.99813387 -0.00585288 -0.40039028] [ 0.01405978 0.00500698 0.99988862 -0.49673537] [ 0. 0. 0. 1. ]] SLAMing on 147.572414037 meters Centerline goodness [0,1] 0.844145975807611 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.41, Z:-0.50 [[ 0.99810039 -0.05999077 -0.01402533 1.65172162] [ 0.059941 0.99819413 -0.00394321 -0.40539845] [ 0.01423655 0.00309502 0.99989387 -0.49740658] [ 0. 0. 0. 1. ]] SLAMing on 147.602414037 meters Centerline goodness [0,1] 0.8458183158584535 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.41, Z:-0.50 [[ 9.98165652e-01 -5.88501553e-02 -1.42123220e-02 1.65223929e+00] [ 5.88278905e-02 9.98266176e-01 -1.97996040e-03 -4.10107807e-01] [ 1.43042013e-02 1.14024755e-03 9.99897040e-01 -4.97521631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.632414037 meters Centerline goodness [0,1] 0.8440745453799106 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.42, Z:-0.50 [[ 9.98295431e-01 -5.66581542e-02 -1.40030996e-02 1.65029291e+00] [ 5.66837684e-02 9.98391146e-01 1.43878632e-03 -4.18743460e-01] [ 1.38990517e-02 -2.23008226e-03 9.99900917e-01 -4.95473784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.662414037 meters Centerline goodness [0,1] 0.8479597080892178 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.42, Z:-0.49 [[ 0.9983556 -0.05559265 -0.01398389 1.6492334 ] [ 0.05564255 0.99844561 0.00320519 -0.42267778] [ 0.01378397 -0.00397802 0.99989708 -0.49408729] [ 0. 0. 0. 1. ]] SLAMing on 147.692414037 meters Centerline goodness [0,1] 0.8500636367368724 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.43, Z:-0.49 [[ 0.99840081 -0.05477092 -0.01399887 1.64856235] [ 0.0548409 0.99848421 0.00466524 -0.42607394] [ 0.01372213 -0.00542549 0.99989113 -0.49303969] [ 0. 0. 0. 1. ]] SLAMing on 147.722414037 meters Centerline goodness [0,1] 0.8496996873457298 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.43, Z:-0.49 [[ 0.99843059 -0.05418093 -0.01416975 1.64847492] [ 0.0542685 0.99850913 0.00586978 -0.42912574] [ 0.0138306 -0.00662954 0.99988237 -0.49240047] [ 0. 0. 0. 1. ]] SLAMing on 147.752414037 meters Centerline goodness [0,1] 0.8522473406980795 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.43, Z:-0.49 [[ 0.99842966 -0.05407103 -0.01464743 1.65063239] [ 0.05417869 0.99850633 0.0070559 -0.434833 ] [ 0.01424403 -0.0078384 0.99986782 -0.49347952] [ 0. 0. 0. 1. ]] SLAMing on 147.782414037 meters Centerline goodness [0,1] 0.8524124881740776 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.44, Z:-0.49 [[ 0.99844345 -0.05376936 -0.01481682 1.65137897] [ 0.0538917 0.99851486 0.00798457 -0.43780577] [ 0.01436549 -0.00877065 0.99985834 -0.49384573] [ 0. 0. 0. 1. ]] SLAMing on 147.812414037 meters Centerline goodness [0,1] 0.8524124881740776 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.44, Z:-0.49 [[ 0.99844345 -0.05376936 -0.01481682 1.65137897] [ 0.0538917 0.99851486 0.00798457 -0.43780577] [ 0.01436549 -0.00877065 0.99985834 -0.49384573] [ 0. 0. 0. 1. ]] SLAMing on 147.842414037 meters Centerline goodness [0,1] 0.8528915761763738 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.44, Z:-0.50 [[ 0.99839207 -0.05464382 -0.01507736 1.65409674] [ 0.05476955 0.99846652 0.00805585 -0.44149548] [ 0.01461404 -0.00886868 0.99985388 -0.49616519] [ 0. 0. 0. 1. ]] SLAMing on 147.872414037 meters Centerline goodness [0,1] 0.8534148953699127 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.44, Z:-0.50 [[ 0.99839495 -0.05456875 -0.01515829 1.65466573] [ 0.05470338 0.9984655 0.00861343 -0.44325926] [ 0.014665 -0.00942881 0.99984801 -0.49659512] [ 0. 0. 0. 1. ]] SLAMing on 147.902414037 meters Centerline goodness [0,1] 0.8547822145300201 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.45, Z:-0.50 [[ 0.99839388 -0.05458283 -0.01517789 1.65501769] [ 0.05472619 0.99845906 0.00919552 -0.44544299] [ 0.01465258 -0.01001138 0.99984252 -0.49680823] [ 0. 0. 0. 1. ]] SLAMing on 147.932414037 meters Centerline goodness [0,1] 0.8533698381983614 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.45, Z:-0.50 [[ 0.99837231 -0.0549544 -0.01525603 1.65575106] [ 0.0551044 0.99843453 0.00959167 -0.44807591] [ 0.01470504 -0.01041674 0.99983761 -0.49725981] [ 0. 0. 0. 1. ]] SLAMing on 147.962414037 meters Centerline goodness [0,1] 0.8528696798648593 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.45, Z:-0.50 [[ 0.99834684 -0.05541944 -0.01524025 1.65633323] [ 0.05557566 0.99840415 0.01002492 -0.45094414] [ 0.01466035 -0.01085533 0.9998336 -0.49773044] [ 0. 0. 0. 1. ]] SLAMing on 147.99241403699997 meters Centerline goodness [0,1] 0.8536931818181819 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.45, Z:-0.50 [[ 0.99809405 -0.05991836 -0.01476699 1.65626174] [ 0.06002655 0.99817227 0.00699521 -0.45489414] [ 0.01432085 -0.00786828 0.99986649 -0.49774984] [ 0. 0. 0. 1. ]] SLAMing on 148.02241403699998 meters Centerline goodness [0,1] 0.8538380651945321 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.46, Z:-0.50 [[ 0.99785994 -0.06377548 -0.0144298 1.65555691] [ 0.06383398 0.99795393 0.00363049 -0.4564505 ] [ 0.01416874 -0.00454383 0.99988929 -0.49699003] [ 0. 0. 0. 1. ]] SLAMing on 148.05241403699998 meters Centerline goodness [0,1] 0.8544570969668266 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.46, Z:-0.50 [[ 9.97628174e-01 -6.73891353e-02 -1.40261082e-02 1.65416668e+00] [ 6.74037984e-02 9.97725612e-01 5.74787708e-04 -4.58146568e-01] [ 1.39554729e-02 -1.51883738e-03 9.99901464e-01 -4.95547093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08241403699998 meters Centerline goodness [0,1] 0.8539690361792124 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.46, Z:-0.49 [[ 9.97557612e-01 -6.84791366e-02 -1.37629223e-02 1.65369220e+00] [ 6.84970937e-02 9.97650965e-01 8.37067634e-04 -4.61155680e-01] [ 1.36732711e-02 -1.77774337e-03 9.99904936e-01 -4.94871211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11241403699998 meters Centerline goodness [0,1] 0.8390297005299265 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.46, Z:-0.49 [[ 0.99716316 -0.07411397 -0.01314317 1.65326856] [ 0.07407516 0.99724681 -0.00341686 -0.46216872] [ 0.01336022 0.00243358 0.99990779 -0.49443168] [ 0. 0. 0. 1. ]] SLAMing on 148.14241403699998 meters Centerline goodness [0,1] 0.8231475584954497 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.46, Z:-0.49 [[ 0.9971129 -0.07479547 -0.01309629 1.65344381] [ 0.07475571 0.99719573 -0.00350011 -0.4628604 ] [ 0.01332136 0.00251098 0.99990811 -0.49451481] [ 0. 0. 0. 1. ]] SLAMing on 148.17241403699998 meters Centerline goodness [0,1] 0.8058713483954526 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.46, Z:-0.50 [[ 0.99698466 -0.07647116 -0.01318137 1.6556274 ] [ 0.07641351 0.99706454 -0.0048241 -0.46222504] [ 0.01351158 0.00380232 0.99990148 -0.49662878] [ 0. 0. 0. 1. ]] SLAMing on 148.20241403699998 meters Centerline goodness [0,1] 0.8238677358840627 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.46, Z:-0.50 [[ 0.99696185 -0.07675083 -0.01328089 1.65680263] [ 0.0766868 0.99704133 -0.00526592 -0.46096398] [ 0.01364576 0.00423145 0.99989794 -0.49790652] [ 0. 0. 0. 1. ]] SLAMing on 148.23241403699998 meters Centerline goodness [0,1] 0.8365949923940303 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.46, Z:-0.50 [[ 0.99711249 -0.0747074 -0.01361944 1.65890817] [ 0.0746742 0.99720368 -0.00293057 -0.46010807] [ 0.01380029 0.00190508 0.99990296 -0.49995164] [ 0. 0. 0. 1. ]] SLAMing on 148.26241403699999 meters Centerline goodness [0,1] 0.8168001643047854 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.46, Z:-0.50 [[ 9.97338991e-01 -7.16099709e-02 -1.36729439e-02 1.65924667e+00] [ 7.16221886e-02 9.97431751e-01 4.05378809e-04 -4.59207671e-01] [ 1.36087992e-02 -1.38358626e-03 9.99906439e-01 -5.00733060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.292414037 meters Centerline goodness [0,1] 0.8388310006782169 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.45, Z:-0.50 [[ 0.99754496 -0.06870519 -0.0135514 1.65876767] [ 0.06874835 0.99763026 0.00274444 -0.45473468] [ 0.01333073 -0.00366934 0.99990441 -0.50108799] [ 0. 0. 0. 1. ]] SLAMing on 148.322414037 meters Centerline goodness [0,1] 0.8342635531661673 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.45, Z:-0.50 [[ 0.99774307 -0.06576913 -0.01353471 1.65862305] [ 0.06585154 0.99781295 0.00573573 -0.45352069] [ 0.01312787 -0.00661407 0.99989195 -0.501304 ] [ 0. 0. 0. 1. ]] SLAMing on 148.352414037 meters Centerline goodness [0,1] 0.8340561093412804 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.45, Z:-0.50 [[ 0.99780542 -0.06492041 -0.01302619 1.65642339] [ 0.06500339 0.9978667 0.00605067 -0.45058401] [ 0.01260559 -0.00688414 0.99989685 -0.50012555] [ 0. 0. 0. 1. ]] SLAMing on 148.382414037 meters Centerline goodness [0,1] 0.8383578557464759 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.45, Z:-0.50 [[ 0.99792961 -0.06306881 -0.01260232 1.65499709] [ 0.06317034 0.99797207 0.00782679 -0.44787283] [ 0.01208314 -0.00860668 0.99988996 -0.49960781] [ 0. 0. 0. 1. ]] SLAMing on 148.412414037 meters Centerline goodness [0,1] 0.82418734708144 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.44, Z:-0.50 [[ 0.99790703 -0.06341844 -0.01263591 1.65532427] [ 0.06350762 0.99795828 0.00678562 -0.44409428] [ 0.01217978 -0.00757389 0.99989714 -0.50015359] [ 0. 0. 0. 1. ]] SLAMing on 148.442414037 meters Centerline goodness [0,1] 0.8261120263591433 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.44, Z:-0.50 [[ 0.99795563 -0.06265961 -0.01258341 1.65675242] [ 0.06275298 0.99800335 0.00716735 -0.43844736] [ 0.01210918 -0.00794234 0.99989514 -0.50228295] [ 0. 0. 0. 1. ]] SLAMing on 148.472414037 meters Centerline goodness [0,1] 0.8256210924646266 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.43, Z:-0.50 [[ 0.9979142 -0.06333543 -0.01248523 1.65700946] [ 0.06341301 0.99796982 0.00591826 -0.43465126] [ 0.01208505 -0.00669764 0.99990454 -0.50295812] [ 0. 0. 0. 1. ]] SLAMing on 148.502414037 meters Centerline goodness [0,1] 0.8278130671506352 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.43, Z:-0.50 [[ 0.99796847 -0.06252107 -0.01224934 1.65677123] [ 0.06259762 0.998021 0.00596847 -0.42552276] [ 0.01185195 -0.00672312 0.99990716 -0.50373517] [ 0. 0. 0. 1. ]] SLAMing on 148.532414037 meters Centerline goodness [0,1] 0.8168152708852419 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.42, Z:-0.50 [[ 0.99809191 -0.06051906 -0.01224656 1.65741209] [ 0.06061537 0.99813187 0.00765182 -0.42153626] [ 0.0117606 -0.00837955 0.99989573 -0.50486906] [ 0. 0. 0. 1. ]] SLAMing on 148.562414037 meters Centerline goodness [0,1] 0.6874085070410919 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.42, Z:-0.51 [[ 0.99804753 -0.06127171 -0.01212031 1.65716314] [ 0.061346 0.99809939 0.00585492 -0.41593696] [ 0.01173853 -0.00658702 0.9999094 -0.50506782] [ 0. 0. 0. 1. ]] SLAMing on 148.592414037 meters Centerline goodness [0,1] 0.6820698990893428 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.41, Z:-0.51 [[ 9.98205252e-01 -5.96280635e-02 -5.54700644e-03 1.66607571e+00] [ 5.96184288e-02 9.98219457e-01 -1.88651020e-03 -4.10376134e-01] [ 5.64961871e-03 1.55242058e-03 9.99982836e-01 -5.08748934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.622414037 meters Centerline goodness [0,1] 0.6618091890124265 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.40, Z:-0.51 [[ 0.99819412 -0.059604 0.0074744 1.66667396] [ 0.05964083 0.99820833 -0.00480604 -0.39971873] [-0.00717455 0.00524315 0.99996052 -0.51116235] [ 0. 0. 0. 1. ]] SLAMing on 148.652414037 meters Centerline goodness [0,1] 0.6696993186732487 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.40, Z:-0.51 [[ 0.99833817 -0.05715881 0.00733242 1.66600336] [ 0.05717895 0.99836064 -0.00256737 -0.39600211] [-0.00717365 0.00298236 0.99996982 -0.5104081 ] [ 0. 0. 0. 1. ]] SLAMing on 148.682414037 meters Centerline goodness [0,1] 0.662929822058254 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.39, Z:-0.51 [[ 9.98488503e-01 -5.44874055e-02 7.19945061e-03 1.66589017e+00] [ 5.44902479e-02 9.98514283e-01 -1.99114289e-04 -3.92255411e-01] [-7.17790505e-03 5.91113177e-04 9.99974064e-01 -5.10385593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.712414037 meters Centerline goodness [0,1] 0.6618065723116968 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.39, Z:-0.51 [[ 9.98623642e-01 -5.19908639e-02 6.91171173e-03 1.66708067e+00] [ 5.19794595e-02 9.98646496e-01 1.81965152e-03 -3.88065097e-01] [-6.99696196e-03 -1.45787998e-03 9.99974458e-01 -5.11588648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74241403699997 meters Centerline goodness [0,1] 0.6692328112556412 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.38, Z:-0.52 [[ 0.99881893 -0.04813674 0.00660338 1.67054002] [ 0.04810872 0.99883268 0.00433842 -0.37796793] [-0.00680451 -0.00401562 0.99996879 -0.51606181] [ 0. 0. 0. 1. ]] SLAMing on 148.77241403699998 meters Centerline goodness [0,1] 0.6621459262426945 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.37, Z:-0.52 [[ 0.99894469 -0.04550268 0.00624565 1.67215075] [ 0.04546363 0.9989464 0.00625702 -0.37321438] [-0.00652378 -0.00596646 0.99996092 -0.51766396] [ 0. 0. 0. 1. ]] SLAMing on 148.80241403699998 meters Centerline goodness [0,1] 0.6680601154183405 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.37, Z:-0.52 [[ 0.99906952 -0.04268412 0.00617661 1.67238231] [ 0.04263093 0.99905472 0.00850114 -0.36939006] [-0.00653364 -0.00822991 0.99994479 -0.51818185] [ 0. 0. 0. 1. ]] SLAMing on 148.83241403699998 meters Centerline goodness [0,1] 0.6745366689094134 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.36, Z:-0.52 [[ 0.99914285 -0.04094286 0.00610248 1.67222654] [ 0.04088898 0.99912577 0.00870574 -0.36107197] [-0.00645359 -0.00844875 0.99994348 -0.51828464] [ 0. 0. 0. 1. ]] SLAMing on 148.86241403699998 meters Centerline goodness [0,1] 0.6808000491833515 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.36, Z:-0.52 [[ 0.99925523 -0.03810566 0.00607843 1.67209006] [ 0.03803578 0.99921334 0.01122436 -0.35806185] [-0.00650136 -0.0109848 0.99991853 -0.51840385] [ 0. 0. 0. 1. ]] SLAMing on 148.89241403699998 meters Centerline goodness [0,1] 0.6751277368518253 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.35, Z:-0.52 [[ 0.99934879 -0.03559913 0.00589032 1.67295381] [ 0.03551915 0.99928224 0.01316774 -0.35387113] [-0.00635485 -0.01294994 0.99989595 -0.51934324] [ 0. 0. 0. 1. ]] SLAMing on 148.92241403699998 meters Centerline goodness [0,1] 0.6948107798165137 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.35, Z:-0.52 [[ 0.999429 -0.03334015 0.00548742 1.67505055] [ 0.03325639 0.99933865 0.01470612 -0.34912843] [-0.00597409 -0.01451523 0.9998768 -0.52132035] [ 0. 0. 0. 1. ]] SLAMing on 148.95241403699998 meters Centerline goodness [0,1] 0.7037354737250576 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.34, Z:-0.52 [[ 0.99959361 -0.02805791 0.00503708 1.67782397] [ 0.02795859 0.99943211 0.0188088 -0.34154481] [-0.00556196 -0.01866032 0.99981041 -0.52436672] [ 0. 0. 0. 1. ]] SLAMing on 148.98241403699998 meters Centerline goodness [0,1] 0.7108994058594551 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.34, Z:-0.52 [[ 0.99960006 -0.02782716 0.00503672 1.67789611] [ 0.02773339 0.99945658 0.01781603 -0.33729534] [-0.00552976 -0.01766921 0.9998286 -0.52459645] [ 0. 0. 0. 1. ]] SLAMing on 149.01241403699999 meters Centerline goodness [0,1] 0.718774983088371 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.33, Z:-0.52 [[ 0.99960774 -0.02754523 0.00506285 1.67783637] [ 0.02745668 0.99948184 0.01679804 -0.33294278] [-0.00552294 -0.01665244 0.99984608 -0.5246696 ] [ 0. 0. 0. 1. ]] SLAMing on 149.042414037 meters Centerline goodness [0,1] 0.7217394860051931 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.33, Z:-0.52 [[ 0.99962131 -0.02710207 0.00476538 1.67825764] [ 0.02702359 0.99950951 0.0158263 -0.32834877] [-0.00519197 -0.01569153 0.9998634 -0.5246542 ] [ 0. 0. 0. 1. ]] SLAMing on 149.072414037 meters Centerline goodness [0,1] 0.7400971331379742 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.32, Z:-0.52 [[ 0.9997619 -0.02126106 0.00491084 1.67599091] [ 0.02115662 0.99956761 0.02042029 -0.32196655] [-0.00534287 -0.02031153 0.99977942 -0.52261994] [ 0. 0. 0. 1. ]] SLAMing on 149.102414037 meters Centerline goodness [0,1] 0.7509378567933453 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.32, Z:-0.52 [[ 0.99977062 -0.02089457 0.00470289 1.67625054] [ 0.02079934 0.99959426 0.01946041 -0.31759406] [-0.0051076 -0.01935813 0.99979957 -0.52259588] [ 0. 0. 0. 1. ]] SLAMing on 149.132414037 meters Centerline goodness [0,1] 0.7749668739170319 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.31, Z:-0.52 [[ 0.99977236 -0.02084679 0.00454252 1.67651463] [ 0.02076024 0.99961637 0.01833392 -0.31366884] [-0.00492298 -0.01823545 0.9998216 -0.52265334] [ 0. 0. 0. 1. ]] SLAMing on 149.162414037 meters Centerline goodness [0,1] 0.7914681281825804 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.31, Z:-0.52 [[ 0.99983791 -0.01743481 0.00449182 1.67645169] [ 0.0173396 0.99964095 0.02042831 -0.3081292 ] [-0.00484637 -0.02034712 0.99978123 -0.52270365] [ 0. 0. 0. 1. ]] SLAMing on 149.192414037 meters Centerline goodness [0,1] 0.7955369024465144 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.30, Z:-0.52 [[ 0.9998394 -0.01734884 0.00449415 1.67661128] [ 0.01725807 0.9996608 0.01950504 -0.30452578] [-0.00483102 -0.01942435 0.99979966 -0.52299811] [ 0. 0. 0. 1. ]] SLAMing on 149.222414037 meters Centerline goodness [0,1] 0.8072877305500521 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.30, Z:-0.52 [[ 0.99983824 -0.01745603 0.0043326 1.676998 ] [ 0.01737324 0.99967861 0.01846222 -0.30094972] [-0.00465349 -0.01838396 0.99982017 -0.52319982] [ 0. 0. 0. 1. ]] SLAMing on 149.252414037 meters Centerline goodness [0,1] 0.8129483245615817 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.29, Z:-0.52 [[ 0.99987616 -0.01509457 0.0044507 1.67465526] [ 0.01500433 0.99969421 0.0196561 -0.29498337] [-0.00474604 -0.01958688 0.99979689 -0.52068309] [ 0. 0. 0. 1. ]] SLAMing on 149.282414037 meters Centerline goodness [0,1] 0.8139311022815713 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.29, Z:-0.52 [[ 0.99989387 -0.01383639 0.00456186 1.67228743] [ 0.01374069 0.99969784 0.02038174 -0.29203253] [-0.00484249 -0.0203169 0.99978186 -0.51810564] [ 0. 0. 0. 1. ]] SLAMing on 149.312414037 meters Centerline goodness [0,1] 0.8191391661054307 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.29, Z:-0.52 [[ 0.99989404 -0.01390014 0.00432331 1.67238844] [ 0.01381371 0.99971602 0.01941816 -0.2889342 ] [-0.004592 -0.01935638 0.9998021 -0.51763439] [ 0. 0. 0. 1. ]] SLAMing on 149.342414037 meters Centerline goodness [0,1] 0.8306938005169655 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.28, Z:-0.52 [[ 9.99931755e-01 -1.16748880e-02 4.27232932e-04 1.66840362e+00] [ 1.16703624e-02 9.99887800e-01 9.39095744e-03 -2.84471637e-01] [-5.36823373e-04 -9.38533059e-03 9.99955813e-01 -5.20016864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.372414037 meters Centerline goodness [0,1] 0.830606116320402 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.28, Z:-0.52 [[ 9.99934763e-01 -1.14209072e-02 -1.79990196e-04 1.67207710e+00] [ 1.14220780e-02 9.99892666e-01 9.17560121e-03 -2.83767463e-01] [ 7.51771873e-05 -9.17705848e-03 9.99957887e-01 -5.23025824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.402414037 meters Centerline goodness [0,1] 0.833637687998851 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.28, Z:-0.52 [[ 9.99940201e-01 -1.09339367e-02 -2.09559662e-04 1.67303132e+00] [ 1.09353882e-02 9.99899041e-01 9.07327304e-03 -2.82395733e-01] [ 1.10331912e-04 -9.07502208e-03 9.99958815e-01 -5.24237373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.432414037 meters Centerline goodness [0,1] 0.8335954253037884 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.28, Z:-0.53 [[ 9.99964823e-01 -8.36725805e-03 -5.83917816e-04 1.67558304e+00] [ 8.37338285e-03 9.99899709e-01 1.14218194e-02 -2.81273093e-01] [ 4.88289944e-04 -1.14263070e-02 9.99934598e-01 -5.26522258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.462414037 meters Centerline goodness [0,1] 0.8345680524092328 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.28, Z:-0.53 [[ 9.99999030e-01 -1.12144075e-03 -8.25870557e-04 1.67721509e+00] [ 1.13633814e-03 9.99832545e-01 1.82644545e-02 -2.79190455e-01] [ 8.05249757e-04 -1.82653752e-02 9.99832850e-01 -5.28007969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49241403699997 meters Centerline goodness [0,1] 0.8352517101544259 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.28, Z:-0.53 [[ 9.99999582e-01 -5.08003669e-05 -9.13179634e-04 1.67753708e+00] [ 6.78011411e-05 9.99826505e-01 1.86267397e-02 -2.78468035e-01] [ 9.12074957e-04 -1.86267939e-02 9.99826090e-01 -5.28175206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52241403699998 meters Centerline goodness [0,1] 0.8332580671647919 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.28, Z:-0.53 [[ 9.99999081e-01 7.79468607e-04 -1.10933126e-03 1.67831833e+00] [-7.58090389e-04 9.99816470e-01 1.91429371e-02 -2.79196516e-01] [ 1.12404899e-03 -1.91420785e-02 9.99816142e-01 -5.28675804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55241403699998 meters Centerline goodness [0,1] 0.8386853426305381 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.28, Z:-0.53 [[ 9.99989031e-01 4.44960265e-03 -1.46243690e-03 1.68219592e+00] [-4.41524867e-03 9.99732352e-01 2.27096893e-02 -2.82857607e-01] [ 1.56309458e-03 -2.27029831e-02 9.99741032e-01 -5.32566610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58241403699998 meters Centerline goodness [0,1] 0.8379068153048308 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.28, Z:-0.53 [[ 9.99985016e-01 5.26449561e-03 -1.50124894e-03 1.68285613e+00] [-5.22811293e-03 9.99715124e-01 2.32881395e-02 -2.83334007e-01] [ 1.62342158e-03 -2.32799418e-02 9.99727667e-01 -5.33316764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61241403699998 meters Centerline goodness [0,1] 0.8354168797953965 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.28, Z:-0.53 [[ 9.99980671e-01 6.04757162e-03 -1.44392320e-03 1.68266165e+00] [-6.01132489e-03 9.99696034e-01 2.39103214e-02 -2.83923829e-01] [ 1.58808367e-03 -2.39011794e-02 9.99713065e-01 -5.33176831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64241403699998 meters Centerline goodness [0,1] 0.8378002373255862 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.28, Z:-0.53 [[ 9.99975963e-01 6.76683586e-03 -1.51096638e-03 1.68194734e+00] [-6.72771185e-03 9.99675983e-01 2.45492893e-02 -2.84921257e-01] [ 1.67659781e-03 -2.45385339e-02 9.99697479e-01 -5.32031517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67241403699998 meters Centerline goodness [0,1] 0.8375339833609289 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.29, Z:-0.53 [[ 9.99958931e-01 8.94485862e-03 -1.45827149e-03 1.67974054e+00] [-8.90197938e-03 9.99591719e-01 2.71505137e-02 -2.89556219e-01] [ 1.70053361e-03 -2.71364171e-02 9.99630293e-01 -5.29195399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70241403699998 meters Centerline goodness [0,1] 0.8375339833609289 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.29, Z:-0.53 [[ 9.99958931e-01 8.94485862e-03 -1.45827149e-03 1.67974054e+00] [-8.90197938e-03 9.99591719e-01 2.71505137e-02 -2.89556219e-01] [ 1.70053361e-03 -2.71364171e-02 9.99630293e-01 -5.29195399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73241403699998 meters Centerline goodness [0,1] 0.8356763383735186 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.29, Z:-0.53 [[ 0.99997987 0.00611509 -0.00169073 1.68021129] [-0.00607283 0.99969451 0.02395862 -0.29064945] [ 0.00183672 -0.02394787 0.99971152 -0.52923596] [ 0. 0. 0. 1. ]] SLAMing on 149.76241403699999 meters Centerline goodness [0,1] 0.8265779639439859 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.29, Z:-0.53 [[ 0.99999375 0.00301643 -0.00184168 1.68083647] [-0.00297745 0.99977893 0.02081388 -0.29230544] [ 0.00190405 -0.02080827 0.99978167 -0.52970393] [ 0. 0. 0. 1. ]] SLAMing on 149.792414037 meters Centerline goodness [0,1] 0.8302629152236727 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.29, Z:-0.53 [[ 9.99997834e-01 -3.48170075e-04 -2.05199719e-03 1.68183341e+00] [ 3.84147598e-04 9.99845760e-01 1.75586948e-02 -2.94287209e-01] [ 2.04556728e-03 -1.75594451e-02 9.99843729e-01 -5.30457488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.822414037 meters Centerline goodness [0,1] 0.8276764015323146 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.30, Z:-0.53 [[ 0.99999011 -0.00396087 -0.00202209 1.68177764] [ 0.00398914 0.99989161 0.01417222 -0.29628779] [ 0.00196574 -0.01418014 0.99989752 -0.53040328] [ 0. 0. 0. 1. ]] SLAMing on 149.852414037 meters Centerline goodness [0,1] 0.8322308088614117 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.30, Z:-0.53 [[ 0.99994153 -0.01063381 -0.00196592 1.68059944] [ 0.01065036 0.99990623 0.00860853 -0.30143977] [ 0.00187419 -0.00862897 0.99996101 -0.52884166] [ 0. 0. 0. 1. ]] SLAMing on 149.882414037 meters Centerline goodness [0,1] 0.8329743810637295 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.30, Z:-0.53 [[ 0.99989454 -0.01436504 -0.00213226 1.68083053] [ 0.01437696 0.99988049 0.00568379 -0.30483031] [ 0.00205035 -0.00571385 0.99998157 -0.52849233] [ 0. 0. 0. 1. ]] SLAMing on 149.912414037 meters Centerline goodness [0,1] 0.836149859685778 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.31, Z:-0.53 [[ 9.99748835e-01 -2.22932113e-02 -2.29773494e-03 1.68172880e+00] [ 2.22928619e-02 9.99751468e-01 -1.77546530e-04 -3.12232927e-01] [ 2.30112196e-03 1.26278849e-04 9.99997344e-01 -5.28791784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.942414037 meters Centerline goodness [0,1] 0.8389212230510698 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.32, Z:-0.53 [[ 0.99967064 -0.02553396 -0.00257387 1.68391507] [ 0.0255278 0.99967124 -0.00239832 -0.31607068] [ 0.00263427 0.00233183 0.99999381 -0.53065686] [ 0. 0. 0. 1. ]] SLAMing on 149.972414037 meters Centerline goodness [0,1] 0.8404108885464818 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.32, Z:-0.53 [[ 0.99959316 -0.02837578 -0.00288712 1.68675833] [ 0.02836315 0.99958834 -0.00432329 -0.31920105] [ 0.00300861 0.00423965 0.99998649 -0.53323703] [ 0. 0. 0. 1. ]] SLAMing on 150.002414037 meters Centerline goodness [0,1] 0.8383250706764453 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.32, Z:-0.54 [[ 0.99951468 -0.03098276 -0.00323686 1.68989674] [ 0.03096245 0.99950165 -0.00614658 -0.32184734] [ 0.00342568 0.00604338 0.99997587 -0.53608513] [ 0. 0. 0. 1. ]] SLAMing on 150.032414037 meters Centerline goodness [0,1] 0.8214591924223247 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.33, Z:-0.54 [[ 0.99934173 -0.03611472 -0.00343992 1.69268016] [ 0.03607876 0.99929894 -0.00999786 -0.32685798] [ 0.00379857 0.00986717 0.9999441 -0.53852301] [ 0. 0. 0. 1. ]] SLAMing on 150.062414037 meters Centerline goodness [0,1] 0.8106438681174835 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.33, Z:-0.54 [[ 0.99932571 -0.03656105 -0.00337896 1.69203052] [ 0.03652781 0.9992882 -0.00942379 -0.33056622] [ 0.0037211 0.00929401 0.99994989 -0.53764567] [ 0. 0. 0. 1. ]] SLAMing on 150.092414037 meters Centerline goodness [0,1] 0.7989743380189605 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.33, Z:-0.54 [[ 0.99931598 -0.03683436 -0.0032856 1.69101584] [ 0.03680464 0.9992847 -0.00868927 -0.33397024] [ 0.00360332 0.00856241 0.99995685 -0.53635111] [ 0. 0. 0. 1. ]] SLAMing on 150.122414037 meters Centerline goodness [0,1] 0.7787889322890038 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.34, Z:-0.54 [[ 0.99930764 -0.03706408 -0.00323987 1.69026331] [ 0.03703698 0.99928141 -0.00805799 -0.33670721] [ 0.00353621 0.00793241 0.99996229 -0.53533574] [ 0. 0. 0. 1. ]] SLAMing on 150.152414037 meters Centerline goodness [0,1] 0.7584003256334588 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.34, Z:-0.53 [[ 0.99925166 -0.03855159 -0.0031452 1.68984997] [ 0.03852535 0.99922545 -0.0080182 -0.33921062] [ 0.00345188 0.00789103 0.99996291 -0.53469778] [ 0. 0. 0. 1. ]] SLAMing on 150.182414037 meters Centerline goodness [0,1] 0.7184610371094546 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.34, Z:-0.53 [[ 0.9992276 -0.0391675 -0.00317919 1.68999536] [ 0.03914174 0.99920324 -0.0077974 -0.34089899] [ 0.00348206 0.00766694 0.99996455 -0.53465708] [ 0. 0. 0. 1. ]] SLAMing on 150.212414037 meters Centerline goodness [0,1] 0.7176485037049167 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.34, Z:-0.53 [[ 0.99902318 -0.044096 -0.00286747 1.68959533] [ 0.04405929 0.99895917 -0.01180456 -0.34234842] [ 0.00338502 0.01166669 0.99992621 -0.53428683] [ 0. 0. 0. 1. ]] SLAMing on 150.24241403699997 meters Centerline goodness [0,1] 0.7010223029363152 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.34, Z:-0.53 [[ 0.99898529 -0.04494536 -0.00288312 1.68984315] [ 0.04490814 0.99892041 -0.01188627 -0.34353013] [ 0.00341424 0.01174474 0.9999252 -0.534417 ] [ 0. 0. 0. 1. ]] SLAMing on 150.27241403699998 meters Centerline goodness [0,1] 0.690635144239603 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.34, Z:-0.53 [[ 0.99896108 -0.04548054 -0.00287927 1.69029438] [ 0.04544286 0.99889458 -0.0120231 -0.3437118 ] [ 0.0034229 0.01187977 0.99992357 -0.53492503] [ 0. 0. 0. 1. ]] SLAMing on 150.30241403699998 meters Centerline goodness [0,1] 0.6832794797333224 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.34, Z:-0.54 [[ 0.9989327 -0.04609254 -0.00298935 1.6937217 ] [ 0.04605149 0.99885972 -0.01259062 -0.34163805] [ 0.00356628 0.01243952 0.99991627 -0.53873727] [ 0. 0. 0. 1. ]] SLAMing on 150.33241403699998 meters Centerline goodness [0,1] 0.678811865029173 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.34, Z:-0.54 [[ 0.99901255 -0.04430207 -0.00335362 1.69633902] [ 0.04426434 0.99896367 -0.01059478 -0.3407117 ] [ 0.00381952 0.01043587 0.99993825 -0.54128516] [ 0. 0. 0. 1. ]] SLAMing on 150.36241403699998 meters Centerline goodness [0,1] 0.6870602192767141 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.34, Z:-0.54 [[ 0.99916622 -0.04067865 -0.00347938 1.6970002 ] [ 0.04065408 0.99914972 -0.00686197 -0.34027731] [ 0.00375556 0.00671479 0.9999704 -0.54219213] [ 0. 0. 0. 1. ]] SLAMing on 150.39241403699998 meters Centerline goodness [0,1] 0.6891466851844288 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.34, Z:-0.54 [[ 0.9993099 -0.03696891 -0.00361009 1.69724692] [ 0.03695709 0.99931144 -0.00328943 -0.33907556] [ 0.00372921 0.00315374 0.99998807 -0.54256595] [ 0. 0. 0. 1. ]] SLAMing on 150.42241403699998 meters Centerline goodness [0,1] 0.7067399372552237 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.33, Z:-0.54 [[ 9.99499021e-01 -3.14784101e-02 -3.28894282e-03 1.69351874e+00] [ 3.14812775e-02 9.99504002e-01 8.23741580e-04 -3.33604020e-01] [ 3.26138143e-03 -9.26869024e-04 9.99994252e-01 -5.39083591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45241403699998 meters Centerline goodness [0,1] 0.7134194729880965 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.33, Z:-0.54 [[ 0.99959882 -0.02810216 -0.00353054 1.69325358] [ 0.02811435 0.99959875 0.00345162 -0.33027619] [ 0.00343213 -0.00354949 0.99998781 -0.53839855] [ 0. 0. 0. 1. ]] SLAMing on 150.48241403699998 meters Centerline goodness [0,1] 0.7273506016724454 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.33, Z:-0.54 [[ 0.99969596 -0.02437601 -0.00371451 1.69307358] [ 0.02439945 0.9996818 0.00640103 -0.32657958] [ 0.0035573 -0.00648972 0.99997261 -0.53800182] [ 0. 0. 0. 1. ]] SLAMing on 150.51241403699999 meters Centerline goodness [0,1] 0.7618940754039497 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.32, Z:-0.54 [[ 0.99983643 -0.0175605 -0.00432941 1.69493859] [ 0.01761011 0.99977648 0.01169951 -0.31970989] [ 0.00412299 -0.01177384 0.99992219 -0.53921575] [ 0. 0. 0. 1. ]] SLAMing on 150.542414037 meters Centerline goodness [0,1] 0.7789678078691875 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.32, Z:-0.54 [[ 0.99984749 -0.01686771 -0.00452605 1.69533743] [ 0.01691704 0.99979537 0.01109174 -0.31622892] [ 0.00433803 -0.01116661 0.99992824 -0.53929735] [ 0. 0. 0. 1. ]] SLAMing on 150.572414037 meters Centerline goodness [0,1] 0.7904793211842295 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.31, Z:-0.54 [[ 0.9998548 -0.01641062 -0.00459056 1.69526627] [ 0.01645849 0.99980846 0.0105911 -0.31353912] [ 0.00441588 -0.01066512 0.99993338 -0.53906313] [ 0. 0. 0. 1. ]] SLAMing on 150.602414037 meters Centerline goodness [0,1] 0.7989275041958328 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.31, Z:-0.54 [[ 0.99985631 -0.01624207 -0.00485359 1.69585986] [ 0.01628996 0.99981735 0.00999532 -0.31118427] [ 0.00469036 -0.01007295 0.99993827 -0.53929196] [ 0. 0. 0. 1. ]] SLAMing on 150.632414037 meters Centerline goodness [0,1] 0.7957897751682658 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.31, Z:-0.54 [[ 0.99985848 -0.01607952 -0.00494684 1.69579864] [ 0.01612262 0.99983131 0.00879881 -0.3060298 ] [ 0.00480452 -0.00887733 0.99994905 -0.53909979] [ 0. 0. 0. 1. ]] SLAMing on 150.662414037 meters Centerline goodness [0,1] 0.8054252498470325 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.30, Z:-0.54 [[ 0.99985805 -0.01604552 -0.00514056 1.69632998] [ 0.01608802 0.99983582 0.00833705 -0.30399852] [ 0.00500595 -0.00841857 0.99995203 -0.53936726] [ 0. 0. 0. 1. ]] SLAMing on 150.692414037 meters Centerline goodness [0,1] 0.8141192373072276 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.30, Z:-0.54 [[ 0.99985784 -0.01605896 -0.00513911 1.69626323] [ 0.01610009 0.99983787 0.00806342 -0.30278637] [ 0.00500879 -0.00814502 0.99995428 -0.53931379] [ 0. 0. 0. 1. ]] SLAMing on 150.722414037 meters Centerline goodness [0,1] 0.8021209340267156 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.30, Z:-0.54 [[ 0.99985571 -0.01619305 -0.00513337 1.69567774] [ 0.01623167 0.99983958 0.00757336 -0.30134262] [ 0.00500991 -0.00765559 0.99995815 -0.53857626] [ 0. 0. 0. 1. ]] SLAMing on 150.752414037 meters Centerline goodness [0,1] 0.7951509961052996 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.30, Z:-0.54 [[ 0.99985621 -0.01617886 -0.00507948 1.6952805 ] [ 0.01621644 0.99984078 0.00744591 -0.30072897] [ 0.00495821 -0.00752721 0.99995938 -0.53818789] [ 0. 0. 0. 1. ]] SLAMing on 150.782414037 meters Centerline goodness [0,1] 0.8267962441700396 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.30, Z:-0.54 [[ 0.99985658 -0.01613035 -0.0051605 1.69520192] [ 0.0161679 0.9998425 0.00731947 -0.30010645] [ 0.00504163 -0.00740186 0.9999599 -0.53791673] [ 0. 0. 0. 1. ]] SLAMing on 150.812414037 meters Centerline goodness [0,1] 0.8273747682780257 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.30, Z:-0.54 [[ 0.99987125 -0.0149911 -0.00572251 1.69777384] [ 0.0150382 0.99985265 0.00827836 -0.30009144] [ 0.00559757 -0.00836335 0.99994936 -0.53978484] [ 0. 0. 0. 1. ]] SLAMing on 150.842414037 meters Centerline goodness [0,1] 0.8262952121671135 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.30, Z:-0.54 [[ 0.99987356 -0.01478432 -0.00585562 1.69816051] [ 0.01483332 0.99985456 0.00841598 -0.30001034] [ 0.00573035 -0.00850177 0.99994744 -0.53994629] [ 0. 0. 0. 1. ]] SLAMing on 150.872414037 meters Centerline goodness [0,1] 0.8268026041026901 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.30, Z:-0.54 [[ 0.99987308 -0.01477465 -0.00596153 1.69820556] [ 0.01482458 0.99985465 0.00842027 -0.30002558] [ 0.00583626 -0.00850758 0.99994678 -0.53971845] [ 0. 0. 0. 1. ]] SLAMing on 150.902414037 meters Centerline goodness [0,1] 0.8207391401838677 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.30, Z:-0.54 [[ 0.99986755 -0.01512882 -0.00600013 1.69751825] [ 0.01517861 0.99985001 0.00834047 -0.30069071] [ 0.00587305 -0.00843044 0.99994722 -0.53865568] [ 0. 0. 0. 1. ]] SLAMing on 150.932414037 meters Centerline goodness [0,1] 0.8231890576761873 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.30, Z:-0.54 [[ 0.9998678 -0.01509632 -0.00604093 1.69755102] [ 0.01514759 0.99984886 0.00853237 -0.30140444] [ 0.00591121 -0.00862275 0.99994535 -0.53856264] [ 0. 0. 0. 1. ]] SLAMing on 150.962414037 meters Centerline goodness [0,1] 0.818734818020372 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.30, Z:-0.54 [[ 0.99986637 -0.01509716 -0.00627042 1.69848217] [ 0.01515073 0.99984836 0.00858549 -0.30170301] [ 0.00613986 -0.00867934 0.99994348 -0.53919626] [ 0. 0. 0. 1. ]] SLAMing on 150.99241403699997 meters Centerline goodness [0,1] 0.8197929030409692 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.30, Z:-0.54 [[ 0.99986641 -0.01507862 -0.006308 1.69904376] [ 0.01513289 0.99984811 0.00864585 -0.30177284] [ 0.00617667 -0.00874016 0.99994273 -0.53982496] [ 0. 0. 0. 1. ]] SLAMing on 151.02241403699998 meters Centerline goodness [0,1] 0.8182485023839602 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.30, Z:-0.54 [[ 0.99986496 -0.01511717 -0.00644412 1.69987165] [ 0.0151719 0.99984852 0.00852988 -0.30141216] [ 0.0063142 -0.00862649 0.99994286 -0.54054078] [ 0. 0. 0. 1. ]] SLAMing on 151.05241403699998 meters Centerline goodness [0,1] 0.828104467805519 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.30, Z:-0.54 [[ 0.99986316 -0.01523309 -0.00645105 1.69978714] [ 0.01528669 0.99984834 0.00834365 -0.30095704] [ 0.00632298 -0.00844112 0.99994438 -0.54042216] [ 0. 0. 0. 1. ]] SLAMing on 151.08241403699998 meters Centerline goodness [0,1] 0.8197043528111052 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.30, Z:-0.54 [[ 0.99986108 -0.01531017 -0.00658898 1.70025072] [ 0.01536482 0.99984729 0.00832569 -0.3013174 ] [ 0.0064605 -0.00842577 0.99994363 -0.54066346] [ 0. 0. 0. 1. ]] SLAMing on 151.11241403699998 meters Centerline goodness [0,1] 0.8194871794871794 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.30, Z:-0.54 [[ 0.99986077 -0.01531241 -0.00663066 1.70064202] [ 0.01536893 0.99984526 0.00855838 -0.30254877] [ 0.00649859 -0.00865909 0.99994139 -0.54102462] [ 0. 0. 0. 1. ]] SLAMing on 151.14241403699998 meters Centerline goodness [0,1] 0.8043336058871627 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.31, Z:-0.54 [[ 0.99981975 -0.01761334 -0.00708726 1.70385881] [ 0.01766068 0.99982176 0.00667379 -0.30568841] [ 0.00696845 -0.00679775 0.99995261 -0.54382879] [ 0. 0. 0. 1. ]] SLAMing on 151.17241403699998 meters Centerline goodness [0,1] 0.8127537665656753 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.31, Z:-0.54 [[ 0.99981655 -0.01777793 -0.00712782 1.70429999] [ 0.01782814 0.99981626 0.00704338 -0.30757322] [ 0.00700129 -0.00716917 0.99994979 -0.54426836] [ 0. 0. 0. 1. ]] SLAMing on 151.20241403699998 meters Centerline goodness [0,1] 0.789568714350199 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.31, Z:-0.54 [[ 0.99981279 -0.01793637 -0.00725806 1.70478508] [ 0.01798914 0.99981174 0.00727194 -0.3086061 ] [ 0.00712626 -0.00740115 0.99994722 -0.54454212] [ 0. 0. 0. 1. ]] SLAMing on 151.23241403699998 meters Centerline goodness [0,1] 0.7766986320976548 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.31, Z:-0.54 [[ 0.99981107 -0.01795813 -0.00743904 1.70436426] [ 0.01801425 0.99980925 0.00754709 -0.30888989] [ 0.00730209 -0.00767967 0.99994385 -0.54344764] [ 0. 0. 0. 1. ]] SLAMing on 151.26241403699999 meters Centerline goodness [0,1] 0.8002217249378965 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.31, Z:-0.54 [[ 0.99981528 -0.01769568 -0.00750071 1.70377774] [ 0.01775546 0.99981051 0.00798008 -0.30980235] [ 0.00735807 -0.00811179 0.99994003 -0.54248972] [ 0. 0. 0. 1. ]] SLAMing on 151.292414037 meters Centerline goodness [0,1] 0.7862444030995073 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.31, Z:-0.54 [[ 0.99981875 -0.01738773 -0.00775512 1.70362571] [ 0.01745275 0.99981242 0.00839748 -0.31126037] [ 0.00760765 -0.0085313 0.99993467 -0.54156589] [ 0. 0. 0. 1. ]] SLAMing on 151.322414037 meters Centerline goodness [0,1] 0.814879069292785 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.31, Z:-0.54 [[ 0.99982543 -0.01684925 -0.00807493 1.70385243] [ 0.01692051 0.99981776 0.00883974 -0.31241613] [ 0.00792452 -0.00897483 0.99992832 -0.54101594] [ 0. 0. 0. 1. ]] SLAMing on 151.352414037 meters Centerline goodness [0,1] 0.8271602409144918 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.31, Z:-0.54 [[ 0.99983856 -0.01603207 -0.00811333 1.70393541] [ 0.01610671 0.99982777 0.00921972 -0.31233929] [ 0.00796412 -0.00934891 0.99992458 -0.54101357] [ 0. 0. 0. 1. ]] SLAMing on 151.382414037 meters Centerline goodness [0,1] 0.8385070365082603 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.31, Z:-0.54 [[ 0.99991478 -0.00977821 -0.00864925 1.70645148] [ 0.00990576 0.99984097 0.01482925 -0.3128879 ] [ 0.00850287 -0.01491366 0.99985263 -0.54301637] [ 0. 0. 0. 1. ]] SLAMing on 151.412414037 meters Centerline goodness [0,1] 0.8346255866149765 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.31, Z:-0.54 [[ 0.99994723 -0.00553643 -0.00865418 1.70655698] [ 0.00570004 0.99980331 0.01899587 -0.31329247] [ 0.00854731 -0.0190442 0.99978211 -0.54320629] [ 0. 0. 0. 1. ]] SLAMing on 151.442414037 meters Centerline goodness [0,1] 0.8321567027137319 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.31, Z:-0.54 [[ 0.99997056 0.00195686 -0.00741956 1.71101816] [-0.00184487 0.99988472 0.01507111 -0.31182578] [ 0.0074482 -0.01505698 0.9998589 -0.53915354] [ 0. 0. 0. 1. ]] SLAMing on 151.472414037 meters Centerline goodness [0,1] 0.8290419713636085 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.31, Z:-0.54 [[ 0.99996831 0.00269036 -0.00749289 1.71093944] [-0.00257323 0.99987502 0.01559883 -0.3128255 ] [ 0.00753392 -0.01557906 0.99985026 -0.53887481] [ 0. 0. 0. 1. ]] SLAMing on 151.502414037 meters Centerline goodness [0,1] 0.8290313969486026 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.31, Z:-0.54 [[ 0.99996551 0.0033833 -0.0075856 1.71085668] [-0.00325909 0.99986138 0.01632798 -0.31490913] [ 0.00763979 -0.01630269 0.99983791 -0.53851086] [ 0. 0. 0. 1. ]] SLAMing on 151.532414037 meters Centerline goodness [0,1] 0.8209533572526909 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.32, Z:-0.54 [[ 9.99969461e-01 1.15366904e-03 -7.72957517e-03 1.71093156e+00] [-1.05047497e-03 9.99910449e-01 1.33413341e-02 -3.15079064e-01] [ 7.74427446e-03 -1.33328070e-02 9.99881124e-01 -5.38270064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.562414037 meters Centerline goodness [0,1] 0.8223029407539658 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.32, Z:-0.54 [[ 0.99996749 0.00185062 -0.00784825 1.71045561] [-0.00173811 0.99989598 0.0143182 -0.31688186] [ 0.00787393 -0.01430409 0.99986669 -0.53730924] [ 0. 0. 0. 1. ]] SLAMing on 151.592414037 meters Centerline goodness [0,1] 0.8217505326995574 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.32, Z:-0.54 [[ 9.99965989e-01 -1.22262543e-03 -8.15629982e-03 1.71096143e+00] [ 1.31020958e-03 9.99941450e-01 1.07415347e-02 -3.15938420e-01] [ 8.14268939e-03 -1.07518558e-02 9.99909043e-01 -5.37209370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.622414037 meters Centerline goodness [0,1] 0.8217505326995574 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.32, Z:-0.54 [[ 9.99965989e-01 -1.22262543e-03 -8.15629982e-03 1.71096143e+00] [ 1.31020958e-03 9.99941450e-01 1.07415347e-02 -3.15938420e-01] [ 8.14268939e-03 -1.07518558e-02 9.99909043e-01 -5.37209370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.652414037 meters Centerline goodness [0,1] 0.8187188670701082 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.32, Z:-0.54 [[ 0.99996277 -0.00310113 -0.0080528 1.70967173] [ 0.00317221 0.99995599 0.00882885 -0.31701189] [ 0.00802506 -0.00885407 0.9999286 -0.53585501] [ 0. 0. 0. 1. ]] SLAMing on 151.682414037 meters Centerline goodness [0,1] 0.8201274671052632 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.32, Z:-0.54 [[ 0.99994755 -0.0060601 -0.00825645 1.71176187] [ 0.00611593 0.99995849 0.00675355 -0.32358055] [ 0.00821518 -0.0068037 0.99994311 -0.53770937] [ 0. 0. 0. 1. ]] SLAMing on 151.712414037 meters Centerline goodness [0,1] 0.8183466205220113 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.33, Z:-0.54 [[ 0.9999221 -0.00926847 -0.00835991 1.71274018] [ 0.00930136 0.99994912 0.00390397 -0.32654815] [ 0.0083233 -0.00398143 0.99995743 -0.53862675] [ 0. 0. 0. 1. ]] SLAMing on 151.74241403699997 meters Centerline goodness [0,1] 0.8201570465383983 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.33, Z:-0.54 [[ 0.99989217 -0.01192691 -0.00856744 1.71452859] [ 0.01194204 0.99992722 0.00171782 -0.32935499] [ 0.00854633 -0.00181995 0.99996182 -0.54022586] [ 0. 0. 0. 1. ]] SLAMing on 151.77241403699998 meters Centerline goodness [0,1] 0.8218027196910562 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.33, Z:-0.54 [[ 9.99845707e-01 -1.54710944e-02 -8.31912034e-03 1.71367931e+00] [ 1.54643050e-02 9.99880033e-01 -8.79829116e-04 -3.32689359e-01] [ 8.33173425e-03 7.51043949e-04 9.99965008e-01 -5.39594710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80241403699998 meters Centerline goodness [0,1] 0.8211807343038939 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.34, Z:-0.54 [[ 9.99846901e-01 -1.54148706e-02 -8.27984189e-03 1.71318236e+00] [ 1.54148483e-02 9.99881182e-01 -6.65146690e-05 -3.35288541e-01] [ 8.27988341e-03 -6.11280211e-05 9.99965719e-01 -5.38920296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83241403699998 meters Centerline goodness [0,1] 0.8212036750283885 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.34, Z:-0.54 [[ 9.99849844e-01 -1.52367015e-02 -8.25418862e-03 1.71279476e+00] [ 1.52456714e-02 9.99883253e-01 1.02487617e-03 -3.38997268e-01] [ 8.23760923e-03 -1.15056292e-03 9.99965408e-01 -5.38370761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86241403699998 meters Centerline goodness [0,1] 0.8233783839296718 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.35, Z:-0.54 [[ 9.99788910e-01 -1.87532938e-02 -8.39336702e-03 1.71333364e+00] [ 1.87441807e-02 9.99823636e-01 -1.16311128e-03 -3.45265350e-01] [ 8.41369890e-03 1.00553897e-03 9.99964099e-01 -5.38418858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89241403699998 meters Centerline goodness [0,1] 0.8247562631124274 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.35, Z:-0.54 [[ 9.99785451e-01 -1.89423764e-02 -8.38080790e-03 1.71350844e+00] [ 1.89405901e-02 9.99820568e-01 -2.92466756e-04 -3.48720377e-01] [ 8.38484414e-03 1.33666560e-04 9.99964838e-01 -5.38565533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92241403699998 meters Centerline goodness [0,1] 0.82290032207449 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.35, Z:-0.54 [[ 9.99777879e-01 -1.93027819e-02 -8.46144192e-03 1.71376994e+00] [ 1.93056956e-02 9.99813593e-01 2.62805806e-04 -3.51177978e-01] [ 8.45479177e-03 -4.26101454e-04 9.99964167e-01 -5.38597046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95241403699998 meters Centerline goodness [0,1] 0.8371103068191166 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.35, Z:-0.54 [[ 0.99970912 -0.02247629 -0.00874634 1.71605774] [ 0.02245887 0.99974559 -0.00208506 -0.35258128] [ 0.00879098 0.00188802 0.99995958 -0.54038534] [ 0. 0. 0. 1. ]] SLAMing on 151.98241403699998 meters Centerline goodness [0,1] 0.8343481301682643 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.35, Z:-0.54 [[ 9.99703185e-01 -2.26578732e-02 -8.95341505e-03 1.71665684e+00] [ 2.26435024e-02 9.99742152e-01 -1.70320061e-03 -3.54082934e-01] [ 8.98969734e-03 1.49995840e-03 9.99958467e-01 -5.40580906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01241403699999 meters Centerline goodness [0,1] 0.8299126861838726 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.36, Z:-0.54 [[ 9.99700107e-01 -2.27491328e-02 -9.06497912e-03 1.71694690e+00] [ 2.27391449e-02 9.99740708e-01 -1.20336629e-03 -3.56166632e-01] [ 9.09000419e-03 9.96875538e-04 9.99958188e-01 -5.40607812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.042414037 meters Centerline goodness [0,1] 0.830092202805101 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.36, Z:-0.54 [[ 9.99699006e-01 -2.27430071e-02 -9.20071744e-03 1.71715499e+00] [ 2.27389719e-02 9.99741289e-01 -5.42963784e-04 -3.58779467e-01] [ 9.21068574e-03 3.33585500e-04 9.99957525e-01 -5.40424526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.072414037 meters Centerline goodness [0,1] 0.8243735669832951 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.36, Z:-0.54 [[ 0.99960819 -0.02641081 -0.00926991 1.71815663] [ 0.02637647 0.99964483 -0.00380771 -0.36104066] [ 0.00936718 0.00356171 0.99994978 -0.54123255] [ 0. 0. 0. 1. ]] SLAMing on 152.102414037 meters Centerline goodness [0,1] 0.8170649025126867 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.36, Z:-0.54 [[ 0.99961133 -0.02626701 -0.00934022 1.7189351 ] [ 0.02623726 0.99965032 -0.00329282 -0.36238211] [ 0.00942345 0.00304648 0.99995096 -0.54210139] [ 0. 0. 0. 1. ]] SLAMing on 152.132414037 meters Centerline goodness [0,1] 0.8044910056394846 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.36, Z:-0.54 [[ 0.99961075 -0.02624939 -0.00945093 1.71986688] [ 0.02622063 0.9996512 -0.00315404 -0.36239491] [ 0.00953042 0.00290501 0.99995036 -0.54303639] [ 0. 0. 0. 1. ]] SLAMing on 152.162414037 meters Centerline goodness [0,1] 0.80854329983421 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.36, Z:-0.54 [[ 9.99653881e-01 -2.44937053e-02 -9.60088994e-03 1.72122700e+00] [ 2.44867878e-02 9.99699803e-01 -8.37411234e-04 -3.61890731e-01] [ 9.61851909e-03 6.02026435e-04 9.99953560e-01 -5.44203920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.192414037 meters Centerline goodness [0,1] 0.8052726305886203 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.36, Z:-0.54 [[ 0.99971812 -0.02168519 -0.00966566 1.72065024] [ 0.02171308 0.99976035 0.0027897 -0.3635363 ] [ 0.00960285 -0.00299879 0.99994939 -0.54327041] [ 0. 0. 0. 1. ]] SLAMing on 152.222414037 meters Centerline goodness [0,1] 0.7998854149615322 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.36, Z:-0.54 [[ 0.99972041 -0.02153742 -0.00975931 1.72028687] [ 0.02156871 0.99976252 0.00311268 -0.36449445] [ 0.00968996 -0.00332231 0.99994753 -0.54249547] [ 0. 0. 0. 1. ]] SLAMing on 152.252414037 meters Centerline goodness [0,1] 0.8220966084275436 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.37, Z:-0.54 [[ 0.99972053 -0.02146816 -0.0098986 1.72043781] [ 0.02150319 0.99976284 0.00344609 -0.36599552] [ 0.00982227 -0.00365798 0.99994507 -0.54223654] [ 0. 0. 0. 1. ]] SLAMing on 152.282414037 meters Centerline goodness [0,1] 0.8205853215553538 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.37, Z:-0.54 [[ 0.99971568 -0.02165351 -0.00998446 1.72072602] [ 0.02168946 0.99975861 0.00350676 -0.36698377] [ 0.00990612 -0.00372232 0.999944 -0.54228907] [ 0. 0. 0. 1. ]] SLAMing on 152.312414037 meters Centerline goodness [0,1] 0.8079841636423623 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.37, Z:-0.54 [[ 0.99971556 -0.02164491 -0.01001483 1.72086734] [ 0.02167964 0.99975928 0.00337216 -0.36602567] [ 0.00993943 -0.00358832 0.99994416 -0.54234496] [ 0. 0. 0. 1. ]] SLAMing on 152.342414037 meters Centerline goodness [0,1] 0.8141437277598266 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.36, Z:-0.55 [[ 0.99982127 -0.01802643 -0.00569936 1.73064967] [ 0.01801398 0.99983525 -0.00222893 -0.36438125] [ 0.0057386 0.00212586 0.99998127 -0.54525396] [ 0. 0. 0. 1. ]] SLAMing on 152.372414037 meters Centerline goodness [0,1] 0.8282061280193732 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.36, Z:-0.54 [[ 0.99989842 -0.01320796 -0.00535684 1.72773633] [ 0.01321909 0.99991053 0.0020487 -0.36083644] [ 0.0053293 -0.00211931 0.99998355 -0.54261589] [ 0. 0. 0. 1. ]] SLAMing on 152.402414037 meters Centerline goodness [0,1] 0.8338953262624405 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.36, Z:-0.54 [[ 0.99993799 -0.00970898 -0.00545397 1.72783636] [ 0.00973789 0.99993854 0.00529941 -0.35946364] [ 0.00540218 -0.00535219 0.99997108 -0.54248707] [ 0. 0. 0. 1. ]] SLAMing on 152.432414037 meters Centerline goodness [0,1] 0.8354233259568888 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.36, Z:-0.54 [[ 0.99995393 -0.00800255 -0.00530037 1.72623344] [ 0.00803539 0.99994847 0.00620322 -0.3569668 ] [ 0.00525046 -0.00624552 0.99996671 -0.54095413] [ 0. 0. 0. 1. ]] SLAMing on 152.462414037 meters Centerline goodness [0,1] 0.8352159740872096 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.35, Z:-0.54 [[ 0.99995903 -0.00741186 -0.00519708 1.72601906] [ 0.00744133 0.99995622 0.00567321 -0.35401373] [ 0.0051548 -0.00571165 0.9999704 -0.54090812] [ 0. 0. 0. 1. ]] SLAMing on 152.49241403699997 meters Centerline goodness [0,1] 0.8335586139100516 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.35, Z:-0.54 [[ 0.99997663 -0.00437111 -0.00525705 1.72702394] [ 0.00441068 0.99996186 0.00753863 -0.34961592] [ 0.00522389 -0.00756164 0.99995777 -0.54198457] [ 0. 0. 0. 1. ]] SLAMing on 152.52241403699998 meters Centerline goodness [0,1] 0.8356691286290074 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.35, Z:-0.54 [[ 0.99997458 -0.00465262 -0.00540318 1.72811045] [ 0.00468785 0.99996772 0.00652507 -0.34664276] [ 0.00537264 -0.00655023 0.99996411 -0.54302479] [ 0. 0. 0. 1. ]] SLAMing on 152.55241403699998 meters Centerline goodness [0,1] 0.8323601122789763 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.34, Z:-0.54 [[ 0.99997317 -0.00493317 -0.00541517 1.72872195] [ 0.0049643 0.99997114 0.00575053 -0.34400572] [ 0.00538665 -0.00577726 0.9999688 -0.54375662] [ 0. 0. 0. 1. ]] SLAMing on 152.58241403699998 meters Centerline goodness [0,1] 0.8294050014371945 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.34, Z:-0.54 [[ 0.99997147 -0.00526316 -0.00541837 1.72905083] [ 0.00529085 0.99997295 0.0051085 -0.3420112 ] [ 0.00539134 -0.00513702 0.99997227 -0.5440738 ] [ 0. 0. 0. 1. ]] SLAMing on 152.61241403699998 meters Centerline goodness [0,1] 0.8294611659412738 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.34, Z:-0.54 [[ 0.99996645 -0.00599694 -0.00557913 1.729122 ] [ 0.00602054 0.99997296 0.00422262 -0.34034252] [ 0.00555366 -0.00425606 0.99997552 -0.54356313] [ 0. 0. 0. 1. ]] SLAMing on 152.64241403699998 meters Centerline goodness [0,1] 0.8295384866941913 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.34, Z:-0.54 [[ 0.99996488 -0.00627882 -0.00555095 1.72890655] [ 0.00630154 0.9999718 0.00408452 -0.34020305] [ 0.00552515 -0.00411936 0.99997625 -0.54316667] [ 0. 0. 0. 1. ]] SLAMing on 152.67241403699998 meters Centerline goodness [0,1] 0.8298581299317225 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.34, Z:-0.54 [[ 0.99996177 -0.00674976 -0.00555897 1.7289598 ] [ 0.00677057 0.99997011 0.00373257 -0.33940863] [ 0.00553361 -0.00377007 0.99997758 -0.54305149] [ 0. 0. 0. 1. ]] SLAMing on 152.70241403699998 meters Centerline goodness [0,1] 0.8294614787898583 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.34, Z:-0.54 [[ 0.99995847 -0.00716696 -0.00562993 1.72944656] [ 0.00718622 0.99996837 0.00340839 -0.33826968] [ 0.00560533 -0.00344871 0.99997834 -0.54333617] [ 0. 0. 0. 1. ]] SLAMing on 152.73241403699998 meters Centerline goodness [0,1] 0.8236529326619233 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.34, Z:-0.54 [[ 0.99994686 -0.00851249 -0.00581439 1.73115901] [ 0.00852602 0.999961 0.00230507 -0.33521342] [ 0.00579454 -0.00235452 0.99998044 -0.54478389] [ 0. 0. 0. 1. ]] SLAMing on 152.76241403699999 meters Centerline goodness [0,1] 0.818324596650825 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.33, Z:-0.55 [[ 0.99994346 -0.00889339 -0.00582979 1.73176481] [ 0.00890575 0.99995814 0.00209731 -0.33467906] [ 0.00581089 -0.00214911 0.99998081 -0.54536632] [ 0. 0. 0. 1. ]] SLAMing on 152.792414037 meters Centerline goodness [0,1] 0.8105103380374139 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.33, Z:-0.55 [[ 0.99993958 -0.00931255 -0.0058407 1.73186926] [ 0.00932343 0.99995485 0.00183853 -0.33456019] [ 0.00582331 -0.00189287 0.99998125 -0.54538263] [ 0. 0. 0. 1. ]] SLAMing on 152.822414037 meters Centerline goodness [0,1] 0.8023405428588934 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.33, Z:-0.55 [[ 9.99934353e-01 -9.81489013e-03 -5.91247955e-03 1.73235176e+00] [ 9.82389714e-03 9.99950625e-01 1.49627838e-03 -3.34359597e-01] [ 5.89750181e-03 -1.55426375e-03 9.99981402e-01 -5.45666935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.852414037 meters Centerline goodness [0,1] 0.812120592743996 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.33, Z:-0.55 [[ 9.99931462e-01 -1.01619662e-02 -5.81433464e-03 1.73221060e+00] [ 1.01690724e-02 9.99947581e-01 1.19392550e-03 -3.33756143e-01] [ 5.80189723e-03 -1.25297006e-03 9.99982384e-01 -5.45623530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.882414037 meters Centerline goodness [0,1] 0.8191122096705002 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.33, Z:-0.55 [[ 9.99930603e-01 -1.03103580e-02 -5.69963868e-03 1.73212800e+00] [ 1.03135196e-02 9.99946676e-01 5.25574698e-04 -3.31004396e-01] [ 5.69391589e-03 -5.84321560e-04 9.99983619e-01 -5.45649068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.912414037 meters Centerline goodness [0,1] 0.8164585465711361 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.33, Z:-0.55 [[ 0.99995926 -0.00709306 -0.00558287 1.732189 ] [ 0.00711543 0.9999667 0.00399674 -0.33063869] [ 0.00555433 -0.00403631 0.99997643 -0.54595367] [ 0. 0. 0. 1. ]] SLAMing on 152.942414037 meters Centerline goodness [0,1] 0.8180982347172279 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.33, Z:-0.55 [[ 0.99996755 -0.00567191 -0.005721 1.73389576] [ 0.00569969 0.99997199 0.0048512 -0.32892106] [ 0.00569333 -0.00488366 0.99997187 -0.54755929] [ 0. 0. 0. 1. ]] SLAMing on 152.972414037 meters Centerline goodness [0,1] 0.82484916658145 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.33, Z:-0.55 [[ 9.99985385e-01 -1.43750375e-04 -5.40449841e-03 1.73279448e+00] [ 1.91462897e-04 9.99961007e-01 8.82881724e-03 -3.25744444e-01] [ 5.40301852e-03 -8.82972297e-03 9.99946420e-01 -5.46754866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.002414037 meters Centerline goodness [0,1] 0.8241441956357549 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.32, Z:-0.55 [[ 0.99997714 0.00402695 -0.00543193 1.73241348] [-0.00395918 0.99991491 0.0124296 -0.3243679 ] [ 0.00548152 -0.01240781 0.999908 -0.54607044] [ 0. 0. 0. 1. ]] SLAMing on 153.032414037 meters Centerline goodness [0,1] 0.8221050695764114 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.32, Z:-0.55 [[ 0.99995159 0.00817081 -0.00548182 1.73223475] [-0.0080824 0.99983995 0.01596073 -0.32264637] [ 0.00561136 -0.01591565 0.99985759 -0.54557711] [ 0. 0. 0. 1. ]] SLAMing on 153.062414037 meters Centerline goodness [0,1] 0.8201002967966431 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.32, Z:-0.54 [[ 0.99984462 0.01675953 -0.00546475 1.73153996] [-0.01662738 0.99958809 0.0233919 -0.31975169] [ 0.00585453 -0.0232974 0.99971144 -0.5442503 ] [ 0. 0. 0. 1. ]] SLAMing on 153.092414037 meters Centerline goodness [0,1] 0.8136657433056325 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.32, Z:-0.54 [[ 0.99983088 0.0175377 -0.00553513 1.73133062] [-0.01740568 0.99958257 0.02305918 -0.31701823] [ 0.00593722 -0.02295894 0.99971878 -0.54370691] [ 0. 0. 0. 1. ]] SLAMing on 153.122414037 meters Centerline goodness [0,1] 0.8145456038766375 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.32, Z:-0.54 [[ 0.99982067 0.01805918 -0.00570049 1.7313959 ] [-0.01792499 0.99957994 0.02277362 -0.31513228] [ 0.00610937 -0.02266735 0.9997244 -0.54334039] [ 0. 0. 0. 1. ]] SLAMing on 153.152414037 meters Centerline goodness [0,1] 0.8133525357473511 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.31, Z:-0.54 [[ 0.99981147 0.01851693 -0.00584393 1.73182206] [-0.0183793 0.99957143 0.02278518 -0.31479714] [ 0.00626334 -0.02267347 0.9997233 -0.54348035] [ 0. 0. 0. 1. ]] SLAMing on 153.182414037 meters Centerline goodness [0,1] 0.8200102827763496 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.31, Z:-0.54 [[ 0.99986771 0.01507369 -0.00611149 1.73275197] [-0.01495592 0.9997099 0.0188795 -0.3142745 ] [ 0.0063943 -0.0187856 0.99980309 -0.54418068] [ 0. 0. 0. 1. ]] SLAMing on 153.212414037 meters Centerline goodness [0,1] 0.8198992702230445 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.31, Z:-0.54 [[ 0.99991249 0.01161234 -0.00633816 1.73344282] [-0.01151507 0.99981856 0.01517425 -0.31443789] [ 0.00651321 -0.01509994 0.99986478 -0.54461412] [ 0. 0. 0. 1. ]] SLAMing on 153.24241403699997 meters Centerline goodness [0,1] 0.8111856454998148 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.32, Z:-0.55 [[ 0.99994465 0.0082987 -0.00646741 1.73417106] [-0.00821786 0.999889 0.01242835 -0.31793442] [ 0.00656983 -0.01237451 0.99990185 -0.54527799] [ 0. 0. 0. 1. ]] SLAMing on 153.27241403699998 meters Centerline goodness [0,1] 0.811651164704914 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.32, Z:-0.55 [[ 0.99996586 0.00497225 -0.00659985 1.73472421] [-0.00491271 0.99994736 0.00900807 -0.31877188] [ 0.00664429 -0.00897533 0.99993765 -0.54572254] [ 0. 0. 0. 1. ]] SLAMing on 153.30241403699998 meters Centerline goodness [0,1] 0.8103672240664757 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.32, Z:-0.55 [[ 0.9999761 0.00188417 -0.00665226 1.73502938] [-0.00184508 0.99998103 0.0058771 -0.31993074] [ 0.00666321 -0.00586469 0.9999606 -0.54596657] [ 0. 0. 0. 1. ]] SLAMing on 153.33241403699998 meters Centerline goodness [0,1] 0.8082346886258364 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.32, Z:-0.55 [[ 9.99976946e-01 -2.67933463e-04 -6.78498453e-03 1.73602329e+00] [ 2.97652731e-04 9.99990366e-01 4.37952181e-03 -3.24603274e-01] [ 6.78374574e-03 -4.38144041e-03 9.99967391e-01 -5.46774364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36241403699998 meters Centerline goodness [0,1] 0.8061903384437373 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.33, Z:-0.55 [[ 9.99976728e-01 1.66659620e-04 -6.82023602e-03 1.73621411e+00] [-1.28860723e-04 9.99984633e-01 5.54223269e-03 -3.28008011e-01] [ 6.82105488e-03 -5.54122485e-03 9.99961383e-01 -5.46864533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39241403699998 meters Centerline goodness [0,1] 0.8075012879958784 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.33, Z:-0.55 [[ 9.99973482e-01 -1.45616857e-03 -7.13552707e-03 1.73810130e+00] [ 1.48591793e-03 9.99990220e-01 4.16566206e-03 -3.30916031e-01] [ 7.12939138e-03 -4.17615440e-03 9.99965865e-01 -5.48288284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42241403699998 meters Centerline goodness [0,1] 0.8055366181179631 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.33, Z:-0.55 [[ 9.99964859e-01 -4.40714704e-03 -7.13148178e-03 1.73805588e+00] [ 4.41814257e-03 9.99989074e-01 1.52681101e-03 -3.33832143e-01] [ 7.12467499e-03 -1.55826526e-03 9.99973405e-01 -5.48200383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45241403699998 meters Centerline goodness [0,1] 0.8047559191411321 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.34, Z:-0.55 [[ 9.99948848e-01 -7.26557761e-03 -7.03646346e-03 1.73798709e+00] [ 7.26928394e-03 9.99973453e-01 5.01300183e-04 -3.42927956e-01] [ 7.03263442e-03 -5.52424592e-04 9.99975118e-01 -5.47951019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48241403699998 meters Centerline goodness [0,1] 0.8057744942687218 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.35, Z:-0.55 [[ 9.99947390e-01 -7.51058896e-03 -6.98635859e-03 1.73769548e+00] [ 7.52249030e-03 9.99970296e-01 1.67879694e-03 -3.48510575e-01] [ 6.97354231e-03 -1.73126344e-03 9.99974186e-01 -5.47395476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51241403699999 meters Centerline goodness [0,1] 0.8057744942687218 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.35, Z:-0.55 [[ 9.99947390e-01 -7.51058896e-03 -6.98635859e-03 1.73769548e+00] [ 7.52249030e-03 9.99970296e-01 1.67879694e-03 -3.48510575e-01] [ 6.97354231e-03 -1.73126344e-03 9.99974186e-01 -5.47395476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.542414037 meters Centerline goodness [0,1] 0.808184195893486 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.35, Z:-0.55 [[ 0.99994523 -0.00788542 -0.00688235 1.73692146] [ 0.00790483 0.99996484 0.0027983 -0.35384295] [ 0.00686004 -0.00285255 0.9999724 -0.54629434] [ 0. 0. 0. 1. ]] SLAMing on 153.572414037 meters Centerline goodness [0,1] 0.8072323991656513 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.36, Z:-0.54 [[ 9.99913166e-01 -1.14624841e-02 -6.50174347e-03 1.73504713e+00] [ 1.14730302e-02 9.99932923e-01 1.58707139e-03 -3.61881583e-01] [ 6.48311558e-03 -1.66152828e-03 9.99977604e-01 -5.44041505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.602414037 meters Centerline goodness [0,1] 0.8077510106426863 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.37, Z:-0.54 [[ 0.99991031 -0.0116789 -0.00655528 1.73520454] [ 0.01169792 0.99992745 0.00287132 -0.36611235] [ 0.00652127 -0.00294774 0.99997439 -0.54376835] [ 0. 0. 0. 1. ]] SLAMing on 153.632414037 meters Centerline goodness [0,1] 0.8103954802259887 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.37, Z:-0.55 [[ 0.99988979 -0.01308336 -0.00701734 1.73740826] [ 0.0131008 0.99991119 0.00244618 -0.36908152] [ 0.00698471 -0.00253785 0.99997239 -0.54507979] [ 0. 0. 0. 1. ]] SLAMing on 153.662414037 meters Centerline goodness [0,1] 0.8075273252216952 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.37, Z:-0.55 [[ 0.99988871 -0.01311328 -0.00711345 1.73780559] [ 0.01313868 0.99990743 0.00353616 -0.37278565] [ 0.00706642 -0.00362923 0.99996845 -0.5451899 ] [ 0. 0. 0. 1. ]] SLAMing on 153.692414037 meters Centerline goodness [0,1] 0.8101375277937907 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.38, Z:-0.55 [[ 0.99985323 -0.01540412 -0.00749829 1.74018329] [ 0.01542214 0.99987831 0.00235171 -0.37974938] [ 0.00746115 -0.00246701 0.99996912 -0.54699615] [ 0. 0. 0. 1. ]] SLAMing on 153.722414037 meters Centerline goodness [0,1] 0.8104966465045468 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.38, Z:-0.55 [[ 0.99985886 -0.01506917 -0.00742887 1.74062132] [ 0.01509555 0.99987991 0.00350682 -0.383542 ] [ 0.00737514 -0.00361847 0.99996626 -0.54761341] [ 0. 0. 0. 1. ]] SLAMing on 153.752414037 meters Centerline goodness [0,1] 0.8111143163273716 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.39, Z:-0.55 [[ 0.99986276 -0.01485274 -0.00733934 1.740649 ] [ 0.01488482 0.99987981 0.00433638 -0.38610164] [ 0.00727405 -0.00444503 0.99996366 -0.54779618] [ 0. 0. 0. 1. ]] SLAMing on 153.782414037 meters Centerline goodness [0,1] 0.8140812044921634 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.39, Z:-0.55 [[ 0.99986511 -0.01465396 -0.00741786 1.74123324] [ 0.01469138 0.9998795 0.00501535 -0.38786955] [ 0.00734347 -0.00512365 0.99995991 -0.54832538] [ 0. 0. 0. 1. ]] SLAMing on 153.812414037 meters Centerline goodness [0,1] 0.8131859081269175 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.39, Z:-0.55 [[ 0.99986631 -0.01464273 -0.00727631 1.74113329] [ 0.01468696 0.99987376 0.00606282 -0.39098071] [ 0.00718662 -0.00616887 0.99995515 -0.5483353 ] [ 0. 0. 0. 1. ]] SLAMing on 153.842414037 meters Centerline goodness [0,1] 0.8120768075078721 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.39, Z:-0.55 [[ 0.99986685 -0.01456921 -0.00735009 1.74151885] [ 0.01461813 0.99987106 0.00664593 -0.39295778] [ 0.00725232 -0.00675248 0.9999509 -0.54852133] [ 0. 0. 0. 1. ]] SLAMing on 153.872414037 meters Centerline goodness [0,1] 0.8164030318009556 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.40, Z:-0.55 [[ 0.99986799 -0.01444581 -0.00743766 1.74115476] [ 0.01450221 0.99986607 0.00758513 -0.39715873] [ 0.00732709 -0.007692 0.99994357 -0.54758713] [ 0. 0. 0. 1. ]] SLAMing on 153.902414037 meters Centerline goodness [0,1] 0.8164336744147742 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.40, Z:-0.55 [[ 0.99987143 -0.01411033 -0.00761662 1.74131547] [ 0.01417236 0.99986633 0.00815288 -0.39928183] [ 0.00750056 -0.00825978 0.99993776 -0.54731011] [ 0. 0. 0. 1. ]] SLAMing on 153.932414037 meters Centerline goodness [0,1] 0.8168607647119448 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.40, Z:-0.55 [[ 0.99987729 -0.01359272 -0.00778754 1.74154085] [ 0.01366054 0.99986863 0.00872369 -0.40067588] [ 0.00766794 -0.008829 0.99993162 -0.54719294] [ 0. 0. 0. 1. ]] SLAMing on 153.962414037 meters Centerline goodness [0,1] 0.8135568753608843 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.40, Z:-0.55 [[ 0.99988677 -0.01276149 -0.00797392 1.74198324] [ 0.01283575 0.99987407 0.00933158 -0.40111542] [ 0.00785383 -0.00943287 0.99992467 -0.5474019 ] [ 0. 0. 0. 1. ]] SLAMing on 153.99241403699997 meters Centerline goodness [0,1] 0.8144542529494266 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.40, Z:-0.55 [[ 0.99995979 -0.00390486 -0.0080726 1.74220125] [ 0.00405184 0.99982483 0.01827271 -0.4027668 ] [ 0.00799983 -0.01830468 0.99980045 -0.54750712] [ 0. 0. 0. 1. ]] SLAMing on 154.02241403699998 meters Centerline goodness [0,1] 0.8138020565022976 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.40, Z:-0.55 [[ 9.99965886e-01 7.36321891e-04 -8.22704745e-03 1.74284518e+00] [-5.49934597e-04 9.99743650e-01 2.26347665e-02 -4.02852712e-01] [ 8.24160492e-03 -2.26294700e-02 9.99709949e-01 -5.48057303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05241403699998 meters Centerline goodness [0,1] 0.8138499587798846 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.40, Z:-0.55 [[ 0.99994999 0.00548792 -0.00836066 1.74353163] [-0.0052596 0.99961916 0.02709013 -0.40327705] [ 0.00850615 -0.0270448 0.99959803 -0.54867022] [ 0. 0. 0. 1. ]] SLAMing on 154.08241403699998 meters Centerline goodness [0,1] 0.8167586718299416 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.40, Z:-0.55 [[ 0.99991351 0.01009488 -0.00843007 1.74420948] [-0.00982383 0.99945241 0.03159712 -0.40436547] [ 0.00874442 -0.03151157 0.99946513 -0.5492915 ] [ 0. 0. 0. 1. ]] SLAMing on 154.11241403699998 meters Centerline goodness [0,1] 0.8213800485816625 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.41, Z:-0.55 [[ 0.99978954 0.01639663 -0.0123296 1.75004061] [-0.01598361 0.99933144 0.03288165 -0.40689255] [ 0.01286051 -0.03267766 0.9993832 -0.54683319] [ 0. 0. 0. 1. ]] SLAMing on 154.14241403699998 meters Centerline goodness [0,1] 0.8205878715422352 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.41, Z:-0.55 [[ 0.99978171 0.0168623 -0.0123369 1.74953115] [-0.01644197 0.99930636 0.03341343 -0.40821981] [ 0.01289177 -0.0332033 0.99936547 -0.54610194] [ 0. 0. 0. 1. ]] SLAMing on 154.17241403699998 meters Centerline goodness [0,1] 0.821520578718493 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.41, Z:-0.55 [[ 0.99982429 0.01399359 -0.012473 1.74912056] [-0.01361368 0.99945598 0.03004012 -0.40819077] [ 0.01288658 -0.02986503 0.99947087 -0.54548493] [ 0. 0. 0. 1. ]] SLAMing on 154.20241403699998 meters Centerline goodness [0,1] 0.8244350224344461 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.41, Z:-0.55 [[ 0.99984831 0.01162786 -0.01296762 1.75033014] [-0.01125834 0.99953852 0.02821353 -0.41294319] [ 0.0132897 -0.02806326 0.9995178 -0.54577423] [ 0. 0. 0. 1. ]] SLAMing on 154.23241403699998 meters Centerline goodness [0,1] 0.826463449751121 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.42, Z:-0.55 [[ 0.99987757 0.00835417 -0.01323039 1.75110066] [-0.00802089 0.99965411 0.02504651 -0.41501742] [ 0.01343506 -0.02493732 0.99959873 -0.54623328] [ 0. 0. 0. 1. ]] SLAMing on 154.26241403699999 meters Centerline goodness [0,1] 0.8272824345969034 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.42, Z:-0.55 [[ 0.99988499 0.00626106 -0.01381291 1.75283081] [-0.00593937 0.999713 0.02320867 -0.4183674 ] [ 0.01395425 -0.02312397 0.99963521 -0.54705235] [ 0. 0. 0. 1. ]] SLAMing on 154.292414037 meters Centerline goodness [0,1] 0.8295468551004478 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.42, Z:-0.55 [[ 0.99989893 0.00315181 -0.01386342 1.75286749] [-0.00287048 0.99979051 0.0202657 -0.42081689] [ 0.01392439 -0.02022386 0.99969851 -0.54699925] [ 0. 0. 0. 1. ]] SLAMing on 154.322414037 meters Centerline goodness [0,1] 0.8324178076576207 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.43, Z:-0.55 [[ 0.99994657 0.00235107 -0.01006612 1.75746444] [-0.00226271 0.99995889 0.00878056 -0.42744555] [ 0.01008635 -0.00875732 0.99991078 -0.54604523] [ 0. 0. 0. 1. ]] SLAMing on 154.352414037 meters Centerline goodness [0,1] 0.832605441758422 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.43, Z:-0.55 [[ 9.99949780e-01 -5.18316602e-04 -1.00084842e-02 1.75711975e+00] [ 5.81703036e-04 9.99979787e-01 6.33139799e-03 -4.30770147e-01] [ 1.00050003e-02 -6.33690199e-03 9.99929869e-01 -5.45718991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.382414037 meters Centerline goodness [0,1] 0.8322205559093617 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.43, Z:-0.55 [[ 0.99994493 -0.00306265 -0.01003762 1.75702361] [ 0.00310595 0.99998593 0.00430065 -0.43465471] [ 0.0100243 -0.00433159 0.99994037 -0.5455484 ] [ 0. 0. 0. 1. ]] SLAMing on 154.412414037 meters Centerline goodness [0,1] 0.834405869574128 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.45, Z:-0.55 [[ 0.99994207 -0.00442426 -0.00981241 1.75765033] [ 0.00446829 0.99998003 0.00447001 -0.44619034] [ 0.00979244 -0.00451359 0.99994187 -0.54654918] [ 0. 0. 0. 1. ]] SLAMing on 154.442414037 meters Centerline goodness [0,1] 0.8346671591562013 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.45, Z:-0.55 [[ 0.99993213 -0.00644988 -0.00970258 1.75737807] [ 0.00647982 0.99997433 0.00305722 -0.45128878] [ 0.00968261 -0.00311988 0.99994826 -0.54642735] [ 0. 0. 0. 1. ]] SLAMing on 154.472414037 meters Centerline goodness [0,1] 0.836444280170024 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.46, Z:-0.55 [[ 0.99993708 -0.00560944 -0.00971491 1.75741651] [ 0.00565817 0.99997151 0.00499561 -0.45720125] [ 0.00968661 -0.00505026 0.99994033 -0.5462642 ] [ 0. 0. 0. 1. ]] SLAMing on 154.502414037 meters Centerline goodness [0,1] 0.837812903622609 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.47, Z:-0.55 [[ 0.9999362 -0.00595077 -0.00960139 1.75817105] [ 0.00600688 0.99996499 0.00582585 -0.46677066] [ 0.00956638 -0.00588315 0.99993693 -0.54734464] [ 0. 0. 0. 1. ]] SLAMing on 154.532414037 meters Centerline goodness [0,1] 0.8382033523216261 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.47, Z:-0.55 [[ 0.99993929 -0.00549018 -0.00955424 1.75864953] [ 0.00555979 0.99995808 0.00727487 -0.47238294] [ 0.0095139 -0.00732755 0.99992789 -0.54786449] [ 0. 0. 0. 1. ]] SLAMing on 154.562414037 meters Centerline goodness [0,1] 0.8380962149964098 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.48, Z:-0.55 [[ 0.9999249 -0.0078158 -0.00943993 1.75819046] [ 0.00786843 0.99995364 0.00555047 -0.4768672 ] [ 0.00939611 -0.00562434 0.99994004 -0.54753316] [ 0. 0. 0. 1. ]] SLAMing on 154.592414037 meters Centerline goodness [0,1] 0.840159901599016 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.49, Z:-0.55 [[ 0.99990036 -0.01044809 -0.00949282 1.75893052] [ 0.01049554 0.9999326 0.00496301 -0.4888799 ] [ 0.00944033 -0.00506215 0.99994263 -0.54778172] [ 0. 0. 0. 1. ]] SLAMing on 154.622414037 meters Centerline goodness [0,1] 0.8398292387578762 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.49, Z:-0.55 [[ 0.99986431 -0.0134402 -0.00952489 1.75900362] [ 0.01347071 0.99990431 0.00314703 -0.49473592] [ 0.00948168 -0.00327491 0.99994969 -0.54755658] [ 0. 0. 0. 1. ]] SLAMing on 154.652414037 meters Centerline goodness [0,1] 0.8398162767331707 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.50, Z:-0.55 [[ 9.99820164e-01 -1.63457150e-02 -9.61550047e-03 1.75961440e+00] [ 1.63619851e-02 9.99864828e-01 1.61584653e-03 -5.01345291e-01] [ 9.58778856e-03 -1.77288462e-03 9.99952464e-01 -5.47737344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.682414037 meters Centerline goodness [0,1] 0.8409807857757384 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.51, Z:-0.55 [[ 0.99967585 -0.02353516 -0.00971077 1.76126011] [ 0.02351165 0.99972037 -0.00252846 -0.51349889] [ 0.00976756 0.00229933 0.99994965 -0.54840958] [ 0. 0. 0. 1. ]] SLAMing on 154.712414037 meters Centerline goodness [0,1] 0.8425850061450225 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.52, Z:-0.55 [[ 0.99958985 -0.02693185 -0.00973657 1.76157413] [ 0.02688693 0.99962736 -0.00471612 -0.5186551 ] [ 0.00985996 0.00445239 0.99994148 -0.54834199] [ 0. 0. 0. 1. ]] SLAMing on 154.74241403699997 meters Centerline goodness [0,1] 0.8423180316431019 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.52, Z:-0.55 [[ 0.99949453 -0.03025393 -0.00976677 1.76193488] [ 0.03018688 0.99952017 -0.0069412 -0.5233346 ] [ 0.00997208 0.00664286 0.99992821 -0.54833047] [ 0. 0. 0. 1. ]] SLAMing on 154.77241403699998 meters Centerline goodness [0,1] 0.8452148938352652 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.53, Z:-0.55 [[ 0.99936205 -0.0342219 -0.01021514 1.76516841] [ 0.03413696 0.99938206 -0.00837666 -0.5326992 ] [ 0.0104955 0.0080226 0.99991274 -0.55049822] [ 0. 0. 0. 1. ]] SLAMing on 154.80241403699998 meters Centerline goodness [0,1] 0.845256402370261 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.54, Z:-0.55 [[ 0.99932206 -0.03527298 -0.01054675 1.7672602 ] [ 0.03518707 0.99934691 -0.0082236 -0.53774332] [ 0.01082993 0.00784692 0.99991057 -0.55189248] [ 0. 0. 0. 1. ]] SLAMing on 154.83241403699998 meters Centerline goodness [0,1] 0.8468845530456905 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.54, Z:-0.55 [[ 0.99929332 -0.0359556 -0.01095688 1.76906649] [ 0.03587163 0.99932623 -0.00776569 -0.54249853] [ 0.01122871 0.00736717 0.99990982 -0.55277076] [ 0. 0. 0. 1. ]] SLAMing on 154.86241403699998 meters Centerline goodness [0,1] 0.8453140711251564 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.55, Z:-0.55 [[ 0.99929648 -0.03580716 -0.01115295 1.76948882] [ 0.03573599 0.99934002 -0.00651601 -0.54689576] [ 0.01137891 0.00611287 0.99991657 -0.55252482] [ 0. 0. 0. 1. ]] SLAMing on 154.89241403699998 meters Centerline goodness [0,1] 0.8452246903470161 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.55, Z:-0.55 [[ 0.99919112 -0.03861893 -0.01121055 1.76976607] [ 0.03852594 0.99922234 -0.00839494 -0.55245993] [ 0.01152604 0.00795626 0.99990192 -0.55228721] [ 0. 0. 0. 1. ]] SLAMing on 154.92241403699998 meters Centerline goodness [0,1] 0.845909760890927 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.56, Z:-0.55 [[ 0.9992092 -0.03810191 -0.01136754 1.77018885] [ 0.03801984 0.99924995 -0.00734983 -0.5552392 ] [ 0.01163906 0.00691183 0.99990838 -0.55235558] [ 0. 0. 0. 1. ]] SLAMing on 154.95241403699998 meters Centerline goodness [0,1] 0.8456862143076451 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.56, Z:-0.55 [[ 0.99934383 -0.03435194 -0.01148275 1.77042077] [ 0.03432273 0.99940707 -0.00273104 -0.55813984] [ 0.01156976 0.00233513 0.99993034 -0.55231377] [ 0. 0. 0. 1. ]] SLAMing on 154.98241403699998 meters Centerline goodness [0,1] 0.8469022017409114 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.56, Z:-0.55 [[ 0.99947552 -0.03023591 -0.01159649 1.77009354] [ 0.03025898 0.99954044 0.00181982 -0.55952955] [ 0.01153614 -0.00216976 0.9999311 -0.55170908] [ 0. 0. 0. 1. ]] SLAMing on 155.01241403699999 meters Centerline goodness [0,1] 0.8480994540658802 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.56, Z:-0.55 [[ 0.99973366 -0.02184566 -0.00744118 1.77411609] [ 0.02182564 0.99975798 -0.00276074 -0.55840997] [ 0.00749969 0.0025976 0.9999685 -0.55027656] [ 0. 0. 0. 1. ]] SLAMing on 155.042414037 meters Centerline goodness [0,1] 0.8474687034125024 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.56, Z:-0.55 [[ 9.99812302e-01 -1.77495032e-02 -7.76638988e-03 1.77435764e+00] [ 1.77618576e-02 9.99841083e-01 1.52467524e-03 -5.60385249e-01] [ 7.73809344e-03 -1.66233457e-03 9.99968679e-01 -5.49818242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.072414037 meters Centerline goodness [0,1] 0.8441247493144518 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.56, Z:-0.55 [[ 0.9998295 -0.01659126 -0.00810572 1.77457658] [ 0.0166099 0.99985954 0.00223709 -0.56124575] [ 0.00806746 -0.00237135 0.99996465 -0.54955541] [ 0. 0. 0. 1. ]] SLAMing on 155.102414037 meters Centerline goodness [0,1] 0.8442579433145471 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.56, Z:-0.55 [[ 0.9998936 -0.01186516 -0.00848526 1.77528425] [ 0.01192422 0.99990479 0.00694385 -0.56392001] [ 0.00840206 -0.00704429 0.99993989 -0.54966461] [ 0. 0. 0. 1. ]] SLAMing on 155.132414037 meters Centerline goodness [0,1] 0.8443782272384024 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.56, Z:-0.55 [[ 0.99989894 -0.01129698 -0.0086312 1.7754063 ] [ 0.01135977 0.99990912 0.00726061 -0.56391729] [ 0.00854839 -0.00735792 0.99993639 -0.54963918] [ 0. 0. 0. 1. ]] SLAMing on 155.162414037 meters Centerline goodness [0,1] 0.8437697788848282 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.56, Z:-0.55 [[ 0.99990143 -0.0110319 -0.00868521 1.77537051] [ 0.01109753 0.99990996 0.00754473 -0.56423236] [ 0.0086012 -0.00764037 0.99993382 -0.54951335] [ 0. 0. 0. 1. ]] SLAMing on 155.192414037 meters Centerline goodness [0,1] 0.8434754178756794 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.57, Z:-0.55 [[ 0.99990067 -0.01105603 -0.00874118 1.77571957] [ 0.01113152 0.99990076 0.0086351 -0.56834224] [ 0.00864485 -0.00873155 0.99992451 -0.54948717] [ 0. 0. 0. 1. ]] SLAMing on 155.222414037 meters Centerline goodness [0,1] 0.8451974397251589 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.57, Z:-0.55 [[ 0.99988361 -0.01221211 -0.00914547 1.77783248] [ 0.01228775 0.99989039 0.00825982 -0.57157647] [ 0.0090436 -0.00837123 0.99992406 -0.55091256] [ 0. 0. 0. 1. ]] SLAMing on 155.252414037 meters Centerline goodness [0,1] 0.8446853592808212 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.57, Z:-0.55 [[ 0.99983439 -0.01573012 -0.00915182 1.77804676] [ 0.01577852 0.99986178 0.00524007 -0.57409437] [ 0.00906813 -0.0053836 0.99994439 -0.55105275] [ 0. 0. 0. 1. ]] SLAMing on 155.282414037 meters Centerline goodness [0,1] 0.8438501355681538 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.58, Z:-0.55 [[ 0.99974712 -0.02046765 -0.0093146 1.77956895] [ 0.02048886 0.99978769 0.00218754 -0.58101618] [ 0.00926784 -0.00237783 0.99995423 -0.551853 ] [ 0. 0. 0. 1. ]] SLAMing on 155.312414037 meters Centerline goodness [0,1] 0.8451439806660386 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.58, Z:-0.55 [[ 0.99972418 -0.02142275 -0.00962403 1.78136693] [ 0.0214463 0.99976724 0.00235094 -0.5847988 ] [ 0.00957143 -0.00255669 0.99995092 -0.55292343] [ 0. 0. 0. 1. ]] SLAMing on 155.342414037 meters Centerline goodness [0,1] 0.8459045313750025 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.59, Z:-0.55 [[ 0.99969948 -0.02241766 -0.00991942 1.78327413] [ 0.0224428 0.99974518 0.00243022 -0.58814928] [ 0.00986241 -0.00265211 0.99994785 -0.55417039] [ 0. 0. 0. 1. ]] SLAMing on 155.372414037 meters Centerline goodness [0,1] 0.8448463226097476 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.59, Z:-0.56 [[ 9.99611615e-01 -2.59407193e-02 -1.01832769e-02 1.78682872e+00] [ 2.59447681e-02 9.99663343e-01 2.65669006e-04 -5.92520407e-01] [ 1.01729570e-02 -5.29768582e-04 9.99948114e-01 -5.57324510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.402414037 meters Centerline goodness [0,1] 0.8460310312359275 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.59, Z:-0.56 [[ 9.99606334e-01 -2.60945562e-02 -1.03077960e-02 1.78752247e+00] [ 2.61043555e-02 9.99658889e-01 8.17253712e-04 -5.94739293e-01] [ 1.02829540e-02 -1.08601036e-03 9.99946539e-01 -5.57681049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.432414037 meters Centerline goodness [0,1] 0.8460310312359275 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.59, Z:-0.56 [[ 9.99606334e-01 -2.60945562e-02 -1.03077960e-02 1.78752247e+00] [ 2.61043555e-02 9.99658889e-01 8.17253712e-04 -5.94739293e-01] [ 1.02829540e-02 -1.08601036e-03 9.99946539e-01 -5.57681049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.462414037 meters Centerline goodness [0,1] 0.8448265287346922 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.60, Z:-0.56 [[ 9.99604494e-01 -2.61319114e-02 -1.03912685e-02 1.78764753e+00] [ 2.61486729e-02 9.99656969e-01 1.48043608e-03 -5.97031940e-01] [ 1.03490174e-02 -1.75156844e-03 9.99944913e-01 -5.57378832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49241403699997 meters Centerline goodness [0,1] 0.8440744608957425 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.60, Z:-0.56 [[ 0.99959762 -0.026394 -0.01039019 1.78765571] [ 0.02641592 0.99964908 0.00197795 -0.59945333] [ 0.01033434 -0.00225162 0.99994406 -0.55703422] [ 0. 0. 0. 1. ]] SLAMing on 155.52241403699998 meters Centerline goodness [0,1] 0.8451640618607316 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.60, Z:-0.56 [[ 9.99476121e-01 -3.06672554e-02 -1.03441976e-02 1.78805700e+00] [ 3.06513393e-02 9.99528702e-01 -1.69372174e-03 -6.01570148e-01] [ 1.03912642e-02 1.37577093e-03 9.99945063e-01 -5.57143291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55241403699998 meters Centerline goodness [0,1] 0.8463350678084156 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.60, Z:-0.56 [[ 9.99460612e-01 -3.11650791e-02 -1.03548637e-02 1.78849117e+00] [ 3.11493366e-02 9.99513333e-01 -1.67814757e-03 -6.02474745e-01] [ 1.04021239e-02 1.35469526e-03 9.99944979e-01 -5.57422733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58241403699998 meters Centerline goodness [0,1] 0.843823511362939 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.60, Z:-0.56 [[ 9.99443092e-01 -3.17048238e-02 -1.04072436e-02 1.78893542e+00] [ 3.16869353e-02 9.99496076e-01 -1.87930281e-03 -6.02424824e-01] [ 1.04615821e-02 1.54848256e-03 9.99944077e-01 -5.57647797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61241403699998 meters Centerline goodness [0,1] 0.844778078595455 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.60, Z:-0.56 [[ 9.99431606e-01 -3.21119938e-02 -1.02608174e-02 1.78870806e+00] [ 3.20928079e-02 9.99482834e-01 -2.02907814e-03 -6.02111493e-01] [ 1.03206686e-02 1.69862639e-03 9.99945298e-01 -5.57513052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64241403699998 meters Centerline goodness [0,1] 0.8434910999917973 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.60, Z:-0.56 [[ 0.99939035 -0.03346032 -0.00996663 1.78875761] [ 0.03343257 0.99943666 -0.0029383 -0.60106971] [ 0.01005933 0.0026033 0.99994601 -0.55776587] [ 0. 0. 0. 1. ]] SLAMing on 155.67241403699998 meters Centerline goodness [0,1] 0.8374771593405466 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.60, Z:-0.56 [[ 0.99936871 -0.03409995 -0.00996909 1.789146 ] [ 0.03406792 0.99941385 -0.00336511 -0.60069597] [ 0.01007799 0.00302336 0.99994465 -0.55805673] [ 0. 0. 0. 1. ]] SLAMing on 155.70241403699998 meters Centerline goodness [0,1] 0.838995416897877 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.60, Z:-0.56 [[ 0.99934725 -0.03470369 -0.01003627 1.78977785] [ 0.03466722 0.99939174 -0.00378511 -0.60047707] [ 0.01016152 0.0034347 0.99994247 -0.55856285] [ 0. 0. 0. 1. ]] SLAMing on 155.73241403699998 meters Centerline goodness [0,1] 0.841718345722617 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.60, Z:-0.56 [[ 0.99929527 -0.03621159 -0.00988354 1.79034522] [ 0.0361644 0.99933378 -0.0049123 -0.59943417] [ 0.01005484 0.00455141 0.99993909 -0.55913555] [ 0. 0. 0. 1. ]] SLAMing on 155.76241403699999 meters Centerline goodness [0,1] 0.8365182653103249 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.60, Z:-0.56 [[ 0.99927466 -0.03679249 -0.00982131 1.7905675 ] [ 0.0367389 0.99930931 -0.00558261 -0.59774215] [ 0.01001992 0.00521774 0.99993619 -0.55947617] [ 0. 0. 0. 1. ]] SLAMing on 155.792414037 meters Centerline goodness [0,1] 0.8185285433070866 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.60, Z:-0.56 [[ 0.99933536 -0.03507081 -0.00994384 1.79217734] [ 0.03503979 0.99938055 -0.00327674 -0.59699785] [ 0.0100526 0.00292613 0.99994519 -0.56078867] [ 0. 0. 0. 1. ]] SLAMing on 155.822414037 meters Centerline goodness [0,1] 0.8202911644524753 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.59, Z:-0.56 [[ 9.99396790e-01 -3.33486009e-02 -9.69159384e-03 1.79262802e+00] [ 3.33370188e-02 9.99443250e-01 -1.35421738e-03 -5.92816931e-01] [ 9.73135929e-03 1.03031166e-03 9.99952118e-01 -5.61606097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.852414037 meters Centerline goodness [0,1] 0.7936331667592078 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.59, Z:-0.56 [[ 9.99484382e-01 -3.06321046e-02 -9.62520026e-03 1.79325412e+00] [ 3.06488495e-02 9.99528938e-01 1.59699778e-03 -5.91326489e-01] [ 9.57174679e-03 -1.89117565e-03 9.99952401e-01 -5.62467806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.882414037 meters Centerline goodness [0,1] 0.8175146469318533 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.59, Z:-0.56 [[ 0.99955266 -0.02825218 -0.00981268 1.79501445] [ 0.0282921 0.99959188 0.00395333 -0.58929014] [ 0.00969698 -0.00422918 0.99994404 -0.56421662] [ 0. 0. 0. 1. ]] SLAMing on 155.912414037 meters Centerline goodness [0,1] 0.8137833227139128 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.58, Z:-0.57 [[ 0.99959749 -0.02655419 -0.00998624 1.79694601] [ 0.02660217 0.99963504 0.00470201 -0.58266523] [ 0.00985774 -0.00496577 0.99993908 -0.56640656] [ 0. 0. 0. 1. ]] SLAMing on 155.942414037 meters Centerline goodness [0,1] 0.8149862190958082 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.58, Z:-0.57 [[ 0.99958406 -0.02703613 -0.010038 1.79699731] [ 0.02707168 0.99962763 0.00342284 -0.57872055] [ 0.00994173 -0.00369316 0.99994376 -0.56649749] [ 0. 0. 0. 1. ]] SLAMing on 155.972414037 meters Centerline goodness [0,1] 0.823279052553664 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.57, Z:-0.57 [[ 0.99956633 -0.02764277 -0.01015003 1.79736918] [ 0.02766461 0.99961522 0.0020178 -0.57463699] [ 0.01009035 -0.00229772 0.99994645 -0.56685774] [ 0. 0. 0. 1. ]] SLAMing on 156.002414037 meters Centerline goodness [0,1] 0.8214182880177697 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.57, Z:-0.57 [[ 0.99962019 -0.02549672 -0.01045902 1.79879588] [ 0.02554005 0.99966567 0.00403058 -0.57178912] [ 0.01035276 -0.00429617 0.99993718 -0.56788194] [ 0. 0. 0. 1. ]] SLAMing on 156.032414037 meters Centerline goodness [0,1] 0.8143543432094184 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.56, Z:-0.57 [[ 0.99965688 -0.0239852 -0.01052731 1.80026933] [ 0.02403169 0.99970189 0.00431273 -0.56275621] [ 0.01042073 -0.00456424 0.99993529 -0.56975959] [ 0. 0. 0. 1. ]] SLAMing on 156.062414037 meters Centerline goodness [0,1] 0.8083638759626076 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.56, Z:-0.57 [[ 0.99963491 -0.0248223 -0.01067202 1.80088058] [ 0.02485 0.99968814 0.00247061 -0.55724958] [ 0.01060737 -0.0027349 0.99994 -0.57036332] [ 0. 0. 0. 1. ]] SLAMing on 156.092414037 meters Centerline goodness [0,1] 0.8090954008317207 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.55, Z:-0.57 [[ 9.99613523e-01 -2.55907993e-02 -1.08588791e-02 1.80117590e+00] [ 2.56004099e-02 9.99671977e-01 7.46945994e-04 -5.52274923e-01] [ 1.08362022e-02 -1.02464907e-03 9.99940762e-01 -5.70386774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.122414037 meters Centerline goodness [0,1] 0.8057425131213337 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.55, Z:-0.57 [[ 9.99599797e-01 -2.60569017e-02 -1.10128516e-02 1.80105217e+00] [ 2.60512756e-02 9.99660394e-01 -6.54035642e-04 -5.47859782e-01] [ 1.10261537e-02 3.66875062e-04 9.99939143e-01 -5.69958529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.152414037 meters Centerline goodness [0,1] 0.8184715340173119 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.54, Z:-0.57 [[ 0.99973439 -0.02250766 -0.00495441 1.80931074] [ 0.02246537 0.99971206 -0.00843285 -0.53651604] [ 0.00514279 0.00831931 0.99995217 -0.5723516 ] [ 0. 0. 0. 1. ]] SLAMing on 156.182414037 meters Centerline goodness [0,1] 0.8219611387257117 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.53, Z:-0.57 [[ 0.99985161 -0.01643629 -0.00515834 1.81075277] [ 0.01642246 0.99986146 -0.00271321 -0.53225938] [ 0.00520222 0.0026281 0.99998301 -0.57373491] [ 0. 0. 0. 1. ]] SLAMing on 156.212414037 meters Centerline goodness [0,1] 0.8305858170606372 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.52, Z:-0.58 [[ 0.99992391 -0.00949175 -0.00787863 1.81621974] [ 0.00947289 0.99995218 -0.00242764 -0.51701543] [ 0.00790129 0.00235282 0.99996602 -0.58061165] [ 0. 0. 0. 1. ]] SLAMing on 156.24241403699997 meters Centerline goodness [0,1] 0.8330182864187384 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.51, Z:-0.58 [[ 9.99952268e-01 -5.86038669e-03 -7.81772728e-03 1.81694064e+00] [ 5.85716091e-03 9.99982752e-01 -4.35455401e-04 -5.10253838e-01] [ 7.82014438e-03 3.89644930e-04 9.99969346e-01 -5.81960370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27241403699998 meters Centerline goodness [0,1] 0.8363214901124149 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.50, Z:-0.58 [[ 9.99965290e-01 -2.42876165e-03 -7.96988423e-03 1.81757193e+00] [ 2.43951060e-03 9.99996128e-01 1.33925277e-03 -5.03707462e-01] [ 7.96660064e-03 -1.35864890e-03 9.99967343e-01 -5.82645222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30241403699998 meters Centerline goodness [0,1] 0.8371219121542537 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.50, Z:-0.58 [[ 9.99967202e-01 9.75181435e-04 -8.04014824e-03 1.81693272e+00] [-9.49207870e-04 9.99994321e-01 3.23366669e-03 -4.97342886e-01] [ 8.04325599e-03 -3.22592886e-03 9.99962449e-01 -5.81831239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33241403699998 meters Centerline goodness [0,1] 0.8362800857237059 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.48, Z:-0.58 [[ 9.99967586e-01 6.88920933e-03 -4.16715528e-03 1.80956511e+00] [-6.88658426e-03 9.99976080e-01 6.43963318e-04 -4.82369022e-01] [ 4.17149200e-03 -6.15244979e-04 9.99991110e-01 -5.77065304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36241403699998 meters Centerline goodness [0,1] 0.8372221766587387 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.48, Z:-0.58 [[ 0.99993775 0.01030883 -0.0042695 1.80942014] [-0.01029614 0.99994255 0.00298193 -0.47763708] [ 0.00429999 -0.00293778 0.99998644 -0.5765065 ] [ 0. 0. 0. 1. ]] SLAMing on 156.39241403699998 meters Centerline goodness [0,1] 0.8352912131997449 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.47, Z:-0.58 [[ 0.99989774 0.01361858 -0.00436422 1.80961291] [-0.01359461 0.9998926 0.00547453 -0.4736817 ] [ 0.00443831 -0.00541464 0.99997549 -0.57639758] [ 0. 0. 0. 1. ]] SLAMing on 156.42241403699998 meters Centerline goodness [0,1] 0.8325344086242722 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.47, Z:-0.58 [[ 0.99989988 0.01338099 -0.00460112 1.81061338] [-0.01336304 0.99990307 0.00391004 -0.46843232] [ 0.004653 -0.00384816 0.99998177 -0.57730758] [ 0. 0. 0. 1. ]] SLAMing on 156.45241403699998 meters Centerline goodness [0,1] 0.8328252451182335 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.46, Z:-0.58 [[ 0.99987019 0.01541944 -0.00467455 1.81178317] [-0.01539566 0.99986857 0.00508103 -0.4620101 ] [ 0.00475228 -0.0050084 0.99997617 -0.57847122] [ 0. 0. 0. 1. ]] SLAMing on 156.48241403699998 meters Centerline goodness [0,1] 0.8321810699588478 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.46, Z:-0.58 [[ 0.99987995 0.01474508 -0.0047608 1.81231401] [-0.014727 0.99988429 0.00381032 -0.45847358] [ 0.00481643 -0.00373975 0.99998141 -0.57898014] [ 0. 0. 0. 1. ]] SLAMing on 156.51241403699999 meters Centerline goodness [0,1] 0.8360365552445249 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.46, Z:-0.58 [[ 0.99989113 0.0139518 -0.00480321 1.81265836] [-0.01393975 0.99989963 0.00253388 -0.4551698 ] [ 0.00483808 -0.00246665 0.99998525 -0.57932424] [ 0. 0. 0. 1. ]] SLAMing on 156.542414037 meters Centerline goodness [0,1] 0.8310513547962666 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.45, Z:-0.58 [[ 9.99905519e-01 1.27662129e-02 -5.09668610e-03 1.81380346e+00] [-1.27634837e-02 9.99918382e-01 5.67669352e-04 -4.50350207e-01] [ 5.10351711e-03 -5.02564248e-04 9.99986851e-01 -5.80054112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.572414037 meters Centerline goodness [0,1] 0.8292046132023108 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.45, Z:-0.58 [[ 9.99909431e-01 1.23420583e-02 -5.36691896e-03 1.81470765e+00] [-1.23440635e-02 9.99923751e-01 -3.40659518e-04 -4.48321607e-01] [ 5.36230530e-03 4.06878254e-04 9.99985540e-01 -5.80578908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.602414037 meters Centerline goodness [0,1] 0.8318936331739746 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.45, Z:-0.58 [[ 9.99912555e-01 1.19992003e-02 -5.55884863e-03 1.81561275e+00] [-1.20062681e-02 9.99927154e-01 -1.23982158e-03 -4.46066040e-01] [ 5.54356682e-03 1.30645419e-03 9.99983781e-01 -5.81333064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.632414037 meters Centerline goodness [0,1] 0.8272672969577128 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.44, Z:-0.58 [[ 0.99990595 0.01259202 -0.00543526 1.8146827 ] [-0.01260251 0.99991878 -0.00190126 -0.4415057 ] [ 0.00541088 0.00196958 0.99998342 -0.58049611] [ 0. 0. 0. 1. ]] SLAMing on 156.662414037 meters Centerline goodness [0,1] 0.8260771347599294 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.44, Z:-0.58 [[ 0.99990315 0.01271721 -0.00565422 1.81504919] [-0.01273275 0.99991523 -0.00272081 -0.43862379] [ 0.00561914 0.00279254 0.99998031 -0.58051253] [ 0. 0. 0. 1. ]] SLAMing on 156.692414037 meters Centerline goodness [0,1] 0.8253303783961258 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.44, Z:-0.58 [[ 0.99989257 0.01344012 -0.00584918 1.81540391] [-0.01345907 0.99990426 -0.00321287 -0.43534672] [ 0.00580544 0.00329125 0.99997773 -0.58063604] [ 0. 0. 0. 1. ]] SLAMing on 156.722414037 meters Centerline goodness [0,1] 0.823204986263173 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.43, Z:-0.58 [[ 0.99974495 0.02177936 -0.00597509 1.81606502] [-0.02175743 0.99975639 0.00371214 -0.43116459] [ 0.00605449 -0.00358119 0.99997526 -0.58090615] [ 0. 0. 0. 1. ]] SLAMing on 156.752414037 meters Centerline goodness [0,1] 0.8204569737815403 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.43, Z:-0.58 [[ 0.99964901 0.02580379 -0.00600182 1.8164568 ] [-0.02576074 0.99964261 0.00714391 -0.42948164] [ 0.00618402 -0.00698679 0.99995647 -0.58115594] [ 0. 0. 0. 1. ]] SLAMing on 156.782414037 meters Centerline goodness [0,1] 0.8200748232198651 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.43, Z:-0.58 [[ 0.99962702 0.02659437 -0.00620924 1.81690588] [-0.02655261 0.99962487 0.00671339 -0.42696189] [ 0.00638545 -0.00654602 0.99995819 -0.58140273] [ 0. 0. 0. 1. ]] SLAMing on 156.812414037 meters Centerline goodness [0,1] 0.8221551600254563 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.43, Z:-0.58 [[ 0.99948282 0.03154487 -0.00624675 1.8172562 ] [-0.03147586 0.99944558 0.01085366 -0.42679337] [ 0.00658567 -0.01065143 0.99992158 -0.58160636] [ 0. 0. 0. 1. ]] SLAMing on 156.842414037 meters Centerline goodness [0,1] 0.8220420728578759 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.43, Z:-0.58 [[ 0.9994591 0.03225446 -0.00641479 1.81776576] [-0.03218286 0.99942182 0.01096746 -0.42634977] [ 0.00676483 -0.01075508 0.99991928 -0.58196196] [ 0. 0. 0. 1. ]] SLAMing on 156.872414037 meters Centerline goodness [0,1] 0.821582556563873 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.43, Z:-0.58 [[ 0.99943382 0.03301008 -0.00650888 1.81814379] [-0.0329347 0.99939287 0.01136665 -0.4267593 ] [ 0.00688015 -0.01114585 0.99991421 -0.58233289] [ 0. 0. 0. 1. ]] SLAMing on 156.902414037 meters Centerline goodness [0,1] 0.8239896500739281 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.43, Z:-0.58 [[ 0.9994148 0.03356551 -0.00658949 1.81837011] [-0.03348553 0.99936843 0.01189388 -0.42791447] [ 0.00698456 -0.01166626 0.99990755 -0.58245593] [ 0. 0. 0. 1. ]] SLAMing on 156.932414037 meters Centerline goodness [0,1] 0.8234653180379097 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.43, Z:-0.58 [[ 0.99947646 0.03164406 -0.00674289 1.81741047] [-0.03157429 0.99944921 0.01021491 -0.43186578] [ 0.00706241 -0.00999667 0.99992509 -0.58128444] [ 0. 0. 0. 1. ]] SLAMing on 156.962414037 meters Centerline goodness [0,1] 0.8251779815760858 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.43, Z:-0.58 [[ 0.99956859 0.02853643 -0.00695095 1.81736649] [-0.02848507 0.99956699 0.00737833 -0.43434731] [ 0.00715849 -0.00717715 0.99994862 -0.58103442] [ 0. 0. 0. 1. ]] SLAMing on 156.99241403699997 meters Centerline goodness [0,1] 0.826038644360763 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.44, Z:-0.58 [[ 0.99965625 0.02522816 -0.00713533 1.81742052] [-0.02519518 0.99967162 0.00467424 -0.43779868] [ 0.00725091 -0.00449286 0.99996362 -0.58093988] [ 0. 0. 0. 1. ]] SLAMing on 157.02241403699998 meters Centerline goodness [0,1] 0.8281230743951034 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.45, Z:-0.58 [[ 9.99794701e-01 1.87826217e-02 -7.60054267e-03 1.81929783e+00] [-1.87827490e-02 9.99823587e-01 5.46395678e-05 -4.47380587e-01] [ 7.60022811e-03 8.81307350e-05 9.99971114e-01 -5.82507743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05241403699998 meters Centerline goodness [0,1] 0.8261468267017429 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.45, Z:-0.58 [[ 0.99985181 0.01540405 -0.00768648 1.81947849] [-0.01542203 0.99987846 -0.0022848 -0.45291392] [ 0.00765035 0.002403 0.99996785 -0.58267461] [ 0. 0. 0. 1. ]] SLAMing on 157.08241403699998 meters Centerline goodness [0,1] 0.8270676691729324 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.46, Z:-0.58 [[ 0.99989419 0.01231811 -0.00773783 1.81927509] [-0.01235178 0.99991439 -0.0043191 -0.45847964] [ 0.00768397 0.00441422 0.99996073 -0.58239352] [ 0. 0. 0. 1. ]] SLAMing on 157.11241403699998 meters Centerline goodness [0,1] 0.830117899249732 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.47, Z:-0.58 [[ 0.99994617 0.0069009 -0.00774781 1.8190091 ] [-0.00696232 0.99994433 -0.00792886 -0.46830925] [ 0.00769267 0.00798238 0.99993855 -0.58212 ] [ 0. 0. 0. 1. ]] SLAMing on 157.14241403699998 meters Centerline goodness [0,1] 0.8295326026608542 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.47, Z:-0.58 [[ 0.99994443 0.00695028 -0.0079266 1.81933349] [-0.00700095 0.99995512 -0.00638328 -0.47429257] [ 0.00788188 0.00643841 0.99994821 -0.58189747] [ 0. 0. 0. 1. ]] SLAMing on 157.17241403699998 meters Centerline goodness [0,1] 0.8274505766062603 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.48, Z:-0.58 [[ 0.99994557 0.00670107 -0.00799742 1.81949996] [-0.00674277 0.99996376 -0.00519778 -0.48002114] [ 0.0079623 0.00525142 0.99995451 -0.58168275] [ 0. 0. 0. 1. ]] SLAMing on 157.20241403699998 meters Centerline goodness [0,1] 0.831386156910252 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.49, Z:-0.58 [[ 0.99994584 0.00608334 -0.00844509 1.82115822] [-0.00612195 0.99997089 -0.0045539 -0.48526849] [ 0.00841714 0.00460535 0.99995397 -0.58256078] [ 0. 0. 0. 1. ]] SLAMing on 157.23241403699998 meters Centerline goodness [0,1] 0.8322184832567301 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.49, Z:-0.58 [[ 0.99995691 0.00260499 -0.0089099 1.82383544] [-0.00266017 0.99997733 -0.00618644 -0.49415023] [ 0.00889359 0.00620988 0.99994117 -0.58474266] [ 0. 0. 0. 1. ]] SLAMing on 157.26241403699999 meters Centerline goodness [0,1] 0.8320634203446222 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.50, Z:-0.59 [[ 9.99954944e-01 1.78499365e-03 -9.32327047e-03 1.82550623e+00] [-1.84189064e-03 9.99979713e-01 -6.09766841e-03 -4.99342593e-01] [ 9.31219703e-03 6.11456612e-03 9.99937946e-01 -5.85784534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.292414037 meters Centerline goodness [0,1] 0.8351630312108838 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.50, Z:-0.59 [[ 0.99995424 0.00211515 -0.00932952 1.82534193] [-0.00215819 0.99998706 -0.0046058 -0.50460697] [ 0.00931966 0.00462573 0.99994587 -0.58536374] [ 0. 0. 0. 1. ]] SLAMing on 157.322414037 meters Centerline goodness [0,1] 0.8351630312108838 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.50, Z:-0.59 [[ 0.99995424 0.00211515 -0.00932952 1.82534193] [-0.00215819 0.99998706 -0.0046058 -0.50460697] [ 0.00931966 0.00462573 0.99994587 -0.58536374] [ 0. 0. 0. 1. ]] SLAMing on 157.352414037 meters Centerline goodness [0,1] 0.8344207804998154 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.51, Z:-0.58 [[ 0.99995469 0.00237663 -0.00921769 1.82498968] [-0.00240787 0.99999139 -0.00337959 -0.50873473] [ 0.00920957 0.00340163 0.99995181 -0.58498982] [ 0. 0. 0. 1. ]] SLAMing on 157.382414037 meters Centerline goodness [0,1] 0.8342792281498297 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.51, Z:-0.58 [[ 9.99958383e-01 -5.21904966e-04 -9.10827191e-03 1.82441542e+00] [ 4.73572905e-04 9.99985802e-01 -5.30774229e-03 -5.13774639e-01] [ 9.11091273e-03 5.30320796e-03 9.99944432e-01 -5.84537604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.412414037 meters Centerline goodness [0,1] 0.83553537304539 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.52, Z:-0.58 [[ 9.99955322e-01 -6.44237011e-04 -9.43072831e-03 1.82539300e+00] [ 6.01109191e-04 9.99989353e-01 -4.57523701e-03 -5.17419384e-01] [ 9.43357543e-03 4.56936370e-03 9.99945063e-01 -5.84888568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.442414037 meters Centerline goodness [0,1] 0.8359690685701393 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.52, Z:-0.58 [[ 9.99954038e-01 -4.63568203e-04 -9.57635155e-03 1.82569587e+00] [ 4.31616750e-04 9.99994335e-01 -3.33829272e-03 -5.21773447e-01] [ 9.57784482e-03 3.33400598e-03 9.99948573e-01 -5.84743129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.472414037 meters Centerline goodness [0,1] 0.8381353321696272 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.53, Z:-0.59 [[ 0.99994463 -0.00385061 -0.00979349 1.82656363] [ 0.00379941 0.99997905 -0.00524068 -0.52879428] [ 0.00981346 0.00520318 0.99993831 -0.58517825] [ 0. 0. 0. 1. ]] SLAMing on 157.502414037 meters Centerline goodness [0,1] 0.8381584899453057 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.53, Z:-0.59 [[ 0.99993681 -0.00484396 -0.01014442 1.82880942] [ 0.00479078 0.99997469 -0.00525933 -0.53184901] [ 0.01016964 0.0052104 0.99993471 -0.58698011] [ 0. 0. 0. 1. ]] SLAMing on 157.532414037 meters Centerline goodness [0,1] 0.8372791410411996 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.53, Z:-0.59 [[ 0.99993508 -0.00502732 -0.01022524 1.82953106] [ 0.00498226 0.99997779 -0.004427 -0.53485551] [ 0.01024727 0.00437577 0.99993792 -0.58752408] [ 0. 0. 0. 1. ]] SLAMing on 157.562414037 meters Centerline goodness [0,1] 0.8372727645779474 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.54, Z:-0.59 [[ 0.9999128 -0.00859865 -0.01002319 1.82834312] [ 0.00853357 0.99994235 -0.00651731 -0.53992189] [ 0.01007865 0.00643121 0.99992853 -0.58608294] [ 0. 0. 0. 1. ]] SLAMing on 157.592414037 meters Centerline goodness [0,1] 0.8379293364520497 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.54, Z:-0.58 [[ 0.99991054 -0.0089794 -0.00991389 1.82753463] [ 0.00892377 0.99994427 -0.00564085 -0.54420698] [ 0.00996399 0.00555188 0.99993495 -0.58483122] [ 0. 0. 0. 1. ]] SLAMing on 157.622414037 meters Centerline goodness [0,1] 0.8382160660292555 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.55, Z:-0.58 [[ 0.999903 -0.00952205 -0.01016473 1.82798389] [ 0.0094711 0.9999424 -0.0050487 -0.54832492] [ 0.01021221 0.00495194 0.99993559 -0.58441064] [ 0. 0. 0. 1. ]] SLAMing on 157.652414037 meters Centerline goodness [0,1] 0.8374002093295299 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.55, Z:-0.58 [[ 0.99990034 -0.00964024 -0.01031381 1.82838168] [ 0.00959685 0.99994493 -0.00424785 -0.55169202] [ 0.01035419 0.00414844 0.99993779 -0.58426751] [ 0. 0. 0. 1. ]] SLAMing on 157.682414037 meters Centerline goodness [0,1] 0.8362756556150172 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.55, Z:-0.59 [[ 0.99989109 -0.00997939 -0.01087326 1.83132065] [ 0.00993541 0.99994227 -0.00409194 -0.55405234] [ 0.01091346 0.00398347 0.99993251 -0.58653861] [ 0. 0. 0. 1. ]] SLAMing on 157.712414037 meters Centerline goodness [0,1] 0.8392758288397268 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.56, Z:-0.59 [[ 9.99921807e-01 -6.06588492e-03 -1.09354769e-02 1.83186343e+00] [ 6.06894237e-03 9.99981553e-01 2.46427484e-04 -5.55436183e-01] [ 1.09337804e-02 -3.12774994e-04 9.99940176e-01 -5.86966399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74241403699997 meters Centerline goodness [0,1] 0.8401945493350845 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.55, Z:-0.59 [[ 9.99931476e-01 -4.56215286e-03 -1.07809964e-02 1.83076383e+00] [ 4.57510737e-03 9.99988841e-01 1.17724878e-03 -5.54389765e-01] [ 1.07755053e-02 -1.22649232e-03 9.99941190e-01 -5.86213687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77241403699998 meters Centerline goodness [0,1] 0.8411268764137364 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.55, Z:-0.59 [[ 9.99942317e-01 6.31067654e-04 -1.07221159e-02 1.82985946e+00] [-5.68504955e-04 9.99982803e-01 5.83696725e-03 -5.54614837e-01] [ 1.07256151e-02 -5.83053498e-03 9.99925480e-01 -5.85382753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80241403699998 meters Centerline goodness [0,1] 0.8401778761424649 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.55, Z:-0.59 [[ 9.99998881e-01 1.31531551e-03 -7.12100510e-04 1.82978186e+00] [-1.31485632e-03 9.99998928e-01 6.44922542e-04 -5.52874367e-01] [ 7.12948023e-04 -6.43985511e-04 9.99999538e-01 -5.92575992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83241403699998 meters Centerline goodness [0,1] 0.8385845358073852 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.55, Z:-0.59 [[ 9.99998748e-01 1.46323203e-03 -6.02228307e-04 1.82935570e+00] [-1.46292859e-03 9.99998803e-01 5.03999056e-04 -5.52187704e-01] [ 6.02965053e-04 -5.03117408e-04 9.99999692e-01 -5.92344120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86241403699998 meters Centerline goodness [0,1] 0.8405936935457382 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.55, Z:-0.59 [[ 9.99998974e-01 1.29110733e-03 -6.21271422e-04 1.82936861e+00] [-1.29102255e-03 9.99999157e-01 1.36840043e-04 -5.51351274e-01] [ 6.21447574e-04 -1.36037828e-04 9.99999798e-01 -5.92263264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89241403699998 meters Centerline goodness [0,1] 0.8384029246852471 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.55, Z:-0.59 [[ 9.99999540e-01 7.84252062e-04 -5.52523159e-04 1.82903334e+00] [-7.84601482e-04 9.99999492e-01 -6.32475316e-04 -5.49675747e-01] [ 5.52026858e-04 6.32908535e-04 9.99999647e-01 -5.91871823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92241403699998 meters Centerline goodness [0,1] 0.8381226250385129 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.55, Z:-0.59 [[ 9.99999684e-01 4.40613761e-04 -6.61510171e-04 1.82948930e+00] [-4.41287053e-04 9.99999384e-01 -1.01801011e-03 -5.48824886e-01] [ 6.61061214e-04 1.01830171e-03 9.99999263e-01 -5.92115044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95241403699998 meters Centerline goodness [0,1] 0.8372719606754283 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.55, Z:-0.59 [[ 9.99999715e-01 1.62329183e-04 -7.36856568e-04 1.82992977e+00] [-1.63310179e-04 9.99999100e-01 -1.33146038e-03 -5.48008183e-01] [ 7.36639770e-04 1.33158033e-03 9.99998842e-01 -5.92448875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98241403699998 meters Centerline goodness [0,1] 0.8393686546919314 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.55, Z:-0.59 [[ 9.99999389e-01 -4.93044846e-04 -9.89623865e-04 1.83140808e+00] [ 4.90888880e-04 9.99997508e-01 -2.17763338e-03 -5.46512232e-01] [ 9.90695070e-04 2.17714625e-03 9.99997139e-01 -5.93735070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01241403699999 meters Centerline goodness [0,1] 0.8381473287446739 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.55, Z:-0.59 [[ 9.99998867e-01 -9.31000486e-04 -1.18320227e-03 1.83232670e+00] [ 9.27709897e-04 9.99995709e-01 -2.77859977e-03 -5.45657738e-01] [ 1.18578407e-03 2.77749895e-03 9.99995440e-01 -5.94434265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.042414037 meters Centerline goodness [0,1] 0.837490783976407 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.54, Z:-0.59 [[ 9.99998627e-01 -1.05190430e-03 -1.28071536e-03 1.83288711e+00] [ 1.04791143e-03 9.99994601e-01 -3.11438199e-03 -5.44443758e-01] [ 1.28398447e-03 3.11303563e-03 9.99994330e-01 -5.94911005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.072414037 meters Centerline goodness [0,1] 0.8378755540962075 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.54, Z:-0.60 [[ 9.99998509e-01 -1.12789839e-03 -1.30778704e-03 1.83299489e+00] [ 1.12298169e-03 9.99992322e-01 -3.75421108e-03 -5.41237349e-01] [ 1.31201137e-03 3.75273686e-03 9.99992098e-01 -5.95005660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.102414037 meters Centerline goodness [0,1] 0.8366077275703995 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.54, Z:-0.59 [[ 9.99998385e-01 -1.15035336e-03 -1.38092986e-03 1.83308447e+00] [ 1.14491556e-03 9.99991614e-01 -3.93213555e-03 -5.40466799e-01] [ 1.38544162e-03 3.93054815e-03 9.99991316e-01 -5.94905673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.132414037 meters Centerline goodness [0,1] 0.8356192552075836 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.54, Z:-0.59 [[ 9.99998400e-01 -1.03106057e-03 -1.46148203e-03 1.83289248e+00] [ 1.02534089e-03 9.99991834e-01 -3.90898298e-03 -5.40061047e-01] [ 1.46550049e-03 3.90747821e-03 9.99991292e-01 -5.94412184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.162414037 meters Centerline goodness [0,1] 0.8380604967620296 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.54, Z:-0.60 [[ 9.99997334e-01 1.40409203e-03 -1.83326409e-03 1.83506206e+00] [-1.40663386e-03 9.99998050e-01 -1.38595303e-03 -5.40128461e-01] [ 1.83131451e-03 1.38852807e-03 9.99997359e-01 -5.96014239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.192414037 meters Centerline goodness [0,1] 0.8368193107411892 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.54, Z:-0.60 [[ 9.99996936e-01 1.46072262e-03 -1.99851478e-03 1.83580554e+00] [-1.46413018e-03 9.99997475e-01 -1.70464796e-03 -5.38803332e-01] [ 1.99601972e-03 1.70756882e-03 9.99996550e-01 -5.96651692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.222414037 meters Centerline goodness [0,1] 0.8367040736630081 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.54, Z:-0.60 [[ 9.99996097e-01 1.79173936e-03 -2.14397075e-03 1.83614304e+00] [-1.79563797e-03 9.99996736e-01 -1.81786458e-03 -5.37747392e-01] [ 2.14070661e-03 1.82170728e-03 9.99996049e-01 -5.96837403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.252414037 meters Centerline goodness [0,1] 0.8364197530864197 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.54, Z:-0.60 [[ 9.99993182e-01 2.90373915e-03 -2.28121127e-03 1.83587562e+00] [-2.90747808e-03 9.99994433e-01 -1.63740711e-03 -5.36544708e-01] [ 2.27644397e-03 1.64402852e-03 9.99996057e-01 -5.96432614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.282414037 meters Centerline goodness [0,1] 0.8385767022149303 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.54, Z:-0.60 [[ 9.99991723e-01 3.29789835e-03 -2.38301760e-03 1.83578952e+00] [-3.30142749e-03 9.99993457e-01 -1.47854205e-03 -5.36416540e-01] [ 2.37812593e-03 1.48639717e-03 9.99996068e-01 -5.96091913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.312414037 meters Centerline goodness [0,1] 0.8370452629197771 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.54, Z:-0.60 [[ 9.99990527e-01 3.69299692e-03 -2.30394115e-03 1.83527168e+00] [-3.69580266e-03 9.99992433e-01 -1.21473272e-03 -5.36506127e-01] [ 2.29943771e-03 1.22323613e-03 9.99996608e-01 -5.95627861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.342414037 meters Centerline goodness [0,1] 0.8362003567547618 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.54, Z:-0.60 [[ 9.99990171e-01 3.73107290e-03 -2.39513427e-03 1.83570045e+00] [-3.73420605e-03 9.99992176e-01 -1.30499359e-03 -5.36233995e-01] [ 2.39024650e-03 1.31392468e-03 9.99996280e-01 -5.96013386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.372414037 meters Centerline goodness [0,1] 0.8346201232032854 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.54, Z:-0.60 [[ 9.99989943e-01 3.84883308e-03 -2.30226044e-03 1.83578444e+00] [-3.85190379e-03 9.99991696e-01 -1.33083701e-03 -5.35370597e-01] [ 2.29711915e-03 1.33969171e-03 9.99996464e-01 -5.96402477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.402414037 meters Centerline goodness [0,1] 0.836201938876109 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.53, Z:-0.60 [[ 9.99990445e-01 3.65565535e-03 -2.39709897e-03 1.83614572e+00] [-3.65937241e-03 9.99992106e-01 -1.54810378e-03 -5.34895863e-01] [ 2.39142072e-03 1.55686086e-03 9.99995929e-01 -5.96625950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.432414037 meters Centerline goodness [0,1] 0.8349863446888026 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.54, Z:-0.60 [[ 9.99991125e-01 3.38571563e-03 -2.50737063e-03 1.83642131e+00] [-3.39003047e-03 9.99992777e-01 -1.71861717e-03 -5.35031440e-01] [ 2.50153378e-03 1.72710198e-03 9.99995380e-01 -5.96636190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.462414037 meters Centerline goodness [0,1] 0.8342606089223757 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.54, Z:-0.60 [[ 0.99999206 0.00299498 -0.00262686 1.83657634] [-0.00299984 0.99999379 -0.00184868 -0.5361899 ] [ 0.00262131 0.00185654 0.99999484 -0.59635377] [ 0. 0. 0. 1. ]] SLAMing on 158.49241403699997 meters Centerline goodness [0,1] 0.8332717418083272 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.54, Z:-0.60 [[ 9.99991618e-01 2.94872011e-03 -2.84052024e-03 1.83707114e+00] [-2.95389141e-03 9.99993985e-01 -1.81807254e-03 -5.36782901e-01] [ 2.83514216e-03 1.82644789e-03 9.99994313e-01 -5.96411221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52241403699998 meters Centerline goodness [0,1] 0.8355388687142242 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.54, Z:-0.60 [[ 0.99999129 0.00280867 -0.0030871 1.83792599] [-0.00281537 0.99999368 -0.00217049 -0.53651618] [ 0.00308098 0.00217917 0.99999288 -0.59695473] [ 0. 0. 0. 1. ]] SLAMing on 158.55241403699998 meters Centerline goodness [0,1] 0.8347345269173057 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.54, Z:-0.60 [[ 0.99999088 0.00293957 -0.00309923 1.83802216] [-0.00294678 0.99999296 -0.0023228 -0.5357317 ] [ 0.00309238 0.00233191 0.9999925 -0.59704761] [ 0. 0. 0. 1. ]] SLAMing on 158.58241403699998 meters Centerline goodness [0,1] 0.8347999097491436 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.53, Z:-0.60 [[ 0.99998798 0.00352034 -0.00341312 1.83864587] [-0.00352911 0.99999047 -0.00256876 -0.53366131] [ 0.00340404 0.00258078 0.99999088 -0.59739834] [ 0. 0. 0. 1. ]] SLAMing on 158.61241403699998 meters Centerline goodness [0,1] 0.8345897093560645 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.53, Z:-0.60 [[ 0.99998751 0.00369496 -0.00336514 1.83845021] [-0.00370352 0.99998991 -0.00254319 -0.53323349] [ 0.00335571 0.00255562 0.9999911 -0.59728985] [ 0. 0. 0. 1. ]] SLAMing on 158.64241403699998 meters Centerline goodness [0,1] 0.8324122203274916 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.53, Z:-0.60 [[ 0.99998756 0.00361279 -0.00343989 1.83839801] [-0.0036214 0.99999032 -0.00249957 -0.53356097] [ 0.00343083 0.002512 0.99999096 -0.59691944] [ 0. 0. 0. 1. ]] SLAMing on 158.67241403699998 meters Centerline goodness [0,1] 0.8339053412523891 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.54, Z:-0.60 [[ 0.9999889 0.00325149 -0.00341096 1.83799624] [-0.00325842 0.99999264 -0.00202716 -0.53610586] [ 0.00340434 0.00203825 0.99999213 -0.59610418] [ 0. 0. 0. 1. ]] SLAMing on 158.70241403699998 meters Centerline goodness [0,1] 0.8343985696376827 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.54, Z:-0.60 [[ 0.9999898 0.0028014 -0.00354419 1.83872074] [-0.00280797 0.99999435 -0.00184902 -0.53807875] [ 0.00353899 0.00185895 0.99999201 -0.59654169] [ 0. 0. 0. 1. ]] SLAMing on 158.73241403699998 meters Centerline goodness [0,1] 0.8345277943199787 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.54, Z:-0.60 [[ 9.99990888e-01 1.83710634e-03 -3.85345781e-03 1.84049325e+00] [-1.84518006e-03 9.99996108e-01 -2.09267938e-03 -5.40282864e-01] [ 3.84959833e-03 2.09977064e-03 9.99990386e-01 -5.97852086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76241403699999 meters Centerline goodness [0,1] 0.8353824013157894 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.54, Z:-0.60 [[ 9.99991303e-01 1.45781686e-03 -3.90743584e-03 1.84133565e+00] [-1.46466550e-03 9.99997395e-01 -1.75043162e-03 -5.42430123e-01] [ 3.90487386e-03 1.75613948e-03 9.99990834e-01 -5.98652745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.792414037 meters Centerline goodness [0,1] 0.8345719167507256 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.54, Z:-0.60 [[ 9.99991124e-01 2.51803732e-05 -4.21316896e-03 1.84416218e+00] [-3.45140850e-05 9.99997546e-01 -2.21530809e-03 -5.44428138e-01] [ 4.21310283e-03 2.21543384e-03 9.99988671e-01 -6.01360202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.822414037 meters Centerline goodness [0,1] 0.8356843230794538 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.54, Z:-0.60 [[ 9.99990990e-01 -5.18489933e-05 -4.24457263e-03 1.84447936e+00] [ 4.30703457e-05 9.99997860e-01 -2.06827058e-03 -5.44942690e-01] [ 4.24467079e-03 2.06806913e-03 9.99988853e-01 -6.01594155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.852414037 meters Centerline goodness [0,1] 0.8371557274204496 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.55, Z:-0.60 [[ 9.99991379e-01 2.13799369e-04 -4.14687999e-03 1.84386902e+00] [-2.20218341e-04 9.99998778e-01 -1.54750923e-03 -5.45799716e-01] [ 4.14654407e-03 1.54840911e-03 9.99990204e-01 -6.00906344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.882414037 meters Centerline goodness [0,1] 0.8352555917123203 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.55, Z:-0.60 [[ 9.99991470e-01 3.93325164e-04 -4.11159273e-03 1.84311563e+00] [-3.97806607e-04 9.99999328e-01 -1.08919222e-03 -5.46882405e-01] [ 4.11116156e-03 1.09081854e-03 9.99990954e-01 -5.99830753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.912414037 meters Centerline goodness [0,1] 0.835841144548594 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.55, Z:-0.60 [[ 9.99990905e-01 2.98977350e-04 -4.25444573e-03 1.84281549e+00] [-3.02233746e-04 9.99999662e-01 -7.64787741e-04 -5.48870196e-01] [ 4.25421564e-03 7.66066622e-04 9.99990657e-01 -5.98824102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.942414037 meters Centerline goodness [0,1] 0.8335667792700008 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.55, Z:-0.60 [[ 9.99990414e-01 5.29075333e-04 -4.34650156e-03 1.84287767e+00] [-5.31283120e-04 9.99999730e-01 -5.06806724e-04 -5.49503595e-01] [ 4.34623225e-03 5.09111088e-04 9.99990425e-01 -5.98686138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.972414037 meters Centerline goodness [0,1] 0.8357460226458363 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.55, Z:-0.60 [[ 9.99989405e-01 5.50640991e-04 -4.57024303e-03 1.84361289e+00] [-5.53645151e-04 9.99999632e-01 -6.56091268e-04 -5.49455701e-01] [ 4.56988007e-03 6.58614609e-04 9.99989341e-01 -5.99166925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.002414037 meters Centerline goodness [0,1] 0.8342173150345682 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.55, Z:-0.60 [[ 9.99989818e-01 1.68518203e-03 -4.18612360e-03 1.84166109e+00] [-1.68470021e-03 9.99998574e-01 1.18622746e-04 -5.48077174e-01] [ 4.18631753e-03 -1.11569175e-04 9.99991231e-01 -5.97714018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.032414037 meters Centerline goodness [0,1] 0.8343376591325093 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.55, Z:-0.60 [[ 9.99989590e-01 1.57513272e-03 -4.28231781e-03 1.84183181e+00] [-1.57631000e-03 9.99998721e-01 -2.71555916e-04 -5.46716587e-01] [ 4.28188459e-03 2.78303350e-04 9.99990794e-01 -5.97752715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.062414037 meters Centerline goodness [0,1] 0.8349233109914059 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.55, Z:-0.60 [[ 9.99989216e-01 1.49918254e-03 -4.39538332e-03 1.84190805e+00] [-1.50122548e-03 9.99998767e-01 -4.61529419e-04 -5.46187762e-01] [ 4.39468599e-03 4.68122904e-04 9.99990234e-01 -5.97520897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.092414037 meters Centerline goodness [0,1] 0.8348222575254286 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.55, Z:-0.60 [[ 9.99988393e-01 1.60316050e-03 -4.54345979e-03 1.84184073e+00] [-1.60472001e-03 9.99998655e-01 -3.39617607e-04 -5.46425811e-01] [ 4.54290922e-03 3.46904646e-04 9.99989621e-01 -5.97030381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.122414037 meters Centerline goodness [0,1] 0.8339569883630084 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.55, Z:-0.60 [[ 9.99986785e-01 6.36881430e-04 -5.10143725e-03 1.84404078e+00] [-6.43890287e-04 9.99998851e-01 -1.37237391e-03 -5.46247220e-01] [ 5.10055735e-03 1.37564054e-03 9.99986046e-01 -5.98367534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.152414037 meters Centerline goodness [0,1] 0.8340561093412804 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.55, Z:-0.60 [[ 9.99985487e-01 4.19127858e-04 -5.37128217e-03 1.84524180e+00] [-4.27816460e-04 9.99998602e-01 -1.61655600e-03 -5.45863661e-01] [ 5.37059711e-03 1.61883046e-03 9.99984268e-01 -5.99311314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.182414037 meters Centerline goodness [0,1] 0.8343147751605996 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.55, Z:-0.60 [[ 9.99984707e-01 2.54793659e-04 -5.52449274e-03 1.84638361e+00] [-2.64681642e-04 9.99998364e-01 -1.78918713e-03 -5.45768455e-01] [ 5.52402783e-03 1.79062200e-03 9.99983139e-01 -6.00466508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.212414037 meters Centerline goodness [0,1] 0.8338708683415846 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.55, Z:-0.60 [[ 9.99983092e-01 -2.46882103e-04 -5.80988266e-03 1.84813993e+00] [ 2.33299597e-04 9.99997239e-01 -2.33838944e-03 -5.45534889e-01] [ 5.81044392e-03 2.33699446e-03 9.99980388e-01 -6.02010151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24241403699997 meters Centerline goodness [0,1] 0.8338708683415846 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.55, Z:-0.60 [[ 9.99983092e-01 -2.46882103e-04 -5.80988266e-03 1.84813993e+00] [ 2.33299597e-04 9.99997239e-01 -2.33838944e-03 -5.45534889e-01] [ 5.81044392e-03 2.33699446e-03 9.99980388e-01 -6.02010151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27241403699998 meters Centerline goodness [0,1] 0.8339396181433298 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.54, Z:-0.60 [[ 9.99984335e-01 -2.74586962e-04 -5.59055062e-03 1.84755191e+00] [ 2.59522892e-04 9.99996335e-01 -2.69510629e-03 -5.43860441e-01] [ 5.59127017e-03 2.69361319e-03 9.99980741e-01 -6.01743180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30241403699998 meters Centerline goodness [0,1] 0.8331654572738298 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.54, Z:-0.60 [[ 9.99984536e-01 3.86749883e-05 -5.56107038e-03 1.84705291e+00] [-5.36702948e-05 9.99996363e-01 -2.69635452e-03 -5.42702849e-01] [ 5.56094587e-03 2.69661129e-03 9.99980902e-01 -6.01179573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33241403699998 meters Centerline goodness [0,1] 0.8330189452964816 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.54, Z:-0.60 [[ 9.99977218e-01 2.98508642e-03 -6.05421127e-03 1.84885845e+00] [-2.98456522e-03 9.99995542e-01 9.51229888e-05 -5.42590532e-01] [ 6.05446823e-03 -7.70516333e-05 9.99981669e-01 -6.02077569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36241403699998 meters Centerline goodness [0,1] 0.8312611742463163 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.54, Z:-0.60 [[ 9.99975519e-01 3.27082203e-03 -6.18564974e-03 1.84906788e+00] [-3.27089458e-03 9.99994651e-01 -1.61148073e-06 -5.42070789e-01] [ 6.18561138e-03 2.18440495e-05 9.99980869e-01 -6.02123466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39241403699998 meters Centerline goodness [0,1] 0.8319111750796752 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.54, Z:-0.60 [[ 9.99973820e-01 3.55074665e-03 -6.30495204e-03 1.84909746e+00] [-3.55134395e-03 9.99993690e-01 -8.35416425e-05 -5.41542973e-01] [ 6.30461562e-03 1.05930509e-04 9.99980120e-01 -6.01935337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42241403699998 meters Centerline goodness [0,1] 0.8300094382206902 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.54, Z:-0.60 [[ 9.99971727e-01 3.84979859e-03 -6.45942010e-03 1.84922950e+00] [-3.85145854e-03 9.99992553e-01 -2.44560831e-04 -5.40602518e-01] [ 6.45843049e-03 2.69432106e-04 9.99979108e-01 -6.01856862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45241403699998 meters Centerline goodness [0,1] 0.8305544147843943 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.54, Z:-0.60 [[ 9.99967623e-01 4.60645845e-03 -6.59797007e-03 1.84872116e+00] [-4.60675783e-03 9.99989388e-01 -3.01765721e-05 -5.39702945e-01] [ 6.59776105e-03 6.05708453e-05 9.99978233e-01 -6.01027650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48241403699998 meters Centerline goodness [0,1] 0.8277163545363172 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.54, Z:-0.60 [[ 9.99966160e-01 4.71735963e-03 -6.73987849e-03 1.84920596e+00] [-4.71637049e-03 9.99988865e-01 1.62645982e-04 -5.40498697e-01] [ 6.74057070e-03 -1.30852714e-04 9.99977274e-01 -6.01319462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51241403699999 meters Centerline goodness [0,1] 0.8287641739629683 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.54, Z:-0.60 [[ 9.99964428e-01 4.56819253e-03 -7.09047023e-03 1.85043625e+00] [-4.56422103e-03 9.99989418e-01 5.76198441e-04 -5.44043339e-01] [ 7.09302738e-03 -5.43815471e-04 9.99974696e-01 -6.01981381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.542414037 meters Centerline goodness [0,1] 0.8278424369316666 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.55, Z:-0.60 [[ 9.99963530e-01 4.76058951e-03 -7.09049643e-03 1.85012629e+00] [-4.75261147e-03 9.99988055e-01 1.14159870e-03 -5.45753394e-01] [ 7.09584641e-03 -1.10785869e-03 9.99974210e-01 -6.01525463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.572414037 meters Centerline goodness [0,1] 0.8282732837599113 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.55, Z:-0.60 [[ 9.99961973e-01 4.96065558e-03 -7.17250149e-03 1.84985767e+00] [-4.94835838e-03 9.99986258e-01 1.73122315e-03 -5.47468424e-01] [ 7.18099093e-03 -1.69566521e-03 9.99972779e-01 -6.00881546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.602414037 meters Centerline goodness [0,1] 0.8300219392671875 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.55, Z:-0.60 [[ 0.99996076 0.00505259 -0.00727634 1.84963863] [-0.00503682 0.99998493 0.00218363 -0.54902928] [ 0.00728726 -0.0021469 0.99997114 -0.60021572] [ 0. 0. 0. 1. ]] SLAMing on 159.632414037 meters Centerline goodness [0,1] 0.8295219572115877 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.55, Z:-0.60 [[ 0.99995539 0.00552822 -0.00765865 1.85001886] [-0.00550363 0.99997964 0.00322797 -0.5525182 ] [ 0.00767634 -0.00318567 0.99996546 -0.59969365] [ 0. 0. 0. 1. ]] SLAMing on 159.662414037 meters Centerline goodness [0,1] 0.8287114903392542 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.55, Z:-0.60 [[ 0.99995461 0.00516027 -0.00800984 1.85193513] [-0.00513757 0.99998274 0.00285089 -0.55321315] [ 0.00802441 -0.00280961 0.99996386 -0.60134713] [ 0. 0. 0. 1. ]] SLAMing on 159.692414037 meters Centerline goodness [0,1] 0.8297379796365723 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.55, Z:-0.60 [[ 0.99995256 0.0048294 -0.00845862 1.85417522] [-0.00480888 0.99998545 0.00244486 -0.55368097] [ 0.00847031 -0.00240406 0.99996124 -0.60317731] [ 0. 0. 0. 1. ]] SLAMing on 159.722414037 meters Centerline goodness [0,1] 0.8295054450176043 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.55, Z:-0.60 [[ 0.99994923 0.00507071 -0.00870725 1.85513388] [-0.0050478 0.99998374 0.00265151 -0.55472347] [ 0.00872055 -0.00260742 0.99995858 -0.60388957] [ 0. 0. 0. 1. ]] SLAMing on 159.752414037 meters Centerline goodness [0,1] 0.8319899658675001 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.56, Z:-0.60 [[ 0.99993924 0.00689601 -0.00860032 1.85322306] [-0.00685697 0.9999661 0.00455955 -0.55836518] [ 0.00863147 -0.0045003 0.99995262 -0.60178213] [ 0. 0. 0. 1. ]] SLAMing on 159.782414037 meters Centerline goodness [0,1] 0.8311847759361571 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.56, Z:-0.60 [[ 0.99993393 0.00753302 -0.00868277 1.85289157] [-0.00748836 0.99995862 0.00516537 -0.55956602] [ 0.00872132 -0.00510001 0.99994896 -0.60118225] [ 0. 0. 0. 1. ]] SLAMing on 159.812414037 meters Centerline goodness [0,1] 0.8297244699375192 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.56, Z:-0.60 [[ 0.99992747 0.00826488 -0.00876013 1.85256797] [-0.00821337 0.99994886 0.00590059 -0.56089867] [ 0.00880845 -0.00582821 0.99994422 -0.60064408] [ 0. 0. 0. 1. ]] SLAMing on 159.842414037 meters Centerline goodness [0,1] 0.8334254652662613 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.56, Z:-0.60 [[ 0.99992174 0.00883349 -0.00885856 1.85288788] [-0.00877643 0.99994063 0.00645882 -0.56218515] [ 0.00891508 -0.00638057 0.9999399 -0.60089025] [ 0. 0. 0. 1. ]] SLAMing on 159.872414037 meters Centerline goodness [0,1] 0.8346456692913385 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.57, Z:-0.60 [[ 0.99990398 0.01059309 -0.00893358 1.85309273] [-0.01051955 0.99991072 0.00823916 -0.56596492] [ 0.00902006 -0.00814439 0.99992615 -0.60118513] [ 0. 0. 0. 1. ]] SLAMing on 159.902414037 meters Centerline goodness [0,1] 0.8361193723720644 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.57, Z:-0.60 [[ 0.99989579 0.0112855 -0.009003 1.8528476 ] [-0.0112034 0.99989566 0.00911865 -0.56814015] [ 0.00910497 -0.00901683 0.99991789 -0.6007175 ] [ 0. 0. 0. 1. ]] SLAMing on 159.932414037 meters Centerline goodness [0,1] 0.8333503941037977 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.57, Z:-0.60 [[ 0.99988789 0.01191428 -0.00906942 1.85244248] [-0.01182379 0.99988042 0.00996665 -0.57012474] [ 0.00918708 -0.0098583 0.9999092 -0.60001773] [ 0. 0. 0. 1. ]] SLAMing on 159.962414037 meters Centerline goodness [0,1] 0.8332822179966877 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.57, Z:-0.60 [[ 0.99990423 0.01036836 -0.00916658 1.85097768] [-0.01029399 0.99991401 0.00812413 -0.57128673] [ 0.00925003 -0.00802899 0.99992498 -0.59840415] [ 0. 0. 0. 1. ]] SLAMing on 159.99241403699997 meters Centerline goodness [0,1] 0.8370293015541495 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.58, Z:-0.60 [[ 0.99992517 0.00808408 -0.00918186 1.84981598] [-0.00802509 0.99994704 0.00644397 -0.57689887] [ 0.00923347 -0.0063698 0.99993708 -0.59699828] [ 0. 0. 0. 1. ]] SLAMing on 160.02241403699998 meters Centerline goodness [0,1] 0.8368435083977606 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.58, Z:-0.60 [[ 0.99994568 0.00491704 -0.00919021 1.84967262] [-0.00488546 0.9999821 0.00345534 -0.57922907] [ 0.00920704 -0.00341025 0.9999518 -0.59699884] [ 0. 0. 0. 1. ]] SLAMing on 160.05241403699998 meters Centerline goodness [0,1] 0.8353211197180213 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.58, Z:-0.60 [[ 9.99956004e-01 2.04007577e-03 -9.15581841e-03 1.85035631e+00] [-2.03144671e-03 9.99997484e-01 9.51667808e-04 -5.81805102e-01] [ 9.15773685e-03 -9.33026380e-04 9.99957632e-01 -5.97922874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08241403699998 meters Centerline goodness [0,1] 0.8361851677288469 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.59, Z:-0.60 [[ 9.99955557e-01 1.45689724e-03 -9.31455443e-03 1.85152601e+00] [-1.44401825e-03 9.99997992e-01 1.38924884e-03 -5.85451839e-01] [ 9.31655973e-03 -1.37573671e-03 9.99955654e-01 -5.98721030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11241403699998 meters Centerline goodness [0,1] 0.8335723945739929 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.59, Z:-0.60 [[ 9.99955250e-01 -2.19712381e-03 -9.20162986e-03 1.85181435e+00] [ 2.19286235e-03 9.99997484e-01 -4.73183361e-04 -5.92086285e-01] [ 9.20264635e-03 4.52984279e-04 9.99957552e-01 -5.98871701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14241403699998 meters Centerline goodness [0,1] 0.8361397902327106 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.60, Z:-0.60 [[ 9.99950110e-01 -3.30405182e-03 -9.42661307e-03 1.85318086e+00] [ 3.30014219e-03 9.99994462e-01 -4.30269058e-04 -5.96989551e-01] [ 9.42798250e-03 3.99138428e-04 9.99955476e-01 -5.99678574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17241403699998 meters Centerline goodness [0,1] 0.83603533438544 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.60, Z:-0.60 [[ 0.99993228 -0.00679517 -0.00944768 1.85325969] [ 0.00676636 0.99997237 -0.00307773 -0.6010497 ] [ 0.00946834 0.00301359 0.99995063 -0.59957166] [ 0. 0. 0. 1. ]] SLAMing on 160.20241403699998 meters Centerline goodness [0,1] 0.8350736278447122 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.61, Z:-0.60 [[ 0.99985461 -0.01429214 -0.0093004 1.85315557] [ 0.01421017 0.99986012 -0.00882084 -0.60788335] [ 0.00942517 0.0086874 0.99991784 -0.59919756] [ 0. 0. 0. 1. ]] SLAMing on 160.23241403699998 meters Centerline goodness [0,1] 0.8371931260229133 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.61, Z:-0.60 [[ 0.99983369 -0.0156047 -0.00943879 1.8548611 ] [ 0.01552156 0.99984065 -0.00881793 -0.61170591] [ 0.00957489 0.00866996 0.99991657 -0.60042737] [ 0. 0. 0. 1. ]] SLAMing on 160.26241403699999 meters Centerline goodness [0,1] 0.8396760802437577 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.62, Z:-0.60 [[ 0.99982473 -0.0161618 -0.00944994 1.85540918] [ 0.01608593 0.9998382 -0.00805059 -0.61528145] [ 0.00957852 0.00789717 0.99992294 -0.60052549] [ 0. 0. 0. 1. ]] SLAMing on 160.292414037 meters Centerline goodness [0,1] 0.8377725952293278 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.62, Z:-0.60 [[ 0.99982015 -0.01641834 -0.00949223 1.85559214] [ 0.0163521 0.99984169 -0.00701448 -0.61917474] [ 0.0096059 0.006858 0.99993034 -0.60011318] [ 0. 0. 0. 1. ]] SLAMing on 160.322414037 meters Centerline goodness [0,1] 0.8406738671530752 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.62, Z:-0.60 [[ 0.99976801 -0.01931378 -0.00953443 1.85439338] [ 0.01923268 0.99977868 -0.00852623 -0.62496777] [ 0.00969699 0.00834087 0.9999182 -0.59786169] [ 0. 0. 0. 1. ]] SLAMing on 160.352414037 meters Centerline goodness [0,1] 0.8424331181287514 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.63, Z:-0.60 [[ 0.99977607 -0.01882965 -0.00965635 1.85409668] [ 0.01875969 0.99979748 -0.00728484 -0.62836383] [ 0.00979157 0.00710206 0.99992684 -0.59693029] [ 0. 0. 0. 1. ]] SLAMing on 160.382414037 meters Centerline goodness [0,1] 0.8455326638368361 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.63, Z:-0.60 [[ 0.99977918 -0.01851729 -0.00993479 1.85488324] [ 0.01845309 0.9998085 -0.0065153 -0.63074864] [ 0.01005354 0.00633054 0.99992942 -0.59717848] [ 0. 0. 0. 1. ]] SLAMing on 160.412414037 meters Centerline goodness [0,1] 0.8469808389435526 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.63, Z:-0.60 [[ 0.99982235 -0.0156772 -0.01046407 1.85824124] [ 0.01564786 0.99987342 -0.00288069 -0.63332914] [ 0.01050791 0.00271643 0.9999411 -0.60002527] [ 0. 0. 0. 1. ]] SLAMing on 160.442414037 meters Centerline goodness [0,1] 0.8485665125728146 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.63, Z:-0.60 [[ 9.99863111e-01 -1.26628136e-02 -1.06495688e-02 1.86001262e+00] [ 1.26705825e-02 9.99919506e-01 6.62350732e-04 -6.34342125e-01] [ 1.06403243e-02 -7.97196303e-04 9.99943072e-01 -6.01620350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.472414037 meters Centerline goodness [0,1] 0.8493930983056465 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.64, Z:-0.60 [[ 0.9998994 -0.0094262 -0.01059859 1.86065504] [ 0.00947398 0.99994515 0.00446646 -0.63539385] [ 0.01055591 -0.00456642 0.99993386 -0.60226295] [ 0. 0. 0. 1. ]] SLAMing on 160.502414037 meters Centerline goodness [0,1] 0.8462364037893955 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.64, Z:-0.60 [[ 0.99989687 -0.00999699 -0.01031039 1.86043686] [ 0.01004032 0.99994094 0.00415958 -0.635663 ] [ 0.0102682 -0.00426267 0.99993819 -0.60236155] [ 0. 0. 0. 1. ]] SLAMing on 160.532414037 meters Centerline goodness [0,1] 0.8469646651127292 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.64, Z:-0.60 [[ 0.99989453 -0.0103142 -0.01022516 1.85981313] [ 0.0103598 0.99993658 0.00441629 -0.63752648] [ 0.01017896 -0.00452175 0.99993797 -0.60132801] [ 0. 0. 0. 1. ]] SLAMing on 160.562414037 meters Centerline goodness [0,1] 0.8466804550155119 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.64, Z:-0.60 [[ 0.99989068 -0.01075697 -0.01014485 1.85926279] [ 0.01080533 0.99993046 0.00472467 -0.63960488] [ 0.01009332 -0.00483377 0.99993738 -0.6002849 ] [ 0. 0. 0. 1. ]] SLAMing on 160.592414037 meters Centerline goodness [0,1] 0.8502730206006454 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.64, Z:-0.60 [[ 0.99988389 -0.01150002 -0.0099978 1.85924676] [ 0.01154756 0.99992223 0.00471066 -0.64116466] [ 0.00994285 -0.00482557 0.99993892 -0.60010876] [ 0. 0. 0. 1. ]] SLAMing on 160.622414037 meters Centerline goodness [0,1] 0.8507100653052763 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.64, Z:-0.60 [[ 0.99987662 -0.01211092 -0.01000342 1.85975386] [ 0.01215815 0.99991516 0.00467446 -0.64191043] [ 0.00994596 -0.00479551 0.99993904 -0.60044369] [ 0. 0. 0. 1. ]] SLAMing on 160.652414037 meters Centerline goodness [0,1] 0.8499616349723149 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.64, Z:-0.60 [[ 0.99985234 -0.01402817 -0.00992466 1.86194264] [ 0.01406315 0.99989511 0.00346412 -0.64061805] [ 0.00987502 -0.00360318 0.99994475 -0.60296422] [ 0. 0. 0. 1. ]] SLAMing on 160.682414037 meters Centerline goodness [0,1] 0.8498014724129374 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.64, Z:-0.60 [[ 0.99984251 -0.01471377 -0.00992276 1.86273658] [ 0.01474411 0.99988682 0.00299154 -0.6398428 ] [ 0.00987762 -0.00313737 0.99994629 -0.60384187] [ 0. 0. 0. 1. ]] SLAMing on 160.712414037 meters Centerline goodness [0,1] 0.8491504779206838 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.64, Z:-0.60 [[ 0.99983836 -0.01505633 -0.00982697 1.86245766] [ 0.01508601 0.99988184 0.00295395 -0.63978487] [ 0.00978133 -0.00310172 0.99994735 -0.60346216] [ 0. 0. 0. 1. ]] SLAMing on 160.74241403699997 meters Centerline goodness [0,1] 0.8470619746167793 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.64, Z:-0.60 [[ 0.99982595 -0.01608725 -0.00944781 1.86136381] [ 0.01611313 0.99986661 0.00267021 -0.64028189] [ 0.00940359 -0.00282198 0.9999518 -0.60200497] [ 0. 0. 0. 1. ]] SLAMing on 160.77241403699998 meters Centerline goodness [0,1] 0.8449843647136274 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.64, Z:-0.60 [[ 0.99981782 -0.01649754 -0.00959987 1.86187676] [ 0.01652071 0.99986079 0.00233907 -0.64002666] [ 0.00955995 -0.00249724 0.99995118 -0.60217681] [ 0. 0. 0. 1. ]] SLAMing on 160.80241403699998 meters Centerline goodness [0,1] 0.8432550294153948 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.64, Z:-0.60 [[ 0.99984174 -0.01485922 -0.00978303 1.86428259] [ 0.01490321 0.99987909 0.00443873 -0.63981332] [ 0.00971589 -0.00458382 0.99994229 -0.60433116] [ 0. 0. 0. 1. ]] SLAMing on 160.83241403699998 meters Centerline goodness [0,1] 0.8405326538161193 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.63, Z:-0.61 [[ 0.99985632 -0.01358554 -0.01013749 1.86861811] [ 0.01363744 0.99989416 0.00506801 -0.63446339] [ 0.01006757 -0.00520553 0.99993577 -0.60919942] [ 0. 0. 0. 1. ]] SLAMing on 160.86241403699998 meters Centerline goodness [0,1] 0.8416978879328091 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.63, Z:-0.61 [[ 0.99985227 -0.01396182 -0.01002488 1.86921526] [ 0.01400042 0.9998948 0.003791 -0.62999471] [ 0.00997089 -0.00393079 0.99994256 -0.61050875] [ 0. 0. 0. 1. ]] SLAMing on 160.89241403699998 meters Centerline goodness [0,1] 0.8345705414241944 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.63, Z:-0.61 [[ 0.99991886 -0.00897122 -0.00904431 1.87719939] [ 0.00893686 0.99995272 -0.00383164 -0.62652347] [ 0.00907826 0.0037505 0.99995176 -0.61142691] [ 0. 0. 0. 1. ]] SLAMing on 160.92241403699998 meters Centerline goodness [0,1] 0.8395959098188986 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.62, Z:-0.61 [[ 9.99940589e-01 -5.85114510e-03 -9.19689089e-03 1.87793279e+00] [ 5.84201744e-03 9.99982416e-01 -1.01902381e-03 -6.24624400e-01] [ 9.20269163e-03 9.65234873e-04 9.99957188e-01 -6.11879001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95241403699998 meters Centerline goodness [0,1] 0.8449591673009278 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.62, Z:-0.61 [[ 9.99958355e-01 -2.17612884e-03 -8.86297029e-03 1.87618524e+00] [ 2.18735711e-03 9.99996817e-01 1.25737786e-03 -6.19252903e-01] [ 8.86020587e-03 -1.27671198e-03 9.99959933e-01 -6.10570609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98241403699998 meters Centerline goodness [0,1] 0.8462328064052556 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.62, Z:-0.61 [[ 9.99960081e-01 1.38364777e-03 -8.82729244e-03 1.87597386e+00] [-1.34683404e-03 9.99990378e-01 4.17502609e-03 -6.16192941e-01] [ 8.83298426e-03 -4.16297053e-03 9.99952323e-01 -6.10295419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01241403699999 meters Centerline goodness [0,1] 0.8485631653436712 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.61, Z:-0.61 [[ 0.99994812 0.00510487 -0.00881431 1.87570786] [-0.00504384 0.99996325 0.00693173 -0.61175263] [ 0.00884937 -0.00688691 0.99993713 -0.60998543] [ 0. 0. 0. 1. ]] SLAMing on 161.042414037 meters Centerline goodness [0,1] 0.8492290703856693 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.60, Z:-0.61 [[ 0.99985865 0.01641241 -0.00364794 1.88269833] [-0.01639811 0.99985787 0.00391709 -0.6010515 ] [ 0.00371171 -0.00385671 0.99998567 -0.61326366] [ 0. 0. 0. 1. ]] SLAMing on 161.072414037 meters Centerline goodness [0,1] 0.846904138720759 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.60, Z:-0.61 [[ 0.99979473 0.0198977 -0.00381869 1.88344247] [-0.0198726 0.99978138 0.00650177 -0.5969828 ] [ 0.00394722 -0.00642455 0.99997157 -0.61372123] [ 0. 0. 0. 1. ]] SLAMing on 161.102414037 meters Centerline goodness [0,1] 0.8466461538461538 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.59, Z:-0.61 [[ 0.99979396 0.01988075 -0.00409892 1.88426239] [-0.01985907 0.99978894 0.00526252 -0.59275613] [ 0.00420268 -0.00518004 0.99997775 -0.61443918] [ 0. 0. 0. 1. ]] SLAMing on 161.132414037 meters Centerline goodness [0,1] 0.8466461538461538 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.59, Z:-0.61 [[ 0.99979396 0.01988075 -0.00409892 1.88426239] [-0.01985907 0.99978894 0.00526252 -0.59275613] [ 0.00420268 -0.00518004 0.99997775 -0.61443918] [ 0. 0. 0. 1. ]] SLAMing on 161.162414037 meters Centerline goodness [0,1] 0.8456575784347969 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.59, Z:-0.62 [[ 0.99979997 0.01952584 -0.00433118 1.88509686] [-0.01950802 0.99980122 0.00411809 -0.5899598 ] [ 0.00441073 -0.00403277 0.99998214 -0.61514759] [ 0. 0. 0. 1. ]] SLAMing on 161.192414037 meters Centerline goodness [0,1] 0.8442865357758975 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.58, Z:-0.62 [[ 9.99865180e-01 1.57300161e-02 -4.71042990e-03 1.88583090e+00] [-1.57359046e-02 9.99875444e-01 -1.21565944e-03 -5.84840610e-01] [ 4.69072085e-03 1.28961842e-03 9.99988167e-01 -6.15880184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.222414037 meters Centerline goodness [0,1] 0.8431750985545335 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.58, Z:-0.62 [[ 0.99987669 0.0149294 -0.00487082 1.88662581] [-0.01494057 0.99988582 -0.00226504 -0.58279119] [ 0.00483645 0.00233754 0.99998557 -0.61649574] [ 0. 0. 0. 1. ]] SLAMing on 161.252414037 meters Centerline goodness [0,1] 0.8425978909507071 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.58, Z:-0.62 [[ 0.99988823 0.0141126 -0.00493524 1.88747077] [-0.01412916 0.99989461 -0.00333648 -0.58050447] [ 0.00488763 0.00340584 0.99998226 -0.61740269] [ 0. 0. 0. 1. ]] SLAMing on 161.282414037 meters Centerline goodness [0,1] 0.844010971016866 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.58, Z:-0.62 [[ 0.99991056 0.01247547 -0.00482035 1.88834311] [-0.01250043 0.99990842 -0.00518494 -0.57631535] [ 0.00475522 0.00524473 0.99997494 -0.61858534] [ 0. 0. 0. 1. ]] SLAMing on 161.312414037 meters Centerline goodness [0,1] 0.8416159221872573 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.58, Z:-0.62 [[ 0.99991675 0.01188332 -0.00502759 1.88904202] [-0.01191295 0.9999116 -0.00590624 -0.57500995] [ 0.00495696 0.00596564 0.99996992 -0.61894331] [ 0. 0. 0. 1. ]] SLAMing on 161.342414037 meters Centerline goodness [0,1] 0.8418849664128061 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.57, Z:-0.62 [[ 0.99992032 0.01152032 -0.00516173 1.8893431 ] [-0.0115534 0.99991262 -0.00642472 -0.57411053] [ 0.00508726 0.00648384 0.99996604 -0.61895427] [ 0. 0. 0. 1. ]] SLAMing on 161.372414037 meters Centerline goodness [0,1] 0.8404307491111203 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.57, Z:-0.62 [[ 0.9999229 0.0112686 -0.00521748 1.8893782 ] [-0.01130417 0.99991271 -0.00684023 -0.57336983] [ 0.00513994 0.00689868 0.99996299 -0.61878361] [ 0. 0. 0. 1. ]] SLAMing on 161.402414037 meters Centerline goodness [0,1] 0.841776941484466 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.57, Z:-0.62 [[ 0.99992443 0.01103431 -0.00542023 1.88946904] [-0.01107613 0.99990865 -0.00774639 -0.57048646] [ 0.00533426 0.00780584 0.99995531 -0.61834455] [ 0. 0. 0. 1. ]] SLAMing on 161.432414037 meters Centerline goodness [0,1] 0.8439756940892444 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.57, Z:-0.62 [[ 0.99992411 0.01089312 -0.00575454 1.89035877] [-0.01094176 0.99990411 -0.00848844 -0.56801108] [ 0.00566152 0.00855076 0.99994741 -0.61875033] [ 0. 0. 0. 1. ]] SLAMing on 161.462414037 meters Centerline goodness [0,1] 0.8410044409880687 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.57, Z:-0.62 [[ 0.99992212 0.01093114 -0.0060222 1.89128286] [-0.01098596 0.99989783 -0.00914571 -0.56510313] [ 0.00592161 0.00921116 0.99994004 -0.61938017] [ 0. 0. 0. 1. ]] SLAMing on 161.49241403699997 meters Centerline goodness [0,1] 0.8429221684573116 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.56, Z:-0.62 [[ 0.99992012 0.01098543 -0.00625145 1.89214875] [-0.01104576 0.99989196 -0.00969799 -0.56249022] [ 0.00614424 0.00976626 0.99993343 -0.62003233] [ 0. 0. 0. 1. ]] SLAMing on 161.52241403699998 meters Centerline goodness [0,1] 0.8442101808933918 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.56, Z:-0.62 [[ 0.99991333 0.01155533 -0.00630944 1.8940598 ] [-0.01161388 0.9998891 -0.00932277 -0.55971369] [ 0.00620102 0.00939524 0.99993664 -0.62191133] [ 0. 0. 0. 1. ]] SLAMing on 161.55241403699998 meters Centerline goodness [0,1] 0.8436154949784792 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.56, Z:-0.62 [[ 0.99991416 0.01131469 -0.00660653 1.89481571] [-0.01137854 0.99988814 -0.00970759 -0.55918989] [ 0.00649595 0.00978193 0.99993106 -0.62217907] [ 0. 0. 0. 1. ]] SLAMing on 161.58241403699998 meters Centerline goodness [0,1] 0.8424124513618677 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.56, Z:-0.62 [[ 0.99991506 0.01108413 -0.00685673 1.89524247] [-0.01115211 0.99988824 -0.00995651 -0.55906448] [ 0.0067456 0.01003213 0.99992692 -0.6220705 ] [ 0. 0. 0. 1. ]] SLAMing on 161.61241403699998 meters Centerline goodness [0,1] 0.8428184281842819 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.56, Z:-0.62 [[ 0.99991652 0.01095657 -0.00684948 1.89511289] [-0.01102556 0.99988803 -0.01011785 -0.55877474] [ 0.00673785 0.01019252 0.99992535 -0.62185021] [ 0. 0. 0. 1. ]] SLAMing on 161.64241403699998 meters Centerline goodness [0,1] 0.8434051821562866 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.56, Z:-0.62 [[ 0.99992208 0.01048791 -0.00677008 1.89557158] [-0.01056171 0.99988416 -0.01095942 -0.55559283] [ 0.00665435 0.01103006 0.99991703 -0.62254928] [ 0. 0. 0. 1. ]] SLAMing on 161.67241403699998 meters Centerline goodness [0,1] 0.8439393006016551 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.55, Z:-0.62 [[ 0.99990788 0.01168723 -0.00690151 1.89769299] [-0.01175212 0.9998864 -0.00943802 -0.55479369] [ 0.00679042 0.00951826 0.99993164 -0.62445036] [ 0. 0. 0. 1. ]] SLAMing on 161.70241403699998 meters Centerline goodness [0,1] 0.8415240198785201 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.55, Z:-0.63 [[ 0.99991202 0.01122906 -0.00706126 1.89851649] [-0.01129942 0.99988611 -0.01000405 -0.55347742] [ 0.00694812 0.01008295 0.99992503 -0.62505342] [ 0. 0. 0. 1. ]] SLAMing on 161.73241403699998 meters Centerline goodness [0,1] 0.8411987317172958 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.55, Z:-0.62 [[ 0.99991349 0.0109966 -0.0072169 1.89866559] [-0.01106918 0.99988778 -0.01009465 -0.55320905] [ 0.00710508 0.01017366 0.999923 -0.62478201] [ 0. 0. 0. 1. ]] SLAMing on 161.76241403699999 meters Centerline goodness [0,1] 0.8400556897751935 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.55, Z:-0.62 [[ 0.99992173 0.01017979 -0.00727307 1.89836765] [-0.01025456 0.99989418 -0.01031809 -0.55415223] [ 0.00716727 0.01039186 0.99992032 -0.62386945] [ 0. 0. 0. 1. ]] SLAMing on 161.792414037 meters Centerline goodness [0,1] 0.8424942168724028 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.55, Z:-0.62 [[ 0.99992256 0.01000271 -0.00740361 1.89860679] [-0.01007849 0.99989647 -0.01026996 -0.55459692] [ 0.00730011 0.01034378 0.99991985 -0.62376947] [ 0. 0. 0. 1. ]] SLAMing on 161.822414037 meters Centerline goodness [0,1] 0.8408364738653121 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.55, Z:-0.62 [[ 0.99992372 0.00988553 -0.00740417 1.898946 ] [-0.00996211 0.99989652 -0.01037853 -0.55411169] [ 0.00730081 0.0104515 0.99991873 -0.62412366] [ 0. 0. 0. 1. ]] SLAMing on 161.852414037 meters Centerline goodness [0,1] 0.8406120693186939 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.55, Z:-0.63 [[ 0.99989379 0.01257203 -0.00737232 1.90003052] [-0.01262993 0.99988934 -0.0078609 -0.55159212] [ 0.00727268 0.00795318 0.99994193 -0.62520796] [ 0. 0. 0. 1. ]] SLAMing on 161.882414037 meters Centerline goodness [0,1] 0.8397221087045361 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.55, Z:-0.63 [[ 0.9998909 0.01276317 -0.00743552 1.90016047] [-0.01282506 0.99988301 -0.00833603 -0.54895981] [ 0.00732826 0.00843048 0.99993761 -0.62529711] [ 0. 0. 0. 1. ]] SLAMing on 161.912414037 meters Centerline goodness [0,1] 0.8397593320235757 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.55, Z:-0.62 [[ 0.99988463 0.01325583 -0.00741725 1.89982491] [-0.01331912 0.99987474 -0.00855008 -0.54658805] [ 0.00730298 0.00864789 0.99993594 -0.62493994] [ 0. 0. 0. 1. ]] SLAMing on 161.942414037 meters Centerline goodness [0,1] 0.8414979093219644 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.54, Z:-0.62 [[ 0.99982667 0.01705386 -0.0074696 1.90002624] [-0.0170983 0.99983625 -0.00592644 -0.54230206] [ 0.00736731 0.00605313 0.99995454 -0.62494017] [ 0. 0. 0. 1. ]] SLAMing on 161.972414037 meters Centerline goodness [0,1] 0.8425522336136861 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.54, Z:-0.63 [[ 0.99982015 0.01726864 -0.00783976 1.90077723] [-0.01732192 0.99982698 -0.00677969 -0.53913288] [ 0.00772132 0.00691428 0.99994629 -0.62519035] [ 0. 0. 0. 1. ]] SLAMing on 162.002414037 meters Centerline goodness [0,1] 0.8418221756892694 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.54, Z:-0.63 [[ 0.99981518 0.01749133 -0.0079785 1.9010921 ] [-0.01755109 0.99981798 -0.00748161 -0.53653356] [ 0.00784619 0.00762026 0.99994018 -0.62535625] [ 0. 0. 0. 1. ]] SLAMing on 162.032414037 meters Centerline goodness [0,1] 0.842858317572568 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.53, Z:-0.63 [[ 0.99981232 0.01760367 -0.00808923 1.90154009] [-0.01767 0.99981022 -0.00820304 -0.53416328] [ 0.00794329 0.00834444 0.99993364 -0.62571862] [ 0. 0. 0. 1. ]] SLAMing on 162.062414037 meters Centerline goodness [0,1] 0.8430635184842694 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.53, Z:-0.63 [[ 0.99973996 0.02127367 -0.00821245 1.90241217] [-0.02131841 0.99975816 -0.00539948 -0.53131366] [ 0.00809559 0.00557316 0.9999517 -0.62637338] [ 0. 0. 0. 1. ]] SLAMing on 162.092414037 meters Centerline goodness [0,1] 0.8444426202593991 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.53, Z:-0.63 [[ 0.99973756 0.0213396 -0.0083323 1.90282817] [-0.02139056 0.99975273 -0.00607566 -0.52877164] [ 0.00820059 0.0062523 0.99994683 -0.62674626] [ 0. 0. 0. 1. ]] SLAMing on 162.122414037 meters Centerline goodness [0,1] 0.8415790770241419 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.53, Z:-0.63 [[ 0.99973781 0.02130293 -0.0083959 1.90303362] [-0.02135925 0.99974957 -0.00667613 -0.52639081] [ 0.00825157 0.00685371 0.99994247 -0.62685831] [ 0. 0. 0. 1. ]] SLAMing on 162.152414037 meters Centerline goodness [0,1] 0.844276595307978 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.52, Z:-0.63 [[ 0.99964967 0.02513112 -0.00830399 1.90245857] [-0.02515782 0.9996786 -0.00312666 -0.52457666] [ 0.00822275 0.00333447 0.99996063 -0.6259512 ] [ 0. 0. 0. 1. ]] SLAMing on 162.182414037 meters Centerline goodness [0,1] 0.8426379299748008 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.52, Z:-0.63 [[ 0.99965181 0.02502231 -0.00837545 1.90281987] [-0.02505364 0.99967942 -0.00365636 -0.52290495] [ 0.00828128 0.00386493 0.99995824 -0.62625932] [ 0. 0. 0. 1. ]] SLAMing on 162.212414037 meters Centerline goodness [0,1] 0.8434291791075299 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.52, Z:-0.63 [[ 0.99965498 0.02479168 -0.0086777 1.90373593] [-0.02482822 0.99968321 -0.00412828 -0.52195641] [ 0.0085726 0.00434231 0.99995383 -0.62672371] [ 0. 0. 0. 1. ]] SLAMing on 162.24241403699997 meters Centerline goodness [0,1] 0.8430158665081382 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.52, Z:-0.63 [[ 0.99968717 0.02327532 -0.00915558 1.90675998] [-0.02332745 0.99971204 -0.00562781 -0.52161686] [ 0.00902196 0.00583963 0.99994225 -0.62939097] [ 0. 0. 0. 1. ]] SLAMing on 162.27241403699998 meters Centerline goodness [0,1] 0.8428433566720736 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.52, Z:-0.63 [[ 0.99970037 0.0226535 -0.00927278 1.90754564] [-0.02271011 0.99972381 -0.00604553 -0.5218102 ] [ 0.00913327 0.0062543 0.99993873 -0.63005913] [ 0. 0. 0. 1. ]] SLAMing on 162.30241403699998 meters Centerline goodness [0,1] 0.844581028477771 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.52, Z:-0.63 [[ 0.99971311 0.02200644 -0.0094559 1.9081407 ] [-0.02206806 0.99973558 -0.00646277 -0.52170668] [ 0.00931117 0.00666959 0.99993441 -0.6302768 ] [ 0. 0. 0. 1. ]] SLAMing on 162.33241403699998 meters Centerline goodness [0,1] 0.8454060705496309 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.52, Z:-0.63 [[ 0.99972847 0.0212641 -0.0095298 1.90830489] [-0.02133035 0.99974864 -0.00690476 -0.52146685] [ 0.00938058 0.00710616 0.99993075 -0.63017095] [ 0. 0. 0. 1. ]] SLAMing on 162.36241403699998 meters Centerline goodness [0,1] 0.8437705052493438 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.52, Z:-0.63 [[ 0.99976554 0.01933288 -0.00975264 1.90971842] [-0.01941179 0.99977906 -0.00806253 -0.52235999] [ 0.00959461 0.00824996 0.99991994 -0.63108345] [ 0. 0. 0. 1. ]] SLAMing on 162.39241403699998 meters Centerline goodness [0,1] 0.8461932680086918 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.52, Z:-0.63 [[ 0.99977852 0.01843822 -0.01014656 1.91138318] [-0.01852553 0.99979158 -0.00857934 -0.52321546] [ 0.00998625 0.00876541 0.99991172 -0.63216917] [ 0. 0. 0. 1. ]] SLAMing on 162.42241403699998 meters Centerline goodness [0,1] 0.8441409058231488 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.52, Z:-0.63 [[ 0.99979471 0.01762763 -0.00999071 1.91217026] [-0.01771888 0.99980141 -0.00912076 -0.52334805] [ 0.00982795 0.00929592 0.99990849 -0.63334599] [ 0. 0. 0. 1. ]] SLAMing on 162.45241403699998 meters Centerline goodness [0,1] 0.8432300631095812 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.52, Z:-0.63 [[ 0.99979674 0.01746472 -0.01007329 1.9127955 ] [-0.01755991 0.99980125 -0.00943993 -0.52214667] [ 0.00990642 0.0096149 0.9999047 -0.63393882] [ 0. 0. 0. 1. ]] SLAMing on 162.48241403699998 meters Centerline goodness [0,1] 0.8412473277421477 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.52, Z:-0.63 [[ 0.99979428 0.01771754 -0.00987335 1.91229688] [-0.01781154 0.99979608 -0.00951524 -0.52057009] [ 0.00970275 0.00968914 0.99990598 -0.63372333] [ 0. 0. 0. 1. ]] SLAMing on 162.51241403699999 meters Centerline goodness [0,1] 0.8435148159540654 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.52, Z:-0.63 [[ 0.99978774 0.01804367 -0.00994537 1.91225743] [-0.01813897 0.99978961 -0.00957627 -0.51915702] [ 0.00977048 0.00975463 0.99990469 -0.63349217] [ 0. 0. 0. 1. ]] SLAMing on 162.542414037 meters Centerline goodness [0,1] 0.8432078694462165 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.52, Z:-0.63 [[ 0.99977098 0.01922012 -0.00941089 1.90964991] [-0.01930367 0.99977433 -0.00886924 -0.51753778] [ 0.00923829 0.00904887 0.99991638 -0.63138312] [ 0. 0. 0. 1. ]] SLAMing on 162.572414037 meters Centerline goodness [0,1] 0.8420186731378275 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.52, Z:-0.63 [[ 0.99976826 0.01929434 -0.00954724 1.90948048] [-0.01938035 0.99977168 -0.00899998 -0.51665122] [ 0.00937141 0.00918292 0.99991392 -0.63079139] [ 0. 0. 0. 1. ]] SLAMing on 162.602414037 meters Centerline goodness [0,1] 0.8425635667014977 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.52, Z:-0.63 [[ 0.99976906 0.01917277 -0.00970724 1.90961389] [-0.01926282 0.99977148 -0.0092694 -0.51581479] [ 0.0095273 0.00945425 0.99990992 -0.63054121] [ 0. 0. 0. 1. ]] SLAMing on 162.632414037 meters Centerline goodness [0,1] 0.8419243986254296 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.51, Z:-0.63 [[ 0.99977049 0.01907585 -0.00975076 1.90953334] [-0.01916829 0.99977136 -0.00947686 -0.51487319] [ 0.00956776 0.00966159 0.99990755 -0.63026167] [ 0. 0. 0. 1. ]] SLAMing on 162.662414037 meters Centerline goodness [0,1] 0.8405275285984692 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.51, Z:-0.63 [[ 0.99977737 0.01859323 -0.00997476 1.91112638] [-0.01869711 0.99977084 -0.01042484 -0.51202462] [ 0.00977864 0.01060901 0.99989591 -0.63175329] [ 0. 0. 0. 1. ]] SLAMing on 162.692414037 meters Centerline goodness [0,1] 0.840985695494903 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.51, Z:-0.63 [[ 0.99976158 0.01920383 -0.01039187 1.91416811] [-0.01930736 0.99976403 -0.00995536 -0.51166169] [ 0.01019824 0.01015363 0.99989644 -0.63439371] [ 0. 0. 0. 1. ]] SLAMing on 162.722414037 meters Centerline goodness [0,1] 0.8402988751128992 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.51, Z:-0.64 [[ 0.9997219 0.02082459 -0.01106641 1.91885319] [-0.02092388 0.99974115 -0.00893393 -0.51061027] [ 0.0108775 0.009163 0.99989885 -0.63871737] [ 0. 0. 0. 1. ]] SLAMing on 162.752414037 meters Centerline goodness [0,1] 0.8376043766196373 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.51, Z:-0.64 [[ 0.99971527 0.02110697 -0.01112958 1.9195586 ] [-0.02121005 0.99973246 -0.00922679 -0.50894634] [ 0.01093185 0.00946022 0.99989549 -0.63956625] [ 0. 0. 0. 1. ]] SLAMing on 162.782414037 meters Centerline goodness [0,1] 0.8389387452659312 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.51, Z:-0.64 [[ 0.99970472 0.02159204 -0.01114668 1.91964206] [-0.02169563 0.99972176 -0.00925708 -0.50752289] [ 0.01094369 0.00949618 0.99989502 -0.63966149] [ 0. 0. 0. 1. ]] SLAMing on 162.812414037 meters Centerline goodness [0,1] 0.8390981770351645 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.51, Z:-0.64 [[ 0.99964187 0.02444416 -0.01089083 1.91705954] [-0.02451717 0.99967748 -0.00662186 -0.50684059] [ 0.01072545 0.0068865 0.99991877 -0.63688814] [ 0. 0. 0. 1. ]] SLAMing on 162.842414037 meters Centerline goodness [0,1] 0.8389933480239719 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.51, Z:-0.64 [[ 0.99963642 0.02466771 -0.01088761 1.91605947] [-0.02473909 0.999673 -0.00647087 -0.50680484] [ 0.01072443 0.00673786 0.99991979 -0.63556281] [ 0. 0. 0. 1. ]] SLAMing on 162.872414037 meters Centerline goodness [0,1] 0.8384705664339984 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.51, Z:-0.63 [[ 0.99963312 0.02478909 -0.01091424 1.91539914] [-0.02485841 0.99967137 -0.00626193 -0.50717169] [ 0.01075542 0.00653094 0.99992083 -0.63459052] [ 0. 0. 0. 1. ]] SLAMing on 162.902414037 meters Centerline goodness [0,1] 0.8389349987673597 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.51, Z:-0.63 [[ 0.99962901 0.02487883 -0.01108502 1.91528667] [-0.02494615 0.99967093 -0.00597645 -0.5080145 ] [ 0.01093269 0.00625076 0.9999207 -0.63399725] [ 0. 0. 0. 1. ]] SLAMing on 162.932414037 meters Centerline goodness [0,1] 0.841204809355184 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.51, Z:-0.63 [[ 0.99962325 0.02504392 -0.01123244 1.91536749] [-0.02510581 0.9996702 -0.00540338 -0.51006496] [ 0.01109342 0.00568335 0.99992231 -0.63372064] [ 0. 0. 0. 1. ]] SLAMing on 162.962414037 meters Centerline goodness [0,1] 0.8370771534658543 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.51, Z:-0.63 [[ 0.99962304 0.02497157 -0.01141078 1.9163037 ] [-0.02503462 0.99967191 -0.00541647 -0.51045306] [ 0.01127178 0.0057001 0.99992022 -0.63453182] [ 0. 0. 0. 1. ]] SLAMing on 162.99241403699997 meters Centerline goodness [0,1] 0.8401607253245416 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.51, Z:-0.63 [[ 0.99961946 0.02506162 -0.01152636 1.9168434 ] [-0.0251233 0.99967064 -0.00523766 -0.51077952] [ 0.0113913 0.00552525 0.99991985 -0.63497072] [ 0. 0. 0. 1. ]] SLAMing on 163.02241403699998 meters Centerline goodness [0,1] 0.8402227061675638 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.51, Z:-0.64 [[ 0.99963371 0.02435418 -0.0118032 1.91889789] [-0.02442671 0.99968338 -0.00603976 -0.51038076] [ 0.01165237 0.00632586 0.9999121 -0.63697218] [ 0. 0. 0. 1. ]] SLAMing on 163.05241403699998 meters Centerline goodness [0,1] 0.8402227061675638 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.51, Z:-0.64 [[ 0.99963371 0.02435418 -0.0118032 1.91889789] [-0.02442671 0.99968338 -0.00603976 -0.51038076] [ 0.01165237 0.00632586 0.9999121 -0.63697218] [ 0. 0. 0. 1. ]] SLAMing on 163.08241403699998 meters Centerline goodness [0,1] 0.8379368542378463 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.51, Z:-0.64 [[ 0.99964916 0.02372665 -0.01177297 1.92057755] [-0.0238044 0.99969545 -0.0065089 -0.51076351] [ 0.01161495 0.00678687 0.99990951 -0.63915622] [ 0. 0. 0. 1. ]] SLAMing on 163.11241403699998 meters Centerline goodness [0,1] 0.8373328938966362 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.51, Z:-0.64 [[ 0.99965161 0.0236301 -0.01175899 1.92080134] [-0.02370665 0.99969839 -0.00641318 -0.51169517] [ 0.0116039 0.00668972 0.99991029 -0.63945302] [ 0. 0. 0. 1. ]] SLAMing on 163.14241403699998 meters Centerline goodness [0,1] 0.836540828887977 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.51, Z:-0.64 [[ 0.99964389 0.02392193 -0.01182515 1.92080688] [-0.0239924 0.999695 -0.0058546 -0.51437923] [ 0.01168149 0.00613623 0.99991294 -0.63932297] [ 0. 0. 0. 1. ]] SLAMing on 163.17241403699998 meters Centerline goodness [0,1] 0.8357607175183083 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.52, Z:-0.64 [[ 0.99963721 0.02419088 -0.01184261 1.92060297] [-0.02425856 0.99969 -0.00560556 -0.51507407] [ 0.01170334 0.00589082 0.99991416 -0.63904397] [ 0. 0. 0. 1. ]] SLAMing on 163.20241403699998 meters Centerline goodness [0,1] 0.8361567999342903 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.52, Z:-0.64 [[ 0.99962629 0.02457093 -0.01198148 1.92074562] [-0.02463781 0.99968149 -0.0054672 -0.51500326] [ 0.01184333 0.00576035 0.99991327 -0.63893498] [ 0. 0. 0. 1. ]] SLAMing on 163.23241403699998 meters Centerline goodness [0,1] 0.8358585340850846 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.51, Z:-0.64 [[ 0.99958001 0.0261991 -0.01238611 1.92082789] [-0.02625816 0.99964447 -0.00462991 -0.51481933] [ 0.0122604 0.0049532 0.99991257 -0.6383858 ] [ 0. 0. 0. 1. ]] SLAMing on 163.26241403699999 meters Centerline goodness [0,1] 0.8368151036322594 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.52, Z:-0.64 [[ 0.99955948 0.02691303 -0.01251119 1.92070801] [-0.02696634 0.99962788 -0.00411272 -0.5154703 ] [ 0.01239585 0.00444829 0.99991327 -0.63801146] [ 0. 0. 0. 1. ]] SLAMing on 163.292414037 meters Centerline goodness [0,1] 0.8366054725243097 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.52, Z:-0.64 [[ 0.99952208 0.02810247 -0.01287915 1.92153445] [-0.02814437 0.99959911 -0.00308368 -0.51754313] [ 0.01278733 0.00344468 0.99991231 -0.63841426] [ 0. 0. 0. 1. ]] SLAMing on 163.322414037 meters Centerline goodness [0,1] 0.837532312994953 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.52, Z:-0.64 [[ 0.99952503 0.02778321 -0.0133348 1.92350056] [-0.02782982 0.99960715 -0.00332266 -0.51853548] [ 0.01323725 0.00369218 0.99990557 -0.63987994] [ 0. 0. 0. 1. ]] SLAMing on 163.352414037 meters Centerline goodness [0,1] 0.8388750999979487 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.52, Z:-0.64 [[ 0.99953106 0.02738452 -0.01370189 1.92527231] [-0.02743514 0.99961739 -0.00352007 -0.52010031] [ 0.01360025 0.00389433 0.99989993 -0.64127349] [ 0. 0. 0. 1. ]] SLAMing on 163.382414037 meters Centerline goodness [0,1] 0.8419519599597957 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.52, Z:-0.64 [[ 0.99952716 0.02745369 -0.01384761 1.92590231] [-0.02749855 0.99961716 -0.0030599 -0.52219452] [ 0.01375831 0.00343924 0.99989944 -0.64170861] [ 0. 0. 0. 1. ]] SLAMing on 163.412414037 meters Centerline goodness [0,1] 0.8378461728242768 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.52, Z:-0.64 [[ 0.99958243 0.02543126 -0.01371889 1.92473331] [-0.02550404 0.99966142 -0.0051564 -0.52294008] [ 0.01358312 0.00550414 0.9998926 -0.64086571] [ 0. 0. 0. 1. ]] SLAMing on 163.442414037 meters Centerline goodness [0,1] 0.8400403035101067 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.52, Z:-0.64 [[ 0.9995804 0.02545954 -0.01381397 1.92515378] [-0.02552709 0.99966291 -0.00473576 -0.52497783] [ 0.01368874 0.0050864 0.99989337 -0.64118444] [ 0. 0. 0. 1. ]] SLAMing on 163.472414037 meters Centerline goodness [0,1] 0.8396711834525737 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.53, Z:-0.64 [[ 0.99959393 0.02468225 -0.01423928 1.9269468 ] [-0.02474977 0.99968316 -0.00458565 -0.52889516] [ 0.01412159 0.00493621 0.9998881 -0.64236167] [ 0. 0. 0. 1. ]] SLAMing on 163.502414037 meters Centerline goodness [0,1] 0.8389311256378205 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.53, Z:-0.64 [[ 0.99960549 0.02404942 -0.01450803 1.92832161] [-0.02412056 0.99969778 -0.00474883 -0.53087959] [ 0.01438944 0.0050969 0.99988348 -0.64339688] [ 0. 0. 0. 1. ]] SLAMing on 163.532414037 meters Centerline goodness [0,1] 0.8414131259873212 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.53, Z:-0.64 [[ 0.99960212 0.02411248 -0.01463541 1.92856764] [-0.02417565 0.99969909 -0.00415435 -0.53322522] [ 0.01453084 0.00450652 0.99988427 -0.64337844] [ 0. 0. 0. 1. ]] SLAMing on 163.562414037 meters Centerline goodness [0,1] 0.8398237343717975 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.54, Z:-0.64 [[ 0.99960003 0.02409331 -0.01480856 1.92873781] [-0.02414304 0.99970343 -0.00318866 -0.53703781] [ 0.01472734 0.00354491 0.99988526 -0.64303143] [ 0. 0. 0. 1. ]] SLAMing on 163.592414037 meters Centerline goodness [0,1] 0.8397196836195238 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.54, Z:-0.64 [[ 0.99959996 0.02403226 -0.01491183 1.92872097] [-0.02407626 0.99970627 -0.00277797 -0.53894561] [ 0.01484069 0.00313588 0.99988495 -0.64269064] [ 0. 0. 0. 1. ]] SLAMing on 163.622414037 meters Centerline goodness [0,1] 0.8395185556670011 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.54, Z:-0.64 [[ 0.9996878 0.02002105 -0.01494833 1.92807818] [-0.02010684 0.99978209 -0.00561122 -0.54283348] [ 0.01483273 0.00591003 0.99987252 -0.64176496] [ 0. 0. 0. 1. ]] SLAMing on 163.652414037 meters Centerline goodness [0,1] 0.8381137878011277 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.54, Z:-0.64 [[ 0.99975902 0.01599288 -0.0150377 1.92807462] [-0.01612852 0.99982994 -0.00894257 -0.5449373 ] [ 0.01489213 0.00918295 0.99984694 -0.64163883] [ 0. 0. 0. 1. ]] SLAMing on 163.682414037 meters Centerline goodness [0,1] 0.8396960635726867 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.55, Z:-0.64 [[ 0.99981601 0.01158328 -0.01528968 1.92876128] [-0.01177457 0.99985279 -0.01248051 -0.54754469] [ 0.01514287 0.01265825 0.99980521 -0.64195783] [ 0. 0. 0. 1. ]] SLAMing on 163.712414037 meters Centerline goodness [0,1] 0.8403709631088678 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.55, Z:-0.64 [[ 0.999856 0.00722946 -0.01535291 1.92909484] [-0.00747164 0.99984765 -0.01577532 -0.55059659] [ 0.01523652 0.01588776 0.99975768 -0.64215722] [ 0. 0. 0. 1. ]] SLAMing on 163.74241403699997 meters Centerline goodness [0,1] 0.8408458769633508 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.55, Z:-0.64 [[ 0.99987245 -0.00268829 -0.01574364 1.9318559 ] [ 0.0023086 0.99970723 -0.0240858 -0.55399184] [ 0.01580378 0.02404638 0.99958592 -0.64444703] [ 0. 0. 0. 1. ]] SLAMing on 163.77241403699998 meters Centerline goodness [0,1] 0.8403543589009146 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.56, Z:-0.65 [[ 0.99986167 -0.00448069 -0.01601743 1.93413685] [ 0.00408206 0.99968325 -0.02483404 -0.55565521] [ 0.01612363 0.02476522 0.99956326 -0.64628643] [ 0. 0. 0. 1. ]] SLAMing on 163.80241403699998 meters Centerline goodness [0,1] 0.8366692696559944 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.56, Z:-0.65 [[ 0.99985777 -0.00526764 -0.01602139 1.93497246] [ 0.00486885 0.99967985 -0.02482907 -0.55662834] [ 0.01614705 0.02474753 0.99956332 -0.64710051] [ 0. 0. 0. 1. ]] SLAMing on 163.83241403699998 meters Centerline goodness [0,1] 0.8300020563438206 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.56, Z:-0.65 [[ 0.99985158 -0.00584072 -0.016208 1.9360101 ] [ 0.00543528 0.99967399 -0.02494726 -0.55682772] [ 0.01634842 0.02485546 0.99955737 -0.64787352] [ 0. 0. 0. 1. ]] SLAMing on 163.86241403699998 meters Centerline goodness [0,1] 0.833579972869651 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.56, Z:-0.65 [[ 0.99983397 -0.00759642 -0.01656272 1.93776791] [ 0.00716128 0.99963172 -0.02617525 -0.55645561] [ 0.01675546 0.02605229 0.99952015 -0.64888446] [ 0. 0. 0. 1. ]] SLAMing on 163.89241403699998 meters Centerline goodness [0,1] 0.8278762886597938 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.56, Z:-0.65 [[ 0.99982947 -0.00796581 -0.01666072 1.93802101] [ 0.00752259 0.99962055 -0.02649835 -0.55627167] [ 0.01686548 0.0263685 0.99951001 -0.64889621] [ 0. 0. 0. 1. ]] SLAMing on 163.92241403699998 meters Centerline goodness [0,1] 0.8257857627397373 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.55, Z:-0.65 [[ 0.99981389 -0.00928374 -0.01691175 1.93989223] [ 0.0088059 0.99956594 -0.02811386 -0.55358417] [ 0.01716541 0.02795971 0.99946166 -0.65047873] [ 0. 0. 0. 1. ]] SLAMing on 163.95241403699998 meters Centerline goodness [0,1] 0.8245007206094297 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.55, Z:-0.65 [[ 0.99983739 -0.0064376 -0.01684462 1.94048249] [ 0.00601703 0.99967183 -0.02490034 -0.5528132 ] [ 0.01699939 0.02479494 0.99954801 -0.65107219] [ 0. 0. 0. 1. ]] SLAMing on 163.98241403699998 meters Centerline goodness [0,1] 0.8182379072063178 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.55, Z:-0.65 [[ 0.99984761 -0.00380672 -0.01703692 1.94190424] [ 0.00342987 0.99975 -0.02209465 -0.5513737 ] [ 0.01711677 0.02203285 0.99961071 -0.65217777] [ 0. 0. 0. 1. ]] SLAMing on 164.01241403699999 meters Centerline goodness [0,1] 0.8178938708350473 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.55, Z:-0.65 [[ 9.99856111e-01 -1.50460047e-03 -1.68965239e-02 1.94135073e+00] [ 1.16412074e-03 9.99796438e-01 -2.01426606e-02 -5.46483612e-01] [ 1.69233911e-02 2.01200927e-02 9.99654331e-01 -6.51477300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.042414037 meters Centerline goodness [0,1] 0.81639371245165 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.55, Z:-0.65 [[ 9.99858137e-01 1.55086173e-03 -1.67719993e-02 1.94047122e+00] [-1.83290803e-03 9.99856951e-01 -1.68142226e-02 -5.45610065e-01] [ 1.67435236e-02 1.68425788e-02 9.99717951e-01 -6.50266243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.072414037 meters Centerline goodness [0,1] 0.811886485707818 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.54, Z:-0.65 [[ 0.9998624 0.00204627 -0.01646168 1.93836088] [-0.00232153 0.99985752 -0.01671972 -0.54318505] [ 0.01642512 0.01675563 0.99972469 -0.6482712 ] [ 0. 0. 0. 1. ]] SLAMing on 164.102414037 meters Centerline goodness [0,1] 0.8031452358926919 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.54, Z:-0.65 [[ 9.99864033e-01 1.56813702e-03 -1.64150999e-02 1.93769753e+00] [-1.86438582e-03 9.99835390e-01 -1.80476171e-02 -5.37592190e-01] [ 1.63840967e-02 1.80757673e-02 9.99702370e-01 -6.47314074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.132414037 meters Centerline goodness [0,1] 0.8031452358926919 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.54, Z:-0.65 [[ 9.99864033e-01 1.56813702e-03 -1.64150999e-02 1.93769753e+00] [-1.86438582e-03 9.99835390e-01 -1.80476171e-02 -5.37592190e-01] [ 1.63840967e-02 1.80757673e-02 9.99702370e-01 -6.47314074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.162414037 meters Centerline goodness [0,1] 0.782778543084483 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.53, Z:-0.65 [[ 0.99985684 0.00309779 -0.01663462 1.94014347] [-0.00338161 0.99984873 -0.01706105 -0.53141562] [ 0.01657925 0.01711486 0.99971606 -0.64939894] [ 0. 0. 0. 1. ]] SLAMing on 164.192414037 meters Centerline goodness [0,1] 0.7879448673112528 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.53, Z:-0.65 [[ 0.99984405 0.00588655 -0.01664996 1.94100797] [-0.00612745 0.99987675 -0.01445465 -0.5282706 ] [ 0.01656282 0.01455442 0.99975689 -0.65014497] [ 0. 0. 0. 1. ]] SLAMing on 164.222414037 meters Centerline goodness [0,1] 0.7718153947449641 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.52, Z:-0.65 [[ 0.99982676 0.00857905 -0.01651815 1.94153566] [-0.00877846 0.99988901 -0.0120379 -0.52479366] [ 0.01641304 0.01218082 0.9997911 -0.65076385] [ 0. 0. 0. 1. ]] SLAMing on 164.252414037 meters Centerline goodness [0,1] 0.758698738657174 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.52, Z:-0.65 [[ 0.99981266 0.0101254 -0.01649586 1.94239337] [-0.01031955 0.99987798 -0.01172706 -0.51585551] [ 0.01637511 0.01189509 0.99979516 -0.65144795] [ 0. 0. 0. 1. ]] SLAMing on 164.282414037 meters Centerline goodness [0,1] 0.7610200214220977 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.51, Z:-0.65 [[ 0.99978557 0.01263055 -0.01640991 1.94288343] [-0.01279199 0.99987044 -0.00977038 -0.51165918] [ 0.01628438 0.0099782 0.99981761 -0.65194199] [ 0. 0. 0. 1. ]] SLAMing on 164.312414037 meters Centerline goodness [0,1] 0.7625632029718296 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.51, Z:-0.65 [[ 0.99975134 0.01506526 -0.01644044 1.94372461] [-0.01519968 0.99985181 -0.00808236 -0.50662714] [ 0.01631624 0.00833024 0.99983218 -0.6526087 ] [ 0. 0. 0. 1. ]] SLAMing on 164.342414037 meters Centerline goodness [0,1] 0.7443508076176313 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.49, Z:-0.65 [[ 0.99972121 0.01730051 -0.01606863 1.94487741] [-0.017429 0.99981697 -0.00789083 -0.49328612] [ 0.01592917 0.00816869 0.99983975 -0.65433624] [ 0. 0. 0. 1. ]] SLAMing on 164.372414037 meters Centerline goodness [0,1] 0.813236627379873 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.49, Z:-0.66 [[ 0.99967522 0.01970927 -0.01615552 1.9460638 ] [-0.01981743 0.99978208 -0.00656279 -0.48723471] [ 0.01602266 0.00688082 0.99984795 -0.65526741] [ 0. 0. 0. 1. ]] SLAMing on 164.402414037 meters Centerline goodness [0,1] 0.8055515515927764 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.48, Z:-0.66 [[ 0.99962846 0.02195068 -0.0161586 1.94611353] [-0.02204307 0.99974155 -0.00556137 -0.48041268] [ 0.01603235 0.00591548 0.99985397 -0.65501629] [ 0. 0. 0. 1. ]] SLAMing on 164.432414037 meters Centerline goodness [0,1] 0.8148140538319293 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.47, Z:-0.65 [[ 0.99952666 0.02643492 -0.01573685 1.94344899] [-0.02649955 0.99964117 -0.00391293 -0.46532779] [ 0.01562777 0.0043281 0.99986851 -0.6517081 ] [ 0. 0. 0. 1. ]] SLAMing on 164.462414037 meters Centerline goodness [0,1] 0.8212414473278679 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.46, Z:-0.65 [[ 0.99945343 0.02892737 -0.01600145 1.94388028] [-0.02897484 0.99957638 -0.00274285 -0.45861305] [ 0.01591533 0.00320499 0.99986821 -0.65128828] [ 0. 0. 0. 1. ]] SLAMing on 164.49241403699997 meters Centerline goodness [0,1] 0.8320085663687657 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.44, Z:-0.65 [[ 0.99937474 0.03125707 -0.0165264 1.94569742] [-0.03133702 0.99949828 -0.00460124 -0.44448797] [ 0.01637429 0.00511625 0.99985284 -0.65314493] [ 0. 0. 0. 1. ]] SLAMing on 164.52241403699998 meters Centerline goodness [0,1] 0.8249994861993135 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.44, Z:-0.65 [[ 0.99929241 0.03372576 -0.01665108 1.94716118] [-0.03378244 0.9994243 -0.00313447 -0.43919156] [ 0.01653579 0.00369476 0.99985645 -0.65425835] [ 0. 0. 0. 1. ]] SLAMing on 164.55241403699998 meters Centerline goodness [0,1] 0.8336251828351291 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.43, Z:-0.65 [[ 9.99198571e-01 3.64031969e-02 -1.66440113e-02 1.94758979e+00] [-3.64298323e-02 9.99335368e-01 -1.29981896e-03 -4.34197640e-01] [ 1.65856316e-02 1.90511579e-03 9.99860634e-01 -6.54409301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58241403699998 meters Centerline goodness [0,1] 0.8347367770892096 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.43, Z:-0.65 [[ 0.99921943 0.03578844 -0.01672481 1.94803629] [-0.03584856 0.99935176 -0.00330893 -0.42753498] [ 0.01659554 0.00390591 0.99985466 -0.65466568] [ 0. 0. 0. 1. ]] SLAMing on 164.61241403699998 meters Centerline goodness [0,1] 0.833915397491269 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.42, Z:-0.65 [[ 0.99921753 0.03598554 -0.01641271 1.94658255] [-0.03605582 0.99934175 -0.00400634 -0.42179272] [ 0.01625774 0.00459498 0.99985728 -0.65340288] [ 0. 0. 0. 1. ]] SLAMing on 164.64241403699998 meters Centerline goodness [0,1] 0.8311260324195177 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.41, Z:-0.65 [[ 0.99926453 0.03467436 -0.01637343 1.94646463] [-0.03477739 0.99937677 -0.00604991 -0.41196287] [ 0.01615345 0.00661489 0.99984764 -0.65281202] [ 0. 0. 0. 1. ]] SLAMing on 164.67241403699998 meters Centerline goodness [0,1] 0.7005400299788506 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.40, Z:-0.65 [[ 0.99936575 0.03132149 -0.01694285 1.94909715] [-0.03149209 0.99945499 -0.00989796 -0.40416571] [ 0.01662359 0.01042524 0.99980747 -0.6544603 ] [ 0. 0. 0. 1. ]] SLAMing on 164.70241403699998 meters Centerline goodness [0,1] 0.7005400299788506 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.40, Z:-0.65 [[ 0.99936575 0.03132149 -0.01694285 1.94909715] [-0.03149209 0.99945499 -0.00989796 -0.40416571] [ 0.01662359 0.01042524 0.99980747 -0.6544603 ] [ 0. 0. 0. 1. ]] SLAMing on 164.73241403699998 meters Centerline goodness [0,1] 0.6657093390365618 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.40, Z:-0.66 [[ 0.99942529 0.02900395 -0.01754588 1.95179293] [-0.02922315 0.99949639 -0.01236815 -0.40070964] [ 0.01717832 0.01287379 0.99976956 -0.65621585] [ 0. 0. 0. 1. ]] SLAMing on 164.76241403699999 meters Centerline goodness [0,1] 0.6430319843342036 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.39, Z:-0.66 [[ 0.99953279 0.02451826 -0.01825005 1.95372759] [-0.02483017 0.99954602 -0.01706506 -0.39101887] [ 0.01782335 0.01751024 0.99968781 -0.65635451] [ 0. 0. 0. 1. ]] SLAMing on 164.792414037 meters Centerline goodness [0,1] 0.6646737238682201 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.39, Z:-0.66 [[ 0.99956122 0.0231819 -0.01843795 1.95401855] [-0.02353597 0.99953814 -0.0192239 -0.38507119] [ 0.01798379 0.01964942 0.99964518 -0.65601763] [ 0. 0. 0. 1. ]] SLAMing on 164.822414037 meters Centerline goodness [0,1] 0.6558039376538146 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.37, Z:-0.66 [[ 0.99953821 0.02375199 -0.0189528 1.95583426] [-0.02412769 0.99951186 -0.01984681 -0.37315536] [ 0.01847215 0.02029493 0.99962338 -0.65612457] [ 0. 0. 0. 1. ]] SLAMing on 164.852414037 meters Centerline goodness [0,1] 0.6483014383477441 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.37, Z:-0.66 [[ 0.99948013 0.02586001 -0.01925438 1.95800919] [-0.02622048 0.99948107 -0.01871019 -0.36695017] [ 0.01876054 0.01920533 0.99963953 -0.65755345] [ 0. 0. 0. 1. ]] SLAMing on 164.882414037 meters Centerline goodness [0,1] 0.7386354295108919 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.36, Z:-0.66 [[ 0.9994139 0.02835554 -0.01917871 1.95897853] [-0.02869087 0.99943616 -0.01744122 -0.36001954] [ 0.01867334 0.01798125 0.99966393 -0.65839091] [ 0. 0. 0. 1. ]] SLAMing on 164.912414037 meters Centerline goodness [0,1] 0.7494271216957198 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.35, Z:-0.66 [[ 0.9993383 0.03088516 -0.01921121 1.96046347] [-0.03119807 0.99938182 -0.01620688 -0.35290286] [ 0.01869878 0.01679551 0.99968408 -0.65950885] [ 0. 0. 0. 1. ]] SLAMing on 164.942414037 meters Centerline goodness [0,1] 0.7494271216957198 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.35, Z:-0.66 [[ 0.9993383 0.03088516 -0.01921121 1.96046347] [-0.03119807 0.99938182 -0.01620688 -0.35290286] [ 0.01869878 0.01679551 0.99968408 -0.65950885] [ 0. 0. 0. 1. ]] SLAMing on 164.972414037 meters Centerline goodness [0,1] 0.7553041883216142 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.34, Z:-0.66 [[ 0.99917932 0.03559093 -0.01933814 1.96197317] [-0.035864 0.99925914 -0.01396242 -0.3384326 ] [ 0.01882688 0.01464451 0.9997155 -0.65981833] [ 0. 0. 0. 1. ]] SLAMing on 165.002414037 meters Centerline goodness [0,1] 0.7739393440599153 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.33, Z:-0.66 [[ 0.99908789 0.03814874 -0.01918498 1.96158209] [-0.03839686 0.99918141 -0.01273555 -0.33150382] [ 0.01868343 0.01346057 0.99973484 -0.65915062] [ 0. 0. 0. 1. ]] SLAMing on 165.032414037 meters Centerline goodness [0,1] 0.7983643367735822 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.32, Z:-0.66 [[ 0.9989961 0.04051534 -0.01911261 1.96129025] [-0.04074239 0.99910184 -0.01164371 -0.32475555] [ 0.0186237 0.01241072 0.99974953 -0.65840525] [ 0. 0. 0. 1. ]] SLAMing on 165.062414037 meters Centerline goodness [0,1] 0.7993504891885226 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.32, Z:-0.66 [[ 0.99889521 0.04293508 -0.01910342 1.96145446] [-0.04313794 0.99901565 -0.0103364 -0.31855943] [ 0.01864082 0.01114907 0.99976408 -0.65800693] [ 0. 0. 0. 1. ]] SLAMing on 165.092414037 meters Centerline goodness [0,1] 0.7920534947445912 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.31, Z:-0.66 [[ 0.9987914 0.04527986 -0.01911737 1.96151027] [-0.04545607 0.99892682 -0.00888576 -0.31268525] [ 0.01869451 0.00974402 0.99977776 -0.65738208] [ 0. 0. 0. 1. ]] SLAMing on 165.122414037 meters Centerline goodness [0,1] 0.8001032098255754 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.30, Z:-0.65 [[ 0.99869548 0.04747761 -0.01879412 1.95932731] [-0.04763712 0.9988316 -0.00813247 -0.30080055] [ 0.01838605 0.00901715 0.9997903 -0.6545023 ] [ 0. 0. 0. 1. ]] SLAMing on 165.152414037 meters Centerline goodness [0,1] 0.7892109334708612 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.30, Z:-0.65 [[ 0.99871729 0.0468162 -0.01928793 1.96077617] [-0.04701273 0.99884557 -0.00986524 -0.29526205] [ 0.01880381 0.01075936 0.9997653 -0.65485591] [ 0. 0. 0. 1. ]] SLAMing on 165.182414037 meters Centerline goodness [0,1] 0.7864051640578276 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.29, Z:-0.66 [[ 0.99870685 0.04665421 -0.02019926 1.96566707] [-0.04688389 0.99883922 -0.01105007 -0.28724492] [ 0.01966028 0.0119828 0.99973491 -0.65810952] [ 0. 0. 0. 1. ]] SLAMing on 165.212414037 meters Centerline goodness [0,1] 0.7757149921701145 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.28, Z:-0.66 [[ 0.99873056 0.04603893 -0.0204373 1.9669843 ] [-0.04629664 0.99885175 -0.01232105 -0.28317172] [ 0.01984659 0.01325159 0.99971521 -0.65896982] [ 0. 0. 0. 1. ]] SLAMing on 165.24241403699997 meters Centerline goodness [0,1] 0.7684697523597084 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.28, Z:-0.66 [[ 0.99876699 0.04520352 -0.02052163 1.96722475] [-0.04549087 0.99887001 -0.01375804 -0.27893557] [ 0.01987652 0.01467462 0.99969474 -0.65886494] [ 0. 0. 0. 1. ]] SLAMing on 165.27241403699998 meters Centerline goodness [0,1] 0.7571657688037176 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.27, Z:-0.66 [[ 0.99880323 0.04435698 -0.02060514 1.96739996] [-0.04467349 0.99888657 -0.01516255 -0.27476572] [ 0.01990964 0.01606491 0.99967271 -0.6586621 ] [ 0. 0. 0. 1. ]] SLAMing on 165.30241403699998 meters Centerline goodness [0,1] 0.7383223785877651 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.27, Z:-0.66 [[ 0.99889191 0.04227874 -0.02067531 1.96651759] [-0.04265061 0.99892989 -0.01788874 -0.26671092] [ 0.01989687 0.01875073 0.99962619 -0.65702359] [ 0. 0. 0. 1. ]] SLAMing on 165.33241403699998 meters Centerline goodness [0,1] 0.7423639326004908 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.26, Z:-0.66 [[ 0.9989281 0.04133746 -0.02082927 1.9669423 ] [-0.04174174 0.99894079 -0.01936286 -0.26299711] [ 0.0200068 0.02021156 0.99959553 -0.65698773] [ 0. 0. 0. 1. ]] SLAMing on 165.36241403699998 meters Centerline goodness [0,1] 0.7668497563393079 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.26, Z:-0.66 [[ 0.99895074 0.04065285 -0.02108963 1.96812403] [-0.04108923 0.99894128 -0.02068813 -0.25922627] [ 0.02022627 0.02153298 0.99956352 -0.65762254] [ 0. 0. 0. 1. ]] SLAMing on 165.39241403699998 meters Centerline goodness [0,1] 0.7279716388070161 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.26, Z:-0.66 [[ 0.99892657 0.04102581 -0.02150789 1.97097202] [-0.04147292 0.99892369 -0.0207716 -0.25563348] [ 0.02063257 0.0216413 0.99955288 -0.65977616] [ 0. 0. 0. 1. ]] SLAMing on 165.42241403699998 meters Centerline goodness [0,1] 0.7284783189752657 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.25, Z:-0.66 [[ 0.99887694 0.04211195 -0.02171293 1.97311454] [-0.04257076 0.9988702 -0.0211201 -0.24603865] [ 0.02079899 0.02202071 0.99954114 -0.66101828] [ 0. 0. 0. 1. ]] SLAMing on 165.45241403699998 meters Centerline goodness [0,1] 0.7505803562257329 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.24, Z:-0.66 [[ 0.99868993 0.04651287 -0.02133036 1.9710456 ] [-0.04690717 0.99873027 -0.0183731 -0.23514897] [ 0.02044869 0.01934957 0.99960364 -0.65789541] [ 0. 0. 0. 1. ]] SLAMing on 165.48241403699998 meters Centerline goodness [0,1] 0.7573224335537937 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.23, Z:-0.66 [[ 0.99855379 0.04933662 -0.02135937 1.97084159] [-0.04969655 0.99862538 -0.01666158 -0.22919768] [ 0.02050799 0.01769897 0.99963302 -0.6568231 ] [ 0. 0. 0. 1. ]] SLAMing on 165.51241403699999 meters Centerline goodness [0,1] 0.7563165030195966 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.22, Z:-0.66 [[ 0.99840858 0.05216537 -0.02142598 1.97118961] [-0.05249025 0.99851041 -0.01489084 -0.2234498 ] [ 0.02061728 0.0159918 0.99965954 -0.65636405] [ 0. 0. 0. 1. ]] SLAMing on 165.542414037 meters Centerline goodness [0,1] 0.8033836211332249 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.22, Z:-0.66 [[ 0.99825496 0.05504418 -0.0213814 1.97158663] [-0.05533295 0.99838127 -0.01315659 -0.21779764] [ 0.02062259 0.01431673 0.99968482 -0.65618154] [ 0. 0. 0. 1. ]] SLAMing on 165.572414037 meters Centerline goodness [0,1] 0.7962913526500606 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.21, Z:-0.66 [[ 0.99795662 0.06035315 -0.02097828 1.97168885] [-0.06057663 0.99811158 -0.01018533 -0.20642449] [ 0.02032394 0.01143531 0.99972805 -0.65550308] [ 0. 0. 0. 1. ]] SLAMing on 165.602414037 meters Centerline goodness [0,1] 0.8070717049477237 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.20, Z:-0.65 [[ 0.99780422 0.06291739 -0.02069166 1.97084781] [-0.06310633 0.99796968 -0.00860813 -0.20128774] [ 0.02010805 0.00989501 0.99974885 -0.65439308] [ 0. 0. 0. 1. ]] SLAMing on 165.632414037 meters Centerline goodness [0,1] 0.8094289235825801 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.20, Z:-0.65 [[ 0.99781433 0.06263106 -0.02106902 1.97145825] [-0.06285698 0.99797004 -0.01023673 -0.19583668] [ 0.02038511 0.01153869 0.99972562 -0.65382823] [ 0. 0. 0. 1. ]] SLAMing on 165.662414037 meters Centerline goodness [0,1] 0.7982402039389828 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.19, Z:-0.65 [[ 0.99784401 0.06207175 -0.02131713 1.97194194] [-0.0623359 0.99798359 -0.01195818 -0.19093661] [ 0.02053188 0.01326122 0.99970125 -0.65354372] [ 0. 0. 0. 1. ]] SLAMing on 165.692414037 meters Centerline goodness [0,1] 0.8080602775724727 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.19, Z:-0.65 [[ 0.99786782 0.06153356 -0.02175868 1.97302736] [-0.06183374 0.99799647 -0.01340259 -0.18677369] [ 0.02089037 0.01471944 0.99967341 -0.6536168 ] [ 0. 0. 0. 1. ]] SLAMing on 165.722414037 meters Centerline goodness [0,1] 0.7826498292953807 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.18, Z:-0.65 [[ 0.99790356 0.06090075 -0.02189952 1.97378544] [-0.061232 0.99801402 -0.01478704 -0.18225917] [ 0.02095549 0.01609699 0.99965082 -0.65390941] [ 0. 0. 0. 1. ]] SLAMing on 165.752414037 meters Centerline goodness [0,1] 0.7840904410856225 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.17, Z:-0.65 [[ 0.99796153 0.05986372 -0.02211628 1.97491983] [-0.06022151 0.99805869 -0.01588168 -0.17314682] [ 0.02112261 0.01718118 0.99962925 -0.65424796] [ 0. 0. 0. 1. ]] SLAMing on 165.782414037 meters Centerline goodness [0,1] 0.7912302722278236 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.17, Z:-0.65 [[ 0.99802262 0.05877768 -0.02227186 1.97536704] [-0.0591673 0.99809888 -0.01725826 -0.16965894] [ 0.02121512 0.0185419 0.99960298 -0.65424134] [ 0. 0. 0. 1. ]] SLAMing on 165.812414037 meters Centerline goodness [0,1] 0.7652616876181086 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.17, Z:-0.65 [[ 0.9980824 0.05766882 -0.02249067 1.97588899] [-0.05808669 0.99814213 -0.0183908 -0.16733462] [ 0.02138831 0.01966194 0.99957789 -0.65434146] [ 0. 0. 0. 1. ]] SLAMing on 165.842414037 meters Centerline goodness [0,1] 0.687155078677964 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.16, Z:-0.66 [[ 0.99832053 0.05314067 -0.0230694 1.97840185] [-0.05367216 0.99829219 -0.02306516 -0.16127081] [ 0.02180431 0.02426461 0.99946776 -0.65602603] [ 0. 0. 0. 1. ]] SLAMing on 165.872414037 meters Centerline goodness [0,1] 0.7023286377263953 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.16, Z:-0.66 [[ 0.99836913 0.05215419 -0.02321668 1.97891812] [-0.0527176 0.99831242 -0.02435519 -0.15807389] [ 0.02190728 0.0255394 0.99943374 -0.65616205] [ 0. 0. 0. 1. ]] SLAMing on 165.902414037 meters Centerline goodness [0,1] 0.6923076923076923 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.15, Z:-0.66 [[ 0.99841326 0.05123864 -0.02335737 1.97919197] [-0.05183728 0.99832254 -0.02578774 -0.1543063 ] [ 0.02199686 0.02695761 0.99939453 -0.65590393] [ 0. 0. 0. 1. ]] SLAMing on 165.932414037 meters Centerline goodness [0,1] 0.6803517258342215 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.15, Z:-0.66 [[ 0.99841167 0.05125358 -0.02339252 1.97925974] [-0.05187509 0.99829436 -0.02678335 -0.14522156] [ 0.02197988 0.0279543 0.99936752 -0.65503604] [ 0. 0. 0. 1. ]] SLAMing on 165.962414037 meters Centerline goodness [0,1] 0.6852367113914137 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.14, Z:-0.65 [[ 0.99828591 0.0537533 -0.02314789 1.97890232] [-0.05432266 0.99821757 -0.02471316 -0.14139611] [ 0.02177821 0.02592825 0.99942655 -0.65460797] [ 0. 0. 0. 1. ]] SLAMing on 165.99241403699997 meters Centerline goodness [0,1] 0.7283330231403933 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.14, Z:-0.65 [[ 0.99815988 0.05610675 -0.0229974 1.97909983] [-0.05663156 0.99813382 -0.02284182 -0.13718455] [ 0.02167291 0.02410217 0.99947455 -0.65460639] [ 0. 0. 0. 1. ]] SLAMing on 166.02241403699998 meters Centerline goodness [0,1] 0.6997588175877636 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.13, Z:-0.66 [[ 0.99808789 0.05721365 -0.02339139 1.98086037] [-0.05773689 0.99808183 -0.022341 -0.13218338] [ 0.02206831 0.02364882 0.99947672 -0.65524784] [ 0. 0. 0. 1. ]] SLAMing on 166.05241403699998 meters Centerline goodness [0,1] 0.6945332975627876 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.12, Z:-0.65 [[ 0.99794044 0.05972832 -0.02339685 1.98134081] [-0.06023331 0.99795258 -0.02150821 -0.12230314] [ 0.0220643 0.02287318 0.99949486 -0.65447146] [ 0. 0. 0. 1. ]] SLAMing on 166.08241403699998 meters Centerline goodness [0,1] 0.7305070656691603 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.12, Z:-0.65 [[ 0.99776455 0.06267979 -0.0231764 1.98107257] [-0.06313459 0.99781564 -0.01944138 -0.11797932] [ 0.02190719 0.02086115 0.99954234 -0.65395252] [ 0. 0. 0. 1. ]] SLAMing on 166.11241403699998 meters Centerline goodness [0,1] 0.7517499221102918 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.11, Z:-0.65 [[ 0.99756464 0.0658064 -0.02311489 1.98172134] [-0.06621292 0.99765579 -0.01728496 -0.11353662] [ 0.02192324 0.01877337 0.99958338 -0.65406918] [ 0. 0. 0. 1. ]] SLAMing on 166.14241403699998 meters Centerline goodness [0,1] 0.7662464433321564 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.10, Z:-0.65 [[ 0.99718947 0.07129245 -0.02303354 1.98371427] [-0.07162312 0.99733541 -0.013864 -0.10371776] [ 0.02198377 0.01547477 0.99963856 -0.65474091] [ 0. 0. 0. 1. ]] SLAMing on 166.17241403699998 meters Centerline goodness [0,1] 0.7448333507470484 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.10, Z:-0.65 [[ 0.99697798 0.07423968 -0.02287732 1.98332808] [-0.07452519 0.99714825 -0.01188961 -0.09895447] [ 0.02192939 0.01355862 0.99966758 -0.65376942] [ 0. 0. 0. 1. ]] SLAMing on 166.20241403699998 meters Centerline goodness [0,1] 0.7786245197928846 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.09, Z:-0.65 [[ 0.99675544 0.07725533 -0.02258769 1.98303101] [-0.07749006 0.99694587 -0.00970721 -0.09473765] [ 0.02176877 0.01142604 0.99969774 -0.6531896 ] [ 0. 0. 0. 1. ]] SLAMing on 166.23241403699998 meters Centerline goodness [0,1] 0.7787934568882567 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.09, Z:-0.65 [[ 0.99651348 0.08027731 -0.02272547 1.98406643] [-0.0804861 0.99672012 -0.00842576 -0.08755288] [ 0.02197453 0.01022547 0.99970624 -0.65277672] [ 0. 0. 0. 1. ]] SLAMing on 166.26241403699999 meters Centerline goodness [0,1] 0.7800728277247614 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.08, Z:-0.65 [[ 0.99650996 0.08021107 -0.0231102 1.98510722] [-0.08044814 0.99671336 -0.00951657 -0.08380406] [ 0.02227091 0.01134252 0.99968763 -0.6527025 ] [ 0. 0. 0. 1. ]] SLAMing on 166.292414037 meters Centerline goodness [0,1] 0.7961230086457745 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.08, Z:-0.65 [[ 0.9965118 0.08005315 -0.02357375 1.98608971] [-0.08031918 0.99671324 -0.01056157 -0.08019704] [ 0.02265078 0.01241815 0.99966631 -0.65240667] [ 0. 0. 0. 1. ]] SLAMing on 166.322414037 meters Centerline goodness [0,1] 0.798575319505552 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.08, Z:-0.65 [[ 0.99653005 0.07972238 -0.02392066 1.98655518] [-0.08001827 0.996725 -0.01167713 -0.07671423] [ 0.02291139 0.01355071 0.99964566 -0.65177978] [ 0. 0. 0. 1. ]] SLAMing on 166.352414037 meters Centerline goodness [0,1] 0.7934366990209673 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.07, Z:-0.65 [[ 0.99653417 0.07957112 -0.0242506 1.98714044] [-0.07989463 0.99672272 -0.0126751 -0.07165941] [ 0.02316255 0.01456866 0.99962556 -0.65107184] [ 0. 0. 0. 1. ]] SLAMing on 166.382414037 meters Centerline goodness [0,1] 0.7723724355602315 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.07, Z:-0.65 [[ 0.99655559 0.07924425 -0.0244397 1.98738957] [-0.07958663 0.99673831 -0.01336856 -0.06981675] [ 0.0233006 0.01526759 0.99961192 -0.65074121] [ 0. 0. 0. 1. ]] SLAMing on 166.412414037 meters Centerline goodness [0,1] 0.7613536108893837 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.07, Z:-0.65 [[ 0.99657182 0.07896726 -0.02467328 1.98784811] [-0.07932463 0.99675253 -0.01385606 -0.06847143] [ 0.02349898 0.01576576 0.99959954 -0.65064567] [ 0. 0. 0. 1. ]] SLAMing on 166.442414037 meters Centerline goodness [0,1] 0.7986130140595687 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.07, Z:-0.65 [[ 0.99660251 0.07853866 -0.02480137 1.9879539 ] [-0.07891349 0.99677581 -0.01451336 -0.06675419] [ 0.02358155 0.01642122 0.99958704 -0.65033509] [ 0. 0. 0. 1. ]] SLAMing on 166.472414037 meters Centerline goodness [0,1] 0.7979088935264234 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.07, Z:-0.65 [[ 0.9966139 0.07829186 -0.02512214 1.98883683] [-0.07868205 0.99678786 -0.0149367 -0.06534098] [ 0.02387203 0.01686278 0.9995728 -0.65059174] [ 0. 0. 0. 1. ]] SLAMing on 166.502414037 meters Centerline goodness [0,1] 0.7898030127462341 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.06, Z:-0.65 [[ 0.99661595 0.07816151 -0.02544453 1.99120611] [-0.07856839 0.99678973 -0.0154027 -0.06255915] [ 0.02415895 0.01734971 0.99955757 -0.65247583] [ 0. 0. 0. 1. ]] SLAMing on 166.532414037 meters Centerline goodness [0,1] 0.7867345645099946 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.06, Z:-0.65 [[ 0.99660623 0.07818208 -0.02576021 1.99271927] [-0.07859998 0.99678372 -0.01562885 -0.06100124] [ 0.02445546 0.01760056 0.99954597 -0.65344105] [ 0. 0. 0. 1. ]] SLAMing on 166.562414037 meters Centerline goodness [0,1] 0.7997882925796549 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.06, Z:-0.66 [[ 0.99659818 0.07821335 -0.0259757 1.99486582] [-0.07865167 0.99676884 -0.01630314 -0.05687972] [ 0.02461665 0.01829071 0.99952962 -0.65510533] [ 0. 0. 0. 1. ]] SLAMing on 166.592414037 meters Centerline goodness [0,1] 0.7715066288279893 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.05, Z:-0.65 [[ 0.99661714 0.07793185 -0.02609404 1.99494435] [-0.07839531 0.99677337 -0.01723442 -0.05420787] [ 0.02466674 0.01922177 0.99951092 -0.65457499] [ 0. 0. 0. 1. ]] SLAMing on 166.622414037 meters Centerline goodness [0,1] 0.7977299246844172 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.05, Z:-0.65 [[ 0.99646441 0.08001517 -0.02561727 1.99249779] [-0.08042587 0.99664126 -0.01542314 -0.05206068] [ 0.02429714 0.0174289 0.99955284 -0.65224177] [ 0. 0. 0. 1. ]] SLAMing on 166.652414037 meters Centerline goodness [0,1] 0.8089549709831829 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.05, Z:-0.65 [[ 0.9962499 0.08276105 -0.02523378 1.99067177] [-0.08311332 0.99645208 -0.01324499 -0.04933601] [ 0.02404808 0.01529259 0.99959383 -0.65005982] [ 0. 0. 0. 1. ]] SLAMing on 166.682414037 meters Centerline goodness [0,1] 0.8019869381155998 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.04, Z:-0.65 [[ 0.99570191 0.08926968 -0.02467048 1.98877432] [-0.08952084 0.99594182 -0.00926882 -0.04112923] [ 0.02374294 0.0114375 0.99965267 -0.64611618] [ 0. 0. 0. 1. ]] SLAMing on 166.712414037 meters Centerline goodness [0,1] 0.8261461836448001 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.04, Z:-0.65 [[ 0.99533744 0.09322206 -0.02475943 1.98993331] [-0.09340044 0.99560966 -0.0061459 -0.03841405] [ 0.0240778 0.00842979 0.99967455 -0.6461783 ] [ 0. 0. 0. 1. ]] SLAMing on 166.74241403699997 meters Centerline goodness [0,1] 0.8312740487387773 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.04, Z:-0.65 [[ 0.99519472 0.09460204 -0.02525716 1.99292626] [-0.09478566 0.99547857 -0.00617189 -0.03547531] [ 0.02455908 0.00853625 0.99966193 -0.64771614] [ 0. 0. 0. 1. ]] SLAMing on 166.77241403699998 meters Centerline goodness [0,1] 0.830395058551023 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.65 [[ 0.99484178 0.09810475 -0.02579326 1.99831236] [-0.0982437 0.99515364 -0.00417296 -0.03329687] [ 0.02525887 0.00668546 0.99965859 -0.65184521] [ 0. 0. 0. 1. ]] SLAMing on 166.80241403699998 meters Centerline goodness [0,1] 0.8337520128824476 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.65 [[ 0.99480131 0.09843891 -0.02607928 1.99950188] [-0.09858948 0.99511779 -0.00454888 -0.03169856] [ 0.02550417 0.00709637 0.99964953 -0.65230013] [ 0. 0. 0. 1. ]] SLAMing on 166.83241403699998 meters Centerline goodness [0,1] 0.8353477568927696 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.65 [[ 9.94466263e-01 1.01912997e-01 -2.55067153e-02 1.99837452e+00] [-1.01987120e-01 9.94784402e-01 -1.61878981e-03 -2.93994269e-02] [ 2.52087068e-02 4.21118829e-03 9.99673340e-01 -6.51099480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86241403699998 meters Centerline goodness [0,1] 0.8353477568927696 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.65 [[ 9.94466263e-01 1.01912997e-01 -2.55067153e-02 1.99837452e+00] [-1.01987120e-01 9.94784402e-01 -1.61878981e-03 -2.93994269e-02] [ 2.52087068e-02 4.21118829e-03 9.99673340e-01 -6.51099480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89241403699998 meters Centerline goodness [0,1] 0.8351530261348006 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.65 [[ 0.99445011 0.10199858 -0.0257928 1.99895497] [-0.10208553 0.99477346 -0.00207364 -0.02740871] [ 0.02544649 0.0046952 0.99966516 -0.65071738] [ 0. 0. 0. 1. ]] SLAMing on 166.92241403699998 meters Centerline goodness [0,1] 0.8360292536029253 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.65 [[ 0.99445324 0.10193608 -0.025919 1.99943604] [-0.10203236 0.99477815 -0.00241624 -0.02622836] [ 0.02553735 0.00504741 0.99966113 -0.65083852] [ 0. 0. 0. 1. ]] SLAMing on 166.95241403699998 meters Centerline goodness [0,1] 0.8343506856381379 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.65 [[ 0.99465175 0.09983732 -0.02646526 2.00167791] [-0.10000609 0.99497361 -0.00512847 -0.02538494] [ 0.02582022 0.00774773 0.99963658 -0.65227014] [ 0. 0. 0. 1. ]] SLAMing on 166.98241403699998 meters Centerline goodness [0,1] 0.8329655261071711 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.65 [[ 0.99497311 0.09642245 -0.02704094 2.00278475] [-0.09668597 0.99527769 -0.00861016 -0.02630863] [ 0.02608304 0.01118136 0.99959725 -0.6530126 ] [ 0. 0. 0. 1. ]] SLAMing on 167.01241403699999 meters Centerline goodness [0,1] 0.8319522065908653 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.65 [[ 0.99500815 0.09608641 -0.02694767 2.0020886 ] [-0.09635122 0.99530934 -0.00870366 -0.02716805] [ 0.02598497 0.01125665 0.99959895 -0.65254329] [ 0. 0. 0. 1. ]] SLAMing on 167.042414037 meters Centerline goodness [0,1] 0.8316012770790032 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.65 [[ 0.99502613 0.09587543 -0.0270352 2.00186742] [-0.09614203 0.99532928 -0.00873705 -0.02770884] [ 0.02607126 0.01129281 0.9995963 -0.65217786] [ 0. 0. 0. 1. ]] SLAMing on 167.072414037 meters Centerline goodness [0,1] 0.8308694348031024 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.65 [[ 0.99502583 0.09581665 -0.02725382 2.00217434] [-0.09608652 0.99533437 -0.00876812 -0.02796706] [ 0.02628653 0.01134324 0.99959009 -0.65205888] [ 0. 0. 0. 1. ]] SLAMing on 167.102414037 meters Centerline goodness [0,1] 0.8265225302365408 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.65 [[ 0.9949473 0.09646642 -0.02782268 2.00383113] [-0.09673109 0.99527573 -0.00832605 -0.02847824] [ 0.02688805 0.0109753 0.9995782 -0.65257842] [ 0. 0. 0. 1. ]] SLAMing on 167.132414037 meters Centerline goodness [0,1] 0.8327100207295963 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.65 [[ 0.99489671 0.09686519 -0.02824307 2.00485476] [-0.09712751 0.99523926 -0.00806579 -0.02906374] [ 0.02732732 0.01076781 0.99956854 -0.65275534] [ 0. 0. 0. 1. ]] SLAMing on 167.162414037 meters Centerline goodness [0,1] 0.8331514645783854 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.65 [[ 0.99484945 0.09726339 -0.02853783 2.00544349] [-0.09752386 0.995202 -0.00787837 -0.02955917] [ 0.02763463 0.01062091 0.99956167 -0.65265747] [ 0. 0. 0. 1. ]] SLAMing on 167.192414037 meters Centerline goodness [0,1] 0.8340737591667553 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.65 [[ 0.99460509 0.09962569 -0.02890376 2.0071479 ] [-0.0998599 0.99497846 -0.00677225 -0.02959332] [ 0.02808393 0.00962204 0.99955926 -0.65268246] [ 0. 0. 0. 1. ]] SLAMing on 167.222414037 meters Centerline goodness [0,1] 0.8366197183098592 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.65 [[ 0.99422427 0.10348215 -0.02845262 2.00593633] [-0.10361293 0.99461268 -0.00315721 -0.02967442] [ 0.02797262 0.00608703 0.99959016 -0.65139821] [ 0. 0. 0. 1. ]] SLAMing on 167.252414037 meters Centerline goodness [0,1] 0.8376299642065792 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.65 [[ 0.9940895 0.10471226 -0.02866023 2.00676245] [-0.10484256 0.99448407 -0.00307779 -0.02799224] [ 0.02817986 0.00606442 0.99958447 -0.65099858] [ 0. 0. 0. 1. ]] SLAMing on 167.282414037 meters Centerline goodness [0,1] 0.8415850039497 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.65 [[ 9.93481631e-01 1.10385211e-01 -2.84491513e-02 2.00767740e+00] [-1.10388616e-01 9.93887436e-01 1.45563175e-03 -2.79199997e-02] [ 2.84359342e-02 1.69431903e-03 9.99594181e-01 -6.50888441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.312414037 meters Centerline goodness [0,1] 0.83993856917367 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.65 [[ 9.93366897e-01 1.11302113e-01 -2.88798890e-02 2.00935633e+00] [-1.11288015e-01 9.93785977e-01 2.10003141e-03 -2.88667985e-02] [ 2.89341667e-02 1.12788384e-03 9.99580683e-01 -6.51774752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.342414037 meters Centerline goodness [0,1] 0.8402879531120596 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.65 [[ 9.93541449e-01 1.09539877e-01 -2.96041182e-02 2.01194183e+00] [-1.09597086e-01 9.93976047e-01 -3.11910829e-04 -3.01980882e-02] [ 2.93916177e-02 3.55442144e-03 9.99561653e-01 -6.53461983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.372414037 meters Centerline goodness [0,1] 0.838798918941925 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.65 [[ 0.9937849 0.10710612 -0.03032896 2.01382624] [-0.10724704 0.99422771 -0.00305359 -0.03199059] [ 0.02982684 0.0062873 0.99953531 -0.65460119] [ 0. 0. 0. 1. ]] SLAMing on 167.402414037 meters Centerline goodness [0,1] 0.8404711375212224 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:-0.66 [[ 0.99406023 0.10435795 -0.03088151 2.01500406] [-0.10458852 0.99449782 -0.00594308 -0.03385256] [ 0.03009139 0.00913763 0.99950538 -0.65537614] [ 0. 0. 0. 1. ]] SLAMing on 167.432414037 meters Centerline goodness [0,1] 0.8401212069842346 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.04, Z:-0.66 [[ 0.99397959 0.10521429 -0.03057009 2.01382504] [-0.10538543 0.99442325 -0.00403781 -0.04043344] [ 0.02997478 0.00723514 0.99952447 -0.65509419] [ 0. 0. 0. 1. ]] SLAMing on 167.462414037 meters Centerline goodness [0,1] 0.8414412510566357 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.04, Z:-0.65 [[ 0.9939337 0.10563576 -0.03060851 2.01331378] [-0.10577643 0.99438538 -0.00300911 -0.04386149] [ 0.03011878 0.00622851 0.99952692 -0.65460496] [ 0. 0. 0. 1. ]] SLAMing on 167.49241403699997 meters Centerline goodness [0,1] 0.8411339140705744 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.05, Z:-0.65 [[ 9.93886363e-01 1.06109362e-01 -3.05073918e-02 2.01248460e+00] [-1.06213481e-01 9.94341705e-01 -1.80830549e-03 -4.77090910e-02] [ 3.01428938e-02 5.03754646e-03 9.99532905e-01 -6.54104363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52241403699998 meters Centerline goodness [0,1] 0.8419731391991967 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.06, Z:-0.65 [[ 0.99400447 0.10476341 -0.03130068 2.0133123 ] [-0.10488735 0.99448136 -0.0023397 -0.05548554] [ 0.03088283 0.00560871 0.99950728 -0.65416083] [ 0. 0. 0. 1. ]] SLAMing on 167.55241403699998 meters Centerline goodness [0,1] 0.842094196804037 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.06, Z:-0.65 [[ 0.99423415 0.10238134 -0.03188276 2.01454687] [-0.10257813 0.99471434 -0.00459467 -0.05892071] [ 0.03124383 0.00783865 0.99948105 -0.6549768 ] [ 0. 0. 0. 1. ]] SLAMing on 167.58241403699998 meters Centerline goodness [0,1] 0.840898603012124 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.06, Z:-0.66 [[ 0.99445186 0.1000436 -0.03250806 2.0158867 ] [-0.10031136 0.99493348 -0.00670874 -0.06246793] [ 0.03167219 0.00993244 0.99944896 -0.65583052] [ 0. 0. 0. 1. ]] SLAMing on 167.61241403699998 meters Centerline goodness [0,1] 0.8442957230994458 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.07, Z:-0.66 [[ 0.99454477 0.09893269 -0.03306095 2.01629002] [-0.09922026 0.99503966 -0.00716984 -0.07037529] [ 0.03218763 0.01041104 0.99942762 -0.65587413] [ 0. 0. 0. 1. ]] SLAMing on 167.64241403699998 meters Centerline goodness [0,1] 0.8447313984830439 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.07, Z:-0.66 [[ 0.99446555 0.0996918 -0.03316334 2.01610851] [-0.09994051 0.99497578 -0.00592428 -0.0741715 ] [ 0.03240612 0.00920585 0.99943239 -0.65558135] [ 0. 0. 0. 1. ]] SLAMing on 167.67241403699998 meters Centerline goodness [0,1] 0.8467074111929247 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.08, Z:-0.66 [[ 0.9946148 0.09803181 -0.03363269 2.01702876] [-0.09835304 0.99511919 -0.00802931 -0.07640157] [ 0.03268141 0.01129395 0.99940201 -0.65580043] [ 0. 0. 0. 1. ]] SLAMing on 167.70241403699998 meters Centerline goodness [0,1] 0.8498530423363142 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.08, Z:-0.66 [[ 0.9946123 0.09799282 -0.03381968 2.01746733] [-0.09831349 0.99512375 -0.00794865 -0.08484366] [ 0.03287586 0.01123075 0.99939634 -0.65645367] [ 0. 0. 0. 1. ]] SLAMing on 167.73241403699998 meters Centerline goodness [0,1] 0.8504768038559823 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.09, Z:-0.66 [[ 0.9947805 0.09603894 -0.03447152 2.0187334 ] [-0.09643003 0.99529089 -0.00986395 -0.08888045] [ 0.03336187 0.01313655 0.999357 -0.65709161] [ 0. 0. 0. 1. ]] SLAMing on 167.76241403699999 meters Centerline goodness [0,1] 0.8532627939430547 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.09, Z:-0.66 [[ 0.99471425 0.09678183 -0.03430507 2.01811955] [-0.09711947 0.99523802 -0.00831262 -0.09456706] [ 0.0333372 0.01160037 0.99937684 -0.65716625] [ 0. 0. 0. 1. ]] SLAMing on 167.792414037 meters Centerline goodness [0,1] 0.8559230481572278 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.10, Z:-0.66 [[ 0.99486517 0.09510687 -0.03461187 2.01825691] [-0.09549152 0.99538365 -0.00963123 -0.09885967] [ 0.03353609 0.01288692 0.99935442 -0.65729798] [ 0. 0. 0. 1. ]] SLAMing on 167.822414037 meters Centerline goodness [0,1] 0.8561960191379632 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.11, Z:-0.66 [[ 0.99493361 0.094264 -0.03494861 2.01695459] [-0.094621 0.99547533 -0.00870213 -0.11036428] [ 0.03397018 0.01196492 0.99935122 -0.65631378] [ 0. 0. 0. 1. ]] SLAMing on 167.852414037 meters Centerline goodness [0,1] 0.8549399281615128 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.12, Z:-0.66 [[ 0.99510027 0.09226106 -0.03554374 2.01690054] [-0.09266064 0.99564991 -0.00975991 -0.11697692] [ 0.03448866 0.01300559 0.99932046 -0.65586052] [ 0. 0. 0. 1. ]] SLAMing on 167.882414037 meters Centerline goodness [0,1] 0.8541546212934665 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.12, Z:-0.66 [[ 0.99530757 0.08982308 -0.03598127 2.01653217] [-0.09026928 0.99585696 -0.01097126 -0.1246662 ] [ 0.03484673 0.01416779 0.99929224 -0.65558028] [ 0. 0. 0. 1. ]] SLAMing on 167.912414037 meters Centerline goodness [0,1] 0.8540145985401459 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.13, Z:-0.66 [[ 0.99547787 0.08767854 -0.03655518 2.0171315 ] [-0.08815166 0.99604027 -0.01153524 -0.13369628] [ 0.03539903 0.01470548 0.99926506 -0.65618597] [ 0. 0. 0. 1. ]] SLAMing on 167.942414037 meters Centerline goodness [0,1] 0.8549081840852415 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.14, Z:-0.66 [[ 0.99566678 0.0853487 -0.03692227 2.01715429] [-0.08585068 0.99623298 -0.01222777 -0.14297603] [ 0.03573956 0.01534459 0.99924333 -0.65660565] [ 0. 0. 0. 1. ]] SLAMing on 167.972414037 meters Centerline goodness [0,1] 0.8531917520681566 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.15, Z:-0.66 [[ 0.99583163 0.08319662 -0.03738556 2.01807768] [-0.08372009 0.9964089 -0.01265896 -0.15208764] [ 0.03619813 0.01573612 0.99922073 -0.65781331] [ 0. 0. 0. 1. ]] SLAMing on 168.002414037 meters Centerline goodness [0,1] 0.8525765802684151 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.17, Z:-0.66 [[ 0.995926 0.0812163 -0.03918298 2.02065232] [-0.08157052 0.99663916 -0.00752515 -0.170814 ] [ 0.03844013 0.01069067 0.99920372 -0.66114495] [ 0. 0. 0. 1. ]] SLAMing on 168.032414037 meters Centerline goodness [0,1] 0.8512252281884714 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.18, Z:-0.66 [[ 0.9960945 0.07906239 -0.03930503 2.02068061] [-0.07945415 0.99680224 -0.00850463 -0.17741261] [ 0.03850695 0.01159436 0.99919107 -0.66176365] [ 0. 0. 0. 1. ]] SLAMing on 168.062414037 meters Centerline goodness [0,1] 0.84604186742665 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.18, Z:-0.66 [[ 0.99621939 0.07725736 -0.03972691 2.02135523] [-0.07767693 0.99693681 -0.00912631 -0.18496109] [ 0.03890014 0.01217767 0.9991689 -0.66242863] [ 0. 0. 0. 1. ]] SLAMing on 168.092414037 meters Centerline goodness [0,1] 0.8485313055742932 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.20, Z:-0.66 [[ 0.99628421 0.07626383 -0.04002011 2.02258701] [-0.07669004 0.99701233 -0.0092226 -0.2036718 ] [ 0.03919719 0.01225747 0.99915631 -0.66461222] [ 0. 0. 0. 1. ]] SLAMing on 168.122414037 meters Centerline goodness [0,1] 0.8506161215048922 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.21, Z:-0.67 [[ 0.99641053 0.07454892 -0.04010626 2.02278546] [-0.07499931 0.99713501 -0.00984288 -0.21157196] [ 0.03925758 0.01281549 0.99914694 -0.66545429] [ 0. 0. 0. 1. ]] SLAMing on 168.152414037 meters Centerline goodness [0,1] 0.8499816752860692 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.22, Z:-0.67 [[ 0.99630761 0.07593764 -0.04005782 2.02289848] [-0.07628174 0.99706081 -0.0071305 -0.2203454 ] [ 0.03939861 0.01015985 0.99917192 -0.66606319] [ 0. 0. 0. 1. ]] SLAMing on 168.182414037 meters Centerline goodness [0,1] 0.8328777183891631 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.24, Z:-0.66 [[ 0.99634953 0.07570304 -0.03945458 2.01847929] [-0.07598912 0.99709178 -0.00580024 -0.23521368] [ 0.03890074 0.00877719 0.99920453 -0.66365119] [ 0. 0. 0. 1. ]] SLAMing on 168.212414037 meters Centerline goodness [0,1] 0.8404910469299405 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.24, Z:-0.66 [[ 0.99625188 0.07695495 -0.03949849 2.01811295] [-0.07714106 0.99701503 -0.00320743 -0.24374222] [ 0.03913376 0.00624236 0.99921448 -0.66347422] [ 0. 0. 0. 1. ]] SLAMing on 168.24241403699997 meters Centerline goodness [0,1] 0.8143388707021004 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.25, Z:-0.66 [[ 0.99641601 0.07467964 -0.03972519 2.01818028] [-0.07491677 0.99717958 -0.00451224 -0.25039583] [ 0.03927618 0.00747215 0.99920045 -0.66381427] [ 0. 0. 0. 1. ]] SLAMing on 168.27241403699998 meters Centerline goodness [0,1] 0.8405073099117102 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.27, Z:-0.67 [[ 0.99674133 0.0703132 -0.03953204 2.01807308] [-0.07060855 0.9974853 -0.0061237 -0.26722117] [ 0.03900205 0.00889504 0.99919954 -0.66624983] [ 0. 0. 0. 1. ]] SLAMing on 168.30241403699998 meters Centerline goodness [0,1] 0.8458892187979933 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.28, Z:-0.67 [[ 0.99694976 0.06730236 -0.03951662 2.01754277] [-0.06764768 0.99768134 -0.00746589 -0.27567743] [ 0.03892252 0.01011633 0.99919102 -0.66655616] [ 0. 0. 0. 1. ]] SLAMing on 168.33241403699998 meters Centerline goodness [0,1] 0.8499345763820739 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.28, Z:-0.67 [[ 0.99715027 0.06431219 -0.0394371 2.01645483] [-0.06469158 0.99786979 -0.0084193 -0.28442537] [ 0.03881163 0.01094656 0.99918658 -0.66626479] [ 0. 0. 0. 1. ]] SLAMing on 168.36241403699998 meters Centerline goodness [0,1] 0.8514912244814467 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.29, Z:-0.67 [[ 0.99735745 0.06106221 -0.0393639 2.01496678] [-0.06148803 0.9980607 -0.00969808 -0.29304037] [ 0.03869538 0.01209286 0.99917788 -0.66550854] [ 0. 0. 0. 1. ]] SLAMing on 168.39241403699998 meters Centerline goodness [0,1] 0.8535218182934065 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.30, Z:-0.66 [[ 0.99755132 0.05792242 -0.03919634 2.01327883] [-0.05838845 0.99823497 -0.0108502 -0.30175525] [ 0.03849869 0.01311224 0.99917262 -0.6646614 ] [ 0. 0. 0. 1. ]] SLAMing on 168.42241403699998 meters Centerline goodness [0,1] 0.8544098971775019 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.32, Z:-0.66 [[ 0.99793978 0.05135124 -0.03846098 2.01103274] [-0.05177043 0.99860912 -0.00998279 -0.31892213] [ 0.03789486 0.01195336 0.99921024 -0.66283796] [ 0. 0. 0. 1. ]] SLAMing on 168.45241403699998 meters Centerline goodness [0,1] 0.854346220142822 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.33, Z:-0.66 [[ 0.9980651 0.04868781 -0.03867247 2.01087502] [-0.04915594 0.99872779 -0.01124704 -0.32550287] [ 0.03807568 0.01312626 0.99918864 -0.66270667] [ 0. 0. 0. 1. ]] SLAMing on 168.48241403699998 meters Centerline goodness [0,1] 0.8533191236447851 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.34, Z:-0.66 [[ 0.99823906 0.044373 -0.03936761 2.01205494] [-0.04493095 0.99890018 -0.01340271 -0.33834152] [ 0.03872959 0.01514793 0.99913491 -0.66348799] [ 0. 0. 0. 1. ]] SLAMing on 168.51241403699999 meters Centerline goodness [0,1] 0.8547416007397514 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.35, Z:-0.66 [[ 0.99831581 0.0423702 -0.03962715 2.01313889] [-0.04296726 0.99897359 -0.01433829 -0.34511906] [ 0.03897896 0.01601681 0.99911166 -0.66464309] [ 0. 0. 0. 1. ]] SLAMing on 168.542414037 meters Centerline goodness [0,1] 0.8516909202705473 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.35, Z:-0.67 [[ 0.99835716 0.04090894 -0.04011778 2.01514772] [-0.0415344 0.99902622 -0.01488275 -0.35180006] [ 0.03946987 0.01652456 0.99908411 -0.66633354] [ 0. 0. 0. 1. ]] SLAMing on 168.572414037 meters Centerline goodness [0,1] 0.8532750374612559 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.36, Z:-0.67 [[ 0.9984004 0.03996711 -0.03999094 2.01493736] [-0.04054987 0.99908126 -0.01386855 -0.36419754] [ 0.03939991 0.01546799 0.99910379 -0.66694618] [ 0. 0. 0. 1. ]] SLAMing on 168.602414037 meters Centerline goodness [0,1] 0.8520897022917991 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.37, Z:-0.67 [[ 0.99836259 0.04100049 -0.03988861 2.01429472] [-0.0414917 0.99907191 -0.0115651 -0.37055752] [ 0.03937741 0.01320121 0.9991372 -0.66650772] [ 0. 0. 0. 1. ]] SLAMing on 168.632414037 meters Centerline goodness [0,1] 0.8502296587926509 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.38, Z:-0.67 [[ 0.99832317 0.04207772 -0.03975308 2.01391986] [-0.042477 0.9990546 -0.00925289 -0.37671004] [ 0.03932616 0.01092596 0.99916669 -0.66642743] [ 0. 0. 0. 1. ]] SLAMing on 168.662414037 meters Centerline goodness [0,1] 0.8507539340153663 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.38, Z:-0.67 [[ 0.99828852 0.04298311 -0.03965458 2.01367511] [-0.0433054 0.99903518 -0.00730427 -0.38245217] [ 0.03930236 0.00900902 0.99918675 -0.66646291] [ 0. 0. 0. 1. ]] SLAMing on 168.692414037 meters Centerline goodness [0,1] 0.8500061523317337 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.39, Z:-0.67 [[ 0.99824388 0.04403902 -0.03961963 2.01362934] [-0.04428266 0.99900502 -0.00529277 -0.38823822] [ 0.03934712 0.00703794 0.99920082 -0.66656043] [ 0. 0. 0. 1. ]] SLAMing on 168.722414037 meters Centerline goodness [0,1] 0.8501828792175236 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.39, Z:-0.67 [[ 0.99819367 0.0453114 -0.03944967 2.01271682] [-0.04547213 0.99896053 -0.00318636 -0.39396094] [ 0.03926428 0.00497446 0.99921648 -0.66593318] [ 0. 0. 0. 1. ]] SLAMing on 168.752414037 meters Centerline goodness [0,1] 0.8501828792175236 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.39, Z:-0.67 [[ 0.99819367 0.0453114 -0.03944967 2.01271682] [-0.04547213 0.99896053 -0.00318636 -0.39396094] [ 0.03926428 0.00497446 0.99921648 -0.66593318] [ 0. 0. 0. 1. ]] SLAMing on 168.782414037 meters Centerline goodness [0,1] 0.8496778958598334 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.41, Z:-0.67 [[ 9.98491341e-01 4.81262562e-02 -2.64368148e-02 2.01328661e+00] [-4.81121052e-02 9.98841255e-01 1.17146137e-03 -4.05561089e-01] [ 2.64625593e-02 1.02236778e-04 9.99649800e-01 -6.68329367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.812414037 meters Centerline goodness [0,1] 0.8494597199155236 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.41, Z:-0.67 [[ 9.98588175e-01 4.60062198e-02 -2.65534168e-02 2.01324817e+00] [-4.60478026e-02 9.98938780e-01 -9.56339427e-04 -4.08108621e-01] [ 2.64812402e-02 2.17771574e-03 9.99646938e-01 -6.68404870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.842414037 meters Centerline goodness [0,1] 0.8484449834528973 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.41, Z:-0.67 [[ 9.98550435e-01 4.67617061e-02 -2.66527834e-02 2.01355384e+00] [-4.67637950e-02 9.98905826e-01 5.45261842e-04 -4.12130485e-01] [ 2.66491181e-02 7.01913852e-04 9.99644603e-01 -6.68593518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.872414037 meters Centerline goodness [0,1] 0.8475849437138565 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.42, Z:-0.67 [[ 9.98625383e-01 4.49023735e-02 -2.70392432e-02 2.01479127e+00] [-4.49247804e-02 9.98990348e-01 -2.21468076e-04 -4.19659270e-01] [ 2.70019985e-02 1.43589570e-03 9.99634348e-01 -6.69592099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.902414037 meters Centerline goodness [0,1] 0.8455379688366078 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.42, Z:-0.67 [[ 0.99871621 0.04251182 -0.02754426 2.01644986] [-0.04258519 0.99909067 -0.00208212 -0.42403028] [ 0.0274307 0.00325243 0.99961842 -0.67081476] [ 0. 0. 0. 1. ]] SLAMing on 168.932414037 meters Centerline goodness [0,1] 0.8467562900838678 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.43, Z:-0.67 [[ 0.99883466 0.03947692 -0.02776482 2.01729521] [-0.03961543 0.99920506 -0.00445614 -0.42869863] [ 0.02756683 0.00555086 0.99960455 -0.67176191] [ 0. 0. 0. 1. ]] SLAMing on 168.96241403699997 meters Centerline goodness [0,1] 0.8457914120527539 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.44, Z:-0.67 [[ 0.99896913 0.03562924 -0.028129 2.02014831] [-0.03582736 0.99933639 -0.00657079 -0.43810543] [ 0.02787622 0.0075718 0.9995827 -0.67486955] [ 0. 0. 0. 1. ]] SLAMing on 168.99241403699997 meters Centerline goodness [0,1] 0.8469322823654987 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.44, Z:-0.68 [[ 0.99897095 0.03548129 -0.0282511 2.02087676] [-0.03565463 0.99934817 -0.00565596 -0.44190033] [ 0.02803201 0.00665742 0.99958486 -0.67551034] [ 0. 0. 0. 1. ]] SLAMing on 169.02241403699998 meters Centerline goodness [0,1] 0.8452243958573072 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.45, Z:-0.68 [[ 0.99897518 0.03556581 -0.02799386 2.02014943] [-0.03570876 0.99935155 -0.00462315 -0.4450383 ] [ 0.02781128 0.00561804 0.9995974 -0.67506883] [ 0. 0. 0. 1. ]] SLAMing on 169.05241403699998 meters Centerline goodness [0,1] 0.8452393153633289 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.45, Z:-0.67 [[ 0.9989625 0.03583013 -0.02810921 2.01986415] [-0.03594346 0.99934757 -0.00353684 -0.44824479] [ 0.02796414 0.00454351 0.9995986 -0.67440416] [ 0. 0. 0. 1. ]] SLAMing on 169.08241403699998 meters Centerline goodness [0,1] 0.8431823785649708 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.45, Z:-0.67 [[ 0.99904395 0.03345955 -0.02813623 2.01894141] [-0.03361672 0.99942162 -0.00513176 -0.45387996] [ 0.02794825 0.0060727 0.99959093 -0.6736282 ] [ 0. 0. 0. 1. ]] SLAMing on 169.11241403699998 meters Centerline goodness [0,1] 0.8446440315685629 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.46, Z:-0.68 [[ 0.99904906 0.03296218 -0.02853879 2.02087684] [-0.03312448 0.99943754 -0.00523261 -0.45730155] [ 0.02835026 0.00617297 0.99957899 -0.67509194] [ 0. 0. 0. 1. ]] SLAMing on 169.14241403699998 meters Centerline goodness [0,1] 0.841577622839226 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.46, Z:-0.68 [[ 0.99902754 0.03356334 -0.02859154 2.02099085] [-0.03369389 0.9994238 -0.0040966 -0.46092507] [ 0.02843757 0.00505597 0.99958278 -0.67514027] [ 0. 0. 0. 1. ]] SLAMing on 169.17241403699998 meters Centerline goodness [0,1] 0.8439911344606796 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.47, Z:-0.68 [[ 9.98977783e-01 3.49943679e-02 -2.86143920e-02 2.02091408e+00] [-3.50622073e-02 9.99383378e-01 -1.87236284e-03 -4.66905229e-01] [ 2.85312256e-02 2.87373262e-03 9.99588771e-01 -6.75034562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20241403699998 meters Centerline goodness [0,1] 0.8433072487644151 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.47, Z:-0.67 [[ 9.98951952e-01 3.56794049e-02 -2.86701571e-02 2.02073384e+00] [-3.57188590e-02 9.99361504e-01 -8.65017203e-04 -4.69478550e-01] [ 2.86209880e-02 1.88817592e-03 9.99588552e-01 -6.74691760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23241403699998 meters Centerline goodness [0,1] 0.8421496268580004 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.47, Z:-0.67 [[ 9.98916598e-01 3.65364484e-02 -2.88221675e-02 2.02078913e+00] [-3.65407175e-02 9.99332093e-01 3.78742724e-04 -4.72815007e-01] [ 2.88167549e-02 6.74850287e-04 9.99584483e-01 -6.74407095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26241403699999 meters Centerline goodness [0,1] 0.8431493093979261 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.48, Z:-0.67 [[ 9.98876702e-01 3.75643153e-02 -2.88835057e-02 2.02075721e+00] [-3.75236077e-02 9.99293838e-01 1.95029456e-03 -4.77156745e-01] [ 2.89363708e-02 -8.64290463e-04 9.99580882e-01 -6.74247328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.292414037 meters Centerline goodness [0,1] 0.8418634228394428 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.49, Z:-0.68 [[ 0.99880503 0.03940126 -0.02891447 2.02156951] [-0.03928562 0.99921763 0.00455707 -0.48620163] [ 0.02907141 -0.0034157 0.9995715 -0.67527559] [ 0. 0. 0. 1. ]] SLAMing on 169.322414037 meters Centerline goodness [0,1] 0.840171062593358 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.49, Z:-0.68 [[ 0.99873312 0.04117036 -0.02893381 2.02345549] [-0.0409769 0.9991338 0.00724811 -0.49388339] [ 0.02920716 -0.00605331 0.99955505 -0.67750176] [ 0. 0. 0. 1. ]] SLAMing on 169.352414037 meters Centerline goodness [0,1] 0.840171062593358 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.49, Z:-0.68 [[ 0.99873312 0.04117036 -0.02893381 2.02345549] [-0.0409769 0.9991338 0.00724811 -0.49388339] [ 0.02920716 -0.00605331 0.99955505 -0.67750176] [ 0. 0. 0. 1. ]] SLAMing on 169.382414037 meters Centerline goodness [0,1] 0.8385708136030994 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.50, Z:-0.68 [[ 0.99865771 0.04312786 -0.02868394 2.02287403] [-0.04284461 0.99902743 0.01041761 -0.50168461] [ 0.02910533 -0.00917467 0.99953424 -0.67731299] [ 0. 0. 0. 1. ]] SLAMing on 169.412414037 meters Centerline goodness [0,1] 0.8370274861341356 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.50, Z:-0.68 [[ 0.99876698 0.04038359 -0.02887378 2.02244974] [-0.04017038 0.9991614 0.00792702 -0.50487401] [ 0.02916968 -0.00675737 0.99955163 -0.67684327] [ 0. 0. 0. 1. ]] SLAMing on 169.442414037 meters Centerline goodness [0,1] 0.8387631821439541 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.51, Z:-0.68 [[ 0.99896453 0.03531059 -0.02868855 2.02041598] [-0.03521473 0.99937239 0.00383977 -0.51479475] [ 0.02880613 -0.00282553 0.99958102 -0.67570053] [ 0. 0. 0. 1. ]] SLAMing on 169.472414037 meters Centerline goodness [0,1] 0.8413460556157162 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.52, Z:-0.68 [[ 9.99070914e-01 3.18966367e-02 -2.89812434e-02 2.02058837e+00] [-3.18744330e-02 9.99491127e-01 1.22791185e-03 -5.19289181e-01] [ 2.90056619e-02 -3.03010313e-04 9.99579201e-01 -6.75542556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.502414037 meters Centerline goodness [0,1] 0.8416596797611501 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.52, Z:-0.68 [[ 9.99170743e-01 2.84730732e-02 -2.91051637e-02 2.02058903e+00] [-2.85255362e-02 9.99592099e-01 -1.38883083e-03 -5.23233191e-01] [ 2.90537474e-02 2.21791953e-03 9.99575390e-01 -6.75533860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.532414037 meters Centerline goodness [0,1] 0.8431757724575404 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.53, Z:-0.68 [[ 0.99925371 0.02521669 -0.02926001 2.0206829 ] [-0.02534064 0.99967137 -0.0038732 -0.52675965] [ 0.02915273 0.00461177 0.99956433 -0.67553597] [ 0. 0. 0. 1. ]] SLAMing on 169.562414037 meters Centerline goodness [0,1] 0.8445867168483708 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.53, Z:-0.68 [[ 0.99932641 0.02192183 -0.02943053 2.02088028] [-0.02212103 0.99973443 -0.00646004 -0.52994847] [ 0.0292811 0.00710672 0.99954595 -0.6756428 ] [ 0. 0. 0. 1. ]] SLAMing on 169.592414037 meters Centerline goodness [0,1] 0.844099087140319 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.53, Z:-0.68 [[ 0.99933784 0.02116663 -0.02959501 2.02205361] [-0.02135162 0.99975433 -0.0059485 -0.53474931] [ 0.02946183 0.00657646 0.99954427 -0.67645183] [ 0. 0. 0. 1. ]] SLAMing on 169.622414037 meters Centerline goodness [0,1] 0.8456533747979622 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.54, Z:-0.68 [[ 0.99940367 0.01737614 -0.02983906 2.02257621] [-0.01761502 0.99981472 -0.00776164 -0.5433345 ] [ 0.02969867 0.00828262 0.99952458 -0.67649478] [ 0. 0. 0. 1. ]] SLAMing on 169.652414037 meters Centerline goodness [0,1] 0.8461459845062649 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.55, Z:-0.68 [[ 0.99944891 0.01402777 -0.0300847 2.02295881] [-0.01434941 0.99984189 -0.01050207 -0.54686962] [ 0.02993262 0.01092798 0.99949218 -0.67659435] [ 0. 0. 0. 1. ]] SLAMing on 169.682414037 meters Centerline goodness [0,1] 0.844627219903429 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.55, Z:-0.68 [[ 0.99944282 0.01347877 -0.03053489 2.02472109] [-0.01379287 0.99985387 -0.01009962 -0.55224306] [ 0.0303943 0.01051515 0.99948268 -0.67766682] [ 0. 0. 0. 1. ]] SLAMing on 169.71241403699997 meters Centerline goodness [0,1] 0.8448113593583764 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.56, Z:-0.68 [[ 0.99943418 0.0133196 -0.03088526 2.02633279] [-0.01361377 0.99986376 -0.00933399 -0.55709455] [ 0.03075673 0.00974917 0.99947935 -0.67878001] [ 0. 0. 0. 1. ]] SLAMing on 169.74241403699997 meters Centerline goodness [0,1] 0.8441449376292989 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.56, Z:-0.68 [[ 0.99942737 0.01352931 -0.03101448 2.02691772] [-0.01377304 0.99987582 -0.0076585 -0.56471266] [ 0.03090701 0.00808128 0.99948959 -0.67909712] [ 0. 0. 0. 1. ]] SLAMing on 169.77241403699998 meters Centerline goodness [0,1] 0.8439145309651117 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.57, Z:-0.68 [[ 0.99942103 0.01432653 -0.03086024 2.02567543] [-0.01451235 0.99987784 -0.00580559 -0.56932709] [ 0.03077329 0.00625009 0.99950685 -0.67772035] [ 0. 0. 0. 1. ]] SLAMing on 169.80241403699998 meters Centerline goodness [0,1] 0.8452918924445353 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.58, Z:-0.67 [[ 0.99946154 0.01205174 -0.03051859 2.02310042] [-0.01221758 0.99991156 -0.00525345 -0.57906264] [ 0.03045258 0.00562348 0.99952039 -0.67401749] [ 0. 0. 0. 1. ]] SLAMing on 169.83241403699998 meters Centerline goodness [0,1] 0.8447553019612655 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.58, Z:-0.67 [[ 0.99946013 0.0116171 -0.03073245 2.0239232 ] [-0.01175797 0.99992116 -0.0044071 -0.58480507] [ 0.03067882 0.00476608 0.99951793 -0.67426991] [ 0. 0. 0. 1. ]] SLAMing on 169.86241403699998 meters Centerline goodness [0,1] 0.8427215124982057 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.59, Z:-0.68 [[ 0.99947909 0.00832508 -0.03118076 2.02585124] [-0.00850932 0.99994709 -0.00578048 -0.59286553] [ 0.03113098 0.00604279 0.99949705 -0.67544331] [ 0. 0. 0. 1. ]] SLAMing on 169.89241403699998 meters Centerline goodness [0,1] 0.8476722839875415 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.60, Z:-0.68 [[ 0.99947936 0.00835554 -0.03116397 2.02614894] [-0.00850565 0.99995284 -0.00468728 -0.59639379] [ 0.03112334 0.00494991 0.99950329 -0.67560814] [ 0. 0. 0. 1. ]] SLAMing on 169.92241403699998 meters Centerline goodness [0,1] 0.8442648175122582 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.60, Z:-0.68 [[ 0.99946623 0.00762673 -0.03176625 2.02848784] [-0.00777637 0.99995923 -0.00458957 -0.59909849] [ 0.03172995 0.00483415 0.99948479 -0.67698906] [ 0. 0. 0. 1. ]] SLAMing on 169.95241403699998 meters Centerline goodness [0,1] 0.8467553256988056 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.60, Z:-0.68 [[ 0.99946263 0.00699748 -0.03202323 2.02996014] [-0.0071346 0.99996586 -0.00416946 -0.60246703] [ 0.03199296 0.0043957 0.99947843 -0.67794095] [ 0. 0. 0. 1. ]] SLAMing on 169.98241403699998 meters Centerline goodness [0,1] 0.8481708693243604 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.61, Z:-0.68 [[ 9.99473773e-01 -6.76509755e-04 -3.24302387e-02 2.03183963e+00] [ 3.38339204e-04 9.99945528e-01 -1.04319844e-02 -6.08163717e-01] [ 3.24355295e-02 1.04155224e-02 9.99419558e-01 -6.79141406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01241403699999 meters Centerline goodness [0,1] 0.8488115206807675 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.61, Z:-0.68 [[ 0.99946036 -0.00461056 -0.03252279 2.03197427] [ 0.00417029 0.99989893 -0.01359201 -0.61126548] [ 0.03258217 0.01344905 0.99937857 -0.67899173] [ 0. 0. 0. 1. ]] SLAMing on 170.042414037 meters Centerline goodness [0,1] 0.8480328975633707 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.61, Z:-0.68 [[ 0.99943558 -0.00861909 -0.03246885 2.03180762] [ 0.00806892 0.99982229 -0.01703751 -0.61310638] [ 0.03260993 0.01676591 0.99932752 -0.67877603] [ 0. 0. 0. 1. ]] SLAMing on 170.072414037 meters Centerline goodness [0,1] 0.8468873954415603 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.61, Z:-0.68 [[ 0.99940027 -0.01294506 -0.03211731 2.03099684] [ 0.01228742 0.9997125 -0.02058989 -0.61378726] [ 0.03237461 0.02018291 0.999272 -0.67823508] [ 0. 0. 0. 1. ]] SLAMing on 170.102414037 meters Centerline goodness [0,1] 0.8459944184519412 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.61, Z:-0.68 [[ 0.99943919 -0.0100125 -0.03195406 2.03100824] [ 0.00947969 0.99981423 -0.01678236 -0.61485447] [ 0.03211616 0.01647004 0.99934843 -0.67802551] [ 0. 0. 0. 1. ]] SLAMing on 170.132414037 meters Centerline goodness [0,1] 0.8457796206585105 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.62, Z:-0.68 [[ 0.99946888 -0.00638699 -0.03195559 2.03075508] [ 0.00598393 0.99990154 -0.01269292 -0.61542365] [ 0.03203351 0.01249496 0.99940869 -0.67737243] [ 0. 0. 0. 1. ]] SLAMing on 170.162414037 meters Centerline goodness [0,1] 0.848020198288072 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.62, Z:-0.68 [[ 0.99948528 -0.00271591 -0.03196547 2.0305726 ] [ 0.00243511 0.99995814 -0.00882024 -0.61551556] [ 0.03198809 0.00873786 0.99945005 -0.67683426] [ 0. 0. 0. 1. ]] SLAMing on 170.192414037 meters Centerline goodness [0,1] 0.8486694979585975 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.61, Z:-0.68 [[ 9.99484603e-01 5.97068167e-04 -3.20962909e-02 2.03135778e+00] [-7.93236631e-04 9.99981083e-01 -6.09948754e-03 -6.13276216e-01] [ 3.20920419e-02 6.12180383e-03 9.99466170e-01 -6.77357204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.222414037 meters Centerline goodness [0,1] 0.8487778893236904 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.61, Z:-0.68 [[ 0.9994674 0.00285147 -0.03250825 2.03375561] [-0.00298315 0.99998754 -0.00400302 -0.61257086] [ 0.03249643 0.00409787 0.99946345 -0.67907884] [ 0. 0. 0. 1. ]] SLAMing on 170.252414037 meters Centerline goodness [0,1] 0.8497591966389999 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.61, Z:-0.68 [[ 0.99946082 0.00291186 -0.03270453 2.03433276] [-0.0030686 0.99998404 -0.00474328 -0.61005597] [ 0.0326902 0.00484108 0.99945381 -0.6795302 ] [ 0. 0. 0. 1. ]] SLAMing on 170.282414037 meters Centerline goodness [0,1] 0.8516520704719323 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.61, Z:-0.68 [[ 0.99944213 0.00594919 -0.03286401 2.03561303] [-0.00601954 0.9999798 -0.00204228 -0.60826703] [ 0.03285119 0.00223897 0.99945775 -0.68052173] [ 0. 0. 0. 1. ]] SLAMing on 170.312414037 meters Centerline goodness [0,1] 0.8514851485148515 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.60, Z:-0.68 [[ 0.99956322 0.01178177 -0.02710278 2.04525377] [-0.0119861 0.99990086 -0.0073889 -0.60168223] [ 0.02701304 0.00771053 0.99960534 -0.68448347] [ 0. 0. 0. 1. ]] SLAMing on 170.342414037 meters Centerline goodness [0,1] 0.8538216169795118 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.60, Z:-0.68 [[ 0.99951936 0.01483713 -0.02721963 2.04600977] [-0.01496618 0.99987768 -0.00454339 -0.5998341 ] [ 0.02714889 0.00494858 0.99961915 -0.68484262] [ 0. 0. 0. 1. ]] SLAMing on 170.372414037 meters Centerline goodness [0,1] 0.8534849476439791 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.60, Z:-0.69 [[ 0.99951905 0.01474302 -0.02728217 2.04629694] [-0.01489324 0.99987498 -0.00531111 -0.59702676] [ 0.02720045 0.00571487 0.99961366 -0.68513393] [ 0. 0. 0. 1. ]] SLAMing on 170.402414037 meters Centerline goodness [0,1] 0.8528538976321552 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.59, Z:-0.69 [[ 0.99952403 0.01415917 -0.02740864 2.04718469] [-0.01434907 0.9998743 -0.00674412 -0.59285566] [ 0.02730971 0.0071342 0.99960156 -0.68600134] [ 0. 0. 0. 1. ]] SLAMing on 170.432414037 meters Centerline goodness [0,1] 0.8528538976321552 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.59, Z:-0.69 [[ 0.99952403 0.01415917 -0.02740864 2.04718469] [-0.01434907 0.9998743 -0.00674412 -0.59285566] [ 0.02730971 0.0071342 0.99960156 -0.68600134] [ 0. 0. 0. 1. ]] SLAMing on 170.46241403699997 meters Centerline goodness [0,1] 0.85335569783378 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.59, Z:-0.69 [[ 0.99953908 0.01319037 -0.02734309 2.04731281] [-0.01340601 0.99988035 -0.00771821 -0.59104445] [ 0.02723802 0.00808121 0.99959631 -0.68612367] [ 0. 0. 0. 1. ]] SLAMing on 170.49241403699997 meters Centerline goodness [0,1] 0.8531153318171574 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.59, Z:-0.69 [[ 0.99954577 0.01254009 -0.02740433 2.04763788] [-0.01276922 0.99988483 -0.00820189 -0.59020248] [ 0.02729832 0.00854809 0.99959078 -0.68625786] [ 0. 0. 0. 1. ]] SLAMing on 170.52241403699998 meters Centerline goodness [0,1] 0.8485772149827138 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.59, Z:-0.69 [[ 0.99956485 0.01079254 -0.02745243 2.04890392] [-0.01105976 0.99989275 -0.00960083 -0.58783954] [ 0.02734587 0.00990027 0.999577 -0.68731791] [ 0. 0. 0. 1. ]] SLAMing on 170.55241403699998 meters Centerline goodness [0,1] 0.8478492858315547 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.59, Z:-0.69 [[ 0.99956807 0.01036984 -0.02749813 2.04905875] [-0.01064799 0.99989342 -0.0099882 -0.58687508] [ 0.02739162 0.01027669 0.99957195 -0.68732304] [ 0. 0. 0. 1. ]] SLAMing on 170.58241403699998 meters Centerline goodness [0,1] 0.8462091194645753 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.59, Z:-0.69 [[ 0.99957187 0.00996513 -0.02750969 2.04904266] [-0.01025733 0.99989225 -0.01050108 -0.58564207] [ 0.02740208 0.01077876 0.99956638 -0.68720911] [ 0. 0. 0. 1. ]] SLAMing on 170.61241403699998 meters Centerline goodness [0,1] 0.8420513450939414 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.58, Z:-0.69 [[ 0.99958007 0.00904731 -0.02752858 2.04924139] [-0.00938269 0.99988303 -0.01207825 -0.58115684] [ 0.02741608 0.01233147 0.99954804 -0.68729612] [ 0. 0. 0. 1. ]] SLAMing on 170.64241403699998 meters Centerline goodness [0,1] 0.8463590290744198 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.58, Z:-0.69 [[ 0.99956673 0.01101308 -0.02729602 2.04773325] [-0.01131461 0.9998764 -0.01091666 -0.57521944] [ 0.02717242 0.01122078 0.99956778 -0.68566054] [ 0. 0. 0. 1. ]] SLAMing on 170.67241403699998 meters Centerline goodness [0,1] 0.8463590290744198 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.58, Z:-0.69 [[ 0.99956673 0.01101308 -0.02729602 2.04773325] [-0.01131461 0.9998764 -0.01091666 -0.57521944] [ 0.02717242 0.01122078 0.99956778 -0.68566054] [ 0. 0. 0. 1. ]] SLAMing on 170.70241403699998 meters Centerline goodness [0,1] 0.8463590290744198 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.58, Z:-0.69 [[ 0.99956673 0.01101308 -0.02729602 2.04773325] [-0.01131461 0.9998764 -0.01091666 -0.57521944] [ 0.02717242 0.01122078 0.99956778 -0.68566054] [ 0. 0. 0. 1. ]] SLAMing on 170.73241403699998 meters Centerline goodness [0,1] 0.843119567000164 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.57, Z:-0.69 [[ 0.99953147 0.01365408 -0.02739353 2.04804059] [-0.01391749 0.99985851 -0.00944803 -0.56887361] [ 0.02726065 0.00982485 0.99958008 -0.68545116] [ 0. 0. 0. 1. ]] SLAMing on 170.76241403699999 meters Centerline goodness [0,1] 0.8453320757038283 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.57, Z:-0.69 [[ 0.99948342 0.01661954 -0.02750784 2.0489348 ] [-0.01681525 0.99983481 -0.00689875 -0.56645605] [ 0.02738864 0.00735774 0.99959778 -0.6859747 ] [ 0. 0. 0. 1. ]] SLAMing on 170.792414037 meters Centerline goodness [0,1] 0.8476026343324922 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.56, Z:-0.69 [[ 0.99947701 0.01711009 -0.0274399 2.04864978] [-0.01731779 0.99982302 -0.00734962 -0.56225054] [ 0.02730929 0.00782097 0.99959644 -0.68584792] [ 0. 0. 0. 1. ]] SLAMing on 170.822414037 meters Centerline goodness [0,1] 0.8477143796760668 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.56, Z:-0.69 [[ 0.99942059 0.02016172 -0.02742246 2.0493101 ] [-0.02029932 0.99978267 -0.0047487 -0.55959653] [ 0.02732076 0.00530261 0.99961265 -0.68638266] [ 0. 0. 0. 1. ]] SLAMing on 170.852414037 meters Centerline goodness [0,1] 0.8466048876496638 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.55, Z:-0.69 [[ 0.99935816 0.0230208 -0.02744664 2.05007819] [-0.02311937 0.99972733 -0.00327932 -0.55306183] [ 0.02736366 0.00391176 0.99961789 -0.68705238] [ 0. 0. 0. 1. ]] SLAMing on 170.882414037 meters Centerline goodness [0,1] 0.8473469888886616 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.55, Z:-0.69 [[ 0.99936325 0.02263632 -0.02758073 2.05053564] [-0.02276778 0.99973082 -0.00446161 -0.54962564] [ 0.02747231 0.00508672 0.99960962 -0.68735772] [ 0. 0. 0. 1. ]] SLAMing on 170.912414037 meters Centerline goodness [0,1] 0.8468444407921769 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.55, Z:-0.69 [[ 0.99936764 0.02249172 -0.02753985 2.05046153] [-0.02264316 0.99973009 -0.00519959 -0.54687429] [ 0.02741547 0.00581989 0.99960718 -0.6873706 ] [ 0. 0. 0. 1. ]] SLAMing on 170.942414037 meters Centerline goodness [0,1] 0.8482086028128529 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.54, Z:-0.69 [[ 0.99937319 0.02215704 -0.02760979 2.05079551] [-0.02233272 0.99973216 -0.00607078 -0.544144 ] [ 0.02746788 0.00668357 0.99960034 -0.68760681] [ 0. 0. 0. 1. ]] SLAMing on 170.972414037 meters Centerline goodness [0,1] 0.8467344929438793 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.54, Z:-0.69 [[ 0.99938219 0.02169005 -0.0276545 2.05116854] [-0.02188959 0.99973635 -0.00693317 -0.54152939] [ 0.02749683 0.00753423 0.9995935 -0.68792117] [ 0. 0. 0. 1. ]] SLAMing on 171.002414037 meters Centerline goodness [0,1] 0.8474617937476954 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.54, Z:-0.69 [[ 0.9993871 0.02119454 -0.02786061 2.05179092] [-0.02141636 0.99974108 -0.00768782 -0.53941688] [ 0.02769046 0.00827978 0.99958225 -0.68815086] [ 0. 0. 0. 1. ]] SLAMing on 171.032414037 meters Centerline goodness [0,1] 0.8436709771591867 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.54, Z:-0.69 [[ 0.99939801 0.0202669 -0.02815805 2.05283534] [-0.02052418 0.99974993 -0.00887838 -0.53695299] [ 0.02797107 0.00945096 0.99956405 -0.68862574] [ 0. 0. 0. 1. ]] SLAMing on 171.062414037 meters Centerline goodness [0,1] 0.8414781947782503 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.54, Z:-0.69 [[ 0.99939635 0.01997252 -0.0284258 2.05385208] [-0.02024538 0.99975138 -0.00934381 -0.53606236] [ 0.02823211 0.00991366 0.99955223 -0.68922744] [ 0. 0. 0. 1. ]] SLAMing on 171.092414037 meters Centerline goodness [0,1] 0.8408433660807679 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.53, Z:-0.69 [[ 0.9993923 0.01983484 -0.02866364 2.05474899] [-0.02012506 0.99974873 -0.00987214 -0.53446704] [ 0.02846063 0.010443 0.99954036 -0.68982029] [ 0. 0. 0. 1. ]] SLAMing on 171.122414037 meters Centerline goodness [0,1] 0.8429902713773681 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.53, Z:-0.69 [[ 0.99933168 0.02236305 -0.02891523 2.05681988] [-0.0225864 0.99971735 -0.00742086 -0.53350549] [ 0.02874111 0.00806899 0.99955432 -0.69135582] [ 0. 0. 0. 1. ]] SLAMing on 171.152414037 meters Centerline goodness [0,1] 0.8429085673146148 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.53, Z:-0.69 [[ 0.99922472 0.02711113 -0.02854714 2.05568524] [-0.02723677 0.99962092 -0.00402155 -0.52859365] [ 0.02842729 0.00479597 0.99958436 -0.69055747] [ 0. 0. 0. 1. ]] SLAMing on 171.182414037 meters Centerline goodness [0,1] 0.8415627254922173 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.53, Z:-0.69 [[ 9.99112499e-01 3.10125341e-02 -2.85032832e-02 2.05573630e+00] [-3.10462674e-02 9.99517673e-01 -7.41596255e-04 -5.26441577e-01] [ 2.84665365e-02 1.62585864e-03 9.99593424e-01 -6.90423889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21241403699997 meters Centerline goodness [0,1] 0.8426163542671785 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.52, Z:-0.69 [[ 0.99891587 0.04025598 -0.02337802 2.06405894] [-0.04036237 0.99917671 -0.004097 -0.52105441] [ 0.02319384 0.00503615 0.9997183 -0.6933005 ] [ 0. 0. 0. 1. ]] SLAMing on 171.24241403699997 meters Centerline goodness [0,1] 0.842406582808364 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.52, Z:-0.69 [[ 0.99886347 0.0413613 -0.02368575 2.06453087] [-0.04147473 0.99913022 -0.00431786 -0.51772539] [ 0.02348656 0.00529532 0.99971013 -0.69341826] [ 0. 0. 0. 1. ]] SLAMing on 171.27241403699998 meters Centerline goodness [0,1] 0.8411663031400469 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.52, Z:-0.69 [[ 9.98691497e-01 4.54246988e-02 -2.34923588e-02 2.06439507e+00] [-4.54545835e-02 9.98966133e-01 -7.39403855e-04 -5.16417736e-01] [ 2.34344836e-02 1.80627173e-03 9.99723743e-01 -6.93257675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30241403699998 meters Centerline goodness [0,1] 0.8384031198686371 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.51, Z:-0.69 [[ 9.98636142e-01 4.65546502e-02 -2.36330337e-02 2.06418743e+00] [-4.65866046e-02 9.98913932e-01 -8.03046894e-04 -5.13587539e-01] [ 2.35699810e-02 1.90293445e-03 9.99720378e-01 -6.92838268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33241403699998 meters Centerline goodness [0,1] 0.8379116927944772 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.51, Z:-0.69 [[ 9.98555941e-01 4.83383489e-02 -2.34400546e-02 2.06227196e+00] [-4.83500237e-02 9.98830451e-01 6.87444886e-05 -5.11242979e-01] [ 2.34159633e-02 1.06468198e-03 9.99725242e-01 -6.90982194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36241403699998 meters Centerline goodness [0,1] 0.8397828536310561 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.51, Z:-0.69 [[ 0.99836916 0.05494285 -0.01550185 2.06515482] [-0.05501274 0.99847716 -0.00411866 -0.50880111] [ 0.01525195 0.00496475 0.99987136 -0.68961368] [ 0. 0. 0. 1. ]] SLAMing on 171.39241403699998 meters Centerline goodness [0,1] 0.8390614131991326 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.51, Z:-0.69 [[ 0.99834686 0.05530061 -0.01566508 2.06465443] [-0.05537398 0.99845647 -0.00428871 -0.50785432] [ 0.01540373 0.00514906 0.9998681 -0.68858757] [ 0. 0. 0. 1. ]] SLAMing on 171.42241403699998 meters Centerline goodness [0,1] 0.8378018829308227 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.51, Z:-0.69 [[ 0.99832713 0.05561196 -0.01581944 2.06461535] [-0.05568674 0.99843892 -0.00432619 -0.50769323] [ 0.01555416 0.00519988 0.99986551 -0.68818873] [ 0. 0. 0. 1. ]] SLAMing on 171.45241403699998 meters Centerline goodness [0,1] 0.8387096774193549 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.51, Z:-0.69 [[ 0.99827403 0.05646691 -0.01613867 2.06564524] [-0.05653875 0.99839227 -0.00403004 -0.50827855] [ 0.01588516 0.00493555 0.99986164 -0.68895598] [ 0. 0. 0. 1. ]] SLAMing on 171.48241403699998 meters Centerline goodness [0,1] 0.838082954591983 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.51, Z:-0.69 [[ 0.99825943 0.05669073 -0.0162565 2.06624697] [-0.05676348 0.99837944 -0.00404901 -0.50813206] [ 0.01600062 0.00496474 0.99985966 -0.68948207] [ 0. 0. 0. 1. ]] SLAMing on 171.51241403699999 meters Centerline goodness [0,1] 0.8377398677015708 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.51, Z:-0.69 [[ 0.99823401 0.05710836 -0.01635543 2.06676693] [-0.05717854 0.99835652 -0.00385578 -0.50826184] [ 0.01610835 0.00478415 0.99985881 -0.69001105] [ 0. 0. 0. 1. ]] SLAMing on 171.542414037 meters Centerline goodness [0,1] 0.8385269701059175 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.51, Z:-0.69 [[ 9.98003011e-01 6.09817423e-02 -1.64686508e-02 2.06884225e+00] [-6.09854429e-02 9.98138617e-01 2.77882255e-04 -5.12000239e-01] [ 1.64549421e-02 7.27020636e-04 9.99864344e-01 -6.91998481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.572414037 meters Centerline goodness [0,1] 0.8383732841630813 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.51, Z:-0.69 [[ 9.97958289e-01 6.16968256e-02 -1.65153231e-02 2.06926208e+00] [-6.16846507e-02 9.98094911e-01 1.24606436e-03 -5.14697475e-01] [ 1.65607381e-02 -2.24778325e-04 9.99862836e-01 -6.92520493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.602414037 meters Centerline goodness [0,1] 0.8375074232588618 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.52, Z:-0.69 [[ 9.98087801e-01 5.94354521e-02 -1.69754988e-02 2.06970589e+00] [-5.94653030e-02 9.98229580e-01 -1.25870352e-03 -5.16860261e-01] [ 1.68706335e-02 2.26574981e-03 9.99855114e-01 -6.92828639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.632414037 meters Centerline goodness [0,1] 0.8359834859385219 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.52, Z:-0.69 [[ 9.98047288e-01 6.00747664e-02 -1.71065527e-02 2.06997686e+00] [-6.00828061e-02 9.98193395e-01 4.40388922e-05 -5.21156271e-01] [ 1.70782935e-02 9.83856790e-04 9.99853671e-01 -6.92948886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.662414037 meters Centerline goodness [0,1] 0.8368372474617988 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.53, Z:-0.69 [[ 9.98129868e-01 5.87476572e-02 -1.68961494e-02 2.06776963e+00] [-5.87618395e-02 9.98271971e-01 -3.43720809e-04 -5.28901714e-01] [ 1.68467596e-02 1.33592683e-03 9.99857191e-01 -6.91406077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.692414037 meters Centerline goodness [0,1] 0.8360766352464882 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.53, Z:-0.69 [[ 9.98231715e-01 5.68546337e-02 -1.73491599e-02 2.06851437e+00] [-5.68968228e-02 9.98378164e-01 -1.94754234e-03 -5.32501064e-01] [ 1.72102956e-02 2.93121061e-03 9.99847595e-01 -6.91845485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.722414037 meters Centerline goodness [0,1] 0.8335383858267716 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.54, Z:-0.69 [[ 0.99837828 0.05421955 -0.01735089 2.06796454] [-0.05429909 0.99851611 -0.00414593 -0.53597325] [ 0.01710035 0.00508135 0.99984087 -0.69171027] [ 0. 0. 0. 1. ]] SLAMing on 171.752414037 meters Centerline goodness [0,1] 0.8306048948186953 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.54, Z:-0.69 [[ 0.9984903 0.05198895 -0.01772777 2.06883223] [-0.05209767 0.99862557 -0.00572687 -0.54048679] [ 0.01740567 0.0066418 0.99982645 -0.6923414 ] [ 0. 0. 0. 1. ]] SLAMing on 171.782414037 meters Centerline goodness [0,1] 0.8306269733874605 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.55, Z:-0.69 [[ 0.99863253 0.04916155 -0.01778261 2.0682813 ] [-0.04930528 0.99875379 -0.00773627 -0.54523193] [ 0.01738012 0.00860247 0.99981195 -0.69199425] [ 0. 0. 0. 1. ]] SLAMing on 171.812414037 meters Centerline goodness [0,1] 0.8323039797128717 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.55, Z:-0.69 [[ 0.99876625 0.04627159 -0.01802562 2.06839087] [-0.04645195 0.99887324 -0.00971897 -0.55031475] [ 0.0175556 0.01054431 0.99979029 -0.69203062] [ 0. 0. 0. 1. ]] SLAMing on 171.842414037 meters Centerline goodness [0,1] 0.8324589088822396 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.56, Z:-0.69 [[ 0.99899873 0.04088595 -0.01816267 2.06746551] [-0.04112883 0.99906657 -0.01320603 -0.56050486] [ 0.01760578 0.01393982 0.99974783 -0.6912619 ] [ 0. 0. 0. 1. ]] SLAMing on 171.872414037 meters Centerline goodness [0,1] 0.833237540027917 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.57, Z:-0.69 [[ 0.99911279 0.03801146 -0.0181316 2.06638473] [-0.03828719 0.99915253 -0.01511034 -0.56532003] [ 0.01754187 0.01579115 0.99972142 -0.69036545] [ 0. 0. 0. 1. ]] SLAMing on 171.902414037 meters Centerline goodness [0,1] 0.8346532228436135 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.57, Z:-0.69 [[ 0.99921949 0.03503738 -0.01824254 2.06598281] [-0.03535178 0.99922679 -0.01720681 -0.57006685] [ 0.01762555 0.01783829 0.99968552 -0.6899956 ] [ 0. 0. 0. 1. ]] SLAMing on 171.932414037 meters Centerline goodness [0,1] 0.8339689960629921 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.58, Z:-0.69 [[ 0.99920595 0.03542202 -0.01824138 2.06562068] [-0.03570612 0.99924226 -0.01549113 -0.5766995 ] [ 0.01767883 0.01613016 0.9997136 -0.68946838] [ 0. 0. 0. 1. ]] SLAMing on 171.96241403699997 meters Centerline goodness [0,1] 0.8354264675802823 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.58, Z:-0.69 [[ 0.99917847 0.03620532 -0.01820872 2.06500374] [-0.0364525 0.99924513 -0.01343112 -0.58274229] [ 0.01770869 0.01408384 0.99974399 -0.68864086] [ 0. 0. 0. 1. ]] SLAMing on 171.99241403699997 meters Centerline goodness [0,1] 0.835181245397267 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.59, Z:-0.69 [[ 0.99911765 0.03804392 -0.0177926 2.06315025] [-0.03822085 0.99922212 -0.00971211 -0.59211757] [ 0.01740927 0.01038359 0.99979453 -0.68695142] [ 0. 0. 0. 1. ]] SLAMing on 172.02241403699998 meters Centerline goodness [0,1] 0.8362680737059534 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.60, Z:-0.69 [[ 0.99908237 0.03901343 -0.01767391 2.06234076] [-0.03916126 0.9992001 -0.00809701 -0.59559903] [ 0.01734388 0.00878171 0.99981102 -0.68613306] [ 0. 0. 0. 1. ]] SLAMing on 172.05241403699998 meters Centerline goodness [0,1] 0.8370626650561959 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.60, Z:-0.69 [[ 0.99904661 0.03995488 -0.01759179 2.06155819] [-0.04007475 0.99917544 -0.00651517 -0.59918533] [ 0.01731697 0.00721394 0.99982403 -0.68528842] [ 0. 0. 0. 1. ]] SLAMing on 172.08241403699998 meters Centerline goodness [0,1] 0.8353085913471396 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.60, Z:-0.68 [[ 0.99901729 0.0406768 -0.01760281 2.06119611] [-0.04077218 0.99915549 -0.0050936 -0.60325711] [ 0.01738076 0.0058063 0.99983208 -0.68480266] [ 0. 0. 0. 1. ]] SLAMing on 172.11241403699998 meters Centerline goodness [0,1] 0.8345379558168974 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.61, Z:-0.69 [[ 0.99901511 0.04047629 -0.01817911 2.06314368] [-0.04056772 0.99916579 -0.00468915 -0.60778088] [ 0.01797415 0.00542202 0.99982375 -0.68599207] [ 0. 0. 0. 1. ]] SLAMing on 172.14241403699998 meters Centerline goodness [0,1] 0.8340021292277455 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.61, Z:-0.69 [[ 0.9991131 0.03794428 -0.01825512 2.06343569] [-0.03807452 0.99925149 -0.00684039 -0.61191671] [ 0.01798191 0.00752938 0.99980996 -0.68662772] [ 0. 0. 0. 1. ]] SLAMing on 172.17241403699998 meters Centerline goodness [0,1] 0.830622029175545 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.62, Z:-0.69 [[ 0.99917382 0.03624042 -0.01839337 2.06590346] [-0.03638387 0.99930956 -0.00752512 -0.62093301] [ 0.01810795 0.00818812 0.99980251 -0.68985463] [ 0. 0. 0. 1. ]] SLAMing on 172.20241403699998 meters Centerline goodness [0,1] 0.8319491438531734 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.62, Z:-0.69 [[ 0.99917254 0.03619122 -0.01855874 2.06733948] [-0.03632359 0.99931664 -0.00684523 -0.62447218] [ 0.01829832 0.00751368 0.99980434 -0.69129667] [ 0. 0. 0. 1. ]] SLAMing on 172.23241403699998 meters Centerline goodness [0,1] 0.8300783654043409 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.63, Z:-0.69 [[ 0.99915731 0.03658874 -0.01859948 2.06760938] [-0.03669867 0.99931066 -0.00560397 -0.62832249] [ 0.01838161 0.00628182 0.99981131 -0.69146121] [ 0. 0. 0. 1. ]] SLAMing on 172.26241403699999 meters Centerline goodness [0,1] 0.8305081250515549 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.63, Z:-0.69 [[ 0.99914588 0.03674057 -0.01891118 2.06835585] [-0.03683398 0.99931074 -0.0046149 -0.63286265] [ 0.01872859 0.00530753 0.99981052 -0.69159999] [ 0. 0. 0. 1. ]] SLAMing on 172.292414037 meters Centerline goodness [0,1] 0.8277155154046107 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.64, Z:-0.69 [[ 0.99924714 0.0368801 -0.01204241 2.07682796] [-0.0370037 0.999263 -0.01020749 -0.64414058] [ 0.01165708 0.01064541 0.99987539 -0.69084755] [ 0. 0. 0. 1. ]] SLAMing on 172.322414037 meters Centerline goodness [0,1] 0.8246947259028319 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.65, Z:-0.69 [[ 0.99928775 0.03555931 -0.01263022 2.07793989] [-0.03569698 0.99930379 -0.01084735 -0.65015157] [ 0.0122357 0.01129048 0.9998614 -0.69125829] [ 0. 0. 0. 1. ]] SLAMing on 172.352414037 meters Centerline goodness [0,1] 0.8225958689114735 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.66, Z:-0.69 [[ 0.99929447 0.0351591 -0.01320614 2.07961647] [-0.03529671 0.99932343 -0.0103357 -0.65624795] [ 0.01283381 0.01079454 0.99985938 -0.69220741] [ 0. 0. 0. 1. ]] SLAMing on 172.382414037 meters Centerline goodness [0,1] 0.8210250604870036 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.66, Z:-0.69 [[ 0.99929755 0.03495481 -0.01351174 2.08101647] [-0.03508454 0.99933932 -0.00948653 -0.66166507] [ 0.01317121 0.00995392 0.99986371 -0.69320659] [ 0. 0. 0. 1. ]] SLAMing on 172.412414037 meters Centerline goodness [0,1] 0.8177213480110759 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.67, Z:-0.69 [[ 0.99927423 0.03559755 -0.01355844 2.08151992] [-0.03567499 0.99934824 -0.0055136 -0.67244758] [ 0.01335333 0.0059933 0.99989288 -0.69203462] [ 0. 0. 0. 1. ]] SLAMing on 172.442414037 meters Centerline goodness [0,1] 0.8185430764339888 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.68, Z:-0.69 [[ 0.99937265 0.03283594 -0.01327067 2.08045111] [-0.03294236 0.99942618 -0.00788165 -0.67597423] [ 0.01300425 0.00831387 0.99988088 -0.69188101] [ 0. 0. 0. 1. ]] SLAMing on 172.472414037 meters Centerline goodness [0,1] 0.8168045655611835 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.68, Z:-0.69 [[ 0.99945958 0.03018975 -0.01300475 2.07882966] [-0.0303206 0.99949035 -0.00998536 -0.6803591 ] [ 0.01269666 0.01037427 0.99986558 -0.69087301] [ 0. 0. 0. 1. ]] SLAMing on 172.502414037 meters Centerline goodness [0,1] 0.8165015732432117 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.69, Z:-0.69 [[ 0.9996535 0.02612093 -0.00325106 2.08087686] [-0.02614856 0.99961959 -0.00877029 -0.69226012] [ 0.00302073 0.00885226 0.99995626 -0.69128395] [ 0. 0. 0. 1. ]] SLAMing on 172.532414037 meters Centerline goodness [0,1] 0.8141118992812515 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.70, Z:-0.69 [[ 0.999728 0.02310599 -0.00316774 2.07986431] [-0.02314046 0.9996682 -0.01131402 -0.69626533] [ 0.00290527 0.01138425 0.99993098 -0.69050014] [ 0. 0. 0. 1. ]] SLAMing on 172.562414037 meters Centerline goodness [0,1] 0.8141118992812515 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.70, Z:-0.69 [[ 0.999728 0.02310599 -0.00316774 2.07986431] [-0.02314046 0.9996682 -0.01131402 -0.69626533] [ 0.00290527 0.01138425 0.99993098 -0.69050014] [ 0. 0. 0. 1. ]] SLAMing on 172.592414037 meters Centerline goodness [0,1] 0.8131023023973416 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.70, Z:-0.69 [[ 0.99979558 0.01998998 -0.00303366 2.0793109 ] [-0.02003054 0.99970149 -0.01398935 -0.69971987] [ 0.00275311 0.01404725 0.99989754 -0.69042583] [ 0. 0. 0. 1. ]] SLAMing on 172.622414037 meters Centerline goodness [0,1] 0.8163795982632759 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.70, Z:-0.69 [[ 0.99980639 0.01930975 -0.00378252 2.08183532] [-0.01935877 0.99972303 -0.01338295 -0.70459068] [ 0.00352305 0.01345359 0.99990329 -0.69144031] [ 0. 0. 0. 1. ]] SLAMing on 172.652414037 meters Centerline goodness [0,1] 0.8143696645788494 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.71, Z:-0.70 [[ 0.99985469 0.01646932 -0.00440069 2.0869171 ] [-0.01653268 0.9997542 -0.01477201 -0.71206259] [ 0.00415633 0.01484262 0.9998812 -0.69615298] [ 0. 0. 0. 1. ]] SLAMing on 172.682414037 meters Centerline goodness [0,1] 0.8130170316301704 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.72, Z:-0.70 [[ 0.99985759 0.01621275 -0.00468559 2.08905391] [-0.01627786 0.99976652 -0.01421054 -0.71592859] [ 0.0044541 0.01428479 0.99988805 -0.69804681] [ 0. 0. 0. 1. ]] SLAMing on 172.71241403699997 meters Centerline goodness [0,1] 0.817384720593982 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.72, Z:-0.70 [[ 0.99986112 0.01585046 -0.00514768 2.09123765] [-0.01591966 0.99977952 -0.01369233 -0.71960544] [ 0.00492951 0.01377238 0.999893 -0.69948901] [ 0. 0. 0. 1. ]] SLAMing on 172.74241403699997 meters Centerline goodness [0,1] 0.814089152534029 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.72, Z:-0.70 [[ 0.9998632 0.01568542 -0.00524943 2.092308 ] [-0.01575226 0.99979216 -0.01294222 -0.72413457] [ 0.00504534 0.01302314 0.99990247 -0.70039638] [ 0. 0. 0. 1. ]] SLAMing on 172.77241403699998 meters Centerline goodness [0,1] 0.8119598341409802 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.73, Z:-0.70 [[ 0.99991144 0.01224964 -0.00520252 2.09310092] [-0.01232592 0.99981312 -0.01489265 -0.73219317] [ 0.00501912 0.01495546 0.99987556 -0.70135744] [ 0. 0. 0. 1. ]] SLAMing on 172.80241403699998 meters Centerline goodness [0,1] 0.8123670578814344 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.74, Z:-0.70 [[ 0.99991583 0.01172554 -0.00555467 2.09453154] [-0.01180257 0.99983172 -0.01404381 -0.73701223] [ 0.00538907 0.01410818 0.99988595 -0.70166507] [ 0. 0. 0. 1. ]] SLAMing on 172.83241403699998 meters Centerline goodness [0,1] 0.8082502838400404 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.74, Z:-0.70 [[ 0.99995305 0.00799785 -0.00547113 2.09448712] [-0.00808454 0.99983913 -0.01601131 -0.74397188] [ 0.00534219 0.01605479 0.99985684 -0.70113139] [ 0. 0. 0. 1. ]] SLAMing on 172.86241403699998 meters Centerline goodness [0,1] 0.8104530498607947 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.75, Z:-0.70 [[ 0.99995533 0.00751009 -0.00573876 2.0953721 ] [-0.00759534 0.99985893 -0.01498113 -0.7485871 ] [ 0.00562544 0.01502405 0.99987131 -0.70065881] [ 0. 0. 0. 1. ]] SLAMing on 172.89241403699998 meters Centerline goodness [0,1] 0.8076529829763305 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.75, Z:-0.70 [[ 0.99995747 0.00712779 -0.00585232 2.09573152] [-0.00720877 0.99987691 -0.01393544 -0.75333976] [ 0.00575227 0.01397703 0.99988577 -0.69997386] [ 0. 0. 0. 1. ]] SLAMing on 172.92241403699998 meters Centerline goodness [0,1] 0.8098598778422215 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.76, Z:-0.70 [[ 0.99995871 0.00662391 -0.00622073 2.09679307] [-0.00670355 0.99989469 -0.01287137 -0.75827937] [ 0.00613481 0.01291254 0.99989781 -0.6994426 ] [ 0. 0. 0. 1. ]] SLAMing on 172.95241403699998 meters Centerline goodness [0,1] 0.8077488585652746 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.76, Z:-0.70 [[ 0.99995986 0.00630009 -0.00637144 2.09761982] [-0.00637541 0.99990921 -0.01187118 -0.76284434] [ 0.00629607 0.01191133 0.99990924 -0.69933401] [ 0. 0. 0. 1. ]] SLAMing on 172.98241403699998 meters Centerline goodness [0,1] 0.8081549757850336 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.77, Z:-0.70 [[ 0.99996553 0.00522742 -0.00645092 2.09968657] [-0.00530022 0.99992187 -0.01132128 -0.76872246] [ 0.00639123 0.01135509 0.9999151 -0.70084155] [ 0. 0. 0. 1. ]] SLAMing on 173.01241403699999 meters Centerline goodness [0,1] 0.8071682155163412 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.77, Z:-0.70 [[ 0.99996442 0.00551771 -0.00638007 2.09995242] [-0.0055857 0.99992728 -0.0106876 -0.77038269] [ 0.00632064 0.01072286 0.99992253 -0.70126139] [ 0. 0. 0. 1. ]] SLAMing on 173.042414037 meters Centerline goodness [0,1] 0.80611202765339 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.77, Z:-0.70 [[ 0.99996199 0.0063973 -0.00592448 2.09893803] [-0.0064526 0.99993536 -0.00936205 -0.77325209] [ 0.0058642 0.00939992 0.99993862 -0.70103527] [ 0. 0. 0. 1. ]] SLAMing on 173.072414037 meters Centerline goodness [0,1] 0.8062935597128335 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.78, Z:-0.70 [[ 0.99995936 0.00684753 -0.00586392 2.09820651] [-0.0068965 0.99994118 -0.00837056 -0.77531895] [ 0.00580626 0.00841066 0.99994777 -0.69989371] [ 0. 0. 0. 1. ]] SLAMing on 173.102414037 meters Centerline goodness [0,1] 0.8048716536878261 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.78, Z:-0.70 [[ 0.99995646 0.0072294 -0.00590078 2.09753479] [-0.00727253 0.99994676 -0.0073202 -0.77794217] [ 0.00584754 0.0073628 0.9999558 -0.6985242 ] [ 0. 0. 0. 1. ]] SLAMing on 173.132414037 meters Centerline goodness [0,1] 0.8034336115923768 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.78, Z:-0.70 [[ 0.99995793 0.00667276 -0.00629443 2.09851888] [-0.00671346 0.99995655 -0.00646759 -0.7813053 ] [ 0.006251 0.00650957 0.99995927 -0.69773711] [ 0. 0. 0. 1. ]] SLAMing on 173.162414037 meters Centerline goodness [0,1] 0.8036606532372588 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.78, Z:-0.70 [[ 0.99995808 0.00635129 -0.006595 2.09936306] [-0.00639255 0.99996001 -0.00625465 -0.78262827] [ 0.00655501 0.00629654 0.99995869 -0.69775243] [ 0. 0. 0. 1. ]] SLAMing on 173.192414037 meters Centerline goodness [0,1] 0.8042113040265977 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.78, Z:-0.70 [[ 0.99995964 0.00584015 -0.00682688 2.10046843] [-0.00588253 0.99996345 -0.00620429 -0.7837948 ] [ 0.0067904 0.0062442 0.99995745 -0.69814243] [ 0. 0. 0. 1. ]] SLAMing on 173.222414037 meters Centerline goodness [0,1] 0.8032138051135914 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.79, Z:-0.70 [[ 0.99996389 0.00424204 -0.00736345 2.10322156] [-0.00428914 0.99997037 -0.00639214 -0.78552449] [ 0.00733611 0.00642349 0.99995246 -0.69902225] [ 0. 0. 0. 1. ]] SLAMing on 173.252414037 meters Centerline goodness [0,1] 0.8034846884899683 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.79, Z:-0.70 [[ 0.99996423 0.00372255 -0.00759448 2.10423663] [-0.00377006 0.99997336 -0.0062507 -0.78662082] [ 0.00757101 0.00627911 0.99995163 -0.69922333] [ 0. 0. 0. 1. ]] SLAMing on 173.282414037 meters Centerline goodness [0,1] 0.8031338204647973 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.79, Z:-0.70 [[ 0.99996374 0.00318408 -0.0078984 2.10543588] [-0.00323136 0.9999769 -0.00598024 -0.7876291 ] [ 0.00787918 0.00600555 0.99995092 -0.69927617] [ 0. 0. 0. 1. ]] SLAMing on 173.312414037 meters Centerline goodness [0,1] 0.8044728097473496 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.79, Z:-0.70 [[ 9.99964579e-01 1.33875221e-03 -8.30949051e-03 2.10836287e+00] [-1.39371979e-03 9.99977164e-01 -6.61277441e-03 -7.88384885e-01] [ 8.30044789e-03 6.62412128e-03 9.99943610e-01 -7.00776808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.342414037 meters Centerline goodness [0,1] 0.8038334434897554 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.79, Z:-0.70 [[ 9.99962330e-01 8.26904893e-04 -8.64025639e-03 2.10970142e+00] [-8.84979905e-04 9.99977030e-01 -6.71978538e-03 -7.88525005e-01] [ 8.63450130e-03 6.72717871e-03 9.99940093e-01 -7.01271007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.372414037 meters Centerline goodness [0,1] 0.8051604716332681 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.79, Z:-0.70 [[ 9.99960118e-01 4.78358644e-04 -8.91811644e-03 2.11065715e+00] [-5.39282023e-04 9.99976528e-01 -6.83026501e-03 -7.88223914e-01] [ 8.91463980e-03 6.83480199e-03 9.99936905e-01 -7.01513324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.402414037 meters Centerline goodness [0,1] 0.8047398112511204 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.79, Z:-0.70 [[ 9.99958241e-01 3.81664812e-04 -9.13076766e-03 2.11114223e+00] [-4.43805907e-04 9.99976750e-01 -6.80462344e-03 -7.87825739e-01] [ 9.12795828e-03 6.80839158e-03 9.99935161e-01 -7.01394840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.432414037 meters Centerline goodness [0,1] 0.8106578637113888 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.79, Z:-0.70 [[ 0.99995116 0.00284562 -0.00946512 2.1131208 ] [-0.00287934 0.99998955 -0.0035514 -0.78691033] [ 0.00945491 0.00357848 0.9999489 -0.70190834] [ 0. 0. 0. 1. ]] SLAMing on 173.46241403699997 meters Centerline goodness [0,1] 0.8078229515050167 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.78, Z:-0.70 [[ 0.99995099 0.00241821 -0.00960096 2.11425065] [-0.00245806 0.99998841 -0.00414062 -0.78480748] [ 0.00959084 0.00416402 0.99994534 -0.70289626] [ 0. 0. 0. 1. ]] SLAMing on 173.49241403699997 meters Centerline goodness [0,1] 0.8081396868546933 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.78, Z:-0.70 [[ 9.99950180e-01 1.97871626e-03 -9.78380407e-03 2.11534474e+00] [-2.02401188e-03 9.99987271e-01 -4.62192102e-03 -7.83032676e-01] [ 9.77453405e-03 4.64149329e-03 9.99941456e-01 -7.03682930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52241403699998 meters Centerline goodness [0,1] 0.808254581527698 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.78, Z:-0.70 [[ 9.99950047e-01 1.59260706e-03 -9.86744352e-03 2.11614791e+00] [-1.64268244e-03 9.99985804e-01 -5.06878325e-03 -7.81594346e-01] [ 9.85923086e-03 5.08473913e-03 9.99938469e-01 -7.04319917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55241403699998 meters Centerline goodness [0,1] 0.8107229260425067 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.78, Z:-0.70 [[ 9.99949745e-01 1.28333920e-03 -9.94283713e-03 2.11557076e+00] [-1.33308066e-03 9.99986623e-01 -4.99773164e-03 -7.80414477e-01] [ 9.93629033e-03 5.01073508e-03 9.99938079e-01 -7.02743387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58241403699998 meters Centerline goodness [0,1] 0.8156279263344085 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.78, Z:-0.70 [[ 9.99949784e-01 1.33603627e-03 -9.93197294e-03 2.11468550e+00] [-1.38262598e-03 9.99988067e-01 -4.68549629e-03 -7.79871642e-01] [ 9.92559443e-03 4.69899321e-03 9.99939699e-01 -7.01152017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61241403699998 meters Centerline goodness [0,1] 0.8126707428125406 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.78, Z:-0.70 [[ 9.99949450e-01 1.43254794e-03 -9.95215059e-03 2.11391032e+00] [-1.47731663e-03 9.99988817e-01 -4.49249963e-03 -7.78873176e-01] [ 9.94560357e-03 4.50697501e-03 9.99940384e-01 -6.99829996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64241403699998 meters Centerline goodness [0,1] 0.8184503757450117 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.77, Z:-0.70 [[ 9.99946140e-01 1.20566028e-03 -1.03083792e-02 2.11399243e+00] [-1.25714223e-03 9.99986764e-01 -4.98916410e-03 -7.74441300e-01] [ 1.03022276e-02 5.00185448e-03 9.99934421e-01 -6.98727994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67241403699998 meters Centerline goodness [0,1] 0.8183483398261139 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.77, Z:-0.70 [[ 9.99943585e-01 8.60557666e-04 -1.05870526e-02 2.11491006e+00] [-9.21019567e-04 9.99983289e-01 -5.70737919e-03 -7.71481160e-01] [ 1.05819641e-02 5.71680810e-03 9.99927667e-01 -6.99177798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70241403699998 meters Centerline goodness [0,1] 0.8160275521743601 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.77, Z:-0.70 [[ 0.99992972 0.00372454 -0.01125573 2.11708472] [-0.00375138 0.99999017 -0.00236464 -0.77061896] [ 0.01124681 0.0024067 0.99993386 -0.699573 ] [ 0. 0. 0. 1. ]] SLAMing on 173.73241403699998 meters Centerline goodness [0,1] 0.8175888324873096 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.77, Z:-0.70 [[ 9.99909463e-01 6.54580605e-03 -1.17565891e-02 2.11919112e+00] [-6.54580657e-03 9.99978575e-01 3.84356555e-05 -7.65716643e-01] [ 1.17565888e-02 3.85241822e-05 9.99930888e-01 -7.00725875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76241403699999 meters Centerline goodness [0,1] 0.8171681415929204 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.76, Z:-0.70 [[ 9.99911245e-01 6.37105511e-03 -1.17009350e-02 2.11912655e+00] [-6.37872414e-03 9.99979465e-01 -6.18217799e-04 -7.62403606e-01] [ 1.16967560e-02 6.92799966e-04 9.99931351e-01 -7.00809031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.792414037 meters Centerline goodness [0,1] 0.8167698736343956 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.76, Z:-0.70 [[ 9.99912579e-01 6.20643752e-03 -1.16754024e-02 2.11888599e+00] [-6.22050060e-03 9.99979970e-01 -1.16857558e-03 -7.59489003e-01] [ 1.16679158e-02 1.24110027e-03 9.99931157e-01 -7.00508305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.822414037 meters Centerline goodness [0,1] 0.8194294873400285 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.76, Z:-0.70 [[ 9.99913897e-01 6.01036167e-03 -1.16650694e-02 2.11854946e+00] [-6.03042951e-03 9.99980396e-01 -1.68592548e-03 -7.56863461e-01] [ 1.16547077e-02 1.75612569e-03 9.99930539e-01 -6.99973432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.852414037 meters Centerline goodness [0,1] 0.8217054263565892 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.75, Z:-0.70 [[ 0.9999161 0.00591043 -0.01152634 2.11739534] [-0.00594063 0.99997901 -0.00258694 -0.75132479] [ 0.01151081 0.00265519 0.99993022 -0.69877082] [ 0. 0. 0. 1. ]] SLAMing on 173.882414037 meters Centerline goodness [0,1] 0.8253745318352059 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.75, Z:-0.70 [[ 0.99991627 0.00586577 -0.01153418 2.11700695] [-0.00590232 0.99997766 -0.00313671 -0.74802672] [ 0.01151553 0.00320452 0.99992856 -0.69822678] [ 0. 0. 0. 1. ]] SLAMing on 173.912414037 meters Centerline goodness [0,1] 0.8238711575231652 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.74, Z:-0.70 [[ 0.99991702 0.00592346 -0.01143934 2.11642202] [-0.00596536 0.99997561 -0.00363199 -0.74467265] [ 0.01141755 0.00369993 0.99992797 -0.69772286] [ 0. 0. 0. 1. ]] SLAMing on 173.942414037 meters Centerline goodness [0,1] 0.8233053520306662 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.74, Z:-0.70 [[ 0.99991129 0.00734553 -0.01111141 2.11487685] [-0.00737631 0.99996906 -0.00273166 -0.73857351] [ 0.011091 0.00281338 0.99993454 -0.69607617] [ 0. 0. 0. 1. ]] SLAMing on 173.972414037 meters Centerline goodness [0,1] 0.8237696006185218 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.73, Z:-0.70 [[ 0.99991028 0.00759683 -0.01103233 2.11423936] [-0.00763136 0.9999661 -0.00309063 -0.73498805] [ 0.01100848 0.00317455 0.99993437 -0.69553189] [ 0. 0. 0. 1. ]] SLAMing on 174.002414037 meters Centerline goodness [0,1] 0.8259125840537944 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.73, Z:-0.70 [[ 0.99990851 0.00762954 -0.01117003 2.11437135] [-0.00767149 0.99996366 -0.00371773 -0.73148829] [ 0.01114126 0.00380308 0.9999307 -0.69552362] [ 0. 0. 0. 1. ]] SLAMing on 174.032414037 meters Centerline goodness [0,1] 0.8241140160632999 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.73, Z:-0.69 [[ 0.99990183 0.00869498 -0.01098723 2.11368337] [-0.00873106 0.99995664 -0.00323932 -0.72590918] [ 0.01095859 0.00333493 0.99993439 -0.69483328] [ 0. 0. 0. 1. ]] SLAMing on 174.062414037 meters Centerline goodness [0,1] 0.8274806624590708 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.72, Z:-0.69 [[ 0.9999033 0.00855463 -0.01096409 2.11356577] [-0.00859599 0.99995609 -0.00373064 -0.72377084] [ 0.0109317 0.00382453 0.99993293 -0.69471204] [ 0. 0. 0. 1. ]] SLAMing on 174.092414037 meters Centerline goodness [0,1] 0.8385733843176132 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.72, Z:-0.69 [[ 0.99990504 0.00809086 -0.01115597 2.11425185] [-0.00814029 0.99995722 -0.00439182 -0.72167198] [ 0.01111996 0.00448222 0.99992813 -0.694982 ] [ 0. 0. 0. 1. ]] SLAMing on 174.122414037 meters Centerline goodness [0,1] 0.8378923661614976 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.72, Z:-0.70 [[ 0.99990669 0.00757858 -0.01136553 2.11520033] [-0.00764102 0.9999559 -0.00546072 -0.71650393] [ 0.01132364 0.00554706 0.9999205 -0.69558879] [ 0. 0. 0. 1. ]] SLAMing on 174.152414037 meters Centerline goodness [0,1] 0.8335275744720526 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.71, Z:-0.70 [[ 0.99990745 0.00719504 -0.01154633 2.11623082] [-0.00726848 0.99995354 -0.00633101 -0.71346277] [ 0.01150024 0.00641434 0.9999133 -0.69647229] [ 0. 0. 0. 1. ]] SLAMing on 174.182414037 meters Centerline goodness [0,1] 0.8428220118782479 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.71, Z:-0.70 [[ 0.99990658 0.00710486 -0.01167731 2.11702253] [-0.00718729 0.99994944 -0.00703252 -0.71052776] [ 0.01162675 0.00711579 0.99990709 -0.69732658] [ 0. 0. 0. 1. ]] SLAMing on 174.21241403699997 meters Centerline goodness [0,1] 0.8363661428177558 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.71, Z:-0.70 [[ 0.99987934 0.00983427 -0.01202483 2.11911299] [-0.00989267 0.99993951 -0.00480686 -0.70591729] [ 0.01197683 0.00492524 0.99991615 -0.69879352] [ 0. 0. 0. 1. ]] SLAMing on 174.24241403699997 meters Centerline goodness [0,1] 0.8368700567547238 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.70, Z:-0.70 [[ 0.99987792 0.01022701 -0.01181349 2.11833629] [-0.01028831 0.99993386 -0.00513984 -0.70259266] [ 0.01176014 0.00526075 0.99991701 -0.69843803] [ 0. 0. 0. 1. ]] SLAMing on 174.27241403699998 meters Centerline goodness [0,1] 0.8337644069334785 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.70, Z:-0.70 [[ 0.99987272 0.01100529 -0.01155106 2.11686228] [-0.01106537 0.99992551 -0.00515005 -0.69918387] [ 0.01149352 0.00527721 0.99992002 -0.69735869] [ 0. 0. 0. 1. ]] SLAMing on 174.30241403699998 meters Centerline goodness [0,1] 0.8375541149817187 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.69, Z:-0.69 [[ 0.99983535 0.01425327 -0.01123009 2.1133036 ] [-0.01428925 0.999893 -0.00313015 -0.69364623] [ 0.01118427 0.0032901 0.99993204 -0.69377926] [ 0. 0. 0. 1. ]] SLAMing on 174.33241403699998 meters Centerline goodness [0,1] 0.8382116723184009 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.69, Z:-0.69 [[ 0.99982753 0.01501817 -0.01092528 2.11118077] [-0.01505446 0.9998814 -0.0032471 -0.69018242] [ 0.01087522 0.00341101 0.99993505 -0.69192334] [ 0. 0. 0. 1. ]] SLAMing on 174.36241403699998 meters Centerline goodness [0,1] 0.839097544202143 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.69, Z:-0.69 [[ 0.99981743 0.01605603 -0.01035899 2.10865883] [-0.01608905 0.99986572 -0.00311256 -0.68658375] [ 0.01030762 0.00327866 0.9999415 -0.69014645] [ 0. 0. 0. 1. ]] SLAMing on 174.39241403699998 meters Centerline goodness [0,1] 0.8404669260700389 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.68, Z:-0.69 [[ 0.99980826 0.01680891 -0.01004517 2.1069854 ] [-0.01684138 0.99985319 -0.00315621 -0.68275772] [ 0.00999064 0.00332478 0.99994456 -0.68880003] [ 0. 0. 0. 1. ]] SLAMing on 174.42241403699998 meters Centerline goodness [0,1] 0.8422796842977369 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.68, Z:-0.69 [[ 0.99979911 0.01739818 -0.00995236 2.10631551] [-0.01743278 0.99984226 -0.00340025 -0.67895226] [ 0.00989164 0.00357306 0.99994469 -0.6883336 ] [ 0. 0. 0. 1. ]] SLAMing on 174.45241403699998 meters Centerline goodness [0,1] 0.842374154770849 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.67, Z:-0.69 [[ 9.99737839e-01 2.04495126e-02 -1.02991029e-02 2.10829695e+00] [-2.04623359e-02 9.99789973e-01 -1.14124925e-03 -6.74153163e-01] [ 1.02736018e-02 1.35169377e-03 9.99946312e-01 -6.89858744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48241403699998 meters Centerline goodness [0,1] 0.842374154770849 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.67, Z:-0.69 [[ 9.99737839e-01 2.04495126e-02 -1.02991029e-02 2.10829695e+00] [-2.04623359e-02 9.99789973e-01 -1.14124925e-03 -6.74153163e-01] [ 1.02736018e-02 1.35169377e-03 9.99946312e-01 -6.89858744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51241403699999 meters Centerline goodness [0,1] 0.8464257575434935 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.67, Z:-0.69 [[ 0.99974696 0.01995306 -0.01038744 2.10917064] [-0.01997759 0.99979787 -0.00226311 -0.67123102] [ 0.01034019 0.00247006 0.99994349 -0.69082552] [ 0. 0. 0. 1. ]] SLAMing on 174.542414037 meters Centerline goodness [0,1] 0.847299892375546 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.67, Z:-0.69 [[ 0.99976012 0.0193255 -0.01030704 2.10943377] [-0.01936135 0.99980681 -0.00338965 -0.66751256] [ 0.01023954 0.0035884 0.99994114 -0.69127039] [ 0. 0. 0. 1. ]] SLAMing on 174.572414037 meters Centerline goodness [0,1] 0.8484702329775411 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.67, Z:-0.69 [[ 0.99977564 0.01841181 -0.01047275 2.11048482] [-0.01845728 0.99982056 -0.00426246 -0.6661928 ] [ 0.01039239 0.0044548 0.99993607 -0.69204447] [ 0. 0. 0. 1. ]] SLAMing on 174.602414037 meters Centerline goodness [0,1] 0.8469112009552339 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.67, Z:-0.69 [[ 0.99978857 0.0176275 -0.01058702 2.11145769] [-0.01768013 0.9998317 -0.00489795 -0.66550153] [ 0.0104989 0.00508409 0.99993196 -0.69287478] [ 0. 0. 0. 1. ]] SLAMing on 174.632414037 meters Centerline goodness [0,1] 0.8463903295967877 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.67, Z:-0.69 [[ 0.99980316 0.01670682 -0.01070116 2.11241988] [-0.01676638 0.9998443 -0.00550056 -0.66506396] [ 0.0106076 0.0056789 0.99992761 -0.6935595 ] [ 0. 0. 0. 1. ]] SLAMing on 174.662414037 meters Centerline goodness [0,1] 0.8417647792985814 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.66, Z:-0.69 [[ 0.99983385 0.014768 -0.01068544 2.11370861] [-0.01484055 0.99986714 -0.00674275 -0.66429809] [ 0.01058444 0.00690021 0.99992018 -0.69457309] [ 0. 0. 0. 1. ]] SLAMing on 174.692414037 meters Centerline goodness [0,1] 0.8382597488983121 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.66, Z:-0.69 [[ 0.99984258 0.01416411 -0.01068622 2.11390913] [-0.01423967 0.99987391 -0.00702853 -0.66409225] [ 0.01058532 0.00717959 0.9999182 -0.69454211] [ 0. 0. 0. 1. ]] SLAMing on 174.722414037 meters Centerline goodness [0,1] 0.8332193555072014 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.66, Z:-0.69 [[ 0.99985239 0.01335788 -0.01080603 2.11457137] [-0.01343965 0.99988133 -0.00753007 -0.66350475] [ 0.01070416 0.00767419 0.99991326 -0.6948404 ] [ 0. 0. 0. 1. ]] SLAMing on 174.752414037 meters Centerline goodness [0,1] 0.8169060591051676 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.66, Z:-0.70 [[ 0.99988172 0.01080405 -0.01094639 2.11689084] [-0.01090746 0.99989603 -0.00943187 -0.66169089] [ 0.01084335 0.00955016 0.9998956 -0.69673512] [ 0. 0. 0. 1. ]] SLAMing on 174.782414037 meters Centerline goodness [0,1] 0.8038473408085588 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.66, Z:-0.70 [[ 0.99988701 0.00992755 -0.01128748 2.11808792] [-0.01004087 0.99989931 -0.01002781 -0.66112136] [ 0.0111868 0.01014002 0.99988601 -0.69722957] [ 0. 0. 0. 1. ]] SLAMing on 174.812414037 meters Centerline goodness [0,1] 0.7723764164887502 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.66, Z:-0.70 [[ 0.99989277 0.00910224 -0.01147188 2.11884825] [-0.0092244 0.99990084 -0.0106405 -0.660392 ] [ 0.01137389 0.01074518 0.99987758 -0.69753811] [ 0. 0. 0. 1. ]] SLAMing on 174.842414037 meters Centerline goodness [0,1] 0.7906723620979997 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.66, Z:-0.70 [[ 0.99990952 0.00742108 -0.01121974 2.11898755] [-0.00755617 0.99989889 -0.01204619 -0.65817977] [ 0.0111292 0.01212988 0.99986449 -0.69774867] [ 0. 0. 0. 1. ]] SLAMing on 174.872414037 meters Centerline goodness [0,1] 0.7899940391769953 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.66, Z:-0.70 [[ 0.99991258 0.00692359 -0.01126488 2.11945167] [-0.00706581 0.99989521 -0.01263489 -0.65672538] [ 0.01117622 0.01271338 0.99985672 -0.69810491] [ 0. 0. 0. 1. ]] SLAMing on 174.902414037 meters Centerline goodness [0,1] 0.7988008952220602 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.66, Z:-0.70 [[ 0.99989531 0.00888218 -0.01142292 2.12145681] [-0.00899877 0.99990753 -0.01019597 -0.65617819] [ 0.0113313 0.01029769 0.99988277 -0.69959988] [ 0. 0. 0. 1. ]] SLAMing on 174.932414037 meters Centerline goodness [0,1] 0.787413392545077 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.65, Z:-0.70 [[ 0.99987647 0.01094448 -0.0112808 2.12261341] [-0.01104162 0.99990219 -0.00858488 -0.65078871] [ 0.01118574 0.00870838 0.99989952 -0.70091466] [ 0. 0. 0. 1. ]] SLAMing on 174.96241403699997 meters Centerline goodness [0,1] 0.7992717248189598 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.65, Z:-0.70 [[ 0.99987357 0.01148267 -0.01099949 2.12162362] [-0.01157839 0.99989531 -0.00867796 -0.64656302] [ 0.01089869 0.00880422 0.99990185 -0.70020769] [ 0. 0. 0. 1. ]] SLAMing on 174.99241403699997 meters Centerline goodness [0,1] 0.7579129218682517 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.64, Z:-0.70 [[ 0.99986717 0.01220718 -0.01079939 2.12045824] [-0.01230186 0.9998861 -0.00874388 -0.64250973] [ 0.01069142 0.00887557 0.99990345 -0.69916185] [ 0. 0. 0. 1. ]] SLAMing on 175.02241403699998 meters Centerline goodness [0,1] 0.7909663649982557 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.64, Z:-0.70 [[ 0.99981754 0.01569353 -0.0108908 2.11998971] [-0.01576849 0.99985233 -0.0068314 -0.63613453] [ 0.01078198 0.00700188 0.99991736 -0.69818966] [ 0. 0. 0. 1. ]] SLAMing on 175.05241403699998 meters Centerline goodness [0,1] 0.804669774349243 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.63, Z:-0.70 [[ 0.99980633 0.01647082 -0.01077085 2.11919903] [-0.01654763 0.999838 -0.00708159 -0.63194299] [ 0.01065247 0.00725845 0.99991692 -0.69756891] [ 0. 0. 0. 1. ]] SLAMing on 175.08241403699998 meters Centerline goodness [0,1] 0.8198552095759122 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.62, Z:-0.70 [[ 0.99974769 0.01924828 -0.01157808 2.12258148] [-0.01932383 0.99979248 -0.00644919 -0.62358743] [ 0.01145154 0.0066713 0.99991217 -0.70058894] [ 0. 0. 0. 1. ]] SLAMing on 175.11241403699998 meters Centerline goodness [0,1] 0.8067449402684839 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.62, Z:-0.70 [[ 0.99968871 0.02186096 -0.01202407 2.12537048] [-0.02191522 0.99975015 -0.00439935 -0.62029654] [ 0.01192489 0.00466149 0.99991803 -0.70283235] [ 0. 0. 0. 1. ]] SLAMing on 175.14241403699998 meters Centerline goodness [0,1] 0.8162275906174572 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.62, Z:-0.70 [[ 0.99968381 0.02215605 -0.01189047 2.12536792] [-0.02221788 0.99974018 -0.00509292 -0.61575528] [ 0.01177454 0.00535549 0.99991634 -0.70322499] [ 0. 0. 0. 1. ]] SLAMing on 175.17241403699998 meters Centerline goodness [0,1] 0.8008578557729982 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.61, Z:-0.70 [[ 0.99968991 0.0217727 -0.01208464 2.12622317] [-0.02185295 0.99973975 -0.00654906 -0.61115038] [ 0.0119389 0.00681111 0.99990553 -0.70400946] [ 0. 0. 0. 1. ]] SLAMing on 175.20241403699998 meters Centerline goodness [0,1] 0.8273596176821983 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.61, Z:-0.70 [[ 0.99969256 0.0215629 -0.01224075 2.12668903] [-0.02165829 0.99973566 -0.007715 -0.60700297] [ 0.01207115 0.00797774 0.99989532 -0.70429989] [ 0. 0. 0. 1. ]] SLAMing on 175.23241403699998 meters Centerline goodness [0,1] 0.8274703760947965 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.60, Z:-0.70 [[ 0.99968958 0.02164089 -0.01234605 2.12657979] [-0.02174701 0.99972714 -0.0085269 -0.60292412] [ 0.01215815 0.00879274 0.99988743 -0.70394055] [ 0. 0. 0. 1. ]] SLAMing on 175.26241403699999 meters Centerline goodness [0,1] 0.8308638926616455 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.60, Z:-0.70 [[ 0.99962804 0.02420442 -0.0125668 2.12737345] [-0.02429406 0.99968014 -0.00703027 -0.59670452] [ 0.01239262 0.00733295 0.99989632 -0.70404477] [ 0. 0. 0. 1. ]] SLAMing on 175.292414037 meters Centerline goodness [0,1] 0.8329011812157879 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.59, Z:-0.70 [[ 0.99963455 0.02383311 -0.0127571 2.12811895] [-0.02394073 0.9996785 -0.00835098 -0.59251931] [ 0.01255397 0.00865334 0.99988375 -0.70458062] [ 0. 0. 0. 1. ]] SLAMing on 175.322414037 meters Centerline goodness [0,1] 0.8348776871756857 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.59, Z:-0.71 [[ 0.99963963 0.02347848 -0.01301405 2.12913529] [-0.02360486 0.99967485 -0.00964414 -0.58831004] [ 0.01278339 0.00994786 0.9998688 -0.70533444] [ 0. 0. 0. 1. ]] SLAMing on 175.352414037 meters Centerline goodness [0,1] 0.8354796103681691 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.58, Z:-0.71 [[ 0.99957211 0.02609092 -0.01322364 2.13055506] [-0.02619918 0.99962408 -0.00808129 -0.5827052 ] [ 0.01300782 0.00842428 0.99987991 -0.7063731 ] [ 0. 0. 0. 1. ]] SLAMing on 175.382414037 meters Centerline goodness [0,1] 0.8350555784273364 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.58, Z:-0.71 [[ 0.99957981 0.02562708 -0.01354456 2.1316779 ] [-0.02575515 0.99962439 -0.00936722 -0.57921581] [ 0.01329942 0.00971213 0.99986439 -0.70710663] [ 0. 0. 0. 1. ]] SLAMing on 175.412414037 meters Centerline goodness [0,1] 0.8376941777576332 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.58, Z:-0.71 [[ 0.99958059 0.02555471 -0.01362377 2.13226224] [-0.02569526 0.99961734 -0.01024385 -0.57595989] [ 0.01335678 0.01058962 0.99985472 -0.70767812] [ 0. 0. 0. 1. ]] SLAMing on 175.442414037 meters Centerline goodness [0,1] 0.8208025972424846 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.57, Z:-0.71 [[ 0.99949207 0.02875372 -0.01374157 2.13286825] [-0.02886719 0.99955018 -0.00813109 -0.57086041] [ 0.01350159 0.00852364 0.99987252 -0.70786324] [ 0. 0. 0. 1. ]] SLAMing on 175.472414037 meters Centerline goodness [0,1] 0.8406932280745035 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.57, Z:-0.71 [[ 0.99948411 0.02901468 -0.01377165 2.1325977 ] [-0.02913628 0.99953748 -0.00871277 -0.56701806] [ 0.01351248 0.00910953 0.99986721 -0.70745549] [ 0. 0. 0. 1. ]] SLAMing on 175.502414037 meters Centerline goodness [0,1] 0.8400861185154809 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.56, Z:-0.71 [[ 0.99945631 0.02997005 -0.01374325 2.13145791] [-0.03008824 0.99951132 -0.00847509 -0.56366119] [ 0.01348254 0.00888399 0.99986964 -0.70606268] [ 0. 0. 0. 1. ]] SLAMing on 175.532414037 meters Centerline goodness [0,1] 0.8425971571768959 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.56, Z:-0.70 [[ 0.99934517 0.03341419 -0.0138828 2.13100727] [-0.03350074 0.99942038 -0.00604959 -0.55915684] [ 0.01367261 0.00651071 0.99988533 -0.70480388] [ 0. 0. 0. 1. ]] SLAMing on 175.562414037 meters Centerline goodness [0,1] 0.8406893566142365 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.56, Z:-0.71 [[ 0.99933839 0.03354308 -0.0140585 2.13167719] [-0.03364144 0.9994107 -0.00681904 -0.55638608] [ 0.01382149 0.00728748 0.99987792 -0.70535852] [ 0. 0. 0. 1. ]] SLAMing on 175.592414037 meters Centerline goodness [0,1] 0.8365833505474076 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.55, Z:-0.71 [[ 0.99922242 0.03656143 -0.01475877 2.13533629] [-0.03664138 0.99931504 -0.0051833 -0.55223742] [ 0.01455915 0.00572005 0.99987765 -0.70864347] [ 0. 0. 0. 1. ]] SLAMing on 175.622414037 meters Centerline goodness [0,1] 0.8401852924145918 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.55, Z:-0.71 [[ 0.99922262 0.03644971 -0.01501908 2.1366486 ] [-0.03654626 0.9993127 -0.00620511 -0.54882799] [ 0.01478258 0.00674918 0.99986795 -0.7098822 ] [ 0. 0. 0. 1. ]] SLAMing on 175.652414037 meters Centerline goodness [0,1] 0.8402413322864581 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.55, Z:-0.71 [[ 0.99921665 0.03655405 -0.01516215 2.13724862] [-0.03666294 0.99930341 -0.00696637 -0.54545391] [ 0.01489694 0.0075168 0.99986078 -0.71038819] [ 0. 0. 0. 1. ]] SLAMing on 175.682414037 meters Centerline goodness [0,1] 0.8390406010692096 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.54, Z:-0.71 [[ 0.99907921 0.0402273 -0.01491658 2.1370117 ] [-0.04029207 0.99917967 -0.00406762 -0.5419076 ] [ 0.01474071 0.0046649 0.99988047 -0.71018552] [ 0. 0. 0. 1. ]] SLAMing on 175.71241403699997 meters Centerline goodness [0,1] 0.8376061330475641 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.54, Z:-0.71 [[ 0.99907697 0.04021369 -0.01510205 2.13720981] [-0.04028686 0.99917769 -0.00457233 -0.54059359] [ 0.01490576 0.00517653 0.9998755 -0.71002814] [ 0. 0. 0. 1. ]] SLAMing on 175.74241403699997 meters Centerline goodness [0,1] 0.8375617792421746 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.54, Z:-0.71 [[ 0.9990783 0.04013497 -0.01522255 2.13720635] [-0.04021413 0.99917892 -0.00493004 -0.54017019] [ 0.01501218 0.00553766 0.99987198 -0.70974409] [ 0. 0. 0. 1. ]] SLAMing on 175.77241403699998 meters Centerline goodness [0,1] 0.8362395130778089 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.54, Z:-0.71 [[ 0.99908001 0.04002846 -0.01538993 2.13728147] [-0.04011367 0.99918123 -0.00526833 -0.53990999] [ 0.01516644 0.00588083 0.99986769 -0.70942829] [ 0. 0. 0. 1. ]] SLAMing on 175.80241403699998 meters Centerline goodness [0,1] 0.8403810073603695 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.54, Z:-0.71 [[ 0.99907151 0.04022372 -0.01543283 2.13733517] [-0.04031278 0.99917195 -0.00550364 -0.53854459] [ 0.01519868 0.00612067 0.99986576 -0.70941376] [ 0. 0. 0. 1. ]] SLAMing on 175.83241403699998 meters Centerline goodness [0,1] 0.8397638928879931 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.54, Z:-0.71 [[ 0.999076 0.04001567 -0.01568102 2.13858395] [-0.04011388 0.99917711 -0.00599883 -0.53710533] [ 0.01542807 0.00662232 0.99985905 -0.71044456] [ 0. 0. 0. 1. ]] SLAMing on 175.86241403699998 meters Centerline goodness [0,1] 0.8347226510239786 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.53, Z:-0.71 [[ 0.99908936 0.03953732 -0.01603922 2.14100404] [-0.03965225 0.99918963 -0.0069121 -0.53496687] [ 0.01575294 0.0075418 0.99984747 -0.71268632] [ 0. 0. 0. 1. ]] SLAMing on 175.89241403699998 meters Centerline goodness [0,1] 0.835894689135182 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.53, Z:-0.71 [[ 0.99909688 0.03929865 -0.01615703 2.14124526] [-0.03941848 0.9991971 -0.00716563 -0.5347779 ] [ 0.01586246 0.00779604 0.99984379 -0.71268968] [ 0. 0. 0. 1. ]] SLAMing on 175.92241403699998 meters Centerline goodness [0,1] 0.838084847985838 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.54, Z:-0.71 [[ 0.99909882 0.03919102 -0.01629761 2.14103434] [-0.03931051 0.99920198 -0.00707702 -0.53554365] [ 0.01600725 0.00771131 0.99984214 -0.71200289] [ 0. 0. 0. 1. ]] SLAMing on 175.95241403699998 meters Centerline goodness [0,1] 0.8372806656231979 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.54, Z:-0.71 [[ 0.9991115 0.0388374 -0.01636673 2.14062762] [-0.03895863 0.99921521 -0.00715485 -0.53636095] [ 0.01607601 0.00778612 0.99984046 -0.71123302] [ 0. 0. 0. 1. ]] SLAMing on 175.98241403699998 meters Centerline goodness [0,1] 0.8377659574468085 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.54, Z:-0.71 [[ 0.99925709 0.03473632 -0.01669293 2.14097668] [-0.03492534 0.99932752 -0.01116849 -0.53612551] [ 0.01629376 0.0117432 0.99979828 -0.71120937] [ 0. 0. 0. 1. ]] SLAMing on 176.01241403699999 meters Centerline goodness [0,1] 0.8377977722415533 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.54, Z:-0.71 [[ 0.99929494 0.03331337 -0.01731591 2.14370721] [-0.03352609 0.99936408 -0.01214255 -0.53680364] [ 0.01690039 0.01271453 0.99977633 -0.7131579 ] [ 0. 0. 0. 1. ]] SLAMing on 176.042414037 meters Centerline goodness [0,1] 0.835869206663368 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.54, Z:-0.72 [[ 0.9994597 0.02756239 -0.0179061 2.14710609] [-0.02786914 0.99946508 -0.01711328 -0.53797348] [ 0.01742484 0.01760306 0.99969321 -0.71630914] [ 0. 0. 0. 1. ]] SLAMing on 176.072414037 meters Centerline goodness [0,1] 0.8364417758220065 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.54, Z:-0.72 [[ 0.99950155 0.02574484 -0.01827165 2.14950387] [-0.02607514 0.99949656 -0.018075 -0.53954624] [ 0.01779712 0.01854243 0.99966967 -0.71829373] [ 0. 0. 0. 1. ]] SLAMing on 176.102414037 meters Centerline goodness [0,1] 0.8334876447955888 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.54, Z:-0.72 [[ 0.99954271 0.02395629 -0.01845184 2.15111141] [-0.02430591 0.99952472 -0.01896224 -0.54078553] [ 0.01798881 0.01940206 0.99964992 -0.71961424] [ 0. 0. 0. 1. ]] SLAMing on 176.132414037 meters Centerline goodness [0,1] 0.8316419999588316 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.54, Z:-0.72 [[ 0.99957161 0.02264486 -0.01854192 2.15180856] [-0.0230024 0.99954906 -0.01930201 -0.54211128] [ 0.01809646 0.01972025 0.99964175 -0.7200156 ] [ 0. 0. 0. 1. ]] SLAMing on 176.162414037 meters Centerline goodness [0,1] 0.8293426746342468 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.54, Z:-0.72 [[ 0.99968182 0.01706295 -0.01857713 2.15188341] [-0.0175 0.99956774 -0.02362386 -0.54381104] [ 0.01816601 0.02394144 0.9995483 -0.71984076] [ 0. 0. 0. 1. ]] SLAMing on 176.192414037 meters Centerline goodness [0,1] 0.8267161410018553 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.55, Z:-0.72 [[ 0.99969645 0.01587718 -0.01883954 2.15262562] [-0.01632479 0.9995823 -0.02384804 -0.54585314] [ 0.01845303 0.02414835 0.99953806 -0.71990665] [ 0. 0. 0. 1. ]] SLAMing on 176.222414037 meters Centerline goodness [0,1] 0.8096384550486655 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.55, Z:-0.72 [[ 0.99970884 0.01498918 -0.01890921 2.15302519] [-0.01544293 0.99959068 -0.024083 -0.54699524] [ 0.01854049 0.02436801 0.99953112 -0.72004305] [ 0. 0. 0. 1. ]] SLAMing on 176.252414037 meters Centerline goodness [0,1] 0.7886752004617319 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.55, Z:-0.72 [[ 0.99971719 0.01440795 -0.01891951 2.15348041] [-0.0148685 0.99959092 -0.02443181 -0.54656679] [ 0.01855976 0.0247062 0.99952246 -0.72045263] [ 0. 0. 0. 1. ]] SLAMing on 176.282414037 meters Centerline goodness [0,1] 0.809674157535236 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.55, Z:-0.72 [[ 0.99968591 0.01632461 -0.01901522 2.15512785] [-0.01674101 0.99961892 -0.02194882 -0.54591662] [ 0.01864967 0.02226026 0.99957825 -0.72174241] [ 0. 0. 0. 1. ]] SLAMing on 176.312414037 meters Centerline goodness [0,1] 0.7896225052114507 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.54, Z:-0.72 [[ 0.99964907 0.01833805 -0.01911661 2.15658611] [-0.01872387 0.99962057 -0.02020252 -0.54116514] [ 0.01873888 0.02055337 0.99961313 -0.72274058] [ 0. 0. 0. 1. ]] SLAMing on 176.342414037 meters Centerline goodness [0,1] 0.8003212983749717 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.54, Z:-0.72 [[ 0.99959213 0.02095673 -0.01940062 2.15787106] [-0.02129637 0.99962058 -0.01746883 -0.53989785] [ 0.01902716 0.01787487 0.99965917 -0.72326131] [ 0. 0. 0. 1. ]] SLAMing on 176.372414037 meters Centerline goodness [0,1] 0.8003212983749717 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.54, Z:-0.72 [[ 0.99959213 0.02095673 -0.01940062 2.15787106] [-0.02129637 0.99962058 -0.01746883 -0.53989785] [ 0.01902716 0.01787487 0.99965917 -0.72326131] [ 0. 0. 0. 1. ]] SLAMing on 176.402414037 meters Centerline goodness [0,1] 0.7965947973780765 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.53, Z:-0.72 [[ 0.99954049 0.02323356 -0.01946812 2.15807805] [-0.02354544 0.99959557 -0.01594676 -0.53469346] [ 0.01908975 0.01639782 0.9996833 -0.72282332] [ 0. 0. 0. 1. ]] SLAMing on 176.432414037 meters Centerline goodness [0,1] 0.7657742998352554 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.53, Z:-0.72 [[ 0.99947886 0.02558586 -0.01968161 2.15962963] [-0.0258596 0.99957058 -0.01378193 -0.53217184] [ 0.01932054 0.01428371 0.9997113 -0.72375275] [ 0. 0. 0. 1. ]] SLAMing on 176.46241403699997 meters Centerline goodness [0,1] 0.767749525303393 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.53, Z:-0.72 [[ 0.99941383 0.02797818 -0.01972885 2.16100469] [-0.02821269 0.99953335 -0.0117103 -0.52906155] [ 0.01939201 0.01226004 0.99973679 -0.72486935] [ 0. 0. 0. 1. ]] SLAMing on 176.49241403699997 meters Centerline goodness [0,1] 0.8042931894029912 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.52, Z:-0.73 [[ 0.99936281 0.02930001 -0.02038328 2.16481938] [-0.0295419 0.99949543 -0.01166869 -0.51971666] [ 0.0200311 0.01226342 0.99972414 -0.72745039] [ 0. 0. 0. 1. ]] SLAMing on 176.52241403699998 meters Centerline goodness [0,1] 0.7969783787126162 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.52, Z:-0.73 [[ 0.99928699 0.03175608 -0.02042234 2.16591167] [-0.03195997 0.99944173 -0.0097361 -0.51581977] [ 0.02010176 0.01038186 0.99974404 -0.7282218 ] [ 0. 0. 0. 1. ]] SLAMing on 176.55241403699998 meters Centerline goodness [0,1] 0.8036894728144108 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.51, Z:-0.73 [[ 0.99926474 0.03275493 -0.01992731 2.1646516 ] [-0.03294691 0.99941306 -0.00938323 -0.51090224] [ 0.01960827 0.01003287 0.9997574 -0.72741543] [ 0. 0. 0. 1. ]] SLAMing on 176.58241403699998 meters Centerline goodness [0,1] 0.7835207076134578 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.51, Z:-0.73 [[ 0.9992669 0.03278121 -0.01977526 2.16447689] [-0.0329898 0.99940246 -0.01031533 -0.50581293] [ 0.0194253 0.01096015 0.99975124 -0.72729575] [ 0. 0. 0. 1. ]] SLAMing on 176.61241403699998 meters Centerline goodness [0,1] 0.8188118811881189 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.50, Z:-0.73 [[ 0.99919199 0.03489049 -0.01995047 2.16588606] [-0.03508865 0.99933742 -0.00967012 -0.49643447] [ 0.01959986 0.01036235 0.9997542 -0.72787981] [ 0. 0. 0. 1. ]] SLAMing on 176.64241403699998 meters Centerline goodness [0,1] 0.8207986483145141 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.49, Z:-0.73 [[ 0.9990982 0.03741868 -0.02006548 2.16716942] [-0.03758284 0.99926255 -0.00786718 -0.49157578] [ 0.0197563 0.00861421 0.99976772 -0.72864063] [ 0. 0. 0. 1. ]] SLAMing on 176.67241403699998 meters Centerline goodness [0,1] 0.824223820021014 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.48, Z:-0.73 [[ 0.99899877 0.03993491 -0.02016578 2.16777128] [-0.04008698 0.9991703 -0.00719353 -0.48120965] [ 0.01986178 0.00799471 0.99977077 -0.72842739] [ 0. 0. 0. 1. ]] SLAMing on 176.70241403699998 meters Centerline goodness [0,1] 0.8119237734606519 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.48, Z:-0.73 [[ 0.99900322 0.03967643 -0.02045376 2.16853252] [-0.03986231 0.99916677 -0.00876135 -0.47584409] [ 0.0200891 0.00956795 0.99975241 -0.72857716] [ 0. 0. 0. 1. ]] SLAMing on 176.73241403699998 meters Centerline goodness [0,1] 0.8217228310126061 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.47, Z:-0.73 [[ 0.99899437 0.03988344 -0.02048308 2.16856769] [-0.04008879 0.9991489 -0.00971464 -0.47080223] [ 0.0200782 0.01052601 0.999743 -0.72834721] [ 0. 0. 0. 1. ]] SLAMing on 176.76241403699999 meters Centerline goodness [0,1] 0.8289993416721527 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.46, Z:-0.73 [[ 0.99887889 0.04253425 -0.02077991 2.17029969] [-0.04273096 0.99904503 -0.00911603 -0.46100921] [ 0.02037233 0.00999375 0.99974251 -0.72918472] [ 0. 0. 0. 1. ]] SLAMing on 176.792414037 meters Centerline goodness [0,1] 0.8260923305110932 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.46, Z:-0.73 [[ 0.99874189 0.04559716 -0.02086945 2.17121794] [-0.04574919 0.99892936 -0.00686623 -0.45668458] [ 0.02053402 0.00781236 0.99975863 -0.72955362] [ 0. 0. 0. 1. ]] SLAMing on 176.822414037 meters Centerline goodness [0,1] 0.8321838605765259 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.45, Z:-0.73 [[ 0.99858604 0.04887757 -0.02090222 2.17161016] [-0.04898105 0.99878972 -0.00446764 -0.45251705] [ 0.02065856 0.00548514 0.99977154 -0.72940995] [ 0. 0. 0. 1. ]] SLAMing on 176.852414037 meters Centerline goodness [0,1] 0.832428863256505 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.45, Z:-0.73 [[ 9.98414796e-01 5.22663467e-02 -2.08835791e-02 2.17181642e+00] [-5.23180953e-02 9.98628588e-01 -1.93895932e-03 -4.48772445e-01] [ 2.07535968e-02 3.02847475e-03 9.99780034e-01 -7.29129594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.882414037 meters Centerline goodness [0,1] 0.8327886374380794 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.44, Z:-0.73 [[ 9.98036106e-01 5.91287760e-02 -2.06813892e-02 2.17169719e+00] [-5.90764172e-02 9.98248543e-01 3.13407963e-03 -4.41871554e-01] [ 2.08304810e-02 -1.90614225e-03 9.99781205e-01 -7.28290368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.912414037 meters Centerline goodness [0,1] 0.8320323793003759 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.44, Z:-0.73 [[ 0.99782215 0.06263478 -0.02068416 2.17255096] [-0.06252963 0.99802687 0.00569249 -0.43823594] [ 0.0209999 -0.00438672 0.99976985 -0.72873957] [ 0. 0. 0. 1. ]] SLAMing on 176.942414037 meters Centerline goodness [0,1] 0.8313583815028902 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.43, Z:-0.73 [[ 0.99759949 0.06606999 -0.02073673 2.17395633] [-0.06591185 0.99779159 0.0082196 -0.43461331] [ 0.021234 -0.00683307 0.99975118 -0.72973883] [ 0. 0. 0. 1. ]] SLAMing on 176.972414037 meters Centerline goodness [0,1] 0.8279986800857944 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.43, Z:-0.73 [[ 0.99709868 0.07331126 -0.0204862 2.17509905] [-0.07303383 0.9972315 0.0139784 -0.42915568] [ 0.02145426 -0.01244166 0.99969241 -0.73038397] [ 0. 0. 0. 1. ]] SLAMing on 177.002414037 meters Centerline goodness [0,1] 0.8267651549539884 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.43, Z:-0.73 [[ 0.99707012 0.07365446 -0.02064469 2.17559238] [-0.07339451 0.99721721 0.01307976 -0.42518807] [ 0.02155062 -0.01152624 0.99970131 -0.73055466] [ 0. 0. 0. 1. ]] SLAMing on 177.032414037 meters Centerline goodness [0,1] 0.8260502123098488 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.42, Z:-0.73 [[ 0.99706973 0.07361078 -0.0208183 2.1760769 ] [-0.07337216 0.99723239 0.01200369 -0.42152419] [ 0.02164428 -0.01044103 0.99971121 -0.73068285] [ 0. 0. 0. 1. ]] SLAMing on 177.062414037 meters Centerline goodness [0,1] 0.823558474175021 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.42, Z:-0.73 [[ 0.99682677 0.07687818 -0.02064316 2.17634011] [-0.07658801 0.99695741 0.01449818 -0.41769605] [ 0.02169494 -0.01287115 0.99968178 -0.73062407] [ 0. 0. 0. 1. ]] SLAMing on 177.092414037 meters Centerline goodness [0,1] 0.8269710656025078 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.42, Z:-0.73 [[ 0.99684027 0.07664787 -0.02084637 2.17693049] [-0.0763717 0.99698478 0.01373738 -0.41556031] [ 0.02183645 -0.0121019 0.99968831 -0.73086032] [ 0. 0. 0. 1. ]] SLAMing on 177.122414037 meters Centerline goodness [0,1] 0.8255988794825846 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.41, Z:-0.73 [[ 0.99686025 0.07632965 -0.02105751 2.17755672] [-0.07606518 0.99701695 0.01308802 -0.41421039] [ 0.02199369 -0.01144519 0.9996926 -0.73114464] [ 0. 0. 0. 1. ]] SLAMing on 177.152414037 meters Centerline goodness [0,1] 0.8257461995762451 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.41, Z:-0.73 [[ 0.99710835 0.07286954 -0.02156331 2.17810548] [-0.0726959 0.99731594 0.00873059 -0.41184333] [ 0.02214163 -0.00713778 0.99972936 -0.73126752] [ 0. 0. 0. 1. ]] SLAMing on 177.182414037 meters Centerline goodness [0,1] 0.8264849596932149 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.41, Z:-0.73 [[ 0.99734676 0.06941657 -0.02192675 2.17791536] [-0.06933493 0.99758346 0.00446258 -0.41000819] [ 0.02218354 -0.00293045 0.99974962 -0.73077579] [ 0. 0. 0. 1. ]] SLAMing on 177.21241403699997 meters Centerline goodness [0,1] 0.828961434092591 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.41, Z:-0.73 [[ 9.97556180e-01 6.61560895e-02 -2.24730834e-02 2.17885996e+00] [-6.61625691e-02 9.97808753e-01 4.55900674e-04 -4.07865176e-01] [ 2.24540000e-02 1.03209040e-03 9.99747344e-01 -7.31185715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24241403699997 meters Centerline goodness [0,1] 0.8256982779929143 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.41, Z:-0.73 [[ 9.97560445e-01 6.60473893e-02 -2.26030998e-02 2.17912304e+00] [-6.60546908e-02 9.97815914e-01 4.24249798e-04 -4.07913961e-01] [ 2.25817533e-02 1.06982595e-03 9.99744427e-01 -7.31179032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27241403699998 meters Centerline goodness [0,1] 0.8279052553663953 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.41, Z:-0.73 [[ 9.97648565e-01 6.45167134e-02 -2.31286447e-02 2.18148457e+00] [-6.45505096e-02 9.97914184e-01 -7.16856220e-04 -4.08868216e-01] [ 2.30341533e-02 2.20813638e-03 9.99732240e-01 -7.32979907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30241403699998 meters Centerline goodness [0,1] 0.8286478699320847 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.41, Z:-0.73 [[ 0.9978653 0.06099587 -0.0233311 2.1816869 ] [-0.06111226 0.9981216 -0.00430815 -0.40885078] [ 0.02302449 0.00572477 0.99971851 -0.73328819] [ 0. 0. 0. 1. ]] SLAMing on 177.33241403699998 meters Centerline goodness [0,1] 0.8265097974574 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.41, Z:-0.73 [[ 0.99807277 0.05737985 -0.02362828 2.18188752] [-0.05757938 0.99831005 -0.0078524 -0.40914009] [ 0.02313778 0.00919776 0.99968997 -0.73333427] [ 0. 0. 0. 1. ]] SLAMing on 177.36241403699998 meters Centerline goodness [0,1] 0.8310625579717613 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.41, Z:-0.73 [[ 0.9983153 0.05286205 -0.02391983 2.18211835] [-0.05314279 0.99852348 -0.01125653 -0.41193859] [ 0.02328946 0.01250874 0.99965051 -0.73353876] [ 0. 0. 0. 1. ]] SLAMing on 177.39241403699998 meters Centerline goodness [0,1] 0.8297771650789079 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.41, Z:-0.73 [[ 0.99851351 0.04881314 -0.02424969 2.1828589 ] [-0.04918369 0.99867821 -0.01492652 -0.41282497] [ 0.02348903 0.01609702 0.99959449 -0.73417872] [ 0. 0. 0. 1. ]] SLAMing on 177.42241403699998 meters Centerline goodness [0,1] 0.8340643726447149 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.41, Z:-0.74 [[ 0.998703 0.04464264 -0.0244815 2.18371987] [-0.04510471 0.99880801 -0.01865829 -0.41385872] [ 0.02361936 0.01973832 0.99952615 -0.73516469] [ 0. 0. 0. 1. ]] SLAMing on 177.45241403699998 meters Centerline goodness [0,1] 0.8313223293387325 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.42, Z:-0.74 [[ 0.99899201 0.03728459 -0.0249963 2.18614789] [-0.03790856 0.99896915 -0.02497145 -0.41651549] [ 0.02403949 0.02589386 0.99937561 -0.73750149] [ 0. 0. 0. 1. ]] SLAMing on 177.48241403699998 meters Centerline goodness [0,1] 0.8310059317844785 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.42, Z:-0.74 [[ 0.99902347 0.03631513 -0.0251659 2.18674743] [-0.03694282 0.99900605 -0.02494274 -0.41878973] [ 0.02423509 0.02584808 0.99937207 -0.73791412] [ 0. 0. 0. 1. ]] SLAMing on 177.51241403699999 meters Centerline goodness [0,1] 0.8287813612694754 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.42, Z:-0.74 [[ 0.99905401 0.03532843 -0.02535728 2.18729117] [-0.03596617 0.99903648 -0.02515054 -0.42019644] [ 0.02444432 0.02603876 0.99936203 -0.73817416] [ 0. 0. 0. 1. ]] SLAMing on 177.542414037 meters Centerline goodness [0,1] 0.8303523483002189 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.42, Z:-0.74 [[ 0.99906769 0.03500063 -0.02527263 2.18681292] [-0.03563395 0.99905067 -0.02505945 -0.42080746] [ 0.02437154 0.02593665 0.99936646 -0.73769282] [ 0. 0. 0. 1. ]] SLAMing on 177.572414037 meters Centerline goodness [0,1] 0.6943431972158729 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.42, Z:-0.74 [[ 0.99908692 0.03450013 -0.02520063 2.1858856 ] [-0.03513789 0.9990617 -0.02531882 -0.41971343] [ 0.02430348 0.0261812 0.99936174 -0.73650197] [ 0. 0. 0. 1. ]] SLAMing on 177.602414037 meters Centerline goodness [0,1] 0.6974579231828364 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.42, Z:-0.74 [[ 0.99897233 0.0376748 -0.02519705 2.18575273] [-0.03822371 0.99903422 -0.02166981 -0.42039198] [ 0.02435631 0.02261067 0.99944761 -0.7359412 ] [ 0. 0. 0. 1. ]] SLAMing on 177.632414037 meters Centerline goodness [0,1] 0.7005528508952884 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.42, Z:-0.73 [[ 0.99888478 0.04014419 -0.02485235 2.18401674] [-0.04062505 0.99899081 -0.01915618 -0.41968642] [ 0.02405826 0.02014444 0.99950758 -0.73428138] [ 0. 0. 0. 1. ]] SLAMing on 177.662414037 meters Centerline goodness [0,1] 0.8348294434470377 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.42, Z:-0.73 [[ 0.9987297 0.04375381 -0.02499174 2.18454406] [-0.04414982 0.99890437 -0.01551972 -0.41966889] [ 0.02428531 0.01660339 0.99956718 -0.73420517] [ 0. 0. 0. 1. ]] SLAMing on 177.692414037 meters Centerline goodness [0,1] 0.7284661920243631 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.42, Z:-0.74 [[ 0.99856659 0.04713206 -0.02536405 2.1872509 ] [-0.04747542 0.99878638 -0.01310945 -0.41666786] [ 0.0247154 0.01429483 0.99959232 -0.73616947] [ 0. 0. 0. 1. ]] SLAMing on 177.722414037 meters Centerline goodness [0,1] 0.8345941945563687 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.41, Z:-0.74 [[ 0.99842172 0.05003407 -0.02550804 2.18926272] [-0.05031903 0.99867637 -0.01065399 -0.41470644] [ 0.02494121 0.01192071 0.99961784 -0.73772036] [ 0. 0. 0. 1. ]] SLAMing on 177.752414037 meters Centerline goodness [0,1] 0.8357460108570489 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.41, Z:-0.74 [[ 0.99823412 0.05366975 -0.0254597 2.18984645] [-0.05387611 0.99851954 -0.00748919 -0.41269143] [ 0.02502007 0.00884764 0.9996478 -0.73798925] [ 0. 0. 0. 1. ]] SLAMing on 177.782414037 meters Centerline goodness [0,1] 0.8351725273820307 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.41, Z:-0.74 [[ 0.9980257 0.05749408 -0.02528098 2.18959121] [-0.05761629 0.99833025 -0.00413173 -0.41106446] [ 0.02500121 0.00558017 0.99967185 -0.73748678] [ 0. 0. 0. 1. ]] SLAMing on 177.812414037 meters Centerline goodness [0,1] 0.833360729843018 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.41, Z:-0.74 [[ 0.99799165 0.05799373 -0.02548325 2.18994415] [-0.05813488 0.99829704 -0.00483287 -0.40747714] [ 0.02515958 0.00630463 0.99966357 -0.73723025] [ 0. 0. 0. 1. ]] SLAMing on 177.842414037 meters Centerline goodness [0,1] 0.8340890354492992 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.40, Z:-0.74 [[ 9.97715135e-01 6.26687521e-02 -2.52415840e-02 2.19005060e+00] [-6.27357229e-02 9.98028424e-01 -1.86930741e-03 -4.02625520e-01] [ 2.50746712e-02 3.44858532e-03 9.99679633e-01 -7.37087775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.872414037 meters Centerline goodness [0,1] 0.833223290554203 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.40, Z:-0.74 [[ 0.99767568 0.06326665 -0.02530942 2.19072187] [-0.06334967 0.99798828 -0.00249111 -0.39895574] [ 0.0251009 0.00408866 0.99967656 -0.73759029] [ 0. 0. 0. 1. ]] SLAMing on 177.902414037 meters Centerline goodness [0,1] 0.8328035338314825 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.40, Z:-0.74 [[ 0.99764822 0.06364768 -0.02543641 2.19136919] [-0.06375078 0.99796052 -0.0032622 -0.3954403 ] [ 0.0251769 0.00487612 0.99967112 -0.73792401] [ 0. 0. 0. 1. ]] SLAMing on 177.932414037 meters Centerline goodness [0,1] 0.8303343490076587 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.39, Z:-0.74 [[ 9.97385293e-01 6.77192052e-02 -2.52326295e-02 2.19137386e+00] [-6.77516328e-02 9.97702125e-01 -4.31472622e-04 -3.91734870e-01] [ 2.51454291e-02 2.13989629e-03 9.99681513e-01 -7.37635005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96241403699997 meters Centerline goodness [0,1] 0.8298622566809634 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.39, Z:-0.74 [[ 9.97373970e-01 6.78677130e-02 -2.52811823e-02 2.19145489e+00] [-6.79175530e-02 9.97690312e-01 -1.11702452e-03 -3.89163911e-01] [ 2.51469807e-02 2.83112721e-03 9.99679756e-01 -7.37492258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99241403699997 meters Centerline goodness [0,1] 0.8280071887458944 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.39, Z:-0.74 [[ 9.97361600e-01 6.80138565e-02 -2.53762554e-02 2.19187561e+00] [-6.80792940e-02 9.97678426e-01 -1.72272627e-03 -3.86757520e-01] [ 2.52001733e-02 3.44577859e-03 9.99676487e-01 -7.37664258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02241403699998 meters Centerline goodness [0,1] 0.8282653481664607 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.38, Z:-0.74 [[ 0.99734586 0.06815351 -0.02561904 2.19268824] [-0.06823422 0.99766671 -0.00228836 -0.38443652] [ 0.0254033 0.00403038 0.99966916 -0.73802483] [ 0. 0. 0. 1. ]] SLAMing on 178.05241403699998 meters Centerline goodness [0,1] 0.8284579939109685 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.38, Z:-0.74 [[ 0.99728928 0.06895056 -0.02568876 2.19319029] [-0.06904289 0.99760997 -0.00272365 -0.38091183] [ 0.02543957 0.0044899 0.99966628 -0.73824849] [ 0. 0. 0. 1. ]] SLAMing on 178.08241403699998 meters Centerline goodness [0,1] 0.823735810113519 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.38, Z:-0.74 [[ 0.99727513 0.06910076 -0.02583425 2.193308 ] [-0.06919966 0.99759846 -0.00295323 -0.37996763] [ 0.02556814 0.00473291 0.99966188 -0.73796589] [ 0. 0. 0. 1. ]] SLAMing on 178.11241403699998 meters Centerline goodness [0,1] 0.825627313862608 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.38, Z:-0.74 [[ 0.99725685 0.0692778 -0.02606444 2.19367162] [-0.06937739 0.99758617 -0.00293518 -0.38020999] [ 0.02579818 0.00473541 0.99965596 -0.7378662 ] [ 0. 0. 0. 1. ]] SLAMing on 178.14241403699998 meters Centerline goodness [0,1] 0.8272665471849701 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.38, Z:-0.74 [[ 0.99721656 0.06984127 -0.02610223 2.19329428] [-0.06992217 0.99755003 -0.00219854 -0.38298036] [ 0.02588473 0.00401755 0.99965686 -0.73743382] [ 0. 0. 0. 1. ]] SLAMing on 178.17241403699998 meters Centerline goodness [0,1] 0.8274184905815919 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.38, Z:-0.74 [[ 9.97198255e-01 7.00570429e-02 -2.62230984e-02 2.19380575e+00] [-7.01275477e-02 9.97536449e-01 -1.77760770e-03 -3.84388747e-01] [ 2.60339625e-02 3.61158888e-03 9.99654535e-01 -7.37827814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20241403699998 meters Centerline goodness [0,1] 0.8262879788639366 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.39, Z:-0.74 [[ 9.97191600e-01 7.01223070e-02 -2.63016302e-02 2.19423946e+00] [-7.01843728e-02 9.97532993e-01 -1.44296183e-03 -3.85687552e-01] [ 2.61355600e-02 3.28487283e-03 9.99653011e-01 -7.38213195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23241403699998 meters Centerline goodness [0,1] 0.8242710633292751 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.39, Z:-0.74 [[ 0.99734427 0.0678387 -0.02650114 2.19506869] [-0.06794736 0.99768371 -0.00322055 -0.38930656] [ 0.02622127 0.00501268 0.9996436 -0.73925655] [ 0. 0. 0. 1. ]] SLAMing on 178.26241403699999 meters Centerline goodness [0,1] 0.8257634921287352 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.39, Z:-0.74 [[ 0.99743216 0.06625026 -0.0272028 2.19718758] [-0.06639423 0.99778367 -0.00442251 -0.39249509] [ 0.02684952 0.00621726 0.99962015 -0.74059554] [ 0. 0. 0. 1. ]] SLAMing on 178.292414037 meters Centerline goodness [0,1] 0.8257634921287352 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.39, Z:-0.74 [[ 0.99743216 0.06625026 -0.0272028 2.19718758] [-0.06639423 0.99778367 -0.00442251 -0.39249509] [ 0.02684952 0.00621726 0.99962015 -0.74059554] [ 0. 0. 0. 1. ]] SLAMing on 178.322414037 meters Centerline goodness [0,1] 0.8248575952620865 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.40, Z:-0.74 [[ 0.99762688 0.06318696 -0.02734992 2.1968747 ] [-0.06340385 0.99796244 -0.00713627 -0.39502837] [ 0.02684327 0.00885343 0.99960045 -0.74047253] [ 0. 0. 0. 1. ]] SLAMing on 178.352414037 meters Centerline goodness [0,1] 0.8260010293360782 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.40, Z:-0.74 [[ 0.99779225 0.06055247 -0.02727677 2.19522568] [-0.0607997 0.99811526 -0.00832662 -0.40178682] [ 0.02672116 0.00996665 0.99959324 -0.73929007] [ 0. 0. 0. 1. ]] SLAMing on 178.382414037 meters Centerline goodness [0,1] 0.8275897562582345 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.41, Z:-0.74 [[ 0.99779938 0.06048154 -0.02717315 2.19463381] [-0.06070403 0.9981281 -0.00743795 -0.4052007 ] [ 0.02667243 0.00907111 0.99960307 -0.73883699] [ 0. 0. 0. 1. ]] SLAMing on 178.412414037 meters Centerline goodness [0,1] 0.8291122257312115 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.41, Z:-0.74 [[ 0.99780379 0.06042062 -0.02714686 2.1943939 ] [-0.06061947 0.99813938 -0.00656177 -0.40848386] [ 0.02669989 0.00819299 0.99960992 -0.73866486] [ 0. 0. 0. 1. ]] SLAMing on 178.442414037 meters Centerline goodness [0,1] 0.8293453351776534 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.41, Z:-0.74 [[ 0.99800802 0.05693162 -0.02718061 2.19412049] [-0.05718793 0.99832511 -0.00874692 -0.41378192] [ 0.02663711 0.0102839 0.99959227 -0.73888675] [ 0. 0. 0. 1. ]] SLAMing on 178.472414037 meters Centerline goodness [0,1] 0.8300723666577325 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.42, Z:-0.74 [[ 0.99819438 0.05344192 -0.02742168 2.19424439] [-0.05378158 0.99848298 -0.01180179 -0.41605244] [ 0.02674937 0.01325526 0.99955429 -0.73903568] [ 0. 0. 0. 1. ]] SLAMing on 178.502414037 meters Centerline goodness [0,1] 0.8284145363305432 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.42, Z:-0.74 [[ 0.99823071 0.05260954 -0.02770701 2.19490345] [-0.05294825 0.99852946 -0.0116359 -0.4199726 ] [ 0.02705411 0.01308235 0.99954836 -0.73929472] [ 0. 0. 0. 1. ]] SLAMing on 178.532414037 meters Centerline goodness [0,1] 0.8298359168865436 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.42, Z:-0.74 [[ 0.99841223 0.04895244 -0.02786898 2.19455413] [-0.0493773 0.99867104 -0.01476629 -0.42217028] [ 0.02710909 0.01611894 0.99950251 -0.73899764] [ 0. 0. 0. 1. ]] SLAMing on 178.562414037 meters Centerline goodness [0,1] 0.8305659446796267 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.43, Z:-0.74 [[ 0.99860492 0.04463228 -0.02821642 2.19476451] [-0.04514058 0.99882487 -0.01764112 -0.42671345] [ 0.02739589 0.01889022 0.99944616 -0.73898157] [ 0. 0. 0. 1. ]] SLAMing on 178.592414037 meters Centerline goodness [0,1] 0.832645906372448 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.43, Z:-0.74 [[ 0.99862091 0.04430378 -0.0281684 2.19484352] [-0.04479701 0.99884929 -0.01712671 -0.42914817] [ 0.02737721 0.01836495 0.99945646 -0.73922146] [ 0. 0. 0. 1. ]] SLAMing on 178.622414037 meters Centerline goodness [0,1] 0.8363120333998313 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.43, Z:-0.74 [[ 0.99872481 0.04175229 -0.02838127 2.19665807] [-0.04229495 0.99892834 -0.01879662 -0.4330366 ] [ 0.02756605 0.01997303 0.99942043 -0.74119761] [ 0. 0. 0. 1. ]] SLAMing on 178.652414037 meters Centerline goodness [0,1] 0.8383566153023227 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.44, Z:-0.74 [[ 0.99872003 0.04196859 -0.0282302 2.19676024] [-0.04248296 0.99893729 -0.01787435 -0.43593318] [ 0.02745004 0.01905077 0.99944163 -0.74170076] [ 0. 0. 0. 1. ]] SLAMing on 178.682414037 meters Centerline goodness [0,1] 0.8331028789598597 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.44, Z:-0.74 [[ 0.9987196 0.04206889 -0.02809562 2.19661417] [-0.04256287 0.99894536 -0.01722145 -0.43825949] [ 0.02734151 0.01839523 0.99945688 -0.74186459] [ 0. 0. 0. 1. ]] SLAMing on 178.71241403699997 meters Centerline goodness [0,1] 0.8359696819904432 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.44, Z:-0.74 [[ 0.998729 0.04188732 -0.02803277 2.19628412] [-0.04235988 0.99896647 -0.01648107 -0.44102069] [ 0.02731345 0.01764758 0.99947113 -0.74163936] [ 0. 0. 0. 1. ]] SLAMing on 178.74241403699997 meters Centerline goodness [0,1] 0.8381124778870284 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.44, Z:-0.74 [[ 0.99872584 0.04194354 -0.02806115 2.19624899] [-0.04240622 0.9989707 -0.01610126 -0.44183997] [ 0.02735692 0.01727072 0.99947652 -0.7414975 ] [ 0. 0. 0. 1. ]] SLAMing on 178.77241403699998 meters Centerline goodness [0,1] 0.8342945417095777 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.44, Z:-0.74 [[ 0.99872635 0.04191057 -0.02809229 2.19614294] [-0.04236631 0.99897675 -0.0158287 -0.44268043] [ 0.02740015 0.0169987 0.99948 -0.74127122] [ 0. 0. 0. 1. ]] SLAMing on 178.80241403699998 meters Centerline goodness [0,1] 0.8363291165363105 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.44, Z:-0.74 [[ 0.99875713 0.04123788 -0.02799332 2.19644866] [-0.04168535 0.99900909 -0.01559374 -0.44492122] [ 0.02732252 0.01674127 0.99948647 -0.74190642] [ 0. 0. 0. 1. ]] SLAMing on 178.83241403699998 meters Centerline goodness [0,1] 0.8371051925814371 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.45, Z:-0.74 [[ 0.99876027 0.04113883 -0.02802699 2.19683706] [-0.04157822 0.99901842 -0.01527931 -0.44624228] [ 0.02737091 0.01642568 0.99949039 -0.74234572] [ 0. 0. 0. 1. ]] SLAMing on 178.86241403699998 meters Centerline goodness [0,1] 0.8366104483751542 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.45, Z:-0.74 [[ 0.99876228 0.04103571 -0.02810665 2.1974382 ] [-0.04147148 0.99902557 -0.01510056 -0.44714271] [ 0.0274596 0.0162475 0.99949086 -0.74291635] [ 0. 0. 0. 1. ]] SLAMing on 178.89241403699998 meters Centerline goodness [0,1] 0.834225151333595 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.45, Z:-0.74 [[ 0.99878434 0.04062185 -0.02792318 2.19679521] [-0.0410612 0.99903879 -0.01534495 -0.44676283] [ 0.027273 0.01647285 0.99949229 -0.7425015 ] [ 0. 0. 0. 1. ]] SLAMing on 178.92241403699998 meters Centerline goodness [0,1] 0.8374222350825703 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.45, Z:-0.74 [[ 0.99878611 0.04054951 -0.02796497 2.19679602] [-0.04099309 0.99903958 -0.01547548 -0.44609706] [ 0.02731059 0.01660306 0.9994891 -0.74236047] [ 0. 0. 0. 1. ]] SLAMing on 178.95241403699998 meters Centerline goodness [0,1] 0.8380014045524022 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.45, Z:-0.74 [[ 0.99878452 0.04052489 -0.02805729 2.19718218] [-0.04097341 0.99903845 -0.01559985 -0.44536143] [ 0.02739813 0.01673049 0.99948458 -0.74253215] [ 0. 0. 0. 1. ]] SLAMing on 178.98241403699998 meters Centerline goodness [0,1] 0.8383045525902668 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.44, Z:-0.74 [[ 0.99877906 0.04061611 -0.02811994 2.1976707 ] [-0.04106751 0.99903356 -0.01566564 -0.44464215] [ 0.02745648 0.01680133 0.99948179 -0.74294966] [ 0. 0. 0. 1. ]] SLAMing on 179.01241403699999 meters Centerline goodness [0,1] 0.8352313829237542 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.44, Z:-0.74 [[ 0.99878599 0.04032075 -0.02829806 2.19900559] [-0.04079344 0.99903415 -0.01632999 -0.44249314] [ 0.02761229 0.01746454 0.99946613 -0.74409836] [ 0. 0. 0. 1. ]] SLAMing on 179.042414037 meters Centerline goodness [0,1] 0.8367351150552058 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.44, Z:-0.74 [[ 0.99878663 0.04015241 -0.0285142 2.1999638 ] [-0.04063825 0.99903488 -0.01666833 -0.44137292] [ 0.0278174 0.01780688 0.9994544 -0.74473646] [ 0. 0. 0. 1. ]] SLAMing on 179.072414037 meters Centerline goodness [0,1] 0.8336022506309213 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.44, Z:-0.75 [[ 0.99880538 0.03964298 -0.02857012 2.20054113] [-0.04015658 0.99903781 -0.01763267 -0.43866737] [ 0.02784362 0.01875889 0.99943626 -0.74524722] [ 0. 0. 0. 1. ]] SLAMing on 179.102414037 meters Centerline goodness [0,1] 0.8309005442850075 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.44, Z:-0.75 [[ 0.998811 0.03931546 -0.02882507 2.20131513] [-0.03985059 0.99903931 -0.01823126 -0.43688561] [ 0.02808061 0.01935828 0.9994182 -0.74556371] [ 0. 0. 0. 1. ]] SLAMing on 179.132414037 meters Centerline goodness [0,1] 0.8316794993206242 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.44, Z:-0.75 [[ 0.998817 0.03903588 -0.02899673 2.2021527 ] [-0.03958917 0.99903995 -0.01875823 -0.43514535] [ 0.02823665 0.019884 0.99940348 -0.7461322 ] [ 0. 0. 0. 1. ]] SLAMing on 179.162414037 meters Centerline goodness [0,1] 0.8293749358513804 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.43, Z:-0.75 [[ 0.99881989 0.03877128 -0.02925076 2.20303366] [-0.03934537 0.99903902 -0.01931281 -0.4333504 ] [ 0.02847387 0.0204409 0.99938552 -0.74655056] [ 0. 0. 0. 1. ]] SLAMing on 179.192414037 meters Centerline goodness [0,1] 0.8289816692183556 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.43, Z:-0.75 [[ 0.99882207 0.03861443 -0.0293838 2.20340351] [-0.03920485 0.99903521 -0.01978976 -0.43167985] [ 0.02859128 0.02091844 0.99937228 -0.74663885] [ 0. 0. 0. 1. ]] SLAMing on 179.222414037 meters Centerline goodness [0,1] 0.83370256112963 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.43, Z:-0.75 [[ 0.99872829 0.04112069 -0.02917 2.20405768] [-0.04163793 0.99898209 -0.01735153 -0.4302556 ] [ 0.02842681 0.01854404 0.99942385 -0.74739381] [ 0. 0. 0. 1. ]] SLAMing on 179.252414037 meters Centerline goodness [0,1] 0.8338160453473458 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.43, Z:-0.75 [[ 0.99859963 0.04431399 -0.0288971 2.20400231] [-0.04473332 0.99890044 -0.01402964 -0.43002978] [ 0.02824362 0.01530266 0.99948393 -0.74754896] [ 0. 0. 0. 1. ]] SLAMing on 179.282414037 meters Centerline goodness [0,1] 0.8330075914991668 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.43, Z:-0.75 [[ 0.99847741 0.04671481 -0.02933573 2.20612305] [-0.04707243 0.99882389 -0.01162015 -0.42907433] [ 0.02875839 0.01298336 0.99950207 -0.74868891] [ 0. 0. 0. 1. ]] SLAMing on 179.312414037 meters Centerline goodness [0,1] 0.8321097133429574 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.42, Z:-0.75 [[ 0.99830529 0.05036592 -0.02915159 2.20580572] [-0.05064819 0.99867577 -0.00902638 -0.4243486 ] [ 0.02865836 0.01048756 0.99953425 -0.74810218] [ 0. 0. 0. 1. ]] SLAMing on 179.342414037 meters Centerline goodness [0,1] 0.8305154724303793 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.42, Z:-0.75 [[ 0.99812305 0.05395501 -0.02896958 2.20588236] [-0.05413978 0.99851749 -0.00563142 -0.42291949] [ 0.02862279 0.00718925 0.99956443 -0.74804009] [ 0. 0. 0. 1. ]] SLAMing on 179.372414037 meters Centerline goodness [0,1] 0.8300770784386464 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.42, Z:-0.75 [[ 0.99811772 0.0539806 -0.0291051 2.20645225] [-0.05418571 0.99851097 -0.00630473 -0.42013502] [ 0.02872143 0.00786994 0.99955647 -0.74832966] [ 0. 0. 0. 1. ]] SLAMing on 179.402414037 meters Centerline goodness [0,1] 0.8292260061919505 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.42, Z:-0.75 [[ 0.99811871 0.05395373 -0.02912102 2.20632655] [-0.05417511 0.99850784 -0.00686662 -0.41824676] [ 0.02870708 0.00843134 0.99955231 -0.74804431] [ 0. 0. 0. 1. ]] SLAMing on 179.432414037 meters Centerline goodness [0,1] 0.8305157857979171 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.42, Z:-0.75 [[ 0.99810512 0.05416474 -0.029195 2.20604749] [-0.05440064 0.99849216 -0.00734674 -0.41598266] [ 0.02875304 0.00892105 0.99954674 -0.74737207] [ 0. 0. 0. 1. ]] SLAMing on 179.46241403699997 meters Centerline goodness [0,1] 0.8295234564850282 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.41, Z:-0.75 [[ 0.99811464 0.05396514 -0.02923927 2.20605211] [-0.05421599 0.99849834 -0.00785466 -0.41458786] [ 0.02877149 0.00942509 0.99954158 -0.74721966] [ 0. 0. 0. 1. ]] SLAMing on 179.49241403699997 meters Centerline goodness [0,1] 0.8265845976490932 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.41, Z:-0.75 [[ 0.99813302 0.05362692 -0.0292339 2.20631462] [-0.05389452 0.99851094 -0.0084433 -0.41305476] [ 0.02873758 0.01000309 0.99953694 -0.74752227] [ 0. 0. 0. 1. ]] SLAMing on 179.52241403699998 meters Centerline goodness [0,1] 0.7986902991241117 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.41, Z:-0.75 [[ 0.99815253 0.05321661 -0.02931757 2.20717577] [-0.05351036 0.99852373 -0.00932733 -0.40998017] [ 0.02877792 0.01087889 0.99952663 -0.74826109] [ 0. 0. 0. 1. ]] SLAMing on 179.55241403699998 meters Centerline goodness [0,1] 0.7986902991241117 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.41, Z:-0.75 [[ 0.99815253 0.05321661 -0.02931757 2.20717577] [-0.05351036 0.99852373 -0.00932733 -0.40998017] [ 0.02877792 0.01087889 0.99952663 -0.74826109] [ 0. 0. 0. 1. ]] SLAMing on 179.58241403699998 meters Centerline goodness [0,1] 0.789931698485846 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.41, Z:-0.75 [[ 0.99805413 0.05488195 -0.02959595 2.20958791] [-0.0551347 0.99844852 -0.00779225 -0.4075937 ] [ 0.02912237 0.00940885 0.99953157 -0.74998011] [ 0. 0. 0. 1. ]] SLAMing on 179.61241403699998 meters Centerline goodness [0,1] 0.7918376559422193 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.41, Z:-0.75 [[ 0.99805168 0.05482025 -0.02979238 2.21022728] [-0.05508772 0.99844759 -0.0082318 -0.40580878] [ 0.02929486 0.00985695 0.99952221 -0.75020249] [ 0. 0. 0. 1. ]] SLAMing on 179.64241403699998 meters Centerline goodness [0,1] 0.8280359266702211 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.40, Z:-0.75 [[ 0.99805404 0.05473113 -0.02987691 2.21042177] [-0.05501507 0.99844705 -0.00876518 -0.40409039] [ 0.02935078 0.0103918 0.99951515 -0.75015156] [ 0. 0. 0. 1. ]] SLAMing on 179.67241403699998 meters Centerline goodness [0,1] 0.7999506761478071 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.40, Z:-0.75 [[ 0.99805525 0.05467585 -0.02993772 2.21066286] [-0.05497587 0.99844446 -0.00929098 -0.40250139] [ 0.02938316 0.01091876 0.99950858 -0.75022565] [ 0. 0. 0. 1. ]] SLAMing on 179.70241403699998 meters Centerline goodness [0,1] 0.8259110982706674 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.40, Z:-0.75 [[ 0.99790784 0.05719655 -0.03014123 2.21314977] [-0.05744051 0.99832231 -0.0072906 -0.40023263] [ 0.02967367 0.00900667 0.99951906 -0.75221346] [ 0. 0. 0. 1. ]] SLAMing on 179.73241403699998 meters Centerline goodness [0,1] 0.8265232680088013 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.40, Z:-0.75 [[ 0.99776555 0.05947394 -0.03044281 2.21577265] [-0.05966107 0.99820475 -0.00527516 -0.39872538] [ 0.03007442 0.00707963 0.99952259 -0.75419263] [ 0. 0. 0. 1. ]] SLAMing on 179.76241403699999 meters Centerline goodness [0,1] 0.8269282064960912 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.40, Z:-0.76 [[ 0.99773712 0.05985327 -0.0306306 2.21692143] [-0.06005994 0.9981775 -0.00587141 -0.39563843] [ 0.03022336 0.00769779 0.99951353 -0.75503973] [ 0. 0. 0. 1. ]] SLAMing on 179.792414037 meters Centerline goodness [0,1] 0.82357763567798 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.39, Z:-0.76 [[ 0.99770329 0.06040264 -0.03065382 2.21733083] [-0.06062408 0.9981405 -0.00634596 -0.39283089] [ 0.03021351 0.00818975 0.99950992 -0.75533983] [ 0. 0. 0. 1. ]] SLAMing on 179.822414037 meters Centerline goodness [0,1] 0.8206662553979025 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.39, Z:-0.76 [[ 0.9976459 0.06136645 -0.03060754 2.21710717] [-0.06158566 0.9980821 -0.0062705 -0.39095167] [ 0.03016404 0.00814072 0.99951181 -0.75503235] [ 0. 0. 0. 1. ]] SLAMing on 179.852414037 meters Centerline goodness [0,1] 0.8189950828478162 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.39, Z:-0.75 [[ 0.99736709 0.0658584 -0.03035705 2.21684567] [-0.06596612 0.99781858 -0.00255956 -0.38982754] [ 0.03012226 0.00455536 0.99953584 -0.75463411] [ 0. 0. 0. 1. ]] SLAMing on 179.882414037 meters Centerline goodness [0,1] 0.8209835795032594 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.39, Z:-0.75 [[ 0.99734218 0.06618534 -0.0304643 2.21709119] [-0.06630174 0.99779562 -0.00282556 -0.3883083 ] [ 0.03021013 0.00483789 0.99953186 -0.7546306 ] [ 0. 0. 0. 1. ]] SLAMing on 179.912414037 meters Centerline goodness [0,1] 0.8195482529289435 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.39, Z:-0.75 [[ 0.99732132 0.06644632 -0.03057901 2.21716245] [-0.06657192 0.99777679 -0.00310675 -0.38658904] [ 0.03030459 0.00513413 0.99952752 -0.75431219] [ 0. 0. 0. 1. ]] SLAMing on 179.942414037 meters Centerline goodness [0,1] 0.8221989399728831 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.38, Z:-0.75 [[ 0.99729427 0.06677079 -0.03075396 2.21739494] [-0.06690513 0.99775369 -0.00335911 -0.38483885] [ 0.03046059 0.00540762 0.99952134 -0.75403888] [ 0. 0. 0. 1. ]] SLAMing on 179.972414037 meters Centerline goodness [0,1] 0.8200759138542784 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.38, Z:-0.75 [[ 0.9972634 0.06718915 -0.03084371 2.21732435] [-0.06732307 0.9977257 -0.00332272 -0.38404837] [ 0.03055031 0.00539012 0.9995187 -0.75366959] [ 0. 0. 0. 1. ]] SLAMing on 180.002414037 meters Centerline goodness [0,1] 0.8207609322243268 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.38, Z:-0.75 [[ 0.99719695 0.06805279 -0.03109745 2.2179226 ] [-0.06817094 0.99766986 -0.00275368 -0.38476572] [ 0.03083759 0.00486591 0.99951256 -0.75377747] [ 0. 0. 0. 1. ]] SLAMing on 180.032414037 meters Centerline goodness [0,1] 0.8223211158497641 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.39, Z:-0.75 [[ 0.99717789 0.06828283 -0.03120443 2.21851134] [-0.06839421 0.9976552 -0.00251479 -0.38551974] [ 0.03095955 0.0046419 0.99950986 -0.75427754] [ 0. 0. 0. 1. ]] SLAMing on 180.062414037 meters Centerline goodness [0,1] 0.8207712804412038 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.39, Z:-0.75 [[ 0.99717039 0.0683523 -0.03129187 2.2188638 ] [-0.06846198 0.99765073 -0.00244589 -0.38601041] [ 0.03105117 0.00458128 0.9995073 -0.7545794 ] [ 0. 0. 0. 1. ]] SLAMing on 180.092414037 meters Centerline goodness [0,1] 0.8200325565102717 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.39, Z:-0.75 [[ 9.97150753e-01 6.85937748e-02 -3.13889994e-02 2.21931099e+00] [-6.86956411e-02 9.97635288e-01 -2.17719481e-03 -3.86679406e-01] [ 3.11654315e-02 4.32727888e-03 9.99504873e-01 -7.54933784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.122414037 meters Centerline goodness [0,1] 0.8225540339877908 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.39, Z:-0.75 [[ 9.97139839e-01 6.87553939e-02 -3.13821075e-02 2.21921668e+00] [-6.88503864e-02 9.97625081e-01 -1.95518472e-03 -3.87481671e-01] [ 3.11731480e-02 4.11026281e-03 9.99505548e-01 -7.54859335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.152414037 meters Centerline goodness [0,1] 0.8203189385198615 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.39, Z:-0.75 [[ 9.97108281e-01 6.92222433e-02 -3.13585093e-02 2.21851016e+00] [-6.92929472e-02 9.97595666e-01 -1.17230067e-03 -3.90168081e-01] [ 3.12019637e-02 3.34183424e-03 9.99507514e-01 -7.54125718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.182414037 meters Centerline goodness [0,1] 0.8203189385198615 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.39, Z:-0.75 [[ 9.97108281e-01 6.92222433e-02 -3.13585093e-02 2.21851016e+00] [-6.92929472e-02 9.97595666e-01 -1.17230067e-03 -3.90168081e-01] [ 3.12019637e-02 3.34183424e-03 9.99507514e-01 -7.54125718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21241403699997 meters Centerline goodness [0,1] 0.8232804667597995 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.39, Z:-0.75 [[ 9.97090138e-01 6.94229975e-02 -3.14913316e-02 2.21891469e+00] [-6.94802872e-02 9.97583060e-01 -7.27275735e-04 -3.91742443e-01] [ 3.13647292e-02 2.91318622e-03 9.99503760e-01 -7.54324469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24241403699997 meters Centerline goodness [0,1] 0.8203406586616687 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.39, Z:-0.75 [[ 0.99725499 0.06697565 -0.03157118 2.21878936] [-0.06711722 0.99773915 -0.00344463 -0.39153973] [ 0.03126909 0.00555414 0.99949557 -0.75437981] [ 0. 0. 0. 1. ]] SLAMing on 180.27241403699998 meters Centerline goodness [0,1] 0.8201671332125803 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.39, Z:-0.75 [[ 0.99725441 0.06693079 -0.03168451 2.21940956] [-0.0670632 0.99774381 -0.00313369 -0.39297643] [ 0.03140328 0.00524996 0.99949301 -0.75493692] [ 0. 0. 0. 1. ]] SLAMing on 180.30241403699998 meters Centerline goodness [0,1] 0.8201318426980224 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.39, Z:-0.76 [[ 0.99750154 0.06306792 -0.03182948 2.21925326] [-0.06330703 0.99797254 -0.00656029 -0.39434383] [ 0.0313512 0.00855893 0.99947178 -0.75503677] [ 0. 0. 0. 1. ]] SLAMing on 180.33241403699998 meters Centerline goodness [0,1] 0.8207997027434304 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.40, Z:-0.75 [[ 0.99753829 0.06235845 -0.0320745 2.21951174] [-0.06259206 0.99801912 -0.00633043 -0.39712545] [ 0.03161621 0.00832245 0.99946543 -0.75490939] [ 0. 0. 0. 1. ]] SLAMing on 180.36241403699998 meters Centerline goodness [0,1] 0.8214175241787475 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.40, Z:-0.75 [[ 0.99760106 0.0612423 -0.03227239 2.21969895] [-0.06147882 0.99808795 -0.00638742 -0.40045399] [ 0.0318195 0.00835616 0.9994587 -0.75483493] [ 0. 0. 0. 1. ]] SLAMing on 180.39241403699998 meters Centerline goodness [0,1] 0.822903590904414 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.40, Z:-0.75 [[ 0.9980291 0.05356374 -0.03269311 2.2189949 ] [-0.05401346 0.99845518 -0.01303072 -0.40417135] [ 0.03194463 0.01477091 0.99938049 -0.75411445] [ 0. 0. 0. 1. ]] SLAMing on 180.42241403699998 meters Centerline goodness [0,1] 0.8254125005143398 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.41, Z:-0.75 [[ 0.99822244 0.04958559 -0.03306413 2.21986127] [-0.05015216 0.99860476 -0.01653153 -0.40545644] [ 0.03219828 0.01816038 0.9993165 -0.75480697] [ 0. 0. 0. 1. ]] SLAMing on 180.45241403699998 meters Centerline goodness [0,1] 0.8244986115396482 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.41, Z:-0.76 [[ 0.99829013 0.04787619 -0.03353635 2.22230571] [-0.04847744 0.99867358 -0.01735012 -0.4076855 ] [ 0.03266121 0.01894621 0.99928689 -0.75675179] [ 0. 0. 0. 1. ]] SLAMing on 180.48241403699998 meters Centerline goodness [0,1] 0.8234859068123921 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.41, Z:-0.76 [[ 0.99834829 0.04630546 -0.03400725 2.22489112] [-0.0469411 0.99873299 -0.01813675 -0.4092093 ] [ 0.03312433 0.01970313 0.99925701 -0.75885167] [ 0. 0. 0. 1. ]] SLAMing on 180.51241403699999 meters Centerline goodness [0,1] 0.8289053978968164 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.41, Z:-0.76 [[ 0.99852332 0.04222518 -0.03417899 2.22592011] [-0.04296864 0.99884897 -0.02131732 -0.41153048] [ 0.03323952 0.02275446 0.99918835 -0.76013835] [ 0. 0. 0. 1. ]] SLAMing on 180.542414037 meters Centerline goodness [0,1] 0.8249474595129188 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.41, Z:-0.76 [[ 0.99853699 0.04198243 -0.0340786 2.22556862] [-0.04270239 0.99887378 -0.02068038 -0.41438859] [ 0.03317201 0.02210536 0.99920517 -0.75998131] [ 0. 0. 0. 1. ]] SLAMing on 180.572414037 meters Centerline goodness [0,1] 0.826401483924155 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.42, Z:-0.76 [[ 0.99855087 0.04159584 -0.03414606 2.22539948] [-0.04229991 0.9989015 -0.02016224 -0.41740486] [ 0.03326988 0.0215774 0.99921346 -0.75967581] [ 0. 0. 0. 1. ]] SLAMing on 180.602414037 meters Centerline goodness [0,1] 0.8262860443051029 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.42, Z:-0.76 [[ 0.99857206 0.04121446 -0.03398831 2.22494562] [-0.04190064 0.99892697 -0.01972945 -0.42010288] [ 0.0331387 0.02112541 0.99922747 -0.7594993 ] [ 0. 0. 0. 1. ]] SLAMing on 180.632414037 meters Centerline goodness [0,1] 0.8271437940646007 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.42, Z:-0.76 [[ 0.99873145 0.03700021 -0.03415377 2.22498507] [-0.03780519 0.99901503 -0.02323215 -0.42170193] [ 0.03326054 0.02449386 0.99914653 -0.75949518] [ 0. 0. 0. 1. ]] SLAMing on 180.662414037 meters Centerline goodness [0,1] 0.8271220035925918 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.42, Z:-0.76 [[ 0.99874719 0.03665534 -0.03406504 2.22464933] [-0.03745314 0.99903172 -0.0230843 -0.42259299] [ 0.03318589 0.02433122 0.99915299 -0.75927313] [ 0. 0. 0. 1. ]] SLAMing on 180.692414037 meters Centerline goodness [0,1] 0.827312302708948 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.42, Z:-0.76 [[ 0.99874701 0.03653334 -0.03420115 2.22499399] [-0.03732517 0.99904288 -0.02280711 -0.4233377 ] [ 0.0333352 0.02405509 0.9991547 -0.75935169] [ 0. 0. 0. 1. ]] SLAMing on 180.722414037 meters Centerline goodness [0,1] 0.8286227100181548 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.42, Z:-0.76 [[ 0.99874646 0.03646103 -0.03429448 2.22538736] [-0.03724814 0.99905047 -0.02259951 -0.42380834] [ 0.03343791 0.02384859 0.99915622 -0.75954577] [ 0. 0. 0. 1. ]] SLAMing on 180.752414037 meters Centerline goodness [0,1] 0.7238318333127851 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.42, Z:-0.76 [[ 0.99874384 0.03639941 -0.03443575 2.22609733] [-0.03718534 0.99905585 -0.02246461 -0.42408157] [ 0.03358554 0.0237169 0.9991544 -0.76003322] [ 0. 0. 0. 1. ]] SLAMing on 180.782414037 meters Centerline goodness [0,1] 0.8277430241172112 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.42, Z:-0.76 [[ 0.99874649 0.03628436 -0.03448045 2.22652731] [-0.03707171 0.99905981 -0.02247645 -0.4240416 ] [ 0.03363249 0.02372652 0.99915259 -0.76040404] [ 0. 0. 0. 1. ]] SLAMing on 180.812414037 meters Centerline goodness [0,1] 0.7905898761178112 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.42, Z:-0.76 [[ 0.9987541 0.03585366 -0.03470963 2.22762769] [-0.03666251 0.99906404 -0.02295425 -0.42327021] [ 0.03385415 0.02419819 0.9991338 -0.76116659] [ 0. 0. 0. 1. ]] SLAMing on 180.842414037 meters Centerline goodness [0,1] 0.7141855814624694 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.42, Z:-0.76 [[ 0.9987531 0.03582977 -0.03476309 2.22784682] [-0.03664968 0.99905786 -0.0232421 -0.42220263] [ 0.03389758 0.02448718 0.99912528 -0.76126375] [ 0. 0. 0. 1. ]] SLAMing on 180.872414037 meters Centerline goodness [0,1] 0.7185971976825409 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.42, Z:-0.76 [[ 0.99866487 0.03800704 -0.03498475 2.22948536] [-0.03876557 0.99902204 -0.02126475 -0.41891806] [ 0.03414233 0.02259256 0.99916159 -0.76215951] [ 0. 0. 0. 1. ]] SLAMing on 180.902414037 meters Centerline goodness [0,1] 0.7183756637714568 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.42, Z:-0.76 [[ 0.99858529 0.04046766 -0.03449336 2.22859361] [-0.0411294 0.9989789 -0.01869578 -0.41714957] [ 0.03370156 0.02008802 0.99923004 -0.76168316] [ 0. 0. 0. 1. ]] SLAMing on 180.932414037 meters Centerline goodness [0,1] 0.6930764475582114 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.41, Z:-0.76 [[ 0.99859502 0.04018844 -0.03453795 2.22854136] [-0.04087659 0.99897479 -0.01945464 -0.41425277] [ 0.03372069 0.0208391 0.99921401 -0.7613761 ] [ 0. 0. 0. 1. ]] SLAMing on 180.96241403699997 meters Centerline goodness [0,1] 0.7048500646538454 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.41, Z:-0.76 [[ 0.99860261 0.03983628 -0.03472615 2.22912124] [-0.04055287 0.99897357 -0.0201812 -0.41185624] [ 0.03388656 0.02156125 0.99919308 -0.76147526] [ 0. 0. 0. 1. ]] SLAMing on 180.99241403699997 meters Centerline goodness [0,1] 0.695958252327842 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.41, Z:-0.76 [[ 0.99863739 0.03872308 -0.03498417 2.23022965] [-0.03950028 0.99898163 -0.02180428 -0.40814892] [ 0.03410421 0.02315645 0.99914998 -0.76197203] [ 0. 0. 0. 1. ]] SLAMing on 181.02241403699998 meters Centerline goodness [0,1] 0.6936315638685384 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.41, Z:-0.76 [[ 0.99865087 0.03823859 -0.03513176 2.23118456] [-0.03904612 0.99898193 -0.02259432 -0.40618755] [ 0.03423202 0.0239356 0.99912725 -0.76270522] [ 0. 0. 0. 1. ]] SLAMing on 181.05241403699998 meters Centerline goodness [0,1] 0.6810975984905969 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.40, Z:-0.76 [[ 0.99859233 0.04019246 -0.03461092 2.23058102] [-0.04091487 0.99895389 -0.02042301 -0.40471893] [ 0.03375386 0.02181037 0.99919217 -0.76268739] [ 0. 0. 0. 1. ]] SLAMing on 181.08241403699998 meters Centerline goodness [0,1] 0.6966123938809827 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.40, Z:-0.76 [[ 0.99850035 0.04222052 -0.03484937 2.23269495] [-0.04287395 0.99891433 -0.01822066 -0.40309761] [ 0.03404225 0.01968746 0.99922647 -0.76421539] [ 0. 0. 0. 1. ]] SLAMing on 181.11241403699998 meters Centerline goodness [0,1] 0.6643203086521097 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.40, Z:-0.76 [[ 0.99837763 0.04509062 -0.03476998 2.23326887] [-0.04568035 0.99882218 -0.01635693 -0.39668651] [ 0.03399148 0.0179187 0.99926148 -0.7643437 ] [ 0. 0. 0. 1. ]] SLAMing on 181.14241403699998 meters Centerline goodness [0,1] 0.6666323186942275 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.39, Z:-0.76 [[ 0.99822401 0.04844491 -0.03466864 2.23315738] [-0.04893509 0.99871163 -0.01343275 -0.39444729] [ 0.03397323 0.01510541 0.99930858 -0.76387232] [ 0. 0. 0. 1. ]] SLAMing on 181.17241403699998 meters Centerline goodness [0,1] 0.7086084567116433 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.39, Z:-0.76 [[ 0.99804421 0.05198897 -0.03471158 2.23330281] [-0.05237389 0.99857471 -0.01027291 -0.39291986] [ 0.03412803 0.0120708 0.99934457 -0.76333133] [ 0. 0. 0. 1. ]] SLAMing on 181.20241403699998 meters Centerline goodness [0,1] 0.7163680347697732 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.39, Z:-0.76 [[ 0.99795035 0.05378509 -0.03467356 2.23173897] [-0.05413664 0.99849041 -0.00928023 -0.39020552] [ 0.03412208 0.01113832 0.9993556 -0.7612621 ] [ 0. 0. 0. 1. ]] SLAMing on 181.23241403699998 meters Centerline goodness [0,1] 0.7438824781078648 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.39, Z:-0.76 [[ 0.99773619 0.0575694 -0.03476009 2.23222873] [-0.05784582 0.998301 -0.00699886 -0.38505844] [ 0.03429812 0.00899374 0.99937118 -0.7608038 ] [ 0. 0. 0. 1. ]] SLAMing on 181.26241403699999 meters Centerline goodness [0,1] 0.754182412419569 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.38, Z:-0.76 [[ 0.99752934 0.06107159 -0.03471987 2.23324036] [-0.06124713 0.99811456 -0.00401401 -0.38263587] [ 0.03440927 0.00613058 0.99938902 -0.76144171] [ 0. 0. 0. 1. ]] SLAMing on 181.292414037 meters Centerline goodness [0,1] 0.7667211774325429 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.38, Z:-0.76 [[ 9.97315031e-01 6.45158886e-02 -3.46472144e-02 2.23411082e+00] [-6.45951190e-02 9.97910867e-01 -1.17114082e-03 -3.79799488e-01] [ 3.44992745e-02 3.40603728e-03 9.99398919e-01 -7.61973030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.322414037 meters Centerline goodness [0,1] 0.8020368931244631 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.37, Z:-0.76 [[ 9.97061908e-01 6.84194719e-02 -3.44431139e-02 2.23438595e+00] [-6.84204455e-02 9.97655911e-01 1.15177339e-03 -3.73554694e-01] [ 3.44411799e-02 1.20822382e-03 9.99405996e-01 -7.61841774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.352414037 meters Centerline goodness [0,1] 0.802601220981277 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.37, Z:-0.76 [[ 9.97049279e-01 6.85032245e-02 -3.46416488e-02 2.23478760e+00] [-6.85329742e-02 9.97648797e-01 3.29286994e-04 -3.70531116e-01] [ 3.45827565e-02 2.04577987e-03 9.99399744e-01 -7.61727468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.382414037 meters Centerline goodness [0,1] 0.8132552253429132 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.37, Z:-0.76 [[ 9.97046922e-01 6.84879140e-02 -3.47396277e-02 2.23509861e+00] [-6.85441941e-02 9.97647988e-01 -4.30287981e-04 -3.67911117e-01] [ 3.46284502e-02 2.81021709e-03 9.99396304e-01 -7.61759728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.412414037 meters Centerline goodness [0,1] 0.8159970572608003 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.36, Z:-0.76 [[ 9.97015822e-01 6.88353718e-02 -3.49448411e-02 2.23600620e+00] [-6.89334736e-02 9.97619962e-01 -1.60890375e-03 -3.63152508e-01] [ 3.47509216e-02 4.01297178e-03 9.99387947e-01 -7.62126270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.442414037 meters Centerline goodness [0,1] 0.8229098628347485 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.36, Z:-0.76 [[ 0.99700738 0.06883768 -0.03518034 2.23698657] [-0.06896807 0.99761572 -0.00250493 -0.35985284] [ 0.03492403 0.00492376 0.99937784 -0.76259022] [ 0. 0. 0. 1. ]] SLAMing on 181.472414037 meters Centerline goodness [0,1] 0.8266142248443134 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.36, Z:-0.76 [[ 0.99697342 0.06931646 -0.03520254 2.23734781] [-0.0694656 0.99757975 -0.00303004 -0.35623776] [ 0.03490731 0.00546624 0.99937561 -0.76269845] [ 0. 0. 0. 1. ]] SLAMing on 181.502414037 meters Centerline goodness [0,1] 0.829157221915906 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.35, Z:-0.76 [[ 9.96708630e-01 7.30287144e-02 -3.51953720e-02 2.23775460e+00] [-7.31014138e-02 9.97324206e-01 -7.81506796e-04 -3.50714453e-01] [ 3.50441240e-02 3.35176602e-03 9.99380145e-01 -7.62198946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.532414037 meters Centerline goodness [0,1] 0.8281890473848172 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.35, Z:-0.76 [[ 9.96696983e-01 7.31758073e-02 -3.52196585e-02 2.23745130e+00] [-7.32791232e-02 9.97310106e-01 -1.64989855e-03 -3.47550404e-01] [ 3.50041887e-02 4.22531460e-03 9.99378233e-01 -7.61536435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.562414037 meters Centerline goodness [0,1] 0.827753834841398 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.35, Z:-0.76 [[ 0.99667486 0.07338516 -0.03540957 2.23765428] [-0.07351479 0.99729131 -0.00237099 -0.34503746] [ 0.03513966 0.00496623 0.99937007 -0.76116571] [ 0. 0. 0. 1. ]] SLAMing on 181.592414037 meters Centerline goodness [0,1] 0.8283931676383349 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.34, Z:-0.76 [[ 9.96376641e-01 7.73984474e-02 -3.52571855e-02 2.23766686e+00] [-7.74246238e-02 9.96998013e-01 6.24316077e-04 -3.42502194e-01] [ 3.51996650e-02 2.10772037e-03 9.99378077e-01 -7.60729364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.622414037 meters Centerline goodness [0,1] 0.8282768355802868 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.34, Z:-0.76 [[ 9.96350975e-01 7.76757693e-02 -3.53724522e-02 2.23823225e+00] [-7.77254749e-02 9.96974799e-01 -3.01963151e-05 -3.39722684e-01] [ 3.52630979e-02 2.77942677e-03 9.99374199e-01 -7.60990968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.652414037 meters Centerline goodness [0,1] 0.8279541210989597 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.34, Z:-0.76 [[ 9.96301944e-01 7.83027261e-02 -3.53711555e-02 2.23873402e+00] [-7.83649821e-02 9.96924666e-01 -3.75021671e-04 -3.36974026e-01] [ 3.52330122e-02 3.14549479e-03 9.99374175e-01 -7.61374062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.682414037 meters Centerline goodness [0,1] 0.8289468264755551 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.33, Z:-0.76 [[ 9.96247905e-01 7.89706152e-02 -3.54083844e-02 2.23908632e+00] [-7.90411362e-02 9.96871178e-01 -5.94099491e-04 -3.34342301e-01] [ 3.52506815e-02 3.39058931e-03 9.99372750e-01 -7.61419768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71241403699997 meters Centerline goodness [0,1] 0.8315798109067044 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.33, Z:-0.76 [[ 9.95877610e-01 8.35678949e-02 -3.52731240e-02 2.23964623e+00] [-8.34977525e-02 9.96501960e-01 3.45954464e-03 -3.33806798e-01] [ 3.54388440e-02 -5.00056478e-04 9.99371722e-01 -7.61543924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74241403699997 meters Centerline goodness [0,1] 0.8302445646584529 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.33, Z:-0.76 [[ 9.95836794e-01 8.39830865e-02 -3.54389714e-02 2.24029434e+00] [-8.39029617e-02 9.96466894e-01 3.74471737e-03 -3.34488999e-01] [ 3.56282547e-02 -7.55692682e-04 9.99364826e-01 -7.61947488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77241403699998 meters Centerline goodness [0,1] 0.8220569450739627 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.34, Z:-0.76 [[ 9.95900860e-01 8.29548731e-02 -3.60550429e-02 2.24304326e+00] [-8.29155751e-02 9.96553219e-01 2.58641093e-03 -3.37805716e-01] [ 3.61453244e-02 4.13715746e-04 9.99346459e-01 -7.64326093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80241403699998 meters Centerline goodness [0,1] 0.8239501948092107 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.34, Z:-0.76 [[ 9.96149626e-01 7.97887084e-02 -3.63274695e-02 2.24329360e+00] [-7.98701427e-02 9.96804961e-01 -7.93681198e-04 -3.38123128e-01] [ 3.61480750e-02 3.69210540e-03 9.99339624e-01 -7.64607855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83241403699998 meters Centerline goodness [0,1] 0.8240710224932026 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.34, Z:-0.76 [[ 0.99637395 0.07680913 -0.0365966 2.24332221] [-0.07700025 0.99702368 -0.00383989 -0.33864016] [ 0.03619273 0.00664391 0.99932274 -0.76453336] [ 0. 0. 0. 1. ]] SLAMing on 181.86241403699998 meters Centerline goodness [0,1] 0.8245884773662552 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.34, Z:-0.76 [[ 0.99636663 0.07695033 -0.03649917 2.24265156] [-0.07711151 0.99701788 -0.00302695 -0.34140761] [ 0.0361574 0.00583045 0.9993291 -0.76400737] [ 0. 0. 0. 1. ]] SLAMing on 181.89241403699998 meters Centerline goodness [0,1] 0.8235100631128837 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.35, Z:-0.76 [[ 0.99652918 0.07481668 -0.03649745 2.23991299] [-0.07500419 0.997176 -0.00379383 -0.34771922] [ 0.03611054 0.00651812 0.99932654 -0.76141321] [ 0. 0. 0. 1. ]] SLAMing on 181.92241403699998 meters Centerline goodness [0,1] 0.8241007490328423 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.35, Z:-0.76 [[ 0.99669893 0.07253835 -0.03646134 2.23823262] [-0.07279175 0.99733105 -0.00566927 -0.3506818 ] [ 0.03595279 0.00830464 0.99931898 -0.7601198 ] [ 0. 0. 0. 1. ]] SLAMing on 181.95241403699998 meters Centerline goodness [0,1] 0.8220032637210551 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.35, Z:-0.76 [[ 0.99681873 0.07096631 -0.03627961 2.23644563] [-0.0712581 0.99743465 -0.00681222 -0.35369272] [ 0.0357031 0.00937576 0.99931846 -0.75894555] [ 0. 0. 0. 1. ]] SLAMing on 181.98241403699998 meters Centerline goodness [0,1] 0.8227513227513228 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.36, Z:-0.76 [[ 0.99696352 0.06890976 -0.03626557 2.23718911] [-0.06923949 0.99756867 -0.00791462 -0.35919485] [ 0.035632 0.0104016 0.99931085 -0.76044493] [ 0. 0. 0. 1. ]] SLAMing on 182.01241403699999 meters Centerline goodness [0,1] 0.822970941367877 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.36, Z:-0.76 [[ 0.99693229 0.06932964 -0.03632366 2.23761494] [-0.06962242 0.99754985 -0.00685679 -0.36248193] [ 0.03575928 0.0093647 0.99931655 -0.76094751] [ 0. 0. 0. 1. ]] SLAMing on 182.042414037 meters Centerline goodness [0,1] 0.8215331326543236 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.37, Z:-0.76 [[ 0.99690811 0.06973514 -0.03621086 2.23711436] [-0.0699929 0.99753005 -0.00589867 -0.36579385] [ 0.03571008 0.00841494 0.99932676 -0.76072288] [ 0. 0. 0. 1. ]] SLAMing on 182.072414037 meters Centerline goodness [0,1] 0.8247577819006391 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.37, Z:-0.76 [[ 0.99701324 0.06830153 -0.03604849 2.23478213] [-0.06858382 0.99762318 -0.00665169 -0.37158189] [ 0.03550849 0.00910416 0.9993279 -0.7589058 ] [ 0. 0. 0. 1. ]] SLAMing on 182.102414037 meters Centerline goodness [0,1] 0.8247577819006391 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.37, Z:-0.76 [[ 0.99701324 0.06830153 -0.03604849 2.23478213] [-0.06858382 0.99762318 -0.00665169 -0.37158189] [ 0.03550849 0.00910416 0.9993279 -0.7589058 ] [ 0. 0. 0. 1. ]] SLAMing on 182.132414037 meters Centerline goodness [0,1] 0.824048071363674 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.37, Z:-0.76 [[ 0.99699253 0.06858325 -0.03608647 2.23457701] [-0.06883435 0.99761147 -0.00576092 -0.37482321] [ 0.03560518 0.00822758 0.99933207 -0.75866828] [ 0. 0. 0. 1. ]] SLAMing on 182.162414037 meters Centerline goodness [0,1] 0.8240884206177048 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.38, Z:-0.76 [[ 0.99712775 0.06628756 -0.03663608 2.23612654] [-0.06662031 0.99774684 -0.00793623 -0.37669898] [ 0.03602746 0.01035414 0.99929716 -0.75971629] [ 0. 0. 0. 1. ]] SLAMing on 182.192414037 meters Centerline goodness [0,1] 0.8263655656975666 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.38, Z:-0.76 [[ 0.99729513 0.06330527 -0.03734793 2.23915137] [-0.06371256 0.99792001 -0.00981666 -0.38195191] [ 0.0366488 0.01216964 0.9992541 -0.76229463] [ 0. 0. 0. 1. ]] SLAMing on 182.222414037 meters Centerline goodness [0,1] 0.8227083419240444 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.39, Z:-0.76 [[ 0.99740633 0.06120065 -0.03788259 2.24121755] [-0.06167255 0.99803116 -0.01141519 -0.38510639] [ 0.03710939 0.0137219 0.99921699 -0.76395845] [ 0. 0. 0. 1. ]] SLAMing on 182.252414037 meters Centerline goodness [0,1] 0.824163591762693 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.39, Z:-0.76 [[ 0.99741608 0.06102609 -0.03790751 2.24139188] [-0.06146608 0.9980534 -0.01055097 -0.38960668] [ 0.03718983 0.01285373 0.99922555 -0.76430223] [ 0. 0. 0. 1. ]] SLAMing on 182.282414037 meters Centerline goodness [0,1] 0.824725036627391 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.40, Z:-0.76 [[ 0.99756368 0.05864042 -0.03778905 2.23963034] [-0.05910838 0.99818663 -0.01138652 -0.39810537] [ 0.03705281 0.01359243 0.99922086 -0.76320704] [ 0. 0. 0. 1. ]] SLAMing on 182.312414037 meters Centerline goodness [0,1] 0.8245888157894736 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.40, Z:-0.76 [[ 0.99752602 0.05926553 -0.03780796 2.23937065] [-0.05966886 0.99817178 -0.00962916 -0.40321944] [ 0.03716816 0.0118613 0.99923863 -0.7629699 ] [ 0. 0. 0. 1. ]] SLAMing on 182.342414037 meters Centerline goodness [0,1] 0.82284877485356 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.41, Z:-0.76 [[ 0.99751637 0.05945228 -0.03776916 2.23916818] [-0.05980864 0.99817473 -0.00837527 -0.40783828] [ 0.03720229 0.01061339 0.99925139 -0.7629589 ] [ 0. 0. 0. 1. ]] SLAMing on 182.372414037 meters Centerline goodness [0,1] 0.8234541137607102 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.41, Z:-0.76 [[ 0.99750079 0.05974634 -0.03771668 2.23932843] [-0.0600507 0.99817087 -0.00698811 -0.41237964] [ 0.03723017 0.00923556 0.99926404 -0.76340339] [ 0. 0. 0. 1. ]] SLAMing on 182.402414037 meters Centerline goodness [0,1] 0.8221580358984939 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.42, Z:-0.76 [[ 0.99761478 0.0577246 -0.03784997 2.23952401] [-0.05804508 0.99828637 -0.00742275 -0.42010034] [ 0.03735664 0.00960205 0.99925586 -0.763879 ] [ 0. 0. 0. 1. ]] SLAMing on 182.432414037 meters Centerline goodness [0,1] 0.8253284114577963 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.43, Z:-0.76 [[ 0.99760699 0.05797583 -0.03767099 2.23884968] [-0.05824495 0.99828378 -0.00608521 -0.42505177] [ 0.03725354 0.00826479 0.99927167 -0.76354304] [ 0. 0. 0. 1. ]] SLAMing on 182.46241403699997 meters Centerline goodness [0,1] 0.8240293765730082 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.43, Z:-0.76 [[ 0.99774706 0.0555178 -0.03766411 2.2373949 ] [-0.05585634 0.9984068 -0.00799575 -0.42863278] [ 0.0371602 0.01008151 0.99925847 -0.76238331] [ 0. 0. 0. 1. ]] SLAMing on 182.49241403699997 meters Centerline goodness [0,1] 0.8240384021096439 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.43, Z:-0.76 [[ 0.99775266 0.05555478 -0.03746057 2.23681151] [-0.05584659 0.99841629 -0.00678811 -0.4334438 ] [ 0.03702413 0.0088649 0.99927505 -0.76215272] [ 0. 0. 0. 1. ]] SLAMing on 182.52241403699998 meters Centerline goodness [0,1] 0.8251816080567937 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.44, Z:-0.76 [[ 0.99793582 0.05222644 -0.03736981 2.23629 ] [-0.05258067 0.99858 -0.00855922 -0.43980842] [ 0.03686973 0.01050648 0.99926485 -0.76230454] [ 0. 0. 0. 1. ]] SLAMing on 182.55241403699998 meters Centerline goodness [0,1] 0.8247475788172265 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.44, Z:-0.76 [[ 0.99794691 0.05204204 -0.03733088 2.2364932 ] [-0.05236918 0.99859703 -0.00783883 -0.44321893] [ 0.03687056 0.00977772 0.99927221 -0.76268014] [ 0. 0. 0. 1. ]] SLAMing on 182.58241403699998 meters Centerline goodness [0,1] 0.8253674581149142 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.45, Z:-0.76 [[ 0.99808718 0.04912943 -0.03752707 2.23691192] [-0.04953509 0.99872275 -0.00995706 -0.44725397] [ 0.03698996 0.01179692 0.999246 -0.76320928] [ 0. 0. 0. 1. ]] SLAMing on 182.61241403699998 meters Centerline goodness [0,1] 0.8245109321058688 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.45, Z:-0.76 [[ 0.9980784 0.04938084 -0.03743049 2.23651013] [-0.04976142 0.99871779 -0.00930443 -0.44897242] [ 0.03692304 0.01114914 0.99925592 -0.76291875] [ 0. 0. 0. 1. ]] SLAMing on 182.64241403699998 meters Centerline goodness [0,1] 0.8238317468802039 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.45, Z:-0.76 [[ 0.9980749 0.04953201 -0.03732388 2.23607888] [-0.04989666 0.99871471 -0.00890199 -0.45002222] [ 0.03683498 0.01074719 0.99926357 -0.76259844] [ 0. 0. 0. 1. ]] SLAMing on 182.67241403699998 meters Centerline goodness [0,1] 0.8230929364964857 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.45, Z:-0.76 [[ 0.99806365 0.04978353 -0.03729003 2.23544725] [-0.05012963 0.99870736 -0.008404 -0.45134674] [ 0.03682345 0.01025706 0.99926915 -0.76186808] [ 0. 0. 0. 1. ]] SLAMing on 182.70241403699998 meters Centerline goodness [0,1] 0.8247807696275663 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.45, Z:-0.76 [[ 0.99805929 0.04985311 -0.03731382 2.23507116] [-0.05018002 0.99870914 -0.00787563 -0.4538431 ] [ 0.03687303 0.00973275 0.99927256 -0.76133843] [ 0. 0. 0. 1. ]] SLAMing on 182.73241403699998 meters Centerline goodness [0,1] 0.8236592409240924 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.46, Z:-0.76 [[ 0.99805997 0.0497878 -0.03738272 2.23573149] [-0.05010836 0.9987142 -0.0076871 -0.45508239] [ 0.03695193 0.00954538 0.99927145 -0.76202798] [ 0. 0. 0. 1. ]] SLAMing on 182.76241403699999 meters Centerline goodness [0,1] 0.8278024131174591 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.46, Z:-0.76 [[ 0.9980666 0.04952251 -0.03755783 2.23696733] [-0.04984651 0.9987269 -0.00773937 -0.45597917] [ 0.03712674 0.00959653 0.99926449 -0.7631678 ] [ 0. 0. 0. 1. ]] SLAMing on 182.792414037 meters Centerline goodness [0,1] 0.8243899428007078 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.46, Z:-0.76 [[ 0.99808459 0.04899198 -0.03777487 2.23877281] [-0.04933116 0.99874964 -0.00809927 -0.45642846] [ 0.03733084 0.00994723 0.99925345 -0.76480052] [ 0. 0. 0. 1. ]] SLAMing on 182.822414037 meters Centerline goodness [0,1] 0.823014860247808 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.46, Z:-0.77 [[ 0.99809317 0.04885734 -0.03772257 2.23923168] [-0.04918567 0.998759 -0.00782479 -0.45756992] [ 0.03729346 0.00966528 0.99925761 -0.76544263] [ 0. 0. 0. 1. ]] SLAMing on 182.852414037 meters Centerline goodness [0,1] 0.824785088444371 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.46, Z:-0.77 [[ 0.99808541 0.04900016 -0.03774246 2.23892601] [-0.04931378 0.99875575 -0.00742329 -0.45876459] [ 0.03733175 0.0092703 0.99925993 -0.76501635] [ 0. 0. 0. 1. ]] SLAMing on 182.882414037 meters Centerline goodness [0,1] 0.8250917639295583 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.46, Z:-0.76 [[ 0.99807057 0.04924192 -0.03782029 2.23893906] [-0.04953755 0.9987483 -0.00691902 -0.46049692] [ 0.03743224 0.0087792 0.9992606 -0.7648194 ] [ 0. 0. 0. 1. ]] SLAMing on 182.912414037 meters Centerline goodness [0,1] 0.8292073586191233 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.46, Z:-0.76 [[ 0.99803267 0.04991754 -0.03793448 2.23860552] [-0.0501716 0.99872392 -0.00577477 -0.46442028] [ 0.03759781 0.00766665 0.99926354 -0.76421049] [ 0. 0. 0. 1. ]] SLAMing on 182.942414037 meters Centerline goodness [0,1] 0.8249004764753203 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.47, Z:-0.76 [[ 0.99801614 0.05022521 -0.03796325 2.2388468 ] [-0.05046405 0.9987115 -0.0053589 -0.46559808] [ 0.03764518 0.00726404 0.99926477 -0.7644267 ] [ 0. 0. 0. 1. ]] SLAMing on 182.972414037 meters Centerline goodness [0,1] 0.8293909173328937 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.47, Z:-0.76 [[ 0.99799473 0.05062786 -0.03799123 2.23918456] [-0.05085384 0.99869356 -0.00500503 -0.46606383] [ 0.0376882 0.006927 0.99926554 -0.76475983] [ 0. 0. 0. 1. ]] SLAMing on 183.002414037 meters Centerline goodness [0,1] 0.8283572844400396 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.47, Z:-0.76 [[ 0.99792287 0.05228243 -0.03763631 2.23773907] [-0.05245474 0.9986168 -0.0036048 -0.46620837] [ 0.03739578 0.00557151 0.999285 -0.7637724 ] [ 0. 0. 0. 1. ]] SLAMing on 183.032414037 meters Centerline goodness [0,1] 0.8239515031547693 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.47, Z:-0.76 [[ 0.99789781 0.05271124 -0.03770247 2.23780239] [-0.05286789 0.99859649 -0.00316928 -0.46681688] [ 0.0374825 0.00515587 0.99928398 -0.76364782] [ 0. 0. 0. 1. ]] SLAMing on 183.062414037 meters Centerline goodness [0,1] 0.8278869348287735 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.47, Z:-0.76 [[ 0.99788175 0.05300633 -0.03771406 2.23756326] [-0.05314972 0.9985826 -0.0028089 -0.46801741] [ 0.03751171 0.00480744 0.99928462 -0.76333717] [ 0. 0. 0. 1. ]] SLAMing on 183.092414037 meters Centerline goodness [0,1] 0.8265512682805916 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.47, Z:-0.76 [[ 0.99786555 0.05330583 -0.03772041 2.23743199] [-0.0534337 0.99856854 -0.00238927 -0.46945954] [ 0.03753905 0.00439971 0.99928548 -0.76319492] [ 0. 0. 0. 1. ]] SLAMing on 183.122414037 meters Centerline goodness [0,1] 0.8253817777136616 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.47, Z:-0.77 [[ 0.99787368 0.05287427 -0.03811077 2.23988987] [-0.05301412 0.9985902 -0.00266776 -0.47140798] [ 0.03791599 0.0046825 0.99926996 -0.7653688 ] [ 0. 0. 0. 1. ]] SLAMing on 183.152414037 meters Centerline goodness [0,1] 0.8258749459909882 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.47, Z:-0.77 [[ 0.99790101 0.05209451 -0.03846741 2.24230493] [-0.05226474 0.99862737 -0.00343247 -0.47158838] [ 0.03823579 0.00543575 0.99925396 -0.76747327] [ 0. 0. 0. 1. ]] SLAMing on 183.182414037 meters Centerline goodness [0,1] 0.8246284852117479 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.47, Z:-0.77 [[ 0.99789706 0.05212215 -0.03853236 2.24290572] [-0.05228803 0.99862656 -0.00330892 -0.47194263] [ 0.03830697 0.00531674 0.99925187 -0.76807186] [ 0. 0. 0. 1. ]] SLAMing on 183.21241403699997 meters Centerline goodness [0,1] 0.8260008254230293 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.47, Z:-0.77 [[ 0.99788628 0.05229308 -0.03857997 2.24270641] [-0.0524459 0.99861938 -0.00295914 -0.47278344] [ 0.03837196 0.00497624 0.99925113 -0.76765391] [ 0. 0. 0. 1. ]] SLAMing on 183.24241403699997 meters Centerline goodness [0,1] 0.8274325328051497 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.47, Z:-0.77 [[ 0.99788429 0.05228661 -0.0386401 2.24229017] [-0.0524291 0.99862104 -0.00268288 -0.47401057] [ 0.03844653 0.00470307 0.99924959 -0.76693699] [ 0. 0. 0. 1. ]] SLAMing on 183.27241403699998 meters Centerline goodness [0,1] 0.8275798184400667 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.48, Z:-0.77 [[ 0.99788523 0.05211471 -0.03884747 2.24219971] [-0.05224614 0.99863141 -0.00237511 -0.47610056] [ 0.03867053 0.00439972 0.99924233 -0.76630137] [ 0. 0. 0. 1. ]] SLAMing on 183.30241403699998 meters Centerline goodness [0,1] 0.8252106020135608 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.48, Z:-0.77 [[ 0.99792846 0.05090036 -0.03934399 2.24381175] [-0.05106886 0.99868972 -0.003289 -0.47756985] [ 0.03912502 0.00529144 0.99922031 -0.76711667] [ 0. 0. 0. 1. ]] SLAMing on 183.33241403699998 meters Centerline goodness [0,1] 0.8295447506968101 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.48, Z:-0.77 [[ 0.99794885 0.05050149 -0.03934063 2.24417308] [-0.05066285 0.99871096 -0.00311496 -0.47933325] [ 0.0391326 0.00510168 0.999221 -0.76755087] [ 0. 0. 0. 1. ]] SLAMing on 183.36241403699998 meters Centerline goodness [0,1] 0.8295602018745494 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.48, Z:-0.77 [[ 0.99795261 0.05036274 -0.03942308 2.24497299] [-0.05053056 0.99871716 -0.00327144 -0.47881849] [ 0.03920774 0.00525681 0.99921725 -0.76830802] [ 0. 0. 0. 1. ]] SLAMing on 183.39241403699998 meters Centerline goodness [0,1] 0.8285979764608713 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.48, Z:-0.77 [[ 0.99794505 0.05045676 -0.03949418 2.24548952] [-0.05062734 0.99871206 -0.00333032 -0.47827748] [ 0.03927527 0.00532296 0.99921425 -0.76875953] [ 0. 0. 0. 1. ]] SLAMing on 183.42241403699998 meters Centerline goodness [0,1] 0.8289785245125291 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.48, Z:-0.77 [[ 0.99789597 0.05126408 -0.03969418 2.24624937] [-0.0514117 0.99867388 -0.00270647 -0.47945557] [ 0.0395028 0.00474152 0.99920821 -0.76930399] [ 0. 0. 0. 1. ]] SLAMing on 183.45241403699998 meters Centerline goodness [0,1] 0.828999731942182 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.48, Z:-0.77 [[ 0.99787053 0.05167557 -0.03979999 2.2464623 ] [-0.05180988 0.9986542 -0.0023499 -0.4804271 ] [ 0.039625 0.00440693 0.9992049 -0.76935197] [ 0. 0. 0. 1. ]] SLAMing on 183.48241403699998 meters Centerline goodness [0,1] 0.8300434308297141 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.48, Z:-0.77 [[ 9.97846556e-01 5.20122530e-02 -3.99621955e-02 2.24704776e+00] [-5.21376656e-02 9.98637695e-01 -2.10182570e-03 -4.81325610e-01] [ 3.97984341e-02 4.18083512e-03 9.99198982e-01 -7.69717418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51241403699999 meters Centerline goodness [0,1] 0.832716125581204 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.48, Z:-0.77 [[ 9.97795377e-01 5.29002761e-02 -4.00742623e-02 2.24720184e+00] [-5.30057864e-02 9.98592964e-01 -1.57420684e-03 -4.81750702e-01] [ 3.99346004e-02 3.69490410e-03 9.99195464e-01 -7.69711996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.542414037 meters Centerline goodness [0,1] 0.831599078720079 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.48, Z:-0.77 [[ 9.97777389e-01 5.31347662e-02 -4.02116834e-02 2.24746537e+00] [-5.32341440e-02 9.98581071e-01 -1.40390647e-03 -4.81872302e-01] [ 4.00800296e-02 3.54142067e-03 9.99190197e-01 -7.69670967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.572414037 meters Centerline goodness [0,1] 0.832399818788353 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.48, Z:-0.77 [[ 9.97759546e-01 5.34614405e-02 -4.02214182e-02 2.24739334e+00] [-5.35477940e-02 9.98564712e-01 -1.07193314e-03 -4.82444813e-01] [ 4.01063818e-02 3.22329974e-03 9.99190216e-01 -7.69554980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.602414037 meters Centerline goodness [0,1] 0.834267578930014 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.48, Z:-0.77 [[ 9.97739056e-01 5.37437119e-02 -4.03532977e-02 2.24733099e+00] [-5.38140986e-02 9.98550754e-01 -6.59276278e-04 -4.83594566e-01] [ 4.02593839e-02 2.82936203e-03 9.99185256e-01 -7.69173609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.632414037 meters Centerline goodness [0,1] 0.8338319338133653 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.49, Z:-0.77 [[ 9.97808926e-01 5.25106683e-02 -4.02489402e-02 2.24576467e+00] [-5.26347932e-02 9.98611766e-01 -2.02974811e-03 -4.86217238e-01] [ 4.00864818e-02 4.14379543e-03 9.99187621e-01 -7.68031257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.662414037 meters Centerline goodness [0,1] 0.8362692379009827 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.49, Z:-0.77 [[ 9.97785314e-01 5.28811947e-02 -4.03490611e-02 2.24603761e+00] [-5.29831997e-02 9.98594333e-01 -1.46216923e-03 -4.88172496e-01] [ 4.02150225e-02 3.59675334e-03 9.99184575e-01 -7.68157348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.692414037 meters Centerline goodness [0,1] 0.8346657875216352 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.49, Z:-0.77 [[ 9.97761818e-01 5.33101669e-02 -4.03655767e-02 2.24616590e+00] [-5.33876053e-02 9.98573510e-01 -8.42144272e-04 -4.90027510e-01] [ 4.02631007e-02 2.99528087e-03 9.99184623e-01 -7.68315802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.722414037 meters Centerline goodness [0,1] 0.8349338498949017 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.49, Z:-0.77 [[ 9.97711754e-01 5.43189227e-02 -4.02580424e-02 2.24623996e+00] [-5.43411289e-02 9.98522281e-01 5.43284237e-04 -4.93375875e-01] [ 4.02280630e-02 1.64562640e-03 9.99189169e-01 -7.68715180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.752414037 meters Centerline goodness [0,1] 0.8373171234288069 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.49, Z:-0.77 [[ 9.97696304e-01 5.45688912e-02 -4.03028578e-02 2.24652371e+00] [-5.45730588e-02 9.98509282e-01 9.97578264e-04 -4.94811311e-01] [ 4.02972143e-02 1.20417008e-03 9.99187012e-01 -7.68976625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.782414037 meters Centerline goodness [0,1] 0.8356838442692142 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.50, Z:-0.77 [[ 9.97676877e-01 5.48696681e-02 -4.03753499e-02 2.24669632e+00] [-5.48484363e-02 9.98493354e-01 1.63422221e-03 -4.96894571e-01] [ 4.04041878e-02 5.84099102e-04 9.99183247e-01 -7.69046613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.812414037 meters Centerline goodness [0,1] 0.8383366597395115 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.50, Z:-0.77 [[ 9.97803209e-01 5.24038537e-02 -4.05289134e-02 2.24633392e+00] [-5.24621114e-02 9.98622845e-01 -3.74488991e-04 -5.01028615e-01] [ 4.04534741e-02 2.49989869e-03 9.99178296e-01 -7.68827308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.842414037 meters Centerline goodness [0,1] 0.8366681700766739 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.50, Z:-0.77 [[ 9.97821456e-01 5.16548914e-02 -4.10379651e-02 2.24841929e+00] [-5.17294028e-02 9.98660853e-01 -7.55156914e-04 -5.03413256e-01] [ 4.09440017e-02 2.87638120e-03 9.99157303e-01 -7.70220634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.872414037 meters Centerline goodness [0,1] 0.8349382716049383 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.51, Z:-0.77 [[ 9.97801974e-01 5.19725886e-02 -4.11104646e-02 2.24864886e+00] [-5.20162912e-02 9.98646236e-01 6.61503073e-06 -5.06024679e-01] [ 4.10551545e-02 2.13181341e-03 9.99154607e-01 -7.70369432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.902414037 meters Centerline goodness [0,1] 0.8381177924217463 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.51, Z:-0.77 [[ 9.97815872e-01 5.14665599e-02 -4.14086738e-02 2.25044464e+00] [-5.15219579e-02 9.98671825e-01 -2.71053839e-04 -5.07619264e-01] [ 4.13397256e-02 2.40391777e-03 9.99142256e-01 -7.71889920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.932414037 meters Centerline goodness [0,1] 0.8397063069752093 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.51, Z:-0.77 [[ 9.97792056e-01 5.18121205e-02 -4.15513743e-02 2.25076798e+00] [-5.18420153e-02 9.98655234e-01 3.58455703e-04 -5.09562819e-01] [ 4.15140698e-02 1.79644273e-03 9.99136304e-01 -7.72013631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96241403699997 meters Centerline goodness [0,1] 0.8376870664278804 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.51, Z:-0.77 [[ 9.97747745e-01 5.26284566e-02 -4.15894480e-02 2.25064488e+00] [-5.25981281e-02 9.98614095e-01 1.82389592e-03 -5.13865290e-01] [ 4.16277978e-02 3.67739070e-04 9.99133120e-01 -7.71747227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99241403699997 meters Centerline goodness [0,1] 0.8376870664278804 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.51, Z:-0.77 [[ 9.97747745e-01 5.26284566e-02 -4.15894480e-02 2.25064488e+00] [-5.25981281e-02 9.98614095e-01 1.82389592e-03 -5.13865290e-01] [ 4.16277978e-02 3.67739070e-04 9.99133120e-01 -7.71747227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02241403699998 meters Centerline goodness [0,1] 0.8381565947637082 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.52, Z:-0.77 [[ 9.97849321e-01 5.05287424e-02 -4.17561782e-02 2.25018032e+00] [-5.05905792e-02 9.98719386e-01 -4.24861088e-04 -5.15068656e-01] [ 4.16812370e-02 2.53641659e-03 9.99127740e-01 -7.71335480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05241403699998 meters Centerline goodness [0,1] 0.8381956865889513 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.52, Z:-0.77 [[ 9.97829940e-01 5.08314852e-02 -4.18517636e-02 2.25030917e+00] [-5.08590832e-02 9.98705757e-01 4.05740706e-04 -5.18185420e-01] [ 4.18182217e-02 1.72368210e-03 9.99123749e-01 -7.71282702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08241403699998 meters Centerline goodness [0,1] 0.8379179096800741 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.52, Z:-0.77 [[ 0.99797256 0.04782213 -0.0419977 2.2499395 ] [-0.04797055 0.99884554 -0.00253289 -0.51984215] [ 0.04182808 0.0045424 0.9991145 -0.77104921] [ 0. 0. 0. 1. ]] SLAMing on 184.11241403699998 meters Centerline goodness [0,1] 0.8385644693839798 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.53, Z:-0.77 [[ 0.99807995 0.04552472 -0.04199891 2.24950338] [-0.04572237 0.99894712 -0.00375717 -0.52636221] [ 0.04178364 0.00567024 0.99911059 -0.77092556] [ 0. 0. 0. 1. ]] SLAMing on 184.14241403699998 meters Centerline goodness [0,1] 0.8369331118085042 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.53, Z:-0.77 [[ 0.99809438 0.04483499 -0.04239606 2.25149389] [-0.04503343 0.99897849 -0.00373675 -0.52980555] [ 0.04218521 0.00563887 0.99909389 -0.77240056] [ 0. 0. 0. 1. ]] SLAMing on 184.17241403699998 meters Centerline goodness [0,1] 0.8393948749614079 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.53, Z:-0.77 [[ 0.99808311 0.04498217 -0.04250552 2.25178112] [-0.04514117 0.99897673 -0.00278796 -0.53340098] [ 0.04233661 0.00470136 0.99909234 -0.77249868] [ 0. 0. 0. 1. ]] SLAMing on 184.20241403699998 meters Centerline goodness [0,1] 0.8390979609473056 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.54, Z:-0.77 [[ 0.99818612 0.04247731 -0.04266312 2.25131315] [-0.04269372 0.99907949 -0.00417405 -0.53928053] [ 0.04244655 0.00598793 0.9990808 -0.7719719 ] [ 0. 0. 0. 1. ]] SLAMing on 184.23241403699998 meters Centerline goodness [0,1] 0.837751681303087 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.54, Z:-0.77 [[ 0.998181 0.04247444 -0.04278561 2.25160504] [-0.04265577 0.99908427 -0.00333368 -0.54307841] [ 0.04260483 0.00515267 0.99907871 -0.7719909 ] [ 0. 0. 0. 1. ]] SLAMing on 184.26241403699999 meters Centerline goodness [0,1] 0.8401881830881749 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.55, Z:-0.77 [[ 0.99819459 0.0415986 -0.0433256 2.25349182] [-0.0417885 0.9991204 -0.00348617 -0.54684798] [ 0.04314247 0.00529039 0.99905492 -0.77306904] [ 0. 0. 0. 1. ]] SLAMing on 184.292414037 meters Centerline goodness [0,1] 0.83942147227888 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.55, Z:-0.77 [[ 0.99829268 0.03908116 -0.04340964 2.25435893] [-0.03935732 0.99920992 -0.00552522 -0.54989616] [ 0.04315941 0.00722427 0.99904208 -0.77415002] [ 0. 0. 0. 1. ]] SLAMing on 184.322414037 meters Centerline goodness [0,1] 0.8408866792669899 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.56, Z:-0.78 [[ 0.99837162 0.03627491 -0.04402543 2.25755561] [-0.03661873 0.9993046 -0.00702807 -0.55632326] [ 0.04373987 0.00862878 0.99900569 -0.77680417] [ 0. 0. 0. 1. ]] SLAMing on 184.352414037 meters Centerline goodness [0,1] 0.8395948700002058 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.56, Z:-0.78 [[ 0.9983684 0.03644749 -0.04395583 2.25727552] [-0.03674421 0.99930692 -0.00596131 -0.55994732] [ 0.04370809 0.00756671 0.99901569 -0.77651515] [ 0. 0. 0. 1. ]] SLAMing on 184.382414037 meters Centerline goodness [0,1] 0.8399194045807805 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.56, Z:-0.78 [[ 0.99836189 0.0366044 -0.04397332 2.2568684 ] [-0.03685187 0.99930907 -0.00483009 -0.56370714] [ 0.04376613 0.00644268 0.99902103 -0.77579995] [ 0. 0. 0. 1. ]] SLAMing on 184.412414037 meters Centerline goodness [0,1] 0.8403559976979363 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.57, Z:-0.77 [[ 0.99847615 0.03375369 -0.04365847 2.25426908] [-0.0340574 0.99940045 -0.0062313 -0.56942358] [ 0.04342197 0.0077087 0.99902708 -0.77343098] [ 0. 0. 0. 1. ]] SLAMing on 184.442414037 meters Centerline goodness [0,1] 0.8400739827373613 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.57, Z:-0.77 [[ 0.99847944 0.03361939 -0.04368681 2.2542791 ] [-0.03388642 0.99941118 -0.00538612 -0.57279411] [ 0.04348001 0.00685832 0.99903076 -0.77320542] [ 0. 0. 0. 1. ]] SLAMing on 184.472414037 meters Centerline goodness [0,1] 0.8425143560295324 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.58, Z:-0.77 [[ 0.99850515 0.03251267 -0.04393632 2.25616966] [-0.03279298 0.99944606 -0.00567426 -0.57554108] [ 0.0437275 0.00710659 0.99901822 -0.77477526] [ 0. 0. 0. 1. ]] SLAMing on 184.502414037 meters Centerline goodness [0,1] 0.8410609601115074 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.58, Z:-0.78 [[ 0.99858834 0.02904219 -0.04447342 2.25981238] [-0.02942186 0.99953582 -0.00790615 -0.58003568] [ 0.04422316 0.00920348 0.99897928 -0.77790895] [ 0. 0. 0. 1. ]] SLAMing on 184.532414037 meters Centerline goodness [0,1] 0.8421776810284635 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.58, Z:-0.78 [[ 0.99859742 0.02866479 -0.04451425 2.26069299] [-0.02902666 0.99955047 -0.0075042 -0.58247499] [ 0.04427913 0.00878577 0.99898056 -0.77877212] [ 0. 0. 0. 1. ]] SLAMing on 184.562414037 meters Centerline goodness [0,1] 0.8418518518518519 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.58, Z:-0.78 [[ 0.99860093 0.02839407 -0.044609 2.26124648] [-0.02873838 0.99956178 -0.00709594 -0.58470335] [ 0.04438797 0.008368 0.99897932 -0.77913424] [ 0. 0. 0. 1. ]] SLAMing on 184.592414037 meters Centerline goodness [0,1] 0.8419818596902573 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.59, Z:-0.78 [[ 0.99860435 0.02835368 -0.04455807 2.26110887] [-0.02867287 0.99956745 -0.00654073 -0.58671977] [ 0.04435334 0.00780921 0.99898538 -0.77890939] [ 0. 0. 0. 1. ]] SLAMing on 184.622414037 meters Centerline goodness [0,1] 0.8410255355048457 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.59, Z:-0.78 [[ 0.99862271 0.02789926 -0.04443336 2.26050621] [-0.0281956 0.99958408 -0.00605662 -0.58943138] [ 0.04424591 0.0073011 0.99899399 -0.77810885] [ 0. 0. 0. 1. ]] SLAMing on 184.652414037 meters Centerline goodness [0,1] 0.8391187976116945 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.59, Z:-0.78 [[ 0.9986246 0.02776196 -0.04447683 2.26061351] [-0.0280519 0.99958901 -0.00590805 -0.59023235] [ 0.04429453 0.00714758 0.99899295 -0.77805752] [ 0. 0. 0. 1. ]] SLAMing on 184.682414037 meters Centerline goodness [0,1] 0.8387764300934273 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.59, Z:-0.78 [[ 0.99862837 0.02712278 -0.04478538 2.26211262] [-0.0274346 0.99960335 -0.0063626 -0.59070448] [ 0.04459504 0.00758254 0.99897637 -0.77907443] [ 0. 0. 0. 1. ]] SLAMing on 184.71241403699997 meters Centerline goodness [0,1] 0.8383123959125769 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.59, Z:-0.78 [[ 0.99864693 0.02659561 -0.04468766 2.26199283] [-0.02690382 0.99961811 -0.00630956 -0.5923568 ] [ 0.04450278 0.0075033 0.99898108 -0.77897293] [ 0. 0. 0. 1. ]] SLAMing on 184.74241403699997 meters Centerline goodness [0,1] 0.8393018110300745 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.59, Z:-0.78 [[ 0.99864759 0.0264358 -0.04476766 2.26195796] [-0.02673419 0.99962409 -0.0060797 -0.59359311] [ 0.04459011 0.0072683 0.99897893 -0.77860016] [ 0. 0. 0. 1. ]] SLAMing on 184.77241403699998 meters Centerline goodness [0,1] 0.8360662449589551 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.59, Z:-0.78 [[ 0.99865296 0.02625757 -0.04475279 2.26161563] [-0.02654215 0.99963101 -0.00577649 -0.59487478] [ 0.0445846 0.00695655 0.99898139 -0.77803862] [ 0. 0. 0. 1. ]] SLAMing on 184.80241403699998 meters Centerline goodness [0,1] 0.8357767648145866 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.60, Z:-0.78 [[ 0.99866477 0.02592694 -0.04468195 2.26121242] [-0.02619837 0.99964163 -0.00549977 -0.5963278 ] [ 0.04452335 0.00666303 0.99898612 -0.77747932] [ 0. 0. 0. 1. ]] SLAMing on 184.83241403699998 meters Centerline goodness [0,1] 0.8324063622370447 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.60, Z:-0.78 [[ 0.99876528 0.02128242 -0.04488845 2.2619116 ] [-0.02172406 0.99972006 -0.00937371 -0.59743719] [ 0.04467639 0.0103373 0.99894803 -0.77796131] [ 0. 0. 0. 1. ]] SLAMing on 184.86241403699998 meters Centerline goodness [0,1] 0.8290149032218168 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.60, Z:-0.78 [[ 0.99877508 0.02066749 -0.04495775 2.26290869] [-0.02110916 0.99973325 -0.00937157 -0.59859809] [ 0.04475207 0.01030911 0.99894493 -0.77884073] [ 0. 0. 0. 1. ]] SLAMing on 184.89241403699998 meters Centerline goodness [0,1] 0.8221549736495388 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.60, Z:-0.78 [[ 0.99879974 0.01857422 -0.04532201 2.26626777] [-0.0190813 0.9997598 -0.01078155 -0.59813251] [ 0.04511087 0.01163341 0.99891425 -0.78180359] [ 0. 0. 0. 1. ]] SLAMing on 184.92241403699998 meters Centerline goodness [0,1] 0.8138302260353076 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.60, Z:-0.78 [[ 0.99880742 0.01822054 -0.04529615 2.26649106] [-0.0187418 0.99976263 -0.01110978 -0.59706089] [ 0.04508298 0.01194547 0.99891182 -0.78198896] [ 0. 0. 0. 1. ]] SLAMing on 184.95241403699998 meters Centerline goodness [0,1] 0.8242574257425743 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.60, Z:-0.78 [[ 0.99881345 0.01798018 -0.04525941 2.26614965] [-0.01851314 0.9997638 -0.01138415 -0.59612978] [ 0.04504403 0.01220854 0.9989104 -0.7815301 ] [ 0. 0. 0. 1. ]] SLAMing on 184.98241403699998 meters Centerline goodness [0,1] 0.8159457341965279 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.59, Z:-0.78 [[ 0.99883709 0.01706816 -0.04509036 2.26525073] [-0.01764039 0.99976845 -0.01232346 -0.59453792] [ 0.04486958 0.01310454 0.9989069 -0.78046184] [ 0. 0. 0. 1. ]] SLAMing on 185.01241403699999 meters Centerline goodness [0,1] 0.8008442293833007 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.59, Z:-0.78 [[ 0.9988395 0.01659488 -0.04521347 2.2656449 ] [-0.01719239 0.99976951 -0.01285865 -0.59368521] [ 0.04498966 0.01362106 0.99889459 -0.78056028] [ 0. 0. 0. 1. ]] SLAMing on 185.042414037 meters Centerline goodness [0,1] 0.8077590480912246 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.59, Z:-0.78 [[ 0.99884922 0.01608338 -0.04518354 2.26600341] [-0.01671175 0.99976834 -0.01356377 -0.592009 ] [ 0.04495493 0.01430325 0.99888662 -0.78100218] [ 0. 0. 0. 1. ]] SLAMing on 185.072414037 meters Centerline goodness [0,1] 0.7982459760627322 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.59, Z:-0.78 [[ 0.99885525 0.01539514 -0.04529003 2.26701993] [-0.01606994 0.99976466 -0.01457332 -0.58944649] [ 0.04505501 0.01528444 0.99886757 -0.78192658] [ 0. 0. 0. 1. ]] SLAMing on 185.102414037 meters Centerline goodness [0,1] 0.7940204823257351 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.59, Z:-0.78 [[ 0.99882142 0.01762014 -0.04522496 2.26834019] [-0.0181805 0.99976259 -0.01200937 -0.5882437 ] [ 0.04500262 0.01281743 0.99890464 -0.78306694] [ 0. 0. 0. 1. ]] SLAMing on 185.132414037 meters Centerline goodness [0,1] 0.7906775112505677 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.58, Z:-0.78 [[ 0.99884334 0.01610198 -0.04530673 2.26977139] [-0.01676298 0.99975798 -0.0142475 -0.58241672] [ 0.04506635 0.0149905 0.99887152 -0.78442048] [ 0. 0. 0. 1. ]] SLAMing on 185.162414037 meters Centerline goodness [0,1] 0.7835682109352399 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.58, Z:-0.78 [[ 0.99885117 0.01551101 -0.04534044 2.27020246] [-0.01621403 0.99975332 -0.01517893 -0.5798813 ] [ 0.04509381 0.01589664 0.99885627 -0.78478079] [ 0. 0. 0. 1. ]] SLAMing on 185.192414037 meters Centerline goodness [0,1] 0.7898270768340805 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.57, Z:-0.79 [[ 0.99886987 0.01430242 -0.0453258 2.27066753] [-0.01509621 0.99973777 -0.0172193 -0.57434819] [ 0.04506764 0.01788408 0.99882384 -0.78518055] [ 0. 0. 0. 1. ]] SLAMing on 185.222414037 meters Centerline goodness [0,1] 0.7778833443489755 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.57, Z:-0.79 [[ 0.99884462 0.01686018 -0.04500183 2.27074976] [-0.01753233 0.99973994 -0.01458337 -0.57247398] [ 0.04474424 0.01535551 0.99888045 -0.78545814] [ 0. 0. 0. 1. ]] SLAMing on 185.252414037 meters Centerline goodness [0,1] 0.7437994341531917 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.57, Z:-0.79 [[ 0.99880465 0.0196119 -0.04477331 2.2711228 ] [-0.02016517 0.99972537 -0.01193908 -0.57008965] [ 0.04452686 0.01282767 0.99892583 -0.78587569] [ 0. 0. 0. 1. ]] SLAMing on 185.282414037 meters Centerline goodness [0,1] 0.7661010651473867 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.56, Z:-0.79 [[ 0.99876783 0.02158344 -0.04468765 2.27227503] [-0.02209442 0.99969568 -0.01097218 -0.56265291] [ 0.04443723 0.01194601 0.99894075 -0.78680337] [ 0. 0. 0. 1. ]] SLAMing on 185.312414037 meters Centerline goodness [0,1] 0.7656195210494833 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.56, Z:-0.79 [[ 0.99870624 0.02434674 -0.04464405 2.27285435] [-0.02474642 0.99965828 -0.00842189 -0.5601113 ] [ 0.04442375 0.00951578 0.99896746 -0.7870974 ] [ 0. 0. 0. 1. ]] SLAMing on 185.342414037 meters Centerline goodness [0,1] 0.7840109298666887 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.56, Z:-0.79 [[ 0.99870843 0.02465425 -0.0444256 2.27196878] [-0.02507318 0.99964602 -0.00889759 -0.55591789] [ 0.04419051 0.00999999 0.99897307 -0.7864395 ] [ 0. 0. 0. 1. ]] SLAMing on 185.372414037 meters Centerline goodness [0,1] 0.7758268090644301 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.55, Z:-0.79 [[ 0.99865139 0.02669508 -0.04452835 2.27316653] [-0.02708304 0.99960011 -0.00813219 -0.5482383 ] [ 0.04429346 0.00932718 0.99897502 -0.78711321] [ 0. 0. 0. 1. ]] SLAMing on 185.402414037 meters Centerline goodness [0,1] 0.7992799652397012 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.54, Z:-0.79 [[ 0.9986071 0.02890278 -0.04414177 2.27231132] [-0.02921889 0.99955169 -0.00653289 -0.54403174] [ 0.04393316 0.00781357 0.99900392 -0.78656693] [ 0. 0. 0. 1. ]] SLAMing on 185.432414037 meters Centerline goodness [0,1] 0.7978840141617839 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.54, Z:-0.79 [[ 0.99852087 0.03186486 -0.04405333 2.27274314] [-0.03208455 0.99947596 -0.00428874 -0.53992496] [ 0.04389358 0.00569583 0.99901998 -0.78682105] [ 0. 0. 0. 1. ]] SLAMing on 185.46241403699997 meters Centerline goodness [0,1] 0.7986681281409633 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.53, Z:-0.79 [[ 9.98404590e-01 3.57780814e-02 -4.36829909e-02 2.27296775e+00] [-3.59053082e-02 9.99352924e-01 -2.13113191e-03 -5.29089554e-01] [ 4.35784769e-02 3.69618313e-03 9.99043170e-01 -7.87071869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49241403699997 meters Centerline goodness [0,1] 0.7987616099071208 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.52, Z:-0.79 [[ 9.98297326e-01 3.85542760e-02 -4.37723276e-02 2.27445742e+00] [-3.86015144e-02 9.99254656e-01 -2.34137972e-04 -5.24884069e-01] [ 4.37306751e-02 1.92341744e-03 9.99041505e-01 -7.88201216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52241403699998 meters Centerline goodness [0,1] 0.8005735033213681 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.52, Z:-0.79 [[ 9.98292693e-01 3.85444021e-02 -4.38865320e-02 2.27509485e+00] [-3.86569511e-02 9.99251063e-01 -1.71845678e-03 -5.19378405e-01] [ 4.37874269e-02 3.41204237e-03 9.99035044e-01 -7.88706854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55241403699998 meters Centerline goodness [0,1] 0.7984840348630675 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.52, Z:-0.79 [[ 9.98161161e-01 4.18988605e-02 -4.38039162e-02 2.27523533e+00] [-4.19056108e-02 9.99121282e-01 7.64545538e-04 -5.15709495e-01] [ 4.37974584e-02 1.07249020e-03 9.99039855e-01 -7.88602471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58241403699998 meters Centerline goodness [0,1] 0.8130448222565687 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.50, Z:-0.79 [[ 0.9982553 0.0480083 -0.03437391 2.27872438] [-0.04816953 0.99883165 -0.00387726 -0.50469377] [ 0.03414761 0.00552627 0.99940152 -0.79219469] [ 0. 0. 0. 1. ]] SLAMing on 185.61241403699998 meters Centerline goodness [0,1] 0.8136492657040603 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.50, Z:-0.79 [[ 9.98097769e-01 5.11767576e-02 -3.43770677e-02 2.27909977e+00] [-5.12632804e-02 9.98683828e-01 -1.63962903e-03 -5.00144931e-01] [ 3.42479106e-02 3.39879134e-03 9.99407589e-01 -7.92062245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64241403699998 meters Centerline goodness [0,1] 0.8146179675751396 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.50, Z:-0.79 [[ 9.97932434e-01 5.43324763e-02 -3.43342148e-02 2.27975331e+00] [-5.43403236e-02 9.98522224e-01 7.05235374e-04 -4.96031165e-01] [ 3.43217937e-02 1.16195509e-03 9.99410158e-01 -7.92380461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67241403699998 meters Centerline goodness [0,1] 0.8173191717096867 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.49, Z:-0.79 [[ 9.97813423e-01 5.63547083e-02 -3.45328926e-02 2.28196861e+00] [-5.63574459e-02 9.98410255e-01 8.94876680e-04 -4.86857499e-01] [ 3.45284247e-02 1.05326567e-03 9.99403161e-01 -7.94045678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70241403699998 meters Centerline goodness [0,1] 0.8171949630916197 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.48, Z:-0.79 [[ 9.97847867e-01 5.57123440e-02 -3.45798860e-02 2.28236909e+00] [-5.57716483e-02 9.98443267e-01 -7.52043025e-04 -4.82068652e-01] [ 3.44841563e-02 2.67900177e-03 9.99401654e-01 -7.94354909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73241403699998 meters Centerline goodness [0,1] 0.818072911287824 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.48, Z:-0.79 [[ 0.9978903 0.05489566 -0.03466149 2.28296961] [-0.05501508 0.99848239 -0.00250037 -0.47740492] [ 0.03447163 0.004402 0.99939598 -0.79483361] [ 0. 0. 0. 1. ]] SLAMing on 185.76241403699999 meters Centerline goodness [0,1] 0.8142286796180441 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.47, Z:-0.80 [[ 0.99793737 0.05387351 -0.03490909 2.28390204] [-0.05406003 0.9985279 -0.00442068 -0.47251731] [ 0.03461954 0.00629875 0.99938071 -0.79529708] [ 0. 0. 0. 1. ]] SLAMing on 185.792414037 meters Centerline goodness [0,1] 0.81123535125974 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.46, Z:-0.80 [[ 0.9979893 0.05332242 -0.03426492 2.28297681] [-0.05356091 0.99854608 -0.00607971 -0.46298224] [ 0.03389092 0.00790275 0.99939429 -0.79501387] [ 0. 0. 0. 1. ]] SLAMing on 185.822414037 meters Centerline goodness [0,1] 0.812363306235299 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.46, Z:-0.80 [[ 0.99804189 0.05222353 -0.03442518 2.28407832] [-0.05252856 0.99858725 -0.00801612 -0.45813134] [ 0.03395791 0.00980873 0.99937513 -0.79583507] [ 0. 0. 0. 1. ]] SLAMing on 185.852414037 meters Centerline goodness [0,1] 0.8078011109046233 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.45, Z:-0.80 [[ 0.99808687 0.05128299 -0.03453495 2.28482313] [-0.05164519 0.9986186 -0.00967813 -0.45380943] [ 0.03399092 0.01144318 0.99935663 -0.79637564] [ 0. 0. 0. 1. ]] SLAMing on 185.882414037 meters Centerline goodness [0,1] 0.7959284902345768 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.45, Z:-0.80 [[ 0.99819105 0.04917427 -0.03459076 2.28607245] [-0.0496412 0.99868546 -0.0127713 -0.44669039] [ 0.03391727 0.01446532 0.99931996 -0.79750242] [ 0. 0. 0. 1. ]] SLAMing on 185.912414037 meters Centerline goodness [0,1] 0.7959284902345768 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.45, Z:-0.80 [[ 0.99819105 0.04917427 -0.03459076 2.28607245] [-0.0496412 0.99868546 -0.0127713 -0.44669039] [ 0.03391727 0.01446532 0.99931996 -0.79750242] [ 0. 0. 0. 1. ]] SLAMing on 185.942414037 meters Centerline goodness [0,1] 0.8010392395405901 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.44, Z:-0.80 [[ 0.9982285 0.04821859 -0.0348544 2.28694246] [-0.04873101 0.99871376 -0.01400429 -0.44398697] [ 0.0341343 0.01567797 0.99929428 -0.79788787] [ 0. 0. 0. 1. ]] SLAMing on 185.972414037 meters Centerline goodness [0,1] 0.674784071558993 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.44, Z:-0.80 [[ 0.99826633 0.04731646 -0.03500695 2.28756096] [-0.0478703 0.99873858 -0.01515506 -0.4415061 ] [ 0.03424571 0.01680458 0.99927215 -0.79818456] [ 0. 0. 0. 1. ]] SLAMing on 186.002414037 meters Centerline goodness [0,1] 0.6625160488291997 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.44, Z:-0.80 [[ 0.99830327 0.04644813 -0.03511615 2.28798815] [-0.04704109 0.99876074 -0.01625193 -0.43888689] [ 0.03431776 0.01787626 0.99925109 -0.79830376] [ 0. 0. 0. 1. ]] SLAMing on 186.032414037 meters Centerline goodness [0,1] 0.6538209919450464 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.44, Z:-0.80 [[ 0.99834268 0.04559544 -0.03511339 2.28788775] [-0.04622937 0.99877828 -0.01745818 -0.43590168] [ 0.03427448 0.01905252 0.99923083 -0.79803687] [ 0. 0. 0. 1. ]] SLAMing on 186.062414037 meters Centerline goodness [0,1] 0.6417219218606549 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.43, Z:-0.80 [[ 0.99840653 0.0441273 -0.0351736 2.28859551] [-0.04483417 0.99880279 -0.01956742 -0.43026256] [ 0.03426803 0.02111322 0.99918964 -0.79843607] [ 0. 0. 0. 1. ]] SLAMing on 186.092414037 meters Centerline goodness [0,1] 0.6381325338065227 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.43, Z:-0.80 [[ 0.99843256 0.04348312 -0.03523689 2.28928845] [-0.04422277 0.99881154 -0.02049028 -0.4278818 ] [ 0.03430403 0.02201643 0.99916891 -0.79900281] [ 0. 0. 0. 1. ]] SLAMing on 186.122414037 meters Centerline goodness [0,1] 0.6318222731364045 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.43, Z:-0.80 [[ 0.99845793 0.04283703 -0.03530946 2.28981626] [-0.04360918 0.99881954 -0.02139568 -0.42555399] [ 0.03435126 0.0229025 0.99914737 -0.79935674] [ 0. 0. 0. 1. ]] SLAMing on 186.152414037 meters Centerline goodness [0,1] 0.6302620560060459 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.42, Z:-0.80 [[ 0.99852332 0.04123647 -0.03536561 2.29136893] [-0.04208239 0.99883731 -0.02351792 -0.42024666] [ 0.03435469 0.02497147 0.99909768 -0.80075196] [ 0. 0. 0. 1. ]] SLAMing on 186.182414037 meters Centerline goodness [0,1] 0.6322366534191011 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.42, Z:-0.80 [[ 0.99855039 0.04053575 -0.03541144 2.2916114 ] [-0.04142019 0.99883869 -0.02460964 -0.41707306] [ 0.03437275 0.02604071 0.99906977 -0.80078946] [ 0. 0. 0. 1. ]] SLAMing on 186.21241403699997 meters Centerline goodness [0,1] 0.611646297627606 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.41, Z:-0.80 [[ 0.99858101 0.03977278 -0.03541308 2.29164925] [-0.04069885 0.99883766 -0.02582512 -0.41346337] [ 0.03434478 0.02722974 0.99903903 -0.80064327] [ 0. 0. 0. 1. ]] SLAMing on 186.24241403699997 meters Centerline goodness [0,1] 0.6022615937295885 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.41, Z:-0.80 [[ 0.99861035 0.03895622 -0.03549342 2.29201047] [-0.03992847 0.99883476 -0.02710783 -0.40997929] [ 0.03439604 0.02848736 0.99900219 -0.80067515] [ 0. 0. 0. 1. ]] SLAMing on 186.27241403699998 meters Centerline goodness [0,1] 0.624563421950117 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.41, Z:-0.80 [[ 0.99863419 0.03828838 -0.03554924 2.2922504 ] [-0.03930352 0.99882619 -0.02831025 -0.40668948] [ 0.03442356 0.02966879 0.99896686 -0.80063464] [ 0. 0. 0. 1. ]] SLAMing on 186.30241403699998 meters Centerline goodness [0,1] 0.6151491494781822 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.40, Z:-0.80 [[ 0.99865486 0.03762625 -0.0356754 2.29310543] [-0.03868655 0.99881551 -0.02951141 -0.40341381] [ 0.03452274 0.03085187 0.9989276 -0.80120478] [ 0. 0. 0. 1. ]] SLAMing on 186.33241403699998 meters Centerline goodness [0,1] 0.6074891134664366 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.40, Z:-0.80 [[ 0.99861236 0.03853062 -0.03589898 2.29629476] [-0.03959227 0.99878486 -0.02934708 -0.39706186] [ 0.0347246 0.03072768 0.99892443 -0.80380813] [ 0. 0. 0. 1. ]] SLAMing on 186.36241403699998 meters Centerline goodness [0,1] 0.6152785211412574 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.39, Z:-0.81 [[ 0.99852202 0.04071081 -0.03600551 2.29830319] [-0.04170991 0.9987527 -0.02744666 -0.3939361 ] [ 0.03484322 0.02890788 0.99897462 -0.80541431] [ 0. 0. 0. 1. ]] SLAMing on 186.39241403699998 meters Centerline goodness [0,1] 0.7074744393139842 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.38, Z:-0.81 [[ 0.99843786 0.04294665 -0.03574104 2.29914904] [-0.04391044 0.99868043 -0.02663214 -0.38444723] [ 0.03455011 0.02815994 0.99900616 -0.8060029 ] [ 0. 0. 0. 1. ]] SLAMing on 186.42241403699998 meters Centerline goodness [0,1] 0.6858965127044543 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.38, Z:-0.81 [[ 0.99831067 0.04595379 -0.03555345 2.29926697] [-0.04683092 0.99860858 -0.02424383 -0.38034898] [ 0.03438989 0.02586787 0.99907367 -0.8059409 ] [ 0. 0. 0. 1. ]] SLAMing on 186.45241403699998 meters Centerline goodness [0,1] 0.6819358816276202 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.38, Z:-0.81 [[ 0.99817021 0.04901946 -0.03540222 2.29936481] [-0.04981083 0.99852011 -0.02182841 -0.37633252] [ 0.03427981 0.02355189 0.99913473 -0.80573661] [ 0. 0. 0. 1. ]] SLAMing on 186.48241403699998 meters Centerline goodness [0,1] 0.6986855617169849 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.37, Z:-0.81 [[ 0.99801372 0.05217704 -0.03530104 2.29954844] [-0.05287741 0.99841631 -0.01920568 -0.37300962] [ 0.03424304 0.02103416 0.99919216 -0.80557502] [ 0. 0. 0. 1. ]] SLAMing on 186.51241403699999 meters Centerline goodness [0,1] 0.71083520052624 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.37, Z:-0.81 [[ 0.99787143 0.05500435 -0.03503037 2.29930887] [-0.05562342 0.99830794 -0.01694946 -0.36953994] [ 0.03403881 0.01886189 0.99924251 -0.80533678] [ 0. 0. 0. 1. ]] SLAMing on 186.542414037 meters Centerline goodness [0,1] 0.710041677787587 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.36, Z:-0.81 [[ 0.99774878 0.05729507 -0.03485184 2.30038906] [-0.05787919 0.99819557 -0.0159878 -0.361691 ] [ 0.03387293 0.017969 0.9992646 -0.80608333] [ 0. 0. 0. 1. ]] SLAMing on 186.572414037 meters Centerline goodness [0,1] 0.6803802015971752 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.36, Z:-0.81 [[ 0.99762082 0.05951337 -0.03479727 2.3019317 ] [-0.06003364 0.99809674 -0.0141017 -0.35874458] [ 0.0338918 0.01615716 0.9992949 -0.80741013] [ 0. 0. 0. 1. ]] SLAMing on 186.602414037 meters Centerline goodness [0,1] 0.7029625832906201 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.35, Z:-0.81 [[ 0.99764019 0.0590793 -0.03498123 2.30293651] [-0.05964268 0.99810274 -0.01528613 -0.35466523] [ 0.03401177 0.01733643 0.99927106 -0.80796954] [ 0. 0. 0. 1. ]] SLAMing on 186.632414037 meters Centerline goodness [0,1] 0.7187435886914776 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.35, Z:-0.81 [[ 0.9975173 0.06127635 -0.03470526 2.30363273] [-0.06179152 0.9979913 -0.01397054 -0.34823958] [ 0.03377948 0.01608035 0.99929994 -0.80855961] [ 0. 0. 0. 1. ]] SLAMing on 186.662414037 meters Centerline goodness [0,1] 0.7028750717742597 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.34, Z:-0.81 [[ 0.99743061 0.06258976 -0.03485247 2.3055659 ] [-0.06307062 0.99792606 -0.01287184 -0.34496238] [ 0.03397454 0.01503694 0.99930957 -0.80994136] [ 0. 0. 0. 1. ]] SLAMing on 186.692414037 meters Centerline goodness [0,1] 0.6991161356628983 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.34, Z:-0.81 [[ 0.99725933 0.06548442 -0.03443274 2.30528505] [-0.06587149 0.99777569 -0.01022833 -0.34228646] [ 0.03368636 0.01246844 0.99935468 -0.80992179] [ 0. 0. 0. 1. ]] SLAMing on 186.722414037 meters Centerline goodness [0,1] 0.6804030619574364 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.34, Z:-0.81 [[ 0.99714478 0.06726671 -0.03431452 2.30689699] [-0.06762372 0.99766708 -0.00935045 -0.33616532] [ 0.03360549 0.01164422 0.99936734 -0.81124875] [ 0. 0. 0. 1. ]] SLAMing on 186.752414037 meters Centerline goodness [0,1] 0.7096621829756649 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.33, Z:-0.81 [[ 0.99717654 0.06671833 -0.03446183 2.30759216] [-0.06711331 0.99769081 -0.01043338 -0.33321148] [ 0.03368615 0.01271677 0.99935155 -0.8116437 ] [ 0. 0. 0. 1. ]] SLAMing on 186.782414037 meters Centerline goodness [0,1] 0.6911152339723768 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.33, Z:-0.81 [[ 0.99720213 0.06626723 -0.0345913 2.30799066] [-0.06669996 0.99770671 -0.01150843 -0.33012784] [ 0.03374934 0.01378347 0.99933528 -0.81167775] [ 0. 0. 0. 1. ]] SLAMing on 186.812414037 meters Centerline goodness [0,1] 0.7191096678724104 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.33, Z:-0.81 [[ 0.99722364 0.06583784 -0.03479063 2.30860633] [-0.06630896 0.99772003 -0.01256452 -0.32683311] [ 0.03388409 0.01483657 0.99931564 -0.81178027] [ 0. 0. 0. 1. ]] SLAMing on 186.842414037 meters Centerline goodness [0,1] 0.7183282272087439 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.32, Z:-0.81 [[ 0.99706349 0.06833928 -0.03455639 2.30838739] [-0.0687596 0.99757125 -0.0111233 -0.32030057] [ 0.0337123 0.01346672 0.99934085 -0.81114968] [ 0. 0. 0. 1. ]] SLAMing on 186.872414037 meters Centerline goodness [0,1] 0.6881740309360942 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.32, Z:-0.81 [[ 0.9969069 0.07045903 -0.03481593 2.31060331] [-0.07082909 0.99744312 -0.00951099 -0.31687854] [ 0.03405677 0.01194755 0.99934848 -0.81245134] [ 0. 0. 0. 1. ]] SLAMing on 186.902414037 meters Centerline goodness [0,1] 0.7263477255840832 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.31, Z:-0.81 [[ 0.99667545 0.07372849 -0.03467208 2.31122133] [-0.07400809 0.99723412 -0.00684951 -0.31360535] [ 0.03407118 0.00939276 0.99937527 -0.812771 ] [ 0. 0. 0. 1. ]] SLAMing on 186.932414037 meters Centerline goodness [0,1] 0.6875205998681608 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.31, Z:-0.81 [[ 0.99644568 0.0766369 -0.03496858 2.3140399 ] [-0.07688371 0.99702339 -0.00576681 -0.30608869] [ 0.03442254 0.00843483 0.99937177 -0.81442328] [ 0. 0. 0. 1. ]] SLAMing on 186.96241403699997 meters Centerline goodness [0,1] 0.7351715028687003 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.30, Z:-0.81 [[ 0.99644753 0.07653598 -0.03513624 2.31474536] [-0.07682647 0.99701997 -0.00699133 -0.30212617] [ 0.03449644 0.00966589 0.99935808 -0.81465641] [ 0. 0. 0. 1. ]] SLAMing on 186.99241403699997 meters Centerline goodness [0,1] 0.7499691167387277 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.30, Z:-0.81 [[ 0.99645708 0.07631999 -0.03533477 2.31540506] [-0.07665705 0.99702312 -0.00828268 -0.29814803] [ 0.03459744 0.010962 0.99934121 -0.81476153] [ 0. 0. 0. 1. ]] SLAMing on 187.02241403699998 meters Centerline goodness [0,1] 0.7684147647688886 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.29, Z:-0.81 [[ 0.99624349 0.07912532 -0.03518656 2.31479177] [-0.07942493 0.99681486 -0.00719804 -0.29030473] [ 0.03450494 0.00996569 0.99935484 -0.81310662] [ 0. 0. 0. 1. ]] SLAMing on 187.05241403699998 meters Centerline goodness [0,1] 0.7579185055937596 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.29, Z:-0.81 [[ 0.99619507 0.07955882 -0.03557768 2.31558604] [-0.0798767 0.99677576 -0.00760223 -0.28534854] [ 0.03485814 0.01041513 0.999338 -0.81260382] [ 0. 0. 0. 1. ]] SLAMing on 187.08241403699998 meters Centerline goodness [0,1] 0.7598808545603944 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.28, Z:-0.81 [[ 0.9962055 0.07929211 -0.03587972 2.3160044 ] [-0.0796605 0.99678183 -0.00895485 -0.28044634] [ 0.03505421 0.01177906 0.99931599 -0.81195211] [ 0. 0. 0. 1. ]] SLAMing on 187.11241403699998 meters Centerline goodness [0,1] 0.751663016558528 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.28, Z:-0.81 [[ 0.99605106 0.08105764 -0.03622075 2.318091 ] [-0.08139898 0.9966491 -0.00804841 -0.27534002] [ 0.035447 0.01096496 0.9993114 -0.81268155] [ 0. 0. 0. 1. ]] SLAMing on 187.14241403699998 meters Centerline goodness [0,1] 0.7464408443789887 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.27, Z:-0.81 [[ 0.99608625 0.08048606 -0.03652652 2.3189813 ] [-0.08086821 0.99668321 -0.00910603 -0.27295024] [ 0.03567246 0.01202423 0.9992912 -0.81295516] [ 0. 0. 0. 1. ]] SLAMing on 187.17241403699998 meters Centerline goodness [0,1] 0.7508488178282611 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.27, Z:-0.81 [[ 0.99611724 0.07999811 -0.03675258 2.31953467] [-0.0804171 0.99671048 -0.0100649 -0.27049502] [ 0.03582651 0.01298135 0.99927371 -0.81298262] [ 0. 0. 0. 1. ]] SLAMing on 187.20241403699998 meters Centerline goodness [0,1] 0.7377824379613067 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.27, Z:-0.81 [[ 0.99614222 0.07954607 -0.03705549 2.3204706 ] [-0.08000299 0.99673378 -0.01101322 -0.2677374 ] [ 0.0360584 0.01393528 0.99925252 -0.81325893] [ 0. 0. 0. 1. ]] SLAMing on 187.23241403699998 meters Centerline goodness [0,1] 0.7636270281371945 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.26, Z:-0.81 [[ 0.99618315 0.07900272 -0.03711732 2.32093225] [-0.07949896 0.99676166 -0.01208736 -0.26421235] [ 0.03604219 0.01499202 0.99923781 -0.81340332] [ 0. 0. 0. 1. ]] SLAMing on 187.26241403699999 meters Centerline goodness [0,1] 0.7568144937657909 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.26, Z:-0.81 [[ 0.99605669 0.08069409 -0.03687188 2.32120739] [-0.08114982 0.99664085 -0.01103268 -0.25806942] [ 0.03585775 0.01398132 0.9992591 -0.81335304] [ 0. 0. 0. 1. ]] SLAMing on 187.292414037 meters Centerline goodness [0,1] 0.7548894732517052 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.25, Z:-0.81 [[ 0.99608546 0.0801807 -0.03721306 2.32212665] [-0.08067817 0.99666721 -0.01206243 -0.25489799] [ 0.03612186 0.01501749 0.99923455 -0.81346667] [ 0. 0. 0. 1. ]] SLAMing on 187.322414037 meters Centerline goodness [0,1] 0.7395492435937018 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.25, Z:-0.81 [[ 0.99613254 0.07952178 -0.03736642 2.32249202] [-0.08006068 0.99670322 -0.01315198 -0.25225306] [ 0.03619737 0.0160927 0.99921508 -0.81340533] [ 0. 0. 0. 1. ]] SLAMing on 187.352414037 meters Centerline goodness [0,1] 0.7505332677003855 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.25, Z:-0.81 [[ 0.99616237 0.07904102 -0.03759058 2.32318657] [-0.07961154 0.99672865 -0.01392824 -0.25033229] [ 0.0363667 0.01686743 0.99919615 -0.81364459] [ 0. 0. 0. 1. ]] SLAMing on 187.382414037 meters Centerline goodness [0,1] 0.7600890391195021 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.25, Z:-0.81 [[ 0.99626413 0.07770545 -0.0376781 2.32331268] [-0.07834846 0.99679926 -0.01589846 -0.24552746] [ 0.0363221 0.01879109 0.99916345 -0.81329635] [ 0. 0. 0. 1. ]] SLAMing on 187.412414037 meters Centerline goodness [0,1] 0.7208197024875007 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.24, Z:-0.81 [[ 0.99630959 0.07701737 -0.03788821 2.32384755] [-0.07769811 0.99683482 -0.0168331 -0.24330216] [ 0.03647184 0.01971482 0.9991402 -0.81333637] [ 0. 0. 0. 1. ]] SLAMing on 187.442414037 meters Centerline goodness [0,1] 0.7583165426209959 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.24, Z:-0.81 [[ 0.99635481 0.07635245 -0.03804455 2.32440539] [-0.07706553 0.99686995 -0.01764112 -0.24147783] [ 0.03657852 0.02050873 0.99912031 -0.81357592] [ 0. 0. 0. 1. ]] SLAMing on 187.472414037 meters Centerline goodness [0,1] 0.6986095684725822 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.24, Z:-0.81 [[ 0.99645821 0.07494173 -0.03814151 2.32500188] [-0.07571976 0.99694083 -0.01937792 -0.23715384] [ 0.03657261 0.02219735 0.99908444 -0.81382444] [ 0. 0. 0. 1. ]] SLAMing on 187.502414037 meters Centerline goodness [0,1] 0.705885977162573 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.23, Z:-0.81 [[ 0.99649158 0.07442839 -0.0382747 2.3256446 ] [-0.07523777 0.99696185 -0.02015788 -0.2346379 ] [ 0.0366581 0.02296686 0.99906392 -0.81407042] [ 0. 0. 0. 1. ]] SLAMing on 187.532414037 meters Centerline goodness [0,1] 0.66744099991777 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.23, Z:-0.81 [[ 0.99658563 0.07313314 -0.03832277 2.32664805] [-0.07400539 0.99701828 -0.02185743 -0.23010429] [ 0.03661 0.02461889 0.99902633 -0.81483834] [ 0. 0. 0. 1. ]] SLAMing on 187.562414037 meters Centerline goodness [0,1] 0.7154417972530527 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.23, Z:-0.82 [[ 0.99661713 0.07260734 -0.03850285 2.32755572] [-0.07350975 0.99703925 -0.02256217 -0.22825764] [ 0.03675068 0.02531618 0.99900374 -0.81544046] [ 0. 0. 0. 1. ]] SLAMing on 187.592414037 meters Centerline goodness [0,1] 0.6864235681911826 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.23, Z:-0.82 [[ 0.99664534 0.07215394 -0.03862474 2.32845961] [-0.07308045 0.99705764 -0.02313683 -0.22665017] [ 0.03684168 0.02588193 0.99898589 -0.81613749] [ 0. 0. 0. 1. ]] SLAMing on 187.622414037 meters Centerline goodness [0,1] 0.6773636139224883 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.22, Z:-0.82 [[ 0.99669123 0.07144873 -0.03875129 2.32906322] [-0.07241219 0.99708466 -0.0240551 -0.22446135] [ 0.03691961 0.02678157 0.9989593 -0.81645589] [ 0. 0. 0. 1. ]] SLAMing on 187.652414037 meters Centerline goodness [0,1] 0.6571317097211384 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.22, Z:-0.82 [[ 0.99680972 0.069649 -0.03897957 2.32939243] [-0.07070279 0.99714958 -0.0263408 -0.21903309] [ 0.03703385 0.02901272 0.99889276 -0.81594216] [ 0. 0. 0. 1. ]] SLAMing on 187.682414037 meters Centerline goodness [0,1] 0.6762057152235009 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.22, Z:-0.82 [[ 0.99685661 0.06892425 -0.03906855 2.32958553] [-0.07002071 0.99716843 -0.02742669 -0.21607642] [ 0.03706756 0.03007608 0.99886006 -0.81572302] [ 0. 0. 0. 1. ]] SLAMing on 187.71241403699997 meters Centerline goodness [0,1] 0.638662701261409 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.21, Z:-0.82 [[ 0.99689236 0.06831638 -0.03922355 2.33012258] [-0.06945621 0.99717865 -0.02847078 -0.21287623] [ 0.03716787 0.03110662 0.99882477 -0.81569225] [ 0. 0. 0. 1. ]] SLAMing on 187.74241403699997 meters Centerline goodness [0,1] 0.6564404588454987 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.21, Z:-0.82 [[ 0.99690694 0.06788232 -0.03960476 2.33215425] [-0.06906787 0.99717939 -0.02937497 -0.20607148] [ 0.03749901 0.03201953 0.99878355 -0.81644224] [ 0. 0. 0. 1. ]] SLAMing on 187.77241403699998 meters Centerline goodness [0,1] 0.6389964571146083 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.20, Z:-0.82 [[ 0.99692737 0.06750806 -0.03973006 2.33316208] [-0.06873368 0.99717373 -0.03033542 -0.20269507] [ 0.03756989 0.032973 0.99874986 -0.81703014] [ 0. 0. 0. 1. ]] SLAMing on 187.80241403699998 meters Centerline goodness [0,1] 0.6389964571146083 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.20, Z:-0.82 [[ 0.99692737 0.06750806 -0.03973006 2.33316208] [-0.06873368 0.99717373 -0.03033542 -0.20269507] [ 0.03756989 0.032973 0.99874986 -0.81703014] [ 0. 0. 0. 1. ]] SLAMing on 187.83241403699998 meters Centerline goodness [0,1] 0.6437464047990796 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.20, Z:-0.82 [[ 0.99694919 0.06705102 -0.03995601 2.33409967] [-0.06832218 0.99717078 -0.03134514 -0.19937532] [ 0.03774124 0.03397939 0.99870967 -0.81728982] [ 0. 0. 0. 1. ]] SLAMing on 187.86241403699998 meters Centerline goodness [0,1] 0.6333244127879449 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.20, Z:-0.82 [[ 0.99696201 0.06674906 -0.04014127 2.33504226] [-0.0680598 0.99716072 -0.03222358 -0.19634183] [ 0.03787641 0.03485769 0.99867428 -0.8176484 ] [ 0. 0. 0. 1. ]] SLAMing on 187.89241403699998 meters Centerline goodness [0,1] 0.6408971900962748 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.19, Z:-0.82 [[ 0.99696555 0.06653105 -0.04041433 2.33626834] [-0.06788324 0.99714535 -0.03306087 -0.19320713] [ 0.03809939 0.03570401 0.9986359 -0.81815189] [ 0. 0. 0. 1. ]] SLAMing on 187.92241403699998 meters Centerline goodness [0,1] 0.6327351485148515 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.19, Z:-0.82 [[ 0.99678587 0.06930917 -0.04017684 2.33695329] [-0.07058776 0.99701346 -0.0313293 -0.18695828] [ 0.03788544 0.0340646 0.99870131 -0.81832031] [ 0. 0. 0. 1. ]] SLAMing on 187.95241403699998 meters Centerline goodness [0,1] 0.6533484676503973 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.18, Z:-0.82 [[ 0.99658025 0.07238002 -0.03986156 2.33674678] [-0.07355141 0.99687702 -0.02874701 -0.1837214 ] [ 0.03765636 0.03158058 0.9987916 -0.81799117] [ 0. 0. 0. 1. ]] SLAMing on 187.98241403699998 meters Centerline goodness [0,1] 0.6569609856262834 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.18, Z:-0.82 [[ 0.99636574 0.07539854 -0.03962802 2.33666562] [-0.0764738 0.99672321 -0.02635519 -0.17965214] [ 0.03751102 0.02928991 0.99886687 -0.81754614] [ 0. 0. 0. 1. ]] SLAMing on 188.01241403699999 meters Centerline goodness [0,1] 0.6557806028887561 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.18, Z:-0.82 [[ 0.99611837 0.07868132 -0.03946442 2.33675093] [-0.07965535 0.9965396 -0.02374573 -0.17585447] [ 0.03745951 0.02679711 0.99893879 -0.81708646] [ 0. 0. 0. 1. ]] SLAMing on 188.042414037 meters Centerline goodness [0,1] 0.6694080303405062 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.17, Z:-0.82 [[ 0.99583344 0.08226443 -0.03934865 2.33801321] [-0.08316181 0.99629895 -0.02173759 -0.16847721] [ 0.03741479 0.02491932 0.99898907 -0.81726434] [ 0. 0. 0. 1. ]] SLAMing on 188.072414037 meters Centerline goodness [0,1] 0.6689073550941296 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.17, Z:-0.82 [[ 0.99574317 0.08317195 -0.03972357 2.34040506] [-0.08407199 0.99622666 -0.02154862 -0.16534278] [ 0.03778144 0.02479653 0.99897833 -0.8186689 ] [ 0. 0. 0. 1. ]] SLAMing on 188.102414037 meters Centerline goodness [0,1] 0.6713962108731466 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.16, Z:-0.82 [[ 0.99566419 0.08394562 -0.04007439 2.34286909] [-0.08485187 0.99616217 -0.02147298 -0.16177577] [ 0.03811803 0.02478026 0.99896594 -0.82016362] [ 0. 0. 0. 1. ]] SLAMing on 188.132414037 meters Centerline goodness [0,1] 0.693040853456831 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.15, Z:-0.82 [[ 0.99539783 0.08712336 -0.03990844 2.34531227] [-0.08795826 0.99593009 -0.01966231 -0.15365729] [ 0.03803296 0.0230821 0.99900986 -0.82184441] [ 0. 0. 0. 1. ]] SLAMing on 188.162414037 meters Centerline goodness [0,1] 0.6991925465838509 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.15, Z:-0.82 [[ 0.99514742 0.09006977 -0.03961122 2.34554494] [-0.09081296 0.99571634 -0.01737734 -0.14994435] [ 0.03787637 0.02089023 0.99906405 -0.82184899] [ 0. 0. 0. 1. ]] SLAMing on 188.192414037 meters Centerline goodness [0,1] 0.7174228299150611 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.15, Z:-0.82 [[ 0.99489292 0.09297732 -0.03928491 2.34538878] [-0.09362804 0.99549336 -0.01505851 -0.14629809] [ 0.03770777 0.01865977 0.99911458 -0.82145767] [ 0. 0. 0. 1. ]] SLAMing on 188.222414037 meters Centerline goodness [0,1] 0.6950126027850089 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.14, Z:-0.82 [[ 0.99462673 0.09588183 -0.03904277 2.3449003 ] [-0.09644433 0.99525628 -0.01278379 -0.14283811] [ 0.03763183 0.01648055 0.99915576 -0.82046187] [ 0. 0. 0. 1. ]] SLAMing on 188.252414037 meters Centerline goodness [0,1] 0.7172738004017645 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.14, Z:-0.82 [[ 0.99458451 0.0961861 -0.03936858 2.34617234] [-0.09677738 0.99521591 -0.01339525 -0.13853886] [ 0.0378918 0.0171327 0.99913497 -0.82049498] [ 0. 0. 0. 1. ]] SLAMing on 188.282414037 meters Centerline goodness [0,1] 0.735464572817349 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.13, Z:-0.82 [[ 0.99435267 0.09857246 -0.03932213 2.34654908] [-0.09913287 0.99499492 -0.01256131 -0.1311606 ] [ 0.03788712 0.01638849 0.99914763 -0.81958965] [ 0. 0. 0. 1. ]] SLAMing on 188.312414037 meters Centerline goodness [0,1] 0.7432725152045322 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.13, Z:-0.82 [[ 0.99433599 0.09853791 -0.03982728 2.34815018] [-0.09914427 0.99498091 -0.01354295 -0.12715869] [ 0.03829289 0.01741489 0.9991148 -0.81980204] [ 0. 0. 0. 1. ]] SLAMing on 188.342414037 meters Centerline goodness [0,1] 0.7401848536575211 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.12, Z:-0.82 [[ 0.99426158 0.09904305 -0.04042751 2.35064506] [-0.09967206 0.99492399 -0.01384674 -0.12350606] [ 0.03885087 0.01779677 0.99908653 -0.820744 ] [ 0. 0. 0. 1. ]] SLAMing on 188.372414037 meters Centerline goodness [0,1] 0.6950249791840133 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.12, Z:-0.82 [[ 0.99395852 0.10202774 -0.04045744 2.3528691 ] [-0.10259958 0.99464652 -0.01231398 -0.11708566] [ 0.03898448 0.0163905 0.99910538 -0.82177243] [ 0. 0. 0. 1. ]] SLAMing on 188.402414037 meters Centerline goodness [0,1] 0.7520230851264036 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.11, Z:-0.82 [[ 0.99364029 0.1052385 -0.04004795 2.35227551] [-0.10570151 0.99435138 -0.00961916 -0.11456846] [ 0.03880943 0.01379111 0.99915146 -0.82106116] [ 0. 0. 0. 1. ]] SLAMing on 188.432414037 meters Centerline goodness [0,1] 0.7536080536352054 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.11, Z:-0.82 [[ 0.99348285 0.10658882 -0.04038122 2.35353254] [-0.10703079 0.99421552 -0.00893977 -0.11078403] [ 0.03919476 0.01320354 0.99914435 -0.8209064 ] [ 0. 0. 0. 1. ]] SLAMing on 188.46241403699997 meters Centerline goodness [0,1] 0.7672753161906357 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.10, Z:-0.82 [[ 0.99308211 0.11029174 -0.04029458 2.35359229] [-0.11067073 0.99383037 -0.00729226 -0.10399799] [ 0.0392417 0.01170124 0.99916123 -0.81905922] [ 0. 0. 0. 1. ]] SLAMing on 188.49241403699997 meters Centerline goodness [0,1] 0.7969575056575308 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.10, Z:-0.82 [[ 0.99302867 0.1106329 -0.04067465 2.35474759] [-0.11105137 0.99378109 -0.00816994 -0.10028853] [ 0.03951784 0.01262997 0.99913904 -0.81881167] [ 0. 0. 0. 1. ]] SLAMing on 188.52241403699998 meters Centerline goodness [0,1] 0.799364189655533 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.10, Z:-0.82 [[ 0.99290973 0.11143476 -0.0413831 2.35728665] [-0.11187136 0.99368735 -0.0083814 -0.09743996] [ 0.04018788 0.01295156 0.9991082 -0.81947429] [ 0. 0. 0. 1. ]] SLAMing on 188.55241403699998 meters Centerline goodness [0,1] 0.8043655864423822 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.09, Z:-0.82 [[ 0.99285932 0.11173207 -0.04178889 2.35868294] [-0.11220121 0.99364432 -0.00904718 -0.0946267 ] [ 0.04051243 0.01367134 0.9990855 -0.81963706] [ 0. 0. 0. 1. ]] SLAMing on 188.58241403699998 meters Centerline goodness [0,1] 0.8047440280195466 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.09, Z:-0.82 [[ 0.9927673 0.11249042 -0.04194034 2.36030109] [-0.11298205 0.99355128 -0.00953479 -0.09039 ] [ 0.04059731 0.01420434 0.99907462 -0.82024222] [ 0. 0. 0. 1. ]] SLAMing on 188.61241403699998 meters Centerline goodness [0,1] 0.8064441694111724 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.09, Z:-0.82 [[ 0.99276277 0.1124336 -0.04219926 2.36090916] [-0.11295266 0.99354887 -0.01011662 -0.08824931] [ 0.04078957 0.01480992 0.99905799 -0.82005815] [ 0. 0. 0. 1. ]] SLAMing on 188.64241403699998 meters Centerline goodness [0,1] 0.8036458878994238 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.09, Z:-0.82 [[ 0.99273615 0.11253539 -0.04255247 2.3617022 ] [-0.11307845 0.99352983 -0.01057044 -0.08604553] [ 0.0410876 0.01530543 0.99903831 -0.81980251] [ 0. 0. 0. 1. ]] SLAMing on 188.67241403699998 meters Centerline goodness [0,1] 0.8062202969256004 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.08, Z:-0.82 [[ 0.99274379 0.11238125 -0.04278116 2.36202318] [-0.11296156 0.99353407 -0.01139007 -0.08353953] [ 0.04122451 0.01614005 0.99901954 -0.81928259] [ 0. 0. 0. 1. ]] SLAMing on 188.70241403699998 meters Centerline goodness [0,1] 0.805314396493594 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.08, Z:-0.82 [[ 0.99262589 0.11332145 -0.04303597 2.36329492] [-0.11391978 0.99342097 -0.01170694 -0.08040308] [ 0.04142619 0.01652325 0.99900493 -0.81920309] [ 0. 0. 0. 1. ]] SLAMing on 188.73241403699998 meters Centerline goodness [0,1] 0.8073879183329825 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.08, Z:-0.82 [[ 0.99257239 0.11366515 -0.04336217 2.36429701] [-0.11427919 0.99337684 -0.0119469 -0.07896522] [ 0.04171703 0.01681356 0.99898798 -0.81924579] [ 0. 0. 0. 1. ]] SLAMing on 188.76241403699999 meters Centerline goodness [0,1] 0.8083322802139938 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.08, Z:-0.82 [[ 0.99251486 0.11395764 -0.04390791 2.36553242] [-0.11459324 0.99333717 -0.01223322 -0.07722939] [ 0.0422213 0.0171732 0.99896068 -0.81903173] [ 0. 0. 0. 1. ]] SLAMing on 188.792414037 meters Centerline goodness [0,1] 0.8088371896639082 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.08, Z:-0.82 [[ 0.99211374 0.11750558 -0.04362079 2.36502479] [-0.11801897 0.99296706 -0.00937798 -0.07509584] [ 0.04221204 0.01445211 0.99900414 -0.81789074] [ 0. 0. 0. 1. ]] SLAMing on 188.822414037 meters Centerline goodness [0,1] 0.8061981114139045 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.07, Z:-0.82 [[ 0.99209242 0.11754486 -0.04399804 2.36569124] [-0.11809091 0.99295228 -0.01001565 -0.07292871] [ 0.04251067 0.01513222 0.99898141 -0.81739843] [ 0. 0. 0. 1. ]] SLAMing on 188.852414037 meters Centerline goodness [0,1] 0.8076280329151947 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.07, Z:-0.82 [[ 0.99205587 0.11775556 -0.0442582 2.36653435] [-0.11831713 0.99292263 -0.01028158 -0.07160653] [ 0.04273425 0.0154364 0.99896722 -0.81748888] [ 0. 0. 0. 1. ]] SLAMing on 188.882414037 meters Centerline goodness [0,1] 0.808399560365235 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.07, Z:-0.82 [[ 0.99201196 0.11800184 -0.04458515 2.36752018] [-0.1185763 0.99288986 -0.01045832 -0.07100403] [ 0.04303404 0.01566152 0.99895084 -0.81771 ] [ 0. 0. 0. 1. ]] SLAMing on 188.912414037 meters Centerline goodness [0,1] 0.8086260221158328 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.07, Z:-0.82 [[ 0.99191075 0.11883309 -0.04462903 2.3685418 ] [-0.11938958 0.99279704 -0.01000843 -0.07197964] [ 0.04311823 0.01525571 0.99895349 -0.8187048 ] [ 0. 0. 0. 1. ]] SLAMing on 188.942414037 meters Centerline goodness [0,1] 0.8096464923765679 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.07, Z:-0.82 [[ 0.99184257 0.11927159 -0.04497348 2.36965092] [-0.1198239 0.99274697 -0.00978216 -0.07208535] [ 0.04348055 0.01509126 0.99894029 -0.81908845] [ 0. 0. 0. 1. ]] SLAMing on 188.972414037 meters Centerline goodness [0,1] 0.808412006265611 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.07, Z:-0.82 [[ 0.99179927 0.11954494 -0.04520192 2.37007211] [-0.12010294 0.9927128 -0.00982749 -0.07154989] [ 0.0436977 0.01517579 0.99892953 -0.8188496 ] [ 0. 0. 0. 1. ]] SLAMing on 189.002414037 meters Centerline goodness [0,1] 0.8104027909927054 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.07, Z:-0.82 [[ 0.9917372 0.11991668 -0.04557763 2.3707511 ] [-0.12047886 0.99266767 -0.00978464 -0.07102609] [ 0.0440701 0.01519493 0.99891288 -0.81851372] [ 0. 0. 0. 1. ]] SLAMing on 189.032414037 meters Centerline goodness [0,1] 0.8069974797212869 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.07, Z:-0.82 [[ 0.991679 0.12029153 -0.04585532 2.37127376] [-0.12085787 0.99262169 -0.00977489 -0.07038217] [ 0.04434115 0.01523553 0.99890027 -0.81819774] [ 0. 0. 0. 1. ]] SLAMing on 189.062414037 meters Centerline goodness [0,1] 0.806947029954307 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.07, Z:-0.82 [[ 0.99147926 0.12189534 -0.0459392 2.37200241] [-0.12242519 0.99243791 -0.00889182 -0.070927 ] [ 0.04450793 0.01444017 0.99890466 -0.81818372] [ 0. 0. 0. 1. ]] SLAMing on 189.092414037 meters Centerline goodness [0,1] 0.8103091039790266 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.07, Z:-0.82 [[ 0.9914251 0.12229046 -0.04605782 2.37191822] [-0.12280938 0.99239301 -0.00860005 -0.07200142] [ 0.04465576 0.01418264 0.99890175 -0.81778516] [ 0. 0. 0. 1. ]] SLAMing on 189.122414037 meters Centerline goodness [0,1] 0.8079263140104783 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.07, Z:-0.82 [[ 0.99138196 0.12262229 -0.046104 2.37149702] [-0.12312319 0.99235772 -0.00817582 -0.07391383] [ 0.04474912 0.01378183 0.99890319 -0.81731496] [ 0. 0. 0. 1. ]] SLAMing on 189.152414037 meters Centerline goodness [0,1] 0.8091638415699817 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.08, Z:-0.82 [[ 0.99132101 0.12313277 -0.04605413 2.37049672] [-0.12358892 0.99230752 -0.00718103 -0.07813207] [ 0.04481564 0.01281048 0.99891313 -0.81658865] [ 0. 0. 0. 1. ]] SLAMing on 189.182414037 meters Centerline goodness [0,1] 0.8084160397833828 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.08, Z:-0.82 [[ 0.99129804 0.12329926 -0.046103 2.37038973] [-0.12373317 0.99229312 -0.00666862 -0.08011758] [ 0.04492545 0.01231506 0.99891443 -0.81656268] [ 0. 0. 0. 1. ]] SLAMing on 189.21241403699997 meters Centerline goodness [0,1] 0.807947298634058 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.08, Z:-0.82 [[ 0.9915497 0.12094242 -0.04692689 2.37241438] [-0.12150173 0.99254817 -0.00924484 -0.08104702] [ 0.04545911 0.01486842 0.99885554 -0.81756579] [ 0. 0. 0. 1. ]] SLAMing on 189.24241403699997 meters Centerline goodness [0,1] 0.8085912026421525 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.08, Z:-0.82 [[ 0.99187267 0.11800855 -0.04756668 2.37363582] [-0.11871112 0.99285368 -0.01221631 -0.08226806] [ 0.04578512 0.01776372 0.99879336 -0.81827406] [ 0. 0. 0. 1. ]] SLAMing on 189.27241403699998 meters Centerline goodness [0,1] 0.8107746080914209 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.09, Z:-0.82 [[ 0.99208226 0.11591873 -0.0483284 2.37594228] [-0.11672077 0.99306456 -0.01410801 -0.08511228] [ 0.04635784 0.01963724 0.99873186 -0.81991902] [ 0. 0. 0. 1. ]] SLAMing on 189.30241403699998 meters Centerline goodness [0,1] 0.8118393234672304 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.09, Z:-0.82 [[ 0.99231806 0.1136359 -0.04890552 2.3764688 ] [-0.11450325 0.99330496 -0.01530586 -0.0926645 ] [ 0.0468388 0.02078812 0.99868613 -0.82065225] [ 0. 0. 0. 1. ]] SLAMing on 189.33241403699998 meters Centerline goodness [0,1] 0.8097626211969241 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.10, Z:-0.82 [[ 0.99226045 0.11409147 -0.04901372 2.37650325] [-0.11490136 0.99327786 -0.01402761 -0.09681722] [ 0.04708381 0.01955079 0.9986996 -0.82087237] [ 0. 0. 0. 1. ]] SLAMing on 189.36241403699998 meters Centerline goodness [0,1] 0.8113562296314866 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.10, Z:-0.82 [[ 0.99219086 0.11460257 -0.04922956 2.37671626] [-0.11536476 0.99323915 -0.01292112 -0.0998763 ] [ 0.04741594 0.01849957 0.99870391 -0.82086895] [ 0. 0. 0. 1. ]] SLAMing on 189.39241403699998 meters Centerline goodness [0,1] 0.809449344258877 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.11, Z:-0.82 [[ 0.99205498 0.11573083 -0.04932838 2.376423 ] [-0.11639718 0.99314351 -0.01084719 -0.10528213] [ 0.04773481 0.01650269 0.99872371 -0.82059741] [ 0. 0. 0. 1. ]] SLAMing on 189.42241403699998 meters Centerline goodness [0,1] 0.8083428928981125 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.11, Z:-0.82 [[ 0.99200643 0.1161266 -0.04937467 2.37602271] [-0.11675054 0.99311156 -0.00993679 -0.10854595] [ 0.04788063 0.01562188 0.9987309 -0.82032681] [ 0. 0. 0. 1. ]] SLAMing on 189.45241403699998 meters Centerline goodness [0,1] 0.8056093447435817 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.11, Z:-0.82 [[ 0.99225681 0.11374649 -0.04988144 2.37671778] [-0.11449511 0.99334633 -0.01240734 -0.11116087] [ 0.04813826 0.01802245 0.99867808 -0.8207003 ] [ 0. 0. 0. 1. ]] SLAMing on 189.48241403699998 meters Centerline goodness [0,1] 0.8052377584557141 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.12, Z:-0.82 [[ 0.99237694 0.11277625 -0.0496943 2.37607336] [-0.11356969 0.9934392 -0.01343421 -0.11506036] [ 0.04785321 0.01897556 0.99867412 -0.8209073 ] [ 0. 0. 0. 1. ]] SLAMing on 189.51241403699999 meters Centerline goodness [0,1] 0.8057939691182278 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.12, Z:-0.82 [[ 0.99241021 0.1126094 -0.04940753 2.37523751] [-0.11338656 0.99346312 -0.01321031 -0.12232922] [ 0.04759695 0.01871219 0.99869134 -0.8213794 ] [ 0. 0. 0. 1. ]] SLAMing on 189.542414037 meters Centerline goodness [0,1] 0.8062593454062137 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.13, Z:-0.82 [[ 0.99233267 0.11319729 -0.04962099 2.37550186] [-0.1139244 0.99341611 -0.01206936 -0.12556544] [ 0.04792807 0.01762986 0.99869519 -0.82141312] [ 0. 0. 0. 1. ]] SLAMing on 189.572414037 meters Centerline goodness [0,1] 0.8059416621716942 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.13, Z:-0.82 [[ 0.99225648 0.11380543 -0.04975341 2.37561943] [-0.11447425 0.99336754 -0.0107973 -0.12902348] [ 0.04819463 0.01640918 0.99870317 -0.82147029] [ 0. 0. 0. 1. ]] SLAMing on 189.602414037 meters Centerline goodness [0,1] 0.8043473756190556 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.13, Z:-0.82 [[ 0.99222961 0.11407348 -0.04967543 2.37483981] [-0.11468783 0.99335434 -0.00968841 -0.13314766] [ 0.04824011 0.01531029 0.99871842 -0.82115612] [ 0. 0. 0. 1. ]] SLAMing on 189.632414037 meters Centerline goodness [0,1] 0.8075840953287269 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.14, Z:-0.82 [[ 0.99244863 0.11202824 -0.04995387 2.37393294] [-0.11267285 0.99357905 -0.01027149 -0.14317583] [ 0.04848242 0.01582237 0.99869871 -0.82110613] [ 0. 0. 0. 1. ]] SLAMing on 189.662414037 meters Centerline goodness [0,1] 0.8042014210688909 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.15, Z:-0.82 [[ 0.99270176 0.10947127 -0.05058913 2.37509054] [-0.11020995 0.99383538 -0.0120419 -0.14809537] [ 0.04895903 0.01752944 0.99864695 -0.82204123] [ 0. 0. 0. 1. ]] SLAMing on 189.692414037 meters Centerline goodness [0,1] 0.8053990464986688 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.15, Z:-0.82 [[ 0.99299237 0.10658788 -0.05104101 2.37551928] [-0.1074375 0.99411051 -0.01419418 -0.15240182] [ 0.04922748 0.01957844 0.99859568 -0.82256198] [ 0. 0. 0. 1. ]] SLAMing on 189.722414037 meters Centerline goodness [0,1] 0.8053990464986688 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.15, Z:-0.82 [[ 0.99299237 0.10658788 -0.05104101 2.37551928] [-0.1074375 0.99411051 -0.01419418 -0.15240182] [ 0.04922748 0.01957844 0.99859568 -0.82256198] [ 0. 0. 0. 1. ]] SLAMing on 189.752414037 meters Centerline goodness [0,1] 0.8035102916305737 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.16, Z:-0.82 [[ 0.99326529 0.10380973 -0.05145485 2.3762321 ] [-0.10476261 0.99436573 -0.01617381 -0.15648679] [ 0.04948594 0.02145543 0.99854434 -0.82343289] [ 0. 0. 0. 1. ]] SLAMing on 189.782414037 meters Centerline goodness [0,1] 0.8037446703330655 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.16, Z:-0.82 [[ 0.99353121 0.10100767 -0.05189583 2.37679785] [-0.1020651 0.99461232 -0.01813996 -0.16063127] [ 0.04978395 0.02331937 0.99848774 -0.82404991] [ 0. 0. 0. 1. ]] SLAMing on 189.812414037 meters Centerline goodness [0,1] 0.8023088023088023 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.16, Z:-0.82 [[ 0.99382058 0.09793849 -0.05223698 2.3769877 ] [-0.09911285 0.99486749 -0.0203796 -0.16447698] [ 0.04997293 0.02543102 0.99842675 -0.82447469] [ 0. 0. 0. 1. ]] SLAMing on 189.842414037 meters Centerline goodness [0,1] 0.8037989010762867 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.17, Z:-0.82 [[ 0.99412773 0.09462338 -0.05250205 2.37620803] [-0.0958404 0.99517172 -0.02116275 -0.17409372] [ 0.05024607 0.0260703 0.99839655 -0.82482049] [ 0. 0. 0. 1. ]] SLAMing on 189.872414037 meters Centerline goodness [0,1] 0.8023712974208024 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.18, Z:-0.83 [[ 0.99438131 0.09165459 -0.05296466 2.37709456] [-0.09298162 0.99539857 -0.02315403 -0.17869357] [ 0.05059878 0.02794868 0.99832792 -0.8257831 ] [ 0. 0. 0. 1. ]] SLAMing on 189.902414037 meters Centerline goodness [0,1] 0.8036438497169326 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.19, Z:-0.83 [[ 0.99487807 0.08558814 -0.05378006 2.37843806] [-0.08714787 0.99581975 -0.02735474 -0.18751058] [ 0.05121401 0.03190145 0.99817805 -0.82752735] [ 0. 0. 0. 1. ]] SLAMing on 189.932414037 meters Centerline goodness [0,1] 0.8032924851694481 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.19, Z:-0.83 [[ 0.99510843 0.08254752 -0.05426897 2.37950941] [-0.08423688 0.99600565 -0.02961238 -0.19123019] [ 0.05160777 0.03403898 0.99808716 -0.82848374] [ 0. 0. 0. 1. ]] SLAMing on 189.96241403699997 meters Centerline goodness [0,1] 0.8010225117506391 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.20, Z:-0.83 [[ 0.99509449 0.08252726 -0.05455454 2.37989794] [-0.08415645 0.99605147 -0.02826939 -0.19631736] [ 0.05200614 0.03272183 0.99811054 -0.828932 ] [ 0. 0. 0. 1. ]] SLAMing on 189.99241403699997 meters Centerline goodness [0,1] 0.8012096690956382 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.20, Z:-0.83 [[ 0.99510875 0.08230659 -0.05462782 2.3796792 ] [-0.08388182 0.99610457 -0.0271942 -0.20100924] [ 0.05217676 0.03164346 0.9981364 -0.8290991 ] [ 0. 0. 0. 1. ]] SLAMing on 190.02241403699998 meters Centerline goodness [0,1] 0.8034772256091303 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.21, Z:-0.83 [[ 0.9956668 0.07782763 -0.05089676 2.38476158] [-0.07885615 0.99671397 -0.01851916 -0.21066998] [ 0.04928821 0.02245244 0.9985322 -0.82882228] [ 0. 0. 0. 1. ]] SLAMing on 190.05241403699998 meters Centerline goodness [0,1] 0.8037934364917905 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.21, Z:-0.83 [[ 0.99565448 0.07807621 -0.05075686 2.38401676] [-0.07904281 0.99672073 -0.01732086 -0.21480632] [ 0.04923807 0.02125755 0.99856083 -0.82856319] [ 0. 0. 0. 1. ]] SLAMing on 190.08241403699998 meters Centerline goodness [0,1] 0.8060413027843419 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.22, Z:-0.83 [[ 0.99562416 0.07844084 -0.0507894 2.38375144] [-0.07935148 0.99671561 -0.01616557 -0.21837169] [ 0.04935455 0.02012505 0.99857855 -0.82844266] [ 0. 0. 0. 1. ]] SLAMing on 190.11241403699998 meters Centerline goodness [0,1] 0.8078172547084465 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.22, Z:-0.83 [[ 0.99559132 0.07899156 -0.05057924 2.38305117] [-0.07983692 0.99669636 -0.01491419 -0.22181332] [ 0.04923404 0.01888653 0.99860869 -0.82825219] [ 0. 0. 0. 1. ]] SLAMing on 190.14241403699998 meters Centerline goodness [0,1] 0.8069056339767069 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.23, Z:-0.83 [[ 0.99554428 0.07971856 -0.05036401 2.38223871] [-0.08047533 0.99666948 -0.0131781 -0.22714367] [ 0.04914574 0.01717244 0.99864398 -0.82809508] [ 0. 0. 0. 1. ]] SLAMing on 190.17241403699998 meters Centerline goodness [0,1] 0.8069738224208597 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.23, Z:-0.83 [[ 0.99551502 0.0800967 -0.0503424 2.3821186 ] [-0.08081804 0.99665103 -0.01245699 -0.22948369] [ 0.04917605 0.01646969 0.99865433 -0.82814143] [ 0. 0. 0. 1. ]] SLAMing on 190.20241403699998 meters Centerline goodness [0,1] 0.8083453533896559 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.23, Z:-0.83 [[ 0.99547487 0.08065263 -0.05024869 2.3821775 ] [-0.08132752 0.99662072 -0.01153105 -0.23213038] [ 0.04914888 0.01556547 0.99867017 -0.82855144] [ 0. 0. 0. 1. ]] SLAMing on 190.23241403699998 meters Centerline goodness [0,1] 0.8108636990957216 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.24, Z:-0.83 [[ 0.99538457 0.08186311 -0.05007992 2.38202873] [-0.08246377 0.99654345 -0.01004431 -0.2358877 ] [ 0.04908455 0.01412773 0.9986947 -0.82885925] [ 0. 0. 0. 1. ]] SLAMing on 190.26241403699999 meters Centerline goodness [0,1] 0.8121043250220246 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.24, Z:-0.83 [[ 0.9952523 0.0834129 -0.05015123 2.38276808] [-0.08393804 0.99643511 -0.00845417 -0.23773852] [ 0.04926726 0.01262363 0.99870585 -0.82941448] [ 0. 0. 0. 1. ]] SLAMing on 190.292414037 meters Centerline goodness [0,1] 0.8143211598006849 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.24, Z:-0.83 [[ 0.99519397 0.08404273 -0.05025722 2.38273118] [-0.08455212 0.99638619 -0.0080933 -0.23803404] [ 0.04939541 0.01230376 0.99870351 -0.82899372] [ 0. 0. 0. 1. ]] SLAMing on 190.322414037 meters Centerline goodness [0,1] 0.8126198181855662 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.24, Z:-0.83 [[ 0.99513175 0.08474732 -0.05030601 2.38274235] [-0.0852352 0.99633165 -0.00762955 -0.23840405] [ 0.04947489 0.01188025 0.99870471 -0.8287653 ] [ 0. 0. 0. 1. ]] SLAMing on 190.352414037 meters Centerline goodness [0,1] 0.8171919063008172 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.24, Z:-0.83 [[ 0.99495844 0.08666271 -0.05047051 2.38401811] [-0.08708178 0.99618212 -0.00616012 -0.24009632] [ 0.04974397 0.01052413 0.99870655 -0.82963542] [ 0. 0. 0. 1. ]] SLAMing on 190.382414037 meters Centerline goodness [0,1] 0.814008118856766 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.24, Z:-0.83 [[ 0.99491042 0.08716138 -0.05055835 2.38448272] [-0.0875532 0.9961442 -0.00558341 -0.241394 ] [ 0.04987675 0.00998154 0.9987055 -0.83000951] [ 0. 0. 0. 1. ]] SLAMing on 190.412414037 meters Centerline goodness [0,1] 0.8165673175745118 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.24, Z:-0.83 [[ 0.99486886 0.08756288 -0.05068231 2.38496439] [-0.08792425 0.99611491 -0.00494088 -0.2434211 ] [ 0.05005277 0.00937174 0.9987026 -0.83041587] [ 0. 0. 0. 1. ]] SLAMing on 190.442414037 meters Centerline goodness [0,1] 0.8178993930665569 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.25, Z:-0.83 [[ 0.9948586 0.08774631 -0.05056624 2.38455667] [-0.08807396 0.99610473 -0.00428407 -0.24579993] [ 0.04999336 0.00871562 0.99871152 -0.83039304] [ 0. 0. 0. 1. ]] SLAMing on 190.472414037 meters Centerline goodness [0,1] 0.8174819863280849 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.25, Z:-0.83 [[ 0.99509125 0.08489109 -0.05086165 2.38512483] [-0.08533925 0.99632942 -0.00670139 -0.2481155 ] [ 0.05010607 0.01100899 0.99868323 -0.83103217] [ 0. 0. 0. 1. ]] SLAMing on 190.502414037 meters Centerline goodness [0,1] 0.8186694617424009 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.25, Z:-0.83 [[ 0.99510561 0.08475959 -0.05079994 2.38477502] [-0.08518551 0.99634535 -0.00627472 -0.25029107] [ 0.05008244 0.01057143 0.99868914 -0.83096498] [ 0. 0. 0. 1. ]] SLAMing on 190.532414037 meters Centerline goodness [0,1] 0.8180229809451376 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.25, Z:-0.83 [[ 0.99535444 0.08153588 -0.05119999 2.38555464] [-0.08211746 0.99657874 -0.00935651 -0.2515241 ] [ 0.05026193 0.01351746 0.99864459 -0.83160742] [ 0. 0. 0. 1. ]] SLAMing on 190.562414037 meters Centerline goodness [0,1] 0.8191918360628755 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.25, Z:-0.83 [[ 0.99546878 0.08029818 -0.05093234 2.38396083] [-0.08090748 0.99667132 -0.01001291 -0.25459031] [ 0.04995879 0.01408834 0.99865191 -0.83090786] [ 0. 0. 0. 1. ]] SLAMing on 190.592414037 meters Centerline goodness [0,1] 0.8198458177021066 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.26, Z:-0.83 [[ 0.99571738 0.07698754 -0.05118421 2.38424829] [-0.07771089 0.99690015 -0.01229279 -0.25918515] [ 0.05007915 0.01621772 0.99861357 -0.83157278] [ 0. 0. 0. 1. ]] SLAMing on 190.622414037 meters Centerline goodness [0,1] 0.818745508674674 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.26, Z:-0.83 [[ 0.99570702 0.07698963 -0.05138224 2.38481023] [-0.07768145 0.99691071 -0.01160282 -0.26148469] [ 0.0503302 0.01554446 0.99861166 -0.83193306] [ 0. 0. 0. 1. ]] SLAMing on 190.652414037 meters Centerline goodness [0,1] 0.8211524585094321 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.26, Z:-0.83 [[ 0.99571302 0.07689619 -0.05140588 2.38482544] [-0.07756569 0.99692483 -0.01115525 -0.26324159] [ 0.05039 0.01509476 0.99861554 -0.83203414] [ 0. 0. 0. 1. ]] SLAMing on 190.682414037 meters Centerline goodness [0,1] 0.8193646676136949 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.27, Z:-0.83 [[ 0.99569732 0.07686742 -0.05175172 2.38564237] [-0.0774901 0.99694164 -0.01013207 -0.26707772] [ 0.05081462 0.01409872 0.99860858 -0.83250823] [ 0. 0. 0. 1. ]] SLAMing on 190.71241403699997 meters Centerline goodness [0,1] 0.8218944514061505 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.27, Z:-0.83 [[ 0.99568635 0.07697419 -0.05180416 2.38568643] [-0.07756288 0.99694269 -0.009448 -0.26983679] [ 0.05091853 0.01342532 0.99861257 -0.83259666] [ 0. 0. 0. 1. ]] SLAMing on 190.74241403699997 meters Centerline goodness [0,1] 0.8216808418624766 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.27, Z:-0.83 [[ 0.99577512 0.07601844 -0.05150836 2.38390949] [-0.07662644 0.99701041 -0.00993106 -0.27192872] [ 0.05059943 0.013836 0.99862318 -0.83157856] [ 0. 0. 0. 1. ]] SLAMing on 190.77241403699998 meters Centerline goodness [0,1] 0.8210675542406312 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.28, Z:-0.83 [[ 0.9963662 0.07196654 -0.0455545 2.38825314] [-0.07219085 0.99738539 -0.00329613 -0.27729332] [ 0.04519819 0.00657277 0.99895642 -0.8306611 ] [ 0. 0. 0. 1. ]] SLAMing on 190.80241403699998 meters Centerline goodness [0,1] 0.8219852169079043 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.28, Z:-0.83 [[ 0.99646539 0.07075754 -0.04527808 2.38611446] [-0.07101651 0.99746657 -0.00413469 -0.27764842] [ 0.04487081 0.00733557 0.99896586 -0.82898741] [ 0. 0. 0. 1. ]] SLAMing on 190.83241403699998 meters Centerline goodness [0,1] 0.8217673078901347 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.28, Z:-0.83 [[ 0.9965017 0.07026578 -0.04524468 2.385191 ] [-0.07051965 0.99750222 -0.00403742 -0.27915414] [ 0.04484798 0.00721393 0.99896778 -0.82808107] [ 0. 0. 0. 1. ]] SLAMing on 190.86241403699998 meters Centerline goodness [0,1] 0.8227138825371321 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.28, Z:-0.83 [[ 0.99662209 0.06873956 -0.04493646 2.38320773] [-0.06902869 0.99760258 -0.00491262 -0.28029507] [ 0.04449104 0.00799793 0.99897777 -0.82674814] [ 0. 0. 0. 1. ]] SLAMing on 190.89241403699998 meters Centerline goodness [0,1] 0.823779760680949 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.28, Z:-0.83 [[ 0.99685836 0.065024 -0.04522495 2.38432035] [-0.06542195 0.99783044 -0.00737419 -0.28455125] [ 0.04464733 0.01030972 0.99894961 -0.82822166] [ 0. 0. 0. 1. ]] SLAMing on 190.92241403699998 meters Centerline goodness [0,1] 0.8267593468514787 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.29, Z:-0.83 [[ 0.99704612 0.06175219 -0.04566951 2.38596512] [-0.06228045 0.99800621 -0.01023458 -0.286222 ] [ 0.04494645 0.01304867 0.99890417 -0.82960857] [ 0. 0. 0. 1. ]] SLAMing on 190.95241403699998 meters Centerline goodness [0,1] 0.8279532260056821 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.29, Z:-0.83 [[ 0.99709563 0.06103415 -0.04555359 2.38602714] [-0.06154931 0.99805403 -0.00999215 -0.28887911] [ 0.04485508 0.01276692 0.99891192 -0.8301794 ] [ 0. 0. 0. 1. ]] SLAMing on 190.98241403699998 meters Centerline goodness [0,1] 0.8280430355269384 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.29, Z:-0.83 [[ 0.9973212 0.05696153 -0.04588913 2.38635329] [-0.05762878 0.99824881 -0.01335021 -0.29075154] [ 0.04504832 0.01595898 0.99885733 -0.8304057 ] [ 0. 0. 0. 1. ]] SLAMing on 191.01241403699999 meters Centerline goodness [0,1] 0.8266093361038533 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.29, Z:-0.83 [[ 0.99733636 0.05675288 -0.04581816 2.38600009] [-0.05740772 0.99826481 -0.01310399 -0.29183677] [ 0.04499497 0.0156994 0.99886385 -0.83017537] [ 0. 0. 0. 1. ]] SLAMing on 191.042414037 meters Centerline goodness [0,1] 0.825850200349327 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.29, Z:-0.83 [[ 0.99733033 0.05669359 -0.04602229 2.38627785] [-0.05733809 0.99827269 -0.01280572 -0.29269997] [ 0.04521679 0.01541037 0.99885833 -0.83006482] [ 0. 0. 0. 1. ]] SLAMing on 191.072414037 meters Centerline goodness [0,1] 0.8237834725021596 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.29, Z:-0.83 [[ 0.99734234 0.05652364 -0.04597112 2.38601502] [-0.05716234 0.99828413 -0.01269878 -0.29326551] [ 0.04517446 0.01529285 0.99886205 -0.82984016] [ 0. 0. 0. 1. ]] SLAMing on 191.102414037 meters Centerline goodness [0,1] 0.8201597754061474 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.29, Z:-0.83 [[ 0.99739362 0.05565691 -0.04591595 2.38588438] [-0.05630775 0.99832877 -0.01300414 -0.29387761] [ 0.04511544 0.01555567 0.99886066 -0.82988944] [ 0. 0. 0. 1. ]] SLAMing on 191.132414037 meters Centerline goodness [0,1] 0.8142589118198874 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.29, Z:-0.83 [[ 0.99741216 0.05534768 -0.0458869 2.38607096] [-0.05599989 0.99834547 -0.01305094 -0.29417714] [ 0.04508864 0.01558683 0.99886138 -0.83018857] [ 0. 0. 0. 1. ]] SLAMing on 191.162414037 meters Centerline goodness [0,1] 0.8063668104333539 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.29, Z:-0.83 [[ 0.99743399 0.05481042 -0.04605708 2.38649731] [-0.05547506 0.99837179 -0.01327757 -0.2944904 ] [ 0.04525434 0.01579851 0.99885057 -0.83038322] [ 0. 0. 0. 1. ]] SLAMing on 191.192414037 meters Centerline goodness [0,1] 0.7996738636832762 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.29, Z:-0.83 [[ 0.99746482 0.05429767 -0.0459967 2.38639277] [-0.05497194 0.99839633 -0.01352225 -0.29481036] [ 0.04518871 0.01601649 0.99885007 -0.83046882] [ 0. 0. 0. 1. ]] SLAMing on 191.222414037 meters Centerline goodness [0,1] 0.8048248322423943 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.29, Z:-0.83 [[ 0.99757773 0.05171454 -0.04652172 2.38874395] [-0.05249644 0.99849699 -0.0157446 -0.29333982] [ 0.04563757 0.01814868 0.99879319 -0.83212387] [ 0. 0. 0. 1. ]] SLAMing on 191.252414037 meters Centerline goodness [0,1] 0.772775969343607 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.29, Z:-0.83 [[ 0.99760635 0.05115278 -0.04652919 2.38882673] [-0.05195735 0.9985171 -0.01624903 -0.292223 ] [ 0.04562901 0.01862767 0.99878476 -0.83216691] [ 0. 0. 0. 1. ]] SLAMing on 191.282414037 meters Centerline goodness [0,1] 0.7698769692114938 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.29, Z:-0.83 [[ 0.99769402 0.04911454 -0.0468444 2.39057837] [-0.05001916 0.9985799 -0.01833779 -0.28850662] [ 0.04587722 0.02063862 0.99873386 -0.83335235] [ 0. 0. 0. 1. ]] SLAMing on 191.312414037 meters Centerline goodness [0,1] 0.788764369595278 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.29, Z:-0.83 [[ 0.9977229 0.04854505 -0.04682302 2.39062552] [-0.04947972 0.99859414 -0.01901296 -0.28665664] [ 0.04583421 0.02128646 0.99872224 -0.8333673 ] [ 0. 0. 0. 1. ]] SLAMing on 191.342414037 meters Centerline goodness [0,1] 0.7353481554881196 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.28, Z:-0.83 [[ 0.99775297 0.04791885 -0.04682735 2.39092819] [-0.04888547 0.99860972 -0.01971914 -0.28484933] [ 0.04581733 0.02196401 0.99870834 -0.83364397] [ 0. 0. 0. 1. ]] SLAMing on 191.372414037 meters Centerline goodness [0,1] 0.7810185853668599 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.28, Z:-0.83 [[ 0.99778039 0.04722465 -0.04694802 2.39124849] [-0.04822999 0.99862553 -0.02051635 -0.28300266] [ 0.04591461 0.02273511 0.99868662 -0.83365699] [ 0. 0. 0. 1. ]] SLAMing on 191.402414037 meters Centerline goodness [0,1] 0.7018462045660595 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.28, Z:-0.83 [[ 0.99806766 0.04387195 -0.04400215 2.3963041 ] [-0.04449767 0.99892038 -0.01334253 -0.2797831 ] [ 0.04336928 0.01527475 0.99894233 -0.8307542 ] [ 0. 0. 0. 1. ]] SLAMing on 191.432414037 meters Centerline goodness [0,1] 0.7539406177240229 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.28, Z:-0.83 [[ 0.99809839 0.04302484 -0.04414153 2.39640284] [-0.04371065 0.99893622 -0.01469038 -0.2759989 ] [ 0.04346252 0.0165919 0.99891727 -0.83034295] [ 0. 0. 0. 1. ]] SLAMing on 191.46241403699997 meters Centerline goodness [0,1] 0.7314885456832381 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.27, Z:-0.83 [[ 0.99804422 0.04482716 -0.04356912 2.39479064] [-0.04542808 0.9988843 -0.01290107 -0.27291276] [ 0.04294219 0.0148551 0.99896711 -0.82937966] [ 0. 0. 0. 1. ]] SLAMing on 191.49241403699997 meters Centerline goodness [0,1] 0.7322691744519376 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.27, Z:-0.83 [[ 0.99796815 0.04694813 -0.04307479 2.39403076] [-0.04745864 0.99881366 -0.01090626 -0.26954651] [ 0.04251166 0.01292837 0.99901232 -0.82918204] [ 0. 0. 0. 1. ]] SLAMing on 191.52241403699998 meters Centerline goodness [0,1] 0.6947975928854566 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.26, Z:-0.83 [[ 0.99788239 0.04876339 -0.04304501 2.395629 ] [-0.04924484 0.9987347 -0.01019552 -0.26092272] [ 0.04249338 0.01229367 0.99902111 -0.83023339] [ 0. 0. 0. 1. ]] SLAMing on 191.55241403699998 meters Centerline goodness [0,1] 0.720739388219847 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.26, Z:-0.83 [[ 0.99777369 0.05114318 -0.04280231 2.39580186] [-0.05154077 0.99863692 -0.00823704 -0.25744606] [ 0.0423227 0.01042476 0.99904961 -0.83050401] [ 0. 0. 0. 1. ]] SLAMing on 191.58241403699998 meters Centerline goodness [0,1] 0.7210871794871795 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.25, Z:-0.83 [[ 0.9977892 0.05077373 -0.04288063 2.39634052] [-0.05122813 0.99864117 -0.00956468 -0.25294113] [ 0.04233673 0.01174023 0.99903442 -0.83070106] [ 0. 0. 0. 1. ]] SLAMing on 191.61241403699998 meters Centerline goodness [0,1] 0.7210871794871795 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.25, Z:-0.83 [[ 0.9977892 0.05077373 -0.04288063 2.39634052] [-0.05122813 0.99864117 -0.00956468 -0.25294113] [ 0.04233673 0.01174023 0.99903442 -0.83070106] [ 0. 0. 0. 1. ]] SLAMing on 191.64241403699998 meters Centerline goodness [0,1] 0.6960228439952341 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.25, Z:-0.83 [[ 0.99772741 0.05211263 -0.04271174 2.3965958 ] [-0.0525565 0.99857432 -0.00933523 -0.24612302] [ 0.04216437 0.0115588 0.99904382 -0.8307575 ] [ 0. 0. 0. 1. ]] SLAMing on 191.67241403699998 meters Centerline goodness [0,1] 0.6901683087027914 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.24, Z:-0.83 [[ 0.99773334 0.05180956 -0.04294131 2.39799364] [-0.05229629 0.9985786 -0.01028925 -0.24243646] [ 0.04234719 0.01251159 0.99902461 -0.83163109] [ 0. 0. 0. 1. ]] SLAMing on 191.70241403699998 meters Centerline goodness [0,1] 0.7084910317590917 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.24, Z:-0.83 [[ 0.99774632 0.05136911 -0.04316812 2.39945358] [-0.05190732 0.99858638 -0.01143999 -0.23809672] [ 0.04251943 0.01365495 0.99900232 -0.8325694 ] [ 0. 0. 0. 1. ]] SLAMing on 191.73241403699998 meters Centerline goodness [0,1] 0.6989850427350428 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.23, Z:-0.83 [[ 0.9977243 0.05165161 -0.04333974 2.40155559] [-0.05219622 0.99857029 -0.01152922 -0.23349016] [ 0.04268228 0.01376516 0.99899387 -0.83418749] [ 0. 0. 0. 1. ]] SLAMing on 191.76241403699999 meters Centerline goodness [0,1] 0.6800814345644485 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.22, Z:-0.84 [[ 0.99765602 0.05323179 -0.04299805 2.40241696] [-0.0537489 0.99849433 -0.01096016 -0.22413565] [ 0.04234988 0.01324557 0.99901504 -0.83504959] [ 0. 0. 0. 1. ]] SLAMing on 191.792414037 meters Centerline goodness [0,1] 0.6833114053120631 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.22, Z:-0.83 [[ 0.99756915 0.05518412 -0.04254991 2.40108959] [-0.05562875 0.99840787 -0.00933645 -0.22042635] [ 0.04196694 0.01168076 0.99905072 -0.83405592] [ 0. 0. 0. 1. ]] SLAMing on 191.822414037 meters Centerline goodness [0,1] 0.6848038108535408 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.22, Z:-0.83 [[ 0.99758189 0.05478271 -0.04276935 2.40143925] [-0.05528634 0.9984134 -0.01068178 -0.21595173] [ 0.04211632 0.01302051 0.99902787 -0.83363021] [ 0. 0. 0. 1. ]] SLAMing on 191.852414037 meters Centerline goodness [0,1] 0.6833607907742998 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.21, Z:-0.83 [[ 0.99749718 0.05660537 -0.04236991 2.40003857] [-0.05708711 0.99831662 -0.01024663 -0.20789279] [ 0.04171858 0.01263976 0.99904945 -0.83205599] [ 0. 0. 0. 1. ]] SLAMing on 191.882414037 meters Centerline goodness [0,1] 0.680134195035607 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.20, Z:-0.83 [[ 0.99744005 0.05758827 -0.04239032 2.40061926] [-0.0580517 0.99826564 -0.00978302 -0.20314812] [ 0.04175342 0.01221881 0.99905323 -0.83213863] [ 0. 0. 0. 1. ]] SLAMing on 191.912414037 meters Centerline goodness [0,1] 0.7139768117135855 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.20, Z:-0.83 [[ 0.99732428 0.0598244 -0.04201566 2.39966787] [-0.06021229 0.99815332 -0.00802682 -0.19894599] [ 0.04145788 0.0105352 0.99908471 -0.83136461] [ 0. 0. 0. 1. ]] SLAMing on 191.942414037 meters Centerline goodness [0,1] 0.6821412431699602 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.19, Z:-0.83 [[ 0.99727448 0.06050178 -0.04222734 2.40122061] [-0.06091411 0.99810643 -0.00854581 -0.18944887] [ 0.04163034 0.01109476 0.99907148 -0.83185696] [ 0. 0. 0. 1. ]] SLAMing on 191.972414037 meters Centerline goodness [0,1] 0.7081444233781222 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.18, Z:-0.83 [[ 0.9973199 0.0596293 -0.0423954 2.40165416] [-0.06011568 0.99813837 -0.01029061 -0.18449912] [ 0.04170285 0.01281166 0.99904791 -0.83168445] [ 0. 0. 0. 1. ]] SLAMing on 192.002414037 meters Centerline goodness [0,1] 0.6852114850262427 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.18, Z:-0.83 [[ 0.99733987 0.05913172 -0.04262192 2.40261189] [-0.05967619 0.9981502 -0.01161617 -0.17996226] [ 0.04185619 0.01412878 0.99902374 -0.83194813] [ 0. 0. 0. 1. ]] SLAMing on 192.032414037 meters Centerline goodness [0,1] 0.6957057989187412 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.17, Z:-0.83 [[ 0.99724098 0.0608209 -0.0425587 2.4035721 ] [-0.0613547 0.99805149 -0.01134991 -0.171101 ] [ 0.04178546 0.01392977 0.9990295 -0.83218772] [ 0. 0. 0. 1. ]] SLAMing on 192.062414037 meters Centerline goodness [0,1] 0.6999115208131854 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.17, Z:-0.83 [[ 0.99708691 0.06351023 -0.04223904 2.403212 ] [-0.06395393 0.99791011 -0.00923625 -0.16721834] [ 0.04156417 0.0119107 0.99906484 -0.83191581] [ 0. 0. 0. 1. ]] SLAMing on 192.092414037 meters Centerline goodness [0,1] 0.7228500721798309 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.16, Z:-0.83 [[ 0.99691327 0.06631549 -0.04202604 2.40302172] [-0.06666587 0.99775087 -0.00698987 -0.16369406] [ 0.04146798 0.00976999 0.99909206 -0.8315808 ] [ 0. 0. 0. 1. ]] SLAMing on 192.122414037 meters Centerline goodness [0,1] 0.6981112623200957 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.16, Z:-0.83 [[ 0.99673549 0.06895074 -0.04200187 2.40336137] [-0.0692609 0.9975807 -0.00597293 -0.15565645] [ 0.04148842 0.00886252 0.99909968 -0.83090952] [ 0. 0. 0. 1. ]] SLAMing on 192.152414037 meters Centerline goodness [0,1] 0.7003258672606525 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.15, Z:-0.83 [[ 0.99673588 0.06882268 -0.04220216 2.40410188] [-0.06918668 0.99757757 -0.00722456 -0.15095525] [ 0.04160272 0.01012081 0.99908297 -0.83082114] [ 0. 0. 0. 1. ]] SLAMing on 192.182414037 meters Centerline goodness [0,1] 0.69928277629648 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.15, Z:-0.83 [[ 0.99672151 0.06886133 -0.04247752 2.40498918] [-0.06927463 0.99756282 -0.00833397 -0.14637759] [ 0.04180011 0.01124926 0.99906266 -0.83065572] [ 0. 0. 0. 1. ]] SLAMing on 192.21241403699997 meters Centerline goodness [0,1] 0.7514912588495118 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.14, Z:-0.83 [[ 0.99649056 0.07203584 -0.04263091 2.40671052] [-0.0723855 0.99735413 -0.00671384 -0.13901443] [ 0.04203448 0.00977614 0.99906833 -0.8310681 ] [ 0. 0. 0. 1. ]] SLAMing on 192.24241403699997 meters Centerline goodness [0,1] 0.7485151383456468 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.13, Z:-0.83 [[ 0.9964676 0.07218218 -0.04291907 2.40777001] [-0.07257997 0.99733224 -0.00778145 -0.13473262] [ 0.04224289 0.01086903 0.99904825 -0.83109928] [ 0. 0. 0. 1. ]] SLAMing on 192.27241403699998 meters Centerline goodness [0,1] 0.7462556528233 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.13, Z:-0.83 [[ 0.99645349 0.07225479 -0.04312399 2.40861038] [-0.07270009 0.99731461 -0.00884664 -0.13057701] [ 0.04236898 0.01195038 0.99903056 -0.8311017 ] [ 0. 0. 0. 1. ]] SLAMing on 192.30241403699998 meters Centerline goodness [0,1] 0.7638206579192837 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.13, Z:-0.83 [[ 0.99639353 0.07280832 -0.04357605 2.4107755 ] [-0.07327354 0.99726969 -0.00917369 -0.12709236] [ 0.04278915 0.01233357 0.99900799 -0.83211602] [ 0. 0. 0. 1. ]] SLAMing on 192.33241403699998 meters Centerline goodness [0,1] 0.7678527048297572 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.12, Z:-0.83 [[ 0.99620049 0.07549412 -0.04341915 2.41096919] [-0.07589526 0.99708635 -0.00766333 -0.12079562] [ 0.04271411 0.01092952 0.99902755 -0.83170146] [ 0. 0. 0. 1. ]] SLAMing on 192.36241403699998 meters Centerline goodness [0,1] 0.7662967956030281 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.12, Z:-0.83 [[ 0.99621763 0.07514204 -0.04363603 2.41154459] [-0.07558956 0.9971011 -0.00869568 -0.1169012 ] [ 0.04285612 0.01196122 0.99900965 -0.83153085] [ 0. 0. 0. 1. ]] SLAMing on 192.39241403699998 meters Centerline goodness [0,1] 0.7593861616413323 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.11, Z:-0.83 [[ 0.99625951 0.07454139 -0.04371011 2.4116224 ] [-0.0750423 0.9971309 -0.00993083 -0.1132496 ] [ 0.04284445 0.01317379 0.9989949 -0.83115496] [ 0. 0. 0. 1. ]] SLAMing on 192.42241403699998 meters Centerline goodness [0,1] 0.7748634560671194 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.11, Z:-0.83 [[ 0.99631711 0.07358898 -0.04400995 2.41240271] [-0.07416401 0.99717886 -0.01157684 -0.10841198] [ 0.04303386 0.01479815 0.99896401 -0.83105129] [ 0. 0. 0. 1. ]] SLAMing on 192.45241403699998 meters Centerline goodness [0,1] 0.7533526602290028 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.11, Z:-0.83 [[ 0.99635439 0.07299269 -0.04415867 2.41281412] [-0.07359872 0.99721263 -0.01225523 -0.10695198] [ 0.04314104 0.01546057 0.99894936 -0.8312115 ] [ 0. 0. 0. 1. ]] SLAMing on 192.48241403699998 meters Centerline goodness [0,1] 0.7520399666944213 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.11, Z:-0.83 [[ 0.99640616 0.07217964 -0.04432684 2.41307636] [-0.07281874 0.9972608 -0.01297439 -0.105921 ] [ 0.04326893 0.01615559 0.99893283 -0.83124604] [ 0. 0. 0. 1. ]] SLAMing on 192.51241403699999 meters Centerline goodness [0,1] 0.7336039975015616 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.10, Z:-0.83 [[ 0.99668794 0.06780161 -0.04490088 2.41442471] [-0.06864399 0.99748788 -0.01749071 -0.10170941] [ 0.04360219 0.02051495 0.99883832 -0.83161386] [ 0. 0. 0. 1. ]] SLAMing on 192.542414037 meters Centerline goodness [0,1] 0.7232524666764013 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.10, Z:-0.83 [[ 0.99673585 0.06697901 -0.04507173 2.41467549] [-0.06786158 0.9975261 -0.01834332 -0.09969662] [ 0.04373161 0.02134209 0.99881533 -0.83148766] [ 0. 0. 0. 1. ]] SLAMing on 192.572414037 meters Centerline goodness [0,1] 0.7035542546518921 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.09, Z:-0.83 [[ 0.99679661 0.06586907 -0.04536288 2.41526868] [-0.06682637 0.99756578 -0.01991873 -0.09410359] [ 0.04394042 0.02288636 0.99877197 -0.83109723] [ 0. 0. 0. 1. ]] SLAMing on 192.602414037 meters Centerline goodness [0,1] 0.7035542546518921 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.09, Z:-0.83 [[ 0.99679661 0.06586907 -0.04536288 2.41526868] [-0.06682637 0.99756578 -0.01991873 -0.09410359] [ 0.04394042 0.02288636 0.99877197 -0.83109723] [ 0. 0. 0. 1. ]] SLAMing on 192.632414037 meters Centerline goodness [0,1] 0.7114037838402842 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.09, Z:-0.83 [[ 0.99673052 0.06652778 -0.04585117 2.41770527] [-0.06749486 0.99752164 -0.01987501 -0.08943406] [ 0.04441529 0.02290475 0.99875055 -0.83220567] [ 0. 0. 0. 1. ]] SLAMing on 192.662414037 meters Centerline goodness [0,1] 0.71308503280166 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.09, Z:-0.83 [[ 0.99669277 0.06683679 -0.04622074 2.41936583] [-0.06782485 0.99749378 -0.02014808 -0.08702249] [ 0.04475827 0.02321636 0.99872804 -0.83294119] [ 0. 0. 0. 1. ]] SLAMing on 192.692414037 meters Centerline goodness [0,1] 0.7181587181587181 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.08, Z:-0.83 [[ 0.99663694 0.06741228 -0.04658751 2.42092755] [-0.06841634 0.99745025 -0.02030299 -0.08453663] [ 0.04510005 0.02342206 0.99870786 -0.8334466 ] [ 0. 0. 0. 1. ]] SLAMing on 192.722414037 meters Centerline goodness [0,1] 0.7237911268818107 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.08, Z:-0.83 [[ 0.99643372 0.07058478 -0.04623442 2.42020468] [-0.07145384 0.99729178 -0.01741989 -0.0827263 ] [ 0.04487963 0.02066139 0.99877872 -0.83287661] [ 0. 0. 0. 1. ]] SLAMing on 192.752414037 meters Centerline goodness [0,1] 0.726506328049447 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.08, Z:-0.83 [[ 0.99617094 0.07425248 -0.04615222 2.42033392] [-0.07502544 0.99706508 -0.01524525 -0.07656016] [ 0.04488477 0.01864946 0.99881808 -0.8318078 ] [ 0. 0. 0. 1. ]] SLAMing on 192.782414037 meters Centerline goodness [0,1] 0.7434576983709932 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.07, Z:-0.83 [[ 0.99591931 0.07770639 -0.04589604 2.42005482] [-0.07833977 0.99685251 -0.01216403 -0.07467246] [ 0.04480636 0.01570988 0.99887216 -0.83138835] [ 0. 0. 0. 1. ]] SLAMing on 192.812414037 meters Centerline goodness [0,1] 0.7645383187035787 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.07, Z:-0.83 [[ 0.99586286 0.0781951 -0.04628924 2.42149328] [-0.07885551 0.99680624 -0.01261439 -0.07144074] [ 0.04515502 0.01621236 0.99884843 -0.83159096] [ 0. 0. 0. 1. ]] SLAMing on 192.842414037 meters Centerline goodness [0,1] 0.7572987692892276 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.07, Z:-0.83 [[ 0.99556628 0.08191351 -0.04623801 2.42242386] [-0.08244702 0.99654777 -0.00974848 -0.06835847] [ 0.04527986 0.01351744 0.99888288 -0.83187474] [ 0. 0. 0. 1. ]] SLAMing on 192.872414037 meters Centerline goodness [0,1] 0.7854947105090208 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.07, Z:-0.83 [[ 0.99557402 0.08170009 -0.04644855 2.42286787] [-0.08227442 0.99655348 -0.0105873 -0.06586094] [ 0.04542349 0.01436197 0.99886458 -0.83165165] [ 0. 0. 0. 1. ]] SLAMing on 192.902414037 meters Centerline goodness [0,1] 0.7702559986481919 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.06, Z:-0.83 [[ 0.99555015 0.0817891 -0.04680211 2.42394627] [-0.08238297 0.99654113 -0.01090076 -0.06388677] [ 0.04574867 0.01470795 0.9988447 -0.83180575] [ 0. 0. 0. 1. ]] SLAMing on 192.932414037 meters Centerline goodness [0,1] 0.7543941284714144 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.06, Z:-0.83 [[ 0.99553382 0.08181848 -0.04709731 2.42485542] [-0.08242966 0.99653416 -0.0111813 -0.06195417] [ 0.04601924 0.01501357 0.99882772 -0.83196641] [ 0. 0. 0. 1. ]] SLAMing on 192.96241403699997 meters Centerline goodness [0,1] 0.7802340425531915 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.06, Z:-0.83 [[ 0.99555329 0.08147108 -0.04728744 2.42590701] [-0.08212116 0.99655049 -0.01196803 -0.05883226] [ 0.04614928 0.01579811 0.99880962 -0.83247473] [ 0. 0. 0. 1. ]] SLAMing on 192.99241403699997 meters Centerline goodness [0,1] 0.7308719426900089 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.06, Z:-0.83 [[ 0.99554872 0.08139841 -0.04750835 2.42695044] [-0.08205553 0.99655496 -0.01204607 -0.05836972] [ 0.04636415 0.01589077 0.9987982 -0.83316405] [ 0. 0. 0. 1. ]] SLAMing on 193.02241403699998 meters Centerline goodness [0,1] 0.7712552753801455 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.06, Z:-0.83 [[ 0.99555386 0.08126289 -0.04763256 2.42776006] [-0.08192548 0.99656471 -0.01212393 -0.05786858] [ 0.0464837 0.01597235 0.99879134 -0.83388783] [ 0. 0. 0. 1. ]] SLAMing on 193.05241403699998 meters Centerline goodness [0,1] 0.757774522914942 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.06, Z:-0.83 [[ 0.99557027 0.08097491 -0.04777968 2.42832986] [-0.08165543 0.99658268 -0.012464 -0.05698824] [ 0.04660713 0.01631026 0.99878013 -0.83417559] [ 0. 0. 0. 1. ]] SLAMing on 193.08241403699998 meters Centerline goodness [0,1] 0.7258955509284835 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.06, Z:-0.83 [[ 0.99558256 0.08072245 -0.04795045 2.42885815] [-0.08142103 0.99659766 -0.01279564 -0.05588697] [ 0.04675442 0.01664329 0.99876775 -0.83432034] [ 0. 0. 0. 1. ]] SLAMing on 193.11241403699998 meters Centerline goodness [0,1] 0.7426980145401981 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.05, Z:-0.83 [[ 0.99562369 0.08007317 -0.04818459 2.42941602] [-0.08082483 0.99663201 -0.01385572 -0.05236325] [ 0.04691283 0.0176896 0.99874234 -0.83412386] [ 0. 0. 0. 1. ]] SLAMing on 193.14241403699998 meters Centerline goodness [0,1] 0.7229947666346257 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.05, Z:-0.83 [[ 0.99562446 0.07993962 -0.04839006 2.43014076] [-0.08071769 0.99663383 -0.01434129 -0.0503843 ] [ 0.04708074 0.01818447 0.99872555 -0.8342415 ] [ 0. 0. 0. 1. ]] SLAMing on 193.17241403699998 meters Centerline goodness [0,1] 0.7543173463281183 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.05, Z:-0.83 [[ 0.99561576 0.07989251 -0.04864609 2.4311474 ] [-0.08069523 0.99662947 -0.01476422 -0.0482928 ] [ 0.04730258 0.018625 0.99870695 -0.83456758] [ 0. 0. 0. 1. ]] SLAMing on 193.20241403699998 meters Centerline goodness [0,1] 0.7396004700352526 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.04, Z:-0.83 [[ 0.99563968 0.07942267 -0.04892505 2.43206868] [-0.08028463 0.99664501 -0.01590925 -0.04413502] [ 0.04749736 0.01976781 0.99867574 -0.83456727] [ 0. 0. 0. 1. ]] SLAMing on 193.23241403699998 meters Centerline goodness [0,1] 0.745838504001027 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.04, Z:-0.83 [[ 0.99564656 0.07919591 -0.04915224 2.43247718] [-0.08009107 0.99665073 -0.01651488 -0.04224684] [ 0.0476797 0.02037964 0.99865475 -0.83427599] [ 0. 0. 0. 1. ]] SLAMing on 193.26241403699999 meters Centerline goodness [0,1] 0.7299575344228542 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.04, Z:-0.83 [[ 0.99563926 0.07915161 -0.0493709 2.43298144] [-0.08006991 0.99664589 -0.01690508 -0.04060577] [ 0.04786724 0.02078448 0.99863744 -0.8341238 ] [ 0. 0. 0. 1. ]] SLAMing on 193.292414037 meters Centerline goodness [0,1] 0.7516063178252927 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.04, Z:-0.83 [[ 0.99562604 0.07920635 -0.04954942 2.43386323] [-0.0801612 0.99662675 -0.01758685 -0.03675513] [ 0.04798929 0.02148187 0.99861682 -0.83414339] [ 0. 0. 0. 1. ]] SLAMing on 193.322414037 meters Centerline goodness [0,1] 0.7196498849437623 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.03, Z:-0.83 [[ 0.99558925 0.07945152 -0.04989483 2.43505093] [-0.08042308 0.99660235 -0.01777298 -0.03482999] [ 0.04831322 0.02170728 0.99859633 -0.83437277] [ 0. 0. 0. 1. ]] SLAMing on 193.352414037 meters Centerline goodness [0,1] 0.7518947549737318 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.03, Z:-0.83 [[ 0.99555191 0.07969837 -0.05024508 2.43634924] [-0.08068608 0.99657805 -0.0179427 -0.03296595] [ 0.04864314 0.02191697 0.99857573 -0.83472316] [ 0. 0. 0. 1. ]] SLAMing on 193.382414037 meters Centerline goodness [0,1] 0.7226425261342817 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.03, Z:-0.84 [[ 0.99551308 0.0799744 -0.05057469 2.43756672] [-0.08097136 0.99655429 -0.01797763 -0.0317299 ] [ 0.04896268 0.02199207 0.99855846 -0.83510592] [ 0. 0. 0. 1. ]] SLAMing on 193.412414037 meters Centerline goodness [0,1] 0.761206264290953 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.03, Z:-0.84 [[ 0.99547959 0.08021909 -0.05084567 2.43883609] [-0.08122896 0.99653087 -0.01811303 -0.02977742] [ 0.04921627 0.02216129 0.99854226 -0.83561947] [ 0. 0. 0. 1. ]] SLAMing on 193.442414037 meters Centerline goodness [0,1] 0.7210435532557137 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.03, Z:-0.84 [[ 0.99545562 0.0803869 -0.0510495 2.43987865] [-0.08139718 0.99651872 -0.01802633 -0.02907966] [ 0.0494227 0.02209969 0.99853342 -0.83624677] [ 0. 0. 0. 1. ]] SLAMing on 193.472414037 meters Centerline goodness [0,1] 0.7396309390359576 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.03, Z:-0.84 [[ 0.99543822 0.08047287 -0.05125306 2.44095143] [-0.08148683 0.99651173 -0.0180076 -0.02828586] [ 0.04962515 0.0221019 0.99852334 -0.8369145 ] [ 0. 0. 0. 1. ]] SLAMing on 193.502414037 meters Centerline goodness [0,1] 0.7451735780451909 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.03, Z:-0.84 [[ 0.9954411 0.08040066 -0.05131025 2.4418063 ] [-0.08142986 0.99651124 -0.01828992 -0.026445 ] [ 0.04966072 0.02238473 0.99851527 -0.83759545] [ 0. 0. 0. 1. ]] SLAMing on 193.532414037 meters Centerline goodness [0,1] 0.7451735780451909 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.03, Z:-0.84 [[ 0.9954411 0.08040066 -0.05131025 2.4418063 ] [-0.08142986 0.99651124 -0.01828992 -0.026445 ] [ 0.04966072 0.02238473 0.99851527 -0.83759545] [ 0. 0. 0. 1. ]] SLAMing on 193.562414037 meters Centerline goodness [0,1] 0.7373741756334606 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.03, Z:-0.84 [[ 0.99544782 0.08020385 -0.05148776 2.44219847] [-0.08125694 0.99651787 -0.01869325 -0.02518219] [ 0.0498092 0.02279189 0.99849866 -0.83747451] [ 0. 0. 0. 1. ]] SLAMing on 193.592414037 meters Centerline goodness [0,1] 0.7377184413328992 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.02, Z:-0.84 [[ 0.9954376 0.08024594 -0.0516195 2.4427465 ] [-0.08131061 0.99651029 -0.01886363 -0.024124 ] [ 0.04992563 0.02297478 0.99848865 -0.83760279] [ 0. 0. 0. 1. ]] SLAMing on 193.622414037 meters Centerline goodness [0,1] 0.7352519236621311 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.02, Z:-0.84 [[ 0.99541374 0.08035156 -0.0519144 2.44357491] [-0.08143285 0.99649663 -0.01905665 -0.02291865] [ 0.05020129 0.02319679 0.9984697 -0.83764507] [ 0. 0. 0. 1. ]] SLAMing on 193.652414037 meters Centerline goodness [0,1] 0.7222367788986419 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.02, Z:-0.84 [[ 0.99538849 0.08047566 -0.05220548 2.44491565] [-0.08159185 0.99647288 -0.01961055 -0.01957466] [ 0.05044318 0.02377966 0.9984438 -0.83801731] [ 0. 0. 0. 1. ]] SLAMing on 193.682414037 meters Centerline goodness [0,1] 0.7282755908951899 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.02, Z:-0.84 [[ 0.99536641 0.08053057 -0.05254082 2.44599872] [-0.08166708 0.99646194 -0.01985175 -0.01798546] [ 0.05075625 0.02405062 0.99842144 -0.83822366] [ 0. 0. 0. 1. ]] SLAMing on 193.71241403699997 meters Centerline goodness [0,1] 0.7140672114670279 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.02, Z:-0.84 [[ 0.99536122 0.08047783 -0.05271973 2.44678777] [-0.08163373 0.99645872 -0.02014837 -0.016411 ] [ 0.05091153 0.02435862 0.99840607 -0.83852265] [ 0. 0. 0. 1. ]] SLAMing on 193.74241403699997 meters Centerline goodness [0,1] 0.7023571976756935 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.01, Z:-0.84 [[ 0.99540931 0.07979727 -0.05284599 2.44731154] [-0.0809993 0.99649279 -0.02100546 -0.01409495] [ 0.05098447 0.02518952 0.99838173 -0.83876439] [ 0. 0. 0. 1. ]] SLAMing on 193.77241403699998 meters Centerline goodness [0,1] 0.7453549990105324 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.01, Z:-0.84 [[ 0.99543405 0.07942959 -0.05293384 2.44775157] [-0.08064917 0.99651466 -0.02131301 -0.01352828] [ 0.05105647 0.02548477 0.99837055 -0.83912148] [ 0. 0. 0. 1. ]] SLAMing on 193.80241403699998 meters Centerline goodness [0,1] 0.7051808578393692 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.01, Z:-0.84 [[ 0.99591055 0.07577042 -0.04920387 2.4533725 ] [-0.07645005 0.99700026 -0.01207793 -0.01489291] [ 0.04814112 0.01579018 0.99871573 -0.83934798] [ 0. 0. 0. 1. ]] SLAMing on 193.83241403699998 meters Centerline goodness [0,1] 0.7104661891998769 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.01, Z:-0.84 [[ 0.99618368 0.07168638 -0.04979098 2.45465902] [-0.07257822 0.99722889 -0.01633857 -0.01288803] [ 0.04848175 0.01988995 0.99862601 -0.83981829] [ 0. 0. 0. 1. ]] SLAMing on 193.86241403699998 meters Centerline goodness [0,1] 0.7070731492878495 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.01, Z:-0.84 [[ 0.99621775 0.07116373 -0.04985898 2.45462557] [-0.0720789 0.9972574 -0.01680187 -0.01231497] [ 0.04852655 0.02033211 0.99861493 -0.83967705] [ 0. 0. 0. 1. ]] SLAMing on 193.89241403699998 meters Centerline goodness [0,1] 0.6930014111836302 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.01, Z:-0.84 [[ 0.99623112 0.07088892 -0.04998309 2.4550091 ] [-0.07182266 0.99727019 -0.01713697 -0.01124922] [ 0.04863182 0.0206623 0.99860303 -0.83976225] [ 0. 0. 0. 1. ]] SLAMing on 193.92241403699998 meters Centerline goodness [0,1] 0.678113007807331 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.01, Z:-0.84 [[ 0.99622196 0.07082027 -0.05026234 2.45591471] [-0.07177234 0.99726935 -0.01739454 -0.00968292] [ 0.04889321 0.02093626 0.99858456 -0.83999592] [ 0. 0. 0. 1. ]] SLAMing on 193.95241403699998 meters Centerline goodness [0,1] 0.6716797522945925 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.01, Z:-0.84 [[ 0.99607703 0.07254232 -0.050677 2.45809033] [-0.07343319 0.99717271 -0.01594215 -0.00609973] [ 0.04937724 0.01960098 0.99858785 -0.84103495] [ 0. 0. 0. 1. ]] SLAMing on 193.98241403699998 meters Centerline goodness [0,1] 0.6691412742382272 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.00, Z:-0.84 [[ 0.99603483 0.07288879 -0.05100828 2.45944677] [-0.07378614 0.99714679 -0.01593356 -0.00465948] [ 0.04970136 0.01963408 0.99857112 -0.84155261] [ 0. 0. 0. 1. ]] SLAMing on 194.01241403699999 meters Centerline goodness [0,1] 0.6685192976240562 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.00, Z:-0.84 [[ 0.9959932 0.07319556 -0.0513805 2.4606154 ] [-0.07410436 0.99712199 -0.01600872 -0.00362038] [ 0.05006086 0.0197521 0.99855083 -0.8417499 ] [ 0. 0. 0. 1. ]] SLAMing on 194.042414037 meters Centerline goodness [0,1] 0.6967891132260073 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.00, Z:-0.84 [[ 9.95970220e-01 7.34366665e-02 -5.14818129e-02 2.46111282e+00] [-7.43796961e-02 9.97091070e-01 -1.66450603e-02 -8.29650101e-04] [ 5.01096981e-02 2.04071860e-02 9.98535210e-01 -8.41468057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.072414037 meters Centerline goodness [0,1] 0.6940749158811863 Centerline is valid? [False, False] Translation: X:2.46, Y:0.00, Z:-0.84 [[ 9.95946421e-01 7.35660593e-02 -5.17567440e-02 2.46181515e+00] [-7.45335835e-02 9.97073315e-01 -1.70161614e-02 9.26756321e-04] [ 5.03534564e-02 2.08048006e-02 9.98514742e-01 -8.41267058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.102414037 meters Centerline goodness [0,1] 0.7166943982251803 Centerline is valid? [False, False] Translation: X:2.47, Y:0.00, Z:-0.84 [[ 9.96285815e-01 7.11604287e-02 -4.84847234e-02 2.46900316e+00] [-7.16114134e-02 9.97403448e-01 -7.62669926e-03 9.16448581e-04] [ 4.78161112e-02 1.10704319e-02 9.98794806e-01 -8.41347560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.132414037 meters Centerline goodness [0,1] 0.7024946447697251 Centerline is valid? [False, False] Translation: X:2.47, Y:0.00, Z:-0.84 [[ 0.99628395 0.07102645 -0.04871892 2.46950095] [-0.07151271 0.99740508 -0.0083094 0.00310862] [ 0.04800231 0.01176254 0.99877796 -0.84106289] [ 0. 0. 0. 1. ]] SLAMing on 194.162414037 meters Centerline goodness [0,1] 0.6852050388635754 Centerline is valid? [False, False] Translation: X:2.47, Y:0.01, Z:-0.84 [[ 0.99624874 0.07128119 -0.04906575 2.47133506] [-0.07178825 0.9973824 -0.00864856 0.00576283] [ 0.04832083 0.01213846 0.99875811 -0.84202983] [ 0. 0. 0. 1. ]] SLAMing on 194.192414037 meters Centerline goodness [0,1] 0.7062307245340366 Centerline is valid? [False, False] Translation: X:2.47, Y:0.01, Z:-0.84 [[ 0.99622712 0.07140334 -0.04932625 2.47247193] [-0.0719177 0.99737236 -0.00873056 0.00652356] [ 0.04857324 0.01224505 0.99874456 -0.84262928] [ 0. 0. 0. 1. ]] SLAMing on 194.222414037 meters Centerline goodness [0,1] 0.7083912011110614 Centerline is valid? [False, False] Translation: X:2.47, Y:0.01, Z:-0.84 [[ 0.99623306 0.07132062 -0.04932597 2.47286968] [-0.07184382 0.99737606 -0.0089145 0.00739828] [ 0.04856075 0.01242468 0.99874295 -0.84306878] [ 0. 0. 0. 1. ]] SLAMing on 194.252414037 meters Centerline goodness [0,1] 0.7193414164914321 Centerline is valid? [False, False] Translation: X:2.47, Y:0.01, Z:-0.84 [[ 0.99621612 0.07135819 -0.04961293 2.47389977] [-0.07189167 0.99737138 -0.00905056 0.00826882] [ 0.04883668 0.01258307 0.99872751 -0.84346956] [ 0. 0. 0. 1. ]] SLAMing on 194.282414037 meters Centerline goodness [0,1] 0.7050496893016578 Centerline is valid? [False, False] Translation: X:2.48, Y:0.01, Z:-0.84 [[ 0.99621122 0.07121358 -0.04991827 2.47531345] [-0.07177822 0.99737433 -0.0096092 0.01165124] [ 0.04910289 0.01315583 0.99870708 -0.84403471] [ 0. 0. 0. 1. ]] SLAMing on 194.312414037 meters Centerline goodness [0,1] 0.7044768044722961 Centerline is valid? [False, False] Translation: X:2.48, Y:0.01, Z:-0.84 [[ 0.99619703 0.07122392 -0.05018604 2.47641149] [-0.07180194 0.99737068 -0.00980824 0.01336473] [ 0.04935551 0.01337439 0.99869172 -0.84450655] [ 0. 0. 0. 1. ]] SLAMing on 194.342414037 meters Centerline goodness [0,1] 0.6979921855590938 Centerline is valid? [False, False] Translation: X:2.48, Y:0.01, Z:-0.84 [[ 0.99620478 0.07096808 -0.0503942 2.47707472] [-0.07157027 0.99738294 -0.01024505 0.01498095] [ 0.04953525 0.01381289 0.99867686 -0.84466334] [ 0. 0. 0. 1. ]] SLAMing on 194.372414037 meters Centerline goodness [0,1] 0.680522940751445 Centerline is valid? [False, False] Translation: X:2.48, Y:0.02, Z:-0.85 [[ 0.99637882 0.06796662 -0.05108599 2.47887955] [-0.06872854 0.99754665 -0.01330671 0.01847557] [ 0.05005625 0.01676959 0.9986056 -0.84535338] [ 0. 0. 0. 1. ]] SLAMing on 194.402414037 meters Centerline goodness [0,1] 0.6607763484540736 Centerline is valid? [False, False] Translation: X:2.48, Y:0.02, Z:-0.85 [[ 0.99641364 0.06743623 -0.05110977 2.47887824] [-0.06822533 0.99757375 -0.01385328 0.01926407] [ 0.05005155 0.01729058 0.99859695 -0.84535094] [ 0. 0. 0. 1. ]] SLAMing on 194.432414037 meters Centerline goodness [0,1] 0.6699123661148978 Centerline is valid? [False, False] Translation: X:2.48, Y:0.02, Z:-0.85 [[ 0.996449 0.06689394 -0.05113302 2.47877429] [-0.06771579 0.99759912 -0.01451105 0.02069532] [ 0.05003955 0.01792203 0.99858642 -0.84514668] [ 0. 0. 0. 1. ]] SLAMing on 194.46241403699997 meters Centerline goodness [0,1] 0.6834225569367571 Centerline is valid? [False, False] Translation: X:2.48, Y:0.02, Z:-0.84 [[ 0.99685341 0.06321098 -0.04782935 2.48429327] [-0.06354116 0.99796454 -0.00541319 0.021512 ] [ 0.04738982 0.00843529 0.99884085 -0.84469058] [ 0. 0. 0. 1. ]] SLAMing on 194.49241403699997 meters Centerline goodness [0,1] 0.6704354156240047 Centerline is valid? [False, False] Translation: X:2.49, Y:0.02, Z:-0.85 [[ 9.97194923e-01 6.21639391e-02 -4.16884861e-02 2.49303778e+00] [-6.20553530e-02 9.98065109e-01 3.89497873e-03 2.47709208e-02] [ 4.18499507e-02 -1.29705929e-03 9.99123065e-01 -8.47055582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52241403699998 meters Centerline goodness [0,1] 0.6575445988961917 Centerline is valid? [False, False] Translation: X:2.49, Y:0.03, Z:-0.85 [[ 9.97211724e-01 6.16475333e-02 -4.20518586e-02 2.49345855e+00] [-6.15933493e-02 9.98097982e-01 2.58415523e-03 2.86253614e-02] [ 4.21311820e-02 1.31649255e-05 9.99112087e-01 -8.46273845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55241403699998 meters Centerline goodness [0,1] 0.6650686973874349 Centerline is valid? [False, False] Translation: X:2.49, Y:0.03, Z:-0.85 [[ 9.97210891e-01 6.14324465e-02 -4.23850512e-02 2.49437103e+00] [-6.14163207e-02 9.98110816e-01 1.68373908e-03 3.16365703e-02] [ 4.24084142e-02 9.24090953e-04 9.99099931e-01 -8.46178531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58241403699998 meters Centerline goodness [0,1] 0.6655668866226755 Centerline is valid? [False, False] Translation: X:2.50, Y:0.04, Z:-0.85 [[ 9.97202976e-01 6.13339647e-02 -4.27126295e-02 2.49576721e+00] [-6.13718893e-02 9.98114879e-01 4.24045245e-04 3.59280917e-02] [ 4.26581194e-02 2.19849558e-03 9.99087309e-01 -8.46421022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61241403699998 meters Centerline goodness [0,1] 0.6627147964479299 Centerline is valid? [False, False] Translation: X:2.50, Y:0.04, Z:-0.85 [[ 9.97164675e-01 6.16379364e-02 -4.31668279e-02 2.49746784e+00] [-6.16830865e-02 9.98095744e-01 2.86494557e-04 3.71791219e-02] [ 4.31022862e-02 2.37698093e-03 9.99067837e-01 -8.47084527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64241403699998 meters Centerline goodness [0,1] 0.6813100335609305 Centerline is valid? [False, False] Translation: X:2.50, Y:0.04, Z:-0.85 [[ 9.97170416e-01 6.14245646e-02 -4.33380325e-02 2.49785553e+00] [-6.15024034e-02 9.98106828e-01 -4.63792350e-04 3.92067944e-02] [ 4.32274979e-02 3.12787317e-03 9.99060358e-01 -8.46870855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67241403699998 meters Centerline goodness [0,1] 0.6756016616769942 Centerline is valid? [False, False] Translation: X:2.50, Y:0.04, Z:-0.85 [[ 9.97182619e-01 6.10931251e-02 -4.35253384e-02 2.49813161e+00] [-6.12106204e-02 9.98123931e-01 -1.37061828e-03 4.19541111e-02] [ 4.33599465e-02 4.03096970e-03 9.99051383e-01 -8.46418372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70241403699998 meters Centerline goodness [0,1] 0.6747437962509046 Centerline is valid? [False, False] Translation: X:2.50, Y:0.05, Z:-0.85 [[ 9.97098490e-01 6.20712536e-02 -4.40654198e-02 2.49961763e+00] [-6.21632943e-02 9.98065732e-01 -7.20193705e-04 4.65179141e-02] [ 4.39354822e-02 3.45735571e-03 9.99028388e-01 -8.46518659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73241403699998 meters Centerline goodness [0,1] 0.6773921596178165 Centerline is valid? [False, False] Translation: X:2.50, Y:0.05, Z:-0.85 [[ 9.97086478e-01 6.19996978e-02 -4.44363932e-02 2.50044870e+00] [-6.21199214e-02 9.98067809e-01 -1.32844013e-03 4.86037491e-02] [ 4.42681707e-02 4.08495494e-03 9.99011332e-01 -8.46263395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76241403699999 meters Centerline goodness [0,1] 0.6706108390543359 Centerline is valid? [False, False] Translation: X:2.50, Y:0.05, Z:-0.85 [[ 9.97047066e-01 6.22598644e-02 -4.49539588e-02 2.50196377e+00] [-6.23889110e-02 9.98050829e-01 -1.47198052e-03 4.99736066e-02] [ 4.47746905e-02 4.27226239e-03 9.98987975e-01 -8.46497926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.792414037 meters Centerline goodness [0,1] 0.6713225973050378 Centerline is valid? [False, False] Translation: X:2.50, Y:0.05, Z:-0.85 [[ 9.97040240e-01 6.22005541e-02 -4.51868525e-02 2.50264825e+00] [-6.23491292e-02 9.98052621e-01 -1.88472156e-03 5.13814852e-02] [ 4.49816258e-02 4.69650414e-03 9.98976775e-01 -8.46537563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.822414037 meters Centerline goodness [0,1] 0.6755604747550867 Centerline is valid? [False, False] Translation: X:2.50, Y:0.05, Z:-0.85 [[ 9.97002616e-01 6.25195756e-02 -4.55750680e-02 2.50450233e+00] [-6.26784417e-02 9.98031640e-01 -2.06375445e-03 5.34075946e-02] [ 4.53563348e-02 4.91414283e-03 9.98958785e-01 -8.47377560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.852414037 meters Centerline goodness [0,1] 0.6751827390885374 Centerline is valid? [False, False] Translation: X:2.51, Y:0.05, Z:-0.85 [[ 9.96992898e-01 6.24874531e-02 -4.58309985e-02 2.50536618e+00] [-6.26553426e-02 9.98032722e-01 -2.23448448e-03 5.43362894e-02] [ 4.56012090e-02 5.09932206e-03 9.98946709e-01 -8.47650479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.882414037 meters Centerline goodness [0,1] 0.673257713893296 Centerline is valid? [False, False] Translation: X:2.51, Y:0.06, Z:-0.85 [[ 0.99700815 0.06217118 -0.04592923 2.50547274] [-0.06236491 0.9980495 -0.00279562 0.05553514] [ 0.04566584 0.00565163 0.99894078 -0.8474226 ] [ 0. 0. 0. 1. ]] SLAMing on 194.912414037 meters Centerline goodness [0,1] 0.6771107164002368 Centerline is valid? [False, False] Translation: X:2.51, Y:0.05, Z:-0.85 [[ 0.99745622 0.05961704 -0.03907565 2.51388389] [-0.05946654 0.99821776 0.0050036 0.05482997] [ 0.03930431 -0.00266718 0.99922373 -0.85008281] [ 0. 0. 0. 1. ]] SLAMing on 194.942414037 meters Centerline goodness [0,1] 0.6795595842627308 Centerline is valid? [False, False] Translation: X:2.51, Y:0.06, Z:-0.85 [[ 9.97473186e-01 5.92295228e-02 -3.92314646e-02 2.51394623e+00] [-5.91074836e-02 9.98242516e-01 4.26438282e-03 5.67084077e-02] [ 3.94150933e-02 -1.93473436e-03 9.99221050e-01 -8.49618915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.972414037 meters Centerline goodness [0,1] 0.6756570177109122 Centerline is valid? [False, False] Translation: X:2.51, Y:0.06, Z:-0.85 [[ 9.97483393e-01 5.89265715e-02 -3.94276654e-02 2.51409127e+00] [-5.88371957e-02 9.98261718e-01 3.42437253e-03 5.88853382e-02] [ 3.95609155e-02 -1.09594147e-03 9.99216560e-01 -8.49035603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.002414037 meters Centerline goodness [0,1] 0.6781971400606364 Centerline is valid? [False, False] Translation: X:2.52, Y:0.06, Z:-0.85 [[ 9.97469446e-01 5.89143403e-02 -3.97970518e-02 2.51509863e+00] [-5.88480480e-02 9.98262923e-01 2.83618522e-03 6.07609567e-02] [ 3.98950132e-02 -4.87029287e-04 9.99203758e-01 -8.48964221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.032414037 meters Centerline goodness [0,1] 0.6780406867695858 Centerline is valid? [False, False] Translation: X:2.52, Y:0.06, Z:-0.85 [[ 9.97426412e-01 5.93632040e-02 -4.02065069e-02 2.51726642e+00] [-5.93140175e-02 9.98236450e-01 2.41618542e-03 6.36562644e-02] [ 4.02790332e-02 -2.51576996e-05 9.99188470e-01 -8.49973000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.062414037 meters Centerline goodness [0,1] 0.6749500829945392 Centerline is valid? [False, False] Translation: X:2.52, Y:0.06, Z:-0.85 [[ 9.97409396e-01 5.94570480e-02 -4.04889520e-02 2.51845071e+00] [-5.94147252e-02 9.98230852e-01 2.24887192e-03 6.48371055e-02] [ 4.05510323e-02 1.62593967e-04 9.99177455e-01 -8.50517816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.092414037 meters Centerline goodness [0,1] 0.6844981862152357 Centerline is valid? [False, False] Translation: X:2.52, Y:0.07, Z:-0.85 [[ 9.97421162e-01 5.91306250e-02 -4.06767084e-02 2.51859231e+00] [-5.91179552e-02 9.98249854e-01 1.51531991e-03 6.64390074e-02] [ 4.06951200e-02 8.93311683e-04 9.99171211e-01 -8.50005150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.122414037 meters Centerline goodness [0,1] 0.6781208378738346 Centerline is valid? [False, False] Translation: X:2.52, Y:0.07, Z:-0.85 [[ 9.97433864e-01 5.87407861e-02 -4.09292971e-02 2.51868818e+00] [-5.87777545e-02 9.98271048e-01 3.00601490e-04 6.92450576e-02] [ 4.08761899e-02 2.10590207e-03 9.99162000e-01 -8.48937029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.152414037 meters Centerline goodness [0,1] 0.6734584970649591 Centerline is valid? [False, False] Translation: X:2.52, Y:0.07, Z:-0.85 [[ 9.97446333e-01 5.84489135e-02 -4.10431072e-02 2.51854156e+00] [-5.85149065e-02 9.98286452e-01 -4.07387774e-04 7.09201765e-02] [ 4.09489665e-02 2.80798102e-03 9.99157294e-01 -8.48232050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.182414037 meters Centerline goodness [0,1] 0.688680163519564 Centerline is valid? [False, False] Translation: X:2.52, Y:0.07, Z:-0.85 [[ 9.97451384e-01 5.81239084e-02 -4.13805230e-02 2.51880742e+00] [-5.82252739e-02 9.98302690e-01 -1.24758998e-03 7.29497844e-02] [ 4.12377726e-02 3.65380264e-03 9.99142680e-01 -8.47418320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21241403699997 meters Centerline goodness [0,1] 0.694006309148265 Centerline is valid? [False, False] Translation: X:2.52, Y:0.07, Z:-0.85 [[ 9.97449467e-01 5.79986475e-02 -4.16019054e-02 2.51946873e+00] [-5.81264104e-02 9.98307485e-01 -1.86705709e-03 7.49509896e-02] [ 4.14232068e-02 4.28046453e-03 9.99132522e-01 -8.47358842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24241403699997 meters Centerline goodness [0,1] 0.6904569793882491 Centerline is valid? [False, False] Translation: X:2.52, Y:0.08, Z:-0.85 [[ 9.97438908e-01 5.80498260e-02 -4.17832716e-02 2.52017674e+00] [-5.81780099e-02 9.98304497e-01 -1.85740198e-03 7.50379735e-02] [ 4.16046060e-02 4.28351259e-03 9.99124971e-01 -8.47692073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27241403699998 meters Centerline goodness [0,1] 0.6881633651259477 Centerline is valid? [False, False] Translation: X:2.52, Y:0.07, Z:-0.85 [[ 9.97446703e-01 5.78726091e-02 -4.18429830e-02 2.52032945e+00] [-5.80070594e-02 9.98314159e-01 -2.00523754e-03 7.48085390e-02] [ 4.16563941e-02 4.42730598e-03 9.99122187e-01 -8.47779934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30241403699998 meters Centerline goodness [0,1] 0.6950307827616535 Centerline is valid? [False, False] Translation: X:2.52, Y:0.07, Z:-0.85 [[ 9.97468060e-01 5.75208606e-02 -4.18188842e-02 2.51990061e+00] [-5.76711749e-02 9.98332758e-01 -2.39594049e-03 7.49045366e-02] [ 4.16113455e-02 4.80161830e-03 9.99122335e-01 -8.47350046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33241403699998 meters Centerline goodness [0,1] 0.6914329037149356 Centerline is valid? [False, False] Translation: X:2.52, Y:0.07, Z:-0.85 [[ 0.99746947 0.05740622 -0.04194259 2.51989812] [-0.05756366 0.99833857 -0.00255469 0.07491259] [ 0.04172625 0.00496259 0.99911676 -0.8469961 ] [ 0. 0. 0. 1. ]] SLAMing on 195.36241403699998 meters Centerline goodness [0,1] 0.6887963756581363 Centerline is valid? [False, False] Translation: X:2.52, Y:0.08, Z:-0.85 [[ 0.99746653 0.05729472 -0.04216447 2.52002955] [-0.05746253 0.9983438 -0.00277782 0.07574069] [ 0.04193549 0.00519366 0.99910682 -0.84646063] [ 0. 0. 0. 1. ]] SLAMing on 195.39241403699998 meters Centerline goodness [0,1] 0.688053205535723 Centerline is valid? [False, False] Translation: X:2.52, Y:0.08, Z:-0.85 [[ 0.99745243 0.05734968 -0.04242252 2.5206219 ] [-0.05751936 0.9983405 -0.00278893 0.07622868] [ 0.04219218 0.00522195 0.99909587 -0.84640013] [ 0. 0. 0. 1. ]] SLAMing on 195.42241403699998 meters Centerline goodness [0,1] 0.688053205535723 Centerline is valid? [False, False] Translation: X:2.52, Y:0.08, Z:-0.85 [[ 0.99745243 0.05734968 -0.04242252 2.5206219 ] [-0.05751936 0.9983405 -0.00278893 0.07622868] [ 0.04219218 0.00522195 0.99909587 -0.84640013] [ 0. 0. 0. 1. ]] SLAMing on 195.45241403699998 meters Centerline goodness [0,1] 0.685072726382291 Centerline is valid? [False, False] Translation: X:2.52, Y:0.08, Z:-0.85 [[ 0.99750014 0.05657901 -0.0423353 2.51972377] [-0.05677438 0.99838116 -0.00342589 0.07729079] [ 0.04207293 0.00582088 0.99909759 -0.84563767] [ 0. 0. 0. 1. ]] SLAMing on 195.48241403699998 meters Centerline goodness [0,1] 0.6920964895077466 Centerline is valid? [False, False] Translation: X:2.52, Y:0.08, Z:-0.85 [[ 0.99750826 0.05633689 -0.04246671 2.51986669] [-0.05653554 0.99839449 -0.00349039 0.07693364] [ 0.04220189 0.00588258 0.99909179 -0.84558251] [ 0. 0. 0. 1. ]] SLAMing on 195.51241403699999 meters Centerline goodness [0,1] 0.6761217752781514 Centerline is valid? [False, False] Translation: X:2.52, Y:0.08, Z:-0.85 [[ 0.99765065 0.0531332 -0.04324389 2.52198087] [-0.05349194 0.99854246 -0.00718052 0.07774642] [ 0.04279934 0.00947685 0.99903874 -0.84605994] [ 0. 0. 0. 1. ]] SLAMing on 195.542414037 meters Centerline goodness [0,1] 0.6765885633224087 Centerline is valid? [False, False] Translation: X:2.52, Y:0.08, Z:-0.85 [[ 0.99766835 0.05282698 -0.0432108 2.52209882] [-0.05318311 0.9985593 -0.00713323 0.07699119] [ 0.04277172 0.00941468 0.99904051 -0.84653772] [ 0. 0. 0. 1. ]] SLAMing on 195.572414037 meters Centerline goodness [0,1] 0.663314129479543 Centerline is valid? [False, False] Translation: X:2.52, Y:0.08, Z:-0.85 [[ 0.99781965 0.04925328 -0.04393242 2.52412911] [-0.04978194 0.9986993 -0.01102111 0.07837804] [ 0.04333245 0.01318412 0.99897371 -0.84713557] [ 0. 0. 0. 1. ]] SLAMing on 195.602414037 meters Centerline goodness [0,1] 0.6619144105656324 Centerline is valid? [False, False] Translation: X:2.52, Y:0.08, Z:-0.85 [[ 0.99781964 0.04918953 -0.04400415 2.52464051] [-0.04971524 0.9987036 -0.01093264 0.07850355] [ 0.04340933 0.01309648 0.99897153 -0.84765887] [ 0. 0. 0. 1. ]] SLAMing on 195.632414037 meters Centerline goodness [0,1] 0.6617172999902314 Centerline is valid? [False, False] Translation: X:2.53, Y:0.08, Z:-0.85 [[ 0.99780314 0.04929543 -0.04425898 2.52555699] [-0.04981862 0.99869993 -0.01079614 0.07839529] [ 0.04366924 0.01297734 0.99896175 -0.84813286] [ 0. 0. 0. 1. ]] SLAMing on 195.662414037 meters Centerline goodness [0,1] 0.6749664019547954 Centerline is valid? [False, False] Translation: X:2.53, Y:0.08, Z:-0.85 [[ 0.99778311 0.04949491 -0.04448734 2.52649432] [-0.0500143 0.99869184 -0.01063808 0.07816218] [ 0.04390261 0.0128395 0.99895331 -0.84858506] [ 0. 0. 0. 1. ]] SLAMing on 195.692414037 meters Centerline goodness [0,1] 0.6707006992323115 Centerline is valid? [False, False] Translation: X:2.53, Y:0.08, Z:-0.85 [[ 0.9977611 0.0496474 -0.04480975 2.52738805] [-0.05017676 0.99868232 -0.01076636 0.0792022 ] [ 0.04421618 0.01299066 0.99893752 -0.8486202 ] [ 0. 0. 0. 1. ]] SLAMing on 195.722414037 meters Centerline goodness [0,1] 0.6719699941164934 Centerline is valid? [False, False] Translation: X:2.53, Y:0.08, Z:-0.85 [[ 0.99773355 0.04987907 -0.04516452 2.52826352] [-0.05041904 0.99866872 -0.01089563 0.08045485] [ 0.04456093 0.01314809 0.99892014 -0.84845219] [ 0. 0. 0. 1. ]] SLAMing on 195.752414037 meters Centerline goodness [0,1] 0.6666175676339177 Centerline is valid? [False, False] Translation: X:2.53, Y:0.08, Z:-0.85 [[ 0.99770326 0.05014162 -0.04554152 2.52919315] [-0.05069825 0.99865177 -0.01115028 0.08212504] [ 0.04492102 0.01343355 0.99890022 -0.84819044] [ 0. 0. 0. 1. ]] SLAMing on 195.782414037 meters Centerline goodness [0,1] 0.6703664509142815 Centerline is valid? [False, False] Translation: X:2.53, Y:0.08, Z:-0.85 [[ 0.99751344 0.05405154 -0.04522584 2.5288999 ] [-0.05443804 0.99849004 -0.00735752 0.08265075] [ 0.04475986 0.00980123 0.99894969 -0.84827565] [ 0. 0. 0. 1. ]] SLAMing on 195.812414037 meters Centerline goodness [0,1] 0.6763302842529753 Centerline is valid? [False, False] Translation: X:2.53, Y:0.08, Z:-0.85 [[ 0.9974645 0.05459325 -0.04565248 2.53025788] [-0.05497701 0.99846172 -0.00719224 0.08275293] [ 0.04518961 0.00968384 0.99893149 -0.84851659] [ 0. 0. 0. 1. ]] SLAMing on 195.842414037 meters Centerline goodness [0,1] 0.6664455744712212 Centerline is valid? [False, False] Translation: X:2.53, Y:0.08, Z:-0.85 [[ 0.99745067 0.05474874 -0.04576831 2.53074869] [-0.05513714 0.99845235 -0.00726629 0.08298296] [ 0.04529965 0.0097713 0.99892565 -0.84863147] [ 0. 0. 0. 1. ]] SLAMing on 195.872414037 meters Centerline goodness [0,1] 0.6842688603728972 Centerline is valid? [False, False] Translation: X:2.53, Y:0.08, Z:-0.85 [[ 0.99743928 0.05480218 -0.04595219 2.5309641 ] [-0.05520365 0.99844685 -0.00751273 0.08325026] [ 0.0454691 0.01003022 0.99891539 -0.84823432] [ 0. 0. 0. 1. ]] SLAMing on 195.902414037 meters Centerline goodness [0,1] 0.6832255367287214 Centerline is valid? [False, False] Translation: X:2.53, Y:0.08, Z:-0.85 [[ 0.99737756 0.055614 -0.04631498 2.53246296] [-0.05600936 0.99840369 -0.0072817 0.08437747] [ 0.04583608 0.00985668 0.99890035 -0.84849762] [ 0. 0. 0. 1. ]] SLAMing on 195.932414037 meters Centerline goodness [0,1] 0.682961685351731 Centerline is valid? [False, False] Translation: X:2.53, Y:0.09, Z:-0.85 [[ 0.99735423 0.05581346 -0.04657677 2.53314239] [-0.05622376 0.99838968 -0.00754497 0.08572808] [ 0.04608065 0.01014373 0.99888622 -0.84825855] [ 0. 0. 0. 1. ]] SLAMing on 195.96241403699997 meters Centerline goodness [0,1] 0.7038125339522939 Centerline is valid? [False, False] Translation: X:2.53, Y:0.09, Z:-0.85 [[ 0.99729751 0.05645102 -0.04702093 2.53477408] [-0.0568578 0.99835517 -0.00735776 0.08671532] [ 0.04652824 0.01001138 0.99886681 -0.84862239] [ 0. 0. 0. 1. ]] SLAMing on 195.99241403699997 meters Centerline goodness [0,1] 0.6873177482330846 Centerline is valid? [False, False] Translation: X:2.54, Y:0.09, Z:-0.85 [[ 0.99722499 0.05724759 -0.04759241 2.5368819 ] [-0.05764261 0.99831296 -0.00696838 0.08700416] [ 0.0471132 0.00969239 0.99884253 -0.84926033] [ 0. 0. 0. 1. ]] SLAMing on 196.02241403699998 meters Centerline goodness [0,1] 0.6847344311006562 Centerline is valid? [False, False] Translation: X:2.54, Y:0.09, Z:-0.85 [[ 0.9971718 0.05796062 -0.04784324 2.53877203] [-0.05834175 0.9982748 -0.00660736 0.08711941] [ 0.04737774 0.00937993 0.998833 -0.85058822] [ 0. 0. 0. 1. ]] SLAMing on 196.05241403699998 meters Centerline goodness [0,1] 0.7090436719039961 Centerline is valid? [False, False] Translation: X:2.54, Y:0.09, Z:-0.85 [[ 0.99715604 0.05811365 -0.04798575 2.53945928] [-0.05849554 0.99826591 -0.00659158 0.08697542] [ 0.04751948 0.00937979 0.99882627 -0.85094301] [ 0. 0. 0. 1. ]] SLAMing on 196.08241403699998 meters Centerline goodness [0,1] 0.6882502908343853 Centerline is valid? [False, False] Translation: X:2.54, Y:0.09, Z:-0.85 [[ 0.99714929 0.058153 -0.04807819 2.53970833] [-0.05854337 0.99826204 -0.00675049 0.0870731 ] [ 0.04760207 0.0095459 0.99882076 -0.8508381 ] [ 0. 0. 0. 1. ]] SLAMing on 196.11241403699998 meters Centerline goodness [0,1] 0.705720175852562 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.85 [[ 0.99743418 0.05829723 -0.04155115 2.5473069 ] [-0.05813057 0.9982954 0.00520908 0.08418143] [ 0.04178399 -0.00278033 0.9991228 -0.85372792] [ 0. 0. 0. 1. ]] SLAMing on 196.14241403699998 meters Centerline goodness [0,1] 0.7129682567302196 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.85 [[ 9.97437107e-01 5.80155203e-02 -4.18738330e-02 2.54706317e+00] [-5.78933708e-02 9.98314251e-01 4.12487730e-03 8.64928238e-02] [ 4.20425511e-02 -1.69008834e-03 9.99114392e-01 -8.52036358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17241403699998 meters Centerline goodness [0,1] 0.7178119078488082 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.85 [[ 9.97425678e-01 5.79617481e-02 -4.22191103e-02 2.54727761e+00] [-5.78754956e-02 9.98318475e-01 3.26341676e-03 8.86361965e-02] [ 4.23372711e-02 -8.11563741e-04 9.99103046e-01 -8.50782579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20241403699998 meters Centerline goodness [0,1] 0.7093863267091614 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.85 [[ 9.97404832e-01 5.80197925e-02 -4.26298625e-02 2.54790233e+00] [-5.79595967e-02 9.98315418e-01 2.64771146e-03 9.02526399e-02] [ 4.27116687e-02 -1.70030563e-04 9.99087426e-01 -8.50019647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23241403699998 meters Centerline goodness [0,1] 0.7084239741954842 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.85 [[ 9.97338580e-01 5.88154004e-02 -4.30871779e-02 2.55020292e+00] [-5.87432984e-02 9.98268796e-01 2.93871881e-03 9.05499382e-02] [ 4.31854271e-02 -3.99814694e-04 9.99066994e-01 -8.51208401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26241403699999 meters Centerline goodness [0,1] 0.7106791277258566 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.85 [[ 9.97466176e-01 5.58979647e-02 -4.40073338e-02 2.55302374e+00] [-5.59950809e-02 9.98430567e-01 -9.76258139e-04 9.15964121e-02] [ 4.38836964e-02 3.43797868e-03 9.99030731e-01 -8.51734135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.292414037 meters Centerline goodness [0,1] 0.7046646356689807 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.85 [[ 9.97481549e-01 5.56676839e-02 -4.39507429e-02 2.55293777e+00] [-5.57624791e-02 9.98443627e-01 -9.32857861e-04 9.05123870e-02] [ 4.38304091e-02 3.38131089e-03 9.99033264e-01 -8.52038778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.322414037 meters Centerline goodness [0,1] 0.6906240683692736 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.85 [[ 0.99767289 0.05178472 -0.04435248 2.55376883] [-0.05206566 0.99863012 -0.00520188 0.09146555] [ 0.04402234 0.00749902 0.9990024 -0.85194139] [ 0. 0. 0. 1. ]] SLAMing on 196.352414037 meters Centerline goodness [0,1] 0.6978746702503609 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.85 [[ 0.99770362 0.05130583 -0.04421766 2.55301949] [-0.05160502 0.99865158 -0.00565098 0.09213415] [ 0.04386811 0.00791986 0.99900594 -0.85141225] [ 0. 0. 0. 1. ]] SLAMing on 196.382414037 meters Centerline goodness [0,1] 0.7021955291948065 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.85 [[ 0.99768393 0.05148075 -0.04445803 2.55371499] [-0.05177765 0.99864321 -0.00555191 0.0925793 ] [ 0.04411189 0.00784098 0.99899583 -0.85148596] [ 0. 0. 0. 1. ]] SLAMing on 196.412414037 meters Centerline goodness [0,1] 0.704326983096552 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.85 [[ 0.99766935 0.05159609 -0.04465109 2.55445822] [-0.05189327 0.99863737 -0.0055215 0.09364774] [ 0.04430536 0.00782572 0.99898738 -0.85174977] [ 0. 0. 0. 1. ]] SLAMing on 196.442414037 meters Centerline goodness [0,1] 0.7005769663061667 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.85 [[ 0.99768428 0.05144126 -0.04449583 2.55419564] [-0.05174142 0.9986447 -0.0056198 0.09365097] [ 0.04414644 0.00790906 0.99899376 -0.85185762] [ 0. 0. 0. 1. ]] SLAMing on 196.472414037 meters Centerline goodness [0,1] 0.6985052316890882 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.85 [[ 0.99769669 0.0512456 -0.04444334 2.55377056] [-0.05155481 0.9986531 -0.00583859 0.09353393] [ 0.04408427 0.00811641 0.99899485 -0.85146258] [ 0. 0. 0. 1. ]] SLAMing on 196.502414037 meters Centerline goodness [0,1] 0.6964454622392593 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.85 [[ 0.99772589 0.05081985 -0.0442762 2.5527577 ] [-0.05114726 0.9986713 -0.00629277 0.09370128] [ 0.04389757 0.00854307 0.99899951 -0.85067743] [ 0. 0. 0. 1. ]] SLAMing on 196.532414037 meters Centerline goodness [0,1] 0.6801893845003738 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.86 [[ 9.98193033e-01 5.19831749e-02 -3.01399665e-02 2.55263814e+00] [-5.20643573e-02 9.98641897e-01 -1.91447805e-03 9.06948515e-02] [ 2.99995126e-02 3.48023664e-03 9.99543855e-01 -8.55950378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.562414037 meters Centerline goodness [0,1] 0.6981799168388816 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.86 [[ 9.98182350e-01 5.20635008e-02 -3.03543741e-02 2.55302924e+00] [-5.21463637e-02 9.98637560e-01 -1.94411616e-03 9.03218053e-02] [ 3.02118006e-02 3.52345267e-03 9.99537309e-01 -8.55756339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.592414037 meters Centerline goodness [0,1] 0.6937336489348449 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.86 [[ 9.98180454e-01 5.20889573e-02 -3.03730403e-02 2.55319726e+00] [-5.21662842e-02 9.98636864e-01 -1.75854118e-03 8.94156259e-02] [ 3.02400371e-02 3.33979009e-03 9.99537086e-01 -8.56012600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.622414037 meters Centerline goodness [0,1] 0.6926651095761069 Centerline is valid? [False, False] Translation: X:2.56, Y:0.09, Z:-0.86 [[ 0.99826378 0.04983407 -0.03140044 2.55674094] [-0.05000158 0.99873868 -0.00457154 0.08914257] [ 0.03113301 0.00613368 0.99949643 -0.85737106] [ 0. 0. 0. 1. ]] SLAMing on 196.652414037 meters Centerline goodness [0,1] 0.684069942868449 Centerline is valid? [False, False] Translation: X:2.56, Y:0.09, Z:-0.86 [[ 0.99837085 0.04706021 -0.03226411 2.55951993] [-0.04733131 0.99884964 -0.00769025 0.08791454] [ 0.03186509 0.00920483 0.99944979 -0.85838916] [ 0. 0. 0. 1. ]] SLAMing on 196.682414037 meters Centerline goodness [0,1] 0.682071062977524 Centerline is valid? [False, False] Translation: X:2.56, Y:0.09, Z:-0.86 [[ 0.99835157 0.04736422 -0.03241561 2.56020989] [-0.04762444 0.99883862 -0.00730284 0.08707079] [ 0.03203207 0.00883458 0.9994478 -0.85883093] [ 0. 0. 0. 1. ]] SLAMing on 196.71241403699997 meters Centerline goodness [0,1] 0.6955813781363334 Centerline is valid? [False, False] Translation: X:2.56, Y:0.09, Z:-0.86 [[ 0.99826749 0.04870507 -0.03301268 2.56249404] [-0.04894246 0.99878096 -0.00642096 0.0866229 ] [ 0.0326597 0.00802556 0.99943431 -0.85950329] [ 0. 0. 0. 1. ]] SLAMing on 196.74241403699997 meters Centerline goodness [0,1] 0.7024261551358548 Centerline is valid? [False, False] Translation: X:2.56, Y:0.09, Z:-0.86 [[ 0.99821905 0.04933511 -0.03353777 2.56405071] [-0.04957114 0.99875109 -0.00624249 0.08718967] [ 0.03318791 0.00789388 0.99941796 -0.85969086] [ 0. 0. 0. 1. ]] SLAMing on 196.77241403699998 meters Centerline goodness [0,1] 0.7048671039005868 Centerline is valid? [False, False] Translation: X:2.57, Y:0.09, Z:-0.86 [[ 0.99817393 0.04994682 -0.03397221 2.56549599] [-0.05018209 0.99872141 -0.00610803 0.08777133] [ 0.0336237 0.00780167 0.99940411 -0.85992506] [ 0. 0. 0. 1. ]] SLAMing on 196.80241403699998 meters Centerline goodness [0,1] 0.7170346614037252 Centerline is valid? [False, False] Translation: X:2.57, Y:0.09, Z:-0.86 [[ 0.9981102 0.05098643 -0.03429881 2.56713424] [-0.05121689 0.99867028 -0.00587379 0.0880209 ] [ 0.03395372 0.00761936 0.99939436 -0.86036597] [ 0. 0. 0. 1. ]] SLAMing on 196.83241403699998 meters Centerline goodness [0,1] 0.7052266351690536 Centerline is valid? [False, False] Translation: X:2.57, Y:0.09, Z:-0.86 [[ 0.99806454 0.0515972 -0.03471175 2.56850377] [-0.05182025 0.99864097 -0.00555653 0.0874299 ] [ 0.03437787 0.00734455 0.99938192 -0.86069781] [ 0. 0. 0. 1. ]] SLAMing on 196.86241403699998 meters Centerline goodness [0,1] 0.7382575105184165 Centerline is valid? [False, False] Translation: X:2.57, Y:0.09, Z:-0.86 [[ 0.99806467 0.05159375 -0.03471301 2.56839384] [-0.05182358 0.99863968 -0.0057533 0.08743027] [ 0.03436896 0.00754112 0.99938076 -0.86046415] [ 0. 0. 0. 1. ]] SLAMing on 196.89241403699998 meters Centerline goodness [0,1] 0.7417218543046358 Centerline is valid? [False, False] Translation: X:2.57, Y:0.09, Z:-0.86 [[ 0.99806649 0.05148924 -0.03481572 2.56787424] [-0.05174255 0.99863986 -0.00641359 0.08823848] [ 0.03443814 0.00820265 0.99937317 -0.85917309] [ 0. 0. 0. 1. ]] SLAMing on 196.92241403699998 meters Centerline goodness [0,1] 0.7269131556319862 Centerline is valid? [False, False] Translation: X:2.57, Y:0.09, Z:-0.86 [[ 0.99804507 0.05173343 -0.03506703 2.56841083] [-0.0519897 0.99862689 -0.00643531 0.08849973] [ 0.03468596 0.00824586 0.99936424 -0.85890605] [ 0. 0. 0. 1. ]] SLAMing on 196.95241403699998 meters Centerline goodness [0,1] 0.7314257523433646 Centerline is valid? [False, False] Translation: X:2.57, Y:0.09, Z:-0.86 [[ 0.99805143 0.0515675 -0.03513021 2.56816095] [-0.05183943 0.99863178 -0.00687359 0.08930211] [ 0.03472769 0.00868132 0.99935911 -0.85824481] [ 0. 0. 0. 1. ]] SLAMing on 196.98241403699998 meters Centerline goodness [0,1] 0.7339598904758381 Centerline is valid? [False, False] Translation: X:2.57, Y:0.09, Z:-0.86 [[ 0.99801472 0.0519968 -0.035538 2.5691702 ] [-0.05226947 0.99860996 -0.00678663 0.08973602] [ 0.03513572 0.00863071 0.99934528 -0.85810388] [ 0. 0. 0. 1. ]] SLAMing on 197.01241403699999 meters Centerline goodness [0,1] 0.7406624210086307 Centerline is valid? [False, False] Translation: X:2.57, Y:0.09, Z:-0.86 [[ 0.99797269 0.0525002 -0.03597552 2.57054289] [-0.05276917 0.99858514 -0.00656758 0.08958651] [ 0.03557982 0.00845266 0.99933109 -0.85837496] [ 0. 0. 0. 1. ]] SLAMing on 197.042414037 meters Centerline goodness [0,1] 0.7404604535737979 Centerline is valid? [False, False] Translation: X:2.57, Y:0.09, Z:-0.86 [[ 0.99795171 0.05275308 -0.03618701 2.57123591] [-0.0530235 0.99857176 -0.00655359 0.0894457 ] [ 0.0357896 0.00845892 0.99932355 -0.85849954] [ 0. 0. 0. 1. ]] SLAMing on 197.072414037 meters Centerline goodness [0,1] 0.7364329679491896 Centerline is valid? [False, False] Translation: X:2.57, Y:0.09, Z:-0.86 [[ 0.99794113 0.05295816 -0.03617918 2.57145266] [-0.05322023 0.99856281 -0.00631876 0.08814309] [ 0.03579256 0.00823121 0.99932534 -0.85880068] [ 0. 0. 0. 1. ]] SLAMing on 197.102414037 meters Centerline goodness [0,1] 0.7324831427733802 Centerline is valid? [False, False] Translation: X:2.57, Y:0.09, Z:-0.86 [[ 0.99792107 0.05324064 -0.03631755 2.57200171] [-0.05349068 0.99855064 -0.00594769 0.08700287] [ 0.03594825 0.00787798 0.9993226 -0.85912427] [ 0. 0. 0. 1. ]] SLAMing on 197.132414037 meters Centerline goodness [0,1] 0.7488308317621998 Centerline is valid? [False, False] Translation: X:2.57, Y:0.09, Z:-0.86 [[ 0.9979111 0.05332751 -0.03646395 2.57234059] [-0.05356969 0.99854787 -0.00569641 0.0860102 ] [ 0.03610722 0.00763787 0.99931873 -0.85923584] [ 0. 0. 0. 1. ]] SLAMing on 197.162414037 meters Centerline goodness [0,1] 0.7180306281701132 Centerline is valid? [False, False] Translation: X:2.57, Y:0.08, Z:-0.86 [[ 0.99790306 0.05342704 -0.03653806 2.57271841] [-0.05364815 0.99854689 -0.0050974 0.08428316] [ 0.03621263 0.00704691 0.99931926 -0.85980366] [ 0. 0. 0. 1. ]] SLAMing on 197.192414037 meters Centerline goodness [0,1] 0.7187804640280757 Centerline is valid? [False, False] Translation: X:2.57, Y:0.08, Z:-0.86 [[ 0.99787955 0.05371361 -0.03675931 2.57357205] [-0.05391917 0.9985346 -0.00462304 0.08305369] [ 0.03645712 0.00659527 0.99931345 -0.86034223] [ 0. 0. 0. 1. ]] SLAMing on 197.222414037 meters Centerline goodness [0,1] 0.7450138302518562 Centerline is valid? [False, False] Translation: X:2.57, Y:0.08, Z:-0.86 [[ 0.99785509 0.05402189 -0.03697103 2.57451791] [-0.0542107 0.99852101 -0.00412287 0.08182044] [ 0.03669362 0.00611825 0.99930783 -0.86104721] [ 0. 0. 0. 1. ]] SLAMing on 197.252414037 meters Centerline goodness [0,1] 0.7047886505592408 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.86 [[ 0.99797987 0.0511555 -0.0376735 2.57703013] [-0.0514707 0.99864676 -0.0074442 0.08205313] [ 0.03724171 0.00936825 0.99926237 -0.86207881] [ 0. 0. 0. 1. ]] SLAMing on 197.282414037 meters Centerline goodness [0,1] 0.7446798196713365 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.86 [[ 0.99795741 0.05137827 -0.03796433 2.57788157] [-0.0516853 0.99863783 -0.00714989 0.08147418] [ 0.03754527 0.00909749 0.99925352 -0.86238945] [ 0. 0. 0. 1. ]] SLAMing on 197.312414037 meters Centerline goodness [0,1] 0.734821342112908 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.86 [[ 0.99795175 0.05141007 -0.03806989 2.57816539] [-0.05171466 0.99863695 -0.00705903 0.08121493] [ 0.0376551 0.00901334 0.99925015 -0.86247077] [ 0. 0. 0. 1. ]] SLAMing on 197.342414037 meters Centerline goodness [0,1] 0.734821342112908 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.86 [[ 0.99795175 0.05141007 -0.03806989 2.57816539] [-0.05171466 0.99863695 -0.00705903 0.08121493] [ 0.0376551 0.00901334 0.99925015 -0.86247077] [ 0. 0. 0. 1. ]] SLAMing on 197.372414037 meters Centerline goodness [0,1] 0.7300252108988655 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.86 [[ 0.99795565 0.05124572 -0.03818891 2.57810075] [-0.05155719 0.99864397 -0.00721588 0.08118591] [ 0.03776734 0.00917005 0.99924448 -0.86212172] [ 0. 0. 0. 1. ]] SLAMing on 197.402414037 meters Centerline goodness [0,1] 0.7391789055305124 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.86 [[ 0.99797491 0.05088591 -0.03816669 2.57762208] [-0.05121059 0.99865913 -0.00757746 0.08160355] [ 0.03772992 0.00951665 0.99924266 -0.86161815] [ 0. 0. 0. 1. ]] SLAMing on 197.432414037 meters Centerline goodness [0,1] 0.7367922925716505 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.86 [[ 0.99797644 0.05071645 -0.03835192 2.57777923] [-0.05105287 0.99866515 -0.00784338 0.08208931] [ 0.03790294 0.00978549 0.99923351 -0.86131224] [ 0. 0. 0. 1. ]] SLAMing on 197.46241403699997 meters Centerline goodness [0,1] 0.7390955896638819 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.86 [[ 0.99797682 0.05054647 -0.03856592 2.5783338 ] [-0.05089342 0.9986715 -0.00806761 0.08260778] [ 0.03810689 0.01001404 0.99922349 -0.86146377] [ 0. 0. 0. 1. ]] SLAMing on 197.49241403699997 meters Centerline goodness [0,1] 0.7335891395682055 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.86 [[ 0.99797122 0.05047103 -0.03880875 2.5790423 ] [-0.05082035 0.99867523 -0.00806734 0.08261453] [ 0.03835017 0.01002325 0.99921409 -0.86180102] [ 0. 0. 0. 1. ]] SLAMing on 197.52241403699998 meters Centerline goodness [0,1] 0.7122761837661864 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.86 [[ 0.99796889 0.05036285 -0.03900879 2.57961455] [-0.050712 0.99868118 -0.00801258 0.08243378] [ 0.03855381 0.00997451 0.99920674 -0.86211041] [ 0. 0. 0. 1. ]] SLAMing on 197.55241403699998 meters Centerline goodness [0,1] 0.7183937383018547 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.86 [[ 0.99796985 0.05023225 -0.03915234 2.58009356] [-0.0505796 0.99868854 -0.0079315 0.08206453] [ 0.03870258 0.00989571 0.99920177 -0.86246661] [ 0. 0. 0. 1. ]] SLAMing on 197.58241403699998 meters Centerline goodness [0,1] 0.6911077582011097 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.86 [[ 0.9979946 0.04973466 -0.0391566 2.58010703] [-0.05007758 0.99871467 -0.00782546 0.08142415] [ 0.03871707 0.00977063 0.99920244 -0.86297434] [ 0. 0. 0. 1. ]] SLAMing on 197.61241403699998 meters Centerline goodness [0,1] 0.7059882278542589 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.86 [[ 0.99799928 0.04958127 -0.0392318 2.58030291] [-0.04992651 0.99872189 -0.00786904 0.0814465 ] [ 0.0387915 0.009812 0.99919915 -0.86307408] [ 0. 0. 0. 1. ]] SLAMing on 197.64241403699998 meters Centerline goodness [0,1] 0.6912375264039624 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.86 [[ 0.99799658 0.04948579 -0.03942061 2.58059538] [-0.04983922 0.99872495 -0.0080332 0.08224923] [ 0.03897282 0.0099818 0.99919041 -0.86283785] [ 0. 0. 0. 1. ]] SLAMing on 197.67241403699998 meters Centerline goodness [0,1] 0.6977438136826783 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.86 [[ 0.99798213 0.04962983 -0.03960488 2.58111354] [-0.04998522 0.99871765 -0.00803341 0.08251375] [ 0.0391554 0.00999685 0.99918313 -0.86286745] [ 0. 0. 0. 1. ]] SLAMing on 197.70241403699998 meters Centerline goodness [0,1] 0.7090247452692868 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.86 [[ 0.99796789 0.04978548 -0.03976812 2.58152534] [-0.05014342 0.99870955 -0.00805395 0.08282297] [ 0.03931583 0.01003169 0.99917648 -0.86276806] [ 0. 0. 0. 1. ]] SLAMing on 197.73241403699998 meters Centerline goodness [0,1] 0.6972374617662767 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.86 [[ 0.9979719 0.04966112 -0.03982292 2.58130924] [-0.05002834 0.99871349 -0.00827797 0.08313572] [ 0.03936059 0.01025345 0.99917246 -0.86232393] [ 0. 0. 0. 1. ]] SLAMing on 197.76241403699999 meters Centerline goodness [0,1] 0.6915694849368319 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.86 [[ 0.99798378 0.04951246 -0.03971012 2.58108768] [-0.04987625 0.99872156 -0.00822268 0.08256087] [ 0.03925222 0.01018669 0.99917741 -0.86251622] [ 0. 0. 0. 1. ]] SLAMing on 197.792414037 meters Centerline goodness [0,1] 0.6772934445306439 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.86 [[ 0.99799536 0.04932692 -0.03964987 2.58088277] [-0.04969158 0.99873042 -0.00826394 0.08202243] [ 0.0391919 0.01021764 0.99917946 -0.86251571] [ 0. 0. 0. 1. ]] SLAMing on 197.822414037 meters Centerline goodness [0,1] 0.7181474663307819 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.86 [[ 0.99797826 0.0495186 -0.03984098 2.58152124] [-0.04987328 0.99872385 -0.00795792 0.0813037 ] [ 0.03939607 0.00992883 0.99917434 -0.86279448] [ 0. 0. 0. 1. ]] SLAMing on 197.852414037 meters Centerline goodness [0,1] 0.7039398714995757 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.86 [[ 0.9979877 0.04922383 -0.03996953 2.58150421] [-0.04958877 0.99873614 -0.00819044 0.08209954] [ 0.03951585 0.010156 0.99916733 -0.86239866] [ 0. 0. 0. 1. ]] SLAMing on 197.882414037 meters Centerline goodness [0,1] 0.7004577046957111 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.86 [[ 0.99797641 0.0493042 -0.04015192 2.58214821] [-0.0496665 0.99873321 -0.00807559 0.08213485] [ 0.0397029 0.01005345 0.99916095 -0.86268025] [ 0. 0. 0. 1. ]] SLAMing on 197.912414037 meters Centerline goodness [0,1] 0.6994996495129439 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.86 [[ 0.99795757 0.04952273 -0.04035074 2.58317769] [-0.04987078 0.99872627 -0.0076646 0.08151128] [ 0.03991978 0.00966127 0.99915618 -0.86349945] [ 0. 0. 0. 1. ]] SLAMing on 197.942414037 meters Centerline goodness [0,1] 0.6865119651921683 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.86 [[ 0.99796597 0.04942864 -0.04025823 2.58347088] [-0.04976704 0.99873309 -0.00744694 0.08077822] [ 0.03983913 0.00943532 0.99916156 -0.86430996] [ 0. 0. 0. 1. ]] SLAMing on 197.972414037 meters Centerline goodness [0,1] 0.6956605826181554 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.87 [[ 0.99797668 0.04914825 -0.04033602 2.58401332] [-0.04947978 0.99874873 -0.00726184 0.07979763] [ 0.03992865 0.00924297 0.99915978 -0.86515931] [ 0. 0. 0. 1. ]] SLAMing on 198.002414037 meters Centerline goodness [0,1] 0.6778322505856498 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.87 [[ 0.99797867 0.04904604 -0.0404112 2.58423406] [-0.04938186 0.9987529 -0.00735345 0.08013377] [ 0.04000015 0.00933417 0.99915607 -0.86521476] [ 0. 0. 0. 1. ]] SLAMing on 198.032414037 meters Centerline goodness [0,1] 0.6841200261558209 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.87 [[ 0.997969 0.04903374 -0.04066414 2.58474718] [-0.04937844 0.99875186 -0.00751566 0.08102415] [ 0.04024486 0.00950833 0.99914461 -0.86508345] [ 0. 0. 0. 1. ]] SLAMing on 198.062414037 meters Centerline goodness [0,1] 0.685675293658917 Centerline is valid? [False, False] Translation: X:2.59, Y:0.08, Z:-0.86 [[ 0.99796304 0.04898226 -0.04087183 2.58528952] [-0.04934996 0.99874922 -0.00803573 0.08343399] [ 0.0404271 0.01003639 0.99913208 -0.86482344] [ 0. 0. 0. 1. ]] SLAMing on 198.092414037 meters Centerline goodness [0,1] 0.7004268813269912 Centerline is valid? [False, False] Translation: X:2.59, Y:0.08, Z:-0.86 [[ 0.99797071 0.04881297 -0.0408871 2.58528511] [-0.04919566 0.99875379 -0.00840571 0.08435408] [ 0.04042584 0.01040012 0.99912841 -0.86469564] [ 0. 0. 0. 1. ]] SLAMing on 198.122414037 meters Centerline goodness [0,1] 0.6941695510164286 Centerline is valid? [False, False] Translation: X:2.59, Y:0.08, Z:-0.87 [[ 9.98252639e-01 4.49859712e-02 -3.83135779e-02 2.59351640e+00] [-4.50159553e-02 9.98986265e-01 8.01588799e-05 8.31257326e-02] [ 3.82783441e-02 1.64470350e-03 9.99265762e-01 -8.65708366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.152414037 meters Centerline goodness [0,1] 0.6896921539474005 Centerline is valid? [False, False] Translation: X:2.59, Y:0.08, Z:-0.86 [[ 9.98275649e-01 4.45311652e-02 -3.82453200e-02 2.59270925e+00] [-4.45840049e-02 9.99005499e-01 -5.29409515e-04 8.34681108e-02] [ 3.81837098e-02 2.23362616e-03 9.99268240e-01 -8.64825544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.182414037 meters Centerline goodness [0,1] 0.6877573395054208 Centerline is valid? [False, False] Translation: X:2.59, Y:0.08, Z:-0.86 [[ 9.98266881e-01 4.46222837e-02 -3.83677806e-02 2.59266613e+00] [-4.46768131e-02 9.99001333e-01 -5.64587382e-04 8.30298947e-02] [ 3.83042708e-02 2.27775905e-03 9.99263526e-01 -8.64277945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21241403699997 meters Centerline goodness [0,1] 0.6889549764766107 Centerline is valid? [False, False] Translation: X:2.59, Y:0.08, Z:-0.86 [[ 9.98259594e-01 4.46177364e-02 -3.85621618e-02 2.59275456e+00] [-4.46848750e-02 9.99000744e-01 -8.80482142e-04 8.36928866e-02] [ 3.84843432e-02 2.60209512e-03 9.99255815e-01 -8.63612280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24241403699997 meters Centerline goodness [0,1] 0.6870025877642694 Centerline is valid? [False, False] Translation: X:2.59, Y:0.08, Z:-0.86 [[ 9.98197747e-01 4.55240422e-02 -3.91001150e-02 2.59438726e+00] [-4.55914221e-02 9.98959823e-01 -8.32879388e-04 8.48500946e-02] [ 3.90215279e-02 2.61400818e-03 9.99234951e-01 -8.63450018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27241403699998 meters Centerline goodness [0,1] 0.6970596826014994 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.86 [[ 9.98152480e-01 4.61303170e-02 -3.95426508e-02 2.59601023e+00] [-4.61895838e-02 9.98932520e-01 -5.86047076e-04 8.49136929e-02] [ 3.94734053e-02 2.41142293e-03 9.99217712e-01 -8.63954088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30241403699998 meters Centerline goodness [0,1] 0.7124954462659381 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.86 [[ 9.98104049e-01 4.68111409e-02 -3.99627944e-02 2.59760322e+00] [-4.68569643e-02 9.98901587e-01 -2.10266189e-04 8.43705468e-02] [ 3.99090560e-02 2.08240277e-03 9.99201146e-01 -8.64497041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33241403699998 meters Centerline goodness [0,1] 0.7249573482817451 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.87 [[ 9.98041899e-01 4.78628073e-02 -4.02680870e-02 2.59911117e+00] [-4.78827417e-02 9.98852853e-01 4.69830830e-04 8.29555280e-02] [ 4.02443810e-02 1.45923555e-03 9.99188801e-01 -8.65137844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36241403699998 meters Centerline goodness [0,1] 0.7290462603945668 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.86 [[ 9.98020842e-01 4.81059786e-02 -4.04995416e-02 2.59938386e+00] [-4.81334846e-02 9.98840868e-01 2.96217122e-04 8.29815880e-02] [ 4.04668471e-02 1.65375320e-03 9.99179513e-01 -8.64524669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39241403699998 meters Centerline goodness [0,1] 0.7239862977089964 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.86 [[ 9.97976951e-01 4.87171960e-02 -4.08490015e-02 2.60040282e+00] [-4.87342506e-02 9.98811613e-01 5.78774055e-04 8.27863286e-02] [ 4.08286533e-02 1.41314231e-03 9.99165164e-01 -8.64525340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42241403699998 meters Centerline goodness [0,1] 0.75599266951741 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.86 [[ 9.97934210e-01 4.92521660e-02 -4.12496777e-02 2.60080208e+00] [-4.92854483e-02 9.98784712e-01 2.10316432e-04 8.37452514e-02] [ 4.12099060e-02 1.82312690e-03 9.99148848e-01 -8.63188444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45241403699998 meters Centerline goodness [0,1] 0.7306602159996091 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.86 [[ 9.97909127e-01 4.94257285e-02 -4.16469869e-02 2.60134910e+00] [-4.94703680e-02 9.98775591e-01 -4.13129188e-05 8.42102529e-02] [ 4.15939521e-02 2.10151831e-03 9.99132387e-01 -8.62510053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48241403699998 meters Centerline goodness [0,1] 0.7579652071931197 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.86 [[ 9.97879707e-01 4.97120535e-02 -4.20095589e-02 2.60222330e+00] [-4.97587468e-02 9.98761264e-01 -6.59435512e-05 8.43915317e-02] [ 4.19542419e-02 2.15614674e-03 9.99117207e-01 -8.62389948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51241403699999 meters Centerline goodness [0,1] 0.7719907124526457 Centerline is valid? [False, False] Translation: X:2.61, Y:0.08, Z:-0.86 [[ 9.97898966e-01 4.86742729e-02 -4.27606043e-02 2.60617958e+00] [-4.88122317e-02 9.98805577e-01 -2.18753349e-03 8.45368364e-02] [ 4.26030534e-02 4.27017793e-03 9.99082952e-01 -8.64207491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.542414037 meters Centerline goodness [0,1] 0.7734778248000196 Centerline is valid? [False, False] Translation: X:2.61, Y:0.08, Z:-0.86 [[ 9.97892861e-01 4.87358942e-02 -4.28328136e-02 2.60666356e+00] [-4.88681736e-02 9.98803141e-01 -2.04603432e-03 8.37554091e-02] [ 4.26818335e-02 4.13488441e-03 9.99080159e-01 -8.64687984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.572414037 meters Centerline goodness [0,1] 0.7714585724402334 Centerline is valid? [False, False] Translation: X:2.61, Y:0.08, Z:-0.87 [[ 9.97885523e-01 4.88141356e-02 -4.29146123e-02 2.60707946e+00] [-4.89377887e-02 9.98800143e-01 -1.83492765e-03 8.28205959e-02] [ 4.27735505e-02 3.93119397e-03 9.99077059e-01 -8.65056761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.602414037 meters Centerline goodness [0,1] 0.764098936481608 Centerline is valid? [False, False] Translation: X:2.61, Y:0.08, Z:-0.87 [[ 9.97888829e-01 4.87180611e-02 -4.29468913e-02 2.60710517e+00] [-4.88410367e-02 9.98804910e-01 -1.81820772e-03 8.22050027e-02] [ 4.28069863e-02 3.91193987e-03 9.99075702e-01 -8.65076153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.632414037 meters Centerline goodness [0,1] 0.7556422130148672 Centerline is valid? [False, False] Translation: X:2.61, Y:0.08, Z:-0.87 [[ 9.97905286e-01 4.85361850e-02 -4.27700621e-02 2.60662634e+00] [-4.86572666e-02 9.98813923e-01 -1.79392324e-03 8.15042800e-02] [ 4.26322633e-02 3.87123979e-03 9.99083332e-01 -8.65058683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.662414037 meters Centerline goodness [0,1] 0.7689391159707444 Centerline is valid? [False, False] Translation: X:2.61, Y:0.08, Z:-0.86 [[ 9.97919150e-01 4.82866394e-02 -4.27290320e-02 2.60606662e+00] [-4.84197405e-02 9.98824900e-01 -2.08496408e-03 8.16023924e-02] [ 4.25781452e-02 4.14955423e-03 9.99084522e-01 -8.64463048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.692414037 meters Centerline goodness [0,1] 0.7532353372075988 Centerline is valid? [False, False] Translation: X:2.61, Y:0.08, Z:-0.87 [[ 9.98373559e-01 4.91173422e-02 -2.89434597e-02 2.60720585e+00] [-4.91260671e-02 9.98792502e-01 4.09991702e-04 7.93116370e-02] [ 2.89286482e-02 1.01255347e-03 9.99580966e-01 -8.71466519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.722414037 meters Centerline goodness [0,1] 0.7667689609820254 Centerline is valid? [False, False] Translation: X:2.61, Y:0.08, Z:-0.87 [[ 9.98379258e-01 4.89123677e-02 -2.90935856e-02 2.60694011e+00] [-4.89319679e-02 9.98802113e-01 3.83060478e-05 7.95798244e-02] [ 2.90606084e-02 1.38536243e-03 9.99576691e-01 -8.70622130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.752414037 meters Centerline goodness [0,1] 0.7626561472715319 Centerline is valid? [False, False] Translation: X:2.61, Y:0.08, Z:-0.87 [[ 9.98397018e-01 4.85599977e-02 -2.90743962e-02 2.60629548e+00] [-4.85841034e-02 9.98819088e-01 -1.22836582e-04 7.90433715e-02] [ 2.90340969e-02 1.53519315e-03 9.99577243e-01 -8.69972165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.782414037 meters Centerline goodness [0,1] 0.7594121933446685 Centerline is valid? [False, False] Translation: X:2.61, Y:0.08, Z:-0.87 [[ 0.99852303 0.04533092 -0.02994772 2.6081438 ] [-0.04547447 0.99895697 -0.00412952 0.08002157] [ 0.02972929 0.00548527 0.99954294 -0.86968922] [ 0. 0. 0. 1. ]] SLAMing on 198.812414037 meters Centerline goodness [0,1] 0.7300319488817891 Centerline is valid? [False, False] Translation: X:2.61, Y:0.08, Z:-0.87 [[ 0.99852141 0.04530432 -0.0300417 2.60852324] [-0.04543697 0.99896018 -0.00374736 0.0784554 ] [ 0.02984069 0.00510682 0.99954162 -0.87022327] [ 0. 0. 0. 1. ]] SLAMing on 198.842414037 meters Centerline goodness [0,1] 0.7573484940123383 Centerline is valid? [False, False] Translation: X:2.61, Y:0.08, Z:-0.87 [[ 0.99856801 0.0444411 -0.02978102 2.6072495 ] [-0.04458021 0.99899771 -0.00402316 0.07705706] [ 0.02957238 0.00534505 0.99954835 -0.86980247] [ 0. 0. 0. 1. ]] SLAMing on 198.872414037 meters Centerline goodness [0,1] 0.7441332141044541 Centerline is valid? [False, False] Translation: X:2.61, Y:0.08, Z:-0.87 [[ 0.99856796 0.04440581 -0.02983539 2.607377 ] [-0.04453993 0.9990002 -0.00384567 0.07646242] [ 0.02963479 0.00516903 0.99954743 -0.86992597] [ 0. 0. 0. 1. ]] SLAMing on 198.902414037 meters Centerline goodness [0,1] 0.7471790401472227 Centerline is valid? [False, False] Translation: X:2.61, Y:0.08, Z:-0.87 [[ 0.99858674 0.0439958 -0.02981433 2.60697732] [-0.04413768 0.99901697 -0.00411706 0.07658848] [ 0.02960389 0.00542718 0.99954698 -0.86961111] [ 0. 0. 0. 1. ]] SLAMing on 198.932414037 meters Centerline goodness [0,1] 0.7438656597582455 Centerline is valid? [False, False] Translation: X:2.61, Y:0.08, Z:-0.87 [[ 0.99859303 0.04382319 -0.02985774 2.60739233] [-0.04395238 0.99902683 -0.00368406 0.07516704] [ 0.02966723 0.00499119 0.99954737 -0.8704511 ] [ 0. 0. 0. 1. ]] SLAMing on 198.96241403699997 meters Centerline goodness [0,1] 0.7253639957574005 Centerline is valid? [False, False] Translation: X:2.61, Y:0.07, Z:-0.87 [[ 0.99859745 0.04369317 -0.02990043 2.60760353] [-0.04381796 0.99903329 -0.00353087 0.07427414] [ 0.02971725 0.0048361 0.99954665 -0.87077283] [ 0. 0. 0. 1. ]] SLAMing on 198.99241403699997 meters Centerline goodness [0,1] 0.7140687893176505 Centerline is valid? [False, False] Translation: X:2.61, Y:0.07, Z:-0.87 [[ 0.99862843 0.04319246 -0.02959176 2.60674573] [-0.04331954 0.99905454 -0.00366647 0.07375804] [ 0.02940542 0.00494334 0.99955534 -0.87076891] [ 0. 0. 0. 1. ]] SLAMing on 199.02241403699998 meters Centerline goodness [0,1] 0.7122379889072967 Centerline is valid? [False, False] Translation: X:2.61, Y:0.07, Z:-0.87 [[ 0.99876791 0.03944545 -0.03011178 2.60795098] [-0.03968258 0.99918554 -0.00731819 0.07417059] [ 0.02979859 0.00850409 0.99951975 -0.87118802] [ 0. 0. 0. 1. ]] SLAMing on 199.05241403699998 meters Centerline goodness [0,1] 0.7009960398415936 Centerline is valid? [False, False] Translation: X:2.61, Y:0.07, Z:-0.87 [[ 0.99878348 0.03908675 -0.03006288 2.60781232] [-0.03932393 0.99919956 -0.00733909 0.07383009] [ 0.02975195 0.00851235 0.99952107 -0.87138024] [ 0. 0. 0. 1. ]] SLAMing on 199.08241403699998 meters Centerline goodness [0,1] 0.7009471609211981 Centerline is valid? [False, False] Translation: X:2.61, Y:0.07, Z:-0.87 [[ 0.99880412 0.03859924 -0.03000706 2.6075548 ] [-0.03883846 0.99921788 -0.00743025 0.07352218] [ 0.02969679 0.00858679 0.99952207 -0.87152237] [ 0. 0. 0. 1. ]] SLAMing on 199.11241403699998 meters Centerline goodness [0,1] 0.7045909145680203 Centerline is valid? [False, False] Translation: X:2.61, Y:0.07, Z:-0.87 [[ 0.99894218 0.0344328 -0.03047783 2.60837595] [-0.03480203 0.99932611 -0.01166826 0.0747745 ] [ 0.03005552 0.0127166 0.99946733 -0.87142817] [ 0. 0. 0. 1. ]] SLAMing on 199.14241403699998 meters Centerline goodness [0,1] 0.688671065940947 Centerline is valid? [False, False] Translation: X:2.61, Y:0.07, Z:-0.87 [[ 9.99184974e-01 2.98343600e-02 -2.71900581e-02 2.61420285e+00] [-2.99086951e-02 9.99549916e-01 -2.33124474e-03 7.29322608e-02] [ 2.71082691e-02 3.14256387e-03 9.99627564e-01 -8.72472625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17241403699998 meters Centerline goodness [0,1] 0.6761692222782136 Centerline is valid? [False, False] Translation: X:2.62, Y:0.07, Z:-0.88 [[ 0.99941605 0.0262629 -0.02185918 2.62369401] [-0.02613973 0.99964088 0.00590175 0.0708635 ] [ 0.02200632 -0.00532691 0.99974364 -0.87594782] [ 0. 0. 0. 1. ]] SLAMing on 199.20241403699998 meters Centerline goodness [0,1] 0.6698235661747032 Centerline is valid? [False, False] Translation: X:2.62, Y:0.07, Z:-0.88 [[ 9.99489240e-01 2.27784188e-02 -2.24143443e-02 2.62498292e+00] [-2.27517852e-02 9.99740104e-01 1.44256667e-03 7.33955109e-02] [ 2.24413782e-02 -9.31863514e-04 9.99747726e-01 -8.75490022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23241403699998 meters Centerline goodness [0,1] 0.6698235661747032 Centerline is valid? [False, False] Translation: X:2.62, Y:0.07, Z:-0.88 [[ 9.99489240e-01 2.27784188e-02 -2.24143443e-02 2.62498292e+00] [-2.27517852e-02 9.99740104e-01 1.44256667e-03 7.33955109e-02] [ 2.24413782e-02 -9.31863514e-04 9.99747726e-01 -8.75490022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26241403699999 meters Centerline goodness [0,1] 0.6848525760023144 Centerline is valid? [False, False] Translation: X:2.63, Y:0.07, Z:-0.88 [[ 0.99966917 0.01968531 -0.01655405 2.63438154] [-0.01952743 0.99976279 0.0096457 0.07347149] [ 0.01674 -0.00931925 0.99981645 -0.87892626] [ 0. 0. 0. 1. ]] SLAMing on 199.292414037 meters Centerline goodness [0,1] 0.6802591187063403 Centerline is valid? [False, False] Translation: X:2.64, Y:0.08, Z:-0.88 [[ 0.99971862 0.01649305 -0.017049 2.6358257 ] [-0.01640588 0.99985168 0.00524028 0.07678056] [ 0.0171329 -0.0049591 0.99984092 -0.87858617] [ 0. 0. 0. 1. ]] SLAMing on 199.322414037 meters Centerline goodness [0,1] 0.6756364691375933 Centerline is valid? [False, False] Translation: X:2.64, Y:0.08, Z:-0.88 [[ 9.99761547e-01 1.31624803e-02 -1.74240631e-02 2.63742407e+00] [-1.31513598e-02 9.99913234e-01 7.52661008e-04 8.04554757e-02] [ 1.74324581e-02 -5.23331412e-04 9.99847906e-01 -8.78741530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.352414037 meters Centerline goodness [0,1] 0.6673427502112761 Centerline is valid? [False, False] Translation: X:2.64, Y:0.08, Z:-0.88 [[ 9.99758590e-01 1.31593241e-02 -1.75952600e-02 2.63803873e+00] [-1.31484358e-02 9.99913286e-01 7.34368149e-04 8.04301260e-02] [ 1.76033980e-02 -5.02840719e-04 9.99844922e-01 -8.79045784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.382414037 meters Centerline goodness [0,1] 0.6715188800348778 Centerline is valid? [False, False] Translation: X:2.64, Y:0.08, Z:-0.88 [[ 9.99763749e-01 1.27513084e-02 -1.76025403e-02 2.63786203e+00] [-1.27494028e-02 9.99918699e-01 2.20476708e-04 8.12620125e-02] [ 1.76039205e-02 3.99725664e-06 9.99845039e-01 -8.78800838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.412414037 meters Centerline goodness [0,1] 0.6759360630610904 Centerline is valid? [False, False] Translation: X:2.64, Y:0.08, Z:-0.88 [[ 9.99768214e-01 1.23454362e-02 -1.76382748e-02 2.63757530e+00] [-1.23543880e-02 9.99923602e-01 -3.98647539e-04 8.23425379e-02] [ 1.76320058e-02 6.16465229e-04 9.99844354e-01 -8.78243272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.442414037 meters Centerline goodness [0,1] 0.6684624948197264 Centerline is valid? [False, False] Translation: X:2.64, Y:0.08, Z:-0.88 [[ 9.99768125e-01 1.22045062e-02 -1.77411046e-02 2.63801748e+00] [-1.22224859e-02 9.99924893e-01 -9.05370540e-04 8.49206457e-02] [ 1.77287225e-02 1.12200101e-03 9.99842204e-01 -8.78292285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.472414037 meters Centerline goodness [0,1] 0.6676922325592753 Centerline is valid? [False, False] Translation: X:2.64, Y:0.09, Z:-0.88 [[ 9.99761613e-01 1.23557841e-02 -1.80014148e-02 2.63875362e+00] [-1.23764097e-02 9.99922874e-01 -1.03481571e-03 8.62441733e-02] [ 1.79872404e-02 1.25736191e-03 9.99837426e-01 -8.78309218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.502414037 meters Centerline goodness [0,1] 0.6675719983361472 Centerline is valid? [False, False] Translation: X:2.64, Y:0.09, Z:-0.88 [[ 9.99759421e-01 1.22622936e-02 -1.81861421e-02 2.63890691e+00] [-1.22933284e-02 9.99923161e-01 -1.59569784e-03 8.80846907e-02] [ 1.81651778e-02 1.81888217e-03 9.99833345e-01 -8.77704325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.532414037 meters Centerline goodness [0,1] 0.6697254441344883 Centerline is valid? [False, False] Translation: X:2.64, Y:0.09, Z:-0.88 [[ 9.99745443e-01 1.27167092e-02 -1.86368990e-02 2.64030995e+00] [-1.27485608e-02 9.99917468e-01 -1.59124709e-03 8.92738738e-02] [ 1.86151254e-02 1.82843566e-03 9.99825052e-01 -8.77964635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.562414037 meters Centerline goodness [0,1] 0.6805428972584181 Centerline is valid? [False, False] Translation: X:2.64, Y:0.09, Z:-0.88 [[ 9.99738168e-01 1.30496230e-02 -1.87963309e-02 2.64117131e+00] [-1.30915928e-02 9.99912072e-01 -2.11155067e-03 9.18185343e-02] [ 1.87671233e-02 2.35707171e-03 9.99821104e-01 -8.78021880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.592414037 meters Centerline goodness [0,1] 0.6886943656762421 Centerline is valid? [False, False] Translation: X:2.64, Y:0.09, Z:-0.88 [[ 9.99728844e-01 1.33777981e-02 -1.90597450e-02 2.64224952e+00] [-1.34180980e-02 9.99907997e-01 -1.98807712e-03 9.24631956e-02] [ 1.90313954e-02 2.24328357e-03 9.99816370e-01 -8.78555513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.622414037 meters Centerline goodness [0,1] 0.6869466290745412 Centerline is valid? [False, False] Translation: X:2.64, Y:0.10, Z:-0.88 [[ 0.99973374 0.01305175 -0.0190288 2.64188334] [-0.01310975 0.99990978 -0.00292659 0.09512719] [ 0.01898888 0.00317527 0.99981465 -0.87775946] [ 0. 0. 0. 1. ]] SLAMing on 199.652414037 meters Centerline goodness [0,1] 0.6669722043303771 Centerline is valid? [False, False] Translation: X:2.64, Y:0.09, Z:-0.89 [[ 9.99879815e-01 1.45463238e-02 -5.36278595e-03 2.64303639e+00] [-1.45376237e-02 9.99892949e-01 1.65774816e-03 9.32968251e-02] [ 5.38632600e-03 -1.57958676e-03 9.99984246e-01 -8.86081131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.682414037 meters Centerline goodness [0,1] 0.6881974302259115 Centerline is valid? [False, False] Translation: X:2.64, Y:0.09, Z:-0.89 [[ 9.99883000e-01 1.42869228e-02 -5.46536986e-03 2.64307910e+00] [-1.42807961e-02 9.99897353e-01 1.15840079e-03 9.44944428e-02] [ 5.48135884e-03 -1.08021542e-03 9.99984394e-01 -8.85729486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71241403699997 meters Centerline goodness [0,1] 0.6841698456628519 Centerline is valid? [False, False] Translation: X:2.64, Y:0.10, Z:-0.89 [[ 9.99891733e-01 1.36845877e-02 -5.40869789e-03 2.64271523e+00] [-1.36821563e-02 9.99906277e-01 4.86266568e-04 9.58574392e-02] [ 5.41484533e-03 -4.12211271e-04 9.99985255e-01 -8.85391319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74241403699997 meters Centerline goodness [0,1] 0.6762607809509606 Centerline is valid? [False, False] Translation: X:2.64, Y:0.10, Z:-0.89 [[ 0.99992357 0.01080565 -0.00600796 2.64498923] [-0.01082578 0.99993586 -0.00332959 0.0977416 ] [ 0.0059716 0.00339438 0.99997641 -0.88594125] [ 0. 0. 0. 1. ]] SLAMing on 199.77241403699998 meters Centerline goodness [0,1] 0.6824641005185481 Centerline is valid? [False, False] Translation: X:2.65, Y:0.10, Z:-0.89 [[ 0.99992672 0.01055521 -0.00592889 2.6450875 ] [-0.01057631 0.99993781 -0.0035389 0.09831025] [ 0.00589117 0.00360135 0.99997616 -0.88635624] [ 0. 0. 0. 1. ]] SLAMing on 199.80241403699998 meters Centerline goodness [0,1] 0.6827232979387883 Centerline is valid? [False, False] Translation: X:2.65, Y:0.10, Z:-0.89 [[ 0.99992857 0.01034982 -0.00597842 2.64602985] [-0.01037234 0.99993918 -0.00374775 0.10059214] [ 0.00593927 0.00380949 0.99997511 -0.88746478] [ 0. 0. 0. 1. ]] SLAMing on 199.83241403699998 meters Centerline goodness [0,1] 0.6753711724794071 Centerline is valid? [False, False] Translation: X:2.65, Y:0.10, Z:-0.89 [[ 0.99993193 0.0100377 -0.00594821 2.64602357] [-0.0100627 0.9999406 -0.00418696 0.10228117] [ 0.00590583 0.00424653 0.99997354 -0.88750264] [ 0. 0. 0. 1. ]] SLAMing on 199.86241403699998 meters Centerline goodness [0,1] 0.6804185801400287 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:-0.89 [[ 0.99993984 0.00931044 -0.0057989 2.64560649] [-0.00933977 0.99994362 -0.00505133 0.10537764] [ 0.00575154 0.00510519 0.99997043 -0.88729701] [ 0. 0. 0. 1. ]] SLAMing on 199.89241403699998 meters Centerline goodness [0,1] 0.6758426684080976 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:-0.89 [[ 0.9999439 0.00895259 -0.00566117 2.64523165] [-0.00898344 0.99994481 -0.00544686 0.10653825] [ 0.0056121 0.00549741 0.99996914 -0.88716901] [ 0. 0. 0. 1. ]] SLAMing on 199.92241403699998 meters Centerline goodness [0,1] 0.6822952057380143 Centerline is valid? [False, False] Translation: X:2.64, Y:0.11, Z:-0.89 [[ 0.9999471 0.00863792 -0.00558481 2.644909 ] [-0.00867083 0.99994503 -0.00589543 0.10754572] [ 0.00553358 0.00594355 0.99996703 -0.88689493] [ 0. 0. 0. 1. ]] SLAMing on 199.95241403699998 meters Centerline goodness [0,1] 0.6843116922532184 Centerline is valid? [False, False] Translation: X:2.64, Y:0.11, Z:-0.89 [[ 0.99995465 0.00785596 -0.00538381 2.64389089] [-0.0078941 0.99994363 -0.00710036 0.11043759] [ 0.00532773 0.00714254 0.9999603 -0.88586006] [ 0. 0. 0. 1. ]] SLAMing on 199.98241403699998 meters Centerline goodness [0,1] 0.6724268415741674 Centerline is valid? [False, False] Translation: X:2.64, Y:0.11, Z:-0.89 [[ 0.99995536 0.00764203 -0.0055565 2.64403719] [-0.00768439 0.99994127 -0.007642 0.11240574] [ 0.00549777 0.00768436 0.99995536 -0.88535183] [ 0. 0. 0. 1. ]] SLAMing on 200.01241403699999 meters Centerline goodness [0,1] 0.6763385497248079 Centerline is valid? [False, False] Translation: X:2.64, Y:0.11, Z:-0.88 [[ 0.99995857 0.0071946 -0.00557619 2.64366271] [-0.00724117 0.99993869 -0.00837789 0.11487134] [ 0.00551557 0.00841792 0.99994936 -0.88467 ] [ 0. 0. 0. 1. ]] SLAMing on 200.042414037 meters Centerline goodness [0,1] 0.6772404670448475 Centerline is valid? [False, False] Translation: X:2.64, Y:0.12, Z:-0.88 [[ 0.99995976 0.00699861 -0.00561178 2.64364236] [-0.00704772 0.99993663 -0.0087787 0.116704 ] [ 0.00554998 0.00881789 0.99994572 -0.88440037] [ 0. 0. 0. 1. ]] SLAMing on 200.072414037 meters Centerline goodness [0,1] 0.6832139853724422 Centerline is valid? [False, False] Translation: X:2.64, Y:0.12, Z:-0.88 [[ 0.99995928 0.0069761 -0.00572546 2.64400488] [-0.007027 0.99993554 -0.0089189 0.11778393] [ 0.00566288 0.00895877 0.99994383 -0.88445947] [ 0. 0. 0. 1. ]] SLAMing on 200.102414037 meters Centerline goodness [0,1] 0.6808206593855262 Centerline is valid? [False, False] Translation: X:2.64, Y:0.12, Z:-0.89 [[ 0.99996092 0.00681615 -0.00563052 2.64430298] [-0.00686696 0.99993543 -0.0090538 0.11908421] [ 0.00556844 0.00909211 0.99994316 -0.88508543] [ 0. 0. 0. 1. ]] SLAMing on 200.132414037 meters Centerline goodness [0,1] 0.6794119148501709 Centerline is valid? [False, False] Translation: X:2.64, Y:0.12, Z:-0.89 [[ 0.99996147 0.00678877 -0.00556545 2.64463969] [-0.00683806 0.99993714 -0.00888588 0.11926682] [ 0.00550477 0.00892359 0.99994503 -0.88581433] [ 0. 0. 0. 1. ]] SLAMing on 200.162414037 meters Centerline goodness [0,1] 0.6707865168539326 Centerline is valid? [False, False] Translation: X:2.64, Y:0.12, Z:-0.89 [[ 0.99996375 0.00662669 -0.00534591 2.64457376] [-0.00667321 0.9999396 -0.00873291 0.11926913] [ 0.00528772 0.00876827 0.99994758 -0.88651865] [ 0. 0. 0. 1. ]] SLAMing on 200.192414037 meters Centerline goodness [0,1] 0.6641402541724085 Centerline is valid? [False, False] Translation: X:2.64, Y:0.12, Z:-0.89 [[ 0.99996853 0.00627545 -0.00485284 2.64403801] [-0.00631656 0.99994389 -0.00850345 0.11909086] [ 0.00479921 0.00853384 0.99995207 -0.88747782] [ 0. 0. 0. 1. ]] SLAMing on 200.222414037 meters Centerline goodness [0,1] 0.6633880338395679 Centerline is valid? [False, False] Translation: X:2.64, Y:0.12, Z:-0.89 [[ 0.99996836 0.00634523 -0.00479831 2.64436058] [-0.00638419 0.99994642 -0.0081491 0.11885449] [ 0.00474635 0.00817948 0.99995528 -0.88816843] [ 0. 0. 0. 1. ]] SLAMing on 200.252414037 meters Centerline goodness [0,1] 0.6615266981011851 Centerline is valid? [False, False] Translation: X:2.64, Y:0.12, Z:-0.89 [[ 0.99996853 0.00634818 -0.00475758 2.64464689] [-0.00638618 0.9999475 -0.00801327 0.11932903] [ 0.00470646 0.00804341 0.99995658 -0.88870486] [ 0. 0. 0. 1. ]] SLAMing on 200.282414037 meters Centerline goodness [0,1] 0.6589833456982783 Centerline is valid? [False, False] Translation: X:2.65, Y:0.12, Z:-0.89 [[ 0.99996732 0.00653668 -0.00475692 2.64545592] [-0.00657379 0.99994776 -0.00782702 0.12082303] [ 0.00470551 0.00785803 0.99995805 -0.88961893] [ 0. 0. 0. 1. ]] SLAMing on 200.312414037 meters Centerline goodness [0,1] 0.6722099984649235 Centerline is valid? [False, False] Translation: X:2.65, Y:0.12, Z:-0.89 [[ 0.99996707 0.006554 -0.00478585 2.64577772] [-0.00659152 0.99994734 -0.00786628 0.12170001] [ 0.00473404 0.00789757 0.99995761 -0.88989861] [ 0. 0. 0. 1. ]] SLAMing on 200.342414037 meters Centerline goodness [0,1] 0.6729182679989751 Centerline is valid? [False, False] Translation: X:2.65, Y:0.12, Z:-0.89 [[ 0.99996537 0.00670826 -0.00492448 2.64644232] [-0.00674652 0.99994687 -0.00779329 0.12227429] [ 0.00487194 0.00782624 0.99995751 -0.89028039] [ 0. 0. 0. 1. ]] SLAMing on 200.372414037 meters Centerline goodness [0,1] 0.6577310578801274 Centerline is valid? [False, False] Translation: X:2.65, Y:0.12, Z:-0.89 [[ 0.99996831 0.00646873 -0.00464046 2.64610207] [-0.00650617 0.99994603 -0.00810006 0.12377175] [ 0.00458781 0.00812999 0.99995643 -0.89044781] [ 0. 0. 0. 1. ]] SLAMing on 200.402414037 meters Centerline goodness [0,1] 0.6694654136496687 Centerline is valid? [False, False] Translation: X:2.65, Y:0.12, Z:-0.89 [[ 0.99996873 0.0064629 -0.00455649 2.64637865] [-0.0064994 0.99994654 -0.00804244 0.12430132] [ 0.00450427 0.00807181 0.99995728 -0.891038 ] [ 0. 0. 0. 1. ]] SLAMing on 200.43241403699997 meters Centerline goodness [0,1] 0.6601482091395636 Centerline is valid? [False, False] Translation: X:2.65, Y:0.12, Z:-0.89 [[ 0.99997038 0.0062582 -0.00447965 2.64628788] [-0.00629499 0.99994618 -0.00824648 0.1249295 ] [ 0.0044278 0.00827444 0.99995596 -0.89109544] [ 0. 0. 0. 1. ]] SLAMing on 200.46241403699997 meters Centerline goodness [0,1] 0.6759221100350299 Centerline is valid? [False, False] Translation: X:2.65, Y:0.13, Z:-0.89 [[ 0.99997191 0.00612098 -0.00432492 2.64660016] [-0.00615661 0.99994683 -0.00827257 0.12573671] [ 0.00427405 0.00829896 0.99995643 -0.8919118 ] [ 0. 0. 0. 1. ]] SLAMing on 200.49241403699997 meters Centerline goodness [0,1] 0.6527399722664475 Centerline is valid? [False, False] Translation: X:2.65, Y:0.13, Z:-0.89 [[ 0.99997167 0.00606483 -0.0044585 2.6471167 ] [-0.00610246 0.99994546 -0.00847542 0.12661355] [ 0.00440685 0.00850239 0.99995414 -0.89210198] [ 0. 0. 0. 1. ]] SLAMing on 200.52241403699998 meters Centerline goodness [0,1] 0.6694810543657331 Centerline is valid? [False, False] Translation: X:2.65, Y:0.13, Z:-0.89 [[ 0.99997157 0.00602204 -0.00453846 2.647518 ] [-0.00606115 0.9999442 -0.00865268 0.12792473] [ 0.0044861 0.00867995 0.99995227 -0.89231615] [ 0. 0. 0. 1. ]] SLAMing on 200.55241403699998 meters Centerline goodness [0,1] 0.6619944555276317 Centerline is valid? [False, False] Translation: X:2.65, Y:0.13, Z:-0.89 [[ 0.99995459 0.00872174 -0.00384046 2.64556173] [-0.00874233 0.99994733 -0.00537683 0.12913549] [ 0.00379336 0.00541016 0.99997817 -0.89215322] [ 0. 0. 0. 1. ]] SLAMing on 200.58241403699998 meters Centerline goodness [0,1] 0.6619944555276317 Centerline is valid? [False, False] Translation: X:2.65, Y:0.13, Z:-0.89 [[ 0.99995459 0.00872174 -0.00384046 2.64556173] [-0.00874233 0.99994733 -0.00537683 0.12913549] [ 0.00379336 0.00541016 0.99997817 -0.89215322] [ 0. 0. 0. 1. ]] SLAMing on 200.61241403699998 meters Centerline goodness [0,1] 0.6624160899878184 Centerline is valid? [False, False] Translation: X:2.65, Y:0.13, Z:-0.89 [[ 0.99995752 0.00842285 -0.00374289 2.6454968 ] [-0.00844384 0.99994851 -0.00562796 0.13046616] [ 0.00369529 0.00565933 0.99997716 -0.89232085] [ 0. 0. 0. 1. ]] SLAMing on 200.64241403699998 meters Centerline goodness [0,1] 0.6656198089700996 Centerline is valid? [False, False] Translation: X:2.64, Y:0.13, Z:-0.89 [[ 0.99996154 0.00806598 -0.00344375 2.64486584] [-0.00808565 0.99995085 -0.00573818 0.13026424] [ 0.0033973 0.0057658 0.99997761 -0.89246858] [ 0. 0. 0. 1. ]] SLAMing on 200.67241403699998 meters Centerline goodness [0,1] 0.6673723890423692 Centerline is valid? [False, False] Translation: X:2.65, Y:0.13, Z:-0.89 [[ 0.99998149 0.00466391 -0.00390765 2.6465569 ] [-0.00470007 0.99994574 -0.00929712 0.12990385] [ 0.00386408 0.00931531 0.99994915 -0.89305674] [ 0. 0. 0. 1. ]] SLAMing on 200.70241403699998 meters Centerline goodness [0,1] 0.6566085301229614 Centerline is valid? [False, False] Translation: X:2.65, Y:0.13, Z:-0.89 [[ 0.99998345 0.00444631 -0.00365051 2.64611158] [-0.00447838 0.99995105 -0.0088228 0.12856502] [ 0.0036111 0.00883901 0.99995441 -0.89360027] [ 0. 0. 0. 1. ]] SLAMing on 200.73241403699998 meters Centerline goodness [0,1] 0.6582461205341033 Centerline is valid? [False, False] Translation: X:2.65, Y:0.13, Z:-0.89 [[ 0.99998651 0.0040394 -0.0032658 2.64515932] [-0.00406754 0.99995425 -0.0086579 0.12773535] [ 0.00323068 0.00867106 0.99995719 -0.8937842 ] [ 0. 0. 0. 1. ]] SLAMing on 200.76241403699999 meters Centerline goodness [0,1] 0.6532152146480905 Centerline is valid? [False, False] Translation: X:2.65, Y:0.13, Z:-0.89 [[ 0.99998669 0.004064 -0.0031784 2.64522982] [-0.00408964 0.99995882 -0.0081012 0.12650571] [ 0.00314534 0.00811409 0.99996213 -0.89438072] [ 0. 0. 0. 1. ]] SLAMing on 200.792414037 meters Centerline goodness [0,1] 0.6463014260798194 Centerline is valid? [False, False] Translation: X:2.64, Y:0.12, Z:-0.90 [[ 0.99998961 0.00363813 -0.00274599 2.644308 ] [-0.00365832 0.99996605 -0.00738393 0.12435716] [ 0.00271903 0.0073939 0.99996897 -0.89505466] [ 0. 0. 0. 1. ]] SLAMing on 200.822414037 meters Centerline goodness [0,1] 0.6584628780700181 Centerline is valid? [False, False] Translation: X:2.64, Y:0.12, Z:-0.90 [[ 0.99998902 0.00381617 -0.00272144 2.64456281] [-0.00383444 0.99996991 -0.00674322 0.12296079] [ 0.00269562 0.00675358 0.99997356 -0.8956522 ] [ 0. 0. 0. 1. ]] SLAMing on 200.852414037 meters Centerline goodness [0,1] 0.65058916749738 Centerline is valid? [False, False] Translation: X:2.64, Y:0.12, Z:-0.90 [[ 9.99988810e-01 3.94436367e-03 -2.61182732e-03 2.64467542e+00] [-3.96033125e-03 9.99973327e-01 -6.13688047e-03 1.21622864e-01] [ 2.58755156e-03 6.14715550e-03 9.99977758e-01 -8.96334659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.882414037 meters Centerline goodness [0,1] 0.6503998569202074 Centerline is valid? [False, False] Translation: X:2.64, Y:0.12, Z:-0.90 [[ 9.99989275e-01 3.91551947e-03 -2.47353314e-03 2.64442355e+00] [-3.93002989e-03 9.99974938e-01 -5.88890790e-03 1.20647256e-01] [ 2.45041302e-03 5.89856580e-03 9.99979601e-01 -8.96458933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.912414037 meters Centerline goodness [0,1] 0.6532665883434643 Centerline is valid? [False, False] Translation: X:2.64, Y:0.12, Z:-0.90 [[ 9.99988820e-01 4.05028308e-03 -2.44015667e-03 2.64462162e+00] [-4.06371984e-03 9.99976469e-01 -5.52695568e-03 1.19895030e-01] [ 2.41771352e-03 5.53681001e-03 9.99981749e-01 -8.96843517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.942414037 meters Centerline goodness [0,1] 0.6507128309572301 Centerline is valid? [False, False] Translation: X:2.64, Y:0.12, Z:-0.90 [[ 9.99988019e-01 4.28205489e-03 -2.37170878e-03 2.64493135e+00] [-4.29367508e-03 9.99978697e-01 -4.91627160e-03 1.18356757e-01] [ 2.35060651e-03 4.92639604e-03 9.99985103e-01 -8.97506459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.972414037 meters Centerline goodness [0,1] 0.6446270479291747 Centerline is valid? [False, False] Translation: X:2.65, Y:0.12, Z:-0.90 [[ 9.99987471e-01 4.44248569e-03 -2.30677330e-03 2.64532747e+00] [-4.45252366e-03 9.99980562e-01 -4.36477101e-03 1.17229460e-01] [ 2.28733803e-03 4.37498729e-03 9.99987814e-01 -8.98410850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.002414037 meters Centerline goodness [0,1] 0.6524975862594644 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:-0.90 [[ 9.99987664e-01 4.47584543e-03 -2.15362820e-03 2.64532461e+00] [-4.48384795e-03 9.99983008e-01 -3.72546589e-03 1.14896710e-01] [ 2.13691700e-03 3.73507647e-03 9.99990741e-01 -8.99122623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.032414037 meters Centerline goodness [0,1] 0.6419517894790316 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:-0.90 [[ 9.99988044e-01 4.43693005e-03 -2.05538238e-03 2.64514616e+00] [-4.44434258e-03 9.99983586e-01 -3.61598062e-03 1.14504800e-01] [ 2.03930479e-03 3.62507221e-03 9.99991350e-01 -8.99183217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.062414037 meters Centerline goodness [0,1] 0.6486266944204702 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:-0.90 [[ 9.99988162e-01 4.36751226e-03 -2.14502544e-03 2.64511989e+00] [-4.37555318e-03 9.99983365e-01 -3.75835776e-03 1.14773175e-01] [ 2.12857508e-03 3.76769894e-03 9.99990637e-01 -8.98794547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.092414037 meters Centerline goodness [0,1] 0.6426183844011142 Centerline is valid? [False, False] Translation: X:2.65, Y:0.12, Z:-0.90 [[ 9.99985641e-01 4.76649912e-03 -2.44933339e-03 2.64589365e+00] [-4.77564206e-03 9.99981600e-01 -3.74063677e-03 1.15252677e-01] [ 2.43145858e-03 3.75228020e-03 9.99990004e-01 -8.98512403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.122414037 meters Centerline goodness [0,1] 0.6468541238029921 Centerline is valid? [False, False] Translation: X:2.65, Y:0.12, Z:-0.90 [[ 9.99985997e-01 4.66369976e-03 -2.50131117e-03 2.64573424e+00] [-4.67382611e-03 9.99980844e-01 -4.05796850e-03 1.15736689e-01] [ 2.48233810e-03 4.06960237e-03 9.99988638e-01 -8.97995364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.152414037 meters Centerline goodness [0,1] 0.6468541238029921 Centerline is valid? [False, False] Translation: X:2.65, Y:0.12, Z:-0.90 [[ 9.99985997e-01 4.66369976e-03 -2.50131117e-03 2.64573424e+00] [-4.67382611e-03 9.99980844e-01 -4.05796850e-03 1.15736689e-01] [ 2.48233810e-03 4.06960237e-03 9.99988638e-01 -8.97995364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18241403699997 meters Centerline goodness [0,1] 0.650417193426043 Centerline is valid? [False, False] Translation: X:2.65, Y:0.12, Z:-0.90 [[ 0.99998405 0.00497721 -0.00267061 2.64604074] [-0.00498778 0.9999797 -0.00396493 0.11512095] [ 0.00265082 0.00397818 0.99998857 -0.8975549 ] [ 0. 0. 0. 1. ]] SLAMing on 201.21241403699997 meters Centerline goodness [0,1] 0.6565418189200163 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:-0.90 [[ 0.9999834 0.00507914 -0.00271972 2.64608014] [-0.0050896 0.99997963 -0.00385196 0.11443345] [ 0.0027001 0.00386574 0.99998888 -0.89736714] [ 0. 0. 0. 1. ]] SLAMing on 201.24241403699997 meters Centerline goodness [0,1] 0.6604213084869354 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:-0.90 [[ 9.99983787e-01 5.04316294e-03 -2.64416374e-03 2.64584404e+00] [-5.05302957e-03 9.99980246e-01 -3.73816838e-03 1.13653847e-01] [ 2.62525932e-03 3.75146881e-03 9.99989517e-01 -8.97310360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27241403699998 meters Centerline goodness [0,1] 0.6451882421449731 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:-0.90 [[ 0.99998308 0.00516112 -0.00268546 2.64596558] [-0.00517038 0.99998067 -0.00345223 0.11257396] [ 0.00266759 0.00346606 0.99999044 -0.89739603] [ 0. 0. 0. 1. ]] SLAMing on 201.30241403699998 meters Centerline goodness [0,1] 0.6566907638643142 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:-0.90 [[ 9.99980194e-01 5.65288573e-03 -2.76699975e-03 2.64675322e+00] [-5.65968115e-03 9.99980972e-01 -2.45424169e-03 1.09984541e-01] [ 2.75307355e-03 2.46985342e-03 9.99993160e-01 -8.98392310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33241403699998 meters Centerline goodness [0,1] 0.648080991236023 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:-0.90 [[ 9.99976941e-01 6.09404347e-03 -2.99664795e-03 2.64780230e+00] [-6.09927605e-03 9.99979885e-01 -1.74011517e-03 1.08331663e-01] [ 2.98598333e-03 1.75835243e-03 9.99993996e-01 -8.99234964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36241403699998 meters Centerline goodness [0,1] 0.6555188167293471 Centerline is valid? [False, False] Translation: X:2.65, Y:0.11, Z:-0.90 [[ 9.99975652e-01 6.27651235e-03 -3.04981638e-03 2.64813497e+00] [-6.28056910e-03 9.99979403e-01 -1.32241115e-03 1.06940010e-01] [ 3.04145343e-03 1.34153353e-03 9.99994475e-01 -8.99616762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39241403699998 meters Centerline goodness [0,1] 0.6587435054341005 Centerline is valid? [False, False] Translation: X:2.65, Y:0.10, Z:-0.90 [[ 9.99974613e-01 6.46976976e-03 -2.98602250e-03 2.64790397e+00] [-6.47184999e-03 9.99978821e-01 -6.87519425e-04 1.04339868e-01] [ 2.98151117e-03 7.06827060e-04 9.99995305e-01 -8.99542356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42241403699998 meters Centerline goodness [0,1] 0.653257761950143 Centerline is valid? [False, False] Translation: X:2.65, Y:0.10, Z:-0.90 [[ 9.99974935e-01 6.42927742e-03 -2.96545278e-03 2.64742534e+00] [-6.43094869e-03 9.99979168e-01 -5.54390030e-04 1.03149167e-01] [ 2.96182667e-03 5.73446809e-04 9.99995449e-01 -8.98954020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45241403699998 meters Centerline goodness [0,1] 0.6502561539422717 Centerline is valid? [False, False] Translation: X:2.65, Y:0.10, Z:-0.90 [[ 9.99975894e-01 6.31995304e-03 -2.87566663e-03 2.64687267e+00] [-6.32144696e-03 9.99979889e-01 -5.10713842e-04 1.02205954e-01] [ 2.87238111e-03 5.28879905e-04 9.99995735e-01 -8.98466568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48241403699998 meters Centerline goodness [0,1] 0.6581192329693835 Centerline is valid? [False, False] Translation: X:2.65, Y:0.10, Z:-0.90 [[ 0.99998528 0.00415141 -0.00349278 2.64930882] [-0.00416399 0.99998484 -0.00360336 0.10241227] [ 0.00347777 0.00361786 0.99998741 -0.89892316] [ 0. 0. 0. 1. ]] SLAMing on 201.51241403699999 meters Centerline goodness [0,1] 0.6495341073297125 Centerline is valid? [False, False] Translation: X:2.65, Y:0.10, Z:-0.90 [[ 0.99998418 0.00438507 -0.0035241 2.64972673] [-0.00439537 0.99998607 -0.00292156 0.1001283 ] [ 0.00351124 0.002937 0.99998952 -0.89958163] [ 0. 0. 0. 1. ]] SLAMing on 201.542414037 meters Centerline goodness [0,1] 0.6563712324679201 Centerline is valid? [False, False] Translation: X:2.65, Y:0.10, Z:-0.90 [[ 9.99983908e-01 4.45332554e-03 -3.51459909e-03 2.64987382e+00] [-4.46248803e-03 9.99986654e-01 -2.60345850e-03 9.91162317e-02] [ 3.50295813e-03 2.61910046e-03 9.99990435e-01 -8.99918424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.572414037 meters Centerline goodness [0,1] 0.640396167403068 Centerline is valid? [False, False] Translation: X:2.65, Y:0.10, Z:-0.90 [[ 9.99983716e-01 4.48260242e-03 -3.53182633e-03 2.64993547e+00] [-4.49103094e-03 9.99987078e-01 -2.38214322e-03 9.79747185e-02] [ 3.52110249e-03 2.39796597e-03 9.99990926e-01 -9.00036506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.602414037 meters Centerline goodness [0,1] 0.6346420094936709 Centerline is valid? [False, False] Translation: X:2.65, Y:0.10, Z:-0.90 [[ 9.99985400e-01 4.19110746e-03 -3.41101574e-03 2.64915985e+00] [-4.19887717e-03 9.99988599e-01 -2.27386197e-03 9.62252554e-02] [ 3.40144685e-03 2.28815121e-03 9.99991597e-01 -8.99505165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.632414037 meters Centerline goodness [0,1] 0.64 Centerline is valid? [False, False] Translation: X:2.65, Y:0.10, Z:-0.90 [[ 9.99985422e-01 4.16412415e-03 -3.43746897e-03 2.64901982e+00] [-4.17189111e-03 9.99988754e-01 -2.25542794e-03 9.57781993e-02] [ 3.42803843e-03 2.26973581e-03 9.99991548e-01 -8.99223088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.662414037 meters Centerline goodness [0,1] 0.6528015053603704 Centerline is valid? [False, False] Translation: X:2.65, Y:0.10, Z:-0.90 [[ 9.99984888e-01 4.12651423e-03 -3.63254253e-03 2.64908118e+00] [-4.13527393e-03 9.99988552e-01 -2.40725085e-03 9.56871264e-02] [ 3.62256739e-03 2.42223603e-03 9.99990505e-01 -8.98670524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.692414037 meters Centerline goodness [0,1] 0.6477725818360818 Centerline is valid? [False, False] Translation: X:2.65, Y:0.09, Z:-0.90 [[ 9.99980660e-01 4.62023885e-03 -4.16337792e-03 2.65032351e+00] [-4.62821934e-03 9.99987467e-01 -1.90923927e-03 9.44056741e-02] [ 4.15450460e-03 1.92847137e-03 9.99989510e-01 -8.98695435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.722414037 meters Centerline goodness [0,1] 0.6374199901526342 Centerline is valid? [False, False] Translation: X:2.65, Y:0.09, Z:-0.90 [[ 9.99980609e-01 4.69256967e-03 -4.09400440e-03 2.65033919e+00] [-4.69920620e-03 9.99987658e-01 -1.61292374e-03 9.32919691e-02] [ 4.08638511e-03 1.63213103e-03 9.99990319e-01 -8.98967331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.752414037 meters Centerline goodness [0,1] 0.6443676639956872 Centerline is valid? [False, False] Translation: X:2.65, Y:0.09, Z:-0.90 [[ 9.99981664e-01 4.53313402e-03 -4.01525761e-03 2.64979839e+00] [-4.53814998e-03 9.99988933e-01 -1.24099605e-03 9.05692065e-02] [ 4.00958757e-03 1.25919514e-03 9.99991169e-01 -8.98731142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.782414037 meters Centerline goodness [0,1] 0.6356031699442324 Centerline is valid? [False, False] Translation: X:2.65, Y:0.09, Z:-0.90 [[ 9.99982194e-01 4.46414145e-03 -3.96024339e-03 2.64946537e+00] [-4.46807704e-03 9.99989533e-01 -9.85482743e-04 8.94466250e-02] [ 3.95580261e-03 1.00315987e-03 9.99991673e-01 -8.98571449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.812414037 meters Centerline goodness [0,1] 0.6430809910880423 Centerline is valid? [False, False] Translation: X:2.65, Y:0.09, Z:-0.90 [[ 9.99982961e-01 4.34755822e-03 -3.89571433e-03 2.64884097e+00] [-4.35120142e-03 9.99990104e-01 -9.27192799e-04 8.84084877e-02] [ 3.89164475e-03 9.44128038e-04 9.99991982e-01 -8.97928974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.842414037 meters Centerline goodness [0,1] 0.636702841116937 Centerline is valid? [False, False] Translation: X:2.65, Y:0.09, Z:-0.90 [[ 9.99982846e-01 4.34920290e-03 -3.92338841e-03 2.64871011e+00] [-4.35061302e-03 9.99990474e-01 -3.50952296e-04 8.61387217e-02] [ 3.92182468e-03 3.68015420e-04 9.99992242e-01 -8.97859310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.872414037 meters Centerline goodness [0,1] 0.6399240099371621 Centerline is valid? [False, False] Translation: X:2.65, Y:0.08, Z:-0.90 [[ 9.99982646e-01 4.38213524e-03 -3.93746099e-03 2.64879183e+00] [-4.38245382e-03 9.99990394e-01 -7.22872242e-05 8.49580612e-02] [ 3.93710639e-03 8.95417107e-05 9.99992246e-01 -8.98003502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.902414037 meters Centerline goodness [0,1] 0.6364632275969521 Centerline is valid? [False, False] Translation: X:2.65, Y:0.08, Z:-0.90 [[ 9.99981919e-01 4.52119187e-03 -3.96488114e-03 2.64904717e+00] [-4.51966946e-03 9.99989709e-01 3.92849329e-04 8.33346572e-02] [ 3.96661648e-03 -3.74922273e-04 9.99992063e-01 -8.98389829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93241403699997 meters Centerline goodness [0,1] 0.638048521167601 Centerline is valid? [False, False] Translation: X:2.65, Y:0.08, Z:-0.90 [[ 9.99988574e-01 1.55850659e-03 -4.51913702e-03 2.65084567e+00] [-1.57035238e-03 9.99995338e-01 -2.61888681e-03 8.04632263e-02] [ 4.51503439e-03 2.62595353e-03 9.99986359e-01 -8.98905141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96241403699997 meters Centerline goodness [0,1] 0.6307377049180327 Centerline is valid? [False, False] Translation: X:2.65, Y:0.08, Z:-0.90 [[ 9.99989938e-01 1.40639298e-03 -4.25991826e-03 2.65003233e+00] [-1.41572741e-03 9.99996602e-01 -2.18899942e-03 7.78416131e-02] [ 4.25682519e-03 2.19500828e-03 9.99988531e-01 -8.98772688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99241403699997 meters Centerline goodness [0,1] 0.6333935235343686 Centerline is valid? [False, False] Translation: X:2.65, Y:0.08, Z:-0.90 [[ 9.99990396e-01 1.41281772e-03 -4.14880139e-03 2.64959422e+00] [-1.42003565e-03 9.99997483e-01 -1.73733277e-03 7.58533285e-02] [ 4.14633641e-03 1.74320753e-03 9.99989885e-01 -8.98630854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02241403699998 meters Centerline goodness [0,1] 0.6278145060841238 Centerline is valid? [False, False] Translation: X:2.65, Y:0.07, Z:-0.90 [[ 9.99990600e-01 1.32293028e-03 -4.12914006e-03 2.64921840e+00] [-1.32931178e-03 9.99997926e-01 -1.54311966e-03 7.47618980e-02] [ 4.12709006e-03 1.54859407e-03 9.99990284e-01 -8.98242617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05241403699998 meters Centerline goodness [0,1] 0.6304155190995091 Centerline is valid? [False, False] Translation: X:2.65, Y:0.07, Z:-0.90 [[ 9.99989470e-01 1.55347263e-03 -4.31817701e-03 2.64964106e+00] [-1.55811396e-03 9.99998212e-01 -1.07167813e-03 7.40195111e-02] [ 4.31650446e-03 1.07839506e-03 9.99990102e-01 -8.98311454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08241403699998 meters Centerline goodness [0,1] 0.6370770924056084 Centerline is valid? [False, False] Translation: X:2.65, Y:0.07, Z:-0.90 [[ 9.99987919e-01 1.88078420e-03 -4.54152819e-03 2.65007456e+00] [-1.88314265e-03 9.99998094e-01 -5.15087712e-04 7.26173037e-02] [ 4.54055076e-03 5.23633834e-04 9.99989555e-01 -8.98220883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11241403699998 meters Centerline goodness [0,1] 0.6253435625343562 Centerline is valid? [False, False] Translation: X:2.65, Y:0.07, Z:-0.90 [[ 9.99987796e-01 1.92020122e-03 -4.55192433e-03 2.65007205e+00] [-1.92187639e-03 9.99998087e-01 -3.63668310e-04 7.16016381e-02] [ 4.55121731e-03 3.72412107e-04 9.99989574e-01 -8.98200439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14241403699998 meters Centerline goodness [0,1] 0.6363831461477931 Centerline is valid? [False, False] Translation: X:2.65, Y:0.07, Z:-0.90 [[ 9.99987993e-01 1.96175363e-03 -4.49053590e-03 2.65003599e+00] [-1.96181990e-03 9.99998076e-01 -1.03531540e-05 7.00016087e-02] [ 4.49050695e-03 1.91626524e-05 9.99989917e-01 -8.98437888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17241403699998 meters Centerline goodness [0,1] 0.6261251632822705 Centerline is valid? [False, False] Translation: X:2.65, Y:0.07, Z:-0.90 [[ 9.99989406e-01 1.63457177e-03 -4.30312578e-03 2.64942338e+00] [-1.63400715e-03 9.99998656e-01 1.34722726e-04 6.66948019e-02] [ 4.30334021e-03 -1.27689961e-04 9.99990732e-01 -8.98375138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20241403699998 meters Centerline goodness [0,1] 0.6269057231061506 Centerline is valid? [False, False] Translation: X:2.65, Y:0.07, Z:-0.90 [[ 9.99990435e-01 1.52589617e-03 -4.09900209e-03 2.64914534e+00] [-1.52444862e-03 9.99998775e-01 3.56248148e-04 6.56553159e-02] [ 4.09954067e-03 -3.49996023e-04 9.99991536e-01 -8.98689869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23241403699998 meters Centerline goodness [0,1] 0.6175213675213675 Centerline is valid? [False, False] Translation: X:2.65, Y:0.07, Z:-0.90 [[ 9.99991093e-01 1.39587025e-03 -3.98308107e-03 2.64891466e+00] [-1.39401317e-03 9.99998918e-01 4.68980006e-04 6.52612416e-02] [ 3.98373140e-03 -4.63423361e-04 9.99991958e-01 -8.98757166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26241403699999 meters Centerline goodness [0,1] 0.6260259025570474 Centerline is valid? [False, False] Translation: X:2.65, Y:0.06, Z:-0.90 [[ 9.99990467e-01 1.54658476e-03 -4.08348548e-03 2.64916191e+00] [-1.54401129e-03 9.99998607e-01 6.33290545e-04 6.46385160e-02] [ 4.08445923e-03 -6.26979560e-04 9.99991462e-01 -8.98709742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.292414037 meters Centerline goodness [0,1] 0.6255813953488372 Centerline is valid? [False, False] Translation: X:2.65, Y:0.06, Z:-0.90 [[ 9.99990595e-01 1.51928530e-03 -4.06231945e-03 2.64891249e+00] [-1.51657271e-03 9.99998625e-01 6.70742151e-04 6.38921377e-02] [ 4.06333291e-03 -6.64575039e-04 9.99991524e-01 -8.98413675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.322414037 meters Centerline goodness [0,1] 0.6292865076926712 Centerline is valid? [False, False] Translation: X:2.65, Y:0.06, Z:-0.90 [[ 9.99989636e-01 1.78781604e-03 -4.18705723e-03 2.64897681e+00] [-1.78293763e-03 9.99997728e-01 1.16855917e-03 6.14821368e-02] [ 4.18913689e-03 -1.16108180e-03 9.99990551e-01 -8.98131922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.352414037 meters Centerline goodness [0,1] 0.628926206244087 Centerline is valid? [False, False] Translation: X:2.65, Y:0.06, Z:-0.90 [[ 9.99989792e-01 1.72037055e-03 -4.17797895e-03 2.64879622e+00] [-1.71562949e-03 9.99997881e-01 1.13809282e-03 6.13043328e-02] [ 4.17992803e-03 -1.13091334e-03 9.99990625e-01 -8.97905618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.382414037 meters Centerline goodness [0,1] 0.6307262966203911 Centerline is valid? [False, False] Translation: X:2.65, Y:0.06, Z:-0.90 [[ 9.99989009e-01 1.71657461e-03 -4.36292478e-03 2.64894981e+00] [-1.71214845e-03 9.99998016e-01 1.01802559e-03 6.14083510e-02] [ 4.36466365e-03 -1.01054443e-03 9.99989964e-01 -8.97468398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.412414037 meters Centerline goodness [0,1] 0.6240026438789481 Centerline is valid? [False, False] Translation: X:2.65, Y:0.06, Z:-0.90 [[ 9.99987860e-01 1.90303816e-03 -4.54523130e-03 2.64946758e+00] [-1.89759369e-03 9.99997477e-01 1.20185549e-03 6.14547728e-02] [ 4.54750701e-03 -1.19321590e-03 9.99988948e-01 -8.97572516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.442414037 meters Centerline goodness [0,1] 0.6242600061322201 Centerline is valid? [False, False] Translation: X:2.65, Y:0.06, Z:-0.90 [[ 9.99987255e-01 2.04929767e-03 -4.61408524e-03 2.64949664e+00] [-2.04262460e-03 9.99996862e-01 1.45048618e-03 6.00541470e-02] [ 4.61704324e-03 -1.44104285e-03 9.99988303e-01 -8.97394225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.472414037 meters Centerline goodness [0,1] 0.6282835891159024 Centerline is valid? [False, False] Translation: X:2.65, Y:0.06, Z:-0.90 [[ 9.99987775e-01 1.96583737e-03 -4.53701670e-03 2.64910458e+00] [-1.95826685e-03 9.99996684e-01 1.67245106e-03 5.82959998e-02] [ 4.54028942e-03 -1.66354593e-03 9.99988309e-01 -8.97235665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.502414037 meters Centerline goodness [0,1] 0.6316703838478694 Centerline is valid? [False, False] Translation: X:2.65, Y:0.06, Z:-0.90 [[ 9.99988473e-01 1.74523177e-03 -4.47311727e-03 2.64812346e+00] [-1.73720305e-03 9.99996874e-01 1.79813881e-03 5.52846435e-02] [ 4.47624146e-03 -1.79034737e-03 9.99988379e-01 -8.96177776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.532414037 meters Centerline goodness [0,1] 0.6275941402948634 Centerline is valid? [False, False] Translation: X:2.65, Y:0.06, Z:-0.90 [[ 9.99987966e-01 1.78561163e-03 -4.56947230e-03 2.64816704e+00] [-1.77777345e-03 9.99996943e-01 1.71882312e-03 5.51790982e-02] [ 4.57252748e-03 -1.71067895e-03 9.99988083e-01 -8.95839167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.562414037 meters Centerline goodness [0,1] 0.6310236736221577 Centerline is valid? [False, False] Translation: X:2.65, Y:0.06, Z:-0.90 [[ 9.99985486e-01 2.16709977e-03 -4.93259303e-03 2.64927396e+00] [-2.15753671e-03 9.99995784e-01 1.94324531e-03 5.52864518e-02] [ 4.93678344e-03 -1.93257486e-03 9.99985947e-01 -8.96127823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.592414037 meters Centerline goodness [0,1] 0.6330462534907189 Centerline is valid? [False, False] Translation: X:2.65, Y:0.05, Z:-0.90 [[ 9.99984145e-01 2.18862397e-03 -5.18834593e-03 2.64952000e+00] [-2.17793410e-03 9.99995496e-01 2.06511790e-03 5.46616366e-02] [ 5.19284233e-03 -2.05378528e-03 9.99984408e-01 -8.95769566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.622414037 meters Centerline goodness [0,1] 0.6335613229644899 Centerline is valid? [False, False] Translation: X:2.65, Y:0.05, Z:-0.90 [[ 9.99984508e-01 2.22484143e-03 -5.10239343e-03 2.64934902e+00] [-2.21265939e-03 9.99994691e-01 2.39191806e-03 5.30217139e-02] [ 5.10768799e-03 -2.38059114e-03 9.99984122e-01 -8.95853734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.652414037 meters Centerline goodness [0,1] 0.6373585170951187 Centerline is valid? [False, False] Translation: X:2.65, Y:0.05, Z:-0.90 [[ 9.99985404e-01 2.15313272e-03 -4.95546852e-03 2.64899164e+00] [-2.13968563e-03 9.99994019e-01 2.71729016e-03 5.10806562e-02] [ 4.96128957e-03 -2.70664736e-03 9.99984030e-01 -8.95939665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68241403699997 meters Centerline goodness [0,1] 0.6295212889446069 Centerline is valid? [False, False] Translation: X:2.65, Y:0.05, Z:-0.90 [[ 9.99984387e-01 -9.67019949e-04 -5.50370479e-03 2.65069573e+00] [ 9.64077259e-04 9.99999391e-01 -5.37302328e-04 4.92476078e-02] [ 5.50422102e-03 5.31987943e-04 9.99984710e-01 -8.96304007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71241403699997 meters Centerline goodness [0,1] 0.6328346420108721 Centerline is valid? [False, False] Translation: X:2.65, Y:0.05, Z:-0.90 [[ 9.99984566e-01 -9.28566807e-04 -5.47776843e-03 2.65066571e+00] [ 9.26874628e-04 9.99999522e-01 -3.11448117e-04 4.85793178e-02] [ 5.47805501e-03 3.06366106e-04 9.99984948e-01 -8.96336794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74241403699997 meters Centerline goodness [0,1] 0.6361290022554468 Centerline is valid? [False, False] Translation: X:2.65, Y:0.05, Z:-0.90 [[ 9.99984265e-01 -1.01012861e-03 -5.51801321e-03 2.65051297e+00] [ 1.00803094e-03 9.99999419e-01 -3.82916959e-04 4.86377856e-02] [ 5.51839679e-03 3.77348606e-04 9.99984702e-01 -8.95991301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77241403699998 meters Centerline goodness [0,1] 0.6298717918886847 Centerline is valid? [False, False] Translation: X:2.65, Y:0.05, Z:-0.90 [[ 9.99984136e-01 -1.04840674e-03 -5.53436063e-03 2.65045140e+00] [ 1.04643524e-03 9.99999388e-01 -3.59112365e-04 4.86324187e-02] [ 5.53473374e-03 3.53315318e-04 9.99984621e-01 -8.95874670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80241403699998 meters Centerline goodness [0,1] 0.6365727295959854 Centerline is valid? [False, False] Translation: X:2.65, Y:0.05, Z:-0.90 [[ 9.99984113e-01 -8.30046210e-04 -5.57531604e-03 2.65064529e+00] [ 8.29937867e-04 9.99999655e-01 -2.17461262e-05 4.77514318e-02] [ 5.57533217e-03 1.71186148e-05 9.99984458e-01 -8.95933055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83241403699998 meters Centerline goodness [0,1] 0.6397137165886877 Centerline is valid? [False, False] Translation: X:2.65, Y:0.05, Z:-0.90 [[ 9.99983421e-01 -6.02775566e-04 -5.72668201e-03 2.65110783e+00] [ 6.04420055e-04 9.99999777e-01 2.85436205e-04 4.66558934e-02] [ 5.72650868e-03 -2.88892795e-04 9.99983562e-01 -8.96134341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86241403699998 meters Centerline goodness [0,1] 0.6283488592496707 Centerline is valid? [False, False] Translation: X:2.65, Y:0.05, Z:-0.90 [[ 9.99983903e-01 -4.97727903e-04 -5.65209547e-03 2.65115643e+00] [ 5.01173746e-04 9.99999689e-01 6.08257742e-04 4.54653511e-02] [ 5.65179096e-03 -6.11080633e-04 9.99983842e-01 -8.96485525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89241403699998 meters Centerline goodness [0,1] 0.6365020766035994 Centerline is valid? [False, False] Translation: X:2.65, Y:0.04, Z:-0.90 [[ 9.99984575e-01 -2.22324216e-04 -5.54972302e-03 2.65129556e+00] [ 2.29283600e-04 9.99999188e-01 1.25340103e-03 4.33482892e-02] [ 5.54943985e-03 -1.25465416e-03 9.99983815e-01 -8.97024289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92241403699998 meters Centerline goodness [0,1] 0.6390710130205928 Centerline is valid? [False, False] Translation: X:2.65, Y:0.04, Z:-0.90 [[ 9.99983869e-01 -1.88618877e-04 -5.67678816e-03 2.65127588e+00] [ 1.95219667e-04 9.99999306e-01 1.16223676e-03 4.32955080e-02] [ 5.67656500e-03 -1.16332623e-03 9.99983212e-01 -8.96562686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95241403699998 meters Centerline goodness [0,1] 0.641485098346308 Centerline is valid? [False, False] Translation: X:2.65, Y:0.04, Z:-0.90 [[ 9.99982967e-01 4.24229013e-05 -5.83651323e-03 2.65168281e+00] [-3.48165687e-05 9.99999150e-01 1.30332774e-03 4.32416404e-02] [ 5.83656356e-03 -1.30310233e-03 9.99982118e-01 -8.96533649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98241403699998 meters Centerline goodness [0,1] 0.6364158265781799 Centerline is valid? [False, False] Translation: X:2.65, Y:0.04, Z:-0.90 [[ 9.99981688e-01 4.06712899e-04 -6.03798469e-03 2.65233671e+00] [-3.96862003e-04 9.99998589e-01 1.63259591e-03 4.29606705e-02] [ 6.03864017e-03 -1.63016977e-03 9.99980438e-01 -8.96721291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01241403699999 meters Centerline goodness [0,1] 0.6528478315944632 Centerline is valid? [False, False] Translation: X:2.65, Y:0.04, Z:-0.90 [[ 9.99980986e-01 6.00043613e-04 -6.13745494e-03 2.65246658e+00] [-5.90022851e-04 9.99998490e-01 1.63440306e-03 4.26636965e-02] [ 6.13842639e-03 -1.63075075e-03 9.99979830e-01 -8.96424057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.042414037 meters Centerline goodness [0,1] 0.6528478315944632 Centerline is valid? [False, False] Translation: X:2.65, Y:0.04, Z:-0.90 [[ 9.99980986e-01 6.00043613e-04 -6.13745494e-03 2.65246658e+00] [-5.90022851e-04 9.99998490e-01 1.63440306e-03 4.26636965e-02] [ 6.13842639e-03 -1.63075075e-03 9.99979830e-01 -8.96424057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.072414037 meters Centerline goodness [0,1] 0.6444977954246405 Centerline is valid? [False, False] Translation: X:2.65, Y:0.04, Z:-0.90 [[ 9.99980737e-01 6.84464460e-04 -6.16912271e-03 2.65250029e+00] [-6.73610423e-04 9.99998222e-01 1.76131960e-03 4.18634929e-02] [ 6.17031730e-03 -1.75713009e-03 9.99979420e-01 -8.96361790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.102414037 meters Centerline goodness [0,1] 0.6414048484290906 Centerline is valid? [False, False] Translation: X:2.65, Y:0.04, Z:-0.90 [[ 9.99979838e-01 9.01656499e-04 -6.28579097e-03 2.65283468e+00] [-8.88470958e-04 9.99997400e-01 2.10015111e-03 4.06877079e-02] [ 6.28766824e-03 -2.09452403e-03 9.99978039e-01 -8.96471830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.132414037 meters Centerline goodness [0,1] 0.643508884264447 Centerline is valid? [False, False] Translation: X:2.65, Y:0.04, Z:-0.90 [[ 9.99979826e-01 1.10149691e-03 -6.25574182e-03 2.65287673e+00] [-1.08588518e-03 9.99996289e-01 2.49843289e-03 3.88599547e-02] [ 6.25847063e-03 -2.49158947e-03 9.99977312e-01 -8.96558586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.162414037 meters Centerline goodness [0,1] 0.64910587045465 Centerline is valid? [False, False] Translation: X:2.65, Y:0.04, Z:-0.90 [[ 9.99978405e-01 1.28899640e-03 -6.44421723e-03 2.65310054e+00] [-1.27332153e-03 9.99996223e-01 2.43590428e-03 3.89550247e-02] [ 6.44733276e-03 -2.42764611e-03 9.99976269e-01 -8.96085998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.192414037 meters Centerline goodness [0,1] 0.6507522154290033 Centerline is valid? [False, False] Translation: X:2.65, Y:0.04, Z:-0.90 [[ 9.99976668e-01 1.55078099e-03 -6.65271238e-03 2.65376571e+00] [-1.53361150e-03 9.99995483e-01 2.58515118e-03 3.88831424e-02] [ 6.65669133e-03 -2.57488819e-03 9.99974529e-01 -8.96247070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.222414037 meters Centerline goodness [0,1] 0.6437278444825615 Centerline is valid? [False, False] Translation: X:2.65, Y:0.04, Z:-0.90 [[ 9.99974629e-01 1.83704971e-03 -6.88227875e-03 2.65455269e+00] [-1.81757337e-03 9.99994329e-01 2.83511242e-03 3.85781695e-02] [ 6.88744796e-03 -2.82253145e-03 9.99972298e-01 -8.96575507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.252414037 meters Centerline goodness [0,1] 0.6535539693833055 Centerline is valid? [False, False] Translation: X:2.66, Y:0.04, Z:-0.90 [[ 9.99973444e-01 2.01138926e-03 -7.00461921e-03 2.65512244e+00] [-1.98989605e-03 9.99993295e-01 3.07405205e-03 3.78801578e-02] [ 7.01075536e-03 -3.06003195e-03 9.99970742e-01 -8.96967346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.282414037 meters Centerline goodness [0,1] 0.6504303241164622 Centerline is valid? [False, False] Translation: X:2.66, Y:0.04, Z:-0.90 [[ 9.99972819e-01 8.00960858e-06 -7.37305003e-03 2.65814589e+00] [-3.10073158e-06 9.99999778e-01 6.65797666e-04 3.67211396e-02] [ 7.37305373e-03 -6.65756707e-04 9.99972597e-01 -8.99233950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.312414037 meters Centerline goodness [0,1] 0.6603911533540486 Centerline is valid? [False, False] Translation: X:2.66, Y:0.04, Z:-0.90 [[ 9.99972694e-01 1.34880433e-04 -7.38876741e-03 2.65831199e+00] [-1.27893059e-04 9.99999544e-01 9.46139566e-04 3.56275273e-02] [ 7.38889166e-03 -9.45168758e-04 9.99972255e-01 -8.99439488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.342414037 meters Centerline goodness [0,1] 0.6465588154647656 Centerline is valid? [False, False] Translation: X:2.66, Y:0.04, Z:-0.90 [[ 9.99974296e-01 1.53492541e-04 -7.16818885e-03 2.65811803e+00] [-1.45365648e-04 9.99999346e-01 1.13425161e-03 3.50186044e-02] [ 7.16835826e-03 -1.13318045e-03 9.99973665e-01 -8.99784956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.372414037 meters Centerline goodness [0,1] 0.63859697011055 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.90 [[ 9.99974633e-01 1.28552240e-04 -7.12161234e-03 2.65788735e+00] [-1.20977578e-04 9.99999427e-01 1.06403675e-03 3.49074207e-02] [ 7.12174504e-03 -1.06314820e-03 9.99974075e-01 -8.99387826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.402414037 meters Centerline goodness [0,1] 0.650113895216401 Centerline is valid? [False, False] Translation: X:2.66, Y:0.04, Z:-0.90 [[ 9.99975140e-01 1.14457607e-05 -7.05121275e-03 2.65755049e+00] [-5.22522855e-06 9.99999611e-01 8.82211025e-04 3.52265200e-02] [ 7.05122010e-03 -8.82152249e-04 9.99974751e-01 -8.99076572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43241403699997 meters Centerline goodness [0,1] 0.6469381241165473 Centerline is valid? [False, False] Translation: X:2.66, Y:0.04, Z:-0.90 [[ 9.99974658e-01 1.53844326e-05 -7.11922741e-03 2.65767189e+00] [-9.02294072e-06 9.99999601e-01 8.93596171e-04 3.53224228e-02] [ 7.11923831e-03 -8.93509289e-04 9.99974259e-01 -8.99020152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46241403699997 meters Centerline goodness [0,1] 0.644889213093827 Centerline is valid? [False, False] Translation: X:2.66, Y:0.04, Z:-0.90 [[ 9.99974675e-01 -1.18098917e-05 -7.11677612e-03 2.65765743e+00] [ 1.81105102e-05 9.99999608e-01 8.85255408e-04 3.51688937e-02] [ 7.11676287e-03 -8.85361878e-04 9.99974284e-01 -8.98951509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49241403699997 meters Centerline goodness [0,1] 0.6370045255042867 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.90 [[ 9.99975924e-01 -3.35888733e-05 -6.93906483e-03 2.65750530e+00] [ 4.17998493e-05 9.99999299e-01 1.18315556e-03 3.38813831e-02] [ 6.93902023e-03 -1.18341713e-03 9.99975224e-01 -8.99251177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52241403699998 meters Centerline goodness [0,1] 0.6470147389457906 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.90 [[ 9.99976947e-01 -1.94378282e-04 -6.78725732e-03 2.65708780e+00] [ 2.02520162e-04 9.99999261e-01 1.19891656e-03 3.30929530e-02] [ 6.78701926e-03 -1.20026348e-03 9.99976248e-01 -8.99144656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55241403699998 meters Centerline goodness [0,1] 0.6276328020495613 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.90 [[ 9.99977018e-01 -1.55333674e-04 -6.77789540e-03 2.65720133e+00] [ 1.65472372e-04 9.99998868e-01 1.49531241e-03 3.17793478e-02] [ 6.77765546e-03 -1.49639960e-03 9.99975912e-01 -8.99395607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58241403699998 meters Centerline goodness [0,1] 0.635740391818574 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.90 [[ 9.99977771e-01 -2.45544224e-04 -6.66316567e-03 2.65703438e+00] [ 2.56016718e-04 9.99998733e-01 1.57089198e-03 3.09268022e-02] [ 6.66277151e-03 -1.57256294e-03 9.99976567e-01 -8.99525815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61241403699998 meters Centerline goodness [0,1] 0.6464988412777752 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.90 [[ 9.99977443e-01 1.89356233e-04 -6.71395072e-03 2.65794804e+00] [-1.74276017e-04 9.99997461e-01 2.24661561e-03 2.95080268e-02] [ 6.71435908e-03 -2.24539485e-03 9.99974937e-01 -9.00612947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64241403699998 meters Centerline goodness [0,1] 0.6250848838788537 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.90 [[ 9.99976986e-01 2.77097186e-04 -6.77871727e-03 2.65833062e+00] [-2.61611005e-04 9.99997354e-01 2.28530974e-03 2.93674956e-02] [ 6.77933259e-03 -2.28348375e-03 9.99974413e-01 -9.00836500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67241403699998 meters Centerline goodness [0,1] 0.6390785368720893 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.90 [[ 9.99976551e-01 5.06030943e-04 -6.82939158e-03 2.65838675e+00] [-4.88807811e-04 9.99996697e-01 2.52334664e-03 2.84862015e-02] [ 6.83064591e-03 -2.51994921e-03 9.99973496e-01 -9.00704688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70241403699998 meters Centerline goodness [0,1] 0.6272101162921982 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.90 [[ 9.99976393e-01 6.44688370e-04 -6.84083009e-03 2.65848303e+00] [-6.26333641e-04 9.99996199e-01 2.68491752e-03 2.75917902e-02] [ 6.84253502e-03 -2.68056950e-03 9.99972997e-01 -9.00706136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73241403699998 meters Centerline goodness [0,1] 0.6331776228194886 Centerline is valid? [False, False] Translation: X:2.66, Y:0.03, Z:-0.90 [[ 9.99976782e-01 7.78880926e-04 -6.76972048e-03 2.65849047e+00] [-7.58789730e-04 9.99995302e-01 2.96986486e-03 2.64020135e-02] [ 6.77200184e-03 -2.96465911e-03 9.99972675e-01 -9.00885403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76241403699999 meters Centerline goodness [0,1] 0.6293487555695576 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.90 [[ 9.99976208e-01 1.14264221e-03 -6.80270631e-03 2.65879578e+00] [-1.11848951e-03 9.99993062e-01 3.55320085e-03 2.44380418e-02] [ 6.80671915e-03 -3.54550755e-03 9.99970549e-01 -9.01169277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.792414037 meters Centerline goodness [0,1] 0.6341556659995052 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.90 [[ 9.99976218e-01 1.09930011e-03 -6.80844599e-03 2.65857428e+00] [-1.07546568e-03 9.99993285e-01 3.50338643e-03 2.40302363e-02] [ 6.81225154e-03 -3.49598087e-03 9.99970685e-01 -9.00780969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.822414037 meters Centerline goodness [0,1] 0.6287546405669929 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.90 [[ 9.99976431e-01 9.88733865e-04 -6.79408998e-03 2.65820318e+00] [-9.65650803e-04 9.99993754e-01 3.39996176e-03 2.37734494e-02] [ 6.79740920e-03 -3.39332091e-03 9.99971140e-01 -9.00277976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.852414037 meters Centerline goodness [0,1] 0.6218073556734494 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.90 [[ 9.99975614e-01 1.19347604e-03 -6.88093946e-03 2.65839807e+00] [-1.16816461e-03 9.99992542e-01 3.68133126e-03 2.29180453e-02] [ 6.88528172e-03 -3.67320341e-03 9.99969550e-01 -9.00171718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.882414037 meters Centerline goodness [0,1] 0.6279419690980956 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.90 [[ 9.99975321e-01 1.17194413e-03 -6.92707848e-03 2.65840274e+00] [-1.14635712e-03 9.99992511e-01 3.69658337e-03 2.23936826e-02] [ 6.93135879e-03 -3.68855123e-03 9.99969175e-01 -9.00047267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.912414037 meters Centerline goodness [0,1] 0.6175738410818812 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.90 [[ 9.99974915e-01 1.24993404e-03 -6.97193445e-03 2.65868503e+00] [-1.22314131e-03 9.99991857e-01 3.84588271e-03 2.15197054e-02] [ 6.97668478e-03 -3.83725857e-03 9.99968300e-01 -9.00276206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.942414037 meters Centerline goodness [0,1] 0.6216337421799673 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.90 [[ 9.99974132e-01 1.29074631e-03 -7.07603355e-03 2.65897162e+00] [-1.26264544e-03 9.99991305e-01 3.97430428e-03 2.06013341e-02] [ 7.08110184e-03 -3.96526695e-03 9.99967067e-01 -9.00410330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.972414037 meters Centerline goodness [0,1] 0.6048426690470877 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.90 [[ 9.99971553e-01 -1.09032287e-03 -7.46359891e-03 2.66127840e+00] [ 1.09803456e-03 9.99998868e-01 1.02922051e-03 2.07215517e-02] [ 7.46246827e-03 -1.03738652e-03 9.99971617e-01 -9.01721580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.002414037 meters Centerline goodness [0,1] 0.6224151821681139 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.90 [[ 9.99971825e-01 -1.20335907e-03 -7.40946702e-03 2.66114156e+00] [ 1.21024738e-03 9.99998840e-01 9.25249744e-04 2.07229787e-02] [ 7.40834502e-03 -9.34190964e-04 9.99972121e-01 -9.01621302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.032414037 meters Centerline goodness [0,1] 0.6372901812655059 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.90 [[ 9.99972415e-01 -1.23117550e-03 -7.32483986e-03 2.66102802e+00] [ 1.23936099e-03 9.99998613e-01 1.11306437e-03 2.01900712e-02] [ 7.32345932e-03 -1.12211179e-03 9.99972554e-01 -9.01652124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.062414037 meters Centerline goodness [0,1] 0.6385429012276661 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.90 [[ 9.99973229e-01 -1.36157744e-03 -7.18933920e-03 2.66070706e+00] [ 1.37010671e-03 9.99998363e-01 1.18158582e-03 1.97649443e-02] [ 7.18771861e-03 -1.19140435e-03 9.99973458e-01 -9.01670087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.092414037 meters Centerline goodness [0,1] 0.6365912545828489 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.90 [[ 9.99974859e-01 -1.61378855e-03 -6.90489550e-03 2.66003455e+00] [ 1.62362829e-03 9.99997674e-01 1.41966998e-03 1.80427783e-02] [ 6.90258839e-03 -1.43084527e-03 9.99975153e-01 -9.01659632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.122414037 meters Centerline goodness [0,1] 0.6374575817110198 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.90 [[ 9.99975530e-01 -1.54022871e-03 -6.82407652e-03 2.66022810e+00] [ 1.55269421e-03 9.99997135e-01 1.82177190e-03 1.67151297e-02] [ 6.82125102e-03 -1.83232302e-03 9.99975056e-01 -9.02171715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.152414037 meters Centerline goodness [0,1] 0.6179106474050294 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.90 [[ 9.99976430e-01 -1.68131128e-03 -6.65669909e-03 2.65995715e+00] [ 1.69421385e-03 9.99996696e-01 1.93311991e-03 1.58211509e-02] [ 6.65342692e-03 -1.94435222e-03 9.99975975e-01 -9.02329186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18241403699997 meters Centerline goodness [0,1] 0.6255195252594847 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.90 [[ 9.99975809e-01 -1.47443378e-03 -6.79762586e-03 2.66075076e+00] [ 1.49068543e-03 9.99996042e-01 2.38633720e-03 1.48654025e-02] [ 6.79408046e-03 -2.39641260e-03 9.99974049e-01 -9.03038473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21241403699997 meters Centerline goodness [0,1] 0.6221989808406951 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.90 [[ 9.99975386e-01 -1.49079418e-03 -6.85599499e-03 2.66093400e+00] [ 1.50834724e-03 9.99995596e-01 2.55579211e-03 1.42442012e-02] [ 6.85215464e-03 -2.56607042e-03 9.99973231e-01 -9.03159267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24241403699997 meters Centerline goodness [0,1] 0.6175738724727838 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.90 [[ 9.99975185e-01 -1.44651261e-03 -6.89475764e-03 2.66108669e+00] [ 1.46401065e-03 9.99995719e-01 2.53350563e-03 1.43231262e-02] [ 6.89106337e-03 -2.54353676e-03 9.99973021e-01 -9.03161895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27241403699998 meters Centerline goodness [0,1] 0.626302112253737 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.90 [[ 9.99974721e-01 -1.30566750e-03 -6.98942787e-03 2.66113909e+00] [ 1.32324161e-03 9.99995974e-01 2.51035060e-03 1.42242336e-02] [ 6.98612204e-03 -2.51953585e-03 9.99972423e-01 -9.02846462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30241403699998 meters Centerline goodness [0,1] 0.6056512963825493 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.90 [[ 9.99974370e-01 -1.22128205e-03 -7.05459243e-03 2.66134993e+00] [ 1.23874675e-03 9.99996178e-01 2.47181191e-03 1.40621481e-02] [ 7.05154669e-03 -2.48048741e-03 9.99972061e-01 -9.02800103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33241403699998 meters Centerline goodness [0,1] 0.6176405243279272 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.90 [[ 9.99974102e-01 -1.19852889e-03 -7.09637799e-03 2.66147398e+00] [ 1.21514591e-03 9.99996529e-01 2.33777066e-03 1.40934957e-02] [ 7.09355147e-03 -2.34633325e-03 9.99972088e-01 -9.02739025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36241403699998 meters Centerline goodness [0,1] 0.6365979381443299 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.90 [[ 9.99974280e-01 -1.02187748e-03 -7.09895179e-03 2.66218860e+00] [ 1.03965544e-03 9.99996332e-01 2.50106856e-03 1.37839587e-02] [ 7.09636997e-03 -2.50838469e-03 9.99971674e-01 -9.03613429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39241403699998 meters Centerline goodness [0,1] 0.6274640531590995 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.90 [[ 9.99974356e-01 -1.00189545e-03 -7.09109827e-03 2.66253311e+00] [ 1.02034972e-03 9.99996101e-01 2.59931646e-03 1.35717921e-02] [ 7.08846638e-03 -2.60648521e-03 9.99971480e-01 -9.04101058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42241403699998 meters Centerline goodness [0,1] 0.6106990584473264 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.90 [[ 9.99974401e-01 -1.05646122e-03 -7.07685176e-03 2.66276008e+00] [ 1.07524877e-03 9.99995907e-01 2.65151058e-03 1.32786667e-02] [ 7.07402157e-03 -2.65905208e-03 9.99971443e-01 -9.04450726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45241403699998 meters Centerline goodness [0,1] 0.6161968699982217 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.90 [[ 9.99975110e-01 -1.26695956e-03 -6.94082522e-03 2.66241806e+00] [ 1.28451026e-03 9.99995988e-01 2.52474533e-03 1.32073952e-02] [ 6.93759862e-03 -2.53359805e-03 9.99972725e-01 -9.04318985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48241403699998 meters Centerline goodness [0,1] 0.6310219870612036 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.90 [[ 9.99974769e-01 -1.47290079e-03 -6.94918344e-03 2.66231171e+00] [ 1.48812889e-03 9.99996502e-01 2.18668936e-03 1.37024495e-02] [ 6.94593836e-03 -2.19697547e-03 9.99973463e-01 -9.04050800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51241403699999 meters Centerline goodness [0,1] 0.6260095672488597 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.90 [[ 9.99974165e-01 -1.41677007e-03 -7.04719951e-03 2.66271990e+00] [ 1.43237494e-03 9.99996533e-01 2.20978230e-03 1.39524803e-02] [ 7.04404432e-03 -2.21981944e-03 9.99972727e-01 -9.04248928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.542414037 meters Centerline goodness [0,1] 0.6157677086575659 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.90 [[ 9.99972289e-01 -1.22576518e-03 -7.34296437e-03 2.66359698e+00] [ 1.24164255e-03 9.99996900e-01 2.15808751e-03 1.48543919e-02] [ 7.34029630e-03 -2.16714504e-03 9.99970711e-01 -9.04460923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.572414037 meters Centerline goodness [0,1] 0.6261353517364203 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.90 [[ 9.99971429e-01 -1.35560516e-03 -7.43669088e-03 2.66375090e+00] [ 1.36953068e-03 9.99997318e-01 1.86776918e-03 1.55176912e-02] [ 7.43413897e-03 -1.87790059e-03 9.99970603e-01 -9.04374953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.602414037 meters Centerline goodness [0,1] 0.6246767721801159 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.90 [[ 9.99970832e-01 -1.38361600e-03 -7.51135269e-03 2.66412457e+00] [ 1.39743353e-03 9.99997341e-01 1.83461580e-03 1.57843720e-02] [ 7.50879431e-03 -1.84505891e-03 9.99970106e-01 -9.04675124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.632414037 meters Centerline goodness [0,1] 0.626229727619515 Centerline is valid? [False, False] Translation: X:2.66, Y:0.02, Z:-0.91 [[ 9.99970358e-01 -1.44958148e-03 -7.56191649e-03 2.66451646e+00] [ 1.46297263e-03 9.99997371e-01 1.76563649e-03 1.60097033e-02] [ 7.55933718e-03 -1.77664703e-03 9.99969850e-01 -9.05047832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.662414037 meters Centerline goodness [0,1] 0.6169055527072513 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:-0.91 [[ 9.99970180e-01 -1.40887197e-03 -7.59308987e-03 2.66542602e+00] [ 1.42511045e-03 9.99996708e-01 2.13360004e-03 1.52520189e-02] [ 7.59005891e-03 -2.14435741e-03 9.99968896e-01 -9.06306070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.692414037 meters Centerline goodness [0,1] 0.6257641336843514 Centerline is valid? [False, False] Translation: X:2.67, Y:0.01, Z:-0.91 [[ 9.99970543e-01 -1.65792486e-03 -7.49431884e-03 2.66514815e+00] [ 1.67327892e-03 9.99996513e-01 2.04295408e-03 1.47179866e-02] [ 7.49090565e-03 -2.05543398e-03 9.99969830e-01 -9.06249982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.722414037 meters Centerline goodness [0,1] 0.6220872003739066 Centerline is valid? [False, False] Translation: X:2.67, Y:0.01, Z:-0.91 [[ 9.99970247e-01 -1.91198960e-03 -7.47331130e-03 2.66535805e+00] [ 1.92898280e-03 9.99995569e-01 2.26730459e-03 1.38500967e-02] [ 7.46894312e-03 -2.28165302e-03 9.99969504e-01 -9.06790111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.752414037 meters Centerline goodness [0,1] 0.6196305314182322 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.91 [[ 9.99970287e-01 -2.42540759e-03 -7.31723992e-03 2.66461623e+00] [ 2.43876835e-03 9.99995374e-01 1.81755970e-03 1.43930531e-02] [ 7.31279775e-03 -1.83535075e-03 9.99971577e-01 -9.06274397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.782414037 meters Centerline goodness [0,1] 0.6142477619270867 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.91 [[ 9.99970191e-01 -2.48838947e-03 -7.30918462e-03 2.66468148e+00] [ 2.50274625e-03 9.99994956e-01 1.95572214e-03 1.41929172e-02] [ 7.30428116e-03 -1.97395688e-03 9.99971375e-01 -9.06413318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.812414037 meters Centerline goodness [0,1] 0.6075216112645931 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.91 [[ 9.99969981e-01 -3.19470914e-03 -7.05910558e-03 2.66361693e+00] [ 3.20804189e-03 9.99993090e-01 1.87821460e-03 1.30296657e-02] [ 7.05305645e-03 -1.90080412e-03 9.99973320e-01 -9.05930812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.842414037 meters Centerline goodness [0,1] 0.6168322123736136 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.91 [[ 9.99970507e-01 -3.46345180e-03 -6.85493022e-03 2.66323190e+00] [ 3.47798244e-03 9.99991728e-01 2.10895146e-03 1.15709640e-02] [ 6.84756927e-03 -2.13273059e-03 9.99974281e-01 -9.06169171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.872414037 meters Centerline goodness [0,1] 0.618442467616436 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.91 [[ 9.99970806e-01 -3.78382662e-03 -6.63846311e-03 2.66274726e+00] [ 3.79877063e-03 9.99990276e-01 2.23996114e-03 1.01889650e-02] [ 6.62992293e-03 -2.26511375e-03 9.99975456e-01 -9.06257929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.902414037 meters Centerline goodness [0,1] 0.6186299174032104 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.91 [[ 9.99970866e-01 -4.06016755e-03 -6.46396175e-03 2.66240315e+00] [ 4.07553840e-03 9.99988895e-01 2.36653688e-03 8.91038828e-03] [ 6.45428143e-03 -2.39281206e-03 9.99976308e-01 -9.06391152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93241403699997 meters Centerline goodness [0,1] 0.6131224734574208 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.91 [[ 0.99997048 -0.00424888 -0.00640226 2.66262584] [ 0.00426688 0.99998698 0.00279987 0.00769782] [ 0.00639028 -0.00282711 0.99997559 -0.90709467] [ 0. 0. 0. 1. ]] SLAMing on 204.96241403699997 meters Centerline goodness [0,1] 0.6131224734574208 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.91 [[ 0.99997048 -0.00424888 -0.00640226 2.66262584] [ 0.00426688 0.99998698 0.00279987 0.00769782] [ 0.00639028 -0.00282711 0.99997559 -0.90709467] [ 0. 0. 0. 1. ]] SLAMing on 204.99241403699997 meters Centerline goodness [0,1] 0.6174104364832429 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.91 [[ 0.99996977 -0.00432693 -0.00646008 2.66280039] [ 0.00434462 0.99998685 0.00272593 0.0082366 ] [ 0.0064482 -0.00275391 0.99997542 -0.90717447] [ 0. 0. 0. 1. ]] SLAMing on 205.02241403699998 meters Centerline goodness [0,1] 0.6206604949261172 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.91 [[ 9.99968427e-01 -4.33597966e-03 -6.65915305e-03 2.66321024e+00] [ 4.35306264e-03 9.99987266e-01 2.55298998e-03 9.16842355e-03] [ 6.64799855e-03 -2.58189709e-03 9.99974569e-01 -9.07110669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05241403699998 meters Centerline goodness [0,1] 0.6312347052280312 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.91 [[ 9.99968247e-01 -3.93019040e-03 -6.93245913e-03 2.66399875e+00] [ 3.94669957e-03 9.99989405e-01 2.36935986e-03 1.06867283e-02] [ 6.92307365e-03 -2.39664496e-03 9.99973163e-01 -9.07047530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08241403699998 meters Centerline goodness [0,1] 0.6264886242445787 Centerline is valid? [False, False] Translation: X:2.66, Y:0.01, Z:-0.91 [[ 9.99967986e-01 -3.57530659e-03 -7.15856232e-03 2.66475177e+00] [ 3.59258870e-03 9.99990660e-01 2.40278571e-03 1.12698173e-02] [ 7.14990476e-03 -2.42842656e-03 9.99971490e-01 -9.07230448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11241403699998 meters Centerline goodness [0,1] 0.6388696835203069 Centerline is valid? [False, False] Translation: X:2.67, Y:0.01, Z:-0.91 [[ 9.99967699e-01 -2.98498400e-03 -7.46261757e-03 2.66571734e+00] [ 3.00031381e-03 9.99993410e-01 2.04386329e-03 1.33345466e-02] [ 7.45646749e-03 -2.06618746e-03 9.99970066e-01 -9.07170303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14241403699998 meters Centerline goodness [0,1] 0.63029722383138 Centerline is valid? [False, False] Translation: X:2.67, Y:0.01, Z:-0.91 [[ 9.99966538e-01 -2.53672714e-03 -7.77742033e-03 2.66686495e+00] [ 2.55221149e-03 9.99994780e-01 1.98165810e-03 1.47501323e-02] [ 7.77235280e-03 -2.00144141e-03 9.99967792e-01 -9.07556482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17241403699998 meters Centerline goodness [0,1] 0.6283958314776877 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:-0.91 [[ 9.99964656e-01 -1.97194225e-03 -8.17298247e-03 2.66842663e+00] [ 1.98780409e-03 9.99996156e-01 1.93309669e-03 1.62300285e-02] [ 8.16913910e-03 -1.94927466e-03 9.99964732e-01 -9.08173404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20241403699998 meters Centerline goodness [0,1] 0.634138730385164 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:-0.91 [[ 9.99962230e-01 -1.53259642e-03 -8.55508924e-03 2.66979732e+00] [ 1.54821686e-03 9.99997146e-01 1.81954133e-03 1.78383748e-02] [ 8.55227620e-03 -1.83271774e-03 9.99961749e-01 -9.08741981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23241403699998 meters Centerline goodness [0,1] 0.6406204534771807 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:-0.91 [[ 9.99961228e-01 -3.94034473e-04 -8.79699735e-03 2.67153875e+00] [ 4.09857507e-04 9.99998301e-01 1.79695539e-03 2.04512565e-02] [ 8.79627435e-03 -1.80049123e-03 9.99959691e-01 -9.09673742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26241403699999 meters Centerline goodness [0,1] 0.640541567059139 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:-0.91 [[ 9.99959974e-01 -2.45872236e-04 -8.94375047e-03 2.67213837e+00] [ 2.58580991e-04 9.99998959e-01 1.41983630e-03 2.20387429e-02] [ 8.94339206e-03 -1.42209215e-03 9.99958996e-01 -9.09786363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.292414037 meters Centerline goodness [0,1] 0.641703081232493 Centerline is valid? [False, False] Translation: X:2.67, Y:0.02, Z:-0.91 [[ 9.99958778e-01 -1.53595352e-04 -9.07852814e-03 2.67250298e+00] [ 1.62207341e-04 9.99999538e-01 9.47882016e-04 2.39440015e-02] [ 9.07837835e-03 -9.49315546e-04 9.99958340e-01 -9.09609184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.322414037 meters Centerline goodness [0,1] 0.6447397961474564 Centerline is valid? [False, False] Translation: X:2.67, Y:0.03, Z:-0.91 [[ 9.99956860e-01 3.38059823e-04 -9.28245473e-03 2.67321595e+00] [-3.34322525e-04 9.99999862e-01 4.04168307e-04 2.77575875e-02] [ 9.28259009e-03 -4.01047537e-04 9.99956835e-01 -9.09293358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.352414037 meters Centerline goodness [0,1] 0.6478832051109011 Centerline is valid? [False, False] Translation: X:2.67, Y:0.03, Z:-0.91 [[ 9.99954684e-01 3.69874772e-04 -9.51283207e-03 2.67367225e+00] [-3.69226512e-04 9.99999929e-01 6.99019826e-05 2.94901620e-02] [ 9.51285725e-03 -6.63864251e-05 9.99954750e-01 -9.09136128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.382414037 meters Centerline goodness [0,1] 0.6457559592139914 Centerline is valid? [False, False] Translation: X:2.67, Y:0.03, Z:-0.91 [[ 9.99953706e-01 2.34361131e-04 -9.61926791e-03 2.67381326e+00] [-2.37677171e-04 9.99999913e-01 -3.43587270e-04 3.10025404e-02] [ 9.61918655e-03 3.45857645e-04 9.99953675e-01 -9.08918429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.412414037 meters Centerline goodness [0,1] 0.6485503973988439 Centerline is valid? [False, False] Translation: X:2.67, Y:0.03, Z:-0.91 [[ 9.99953770e-01 5.23038551e-05 -9.61537654e-03 2.67383925e+00] [-5.89467688e-05 9.99999760e-01 -6.90581493e-04 3.20775338e-02] [ 9.61533811e-03 6.91116363e-04 9.99953533e-01 -9.08893738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.442414037 meters Centerline goodness [0,1] 0.6499864633155852 Centerline is valid? [False, False] Translation: X:2.67, Y:0.03, Z:-0.91 [[ 9.99952723e-01 5.61721016e-05 -9.72360958e-03 2.67439052e+00] [-6.29033791e-05 9.99999759e-01 -6.91956738e-04 3.25683877e-02] [ 9.72356836e-03 6.92535672e-04 9.99952485e-01 -9.09373916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.472414037 meters Centerline goodness [0,1] 0.6416399945904521 Centerline is valid? [False, False] Translation: X:2.67, Y:0.03, Z:-0.91 [[ 9.99951791e-01 -2.36153335e-04 -9.81632652e-03 2.67496394e+00] [ 2.26014632e-04 9.99999440e-01 -1.03393729e-03 3.37692705e-02] [ 9.81656519e-03 1.03166881e-03 9.99951284e-01 -9.09926966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.502414037 meters Centerline goodness [0,1] 0.6541553748870822 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.91 [[ 9.99951420e-01 -3.12637843e-04 -9.85184774e-03 2.67535693e+00] [ 3.02982781e-04 9.99999472e-01 -9.81502774e-04 3.42007110e-02] [ 9.85214940e-03 9.78470153e-04 9.99950988e-01 -9.10417917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.532414037 meters Centerline goodness [0,1] 0.6416626959816667 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.91 [[ 9.99951860e-01 -7.39920389e-04 -9.78413919e-03 2.67519554e+00] [ 7.26899319e-04 9.99998846e-01 -1.33432373e-03 3.48830253e-02] [ 9.78511519e-03 1.32714741e-03 9.99951244e-01 -9.10465748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.562414037 meters Centerline goodness [0,1] 0.651877753053903 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.91 [[ 9.99952068e-01 -1.06446135e-03 -9.73289146e-03 2.67572052e+00] [ 1.05401542e-03 9.99998863e-01 -1.07832713e-03 3.46082594e-02] [ 9.73402824e-03 1.06801682e-03 9.99952053e-01 -9.11683897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.592414037 meters Centerline goodness [0,1] 0.642416265771081 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.91 [[ 9.99952074e-01 -1.34700033e-03 -9.69718429e-03 2.67573992e+00] [ 1.33545641e-03 9.99998392e-01 -1.19681715e-03 3.49210429e-02] [ 9.69878081e-03 1.18380963e-03 9.99952265e-01 -9.11925292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.622414037 meters Centerline goodness [0,1] 0.6415021381130015 Centerline is valid? [False, False] Translation: X:2.68, Y:0.04, Z:-0.91 [[ 9.99951305e-01 -1.68874427e-03 -9.72290222e-03 2.67571313e+00] [ 1.67332773e-03 9.99997330e-01 -1.59350692e-03 3.64918418e-02] [ 9.72556729e-03 1.57715972e-03 9.99951462e-01 -9.11829252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.652414037 meters Centerline goodness [0,1] 0.6370248763025287 Centerline is valid? [False, False] Translation: X:2.68, Y:0.04, Z:-0.91 [[ 9.99951591e-01 -1.84690700e-03 -9.66456391e-03 2.67559624e+00] [ 1.83008049e-03 9.99996795e-01 -1.74960657e-03 3.72014644e-02] [ 9.66776429e-03 1.73183494e-03 9.99951766e-01 -9.11825111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68241403699997 meters Centerline goodness [0,1] 0.638597132158188 Centerline is valid? [False, False] Translation: X:2.68, Y:0.04, Z:-0.91 [[ 9.99952073e-01 -2.15369426e-03 -9.55056218e-03 2.67503475e+00] [ 2.13459401e-03 9.99995702e-01 -2.00965209e-03 3.78786049e-02] [ 9.55484931e-03 1.98916920e-03 9.99952373e-01 -9.11421734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71241403699997 meters Centerline goodness [0,1] 0.638617135299081 Centerline is valid? [False, False] Translation: X:2.68, Y:0.04, Z:-0.91 [[ 9.99951686e-01 -2.23164886e-03 -9.57311313e-03 2.67502062e+00] [ 2.21182654e-03 9.99995389e-01 -2.08071145e-03 3.81800082e-02] [ 9.57771240e-03 2.05943686e-03 9.99952012e-01 -9.11334829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74241403699997 meters Centerline goodness [0,1] 0.6352002924978862 Centerline is valid? [False, False] Translation: X:2.67, Y:0.04, Z:-0.91 [[ 9.99951641e-01 -2.76428119e-03 -9.43797260e-03 2.67433203e+00] [ 2.74186044e-03 9.99993391e-01 -2.38770205e-03 3.88556918e-02] [ 9.44451050e-03 2.36170898e-03 9.99952611e-01 -9.10986219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77241403699998 meters Centerline goodness [0,1] 0.6342161283677066 Centerline is valid? [False, False] Translation: X:2.67, Y:0.04, Z:-0.91 [[ 9.99952754e-01 -2.77621405e-03 -9.31572425e-03 2.67457899e+00] [ 2.75661339e-03 9.99993961e-01 -2.11622166e-03 3.86873076e-02] [ 9.32154308e-03 2.09044183e-03 9.99954368e-01 -9.11793475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80241403699998 meters Centerline goodness [0,1] 0.6324645633287609 Centerline is valid? [False, False] Translation: X:2.68, Y:0.04, Z:-0.91 [[ 9.99952132e-01 -2.70230740e-03 -9.40374970e-03 2.67510555e+00] [ 2.68577125e-03 9.99994826e-01 -1.77064775e-03 3.81035734e-02] [ 9.40848588e-03 1.74530667e-03 9.99954216e-01 -9.12367845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83241403699998 meters Centerline goodness [0,1] 0.6326521281945778 Centerline is valid? [False, False] Translation: X:2.68, Y:0.04, Z:-0.91 [[ 9.99951956e-01 -2.85743148e-03 -9.37665298e-03 2.67547736e+00] [ 2.84410302e-03 9.99994927e-01 -1.43447822e-03 3.73493089e-02] [ 9.38070433e-03 1.40774113e-03 9.99955009e-01 -9.13178898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86241403699998 meters Centerline goodness [0,1] 0.631281335134269 Centerline is valid? [False, False] Translation: X:2.68, Y:0.04, Z:-0.91 [[ 9.99951550e-01 -2.81012741e-03 -9.43405603e-03 2.67581685e+00] [ 2.79864646e-03 9.99995327e-01 -1.22994989e-03 3.71921531e-02] [ 9.43746827e-03 1.20348772e-03 9.99954742e-01 -9.13512562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89241403699998 meters Centerline goodness [0,1] 0.6124936865788144 Centerline is valid? [False, False] Translation: X:2.68, Y:0.04, Z:-0.91 [[ 9.99951311e-01 -3.07404869e-03 -9.37691787e-03 2.67549041e+00] [ 3.06052588e-03 9.99994256e-01 -1.45614761e-03 3.76135067e-02] [ 9.38134029e-03 1.42737842e-03 9.99954976e-01 -9.13281902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92241403699998 meters Centerline goodness [0,1] 0.6289989916582639 Centerline is valid? [False, False] Translation: X:2.68, Y:0.04, Z:-0.91 [[ 9.99950783e-01 -2.95402831e-03 -9.47130648e-03 2.67585785e+00] [ 2.94170599e-03 9.99994809e-01 -1.31468428e-03 3.77319282e-02] [ 9.47514092e-03 1.28675778e-03 9.99954282e-01 -9.13421861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95241403699998 meters Centerline goodness [0,1] 0.6291428702493176 Centerline is valid? [False, False] Translation: X:2.68, Y:0.04, Z:-0.91 [[ 9.99950901e-01 -2.82180687e-03 -9.49907790e-03 2.67615549e+00] [ 2.81169558e-03 9.99995467e-01 -1.07763679e-03 3.73661427e-02] [ 9.50207572e-03 1.05087536e-03 9.99954302e-01 -9.13715832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98241403699998 meters Centerline goodness [0,1] 0.632446221731936 Centerline is valid? [False, False] Translation: X:2.68, Y:0.04, Z:-0.91 [[ 9.99951291e-01 -2.91680633e-03 -9.42911372e-03 2.67605555e+00] [ 2.90741700e-03 9.99995264e-01 -1.00933422e-03 3.69209738e-02] [ 9.43201310e-03 9.81870686e-04 9.99955036e-01 -9.13874397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01241403699999 meters Centerline goodness [0,1] 0.6301847014070305 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.91 [[ 9.99952923e-01 -3.02183892e-03 -9.22062710e-03 2.67561754e+00] [ 3.01693113e-03 9.99995300e-01 -5.46124771e-04 3.48294101e-02] [ 9.22223406e-03 5.18281064e-04 9.99957340e-01 -9.14097288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.042414037 meters Centerline goodness [0,1] 0.6301847014070305 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.91 [[ 9.99952923e-01 -3.02183892e-03 -9.22062710e-03 2.67561754e+00] [ 3.01693113e-03 9.99995300e-01 -5.46124771e-04 3.48294101e-02] [ 9.22223406e-03 5.18281064e-04 9.99957340e-01 -9.14097288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.072414037 meters Centerline goodness [0,1] 0.6214703463401261 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.91 [[ 9.99952748e-01 -2.64921707e-03 -9.35326488e-03 2.67619382e+00] [ 2.65103118e-03 9.99996470e-01 1.81562164e-04 3.30878876e-02] [ 9.35275086e-03 -2.06349382e-04 9.99956241e-01 -9.14552143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.102414037 meters Centerline goodness [0,1] 0.6284853739789167 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.91 [[ 9.99952431e-01 -2.45708796e-03 -9.43919955e-03 2.67652190e+00] [ 2.46176939e-03 9.99996853e-01 4.84369244e-04 3.25671451e-02] [ 9.43797970e-03 -5.07583336e-04 9.99955332e-01 -9.14737460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.132414037 meters Centerline goodness [0,1] 0.6382229941269224 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.91 [[ 9.99951280e-01 -2.37700215e-03 -9.58059876e-03 2.67676911e+00] [ 2.38249852e-03 9.99997004e-01 5.62326329e-04 3.24640216e-02] [ 9.57923340e-03 -5.85124695e-04 9.99953947e-01 -9.14648846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.162414037 meters Centerline goodness [0,1] 0.6374729159539286 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99951640e-01 -1.87244905e-03 -9.65466595e-03 2.67757821e+00] [ 1.88468716e-03 9.99997432e-01 1.25864232e-03 3.13925561e-02] [ 9.65228441e-03 -1.27677747e-03 9.99952600e-01 -9.15455683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.192414037 meters Centerline goodness [0,1] 0.6365126710535304 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99951538e-01 -1.82828547e-03 -9.67364386e-03 2.67768885e+00] [ 1.84199835e-03 9.99997311e-01 1.40883100e-03 3.07108242e-02] [ 9.67104211e-03 -1.42658156e-03 9.99952217e-01 -9.15553293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.222414037 meters Centerline goodness [0,1] 0.6361463336899856 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99952196e-01 -1.88208158e-03 -9.59495960e-03 2.67749677e+00] [ 1.89647763e-03 9.99997089e-01 1.49149833e-03 3.00813010e-02] [ 9.59212455e-03 -1.50962366e-03 9.99952855e-01 -9.15561742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.252414037 meters Centerline goodness [0,1] 0.6322548327603088 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99952069e-01 -1.72793475e-03 -9.63707878e-03 2.67753863e+00] [ 1.74285394e-03 9.99997296e-01 1.53991963e-03 2.94759200e-02] [ 9.63439183e-03 -1.55664184e-03 9.99952377e-01 -9.15357821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.282414037 meters Centerline goodness [0,1] 0.6271078587336939 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99950988e-01 -1.44729049e-03 -9.79422472e-03 2.67826068e+00] [ 1.46375283e-03 9.99997528e-01 1.67386145e-03 2.95615134e-02] [ 9.79177795e-03 -1.68811573e-03 9.99950634e-01 -9.15722036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.312414037 meters Centerline goodness [0,1] 0.6458276146033488 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99949074e-01 -1.28986262e-03 -1.00092547e-02 2.67873248e+00] [ 1.30559201e-03 9.99997923e-01 1.56510903e-03 3.01696361e-02] [ 1.00072151e-02 -1.57809733e-03 9.99948681e-01 -9.15600090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.342414037 meters Centerline goodness [0,1] 0.6381312326396794 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99946031e-01 -8.35486463e-04 -1.03555146e-02 2.67972670e+00] [ 8.51321868e-04 9.99998475e-01 1.52486231e-03 3.13958030e-02] [ 1.03542248e-02 -1.53359589e-03 9.99945218e-01 -9.15643568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.372414037 meters Centerline goodness [0,1] 0.6360437752747379 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99944953e-01 -9.54983500e-04 -1.04488883e-02 2.67956271e+00] [ 9.67390418e-04 9.99998833e-01 1.18240146e-03 3.21771448e-02] [ 1.04477469e-02 -1.19244453e-03 9.99944710e-01 -9.15088251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.402414037 meters Centerline goodness [0,1] 0.6373032169746748 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.91 [[ 9.99944600e-01 -1.14490678e-03 -1.04635928e-02 2.67907013e+00] [ 1.15222921e-03 9.99999096e-01 6.93799246e-04 3.25839377e-02] [ 1.04627890e-02 -7.05817267e-04 9.99945014e-01 -9.14177887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43241403699997 meters Centerline goodness [0,1] 0.6359515239874254 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.91 [[ 9.99944620e-01 -1.12943577e-03 -1.04633195e-02 2.67921509e+00] [ 1.13754986e-03 9.99999057e-01 7.69560177e-04 3.22564464e-02] [ 1.04624405e-02 -7.81420107e-04 9.99944962e-01 -9.14346167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46241403699997 meters Centerline goodness [0,1] 0.636690565608285 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.91 [[ 9.99945899e-01 -1.08390902e-03 -1.03452519e-02 2.67928779e+00] [ 1.09319322e-03 9.99999005e-01 8.91823024e-04 3.18922135e-02] [ 1.03442750e-02 -9.03084135e-04 9.99946089e-01 -9.14725417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49241403699997 meters Centerline goodness [0,1] 0.6358145683289269 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99945294e-01 -9.79378349e-04 -1.04139559e-02 2.67987862e+00] [ 9.88895959e-04 9.99999098e-01 9.08818379e-04 3.20037041e-02] [ 1.04130564e-02 -9.19066980e-04 9.99945360e-01 -9.15262904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52241403699998 meters Centerline goodness [0,1] 0.6384178222323256 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99941717e-01 -4.47562222e-04 -1.07871350e-02 2.68130464e+00] [ 4.63148685e-04 9.99998852e-01 1.44245739e-03 3.15984031e-02] [ 1.07864770e-02 -1.44736937e-03 9.99940777e-01 -9.16047530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55241403699998 meters Centerline goodness [0,1] 0.6470077661032435 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99940670e-01 -1.25124050e-04 -1.08922404e-02 2.68162085e+00] [ 1.39618251e-04 9.99999106e-01 1.32994029e-03 3.27217717e-02] [ 1.08920643e-02 -1.33138214e-03 9.99939793e-01 -9.15862320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58241403699998 meters Centerline goodness [0,1] 0.6387702427993879 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99939110e-01 -5.58607894e-05 -1.10350474e-02 2.68176989e+00] [ 6.85220211e-05 9.99999340e-01 1.14699067e-03 3.34659966e-02] [ 1.10349760e-02 -1.14767697e-03 9.99938454e-01 -9.15492605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61241403699998 meters Centerline goodness [0,1] 0.6512169505456871 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99936510e-01 1.85644819e-04 -1.12668747e-02 2.68234869e+00] [-1.72497010e-04 9.99999303e-01 1.16790426e-03 3.38258217e-02] [ 1.12670837e-02 -1.16588661e-03 9.99935845e-01 -9.15453494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64241403699998 meters Centerline goodness [0,1] 0.6468536251709986 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99934600e-01 3.56690949e-04 -1.14310164e-02 2.68286641e+00] [-3.42943106e-04 9.99999216e-01 1.20461652e-03 3.40441532e-02] [ 1.14314371e-02 -1.20061755e-03 9.99933938e-01 -9.15584447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67241403699998 meters Centerline goodness [0,1] 0.6352637706302646 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99934890e-01 2.28439796e-04 -1.14089022e-02 2.68281660e+00] [-2.16870595e-04 9.99999461e-01 1.01527719e-03 3.39385938e-02] [ 1.14091280e-02 -1.01273683e-03 9.99934401e-01 -9.15544244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70241403699998 meters Centerline goodness [0,1] 0.632165568800857 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99935308e-01 1.75879561e-04 -1.13731771e-02 2.68281907e+00] [-1.63328455e-04 9.99999377e-01 1.10449022e-03 3.34009668e-02] [ 1.13733643e-02 -1.10256121e-03 9.99934713e-01 -9.15681189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73241403699998 meters Centerline goodness [0,1] 0.6525667351129363 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99936461e-01 -1.34905111e-04 -1.12719408e-02 2.68234069e+00] [ 1.44307608e-04 9.99999642e-01 8.33341524e-04 3.31756587e-02] [ 1.12718244e-02 -8.34915201e-04 9.99936122e-01 -9.15359395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76241403699999 meters Centerline goodness [0,1] 0.6437035686614101 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99937460e-01 -2.49093404e-04 -1.11809805e-02 2.68217868e+00] [ 2.59347032e-04 9.99999547e-01 9.15619284e-04 3.24917706e-02] [ 1.11807474e-02 -9.18461775e-04 9.99937072e-01 -9.15437978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.792414037 meters Centerline goodness [0,1] 0.6176624439946325 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99938511e-01 -5.28227694e-04 -1.10767417e-02 2.68177484e+00] [ 5.39193631e-04 9.99999368e-01 9.87033568e-04 3.16892714e-02] [ 1.10762133e-02 -9.92945386e-04 9.99938164e-01 -9.15319152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.822414037 meters Centerline goodness [0,1] 0.6150187734668335 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.91 [[ 9.99939520e-01 -7.71621230e-04 -1.09709225e-02 2.68128654e+00] [ 7.80123182e-04 9.99999399e-01 7.70694861e-04 3.17899407e-02] [ 1.09703212e-02 -7.79206921e-04 9.99939521e-01 -9.14902501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.852414037 meters Centerline goodness [0,1] 0.6150187734668335 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.91 [[ 9.99939520e-01 -7.71621230e-04 -1.09709225e-02 2.68128654e+00] [ 7.80123182e-04 9.99999399e-01 7.70694861e-04 3.17899407e-02] [ 1.09703212e-02 -7.79206921e-04 9.99939521e-01 -9.14902501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.882414037 meters Centerline goodness [0,1] 0.64518626468713 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.91 [[ 9.99939802e-01 -9.85747411e-04 -1.09280109e-02 2.68080161e+00] [ 9.91501297e-04 9.99999373e-01 5.21121114e-04 3.22329820e-02] [ 1.09274903e-02 -5.31924880e-04 9.99940152e-01 -9.14303381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.912414037 meters Centerline goodness [0,1] 0.6106953574596821 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.91 [[ 9.99938884e-01 -9.73860389e-04 -1.10127047e-02 2.68089945e+00] [ 9.79396639e-04 9.99999397e-01 4.97332988e-04 3.25240159e-02] [ 1.10122137e-02 -5.08088399e-04 9.99939235e-01 -9.14119068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.942414037 meters Centerline goodness [0,1] 0.6362624886466848 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.91 [[ 9.99939879e-01 -1.10615325e-03 -1.09093937e-02 2.68080424e+00] [ 1.11099708e-03 9.99999287e-01 4.37955180e-04 3.27279459e-02] [ 1.09089015e-02 -4.50049154e-04 9.99940395e-01 -9.14268126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.972414037 meters Centerline goodness [0,1] 0.6445876054804465 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.91 [[ 9.99939172e-01 -1.03334230e-03 -1.09810879e-02 2.68130516e+00] [ 1.04043836e-03 9.99999254e-01 6.40514120e-04 3.20306498e-02] [ 1.09804178e-02 -6.51900304e-04 9.99939501e-01 -9.14765465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.002414037 meters Centerline goodness [0,1] 0.6441474152407751 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99940321e-01 -1.20578597e-03 -1.08581979e-02 2.68132196e+00] [ 1.21356032e-03 9.99999012e-01 7.09428665e-04 3.13554538e-02] [ 1.08573317e-02 -7.22563406e-04 9.99940796e-01 -9.15260283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.032414037 meters Centerline goodness [0,1] 0.6505496002906976 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99942274e-01 -1.44038519e-03 -1.06477352e-02 2.68110253e+00] [ 1.44983823e-03 9.99998562e-01 8.80132765e-04 3.02547695e-02] [ 1.06464521e-02 -8.95519452e-04 9.99942924e-01 -9.15766752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.062414037 meters Centerline goodness [0,1] 0.6449301650643933 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99941689e-01 -1.35352250e-03 -1.07138623e-02 2.68151492e+00] [ 1.36506564e-03 9.99998496e-01 1.07016320e-03 2.99082782e-02] [ 1.07123977e-02 -1.08472592e-03 9.99942032e-01 -9.16127262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.092414037 meters Centerline goodness [0,1] 0.640872341871051 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99939953e-01 -1.17767855e-03 -1.08951169e-02 2.68194849e+00] [ 1.19060556e-03 9.99998595e-01 1.18008585e-03 2.98775186e-02] [ 1.08937118e-02 -1.19298677e-03 9.99939950e-01 -9.16090605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.122414037 meters Centerline goodness [0,1] 0.6443218202874855 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99938710e-01 -1.22927276e-03 -1.10029778e-02 2.68193845e+00] [ 1.23933304e-03 9.99998820e-01 9.07551473e-04 3.06813280e-02] [ 1.10018492e-02 -9.21132203e-04 9.99939054e-01 -9.15640518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.152414037 meters Centerline goodness [0,1] 0.646942351896948 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99937764e-01 -8.40631275e-04 -1.11248016e-02 2.68212213e+00] [ 8.50791776e-04 9.99999225e-01 9.08618712e-04 3.17230132e-02] [ 1.11240292e-02 -9.18027053e-04 9.99937705e-01 -9.15249511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18241403699997 meters Centerline goodness [0,1] 0.6465299433227869 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99937618e-01 -7.35162001e-04 -1.11453874e-02 2.68223981e+00] [ 7.45067590e-04 9.99999331e-01 8.84635265e-04 3.21376890e-02] [ 1.11447296e-02 -8.92884147e-04 9.99937497e-01 -9.15202269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21241403699997 meters Centerline goodness [0,1] 0.6507267508087666 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.91 [[ 9.99938246e-01 -8.66866696e-04 -1.10794253e-02 2.68154651e+00] [ 8.73414938e-04 9.99999447e-01 5.86202314e-04 3.23153105e-02] [ 1.10789110e-02 -5.95843049e-04 9.99938449e-01 -9.14341049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24241403699997 meters Centerline goodness [0,1] 0.647387506556891 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.91 [[ 9.99938843e-01 -8.73039136e-04 -1.10248830e-02 2.68144323e+00] [ 8.80483992e-04 9.99999388e-01 6.70441885e-04 3.19682782e-02] [ 1.10242909e-02 -6.80108116e-04 9.99938999e-01 -9.14360831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27241403699998 meters Centerline goodness [0,1] 0.6508783937942049 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.91 [[ 9.99939302e-01 -9.42405679e-04 -1.09774004e-02 2.68151669e+00] [ 9.49890863e-04 9.99999320e-01 6.76678317e-04 3.16801676e-02] [ 1.09767553e-02 -6.87064577e-04 9.99939518e-01 -9.14619835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30241403699998 meters Centerline goodness [0,1] 0.6475882339538381 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99938432e-01 -8.32639974e-04 -1.10652191e-02 2.68207174e+00] [ 8.42843957e-04 9.99999224e-01 9.17536031e-04 3.10782932e-02] [ 1.10644466e-02 -9.26805793e-04 9.99938358e-01 -9.15148395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33241403699998 meters Centerline goodness [0,1] 0.6480183828548027 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99937257e-01 -6.14035036e-04 -1.11850097e-02 2.68310342e+00] [ 6.29119553e-04 9.99998897e-01 1.34516834e-03 3.04492806e-02] [ 1.11841714e-02 -1.35212065e-03 9.99936541e-01 -9.16272473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36241403699998 meters Centerline goodness [0,1] 0.659622435269738 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99935318e-01 -5.61262475e-04 -1.13597916e-02 2.68354785e+00] [ 5.75421635e-04 9.99999062e-01 1.24319776e-03 3.09457657e-02] [ 1.13590832e-02 -1.24965402e-03 9.99934703e-01 -9.16262311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39241403699998 meters Centerline goodness [0,1] 0.6528033036099199 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99931794e-01 -1.79828266e-04 -1.16779506e-02 2.68468319e+00] [ 1.96776241e-04 9.99998929e-01 1.45014709e-03 3.14235467e-02] [ 1.16776773e-02 -1.45234613e-03 9.99930759e-01 -9.16708678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42241403699998 meters Centerline goodness [0,1] 0.655053694794683 Centerline is valid? [False, False] Translation: X:2.69, Y:0.03, Z:-0.92 [[ 9.99929052e-01 -1.30110808e-04 -1.19111190e-02 2.68512059e+00] [ 1.43957349e-04 9.99999315e-01 1.16163865e-03 3.25636284e-02] [ 1.19109597e-02 -1.16327093e-03 9.99928385e-01 -9.16474789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45241403699998 meters Centerline goodness [0,1] 0.6570959428949349 Centerline is valid? [False, False] Translation: X:2.69, Y:0.03, Z:-0.92 [[ 9.99925663e-01 4.58214681e-05 -1.21928741e-02 2.68568061e+00] [-3.59965122e-05 9.99999675e-01 8.06013148e-04 3.42843872e-02] [ 1.21929070e-02 -8.05514330e-04 9.99925339e-01 -9.16157081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48241403699998 meters Centerline goodness [0,1] 0.6532375740994072 Centerline is valid? [False, False] Translation: X:2.69, Y:0.03, Z:-0.92 [[ 9.99925317e-01 1.54710025e-04 -1.22203279e-02 2.68605642e+00] [-1.44517328e-04 9.99999641e-01 8.34955897e-04 3.47435351e-02] [ 1.22204527e-02 -8.33127491e-04 9.99924980e-01 -9.16475822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51241403699999 meters Centerline goodness [0,1] 0.6609208540990352 Centerline is valid? [False, False] Translation: X:2.69, Y:0.04, Z:-0.92 [[ 9.99927392e-01 -1.48748265e-04 -1.20494094e-02 2.68539846e+00] [ 1.52671991e-04 9.99999936e-01 3.24717217e-04 3.55384590e-02] [ 1.20493603e-02 -3.26533247e-04 9.99927351e-01 -9.16014113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.542414037 meters Centerline goodness [0,1] 0.6521540604095797 Centerline is valid? [False, False] Translation: X:2.69, Y:0.04, Z:-0.92 [[ 9.99929238e-01 -2.55088076e-04 -1.18934155e-02 2.68516474e+00] [ 2.58615799e-04 9.99999923e-01 2.95074353e-04 3.56261252e-02] [ 1.18933393e-02 -2.98129298e-04 9.99929227e-01 -9.16131701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.572414037 meters Centerline goodness [0,1] 0.658549412356519 Centerline is valid? [False, False] Translation: X:2.69, Y:0.04, Z:-0.92 [[ 9.99928608e-01 -2.70996090e-04 -1.19459598e-02 2.68529773e+00] [ 2.72746674e-04 9.99999952e-01 1.44913051e-04 3.62659227e-02] [ 1.19459199e-02 -1.48160926e-04 9.99928634e-01 -9.16079642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.602414037 meters Centerline goodness [0,1] 0.6611278143719446 Centerline is valid? [False, False] Translation: X:2.69, Y:0.04, Z:-0.92 [[ 9.99926410e-01 -2.92743029e-04 -1.21280169e-02 2.68541431e+00] [ 2.89353220e-04 9.99999919e-01 -2.81256112e-04 3.78943534e-02] [ 1.21280983e-02 2.77726134e-04 9.99926413e-01 -9.15491935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.632414037 meters Centerline goodness [0,1] 0.6611278143719446 Centerline is valid? [False, False] Translation: X:2.69, Y:0.04, Z:-0.92 [[ 9.99926410e-01 -2.92743029e-04 -1.21280169e-02 2.68541431e+00] [ 2.89353220e-04 9.99999919e-01 -2.81256112e-04 3.78943534e-02] [ 1.21280983e-02 2.77726134e-04 9.99926413e-01 -9.15491935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.662414037 meters Centerline goodness [0,1] 0.6601106189612833 Centerline is valid? [False, False] Translation: X:2.69, Y:0.04, Z:-0.92 [[ 9.99922833e-01 -9.02718232e-05 -1.24225637e-02 2.68622331e+00] [ 8.54991066e-05 9.99999922e-01 -3.84727930e-04 3.91585939e-02] [ 1.24225975e-02 3.83636124e-04 9.99922763e-01 -9.15544130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.692414037 meters Centerline goodness [0,1] 0.6618668629525694 Centerline is valid? [False, False] Translation: X:2.69, Y:0.04, Z:-0.92 [[ 9.99919392e-01 -3.42819816e-06 -1.26968119e-02 2.68687676e+00] [-2.18298937e-06 9.99999902e-01 -4.41922843e-04 3.96244738e-02] [ 1.26968122e-02 4.41914938e-04 9.99919295e-01 -9.15567938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.722414037 meters Centerline goodness [0,1] 0.661133081946105 Centerline is valid? [False, False] Translation: X:2.69, Y:0.04, Z:-0.92 [[ 9.99916252e-01 2.97467987e-04 -1.29383184e-02 2.68783829e+00] [-2.99525620e-04 9.99999943e-01 -1.57096539e-04 3.97710004e-02] [ 1.29382709e-02 1.60958741e-04 9.99916284e-01 -9.16130169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.752414037 meters Centerline goodness [0,1] 0.6582360122543938 Centerline is valid? [False, False] Translation: X:2.69, Y:0.04, Z:-0.92 [[ 9.99915811e-01 2.30403827e-04 -1.29737546e-02 2.68820018e+00] [-2.32308312e-04 9.99999962e-01 -1.45288442e-04 4.02492362e-02] [ 1.29737207e-02 1.48290121e-04 9.99915827e-01 -9.16583992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.782414037 meters Centerline goodness [0,1] 0.6571132118976251 Centerline is valid? [False, False] Translation: X:2.69, Y:0.04, Z:-0.92 [[ 9.99917577e-01 8.65777931e-05 -1.28387114e-02 2.68818228e+00] [-8.75974107e-05 9.99999993e-01 -7.88551180e-05 4.00752389e-02] [ 1.28387045e-02 7.99732564e-05 9.99917577e-01 -9.16992879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.812414037 meters Centerline goodness [0,1] 0.6538905564534749 Centerline is valid? [False, False] Translation: X:2.69, Y:0.04, Z:-0.92 [[ 9.99919564e-01 -1.35960138e-04 -1.26825409e-02 2.68793459e+00] [ 1.35001214e-04 9.99999988e-01 -7.64658634e-05 3.95442985e-02] [ 1.26825512e-02 7.47475544e-05 9.99919570e-01 -9.17207518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.842414037 meters Centerline goodness [0,1] 0.6554468693766438 Centerline is valid? [False, False] Translation: X:2.69, Y:0.04, Z:-0.92 [[ 9.99921302e-01 -3.04092212e-04 -1.25417844e-02 2.68780606e+00] [ 3.04657927e-04 9.99999953e-01 4.31958822e-05 3.90453571e-02] [ 1.25417707e-02 -4.70134368e-05 9.99921348e-01 -9.17550146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.872414037 meters Centerline goodness [0,1] 0.652829318889017 Centerline is valid? [False, False] Translation: X:2.69, Y:0.04, Z:-0.92 [[ 9.99923902e-01 -8.44379772e-04 -1.23076020e-02 2.68714547e+00] [ 8.44806771e-04 9.99999643e-01 2.94949640e-05 3.86147037e-02] [ 1.23075727e-02 -3.98902650e-05 9.99924258e-01 -9.17606493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.902414037 meters Centerline goodness [0,1] 0.6442252287551571 Centerline is valid? [False, False] Translation: X:2.69, Y:0.04, Z:-0.92 [[ 9.99924359e-01 -1.08350821e-03 -1.22516272e-02 2.68679668e+00] [ 1.08181518e-03 9.99999404e-01 -1.44815031e-04 3.89559370e-02] [ 1.22517769e-02 1.31550081e-04 9.99924936e-01 -9.17289360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93241403699997 meters Centerline goodness [0,1] 0.6369787096476238 Centerline is valid? [False, False] Translation: X:2.69, Y:0.04, Z:-0.92 [[ 9.99925547e-01 -1.28452765e-03 -1.21346533e-02 2.68634272e+00] [ 1.28184061e-03 9.99999152e-01 -2.29210919e-04 3.92352682e-02] [ 1.21349375e-02 2.13639163e-04 9.99926346e-01 -9.17038899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96241403699997 meters Centerline goodness [0,1] 0.6461038212300809 Centerline is valid? [False, False] Translation: X:2.69, Y:0.04, Z:-0.92 [[ 9.99924682e-01 -1.34444441e-03 -1.21992986e-02 2.68662242e+00] [ 1.34343663e-03 9.99999093e-01 -9.08040260e-05 3.90628295e-02] [ 1.21994096e-02 7.44082022e-05 9.99925582e-01 -9.17336508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99241403699997 meters Centerline goodness [0,1] 0.6358255021190344 Centerline is valid? [False, False] Translation: X:2.69, Y:0.04, Z:-0.92 [[ 9.99926111e-01 -1.31596467e-03 -1.20847125e-02 2.68674335e+00] [ 1.31911135e-03 9.99999098e-01 2.52418097e-04 3.82948287e-02] [ 1.20843694e-02 -2.68340528e-04 9.99926945e-01 -9.17941265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02241403699998 meters Centerline goodness [0,1] 0.6260142046107523 Centerline is valid? [False, False] Translation: X:2.69, Y:0.04, Z:-0.92 [[ 9.99929530e-01 -1.94430149e-03 -1.17112966e-02 2.68560950e+00] [ 1.94475830e-03 9.99998109e-01 2.76176064e-05 3.74674931e-02] [ 1.17112208e-02 -5.03913015e-05 9.99931420e-01 -9.17675697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05241403699998 meters Centerline goodness [0,1] 0.6393683775024709 Centerline is valid? [False, False] Translation: X:2.69, Y:0.04, Z:-0.92 [[ 9.99929666e-01 -2.13823230e-03 -1.16657754e-02 2.68518649e+00] [ 2.13801614e-03 9.99997714e-01 -3.10003039e-05 3.70880335e-02] [ 1.16658150e-02 6.05650741e-06 9.99931952e-01 -9.17284688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08241403699998 meters Centerline goodness [0,1] 0.6419080459770115 Centerline is valid? [False, False] Translation: X:2.68, Y:0.04, Z:-0.92 [[ 9.99930881e-01 -2.16987285e-03 -1.15553314e-02 2.68497614e+00] [ 2.17126079e-03 9.99997637e-01 1.07568671e-04 3.67004888e-02] [ 1.15550707e-02 -1.32650874e-04 9.99933229e-01 -9.17295492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11241403699998 meters Centerline goodness [0,1] 0.6343708396455952 Centerline is valid? [False, False] Translation: X:2.69, Y:0.04, Z:-0.92 [[ 9.99929635e-01 -2.04275060e-03 -1.16855776e-02 2.68536041e+00] [ 2.04661086e-03 9.99997855e-01 3.18394815e-04 3.66331124e-02] [ 1.16849021e-02 -3.42288241e-04 9.99931671e-01 -9.17364015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14241403699998 meters Centerline goodness [0,1] 0.6390984360625576 Centerline is valid? [False, False] Translation: X:2.69, Y:0.04, Z:-0.92 [[ 9.99928663e-01 -2.16168373e-03 -1.17472046e-02 2.68535184e+00] [ 2.16410635e-03 9.99997640e-01 1.93521358e-04 3.68505444e-02] [ 1.17467585e-02 -2.18929752e-04 9.99930980e-01 -9.17167528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17241403699998 meters Centerline goodness [0,1] 0.639921991510841 Centerline is valid? [False, False] Translation: X:2.69, Y:0.04, Z:-0.92 [[ 9.99926391e-01 -1.83601124e-03 -1.19934050e-02 2.68631088e+00] [ 1.84384774e-03 9.99998094e-01 6.42375936e-04 3.61492356e-02] [ 1.19922027e-02 -6.64442664e-04 9.99927870e-01 -9.17759792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20241403699998 meters Centerline goodness [0,1] 0.6451115711985278 Centerline is valid? [False, False] Translation: X:2.69, Y:0.04, Z:-0.92 [[ 9.99927284e-01 -1.95287372e-03 -1.19001048e-02 2.68618733e+00] [ 1.96171679e-03 9.99997808e-01 7.31481164e-04 3.53943149e-02] [ 1.18986502e-02 -7.54772609e-04 9.99928924e-01 -9.17917612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23241403699998 meters Centerline goodness [0,1] 0.6321527761838088 Centerline is valid? [False, False] Translation: X:2.69, Y:0.03, Z:-0.92 [[ 9.99929401e-01 -2.13004406e-03 -1.16899880e-02 2.68590298e+00] [ 2.14151425e-03 9.99997238e-01 9.68767627e-04 3.41182957e-02] [ 1.16878922e-02 -9.93733509e-04 9.99931200e-01 -9.18259817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26241403699999 meters Centerline goodness [0,1] 0.6387322975388423 Centerline is valid? [False, False] Translation: X:2.69, Y:0.03, Z:-0.92 [[ 9.99932129e-01 -2.30640321e-03 -1.14200739e-02 2.68546095e+00] [ 2.32258358e-03 9.99996318e-01 1.40377545e-03 3.21956974e-02] [ 1.14167941e-02 -1.43020425e-03 9.99933803e-01 -9.18632220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.292414037 meters Centerline goodness [0,1] 0.6205597662313944 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99933744e-01 -3.06263372e-03 -1.10963287e-02 2.68417340e+00] [ 3.07910532e-03 9.99994183e-01 1.46763901e-03 2.98010627e-02] [ 1.10917693e-02 -1.50170853e-03 9.99937357e-01 -9.18174261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.322414037 meters Centerline goodness [0,1] 0.6224899598393574 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99935109e-01 -3.18302080e-03 -1.09383118e-02 2.68371997e+00] [ 3.20067433e-03 9.99993603e-01 1.59679111e-03 2.90181823e-02] [ 1.09331592e-02 -1.63169746e-03 9.99938900e-01 -9.18006740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.352414037 meters Centerline goodness [0,1] 0.6305942940479445 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99936491e-01 -3.21382705e-03 -1.08021261e-02 2.68348073e+00] [ 3.23330618e-03 9.99993177e-01 1.78628815e-03 2.82804228e-02] [ 1.07963116e-02 -1.82110129e-03 9.99940060e-01 -9.18065652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.382414037 meters Centerline goodness [0,1] 0.6249743320632458 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99936825e-01 -3.30636878e-03 -1.07430523e-02 2.68325585e+00] [ 3.32655933e-03 9.99992733e-01 1.86207915e-03 2.78054798e-02] [ 1.07368175e-02 -1.89769892e-03 9.99940558e-01 -9.17939273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.412414037 meters Centerline goodness [0,1] 0.6338525299448923 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99937333e-01 -3.24127724e-03 -1.07156104e-02 2.68312003e+00] [ 3.26628770e-03 9.99991981e-01 2.31734512e-03 2.60284396e-02] [ 1.07080133e-02 -2.35220017e-03 9.99939901e-01 -9.17934345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.442414037 meters Centerline goodness [0,1] 0.6243851339041719 Centerline is valid? [False, False] Translation: X:2.68, Y:0.03, Z:-0.92 [[ 9.99938568e-01 -3.40253693e-03 -1.05491043e-02 2.68258269e+00] [ 3.42702322e-03 9.99991474e-01 2.30396475e-03 2.54839867e-02] [ 1.05411750e-02 -2.33997524e-03 9.99941702e-01 -9.17689415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.472414037 meters Centerline goodness [0,1] 0.6250938801520289 Centerline is valid? [False, False] Translation: X:2.68, Y:0.02, Z:-0.92 [[ 9.99939043e-01 -3.39816991e-03 -1.05053524e-02 2.68237437e+00] [ 3.42394080e-03 9.99991171e-01 2.43610796e-03 2.46965659e-02] [ 1.04969814e-02 -2.47192917e-03 9.99941850e-01 -9.17522236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.502414037 meters Centerline goodness [0,1] 0.635898485468686 Centerline is valid? [False, False] Translation: X:2.68, Y:0.02, Z:-0.92 [[ 9.99939611e-01 -3.43231787e-03 -1.04400110e-02 2.68213351e+00] [ 3.46001729e-03 9.99990539e-01 2.63629395e-03 2.37220711e-02] [ 1.04308636e-02 -2.67225737e-03 9.99942026e-01 -9.17416341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.532414037 meters Centerline goodness [0,1] 0.6276257161043921 Centerline is valid? [False, False] Translation: X:2.68, Y:0.02, Z:-0.92 [[ 9.99940174e-01 -3.83152376e-03 -1.02453378e-02 2.68093244e+00] [ 3.85914189e-03 9.99988970e-01 2.67726901e-03 2.17647300e-02] [ 1.02349668e-02 -2.71664705e-03 9.99943931e-01 -9.16497904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.562414037 meters Centerline goodness [0,1] 0.635121377344404 Centerline is valid? [False, False] Translation: X:2.68, Y:0.02, Z:-0.92 [[ 0.99993915 -0.00356636 -0.0104394 2.68153128] [ 0.00360075 0.99998815 0.00327723 0.01992598] [ 0.01042759 -0.00331462 0.99994014 -0.91682495] [ 0. 0. 0. 1. ]] SLAMing on 208.592414037 meters Centerline goodness [0,1] 0.6331508213041315 Centerline is valid? [False, False] Translation: X:2.68, Y:0.02, Z:-0.92 [[ 0.99994039 -0.00364526 -0.01029227 2.68119253] [ 0.00368185 0.99998696 0.00353834 0.01846968] [ 0.01027924 -0.00357603 0.99994077 -0.91685898] [ 0. 0. 0. 1. ]] SLAMing on 208.622414037 meters Centerline goodness [0,1] 0.6321496340471673 Centerline is valid? [False, False] Translation: X:2.68, Y:0.02, Z:-0.92 [[ 0.99994041 -0.00359046 -0.01030919 2.68120212] [ 0.00363236 0.99998521 0.00404837 0.01605399] [ 0.0102945 -0.00408558 0.99993866 -0.91696601] [ 0. 0. 0. 1. ]] SLAMing on 208.652414037 meters Centerline goodness [0,1] 0.6309983951538166 Centerline is valid? [False, False] Translation: X:2.68, Y:0.02, Z:-0.92 [[ 0.99994009 -0.00343959 -0.01039155 2.68143798] [ 0.00348375 0.99998497 0.00423412 0.0154084 ] [ 0.01037683 -0.00427006 0.99993704 -0.91698244] [ 0. 0. 0. 1. ]] SLAMing on 208.68241403699997 meters Centerline goodness [0,1] 0.6331830232716231 Centerline is valid? [False, False] Translation: X:2.68, Y:0.02, Z:-0.92 [[ 0.99993926 -0.00330701 -0.01051411 2.68163664] [ 0.00335292 0.99998491 0.00435192 0.01502577] [ 0.01049956 -0.0043869 0.99993526 -0.91685438] [ 0. 0. 0. 1. ]] SLAMing on 208.71241403699997 meters Centerline goodness [0,1] 0.630775828988059 Centerline is valid? [False, False] Translation: X:2.68, Y:0.01, Z:-0.92 [[ 0.999938 -0.00307418 -0.01070222 2.6821777 ] [ 0.00312285 0.99998485 0.00453322 0.01436721] [ 0.01068812 -0.00456636 0.99993245 -0.91689899] [ 0. 0. 0. 1. ]] SLAMing on 208.74241403699997 meters Centerline goodness [0,1] 0.6253837125315999 Centerline is valid? [False, False] Translation: X:2.68, Y:0.01, Z:-0.92 [[ 0.99993848 -0.00288671 -0.01071024 2.68229476] [ 0.00293722 0.99998463 0.0047034 0.0136842 ] [ 0.01069649 -0.00473457 0.99993158 -0.91693562] [ 0. 0. 0. 1. ]] SLAMing on 208.77241403699998 meters Centerline goodness [0,1] 0.6253837125315999 Centerline is valid? [False, False] Translation: X:2.68, Y:0.01, Z:-0.92 [[ 0.99993848 -0.00288671 -0.01071024 2.68229476] [ 0.00293722 0.99998463 0.0047034 0.0136842 ] [ 0.01069649 -0.00473457 0.99993158 -0.91693562] [ 0. 0. 0. 1. ]] SLAMing on 208.80241403699998 meters Centerline goodness [0,1] 0.6262489873075885 Centerline is valid? [False, False] Translation: X:2.68, Y:0.01, Z:-0.92 [[ 9.99937867e-01 -2.51996588e-03 -1.08586822e-02 2.68241901e+00] [ 2.57380623e-03 9.99984450e-01 4.94715803e-03 1.24045349e-02] [ 1.08460467e-02 -4.97479880e-03 9.99928805e-01 -9.16455500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83241403699998 meters Centerline goodness [0,1] 0.6465821873100903 Centerline is valid? [False, False] Translation: X:2.68, Y:0.01, Z:-0.92 [[ 9.99938116e-01 -2.55186059e-03 -1.08282698e-02 2.68211172e+00] [ 2.60357822e-03 9.99985259e-01 4.76476140e-03 1.23371493e-02] [ 1.08159512e-02 -4.79265878e-03 9.99930020e-01 -9.15965783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86241403699998 meters Centerline goodness [0,1] 0.6338408865663574 Centerline is valid? [False, False] Translation: X:2.68, Y:0.01, Z:-0.92 [[ 9.99936951e-01 -2.49223258e-03 -1.09491015e-02 2.68205074e+00] [ 2.54337827e-03 9.99985909e-01 4.65978418e-03 1.22969628e-02] [ 1.09373339e-02 -4.68733809e-03 9.99929199e-01 -9.15428480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89241403699998 meters Centerline goodness [0,1] 0.6379662233386413 Centerline is valid? [False, False] Translation: X:2.68, Y:0.01, Z:-0.92 [[ 9.99935654e-01 -2.28714412e-03 -1.11111407e-02 2.68223077e+00] [ 2.34066266e-03 9.99985712e-01 4.80604147e-03 1.18416894e-02] [ 1.10999898e-02 -4.83173965e-03 9.99926720e-01 -9.15106012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92241403699998 meters Centerline goodness [0,1] 0.6300660916321272 Centerline is valid? [False, False] Translation: X:2.68, Y:0.01, Z:-0.91 [[ 9.99935127e-01 -2.40136162e-03 -1.11344574e-02 2.68185338e+00] [ 2.45288699e-03 9.99986337e-01 4.61621574e-03 1.17387192e-02] [ 1.11232201e-02 -4.64322783e-03 9.99927355e-01 -9.14450542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95241403699998 meters Centerline goodness [0,1] 0.6350209073333033 Centerline is valid? [False, False] Translation: X:2.68, Y:0.01, Z:-0.91 [[ 9.99933898e-01 -2.34750809e-03 -1.12556128e-02 2.68184379e+00] [ 2.39930298e-03 9.99986586e-01 4.59040196e-03 1.12831310e-02] [ 1.12446858e-02 -4.61710415e-03 9.99926117e-01 -9.14009972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98241403699998 meters Centerline goodness [0,1] 0.6367949865711728 Centerline is valid? [False, False] Translation: X:2.68, Y:0.01, Z:-0.91 [[ 9.99932698e-01 -2.01572461e-03 -1.14252875e-02 2.68253309e+00] [ 2.07501633e-03 9.99984431e-01 5.18004022e-03 9.25875322e-03] [ 1.14146680e-02 -5.20339925e-03 9.99921312e-01 -9.14516871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01241403699999 meters Centerline goodness [0,1] 0.6360363180964308 Centerline is valid? [False, False] Translation: X:2.68, Y:0.01, Z:-0.91 [[ 9.99932940e-01 -1.93276909e-03 -1.14183908e-02 2.68270228e+00] [ 1.99530331e-03 9.99983061e-01 5.46777114e-03 7.93139998e-03] [ 1.14076294e-02 -5.49018763e-03 9.99919859e-01 -9.14793996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.042414037 meters Centerline goodness [0,1] 0.6333161769642177 Centerline is valid? [False, False] Translation: X:2.68, Y:0.01, Z:-0.91 [[ 9.99932176e-01 -1.91926017e-03 -1.14874152e-02 2.68275154e+00] [ 1.98450114e-03 9.99981953e-01 5.67064067e-03 6.62895002e-03] [ 1.14763245e-02 -5.69305285e-03 9.99917938e-01 -9.14717003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.072414037 meters Centerline goodness [0,1] 0.6252064824322514 Centerline is valid? [False, False] Translation: X:2.68, Y:0.01, Z:-0.91 [[ 9.99932180e-01 -2.02279805e-03 -1.14692472e-02 2.68264993e+00] [ 2.08895539e-03 9.99981234e-01 5.75919438e-03 5.60265875e-03] [ 1.14573823e-02 -5.78276254e-03 9.99917641e-01 -9.14663116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.102414037 meters Centerline goodness [0,1] 0.6292502616402058 Centerline is valid? [False, False] Translation: X:2.68, Y:0.00, Z:-0.91 [[ 9.99933409e-01 -2.22297787e-03 -1.13241337e-02 2.68179800e+00] [ 2.29029588e-03 9.99979764e-01 5.93515491e-03 3.68678372e-03] [ 1.13107108e-02 -5.96069530e-03 9.99918266e-01 -9.13974931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.132414037 meters Centerline goodness [0,1] 0.6427871772039181 Centerline is valid? [False, False] Translation: X:2.68, Y:0.00, Z:-0.91 [[ 9.99933664e-01 -2.27837816e-03 -1.12905967e-02 2.68140870e+00] [ 2.34600109e-03 9.99979370e-01 5.97969420e-03 2.80640791e-03] [ 1.12767397e-02 -6.00578528e-03 9.99918380e-01 -9.13510999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.162414037 meters Centerline goodness [0,1] 0.6383191929988643 Centerline is valid? [False, False] Translation: X:2.68, Y:0.00, Z:-0.91 [[ 9.99932764e-01 -2.28878953e-03 -1.13678801e-02 2.68122887e+00] [ 2.35716450e-03 9.99979192e-01 6.00499923e-03 2.09597363e-03] [ 1.13538993e-02 -6.03139144e-03 9.99917352e-01 -9.13027378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.192414037 meters Centerline goodness [0,1] 0.6397891318370887 Centerline is valid? [False, False] Translation: X:2.68, Y:0.00, Z:-0.91 [[ 9.99931494e-01 -2.24868120e-03 -1.14869478e-02 2.68126750e+00] [ 2.31862066e-03 9.99978835e-01 6.07891816e-03 1.19525959e-03] [ 1.14730351e-02 -6.10513559e-03 9.99915545e-01 -9.12688325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.222414037 meters Centerline goodness [0,1] 0.6410804551628921 Centerline is valid? [False, False] Translation: X:2.68, Y:0.00, Z:-0.91 [[ 9.99931483e-01 -2.27258031e-03 -1.14832750e-02 2.68107191e+00] [ 2.34323768e-03 9.99978384e-01 6.14336358e-03 3.91674187e-04] [ 1.14690654e-02 -6.16985069e-03 9.99915193e-01 -9.12445606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.252414037 meters Centerline goodness [0,1] 0.6314406236886857 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.00, Z:-0.91 [[ 9.99916502e-01 -4.43370900e-03 -1.21380017e-02 2.68380082e+00] [ 4.47816548e-03 9.99983356e-01 3.63786011e-03 -5.47764789e-04] [ 1.21216705e-02 -3.69191233e-03 9.99919714e-01 -9.13623294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.282414037 meters Centerline goodness [0,1] 0.6417344654060165 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.00, Z:-0.91 [[ 9.99917153e-01 -4.53237333e-03 -1.20475638e-02 2.68352021e+00] [ 4.57732312e-03 9.99982656e-01 3.70607588e-03 -1.20400244e-03] [ 1.20305575e-02 -3.76091443e-03 9.99920557e-01 -9.13523728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.312414037 meters Centerline goodness [0,1] 0.6392131670469396 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.00, Z:-0.91 [[ 9.99917495e-01 -4.60405175e-03 -1.19919049e-02 2.68350451e+00] [ 4.65043905e-03 9.99981801e-01 3.84320909e-03 -1.94234271e-03] [ 1.19739923e-02 -3.89865963e-03 9.99920709e-01 -9.13650753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.342414037 meters Centerline goodness [0,1] 0.6351279671131149 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.00, Z:-0.91 [[ 0.99991701 -0.00446479 -0.0120847 2.68391766] [ 0.00451561 0.99998106 0.00418187 -0.00300202] [ 0.0120658 -0.0042361 0.99991823 -0.91394987] [ 0. 0. 0. 1. ]] SLAMing on 209.372414037 meters Centerline goodness [0,1] 0.640402699413652 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.00, Z:-0.91 [[ 0.99991808 -0.00465979 -0.01192173 2.68330185] [ 0.00470957 0.9999803 0.00415033 -0.00399267] [ 0.01190215 -0.00420614 0.99992032 -0.91362058] [ 0. 0. 0. 1. ]] SLAMing on 209.402414037 meters Centerline goodness [0,1] 0.6279033859049299 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.00, Z:-0.91 [[ 0.99991734 -0.00458707 -0.01201116 2.68349979] [ 0.00463853 0.99998017 0.00425994 -0.00443409] [ 0.01199138 -0.0043153 0.99991879 -0.9135999 ] [ 0. 0. 0. 1. ]] SLAMing on 209.43241403699997 meters Centerline goodness [0,1] 0.6278231247373194 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.00, Z:-0.91 [[ 0.99991722 -0.00476049 -0.0119538 2.68310594] [ 0.0048094 0.99998017 0.0040662 -0.00427151] [ 0.01193421 -0.00412335 0.99992028 -0.91319135] [ 0. 0. 0. 1. ]] SLAMing on 209.46241403699997 meters Centerline goodness [0,1] 0.6327462058269635 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.00, Z:-0.91 [[ 0.99991613 -0.00488278 -0.01199513 2.68297219] [ 0.00492919 0.99998047 0.00384251 -0.00398426] [ 0.01197614 -0.00390131 0.99992067 -0.91284385] [ 0. 0. 0. 1. ]] SLAMing on 209.49241403699997 meters Centerline goodness [0,1] 0.6346949555418611 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.00, Z:-0.91 [[ 0.99991423 -0.00453873 -0.01228566 2.68375918] [ 0.00459039 0.99998073 0.00418055 -0.00453512] [ 0.01226644 -0.00423659 0.99991579 -0.91299619] [ 0. 0. 0. 1. ]] SLAMing on 209.52241403699998 meters Centerline goodness [0,1] 0.6439501463674266 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.00, Z:-0.91 [[ 0.99991453 -0.00452133 -0.01226725 2.68357977] [ 0.00457319 0.99998071 0.00420202 -0.00498656] [ 0.01224802 -0.00425776 0.99991593 -0.91274958] [ 0. 0. 0. 1. ]] SLAMing on 209.55241403699998 meters Centerline goodness [0,1] 0.6400141517778171 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.01, Z:-0.91 [[ 0.99991366 -0.00435482 -0.01239813 2.6839758 ] [ 0.00441014 0.99998043 0.00443836 -0.00583755] [ 0.01237856 -0.00449265 0.99991329 -0.91287283] [ 0. 0. 0. 1. ]] SLAMing on 209.58241403699998 meters Centerline goodness [0,1] 0.6330795542314906 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.01, Z:-0.91 [[ 0.99991392 -0.0041708 -0.01243993 2.68429937] [ 0.0042289 0.99998026 0.00464759 -0.0064375 ] [ 0.0124203 -0.00469979 0.99991182 -0.91308417] [ 0. 0. 0. 1. ]] SLAMing on 209.61241403699998 meters Centerline goodness [0,1] 0.6437491696559055 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.01, Z:-0.91 [[ 0.99991359 -0.00426528 -0.01243502 2.68416117] [ 0.0043216 0.99998051 0.00450578 -0.00623156] [ 0.01241556 -0.00455913 0.99991253 -0.91287004] [ 0. 0. 0. 1. ]] SLAMing on 209.64241403699998 meters Centerline goodness [0,1] 0.6414506397931445 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.01, Z:-0.91 [[ 0.99991341 -0.00424109 -0.01245702 2.68431287] [ 0.00429718 0.99998074 0.00447909 -0.00620728] [ 0.01243778 -0.00453224 0.99991238 -0.91293078] [ 0. 0. 0. 1. ]] SLAMing on 209.67241403699998 meters Centerline goodness [0,1] 0.6307920288412625 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.01, Z:-0.91 [[ 0.99991297 -0.0040856 -0.01254431 2.68426371] [ 0.00413944 0.99998232 0.00426918 -0.00573168] [ 0.01252664 -0.00432074 0.9999122 -0.91237993] [ 0. 0. 0. 1. ]] SLAMing on 209.70241403699998 meters Centerline goodness [0,1] 0.6471382408923907 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.01, Z:-0.91 [[ 0.99991213 -0.00397513 -0.01264613 2.68435919] [ 0.00402816 0.99998319 0.00417127 -0.00542778] [ 0.01262934 -0.00422184 0.99991133 -0.91211765] [ 0. 0. 0. 1. ]] SLAMing on 209.73241403699998 meters Centerline goodness [0,1] 0.63474879589943 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.00, Z:-0.91 [[ 0.9999118 -0.00395552 -0.01267843 2.68448447] [ 0.00400519 0.99998439 0.003895 -0.00473157] [ 0.01266282 -0.00394544 0.99991204 -0.91201399] [ 0. 0. 0. 1. ]] SLAMing on 209.76241403699999 meters Centerline goodness [0,1] 0.6426741463845576 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.00, Z:-0.91 [[ 0.99991071 -0.00378666 -0.01281526 2.68490782] [ 0.00383523 0.99998555 0.00376766 -0.00412554] [ 0.01280081 -0.00381648 0.99991078 -0.91206233] [ 0. 0. 0. 1. ]] SLAMing on 209.792414037 meters Centerline goodness [0,1] 0.6418039128993036 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.00, Z:-0.91 [[ 0.99990875 -0.00354481 -0.01303562 2.68570364] [ 0.00359314 0.99998675 0.00368553 -0.00337982] [ 0.01302238 -0.00373203 0.99990824 -0.91236974] [ 0. 0. 0. 1. ]] SLAMing on 209.822414037 meters Centerline goodness [0,1] 0.6305121460622003 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.00, Z:-0.91 [[ 9.99906664e-01 -2.55074659e-03 -1.34222351e-02 2.68774312e+00] [ 2.60450916e-03 9.99988650e-01 3.98953139e-03 -1.98632988e-03] [ 1.34119065e-02 -4.02411736e-03 9.99901959e-01 -9.13637399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.852414037 meters Centerline goodness [0,1] 0.6485929079901537 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.00, Z:-0.91 [[ 9.99903673e-01 -2.35250657e-03 -1.36788021e-02 2.68851116e+00] [ 2.40349220e-03 9.99990222e-01 3.71210225e-03 -5.54690407e-04] [ 1.36699356e-02 -3.74462157e-03 9.99899550e-01 -9.13765765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.882414037 meters Centerline goodness [0,1] 0.6446068660022148 Centerline is valid? [False, False] Translation: X:2.69, Y:0.00, Z:-0.91 [[ 9.99900124e-01 -2.18459425e-03 -1.39631802e-02 2.68921178e+00] [ 2.23258765e-03 9.99991651e-01 3.42247665e-03 8.20634341e-04] [ 1.39555869e-02 -3.45330885e-03 9.99896653e-01 -9.13740135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.912414037 meters Centerline goodness [0,1] 0.6474698848636777 Centerline is valid? [False, False] Translation: X:2.69, Y:0.00, Z:-0.91 [[ 9.99900936e-01 -2.24963625e-03 -1.38944751e-02 2.68876093e+00] [ 2.28491495e-03 9.99994205e-01 2.52369206e-03 3.68064066e-03] [ 1.38887172e-02 -2.55518975e-03 9.99900282e-01 -9.12910609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.942414037 meters Centerline goodness [0,1] 0.6224770438717118 Centerline is valid? [False, False] Translation: X:2.69, Y:0.00, Z:-0.91 [[ 9.99900916e-01 -2.38354773e-03 -1.38736362e-02 2.68844532e+00] [ 2.41216843e-03 9.99994996e-01 2.04658739e-03 4.72983163e-03] [ 1.38686886e-02 -2.07985015e-03 9.99901662e-01 -9.12375768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.972414037 meters Centerline goodness [0,1] 0.6449983383183782 Centerline is valid? [False, False] Translation: X:2.69, Y:0.01, Z:-0.91 [[ 9.99900255e-01 -2.34926168e-03 -1.39269539e-02 2.68863722e+00] [ 2.37631461e-03 9.99995321e-01 1.92625702e-03 5.17751439e-03] [ 1.39223635e-02 -1.95915971e-03 9.99901160e-01 -9.12392228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.002414037 meters Centerline goodness [0,1] 0.6563035114639625 Centerline is valid? [False, False] Translation: X:2.69, Y:0.01, Z:-0.91 [[ 9.99899205e-01 -2.51892499e-03 -1.39726363e-02 2.68857813e+00] [ 2.54003320e-03 9.99995659e-01 1.49314183e-03 6.11028876e-03] [ 1.39688145e-02 -1.52848229e-03 9.99901263e-01 -9.12101674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.032414037 meters Centerline goodness [0,1] 0.656781914893617 Centerline is valid? [False, False] Translation: X:2.69, Y:0.01, Z:-0.91 [[ 9.99894874e-01 -1.93700502e-03 -1.43696913e-02 2.69032837e+00] [ 1.95977047e-03 9.99996847e-01 1.57035622e-03 7.80137269e-03] [ 1.43666042e-02 -1.59835243e-03 9.99895518e-01 -9.13066644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.062414037 meters Centerline goodness [0,1] 0.6534040278025308 Centerline is valid? [False, False] Translation: X:2.69, Y:0.01, Z:-0.91 [[ 9.99891426e-01 -1.89055049e-03 -1.46137741e-02 2.69099523e+00] [ 1.90833715e-03 9.99997455e-01 1.20326742e-03 9.43401564e-03] [ 1.46114620e-02 -1.23102478e-03 9.99892489e-01 -9.13129083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.092414037 meters Centerline goodness [0,1] 0.6573044969597077 Centerline is valid? [False, False] Translation: X:2.69, Y:0.01, Z:-0.91 [[ 9.99887874e-01 -1.48733289e-03 -1.49005632e-02 2.69220125e+00] [ 1.50683702e-03 9.99998023e-01 1.29781108e-03 1.04874918e-02] [ 1.48986034e-02 -1.32011829e-03 9.99888138e-01 -9.13808612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.122414037 meters Centerline goodness [0,1] 0.6560146187101663 Centerline is valid? [False, False] Translation: X:2.69, Y:0.01, Z:-0.91 [[ 9.99886030e-01 -1.21768688e-03 -1.50480450e-02 2.69302337e+00] [ 1.23190501e-03 9.99998804e-01 9.35615951e-04 1.27038953e-02] [ 1.50468877e-02 -9.54047081e-04 9.99886334e-01 -9.14249473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.152414037 meters Centerline goodness [0,1] 0.6629579982126899 Centerline is valid? [False, False] Translation: X:2.69, Y:0.01, Z:-0.91 [[ 9.99882932e-01 -1.12578857e-03 -1.52596028e-02 2.69352262e+00] [ 1.13738645e-03 9.99999071e-01 7.51380861e-04 1.33434187e-02] [ 1.52587427e-02 -7.68648964e-04 9.99883283e-01 -9.14225520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18241403699997 meters Centerline goodness [0,1] 0.665193616783841 Centerline is valid? [False, False] Translation: X:2.69, Y:0.01, Z:-0.91 [[ 9.99880294e-01 -9.14954531e-04 -1.54454186e-02 2.69427193e+00] [ 9.25828659e-04 9.99999329e-01 6.96900159e-04 1.41948324e-02] [ 1.54447706e-02 -7.11116547e-04 9.99880470e-01 -9.14568271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21241403699997 meters Centerline goodness [0,1] 0.657652833556448 Centerline is valid? [False, False] Translation: X:2.69, Y:0.02, Z:-0.91 [[ 9.99881138e-01 -1.07126898e-03 -1.53805953e-02 2.69409632e+00] [ 1.07793029e-03 9.99999329e-01 4.24814891e-04 1.50760832e-02] [ 1.53801299e-02 -4.41343606e-04 9.99881621e-01 -9.14435282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24241403699997 meters Centerline goodness [0,1] 0.6575098506266557 Centerline is valid? [False, False] Translation: X:2.69, Y:0.02, Z:-0.91 [[ 9.99880162e-01 -1.03757727e-03 -1.54461885e-02 2.69435990e+00] [ 1.04448498e-03 9.99999358e-01 4.39151209e-04 1.54403477e-02] [ 1.54457230e-02 -4.55231894e-04 9.99880604e-01 -9.14557632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27241403699998 meters Centerline goodness [0,1] 0.6675030805421754 Centerline is valid? [False, False] Translation: X:2.69, Y:0.02, Z:-0.91 [[ 9.99883246e-01 -1.75614828e-03 -1.51792482e-02 2.69314556e+00] [ 1.75308776e-03 9.99998440e-01 -2.14929250e-04 1.61350010e-02] [ 1.51796019e-02 1.88293602e-04 9.99884765e-01 -9.13732784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30241403699998 meters Centerline goodness [0,1] 0.6460074176683498 Centerline is valid? [False, False] Translation: X:2.69, Y:0.02, Z:-0.91 [[ 9.99882746e-01 -1.62171480e-03 -1.52270628e-02 2.69357472e+00] [ 1.62353244e-03 9.99998676e-01 1.07007954e-04 1.53007393e-02] [ 1.52268691e-02 -1.31717037e-04 9.99884056e-01 -9.14180546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33241403699998 meters Centerline goodness [0,1] 0.6753217683268047 Centerline is valid? [False, False] Translation: X:2.69, Y:0.01, Z:-0.91 [[ 9.99884763e-01 -1.88992631e-03 -1.50628622e-02 2.69325425e+00] [ 1.89106971e-03 9.99998210e-01 6.16657069e-05 1.49084422e-02] [ 1.50627187e-02 -9.01435231e-05 9.99886547e-01 -9.14266711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36241403699998 meters Centerline goodness [0,1] 0.6409517426273459 Centerline is valid? [False, False] Translation: X:2.69, Y:0.01, Z:-0.92 [[ 9.99884483e-01 -2.02959029e-03 -1.50632731e-02 2.69370703e+00] [ 2.03351234e-03 9.99997902e-01 2.45059125e-04 1.44038471e-02] [ 1.50627441e-02 -2.75662168e-04 9.99886512e-01 -9.15008376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39241403699998 meters Centerline goodness [0,1] 0.6564199732501115 Centerline is valid? [False, False] Translation: X:2.69, Y:0.01, Z:-0.92 [[ 9.99883830e-01 -1.95967448e-03 -1.51157676e-02 2.69431292e+00] [ 1.96599776e-03 9.99997986e-01 4.03475110e-04 1.46325379e-02] [ 1.51149465e-02 -4.33145804e-04 9.99885669e-01 -9.15648027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42241403699998 meters Centerline goodness [0,1] 0.6579581993569132 Centerline is valid? [False, False] Translation: X:2.69, Y:0.02, Z:-0.92 [[ 9.99884005e-01 -2.18066824e-03 -1.50738539e-02 2.69415978e+00] [ 2.18279012e-03 9.99997610e-01 1.24314585e-04 1.53280181e-02] [ 1.50735468e-02 -1.57203224e-04 9.99886375e-01 -9.15544868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45241403699998 meters Centerline goodness [0,1] 0.6543058466752888 Centerline is valid? [False, False] Translation: X:2.69, Y:0.02, Z:-0.92 [[ 9.99883601e-01 -2.16159763e-03 -1.51034009e-02 2.69457723e+00] [ 2.16440281e-03 9.99997643e-01 1.69388234e-04 1.56570059e-02] [ 1.51029991e-02 -2.02058361e-04 9.99885923e-01 -9.15973604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48241403699998 meters Centerline goodness [0,1] 0.6472444116265019 Centerline is valid? [False, False] Translation: X:2.69, Y:0.02, Z:-0.92 [[ 9.99886278e-01 -2.34130406e-03 -1.48979813e-02 2.69434607e+00] [ 2.34115354e-03 9.99997259e-01 -2.75438753e-05 1.62004490e-02] [ 1.48980049e-02 -7.33771859e-06 9.99889019e-01 -9.16193768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51241403699999 meters Centerline goodness [0,1] 0.6560180631315389 Centerline is valid? [False, False] Translation: X:2.70, Y:0.02, Z:-0.92 [[ 9.99884337e-01 -2.02470962e-03 -1.50736045e-02 2.69527401e+00] [ 2.02969156e-03 9.99997890e-01 3.15216568e-04 1.60069351e-02] [ 1.50729344e-02 -3.45774877e-04 9.99886337e-01 -9.16928532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.542414037 meters Centerline goodness [0,1] 0.6532946169309806 Centerline is valid? [False, False] Translation: X:2.70, Y:0.02, Z:-0.92 [[ 9.99883917e-01 -2.04306381e-03 -1.50989796e-02 2.69552219e+00] [ 2.04603156e-03 9.99997890e-01 1.81107988e-04 1.66793118e-02] [ 1.50985777e-02 -2.11979953e-04 9.99885988e-01 -9.17120493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.572414037 meters Centerline goodness [0,1] 0.6608722993307281 Centerline is valid? [False, False] Translation: X:2.70, Y:0.02, Z:-0.92 [[ 9.99883015e-01 -2.10747575e-03 -1.51497473e-02 2.69576393e+00] [ 2.10404326e-03 9.99997757e-01 -2.42505676e-04 1.88355079e-02] [ 1.51502244e-02 2.10601583e-04 9.99885207e-01 -9.17161222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.602414037 meters Centerline goodness [0,1] 0.6613240418118467 Centerline is valid? [False, False] Translation: X:2.70, Y:0.02, Z:-0.92 [[ 9.99882323e-01 -2.17183334e-03 -1.51862681e-02 2.69595440e+00] [ 2.16325631e-03 9.99997491e-01 -5.81192162e-04 2.03235377e-02] [ 1.51874923e-02 5.48271979e-04 9.99884513e-01 -9.17203082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.632414037 meters Centerline goodness [0,1] 0.6465736183219832 Centerline is valid? [False, False] Translation: X:2.70, Y:0.02, Z:-0.92 [[ 9.99879642e-01 -1.90863273e-03 -1.53967307e-02 2.69683987e+00] [ 1.90169249e-03 9.99998083e-01 -4.65388461e-04 2.09550155e-02] [ 1.53975894e-02 4.36052601e-04 9.99881355e-01 -9.17690238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.662414037 meters Centerline goodness [0,1] 0.6465736183219832 Centerline is valid? [False, False] Translation: X:2.70, Y:0.02, Z:-0.92 [[ 9.99879642e-01 -1.90863273e-03 -1.53967307e-02 2.69683987e+00] [ 1.90169249e-03 9.99998083e-01 -4.65388461e-04 2.09550155e-02] [ 1.53975894e-02 4.36052601e-04 9.99881355e-01 -9.17690238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.692414037 meters Centerline goodness [0,1] 0.6646694447572925 Centerline is valid? [False, False] Translation: X:2.70, Y:0.02, Z:-0.92 [[ 9.99879890e-01 -1.95471009e-03 -1.53748053e-02 2.69691647e+00] [ 1.94122060e-03 9.99997718e-01 -8.92251016e-04 2.27195174e-02] [ 1.53765143e-02 8.62297959e-04 9.99881403e-01 -9.17706776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.722414037 meters Centerline goodness [0,1] 0.6561133895173283 Centerline is valid? [False, False] Translation: X:2.70, Y:0.02, Z:-0.92 [[ 9.99880958e-01 -1.95319280e-03 -1.53054125e-02 2.69689040e+00] [ 1.93843177e-03 9.99997642e-01 -9.79207568e-04 2.31379317e-02] [ 1.53072890e-02 9.49422503e-04 9.99882386e-01 -9.17808488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.752414037 meters Centerline goodness [0,1] 0.6627298954201226 Centerline is valid? [False, False] Translation: X:2.70, Y:0.02, Z:-0.92 [[ 9.99878569e-01 -1.71243120e-03 -1.54891545e-02 2.69780275e+00] [ 1.69743887e-03 9.99998078e-01 -9.81019822e-04 2.43785003e-02] [ 1.54908046e-02 9.54608804e-04 9.99879555e-01 -9.18436498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.782414037 meters Centerline goodness [0,1] 0.6557321609739601 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.92 [[ 9.99879002e-01 -1.86515753e-03 -1.54435318e-02 2.69791840e+00] [ 1.84577828e-03 9.99997491e-01 -1.26900415e-03 2.56458712e-02] [ 1.54458600e-02 1.24034526e-03 9.99879936e-01 -9.18675626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.812414037 meters Centerline goodness [0,1] 0.670420437363183 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.92 [[ 9.99878697e-01 -1.92166109e-03 -1.54563737e-02 2.69819426e+00] [ 1.90010946e-03 9.99997202e-01 -1.40891684e-03 2.66637456e-02] [ 1.54590379e-02 1.37937713e-03 9.99879550e-01 -9.18983884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.842414037 meters Centerline goodness [0,1] 0.6568534560548638 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.92 [[ 9.99878198e-01 -1.85181482e-03 -1.54971086e-02 2.69878941e+00] [ 1.83103939e-03 9.99997406e-01 -1.35468233e-03 2.73066604e-02] [ 1.54995770e-02 1.32614151e-03 9.99878995e-01 -9.19648629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.872414037 meters Centerline goodness [0,1] 0.6428926216924049 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.92 [[ 9.99876410e-01 -1.81933433e-03 -1.56158223e-02 2.69953073e+00] [ 1.79906130e-03 9.99997521e-01 -1.31218594e-03 2.79951699e-02] [ 1.56181709e-02 1.28392994e-03 9.99877205e-01 -9.20351500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.902414037 meters Centerline goodness [0,1] 0.657487091222031 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.92 [[ 9.99876678e-01 -2.04770205e-03 -1.55703378e-02 2.69935659e+00] [ 2.02395230e-03 9.99996765e-01 -1.54092523e-03 2.85459083e-02] [ 1.55734428e-02 1.50922158e-03 9.99877588e-01 -9.20274323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93241403699997 meters Centerline goodness [0,1] 0.6604111015529497 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.92 [[ 9.99874998e-01 -1.96146793e-03 -1.56888754e-02 2.70000005e+00] [ 1.93974073e-03 9.99997139e-01 -1.39997650e-03 2.87399303e-02] [ 1.56915765e-02 1.36936915e-03 9.99875942e-01 -9.20822804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96241403699997 meters Centerline goodness [0,1] 0.657590628462878 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.92 [[ 9.99873116e-01 -1.79353191e-03 -1.58282834e-02 2.70079976e+00] [ 1.77547257e-03 9.99997757e-01 -1.15493228e-03 2.88520788e-02] [ 1.58303193e-02 1.12668305e-03 9.99874058e-01 -9.21489392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99241403699997 meters Centerline goodness [0,1] 0.6568348759466036 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.92 [[ 9.99875279e-01 -2.46015181e-03 -1.56004358e-02 2.70028816e+00] [ 2.43389548e-03 9.99995590e-01 -1.70181396e-03 3.01745497e-02] [ 1.56045537e-02 1.66363188e-03 9.99876858e-01 -9.21575031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02241403699998 meters Centerline goodness [0,1] 0.6464914068337748 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.93 [[ 9.99993244e-01 -1.78325681e-03 -3.21432463e-03 2.70204187e+00] [ 1.78670956e-03 9.99997830e-01 1.07162242e-03 2.80851023e-02] [ 3.21240668e-03 -1.07735824e-03 9.99994260e-01 -9.29666690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05241403699998 meters Centerline goodness [0,1] 0.6506111691734449 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.93 [[ 9.99992728e-01 -2.55308788e-03 -2.83307143e-03 2.70096259e+00] [ 2.55472004e-03 9.99996573e-01 5.72639813e-04 2.82761755e-02] [ 2.83159972e-03 -5.79873353e-04 9.99995823e-01 -9.29481488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08241403699998 meters Centerline goodness [0,1] 0.6455627337640258 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.93 [[ 9.99992299e-01 -2.63346115e-03 -2.90983806e-03 2.70115525e+00] [ 2.63539474e-03 9.99996309e-01 6.60867586e-04 2.79402006e-02] [ 2.90808695e-03 -6.68531069e-04 9.99995548e-01 -9.29652218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11241403699998 meters Centerline goodness [0,1] 0.6536742518773964 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.93 [[ 9.99992316e-01 -2.78024508e-03 -2.76371807e-03 2.70082708e+00] [ 2.78211417e-03 9.99995904e-01 6.72679481e-04 2.79283362e-02] [ 2.76183654e-03 -6.80363291e-04 9.99995955e-01 -9.29646590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14241403699998 meters Centerline goodness [0,1] 0.6428085299455535 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.93 [[ 9.99991612e-01 -2.93234711e-03 -2.85975541e-03 2.70099399e+00] [ 2.93397189e-03 9.99995537e-01 5.64122493e-04 2.86696798e-02] [ 2.85808845e-03 -5.72508203e-04 9.99995752e-01 -9.29603304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17241403699998 meters Centerline goodness [0,1] 0.6398686891555354 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.93 [[ 9.99991543e-01 -2.79481949e-03 -3.01714576e-03 2.70157240e+00] [ 2.79710231e-03 9.99995805e-01 7.52662260e-04 2.88349870e-02] [ 3.01502955e-03 -7.61095160e-04 9.99995165e-01 -9.29941363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20241403699998 meters Centerline goodness [0,1] 0.6433495079588227 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.93 [[ 9.99990501e-01 -3.15957240e-03 -3.00248090e-03 2.70113639e+00] [ 3.16025777e-03 9.99994981e-01 2.23553150e-04 2.99174279e-02] [ 3.00175950e-03 -2.33039640e-04 9.99995468e-01 -9.29341669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23241403699998 meters Centerline goodness [0,1] 0.6378844626035638 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.93 [[ 9.99990642e-01 -3.00037656e-03 -3.11659371e-03 2.70168091e+00] [ 3.00176487e-03 9.99995398e-01 4.40872660e-04 3.00011633e-02] [ 3.11525658e-03 -4.50223816e-04 9.99995046e-01 -9.29779845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26241403699999 meters Centerline goodness [0,1] 0.6419716646989374 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.93 [[ 9.99990666e-01 -2.87506110e-03 -3.22521670e-03 2.70207658e+00] [ 2.87701889e-03 9.99995680e-01 6.02551665e-04 2.98182726e-02] [ 3.22347039e-03 -6.11825050e-04 9.99994617e-01 -9.29973337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.292414037 meters Centerline goodness [0,1] 0.6463145438408848 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.93 [[ 9.99990857e-01 -2.82505732e-03 -3.21028488e-03 2.70239633e+00] [ 2.82748106e-03 9.99995721e-01 7.50703894e-04 2.96933904e-02] [ 3.20815036e-03 -7.59774049e-04 9.99994565e-01 -9.30485839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.322414037 meters Centerline goodness [0,1] 0.6517942420521217 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.93 [[ 9.99991012e-01 -2.55639251e-03 -3.38229788e-03 2.70338987e+00] [ 2.56007874e-03 9.99996133e-01 1.08598082e-03 2.94309378e-02] [ 3.37950861e-03 -1.09463001e-03 9.99993690e-01 -9.31348215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.352414037 meters Centerline goodness [0,1] 0.6422612688382243 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.93 [[ 9.99991382e-01 -2.41491355e-03 -3.37701455e-03 2.70411656e+00] [ 2.41976977e-03 9.99996043e-01 1.43467574e-03 2.88814066e-02] [ 3.37353657e-03 -1.44283497e-03 9.99993269e-01 -9.32411699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.382414037 meters Centerline goodness [0,1] 0.6467515952494494 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.93 [[ 9.99991379e-01 -2.35564315e-03 -3.41947552e-03 2.70436629e+00] [ 2.36090949e-03 9.99996032e-01 1.53688342e-03 2.85588932e-02] [ 3.41584160e-03 -1.54494324e-03 9.99992973e-01 -9.32630554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.412414037 meters Centerline goodness [0,1] 0.6426849788530629 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.93 [[ 9.99990957e-01 -2.80607182e-03 -3.19560807e-03 2.70318809e+00] [ 2.80970746e-03 9.99995410e-01 1.13377893e-03 2.85293727e-02] [ 3.19241194e-03 -1.14274740e-03 9.99994251e-01 -9.31644115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.442414037 meters Centerline goodness [0,1] 0.6378154306165904 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.93 [[ 9.99990991e-01 -2.58152813e-03 -3.36949252e-03 2.70362697e+00] [ 2.58639312e-03 9.99995618e-01 1.44027768e-03 2.81087167e-02] [ 3.36575964e-03 -1.44897954e-03 9.99993286e-01 -9.31725203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.472414037 meters Centerline goodness [0,1] 0.6379548178467245 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.93 [[ 9.99990512e-01 -2.49630751e-03 -3.56979047e-03 2.70371907e+00] [ 2.50129764e-03 9.99995900e-01 1.39409588e-03 2.82605045e-02] [ 3.56629575e-03 -1.40301176e-03 9.99992657e-01 -9.31114856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.502414037 meters Centerline goodness [0,1] 0.6513993174061433 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.93 [[ 9.99990098e-01 -2.54300892e-03 -3.65187313e-03 2.70365739e+00] [ 2.54772583e-03 9.99995926e-01 1.28757149e-03 2.84235284e-02] [ 3.64858394e-03 -1.29686271e-03 9.99992503e-01 -9.30761270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.532414037 meters Centerline goodness [0,1] 0.640658942795076 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.93 [[ 9.99989797e-01 -2.16119451e-03 -3.96682724e-03 2.70465404e+00] [ 2.16790128e-03 9.99996227e-01 1.68719227e-03 2.80674390e-02] [ 3.96316593e-03 -1.69577474e-03 9.99990709e-01 -9.31213718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.562414037 meters Centerline goodness [0,1] 0.6400181385330461 Centerline is valid? [False, False] Translation: X:2.70, Y:0.03, Z:-0.93 [[ 9.99989440e-01 -2.19867962e-03 -4.03547196e-03 2.70483996e+00] [ 2.20498294e-03 9.99996355e-01 1.55819263e-03 2.83036763e-02] [ 4.03203128e-03 -1.56707432e-03 9.99990643e-01 -9.31239810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.592414037 meters Centerline goodness [0,1] 0.6401666970304245 Centerline is valid? [False, False] Translation: X:2.71, Y:0.03, Z:-0.93 [[ 9.99989196e-01 -2.00188869e-03 -4.19535444e-03 2.70549169e+00] [ 2.00853319e-03 9.99996734e-01 1.58016123e-03 2.83673085e-02] [ 4.19217744e-03 -1.58857067e-03 9.99989951e-01 -9.31558009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.622414037 meters Centerline goodness [0,1] 0.6381364377604639 Centerline is valid? [False, False] Translation: X:2.71, Y:0.03, Z:-0.93 [[ 9.99983910e-01 -3.22816424e-03 -4.66468641e-03 2.70851113e+00] [ 3.22802695e-03 9.99994789e-01 -3.69611968e-05 2.86078722e-02] [ 4.66478142e-03 2.19028687e-05 9.99989120e-01 -9.33582341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.652414037 meters Centerline goodness [0,1] 0.6338715904703505 Centerline is valid? [False, False] Translation: X:2.71, Y:0.03, Z:-0.93 [[ 9.99984063e-01 -3.25197266e-03 -4.61508868e-03 2.70843629e+00] [ 3.25205252e-03 9.99994712e-01 9.79878606e-06 2.81481316e-02] [ 4.61503241e-03 -2.48071407e-05 9.99989350e-01 -9.33644352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68241403699997 meters Centerline goodness [0,1] 0.6404055098422512 Centerline is valid? [False, False] Translation: X:2.71, Y:0.03, Z:-0.93 [[ 9.99985060e-01 -2.99308278e-03 -4.57403013e-03 2.70875248e+00] [ 2.99543485e-03 9.99995385e-01 5.07457222e-04 2.73175179e-02] [ 4.57249016e-03 -5.21150850e-04 9.99989410e-01 -9.34259958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71241403699997 meters Centerline goodness [0,1] 0.6362045454545455 Centerline is valid? [False, False] Translation: X:2.71, Y:0.03, Z:-0.93 [[ 9.99984812e-01 -2.69155618e-03 -4.80947593e-03 2.70941625e+00] [ 2.69525260e-03 9.99996077e-01 7.62254661e-04 2.71182845e-02] [ 4.80740541e-03 -7.75205837e-04 9.99988144e-01 -9.34419616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74241403699997 meters Centerline goodness [0,1] 0.6369040840033711 Centerline is valid? [False, False] Translation: X:2.71, Y:0.03, Z:-0.93 [[ 9.99984241e-01 -2.65065263e-03 -4.94885992e-03 2.70951722e+00] [ 2.65410320e-03 9.99996239e-01 6.90807774e-04 2.73239209e-02] [ 4.94701021e-03 -7.03931673e-04 9.99987516e-01 -9.34102605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77241403699998 meters Centerline goodness [0,1] 0.6348659440958357 Centerline is valid? [False, False] Translation: X:2.71, Y:0.03, Z:-0.93 [[ 9.99983881e-01 -2.62297750e-03 -5.03573503e-03 2.70940090e+00] [ 2.62581121e-03 9.99996398e-01 5.56190627e-04 2.78281564e-02] [ 5.03425801e-03 -5.69404551e-04 9.99987166e-01 -9.33551628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80241403699998 meters Centerline goodness [0,1] 0.6293250335097803 Centerline is valid? [False, False] Translation: X:2.71, Y:0.03, Z:-0.93 [[ 9.99983507e-01 -2.26309568e-03 -5.27870299e-03 2.71026279e+00] [ 2.26825540e-03 9.99996955e-01 9.71677699e-04 2.74491404e-02] [ 5.27648792e-03 -9.83635120e-04 9.99985595e-01 -9.34022520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83241403699998 meters Centerline goodness [0,1] 0.641211158992969 Centerline is valid? [False, False] Translation: X:2.71, Y:0.03, Z:-0.93 [[ 9.99983242e-01 -2.08607654e-03 -5.40033559e-03 2.71055294e+00] [ 2.09224120e-03 9.99997166e-01 1.13613501e-03 2.66582051e-02] [ 5.39795022e-03 -1.14741478e-03 9.99984773e-01 -9.34014715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86241403699998 meters Centerline goodness [0,1] 0.6249631092646826 Centerline is valid? [False, False] Translation: X:2.71, Y:0.03, Z:-0.93 [[ 9.99983938e-01 -1.96170945e-03 -5.31742506e-03 2.71076030e+00] [ 1.96982883e-03 9.99996901e-01 1.52213082e-03 2.55418985e-02] [ 5.31442261e-03 -1.53258079e-03 9.99984704e-01 -9.34561579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89241403699998 meters Centerline goodness [0,1] 0.6317168477401577 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.94 [[ 9.99983838e-01 -1.70825581e-03 -5.42269809e-03 2.71143805e+00] [ 1.71890397e-03 9.99996603e-01 1.95957466e-03 2.43289053e-02] [ 5.41933221e-03 -1.96886408e-03 9.99983377e-01 -9.35191173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92241403699998 meters Centerline goodness [0,1] 0.641629492085777 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.94 [[ 9.99983372e-01 -1.56358518e-03 -5.55083919e-03 2.71178193e+00] [ 1.57524057e-03 9.99996563e-01 2.09600342e-03 2.35793533e-02] [ 5.54754283e-03 -2.10471247e-03 9.99982397e-01 -9.35270529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95241403699998 meters Centerline goodness [0,1] 0.6386769599963777 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.94 [[ 9.99983392e-01 -1.43217699e-03 -5.58249399e-03 2.71217593e+00] [ 1.44438745e-03 9.99996572e-01 2.18385796e-03 2.35929093e-02] [ 5.57934718e-03 -2.19188498e-03 9.99982033e-01 -9.35591847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98241403699998 meters Centerline goodness [0,1] 0.6328733711240091 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.94 [[ 9.99982354e-01 -1.23114871e-03 -5.81172016e-03 2.71284702e+00] [ 1.24450158e-03 9.99996593e-01 2.29451907e-03 2.35701295e-02] [ 5.80887546e-03 -2.30171127e-03 9.99980479e-01 -9.35740093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01241403699999 meters Centerline goodness [0,1] 0.6397384852049588 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.94 [[ 9.99981658e-01 -1.19350601e-03 -5.93802613e-03 2.71319256e+00] [ 1.20687806e-03 9.99996743e-01 2.24886172e-03 2.38758717e-02] [ 5.93532276e-03 -2.25598695e-03 9.99979841e-01 -9.35812384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.042414037 meters Centerline goodness [0,1] 0.6428248280854144 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.94 [[ 9.99981480e-01 -1.16489511e-03 -5.97346344e-03 2.71314109e+00] [ 1.17645222e-03 9.99997442e-01 1.93159280e-03 2.45573780e-02] [ 5.97119806e-03 -1.93858452e-03 9.99980293e-01 -9.35411615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.072414037 meters Centerline goodness [0,1] 0.6448023161132724 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.94 [[ 9.99981069e-01 -9.80107676e-04 -6.07464315e-03 2.71354749e+00] [ 9.92418463e-04 9.99997459e-01 2.02390320e-03 2.46105275e-02] [ 6.07264407e-03 -2.02989347e-03 9.99979501e-01 -9.35591046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.102414037 meters Centerline goodness [0,1] 0.6439637599093997 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.94 [[ 9.99980962e-01 -1.05827767e-03 -6.07905983e-03 2.71340998e+00] [ 1.06927595e-03 9.99997797e-01 1.80624160e-03 2.49703449e-02] [ 6.07713493e-03 -1.81270741e-03 9.99979891e-01 -9.35312309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.132414037 meters Centerline goodness [0,1] 0.6428345317234205 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.94 [[ 9.99980178e-01 -8.51086205e-04 -6.23845245e-03 2.71396769e+00] [ 8.63487718e-04 9.99997656e-01 1.98549109e-03 2.48057067e-02] [ 6.23674801e-03 -1.99083856e-03 9.99978570e-01 -9.35536744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.162414037 meters Centerline goodness [0,1] 0.6428636363636364 Centerline is valid? [False, False] Translation: X:2.71, Y:0.03, Z:-0.94 [[ 9.99980022e-01 -1.23178155e-03 -6.19979368e-03 2.71358046e+00] [ 1.24082148e-03 9.99998172e-01 1.45446666e-03 2.55455405e-02] [ 6.19799077e-03 -1.46213044e-03 9.99979723e-01 -9.35093621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.192414037 meters Centerline goodness [0,1] 0.6394816727832903 Centerline is valid? [False, False] Translation: X:2.71, Y:0.03, Z:-0.94 [[ 9.99979233e-01 -1.05666435e-03 -6.35744816e-03 2.71423986e+00] [ 1.06729558e-03 9.99998038e-01 1.66908901e-03 2.52823233e-02] [ 6.35567202e-03 -1.67583962e-03 9.99978398e-01 -9.35487064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.222414037 meters Centerline goodness [0,1] 0.6512865814985956 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.94 [[ 9.99979310e-01 -1.17252517e-03 -6.32488141e-03 2.71432572e+00] [ 1.18387775e-03 9.99997695e-01 1.79146215e-03 2.45574057e-02] [ 6.32276629e-03 -1.79891297e-03 9.99978393e-01 -9.35794137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.252414037 meters Centerline goodness [0,1] 0.6477641032614855 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.94 [[ 9.99979048e-01 -1.28342442e-03 -6.34472141e-03 2.71436785e+00] [ 1.29445470e-03 9.99997658e-01 1.73469695e-03 2.42910464e-02] [ 6.34248020e-03 -1.74287356e-03 9.99978367e-01 -9.35777758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.282414037 meters Centerline goodness [0,1] 0.6413975696408771 Centerline is valid? [False, False] Translation: X:2.71, Y:0.02, Z:-0.94 [[ 9.99978785e-01 -1.25882715e-03 -6.39102671e-03 2.71463724e+00] [ 1.27010322e-03 9.99997644e-01 1.76060754e-03 2.42083200e-02] [ 6.38879535e-03 -1.76868745e-03 9.99978027e-01 -9.35964757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.312414037 meters Centerline goodness [0,1] 0.6454255391369284 Centerline is valid? [False, False] Translation: X:2.72, Y:0.03, Z:-0.94 [[ 9.99977233e-01 -1.09213261e-03 -6.65891813e-03 2.71525249e+00] [ 1.10336016e-03 9.99997976e-01 1.68265085e-03 2.50467813e-02] [ 6.65706697e-03 -1.68995972e-03 9.99976413e-01 -9.35871521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.342414037 meters Centerline goodness [0,1] 0.6469254489388718 Centerline is valid? [False, False] Translation: X:2.72, Y:0.03, Z:-0.94 [[ 9.99976592e-01 -1.04478265e-03 -6.76187302e-03 2.71558111e+00] [ 1.05508517e-03 9.99998288e-01 1.52023168e-03 2.61170637e-02] [ 6.76027313e-03 -1.52733044e-03 9.99975983e-01 -9.35903314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.372414037 meters Centerline goodness [0,1] 0.6453274633504289 Centerline is valid? [False, False] Translation: X:2.72, Y:0.03, Z:-0.94 [[ 9.99975127e-01 -6.92444831e-04 -7.01892497e-03 2.71653983e+00] [ 7.01603807e-04 9.99998906e-01 1.30251888e-03 2.78855727e-02] [ 7.01801536e-03 -1.30741098e-03 9.99974519e-01 -9.36162108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.402414037 meters Centerline goodness [0,1] 0.6528456208110871 Centerline is valid? [False, False] Translation: X:2.72, Y:0.03, Z:-0.94 [[ 9.99974454e-01 -5.48137540e-04 -7.12679132e-03 2.71715353e+00] [ 5.58027346e-04 9.99998884e-01 1.38577971e-03 2.80221333e-02] [ 7.12602377e-03 -1.38972125e-03 9.99973644e-01 -9.36647559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43241403699997 meters Centerline goodness [0,1] 0.6536300138784611 Centerline is valid? [False, False] Translation: X:2.72, Y:0.03, Z:-0.94 [[ 9.99974571e-01 -4.20752269e-04 -7.11901092e-03 2.71752973e+00] [ 4.31335631e-04 9.99998804e-01 1.48516368e-03 2.77248160e-02] [ 7.11837752e-03 -1.48819659e-03 9.99973557e-01 -9.37091815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46241403699997 meters Centerline goodness [0,1] 0.6477500455456368 Centerline is valid? [False, False] Translation: X:2.72, Y:0.03, Z:-0.94 [[ 9.99974627e-01 -5.75347051e-04 -7.10027285e-03 2.71757072e+00] [ 5.84520462e-04 9.99998997e-01 1.28997257e-03 2.78129529e-02] [ 7.09952355e-03 -1.29409009e-03 9.99973961e-01 -9.37222508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49241403699997 meters Centerline goodness [0,1] 0.6462889066241022 Centerline is valid? [False, False] Translation: X:2.72, Y:0.03, Z:-0.94 [[ 9.99974943e-01 -6.11145351e-04 -7.05271275e-03 2.71762111e+00] [ 6.19945467e-04 9.99999032e-01 1.24564459e-03 2.79053361e-02] [ 7.05194466e-03 -1.24998568e-03 9.99974353e-01 -9.37370662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52241403699998 meters Centerline goodness [0,1] 0.6612940048399616 Centerline is valid? [False, False] Translation: X:2.72, Y:0.03, Z:-0.94 [[ 9.99974488e-01 -6.97057569e-04 -7.10894112e-03 2.71761636e+00] [ 7.02228448e-04 9.99999491e-01 7.24906684e-04 2.98642477e-02] [ 7.10843220e-03 -7.29880291e-04 9.99974468e-01 -9.36993850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55241403699998 meters Centerline goodness [0,1] 0.6653562204292474 Centerline is valid? [False, False] Translation: X:2.72, Y:0.03, Z:-0.94 [[ 9.99973683e-01 -6.61911322e-04 -7.22463276e-03 2.71798163e+00] [ 6.66104016e-04 9.99999611e-01 5.77942359e-04 3.10048161e-02] [ 7.22424740e-03 -5.82739506e-04 9.99973735e-01 -9.37090241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58241403699998 meters Centerline goodness [0,1] 0.6653562204292474 Centerline is valid? [False, False] Translation: X:2.72, Y:0.03, Z:-0.94 [[ 9.99973683e-01 -6.61911322e-04 -7.22463276e-03 2.71798163e+00] [ 6.66104016e-04 9.99999611e-01 5.77942359e-04 3.10048161e-02] [ 7.22424740e-03 -5.82739506e-04 9.99973735e-01 -9.37090241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61241403699998 meters Centerline goodness [0,1] 0.6566414896287338 Centerline is valid? [False, False] Translation: X:2.72, Y:0.03, Z:-0.94 [[ 9.99971876e-01 -4.14954078e-04 -7.48834281e-03 2.71878459e+00] [ 4.19954829e-04 9.99999690e-01 6.66244759e-04 3.15488058e-02] [ 7.48806403e-03 -6.69370787e-04 9.99971740e-01 -9.37338395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64241403699998 meters Centerline goodness [0,1] 0.6490347314134453 Centerline is valid? [False, False] Translation: X:2.72, Y:0.03, Z:-0.94 [[ 9.99969734e-01 -1.88522506e-04 -7.77794676e-03 2.71964097e+00] [ 1.92980094e-04 9.99999818e-01 5.72359486e-04 3.27944606e-02] [ 7.77783743e-03 -5.73843152e-04 9.99969588e-01 -9.37484972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67241403699998 meters Centerline goodness [0,1] 0.6559381009065104 Centerline is valid? [False, False] Translation: X:2.72, Y:0.03, Z:-0.94 [[ 9.99969628e-01 -1.02153174e-04 -7.79306249e-03 2.71993053e+00] [ 1.06436848e-04 9.99999843e-01 5.49265176e-04 3.33636781e-02] [ 7.79300516e-03 -5.50077963e-04 9.99969483e-01 -9.37750916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70241403699998 meters Centerline goodness [0,1] 0.6561720626930557 Centerline is valid? [False, False] Translation: X:2.72, Y:0.03, Z:-0.94 [[ 9.99969030e-01 -9.62343688e-05 -7.86950532e-03 2.72039267e+00] [ 9.98366738e-05 9.99999890e-01 4.57363388e-04 3.39948940e-02] [ 7.86946044e-03 -4.58134889e-04 9.99968930e-01 -9.38098421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73241403699998 meters Centerline goodness [0,1] 0.6507882032626353 Centerline is valid? [False, False] Translation: X:2.72, Y:0.03, Z:-0.94 [[ 9.99969455e-01 -1.68269672e-04 -7.81420192e-03 2.72066706e+00] [ 1.70721692e-04 9.99999936e-01 3.13124217e-04 3.49903374e-02] [ 7.81414874e-03 -3.14448706e-04 9.99969420e-01 -9.38627674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76241403699999 meters Centerline goodness [0,1] 0.6577099586966498 Centerline is valid? [False, False] Translation: X:2.72, Y:0.04, Z:-0.94 [[ 9.99969288e-01 -2.74881444e-04 -7.83241820e-03 2.72082082e+00] [ 2.76260115e-04 9.99999947e-01 1.74939781e-04 3.55923907e-02] [ 7.83236970e-03 -1.77098193e-04 9.99969311e-01 -9.38805459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.792414037 meters Centerline goodness [0,1] 0.653315929284602 Centerline is valid? [False, False] Translation: X:2.72, Y:0.04, Z:-0.94 [[ 9.99969144e-01 -5.23622137e-04 -7.83816749e-03 2.72081042e+00] [ 5.22919312e-04 9.99999859e-01 -9.17162110e-05 3.63045813e-02] [ 7.83821441e-03 8.76146519e-05 9.99969277e-01 -9.38825473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.822414037 meters Centerline goodness [0,1] 0.6499988547082942 Centerline is valid? [False, False] Translation: X:2.72, Y:0.04, Z:-0.94 [[ 9.99969483e-01 -4.92359107e-04 -7.79681512e-03 2.72096371e+00] [ 4.92598449e-04 9.99999878e-01 2.87771388e-05 3.64646818e-02] [ 7.79680000e-03 -3.26169596e-05 9.99969604e-01 -9.39182802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.852414037 meters Centerline goodness [0,1] 0.6546420195889089 Centerline is valid? [False, False] Translation: X:2.72, Y:0.04, Z:-0.94 [[ 9.99969734e-01 -7.54782497e-04 -7.74344218e-03 2.72067931e+00] [ 7.52254040e-04 9.99999663e-01 -3.29436138e-04 3.75218439e-02] [ 7.74368822e-03 3.23601132e-04 9.99969965e-01 -9.38952917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.882414037 meters Centerline goodness [0,1] 0.6524979298923543 Centerline is valid? [False, False] Translation: X:2.72, Y:0.04, Z:-0.94 [[ 9.99967575e-01 -8.11622417e-04 -8.01183819e-03 2.72106270e+00] [ 8.04301963e-04 9.99999256e-01 -9.16884455e-04 4.03316865e-02] [ 8.01257639e-03 9.10410788e-04 9.99967484e-01 -9.38491781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.912414037 meters Centerline goodness [0,1] 0.6527011109314733 Centerline is valid? [False, False] Translation: X:2.72, Y:0.04, Z:-0.94 [[ 9.99966219e-01 -7.16793537e-04 -8.18827805e-03 2.72161373e+00] [ 7.08195649e-04 9.99999195e-01 -1.05287515e-03 4.15518094e-02] [ 8.18902616e-03 1.04704068e-03 9.99965921e-01 -9.38650340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.942414037 meters Centerline goodness [0,1] 0.6505837475436366 Centerline is valid? [False, False] Translation: X:2.72, Y:0.04, Z:-0.94 [[ 9.99965361e-01 -5.25294148e-04 -8.30671116e-03 2.72220443e+00] [ 5.16682630e-04 9.99999327e-01 -1.03880615e-03 4.22878148e-02] [ 8.30725124e-03 1.03447823e-03 9.99964959e-01 -9.38999235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.972414037 meters Centerline goodness [0,1] 0.6528659468977341 Centerline is valid? [False, False] Translation: X:2.72, Y:0.04, Z:-0.94 [[ 9.99965024e-01 -6.01864752e-04 -8.34195425e-03 2.72243213e+00] [ 5.90914705e-04 9.99998961e-01 -1.31505034e-03 4.33201352e-02] [ 8.34273706e-03 1.31007497e-03 9.99964341e-01 -9.39149373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.002414037 meters Centerline goodness [0,1] 0.6512994977898123 Centerline is valid? [False, False] Translation: X:2.72, Y:0.04, Z:-0.94 [[ 9.99964053e-01 -4.83442302e-04 -8.46512922e-03 2.72306039e+00] [ 4.72347726e-04 9.99999027e-01 -1.31257124e-03 4.39321621e-02] [ 8.46575554e-03 1.30852557e-03 9.99963309e-01 -9.39657380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.032414037 meters Centerline goodness [0,1] 0.6525080437952826 Centerline is valid? [False, False] Translation: X:2.72, Y:0.04, Z:-0.94 [[ 9.99964749e-01 -5.47407461e-04 -8.37856433e-03 2.72312908e+00] [ 5.36772862e-04 9.99999048e-01 -1.27145881e-03 4.43289057e-02] [ 8.37925236e-03 1.26691660e-03 9.99964091e-01 -9.40055001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.062414037 meters Centerline goodness [0,1] 0.6552530444043154 Centerline is valid? [False, False] Translation: X:2.72, Y:0.05, Z:-0.94 [[ 9.99964563e-01 -5.75177911e-04 -8.39888858e-03 2.72341898e+00] [ 5.64340747e-04 9.99999005e-01 -1.29262225e-03 4.50724139e-02] [ 8.39962371e-03 1.28783661e-03 9.99963893e-01 -9.40392144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.092414037 meters Centerline goodness [0,1] 0.6566757493188011 Centerline is valid? [False, False] Translation: X:2.72, Y:0.05, Z:-0.94 [[ 9.99963693e-01 -7.82467575e-04 -8.48533223e-03 2.72358700e+00] [ 7.67429128e-04 9.99998130e-01 -1.77539855e-03 4.74848469e-02] [ 8.48670555e-03 1.76882220e-03 9.99962423e-01 -9.40230447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.122414037 meters Centerline goodness [0,1] 0.6616902656931583 Centerline is valid? [False, False] Translation: X:2.72, Y:0.05, Z:-0.94 [[ 9.99962924e-01 -7.42840773e-04 -8.57896850e-03 2.72398826e+00] [ 7.27309964e-04 9.99998091e-01 -1.81331322e-03 4.85807462e-02] [ 8.58029913e-03 1.80700642e-03 9.99961556e-01 -9.40501208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.152414037 meters Centerline goodness [0,1] 0.6514448971945108 Centerline is valid? [False, False] Translation: X:2.72, Y:0.05, Z:-0.94 [[ 9.99961773e-01 -7.73567550e-04 -8.70943479e-03 2.72461626e+00] [ 7.56151354e-04 9.99997708e-01 -2.00280836e-03 4.99133177e-02] [ 8.71096414e-03 1.99614615e-03 9.99960066e-01 -9.40908481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18241403699997 meters Centerline goodness [0,1] 0.6577636410412331 Centerline is valid? [False, False] Translation: X:2.73, Y:0.05, Z:-0.94 [[ 9.99962056e-01 -6.53072736e-04 -8.68672444e-03 2.72509572e+00] [ 6.37680849e-04 9.99998222e-01 -1.77453788e-03 4.97866023e-02] [ 8.68786790e-03 1.76893119e-03 9.99960695e-01 -9.41622877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21241403699997 meters Centerline goodness [0,1] 0.6509690103922854 Centerline is valid? [False, False] Translation: X:2.73, Y:0.05, Z:-0.94 [[ 9.99962841e-01 -6.73787759e-04 -8.59437735e-03 2.72542381e+00] [ 6.59083174e-04 9.99998314e-01 -1.71367155e-03 5.02185952e-02] [ 8.59551752e-03 1.70794346e-03 9.99961599e-01 -9.42368961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24241403699997 meters Centerline goodness [0,1] 0.6541536730052288 Centerline is valid? [False, False] Translation: X:2.73, Y:0.05, Z:-0.94 [[ 9.99963718e-01 -7.72149939e-04 -8.48325792e-03 2.72567235e+00] [ 7.57884825e-04 9.99998294e-01 -1.68464690e-03 5.07036740e-02] [ 8.48454425e-03 1.67815645e-03 9.99962597e-01 -9.43070635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27241403699998 meters Centerline goodness [0,1] 0.6542690663032753 Centerline is valid? [False, False] Translation: X:2.73, Y:0.05, Z:-0.94 [[ 9.99964375e-01 -1.00258645e-03 -8.38109872e-03 2.72610008e+00] [ 9.87068353e-04 9.99997791e-01 -1.85549001e-03 5.21893494e-02] [ 8.38294050e-03 1.84715119e-03 9.99963156e-01 -9.44037439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30241403699998 meters Centerline goodness [0,1] 0.6437848736343602 Centerline is valid? [False, False] Translation: X:2.73, Y:0.05, Z:-0.94 [[ 9.99964841e-01 -1.01134498e-03 -8.32429877e-03 2.72643391e+00] [ 9.96772297e-04 9.99997964e-01 -1.75458251e-03 5.27839651e-02] [ 8.32605631e-03 1.74622339e-03 9.99963813e-01 -9.44684499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33241403699998 meters Centerline goodness [0,1] 0.650885341758423 Centerline is valid? [False, False] Translation: X:2.73, Y:0.05, Z:-0.94 [[ 9.99965008e-01 -1.41205925e-03 -8.24557329e-03 2.72597917e+00] [ 1.39395395e-03 9.99996606e-01 -2.20109509e-03 5.39189875e-02] [ 8.24865338e-03 2.18952412e-03 9.99963582e-01 -9.44347511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36241403699998 meters Centerline goodness [0,1] 0.6423515579071135 Centerline is valid? [False, False] Translation: X:2.73, Y:0.06, Z:-0.94 [[ 9.99964595e-01 -2.02251390e-03 -8.16811261e-03 2.72531540e+00] [ 1.99937337e-03 9.99993968e-01 -2.84020553e-03 5.53832835e-02] [ 8.17380770e-03 2.82377386e-03 9.99962607e-01 -9.43692522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39241403699998 meters Centerline goodness [0,1] 0.6469182538743641 Centerline is valid? [False, False] Translation: X:2.72, Y:0.06, Z:-0.94 [[ 9.99964450e-01 -2.39192946e-03 -8.08565573e-03 2.72479017e+00] [ 2.36562936e-03 9.99991886e-01 -3.26068594e-03 5.61653372e-02] [ 8.09338945e-03 3.24144236e-03 9.99961994e-01 -9.43232973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42241403699998 meters Centerline goodness [0,1] 0.652801478953356 Centerline is valid? [False, False] Translation: X:2.72, Y:0.06, Z:-0.94 [[ 9.99964357e-01 -2.44926585e-03 -8.08002608e-03 2.72492138e+00] [ 2.42297810e-03 9.99991746e-01 -3.26161036e-03 5.67045581e-02] [ 8.08794794e-03 3.24191638e-03 9.99962037e-01 -9.43454138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45241403699998 meters Centerline goodness [0,1] 0.6390365448504983 Centerline is valid? [False, False] Translation: X:2.73, Y:0.06, Z:-0.94 [[ 9.99963929e-01 -2.50873341e-03 -8.11463478e-03 2.72560385e+00] [ 2.48229841e-03 9.99991585e-01 -3.26612742e-03 5.77947637e-02] [ 8.12276034e-03 3.24586666e-03 9.99961742e-01 -9.44348137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48241403699998 meters Centerline goodness [0,1] 0.6428283307628426 Centerline is valid? [False, False] Translation: X:2.73, Y:0.06, Z:-0.95 [[ 9.99962983e-01 -2.29285675e-03 -8.29312283e-03 2.72663469e+00] [ 2.26779330e-03 9.99992837e-01 -3.03033918e-03 5.80034261e-02] [ 8.30001156e-03 3.01141992e-03 9.99961020e-01 -9.45208022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51241403699999 meters Centerline goodness [0,1] 0.647208363031599 Centerline is valid? [False, False] Translation: X:2.73, Y:0.06, Z:-0.95 [[ 9.99962776e-01 -2.15070556e-03 -8.35586763e-03 2.72763687e+00] [ 2.12562830e-03 9.99993214e-01 -3.00887787e-03 5.91055342e-02] [ 8.36228214e-03 2.99100440e-03 9.99960562e-01 -9.46317021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.542414037 meters Centerline goodness [0,1] 0.6436767926864109 Centerline is valid? [False, False] Translation: X:2.73, Y:0.06, Z:-0.95 [[ 9.99962601e-01 -1.97089515e-03 -8.42093079e-03 2.72822248e+00] [ 1.94631303e-03 9.99993824e-01 -2.92636782e-03 5.97187600e-02] [ 8.42664635e-03 2.90986861e-03 9.99960261e-01 -9.46868630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.572414037 meters Centerline goodness [0,1] 0.6442496058101199 Centerline is valid? [False, False] Translation: X:2.73, Y:0.06, Z:-0.95 [[ 9.99961637e-01 -1.97406058e-03 -8.53396186e-03 2.72849237e+00] [ 1.94764012e-03 9.99993289e-01 -3.10312207e-03 6.06622136e-02] [ 8.54003034e-03 3.08638194e-03 9.99958770e-01 -9.46829535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.602414037 meters Centerline goodness [0,1] 0.6447261420712749 Centerline is valid? [False, False] Translation: X:2.73, Y:0.06, Z:-0.95 [[ 9.99960218e-01 -1.72250780e-03 -8.75193342e-03 2.72936636e+00] [ 1.69534465e-03 9.99993726e-01 -3.11014575e-03 6.19880230e-02] [ 8.75723577e-03 3.09518448e-03 9.99956864e-01 -9.47234452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.632414037 meters Centerline goodness [0,1] 0.6394074286808348 Centerline is valid? [False, False] Translation: X:2.73, Y:0.06, Z:-0.95 [[ 9.99958952e-01 -1.60307581e-03 -8.91770169e-03 2.72988114e+00] [ 1.57654663e-03 9.99994314e-01 -2.98112493e-03 6.23125387e-02] [ 8.92242995e-03 2.96694339e-03 9.99955793e-01 -9.47470417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.662414037 meters Centerline goodness [0,1] 0.6418250768049155 Centerline is valid? [False, False] Translation: X:2.73, Y:0.06, Z:-0.95 [[ 9.99959216e-01 -1.75892758e-03 -8.85842220e-03 2.72969306e+00] [ 1.73190024e-03 9.99993825e-01 -3.05778111e-03 6.26241907e-02] [ 8.86374592e-03 3.04231450e-03 9.99956088e-01 -9.47431869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.692414037 meters Centerline goodness [0,1] 0.6395738568350491 Centerline is valid? [False, False] Translation: X:2.73, Y:0.06, Z:-0.95 [[ 9.99958832e-01 -1.70152186e-03 -8.91283797e-03 2.72990190e+00] [ 1.67592824e-03 9.99994454e-01 -2.87822731e-03 6.22671413e-02] [ 8.91768590e-03 2.86317154e-03 9.99956138e-01 -9.47569712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.722414037 meters Centerline goodness [0,1] 0.6397132616487455 Centerline is valid? [False, False] Translation: X:2.73, Y:0.06, Z:-0.95 [[ 9.99960361e-01 -2.04410047e-03 -8.66590162e-03 2.72938073e+00] [ 2.02061623e-03 9.99994265e-01 -2.71784913e-03 6.12783996e-02] [ 8.67140748e-03 2.70023093e-03 9.99958757e-01 -9.47817142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.752414037 meters Centerline goodness [0,1] 0.6361094515473773 Centerline is valid? [False, False] Translation: X:2.73, Y:0.06, Z:-0.95 [[ 9.99961342e-01 -2.05867855e-03 -8.54846013e-03 2.72940989e+00] [ 2.03847551e-03 9.99995111e-01 -2.37139598e-03 6.02887997e-02] [ 8.55330027e-03 2.35387848e-03 9.99960649e-01 -9.48328404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.782414037 meters Centerline goodness [0,1] 0.6357592221904489 Centerline is valid? [False, False] Translation: X:2.73, Y:0.06, Z:-0.95 [[ 9.99961547e-01 -1.89294357e-03 -8.56282012e-03 2.72992923e+00] [ 1.87735386e-03 9.99996566e-01 -1.82829902e-03 5.91804659e-02] [ 8.56625158e-03 1.81215327e-03 9.99961667e-01 -9.49144149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.812414037 meters Centerline goodness [0,1] 0.6312154696132597 Centerline is valid? [False, False] Translation: X:2.73, Y:0.06, Z:-0.95 [[ 9.99963149e-01 -2.34097308e-03 -8.25957825e-03 2.72920566e+00] [ 2.32683842e-03 9.99995813e-01 -1.72050067e-03 5.83250003e-02] [ 8.26357131e-03 1.70121857e-03 9.99964409e-01 -9.49330275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.842414037 meters Centerline goodness [0,1] 0.6352800953516091 Centerline is valid? [False, False] Translation: X:2.73, Y:0.06, Z:-0.95 [[ 9.99964022e-01 -2.42839211e-03 -8.12758305e-03 2.72904505e+00] [ 2.41658078e-03 9.99996010e-01 -1.46274619e-03 5.77072992e-02] [ 8.13110274e-03 1.44305260e-03 9.99965901e-01 -9.49642394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.872414037 meters Centerline goodness [0,1] 0.6346870475421899 Centerline is valid? [False, False] Translation: X:2.73, Y:0.06, Z:-0.95 [[ 9.99963625e-01 -2.58255147e-03 -8.12887889e-03 2.72868078e+00] [ 2.57276671e-03 9.99995954e-01 -1.21392998e-03 5.64711157e-02] [ 8.13198103e-03 1.19297211e-03 9.99966223e-01 -9.49306687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.902414037 meters Centerline goodness [0,1] 0.6318077096643945 Centerline is valid? [False, False] Translation: X:2.73, Y:0.06, Z:-0.95 [[ 9.99964343e-01 -2.57027254e-03 -8.04403534e-03 2.72847449e+00] [ 2.56252561e-03 9.99996243e-01 -9.73223304e-04 5.56948776e-02] [ 8.04650657e-03 9.52575555e-04 9.99967173e-01 -9.49336202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93241403699997 meters Centerline goodness [0,1] 0.6336582011334804 Centerline is valid? [False, False] Translation: X:2.73, Y:0.05, Z:-0.95 [[ 9.99964386e-01 -2.47317472e-03 -8.06912163e-03 2.72858317e+00] [ 2.46721275e-03 9.99996676e-01 -7.48733257e-04 5.47841486e-02] [ 8.07094655e-03 7.28798351e-04 9.99967164e-01 -9.49394499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96241403699997 meters Centerline goodness [0,1] 0.6321937321937322 Centerline is valid? [False, False] Translation: X:2.73, Y:0.05, Z:-0.95 [[ 9.99964769e-01 -2.46171627e-03 -8.02498077e-03 2.72845539e+00] [ 2.45748404e-03 9.99996836e-01 -5.37200620e-04 5.37468702e-02] [ 8.02627781e-03 5.17460432e-04 9.99967655e-01 -9.49400152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99241403699997 meters Centerline goodness [0,1] 0.6292209173184622 Centerline is valid? [False, False] Translation: X:2.73, Y:0.05, Z:-0.95 [[ 9.99966332e-01 -2.38963237e-03 -7.85009426e-03 2.72823420e+00] [ 2.39082164e-03 9.99997132e-01 1.42117394e-04 5.08547806e-02] [ 7.84973213e-03 -1.60880784e-04 9.99969177e-01 -9.49801471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02241403699998 meters Centerline goodness [0,1] 0.6262110808014298 Centerline is valid? [False, False] Translation: X:2.73, Y:0.05, Z:-0.95 [[ 9.99965872e-01 -2.05369636e-03 -8.00232350e-03 2.72875548e+00] [ 2.05981621e-03 9.99997592e-01 7.56592193e-04 4.90371229e-02] [ 8.00075042e-03 -7.73049688e-04 9.99967695e-01 -9.50059033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05241403699998 meters Centerline goodness [0,1] 0.6247510601907171 Centerline is valid? [False, False] Translation: X:2.73, Y:0.05, Z:-0.95 [[ 9.99966238e-01 -2.19429550e-03 -7.91889048e-03 2.72789591e+00] [ 2.20173657e-03 9.99997143e-01 9.31065123e-04 4.72263101e-02] [ 7.91682482e-03 -9.48468998e-04 9.99968212e-01 -9.49199363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08241403699998 meters Centerline goodness [0,1] 0.6273048897635951 Centerline is valid? [False, False] Translation: X:2.73, Y:0.05, Z:-0.95 [[ 9.99965935e-01 -2.16138185e-03 -7.96600822e-03 2.72760053e+00] [ 2.16927956e-03 9.99997164e-01 9.82919888e-04 4.65946180e-02] [ 7.96386117e-03 -1.00016690e-03 9.99967788e-01 -9.48609166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11241403699998 meters Centerline goodness [0,1] 0.629715381557099 Centerline is valid? [False, False] Translation: X:2.73, Y:0.05, Z:-0.95 [[ 9.99965505e-01 -2.03348060e-03 -8.05318627e-03 2.72754101e+00] [ 2.04264811e-03 9.99997275e-01 1.13030953e-03 4.57965080e-02] [ 8.05086586e-03 -1.14672036e-03 9.99966934e-01 -9.48146720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14241403699998 meters Centerline goodness [0,1] 0.6191565337129787 Centerline is valid? [False, False] Translation: X:2.73, Y:0.04, Z:-0.95 [[ 9.99965213e-01 -1.69363987e-03 -8.16727338e-03 2.72786344e+00] [ 1.70660707e-03 9.99997294e-01 1.58099527e-03 4.43298075e-02] [ 8.16457364e-03 -1.59487860e-03 9.99965397e-01 -9.48159439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17241403699998 meters Centerline goodness [0,1] 0.6279469890723088 Centerline is valid? [False, False] Translation: X:2.73, Y:0.04, Z:-0.95 [[ 9.99965178e-01 -1.30447407e-03 -8.24263705e-03 2.72795809e+00] [ 1.32316602e-03 9.99996565e-01 2.26266860e-03 4.09283733e-02] [ 8.23965714e-03 -2.27349619e-03 9.99963469e-01 -9.48021386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20241403699998 meters Centerline goodness [0,1] 0.6362098138747885 Centerline is valid? [False, False] Translation: X:2.73, Y:0.04, Z:-0.95 [[ 9.99965262e-01 -1.10815888e-03 -8.26113136e-03 2.72803118e+00] [ 1.13028680e-03 9.99995785e-01 2.67437096e-03 3.89477370e-02] [ 8.25813291e-03 -2.68361551e-03 9.99962300e-01 -9.48058536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23241403699998 meters Centerline goodness [0,1] 0.6273956768003699 Centerline is valid? [False, False] Translation: X:2.73, Y:0.04, Z:-0.95 [[ 9.99963989e-01 -5.70073145e-04 -8.46734762e-03 2.72856065e+00] [ 6.00360987e-04 9.99993430e-01 3.57490553e-03 3.54782658e-02] [ 8.46525403e-03 -3.57986026e-03 9.99957761e-01 -9.48194260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26241403699999 meters Centerline goodness [0,1] 0.6329535211593131 Centerline is valid? [False, False] Translation: X:2.73, Y:0.03, Z:-0.95 [[ 9.99962200e-01 -2.17232381e-04 -8.69208437e-03 2.72906754e+00] [ 2.51716764e-04 9.99992102e-01 3.96643450e-03 3.42174832e-02] [ 8.69115408e-03 -3.96847251e-03 9.99954356e-01 -9.48178488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.292414037 meters Centerline goodness [0,1] 0.6370984455958549 Centerline is valid? [False, False] Translation: X:2.73, Y:0.03, Z:-0.95 [[ 9.99959041e-01 2.49763162e-04 -9.04727082e-03 2.72994701e+00] [-2.10043981e-04 9.99990338e-01 4.39086786e-03 3.30118087e-02] [ 9.04828008e-03 -4.38878769e-03 9.99949432e-01 -9.48216603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.322414037 meters Centerline goodness [0,1] 0.6407105711261447 Centerline is valid? [False, False] Translation: X:2.73, Y:0.03, Z:-0.95 [[ 9.99953161e-01 1.23743092e-03 -9.59916762e-03 2.73103206e+00] [-1.18860946e-03 9.99986339e-01 5.09004854e-03 3.13506087e-02] [ 9.60533507e-03 -5.07840046e-03 9.99940972e-01 -9.47795687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.352414037 meters Centerline goodness [0,1] 0.6416008449669361 Centerline is valid? [False, False] Translation: X:2.73, Y:0.03, Z:-0.95 [[ 9.99949867e-01 1.67022384e-03 -9.87289212e-03 2.73158317e+00] [-1.61774184e-03 9.99984533e-01 5.32136624e-03 3.05686628e-02] [ 9.88162729e-03 -5.30512767e-03 9.99937103e-01 -9.47560370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.382414037 meters Centerline goodness [0,1] 0.6442628953270173 Centerline is valid? [False, False] Translation: X:2.73, Y:0.03, Z:-0.95 [[ 9.99945430e-01 2.24877288e-03 -1.02019788e-02 2.73243315e+00] [-2.18981671e-03 9.99980861e-01 5.78639028e-03 2.93376027e-02] [ 1.02147959e-02 -5.76373405e-03 9.99931216e-01 -9.47574432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.412414037 meters Centerline goodness [0,1] 0.6469873162228492 Centerline is valid? [False, False] Translation: X:2.73, Y:0.03, Z:-0.95 [[ 9.99943188e-01 2.47364678e-03 -1.03682982e-02 2.73253779e+00] [-2.41329193e-03 9.99980096e-01 5.82957023e-03 2.84238907e-02] [ 1.03825121e-02 -5.80421731e-03 9.99929255e-01 -9.47048012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.442414037 meters Centerline goodness [0,1] 0.655466593672301 Centerline is valid? [False, False] Translation: X:2.73, Y:0.03, Z:-0.95 [[ 0.9999383 0.00310291 -0.01066629 2.73286747] [-0.00303505 0.99997509 0.00637223 0.02628016] [ 0.0106858 -0.00633946 0.99992281 -0.94646088] [ 0. 0. 0. 1. ]] SLAMing on 214.472414037 meters Centerline goodness [0,1] 0.655466593672301 Centerline is valid? [False, False] Translation: X:2.73, Y:0.03, Z:-0.95 [[ 0.9999383 0.00310291 -0.01066629 2.73286747] [-0.00303505 0.99997509 0.00637223 0.02628016] [ 0.0106858 -0.00633946 0.99992281 -0.94646088] [ 0. 0. 0. 1. ]] SLAMing on 214.502414037 meters Centerline goodness [0,1] 0.6432690124858116 Centerline is valid? [False, False] Translation: X:2.73, Y:0.03, Z:-0.95 [[ 9.99937920e-01 7.66120841e-04 -1.11161633e-02 2.73460645e+00] [-7.33443843e-04 9.99995399e-01 2.94337223e-03 2.69431761e-02] [ 1.11183671e-02 -2.93503642e-03 9.99933882e-01 -9.46496979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.532414037 meters Centerline goodness [0,1] 0.6472366148531952 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.95 [[ 9.99933397e-01 1.52214763e-03 -1.14405113e-02 2.73546122e+00] [-1.47935013e-03 9.99991880e-01 3.74840507e-03 2.42699782e-02] [ 1.14461241e-02 -3.73123089e-03 9.99927529e-01 -9.46620048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.562414037 meters Centerline goodness [0,1] 0.6474363335374289 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.95 [[ 9.99930604e-01 1.89801312e-03 -1.16269059e-02 2.73608431e+00] [-1.85052687e-03 9.99989909e-01 4.09356702e-03 2.29877595e-02] [ 1.16345582e-02 -4.07176704e-03 9.99924026e-01 -9.46800112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.592414037 meters Centerline goodness [0,1] 0.641220167535957 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.95 [[ 9.99926602e-01 2.36076235e-03 -1.18834826e-02 2.73708984e+00] [-2.30669879e-03 9.99986938e-01 4.56112401e-03 2.18043286e-02] [ 1.18940951e-02 -4.53337762e-03 9.99918986e-01 -9.47318547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.622414037 meters Centerline goodness [0,1] 0.6776756609923941 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.95 [[ 0.99991928 0.00335399 -0.01225477 2.73834164] [-0.00328871 0.99998032 0.0053434 0.02013726] [ 0.01227245 -0.00530267 0.99991063 -0.94767754] [ 0. 0. 0. 1. ]] SLAMing on 214.652414037 meters Centerline goodness [0,1] 0.6671490593342981 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.95 [[ 0.99991523 0.00358863 -0.01251587 2.73875433] [-0.00352102 0.99997911 0.00542023 0.01970823] [ 0.01253506 -0.0053757 0.99990698 -0.94736729] [ 0. 0. 0. 1. ]] SLAMing on 214.68241403699997 meters Centerline goodness [0,1] 0.6658252383420857 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.95 [[ 0.99991178 0.00379954 -0.01272756 2.73895261] [-0.00372993 0.99997798 0.00548819 0.01930187] [ 0.01274813 -0.00544024 0.99990394 -0.94689104] [ 0. 0. 0. 1. ]] SLAMing on 214.71241403699997 meters Centerline goodness [0,1] 0.6707100258804997 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.95 [[ 0.9999134 0.00365064 -0.01264407 2.73781856] [-0.0035813 0.99997845 0.00550236 0.01784034] [ 0.01266388 -0.0054566 0.99990492 -0.94557815] [ 0. 0. 0. 1. ]] SLAMing on 214.74241403699997 meters Centerline goodness [0,1] 0.6716169014084508 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.95 [[ 0.99991454 0.00356142 -0.01257857 2.73738634] [-0.00349075 0.99997803 0.00563536 0.01656087] [ 0.01259837 -0.00559097 0.99990501 -0.94520756] [ 0. 0. 0. 1. ]] SLAMing on 214.77241403699998 meters Centerline goodness [0,1] 0.6666367128703974 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.95 [[ 9.99915959e-01 6.23736790e-04 -1.29493320e-02 2.73880563e+00] [-5.97935122e-04 9.99997829e-01 1.99628562e-03 1.68859923e-02] [ 1.29505490e-02 -1.98837499e-03 9.99914161e-01 -9.45390025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80241403699998 meters Centerline goodness [0,1] 0.6802030456852792 Centerline is valid? [False, False] Translation: X:2.74, Y:0.01, Z:-0.95 [[ 9.99918307e-01 2.91796419e-04 -1.27786715e-02 2.73841282e+00] [-2.61621324e-04 9.99997174e-01 2.36297199e-03 1.40106365e-02] [ 1.27793249e-02 -2.35943578e-03 9.99915557e-01 -9.45618981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83241403699998 meters Centerline goodness [0,1] 0.6605438824425429 Centerline is valid? [False, False] Translation: X:2.74, Y:0.01, Z:-0.95 [[ 9.99919230e-01 1.48503766e-04 -1.27087458e-02 2.73850393e+00] [-1.15487660e-04 9.99996617e-01 2.59859874e-03 1.26455219e-02] [ 1.27090888e-02 -2.59692115e-03 9.99915864e-01 -9.46058444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86241403699998 meters Centerline goodness [0,1] 0.660027780267049 Centerline is valid? [False, False] Translation: X:2.74, Y:0.01, Z:-0.95 [[ 9.99921516e-01 -1.15039986e-04 -1.25279111e-02 2.73821470e+00] [ 1.48328673e-04 9.99996461e-01 2.65626506e-03 1.16495678e-02] [ 1.25275612e-02 -2.65791483e-03 9.99917994e-01 -9.46293972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89241403699998 meters Centerline goodness [0,1] 0.65825611253768 Centerline is valid? [False, False] Translation: X:2.74, Y:0.01, Z:-0.95 [[ 9.99924153e-01 -4.77753891e-04 -1.23069391e-02 2.73786505e+00] [ 5.12492553e-04 9.99995893e-01 2.81968997e-03 1.00875610e-02] [ 1.23055415e-02 -2.82578332e-03 9.99920291e-01 -9.46614178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92241403699998 meters Centerline goodness [0,1] 0.6559550963817702 Centerline is valid? [False, False] Translation: X:2.74, Y:0.01, Z:-0.95 [[ 9.99925249e-01 -8.13098030e-04 -1.21997776e-02 2.73719804e+00] [ 8.44846464e-04 9.99996270e-01 2.59745020e-03 9.98367499e-03] [ 1.21976201e-02 -2.60756298e-03 9.99922206e-01 -9.46056213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95241403699998 meters Centerline goodness [0,1] 0.6535728649953076 Centerline is valid? [False, False] Translation: X:2.74, Y:0.01, Z:-0.95 [[ 9.99926486e-01 -1.08435709e-03 -1.20766849e-02 2.73647590e+00] [ 1.11137543e-03 9.99996894e-01 2.23074513e-03 1.05168854e-02] [ 1.20742284e-02 -2.24400288e-03 9.99924586e-01 -9.45271361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98241403699998 meters Centerline goodness [0,1] 0.6591366584656677 Centerline is valid? [False, False] Translation: X:2.74, Y:0.01, Z:-0.94 [[ 9.99925174e-01 -1.10647986e-03 -1.21828728e-02 2.73651110e+00] [ 1.13148475e-03 9.99997267e-01 2.04576083e-03 1.10366501e-02] [ 1.21805760e-02 -2.05939249e-03 9.99923693e-01 -9.44941129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01241403699999 meters Centerline goodness [0,1] 0.6602013422818792 Centerline is valid? [False, False] Translation: X:2.74, Y:0.01, Z:-0.94 [[ 9.99925760e-01 -1.11906132e-03 -1.21335131e-02 2.73646806e+00] [ 1.14206754e-03 9.99997563e-01 1.88932650e-03 1.16179350e-02] [ 1.21313693e-02 -1.90304353e-03 9.99924601e-01 -9.44900171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.042414037 meters Centerline goodness [0,1] 0.6690069986360485 Centerline is valid? [False, False] Translation: X:2.74, Y:0.01, Z:-0.94 [[ 9.99923974e-01 -1.20869455e-03 -1.22713017e-02 2.73662780e+00] [ 1.22817799e-03 9.99997997e-01 1.58031192e-03 1.24276365e-02] [ 1.22693670e-02 -1.59526312e-03 9.99923456e-01 -9.44654132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.072414037 meters Centerline goodness [0,1] 0.6718760525429437 Centerline is valid? [False, False] Translation: X:2.74, Y:0.01, Z:-0.94 [[ 9.99924219e-01 -1.34178356e-03 -1.22374919e-02 2.73653971e+00] [ 1.35607441e-03 9.99998408e-01 1.15956903e-03 1.37763248e-02] [ 1.22359165e-02 -1.17607611e-03 9.99924447e-01 -9.44518033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.102414037 meters Centerline goodness [0,1] 0.6596178401021482 Centerline is valid? [False, False] Translation: X:2.74, Y:0.01, Z:-0.94 [[ 9.99921633e-01 -1.18672834e-03 -1.24627200e-02 2.73723116e+00] [ 1.20093722e-03 9.99998637e-01 1.13268845e-03 1.41820714e-02] [ 1.24613588e-02 -1.14756662e-03 9.99921696e-01 -9.44728482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.132414037 meters Centerline goodness [0,1] 0.6698821730527074 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.94 [[ 9.99919946e-01 -1.13597463e-03 -1.26020253e-02 2.73778785e+00] [ 1.14598477e-03 9.99999034e-01 7.87135627e-04 1.58139994e-02] [ 1.26011190e-02 -8.01514343e-04 9.99920282e-01 -9.44972944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.162414037 meters Centerline goodness [0,1] 0.6650760579788069 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.95 [[ 9.99916281e-01 -7.21968344e-04 -1.29193253e-02 2.73907975e+00] [ 7.35544118e-04 9.99999182e-01 1.04609065e-03 1.58956596e-02] [ 1.29185595e-02 -1.05550581e-03 9.99915995e-01 -9.45729801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.192414037 meters Centerline goodness [0,1] 0.6704764898729061 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.95 [[ 9.99914990e-01 -6.42828625e-04 -1.30230302e-02 2.73957326e+00] [ 6.55966650e-04 9.99999280e-01 1.00458369e-03 1.62507285e-02] [ 1.30223751e-02 -1.01304096e-03 9.99914692e-01 -9.46058347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.222414037 meters Centerline goodness [0,1] 0.6680468046804681 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.95 [[ 9.99913494e-01 -3.44950176e-04 -1.31486042e-02 2.74039536e+00] [ 3.59947581e-04 9.99999287e-01 1.13825867e-03 1.69736895e-02] [ 1.31482022e-02 -1.14289301e-03 9.99912905e-01 -9.46710100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.252414037 meters Centerline goodness [0,1] 0.6716919055345232 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.95 [[ 9.99913230e-01 -4.93765743e-04 -1.31638864e-02 2.74034472e+00] [ 5.04576004e-04 9.99999538e-01 8.17897290e-04 1.78423833e-02] [ 1.31634764e-02 -8.24468503e-04 9.99913018e-01 -9.46507750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.282414037 meters Centerline goodness [0,1] 0.668345663466079 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.95 [[ 9.99911242e-01 -3.14996252e-04 -1.33194964e-02 2.74084233e+00] [ 3.27634958e-04 9.99999498e-01 9.46716318e-04 1.80879719e-02] [ 1.33191915e-02 -9.50996222e-04 9.99910843e-01 -9.46675195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.312414037 meters Centerline goodness [0,1] 0.6790489673925257 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.95 [[ 9.99911717e-01 -3.75193601e-04 -1.32822511e-02 2.74069724e+00] [ 3.85992585e-04 9.99999597e-01 8.10484530e-04 1.84425361e-02] [ 1.32819417e-02 -8.15539828e-04 9.99911459e-01 -9.46496411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.342414037 meters Centerline goodness [0,1] 0.6619279323721327 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.95 [[ 9.99913448e-01 -4.96686231e-04 -1.31472592e-02 2.74044904e+00] [ 5.08535810e-04 9.99999468e-01 8.97968755e-04 1.81150770e-02] [ 1.31468062e-02 -9.04576886e-04 9.99913168e-01 -9.46594914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.372414037 meters Centerline goodness [0,1] 0.6680815703184656 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.95 [[ 9.99915462e-01 -7.03158919e-04 -1.29836478e-02 2.74001016e+00] [ 7.13886974e-04 9.99999408e-01 8.21658184e-04 1.78743210e-02] [ 1.29830624e-02 -8.30857579e-04 9.99915371e-01 -9.46491133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.402414037 meters Centerline goodness [0,1] 0.656792393595551 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.95 [[ 9.99917620e-01 -9.60749709e-04 -1.27996357e-02 2.73964852e+00] [ 9.70864454e-04 9.99999221e-01 7.84046758e-04 1.76886499e-02] [ 1.27988725e-02 -7.96408879e-04 9.99917774e-01 -9.46616068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43241403699997 meters Centerline goodness [0,1] 0.6616929956630189 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.95 [[ 9.99919932e-01 -1.70065871e-03 -1.25394504e-02 2.73866530e+00] [ 1.70426698e-03 9.99998509e-01 2.77073086e-04 1.81942720e-02] [ 1.25389605e-02 -2.98421473e-04 9.99921340e-01 -9.46181229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46241403699997 meters Centerline goodness [0,1] 0.660387549794072 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.95 [[ 9.99920790e-01 -1.98465675e-03 -1.24288244e-02 2.73845526e+00] [ 1.98497210e-03 9.99998030e-01 1.30367229e-05 1.89632057e-02] [ 1.24287741e-02 -3.77065600e-05 9.99922759e-01 -9.46231603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49241403699997 meters Centerline goodness [0,1] 0.6521152418865124 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.95 [[ 9.99918228e-01 -2.10593132e-03 -1.26135759e-02 2.73913086e+00] [ 2.10366196e-03 9.99997769e-01 -1.93179078e-04 2.02490961e-02] [ 1.26139545e-02 1.66628582e-04 9.99920427e-01 -9.46665822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52241403699998 meters Centerline goodness [0,1] 0.6517374864962189 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.95 [[ 9.99916791e-01 -2.00156687e-03 -1.27437975e-02 2.73978150e+00] [ 2.00068064e-03 9.99997995e-01 -8.22906465e-05 2.06149709e-02] [ 1.27439367e-02 5.67875302e-05 9.99918791e-01 -9.47187074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55241403699998 meters Centerline goodness [0,1] 0.659777782786054 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.95 [[ 9.99916070e-01 -2.03741039e-03 -1.27945996e-02 2.74010326e+00] [ 2.03458538e-03 9.99997903e-01 -2.33809462e-04 2.13110028e-02] [ 1.27950491e-02 2.07758133e-04 9.99918118e-01 -9.47446387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58241403699998 meters Centerline goodness [0,1] 0.66200978172267 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.95 [[ 9.99912071e-01 -1.96389441e-03 -1.31146555e-02 2.74107851e+00] [ 1.95518648e-03 9.99997860e-01 -6.76773272e-04 2.33868021e-02] [ 1.31159565e-02 6.51072167e-04 9.99913770e-01 -9.47671367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61241403699998 meters Centerline goodness [0,1] 0.6529562982005142 Centerline is valid? [False, False] Translation: X:2.74, Y:0.02, Z:-0.95 [[ 9.99908001e-01 -1.59991894e-03 -1.34695546e-02 2.74235091e+00] [ 1.59146146e-03 9.99998530e-01 -6.38591218e-04 2.45682754e-02] [ 1.34705565e-02 6.17096192e-04 9.99909078e-01 -9.48202977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64241403699998 meters Centerline goodness [0,1] 0.6558457739618966 Centerline is valid? [False, False] Translation: X:2.74, Y:0.03, Z:-0.95 [[ 9.99906022e-01 -1.59732820e-03 -1.36159939e-02 2.74267081e+00] [ 1.58301845e-03 9.99998183e-01 -1.06166444e-03 2.62524874e-02] [ 1.36176650e-02 1.04001030e-03 9.99906734e-01 -9.48007037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67241403699998 meters Centerline goodness [0,1] 0.660006811215802 Centerline is valid? [False, False] Translation: X:2.74, Y:0.03, Z:-0.95 [[ 9.99903291e-01 -1.31583832e-03 -1.38447738e-02 2.74353963e+00] [ 1.29769310e-03 9.99998287e-01 -1.31952019e-03 2.82677325e-02] [ 1.38464864e-02 1.30142631e-03 9.99903286e-01 -9.48222572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70241403699998 meters Centerline goodness [0,1] 0.6551167863310006 Centerline is valid? [False, False] Translation: X:2.74, Y:0.03, Z:-0.95 [[ 9.99902372e-01 -1.10300670e-03 -1.39294247e-02 2.74404517e+00] [ 1.08674687e-03 9.99998719e-01 -1.17481584e-03 2.85309797e-02] [ 1.39307027e-02 1.15956339e-03 9.99902291e-01 -9.48617913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73241403699998 meters Centerline goodness [0,1] 0.6657181880264056 Centerline is valid? [False, False] Translation: X:2.74, Y:0.03, Z:-0.95 [[ 9.99902696e-01 -1.00967844e-03 -1.39132361e-02 2.74430777e+00] [ 9.93626259e-04 9.99998833e-01 -1.16059888e-03 2.89740896e-02] [ 1.39143917e-02 1.14666139e-03 9.99902533e-01 -9.48946491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76241403699999 meters Centerline goodness [0,1] 0.6631602862660457 Centerline is valid? [False, False] Translation: X:2.75, Y:0.03, Z:-0.95 [[ 9.99900120e-01 -7.67920667e-04 -1.41123988e-02 2.74508695e+00] [ 7.53132676e-04 9.99999162e-01 -1.05315694e-03 2.94127466e-02] [ 1.41131957e-02 1.04242324e-03 9.99899861e-01 -9.49343892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.792414037 meters Centerline goodness [0,1] 0.6566603700584902 Centerline is valid? [False, False] Translation: X:2.75, Y:0.03, Z:-0.95 [[ 9.99896656e-01 -3.93698092e-04 -1.43708703e-02 2.74615552e+00] [ 3.76635945e-04 9.99999221e-01 -1.18996015e-03 3.15567057e-02] [ 1.43713276e-02 1.18442459e-03 9.99896026e-01 -9.49724169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.822414037 meters Centerline goodness [0,1] 0.6654614522071443 Centerline is valid? [False, False] Translation: X:2.75, Y:0.03, Z:-0.95 [[ 9.99894636e-01 -4.63852985e-04 -1.45086718e-02 2.74636872e+00] [ 4.41159393e-04 9.99998674e-01 -1.56730122e-03 3.29324997e-02] [ 1.45093796e-02 1.56073545e-03 9.99893515e-01 -9.49503929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.852414037 meters Centerline goodness [0,1] 0.6613827916219365 Centerline is valid? [False, False] Translation: X:2.75, Y:0.03, Z:-0.95 [[ 9.99889950e-01 -2.90511144e-04 -1.48325022e-02 2.74725233e+00] [ 2.63847987e-04 9.99998346e-01 -1.79954215e-03 3.44363604e-02] [ 1.48330005e-02 1.79543059e-03 9.99888373e-01 -9.49624303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.882414037 meters Centerline goodness [0,1] 0.6510584735095548 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:-0.95 [[ 9.99889890e-01 -3.60827752e-04 -1.48350114e-02 2.74744214e+00] [ 3.31455161e-04 9.99997980e-01 -1.98236175e-03 3.50936776e-02] [ 1.48356967e-02 1.97722633e-03 9.99887990e-01 -9.49805358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.912414037 meters Centerline goodness [0,1] 0.6500812487126084 Centerline is valid? [False, False] Translation: X:2.75, Y:0.03, Z:-0.95 [[ 9.99889265e-01 -1.63183868e-04 -1.48805611e-02 2.74808498e+00] [ 1.38897886e-04 9.99998657e-01 -1.63307979e-03 3.49102334e-02] [ 1.48808076e-02 1.63083207e-03 9.99887945e-01 -9.50579355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.942414037 meters Centerline goodness [0,1] 0.658289383168998 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:-0.95 [[ 9.99890706e-01 -4.27545520e-04 -1.47781101e-02 2.74819223e+00] [ 4.01567612e-04 9.99998369e-01 -1.76078670e-03 3.58509666e-02] [ 1.47788388e-02 1.75465985e-03 9.99889247e-01 -9.51149165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.972414037 meters Centerline goodness [0,1] 0.6503215434083601 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:-0.95 [[ 9.99892166e-01 -6.69089450e-04 -1.46699915e-02 2.74804044e+00] [ 6.40779824e-04 9.99997924e-01 -1.93437979e-03 3.67675153e-02] [ 1.46712553e-02 1.92477097e-03 9.99890519e-01 -9.51328465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.002414037 meters Centerline goodness [0,1] 0.6476343592099219 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:-0.95 [[ 9.99890237e-01 -7.25233731e-04 -1.47982535e-02 2.74851511e+00] [ 6.95657713e-04 9.99997751e-01 -2.00366515e-03 3.75397403e-02] [ 1.47996734e-02 1.99315070e-03 9.99888492e-01 -9.51597217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.032414037 meters Centerline goodness [0,1] 0.6485981739371023 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:-0.95 [[ 9.99889238e-01 -1.07830890e-03 -1.48441463e-02 2.74867920e+00] [ 1.04267336e-03 9.99996557e-01 -2.40817579e-03 3.93650132e-02] [ 1.48466920e-02 2.39243146e-03 9.99886920e-01 -9.51729993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.062414037 meters Centerline goodness [0,1] 0.6505264616237185 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:-0.95 [[ 9.99888841e-01 -1.20738735e-03 -1.48609285e-02 2.74876215e+00] [ 1.16836988e-03 9.99995849e-01 -2.63390878e-03 4.03756821e-02] [ 1.48640469e-02 2.61625294e-03 9.99886101e-01 -9.51786750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.092414037 meters Centerline goodness [0,1] 0.6510959729366514 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:-0.95 [[ 9.99886071e-01 -1.36054759e-03 -1.50331245e-02 2.74924022e+00] [ 1.31057231e-03 9.99993584e-01 -3.33369589e-03 4.32104245e-02] [ 1.50375637e-02 3.31361409e-03 9.99881439e-01 -9.51711449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.122414037 meters Centerline goodness [0,1] 0.6449632592316994 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:-0.95 [[ 9.99882939e-01 -1.29531242e-03 -1.52456962e-02 2.74989777e+00] [ 1.23898852e-03 9.99992375e-01 -3.70327828e-03 4.50211334e-02] [ 1.52503769e-02 3.68395552e-03 9.99876920e-01 -9.51803114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.152414037 meters Centerline goodness [0,1] 0.6479092940957347 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:-0.95 [[ 9.99878919e-01 -9.63048269e-04 -1.55312233e-02 2.75099379e+00] [ 9.04444331e-04 9.99992447e-01 -3.77988098e-03 4.66432097e-02] [ 1.55347462e-02 3.76537618e-03 9.99872239e-01 -9.52235046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18241403699997 meters Centerline goodness [0,1] 0.6469539933405244 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:-0.95 [[ 9.99881853e-01 2.27887911e-03 -1.52015515e-02 2.75005153e+00] [-2.28691307e-03 9.99997254e-01 -5.11134053e-04 4.83638715e-02] [ 1.52003449e-02 5.45838291e-04 9.99884319e-01 -9.52192258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21241403699997 meters Centerline goodness [0,1] 0.6477737552306173 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:-0.95 [[ 9.99880856e-01 2.15667818e-03 -1.52847121e-02 2.75012421e+00] [-2.17236489e-03 9.99997131e-01 -1.00977197e-03 4.99375632e-02] [ 1.52824905e-02 1.04285564e-03 9.99882672e-01 -9.51905109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24241403699997 meters Centerline goodness [0,1] 0.6559440231045575 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:-0.95 [[ 9.99878195e-01 2.36251233e-03 -1.54277016e-02 2.75076410e+00] [-2.37680821e-03 9.99996763e-01 -9.08367616e-04 5.04613165e-02] [ 1.54255056e-02 9.44925660e-04 9.99880573e-01 -9.52295606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27241403699998 meters Centerline goodness [0,1] 0.6477008114783018 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:-0.95 [[ 9.99881938e-01 1.89188533e-03 -1.52489445e-02 2.74999215e+00] [-1.91431201e-03 9.99997107e-01 -1.45624149e-03 5.11920198e-02] [ 1.52461453e-02 1.48526080e-03 9.99882668e-01 -9.51741691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30241403699998 meters Centerline goodness [0,1] 0.6428050358865749 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:-0.95 [[ 9.99882812e-01 1.81445348e-03 -1.52009729e-02 2.75001044e+00] [-1.83436968e-03 9.99997477e-01 -1.29635230e-03 5.08078982e-02] [ 1.51985823e-02 1.32408459e-03 9.99883618e-01 -9.51954025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33241403699998 meters Centerline goodness [0,1] 0.6412412177985949 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:-0.95 [[ 9.99887106e-01 1.15091555e-03 -1.49816845e-02 2.74904120e+00] [-1.16775724e-03 9.99998696e-01 -1.11545305e-03 4.92757798e-02] [ 1.49803811e-02 1.13282210e-03 9.99887146e-01 -9.51749493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36241403699998 meters Centerline goodness [0,1] 0.6399162924122364 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:-0.95 [[ 9.99890140e-01 7.43416636e-04 -1.48039108e-02 2.74841877e+00] [-7.59880348e-04 9.99999099e-01 -1.10652522e-03 4.85008298e-02] [ 1.48030748e-02 1.11765286e-03 9.99889804e-01 -9.51621574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39241403699998 meters Centerline goodness [0,1] 0.6399162924122364 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:-0.95 [[ 9.99890140e-01 7.43416636e-04 -1.48039108e-02 2.74841877e+00] [-7.59880348e-04 9.99999099e-01 -1.10652522e-03 4.85008298e-02] [ 1.48030748e-02 1.11765286e-03 9.99889804e-01 -9.51621574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42241403699998 meters Centerline goodness [0,1] 0.6344580177729842 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:-0.95 [[ 9.99892677e-01 4.77848176e-04 -1.46426392e-02 2.74800992e+00] [-4.91175865e-04 9.99999468e-01 -9.06614482e-04 4.73569851e-02] [ 1.46421982e-02 9.13709292e-04 9.99892380e-01 -9.51733411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45241403699998 meters Centerline goodness [0,1] 0.6371065942300487 Centerline is valid? [False, False] Translation: X:2.75, Y:0.05, Z:-0.95 [[ 9.99898148e-01 -2.46706365e-04 -1.42699860e-02 2.74701146e+00] [ 2.39337166e-04 9.99999837e-01 -5.18117991e-04 4.51344614e-02] [ 1.42701115e-02 5.14649882e-04 9.99898044e-01 -9.52115623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48241403699998 meters Centerline goodness [0,1] 0.6372459599148717 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:-0.95 [[ 9.99899802e-01 -4.06152633e-04 -1.41499125e-02 2.74694146e+00] [ 4.04240455e-04 9.99999909e-01 -1.37996955e-04 4.38528313e-02] [ 1.41499672e-02 1.32263160e-04 9.99899875e-01 -9.52605068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51241403699999 meters Centerline goodness [0,1] 0.631142384491717 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:-0.95 [[ 9.99904052e-01 -1.09484055e-03 -1.38089952e-02 2.74612919e+00] [ 1.09760965e-03 9.99999379e-01 1.92951692e-04 4.17097536e-02] [ 1.38087753e-02 -2.08090065e-04 9.99904633e-01 -9.53049533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.542414037 meters Centerline goodness [0,1] 0.636147277054459 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:-0.95 [[ 9.99905935e-01 -1.31870458e-03 -1.36521807e-02 2.74572215e+00] [ 1.32233317e-03 9.99999093e-01 2.56765317e-04 4.10288280e-02] [ 1.36518298e-02 -2.74793896e-04 9.99906772e-01 -9.53039576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.572414037 meters Centerline goodness [0,1] 0.6265791861520207 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:-0.95 [[ 9.99906190e-01 -1.40056944e-03 -1.36252989e-02 2.74565288e+00] [ 1.40556868e-03 9.99998948e-01 3.57339433e-04 4.04588686e-02] [ 1.36247841e-02 -3.76457204e-04 9.99907107e-01 -9.53076032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.602414037 meters Centerline goodness [0,1] 0.625142670797326 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:-0.95 [[ 9.99905727e-01 -1.61202271e-03 -1.36359541e-02 2.74510899e+00] [ 1.61506445e-03 9.99998673e-01 2.12058847e-04 3.98259238e-02] [ 1.36355942e-02 -2.34061800e-04 9.99907004e-01 -9.52324738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.632414037 meters Centerline goodness [0,1] 0.6302462389843514 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:-0.95 [[ 9.99905261e-01 -1.51867890e-03 -1.36807168e-02 2.74531710e+00] [ 1.52315995e-03 9.99998790e-01 3.17131653e-04 3.94277317e-02] [ 1.36802187e-02 -3.37939529e-04 9.99906364e-01 -9.52415574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.662414037 meters Centerline goodness [0,1] 0.6246565134367286 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:-0.95 [[ 9.99903496e-01 -1.23724139e-03 -1.38371653e-02 2.74594588e+00] [ 1.24575449e-03 9.99999040e-01 6.06632179e-04 3.89554250e-02] [ 1.38364014e-02 -6.23811348e-04 9.99904078e-01 -9.52772716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.692414037 meters Centerline goodness [0,1] 0.6343878121505777 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:-0.95 [[ 9.99901955e-01 -9.17403446e-04 -1.39727800e-02 2.74641073e+00] [ 9.27195836e-04 9.99999329e-01 6.94357096e-04 3.90484805e-02] [ 1.39721337e-02 -7.07244521e-04 9.99902135e-01 -9.52810994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.722414037 meters Centerline goodness [0,1] 0.6305358055671733 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:-0.95 [[ 9.99900814e-01 -6.12500117e-04 -1.40707928e-02 2.74690853e+00] [ 6.25569632e-04 9.99999377e-01 9.24457415e-04 3.89611417e-02] [ 1.40702178e-02 -9.33167982e-04 9.99900574e-01 -9.53055254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.752414037 meters Centerline goodness [0,1] 0.6367775506411448 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:-0.95 [[ 9.99900233e-01 -3.70740285e-04 -1.41204253e-02 2.74655757e+00] [ 3.81837140e-04 9.99999620e-01 7.83184710e-04 3.91154801e-02] [ 1.41201295e-02 -7.88498277e-04 9.99899995e-01 -9.52133902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.782414037 meters Centerline goodness [0,1] 0.6383668929721713 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:-0.95 [[ 9.99899197e-01 -2.83225201e-04 -1.41956074e-02 2.74655667e+00] [ 2.95815470e-04 9.99999565e-01 8.84821142e-04 3.85164001e-02] [ 1.41953506e-02 -8.88931229e-04 9.99898846e-01 -9.51863429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.812414037 meters Centerline goodness [0,1] 0.6502241111033698 Centerline is valid? [False, False] Translation: X:2.75, Y:0.04, Z:-0.95 [[ 9.99898688e-01 -1.28041383e-04 -1.42336579e-02 2.74654005e+00] [ 1.42590126e-04 9.99999468e-01 1.02112651e-03 3.76224845e-02] [ 1.42335195e-02 -1.02305263e-03 9.99898175e-01 -9.51614381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.842414037 meters Centerline goodness [0,1] 0.640337299295368 Centerline is valid? [False, False] Translation: X:2.75, Y:0.03, Z:-0.95 [[ 9.99894728e-01 4.55984904e-04 -1.45025987e-02 2.74752882e+00] [-4.27199897e-04 9.99997933e-01 1.98785312e-03 3.48000347e-02] [ 1.45034752e-02 -1.98144834e-03 9.99892856e-01 -9.52234962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.872414037 meters Centerline goodness [0,1] 0.6497977112472546 Centerline is valid? [False, False] Translation: X:2.75, Y:0.03, Z:-0.95 [[ 9.99894951e-01 5.94015789e-04 -1.44821734e-02 2.74777567e+00] [-5.60361785e-04 9.99997134e-01 2.32776985e-03 3.37015532e-02] [ 1.44835146e-02 -2.31941006e-03 9.99892418e-01 -9.52617759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.902414037 meters Centerline goodness [0,1] 0.6470356737736417 Centerline is valid? [False, False] Translation: X:2.75, Y:0.03, Z:-0.95 [[ 9.99893004e-01 7.31709645e-04 -1.46097632e-02 2.74818512e+00] [-6.94037539e-04 9.99996422e-01 2.58346056e-03 3.27228691e-02] [ 1.46116012e-02 -2.57304441e-03 9.99889934e-01 -9.52828904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93241403699997 meters Centerline goodness [0,1] 0.6413629452149472 Centerline is valid? [False, False] Translation: X:2.75, Y:0.03, Z:-0.95 [[ 9.99892092e-01 1.02691137e-03 -1.46543478e-02 2.74870013e+00] [-9.78328111e-04 9.99994003e-01 3.32206298e-03 3.03356255e-02] [ 1.46576714e-02 -3.30736774e-03 9.99887101e-01 -9.53464531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96241403699997 meters Centerline goodness [0,1] 0.6451879958606417 Centerline is valid? [False, False] Translation: X:2.75, Y:0.03, Z:-0.95 [[ 9.99893245e-01 9.67618050e-04 -1.45794953e-02 2.74834037e+00] [-9.17119146e-04 9.99993559e-01 3.46998147e-03 2.92214183e-02] [ 1.45827590e-02 -3.45623990e-03 9.99887692e-01 -9.53219602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99241403699997 meters Centerline goodness [0,1] 0.6381603081438004 Centerline is valid? [False, False] Translation: X:2.75, Y:0.03, Z:-0.95 [[ 9.99895665e-01 7.74952648e-04 -1.44242135e-02 2.74749612e+00] [-7.21381496e-04 9.99992825e-01 3.71880638e-03 2.69115132e-02] [ 1.44269919e-02 -3.70801302e-03 9.99889050e-01 -9.52646509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02241403699998 meters Centerline goodness [0,1] 0.6461679040548258 Centerline is valid? [False, False] Translation: X:2.75, Y:0.03, Z:-0.95 [[ 9.99894861e-01 7.31890887e-04 -1.44821137e-02 2.74747790e+00] [-6.77156650e-04 9.99992611e-01 3.78397978e-03 2.59848194e-02] [ 1.44847762e-02 -3.77377528e-03 9.99887969e-01 -9.52459913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05241403699998 meters Centerline goodness [0,1] 0.6427934417232627 Centerline is valid? [False, False] Translation: X:2.75, Y:0.03, Z:-0.95 [[ 9.99896120e-01 6.14581388e-04 -1.44004020e-02 2.74704217e+00] [-5.59490894e-04 9.99992512e-01 3.82933838e-03 2.52883567e-02] [ 1.44026476e-02 -3.82088369e-03 9.99888976e-01 -9.52164906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08241403699998 meters Centerline goodness [0,1] 0.6431976530986432 Centerline is valid? [False, False] Translation: X:2.75, Y:0.03, Z:-0.95 [[ 9.99896190e-01 4.29316273e-04 -1.44022200e-02 2.74667354e+00] [-3.76656191e-04 9.99993235e-01 3.65889967e-03 2.50488027e-02] [ 1.44036934e-02 -3.65309515e-03 9.99889588e-01 -9.51658044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11241403699998 meters Centerline goodness [0,1] 0.6422334192106883 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:-0.95 [[ 9.99894381e-01 5.32047416e-04 -1.45239050e-02 2.74706503e+00] [-4.77147824e-04 9.99992730e-01 3.78315061e-03 2.42566540e-02] [ 1.45258122e-02 -3.77582099e-03 9.99887366e-01 -9.51786352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14241403699998 meters Centerline goodness [0,1] 0.6256216068251289 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:-0.95 [[ 9.99894940e-01 5.63174718e-04 -1.44842158e-02 2.74709833e+00] [-5.06095888e-04 9.99992094e-01 3.94412439e-03 2.33961916e-02] [ 1.44863225e-02 -3.93637962e-03 9.99887319e-01 -9.51972726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17241403699998 meters Centerline goodness [0,1] 0.6364752421224935 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:-0.95 [[ 9.99895850e-01 3.62730710e-04 -1.44276463e-02 2.74652355e+00] [-3.05808614e-04 9.99992162e-01 3.94735924e-03 2.17136428e-02] [ 1.44289650e-02 -3.94253602e-03 9.99888124e-01 -9.51423053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20241403699998 meters Centerline goodness [0,1] 0.6353474662736651 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:-0.95 [[ 9.99895087e-01 1.79376002e-04 -1.44838838e-02 2.74625646e+00] [-1.25615362e-04 9.99993100e-01 3.71258027e-03 2.14595612e-02] [ 1.44844498e-02 -3.71037137e-03 9.99888211e-01 -9.50887374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23241403699998 meters Centerline goodness [0,1] 0.6327551321981495 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:-0.95 [[ 9.99894383e-01 1.84695896e-04 -1.45323120e-02 2.74629585e+00] [-1.30991277e-04 9.99993160e-01 3.69639675e-03 2.13041623e-02] [ 1.45328953e-02 -3.69410274e-03 9.99887568e-01 -9.50777398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26241403699999 meters Centerline goodness [0,1] 0.6408152161592346 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:-0.95 [[ 9.99892199e-01 3.73767174e-04 -1.46782045e-02 2.74647753e+00] [-3.18022546e-04 9.99992730e-01 3.79993295e-03 2.11776535e-02] [ 1.46795180e-02 -3.79485532e-03 9.99885049e-01 -9.50451625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.292414037 meters Centerline goodness [0,1] 0.6485694157216553 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:-0.95 [[ 9.99892235e-01 3.37346061e-04 -1.46766859e-02 2.74629920e+00] [-2.82084479e-04 9.99992864e-01 3.76717015e-03 2.07269531e-02] [ 1.46778520e-02 -3.76262412e-03 9.99885195e-01 -9.50191023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.322414037 meters Centerline goodness [0,1] 0.6403277134538561 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:-0.95 [[ 9.99880131e-01 -1.88886104e-03 -1.53673321e-02 2.74910380e+00] [ 1.90485390e-03 9.99997659e-01 1.02613437e-03 2.05345317e-02] [ 1.53653579e-02 -1.05528389e-03 9.99881389e-01 -9.51359813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.352414037 meters Centerline goodness [0,1] 0.6436594938421978 Centerline is valid? [False, False] Translation: X:2.75, Y:0.02, Z:-0.95 [[ 9.99882411e-01 -2.61626857e-03 -1.51102500e-02 2.74782583e+00] [ 2.63314852e-03 9.99995931e-01 1.09733244e-03 1.65312288e-02] [ 1.51073176e-02 -1.13699094e-03 9.99885232e-01 -9.50765900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.382414037 meters Centerline goodness [0,1] 0.628762089410916 Centerline is valid? [False, False] Translation: X:2.75, Y:0.01, Z:-0.95 [[ 9.99886593e-01 -2.89790166e-03 -1.47784885e-02 2.74687426e+00] [ 2.91806183e-03 9.99994841e-01 1.34277576e-03 1.44870583e-02] [ 1.47745210e-02 -1.38574803e-03 9.99889891e-01 -9.50565956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.412414037 meters Centerline goodness [0,1] 0.6488530716070504 Centerline is valid? [False, False] Translation: X:2.75, Y:0.01, Z:-0.95 [[ 9.99889744e-01 -3.57787114e-03 -1.44117353e-02 2.74543792e+00] [ 3.60375126e-03 9.99991940e-01 1.77019799e-03 1.10762659e-02] [ 1.44052856e-02 -1.82193913e-03 9.99894579e-01 -9.50093741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.442414037 meters Centerline goodness [0,1] 0.6393457355980947 Centerline is valid? [False, False] Translation: X:2.75, Y:0.01, Z:-0.95 [[ 9.99890835e-01 -3.67534548e-03 -1.43111564e-02 2.74506547e+00] [ 3.70553719e-03 9.99990964e-01 2.08371771e-03 9.49314124e-03] [ 1.43033687e-02 -2.13652076e-03 9.99895419e-01 -9.49974290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.472414037 meters Centerline goodness [0,1] 0.6304016496324188 Centerline is valid? [False, False] Translation: X:2.75, Y:0.01, Z:-0.95 [[ 0.99989123 -0.00347328 -0.01433396 2.7452792 ] [ 0.00351498 0.99998966 0.00288523 0.00716675] [ 0.01432379 -0.0029353 0.9998931 -0.95037285] [ 0. 0. 0. 1. ]] SLAMing on 217.502414037 meters Centerline goodness [0,1] 0.64225017376292 Centerline is valid? [False, False] Translation: X:2.74, Y:0.00, Z:-0.95 [[ 0.99989345 -0.00360769 -0.01414477 2.74465881] [ 0.00365814 0.99998703 0.0035423 0.00359626] [ 0.01413181 -0.00359366 0.99989368 -0.95033238] [ 0. 0. 0. 1. ]] SLAMing on 217.532414037 meters Centerline goodness [0,1] 0.6294046444902717 Centerline is valid? [False, False] Translation: X:2.74, Y:0.00, Z:-0.95 [[ 9.99894195e-01 -3.57108165e-03 -1.41013094e-02 2.74451046e+00] [ 3.62567023e-03 9.99986026e-01 3.84750572e-03 2.17710869e-03] [ 1.40873726e-02 -3.89822533e-03 9.99893169e-01 -9.50299794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.562414037 meters Centerline goodness [0,1] 0.6359329608938548 Centerline is valid? [False, False] Translation: X:2.74, Y:0.00, Z:-0.95 [[ 9.99893378e-01 -3.34697007e-03 -1.42137141e-02 2.74473551e+00] [ 3.40783614e-03 9.99985119e-01 4.26014797e-03 8.23515698e-04] [ 1.41992440e-02 -4.30813175e-03 9.99889905e-01 -9.50296435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.592414037 meters Centerline goodness [0,1] 0.6258098991383341 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.00, Z:-0.95 [[ 9.99893635e-01 -3.28180066e-03 -1.42108233e-02 2.74433321e+00] [ 3.34586391e-03 9.99984338e-01 4.48663432e-03 -4.36977042e-04] [ 1.41958765e-02 -4.53370459e-03 9.99888955e-01 -9.49705607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.622414037 meters Centerline goodness [0,1] 0.6409063457624086 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.00, Z:-0.95 [[ 9.99893551e-01 -3.27844914e-03 -1.42175253e-02 2.74418256e+00] [ 3.34365672e-03 9.99983990e-01 4.56507930e-03 -1.01419942e-03] [ 1.42023313e-02 -4.61213188e-03 9.99888505e-01 -9.49470015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.652414037 meters Centerline goodness [0,1] 0.6353284606471166 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:-0.95 [[ 9.99875708e-01 -5.42265877e-03 -1.48041499e-02 2.74685785e+00] [ 5.45232683e-03 9.99983206e-01 1.96441158e-03 -1.65759415e-03] [ 1.47932490e-02 -2.04488448e-03 9.99888483e-01 -9.50714361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68241403699997 meters Centerline goodness [0,1] 0.624608063332518 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:-0.95 [[ 9.99875514e-01 -5.13423619e-03 -1.49196808e-02 2.74749352e+00] [ 5.17097869e-03 9.99983690e-01 2.42515415e-03 -2.91672561e-03] [ 1.49069862e-02 -2.50200160e-03 9.99885754e-01 -9.51205655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71241403699997 meters Centerline goodness [0,1] 0.6156988101580536 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:-0.95 [[ 9.99875754e-01 -5.01067645e-03 -1.49455274e-02 2.74772433e+00] [ 5.05126449e-03 9.99983653e-01 2.67921940e-03 -3.84920809e-03] [ 1.49318584e-02 -2.75438033e-03 9.99884720e-01 -9.51431699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74241403699997 meters Centerline goodness [0,1] 0.6383548200026765 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:-0.95 [[ 0.99987595 -0.00491377 -0.01496488 2.74770396] [ 0.00495609 0.99998382 0.00279173 -0.00421123] [ 0.01495092 -0.00286555 0.99988412 -0.95130314] [ 0. 0. 0. 1. ]] SLAMing on 217.77241403699998 meters Centerline goodness [0,1] 0.643780182436058 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:-0.95 [[ 9.99873286e-01 -4.72492523e-03 -1.52015381e-02 2.74782958e+00] [ 4.76440290e-03 9.99985369e-01 2.56178587e-03 -3.41242613e-03] [ 1.51892114e-02 -2.63388751e-03 9.99881168e-01 -9.50596227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80241403699998 meters Centerline goodness [0,1] 0.6285224209752511 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:-0.95 [[ 9.99869362e-01 -4.29575866e-03 -1.55822071e-02 2.74881882e+00] [ 4.33890326e-03 9.99986844e-01 2.73608818e-03 -3.10675833e-03] [ 1.55702485e-02 -2.80334043e-03 9.99874846e-01 -9.50696089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83241403699998 meters Centerline goodness [0,1] 0.6286531414782375 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:-0.95 [[ 0.99986707 -0.00402959 -0.01579864 2.74930713] [ 0.00407414 0.99998781 0.00278862 -0.00281938] [ 0.01578721 -0.00285262 0.9998713 -0.95067024] [ 0. 0. 0. 1. ]] SLAMing on 217.86241403699998 meters Centerline goodness [0,1] 0.6371063410703495 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:-0.95 [[ 9.99865783e-01 -3.30423401e-03 -1.60467412e-02 2.75040428e+00] [ 3.35383217e-03 9.99989679e-01 3.06492876e-03 -2.62350348e-03] [ 1.60364483e-02 -3.11833547e-03 9.99866545e-01 -9.51169966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89241403699998 meters Centerline goodness [0,1] 0.6338194894244299 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:-0.95 [[ 0.9998648 -0.00299038 -0.01616901 2.75109362] [ 0.00304377 0.99998999 0.00327821 -0.00297922] [ 0.01615904 -0.00332698 0.9998639 -0.95158747] [ 0. 0. 0. 1. ]] SLAMing on 217.92241403699998 meters Centerline goodness [0,1] 0.6505827349394895 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:-0.95 [[ 9.99863440e-01 -2.59023521e-03 -1.63215147e-02 2.75157712e+00] [ 2.64720672e-03 9.99990476e-01 3.46993969e-03 -3.27478821e-03] [ 1.63123713e-02 -3.51267226e-03 9.99860774e-01 -9.51700494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95241403699998 meters Centerline goodness [0,1] 0.6437716724459857 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:-0.95 [[ 9.99861007e-01 -2.29111727e-03 -1.65141777e-02 2.75221638e+00] [ 2.35375818e-03 9.99990106e-01 3.77472164e-03 -3.66534295e-03] [ 1.65053660e-02 -3.81306736e-03 9.99856506e-01 -9.51927110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98241403699998 meters Centerline goodness [0,1] 0.6342322264319145 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:-0.95 [[ 9.99860071e-01 -2.28592234e-03 -1.65714516e-02 2.75220571e+00] [ 2.34813738e-03 9.99990265e-01 3.73586544e-03 -3.63156899e-03] [ 1.65627504e-02 -3.77425473e-03 9.99855705e-01 -9.51713583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01241403699999 meters Centerline goodness [0,1] 0.639282679665489 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:-0.95 [[ 9.99860786e-01 -2.31668159e-03 -1.65239489e-02 2.75199145e+00] [ 2.37968839e-03 9.99989970e-01 3.79441646e-03 -4.07970050e-03] [ 1.65149927e-02 -3.83321008e-03 9.99856270e-01 -9.51496648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.042414037 meters Centerline goodness [0,1] 0.6391614927565258 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:-0.95 [[ 9.99858946e-01 -2.09508059e-03 -1.66642921e-02 2.75260484e+00] [ 2.16466837e-03 9.99989009e-01 4.15892084e-03 -4.94420103e-03] [ 1.66553956e-02 -4.19440688e-03 9.99852491e-01 -9.51920810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.072414037 meters Centerline goodness [0,1] 0.6384272666518156 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.01, Z:-0.95 [[ 9.99859428e-01 -2.20474203e-03 -1.66211709e-02 2.75252715e+00] [ 2.27409682e-03 9.99988782e-01 4.15493289e-03 -5.61284388e-03] [ 1.66118239e-02 -4.19214698e-03 9.99853226e-01 -9.51921942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.102414037 meters Centerline goodness [0,1] 0.6421377915119717 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.01, Z:-0.95 [[ 9.99858503e-01 -2.56146852e-03 -1.66256869e-02 2.75235265e+00] [ 2.63254894e-03 9.99987483e-01 4.25486089e-03 -7.13631201e-03] [ 1.66145801e-02 -4.29802677e-03 9.99852731e-01 -9.51884148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.132414037 meters Centerline goodness [0,1] 0.6364626394630395 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.01, Z:-0.95 [[ 0.99985916 -0.00276256 -0.01655378 2.75215333] [ 0.00283175 0.99998735 0.00415745 -0.00733619] [ 0.01654209 -0.00420374 0.99985433 -0.95184257] [ 0. 0. 0. 1. ]] SLAMing on 218.162414037 meters Centerline goodness [0,1] 0.6348864091050549 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.01, Z:-0.95 [[ 0.99985955 -0.00337264 -0.01641645 2.75161842] [ 0.00343064 0.99998797 0.00350609 -0.00645471] [ 0.01640443 -0.00356192 0.99985909 -0.9514906 ] [ 0. 0. 0. 1. ]] SLAMing on 218.192414037 meters Centerline goodness [0,1] 0.6471031517354493 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.01, Z:-0.95 [[ 0.99985759 -0.00348407 -0.01651265 2.75187088] [ 0.00353886 0.99998832 0.00329044 -0.00595363] [ 0.016501 -0.00334841 0.99985824 -0.95151387] [ 0. 0. 0. 1. ]] SLAMing on 218.222414037 meters Centerline goodness [0,1] 0.6353761745040982 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.01, Z:-0.95 [[ 0.9998564 -0.00360937 -0.0165577 2.75179239] [ 0.00365908 0.99998889 0.0029727 -0.00526228] [ 0.01654679 -0.00303286 0.99985849 -0.95120715] [ 0. 0. 0. 1. ]] SLAMing on 218.252414037 meters Centerline goodness [0,1] 0.6591901282965075 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:-0.95 [[ 9.99853064e-01 -3.75813884e-03 -1.67250098e-02 2.75199807e+00] [ 3.79582609e-03 9.99990327e-01 2.22217277e-03 -3.00986105e-03] [ 1.67164968e-02 -2.28533148e-03 9.99857658e-01 -9.50791658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.282414037 meters Centerline goodness [0,1] 0.6591901282965075 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:-0.95 [[ 9.99853064e-01 -3.75813884e-03 -1.67250098e-02 2.75199807e+00] [ 3.79582609e-03 9.99990327e-01 2.22217277e-03 -3.00986105e-03] [ 1.67164968e-02 -2.28533148e-03 9.99857658e-01 -9.50791658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.312414037 meters Centerline goodness [0,1] 0.6427505069186034 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.00, Z:-0.95 [[ 9.99850949e-01 -3.63132805e-03 -1.68787613e-02 2.75262082e+00] [ 3.66706270e-03 9.99991099e-01 2.08666968e-03 -1.88906861e-03] [ 1.68710337e-02 -2.14825413e-03 9.99855366e-01 -9.51099714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.342414037 meters Centerline goodness [0,1] 0.6395942481328726 Centerline is valid? [False, False] Translation: X:2.75, Y:0.00, Z:-0.95 [[ 9.99843977e-01 -2.93783258e-03 -1.74181340e-02 2.75460040e+00] [ 2.97330260e-03 9.99993558e-01 2.01083753e-03 6.37296386e-04] [ 1.74121143e-02 -2.06231318e-03 9.99846271e-01 -9.51836543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.372414037 meters Centerline goodness [0,1] 0.6575606692683802 Centerline is valid? [False, False] Translation: X:2.76, Y:0.00, Z:-0.95 [[ 9.99840750e-01 -2.90548219e-03 -1.76077767e-02 2.75509884e+00] [ 2.93420471e-03 9.99994406e-01 1.60562572e-03 2.18490136e-03] [ 1.76030131e-02 -1.65703485e-03 9.99843682e-01 -9.51828696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.402414037 meters Centerline goodness [0,1] 0.6543157328793208 Centerline is valid? [False, False] Translation: X:2.76, Y:0.00, Z:-0.95 [[ 9.99838159e-01 -2.88352575e-03 -1.77578524e-02 2.75549417e+00] [ 2.90785297e-03 9.99994869e-01 1.34427325e-03 3.27242396e-03] [ 1.77538850e-02 -1.39569292e-03 9.99841413e-01 -9.51842466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43241403699997 meters Centerline goodness [0,1] 0.6473691299272695 Centerline is valid? [False, False] Translation: X:2.75, Y:0.01, Z:-0.95 [[ 9.99841460e-01 -3.21912262e-03 -1.75126230e-02 2.75459592e+00] [ 3.22995597e-03 9.99994609e-01 5.90352632e-04 5.06631504e-03] [ 1.75106282e-02 -6.46824038e-04 9.99846468e-01 -9.51118080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46241403699997 meters Centerline goodness [0,1] 0.6473482899769611 Centerline is valid? [False, False] Translation: X:2.76, Y:0.00, Z:-0.96 [[ 9.99983740e-01 -1.78056306e-03 -5.41754040e-03 2.75526169e+00] [ 1.78784986e-03 9.99997503e-01 1.34049350e-03 4.20371534e-03] [ 5.41514004e-03 -1.35015745e-03 9.99984427e-01 -9.57410302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49241403699997 meters Centerline goodness [0,1] 0.6419376541825521 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:-0.96 [[ 9.99982987e-01 -1.91569599e-03 -5.50959041e-03 2.75517708e+00] [ 1.91987689e-03 9.99997873e-01 7.53652130e-04 5.80693100e-03] [ 5.50813492e-03 -7.64217044e-04 9.99984538e-01 -9.56839617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52241403699998 meters Centerline goodness [0,1] 0.6528114614210005 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:-0.96 [[ 9.99982432e-01 -1.78834295e-03 -5.65132719e-03 2.75548482e+00] [ 1.79247085e-03 9.99998130e-01 7.25449394e-04 6.17242330e-03] [ 5.65001928e-03 -7.35566489e-04 9.99983768e-01 -9.56782457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55241403699998 meters Centerline goodness [0,1] 0.6706252811515969 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:-0.96 [[ 9.99981660e-01 -1.75053836e-03 -5.79792794e-03 2.75585310e+00] [ 1.75468570e-03 9.99998208e-01 7.10304085e-04 6.45832549e-03] [ 5.79667413e-03 -7.20464599e-04 9.99982940e-01 -9.56839172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58241403699998 meters Centerline goodness [0,1] 0.6437931963019478 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:-0.96 [[ 9.99979834e-01 -1.45596602e-03 -6.18163872e-03 2.75694551e+00] [ 1.46188187e-03 9.99998478e-01 9.52592656e-04 6.40497894e-03] [ 6.18024236e-03 -9.61610271e-04 9.99980440e-01 -9.57160256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61241403699998 meters Centerline goodness [0,1] 0.6510020422361363 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:-0.96 [[ 9.99979881e-01 -1.44807575e-03 -6.17586799e-03 2.75712108e+00] [ 1.45388298e-03 9.99998505e-01 9.35923539e-04 6.55605025e-03] [ 6.17450347e-03 -9.44883698e-04 9.99980491e-01 -9.57389350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64241403699998 meters Centerline goodness [0,1] 0.6518466773328526 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:-0.96 [[ 9.99979496e-01 -1.49795859e-03 -6.22602938e-03 2.75727265e+00] [ 1.50308086e-03 9.99998536e-01 8.18120998e-04 7.01087217e-03] [ 6.22479475e-03 -8.27462449e-04 9.99980283e-01 -9.57431280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67241403699998 meters Centerline goodness [0,1] 0.6637690298171336 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:-0.96 [[ 9.99978856e-01 -1.50775913e-03 -6.32570178e-03 2.75785645e+00] [ 1.51165770e-03 9.99998670e-01 6.11571302e-04 8.28973171e-03] [ 6.32477127e-03 -6.21120666e-04 9.99979806e-01 -9.57823806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70241403699998 meters Centerline goodness [0,1] 0.6498050089042177 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:-0.96 [[ 9.99978900e-01 -1.45583169e-03 -6.33094333e-03 2.75813964e+00] [ 1.46015488e-03 9.99998704e-01 6.78297645e-04 8.46396287e-03] [ 6.32994764e-03 -6.87527491e-04 9.99979729e-01 -9.58180921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73241403699998 meters Centerline goodness [0,1] 0.6523023497045957 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:-0.96 [[ 9.99978979e-01 -1.36343195e-03 -6.33905152e-03 2.75855981e+00] [ 1.36918162e-03 9.99998655e-01 9.02771423e-04 8.19981742e-03] [ 6.33781213e-03 -9.11431758e-04 9.99979501e-01 -9.58733126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76241403699999 meters Centerline goodness [0,1] 0.6486608861017409 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:-0.96 [[ 9.99980041e-01 -1.87609346e-03 -6.03299482e-03 2.75752390e+00] [ 1.87862522e-03 9.99998150e-01 4.14012960e-04 8.31417151e-03] [ 6.03220693e-03 -4.25338433e-04 9.99981716e-01 -9.58123496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.792414037 meters Centerline goodness [0,1] 0.6548544239265889 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:-0.96 [[ 9.99980727e-01 -1.96632252e-03 -5.88885800e-03 2.75727647e+00] [ 1.96857004e-03 9.99997992e-01 3.75884917e-04 8.42792955e-03] [ 5.88810707e-03 -3.87470302e-04 9.99982590e-01 -9.58135069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.822414037 meters Centerline goodness [0,1] 0.6486150367439232 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:-0.96 [[ 9.99980125e-01 -2.03066224e-03 -5.96878558e-03 2.75757241e+00] [ 2.03104164e-03 9.99997936e-01 5.75028574e-05 1.00644360e-02] [ 5.96865649e-03 -6.96245666e-05 9.99982185e-01 -9.58079363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.852414037 meters Centerline goodness [0,1] 0.6591713559629697 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:-0.96 [[ 9.99979703e-01 -2.17223539e-03 -5.98962650e-03 2.75770525e+00] [ 2.17010651e-03 9.99997580e-01 -3.61902820e-04 1.16906305e-02] [ 5.99039814e-03 3.48897347e-04 9.99981997e-01 -9.58065269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.882414037 meters Centerline goodness [0,1] 0.6469188944268238 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:-0.96 [[ 9.99978160e-01 -1.79098380e-03 -6.36169171e-03 2.75895509e+00] [ 1.78970293e-03 9.99998377e-01 -2.07027806e-04 1.23665473e-02] [ 6.36205217e-03 1.95637746e-04 9.99979743e-01 -9.58601780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.912414037 meters Centerline goodness [0,1] 0.6516197677314197 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:-0.96 [[ 9.99977672e-01 -1.50133432e-03 -6.51162987e-03 2.75978686e+00] [ 1.49899347e-03 9.99998810e-01 -3.64351829e-04 1.33189166e-02] [ 6.51216913e-03 3.54582803e-04 9.99978733e-01 -9.59002743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.942414037 meters Centerline goodness [0,1] 0.6507244083809869 Centerline is valid? [False, False] Translation: X:2.76, Y:0.01, Z:-0.96 [[ 9.99977234e-01 -1.26246077e-03 -6.62850738e-03 2.76036299e+00] [ 1.26051929e-03 9.99999161e-01 -2.97067413e-04 1.34613189e-02] [ 6.62887686e-03 2.88705288e-04 9.99977987e-01 -9.59331792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.972414037 meters Centerline goodness [0,1] 0.6487539646579066 Centerline is valid? [False, False] Translation: X:2.76, Y:0.02, Z:-0.96 [[ 9.99976303e-01 -9.86323575e-04 -6.81330827e-03 2.76090554e+00] [ 9.80347495e-04 9.99999132e-01 -8.80402634e-04 1.57593016e-02] [ 6.81417072e-03 8.73702361e-04 9.99976402e-01 -9.59068019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.002414037 meters Centerline goodness [0,1] 0.6684332635792922 Centerline is valid? [False, False] Translation: X:2.76, Y:0.02, Z:-0.96 [[ 9.99975144e-01 -8.48337582e-04 -6.99945486e-03 2.76146268e+00] [ 8.40131296e-04 9.99998956e-01 -1.17527492e-03 1.74431160e-02] [ 7.00044458e-03 1.16936524e-03 9.99974813e-01 -9.59128179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.032414037 meters Centerline goodness [0,1] 0.6502585972234824 Centerline is valid? [False, False] Translation: X:2.76, Y:0.02, Z:-0.96 [[ 9.99972638e-01 -3.68687769e-04 -7.38831792e-03 2.76288413e+00] [ 3.60593959e-04 9.99999334e-01 -1.09678973e-03 1.88542305e-02] [ 7.38871737e-03 1.09409554e-03 9.99972105e-01 -9.59747535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.062414037 meters Centerline goodness [0,1] 0.6608511703022997 Centerline is valid? [False, False] Translation: X:2.76, Y:0.02, Z:-0.96 [[ 9.99971729e-01 -3.89063787e-04 -7.50937335e-03 2.76326128e+00] [ 3.77744626e-04 9.99998791e-01 -1.50869717e-03 2.03999905e-02] [ 7.50995125e-03 1.50581789e-03 9.99970666e-01 -9.59740926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.092414037 meters Centerline goodness [0,1] 0.6516499478008262 Centerline is valid? [False, False] Translation: X:2.77, Y:0.02, Z:-0.96 [[ 9.99969770e-01 3.83910955e-04 -7.76603052e-03 2.76518888e+00] [-3.93236677e-04 9.99999203e-01 -1.19934378e-03 2.15964640e-02] [ 7.76556390e-03 1.20236141e-03 9.99969125e-01 -9.61254118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.122414037 meters Centerline goodness [0,1] 0.6579102447869447 Centerline is valid? [False, False] Translation: X:2.77, Y:0.02, Z:-0.96 [[ 9.99970432e-01 4.09080372e-04 -7.67910464e-03 2.76538472e+00] [-4.18577341e-04 9.99999150e-01 -1.23516233e-03 2.19189923e-02] [ 7.67859283e-03 1.23834011e-03 9.99969752e-01 -9.61701595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.152414037 meters Centerline goodness [0,1] 0.6574433767236876 Centerline is valid? [False, False] Translation: X:2.77, Y:0.02, Z:-0.96 [[ 9.99972485e-01 6.79307267e-05 -7.41782030e-03 2.76507216e+00] [-7.97663797e-05 9.99998724e-01 -1.59528600e-03 2.25364529e-02] [ 7.41770246e-03 1.59583380e-03 9.99971215e-01 -9.61994579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18241403699997 meters Centerline goodness [0,1] 0.6593163523590176 Centerline is valid? [False, False] Translation: X:2.76, Y:0.02, Z:-0.96 [[ 9.99973422e-01 -3.21946635e-04 -7.28358814e-03 2.76454419e+00] [ 3.07049885e-04 9.99997859e-01 -2.04627462e-03 2.34917146e-02] [ 7.28423134e-03 2.04398381e-03 9.99971381e-01 -9.61637303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21241403699997 meters Centerline goodness [0,1] 0.6551935938850721 Centerline is valid? [False, False] Translation: X:2.76, Y:0.02, Z:-0.96 [[ 9.99973114e-01 -4.08719795e-04 -7.32147982e-03 2.76478594e+00] [ 3.93404296e-04 9.99997732e-01 -2.09317641e-03 2.42501248e-02] [ 7.32231874e-03 2.09023983e-03 9.99971007e-01 -9.61858658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24241403699997 meters Centerline goodness [0,1] 0.6563012201784739 Centerline is valid? [False, False] Translation: X:2.76, Y:0.03, Z:-0.96 [[ 9.99974151e-01 -9.33166789e-04 -7.12924487e-03 2.76435753e+00] [ 9.17109393e-04 9.99997036e-01 -2.25526494e-03 2.50036416e-02] [ 7.13132828e-03 2.24866835e-03 9.99972043e-01 -9.61998715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27241403699998 meters Centerline goodness [0,1] 0.6563532387049738 Centerline is valid? [False, False] Translation: X:2.76, Y:0.02, Z:-0.96 [[ 9.99975163e-01 -1.10399756e-03 -6.96086759e-03 2.76429412e+00] [ 1.08994193e-03 9.99997360e-01 -2.02270475e-03 2.44997040e-02] [ 6.96308227e-03 2.01506757e-03 9.99973727e-01 -9.62551535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30241403699998 meters Centerline goodness [0,1] 0.6527278518451107 Centerline is valid? [False, False] Translation: X:2.76, Y:0.02, Z:-0.96 [[ 9.99975273e-01 -1.15199925e-03 -6.93729953e-03 2.76467101e+00] [ 1.14129501e-03 9.99998152e-01 -1.54675969e-03 2.34940607e-02] [ 6.93906858e-03 1.53880394e-03 9.99974740e-01 -9.63403430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33241403699998 meters Centerline goodness [0,1] 0.6388711589313395 Centerline is valid? [False, False] Translation: X:2.76, Y:0.02, Z:-0.96 [[ 9.99976249e-01 -2.00133756e-03 -6.59510945e-03 2.76403796e+00] [ 1.99040772e-03 9.99996636e-01 -1.66341136e-03 2.29945234e-02] [ 6.59841631e-03 1.65024490e-03 9.99976869e-01 -9.63917577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36241403699998 meters Centerline goodness [0,1] 0.646999588044125 Centerline is valid? [False, False] Translation: X:2.76, Y:0.02, Z:-0.96 [[ 9.99975825e-01 -2.48100941e-03 -6.49562999e-03 2.76362799e+00] [ 2.46759652e-03 9.99994809e-01 -2.07210973e-03 2.37842267e-02] [ 6.50073720e-03 2.05603105e-03 9.99976756e-01 -9.63699281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39241403699998 meters Centerline goodness [0,1] 0.6418824712577998 Centerline is valid? [False, False] Translation: X:2.76, Y:0.02, Z:-0.96 [[ 9.99974619e-01 -2.68848494e-03 -6.59803383e-03 2.76388975e+00] [ 2.67422812e-03 9.99994073e-01 -2.16864076e-03 2.46037203e-02] [ 6.60382508e-03 2.15094107e-03 9.99975881e-01 -9.63838405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42241403699998 meters Centerline goodness [0,1] 0.6428620429443643 Centerline is valid? [False, False] Translation: X:2.76, Y:0.03, Z:-0.96 [[ 9.99972432e-01 -3.20688468e-03 -6.69716288e-03 2.76405421e+00] [ 3.18867552e-03 9.99991196e-01 -2.72784619e-03 2.66636145e-02] [ 6.70585180e-03 2.70641591e-03 9.99973853e-01 -9.63838232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45241403699998 meters Centerline goodness [0,1] 0.6411363479778609 Centerline is valid? [False, False] Translation: X:2.76, Y:0.03, Z:-0.96 [[ 0.99997188 -0.0032947 -0.00673671 2.76436062] [ 0.00327595 0.99999073 -0.00279292 0.02709894] [ 0.00674585 0.00277077 0.99997341 -0.9641511 ] [ 0. 0. 0. 1. ]] SLAMing on 219.48241403699998 meters Centerline goodness [0,1] 0.6475765863075402 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.96 [[ 9.99971617e-01 -3.26333703e-03 -6.79084602e-03 2.76502583e+00] [ 3.24569511e-03 9.99991334e-01 -2.60729717e-03 2.71217199e-02] [ 6.79929566e-03 2.58518215e-03 9.99973543e-01 -9.64988196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51241403699999 meters Centerline goodness [0,1] 0.6388684959163072 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99970936e-01 -3.43691538e-03 -6.80548260e-03 2.76558482e+00] [ 3.41950236e-03 9.99990854e-01 -2.56866005e-03 2.73344272e-02] [ 6.81424863e-03 2.54531403e-03 9.99973543e-01 -9.65833464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.542414037 meters Centerline goodness [0,1] 0.6428554985151591 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99970671e-01 -3.47611643e-03 -6.82451935e-03 2.76590620e+00] [ 3.45886955e-03 9.99990799e-01 -2.53737104e-03 2.78232640e-02] [ 6.83327675e-03 2.51369150e-03 9.99973493e-01 -9.66250494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.572414037 meters Centerline goodness [0,1] 0.6389448574538549 Centerline is valid? [False, False] Translation: X:2.76, Y:0.03, Z:-0.97 [[ 9.99979328e-01 -8.90047788e-04 -6.36807329e-03 2.76412541e+00] [ 8.94296413e-04 9.99999379e-01 6.64359540e-04 2.84749475e-02] [ 6.36747802e-03 -6.70040751e-04 9.99979503e-01 -9.65753665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.602414037 meters Centerline goodness [0,1] 0.6366080949510873 Centerline is valid? [False, False] Translation: X:2.76, Y:0.03, Z:-0.97 [[ 9.99978486e-01 -7.82827815e-04 -6.51270447e-03 2.76460188e+00] [ 7.86942604e-04 9.99999492e-01 6.29270957e-04 2.93349748e-02] [ 6.51220855e-03 -6.34382543e-04 9.99978594e-01 -9.65896638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.632414037 meters Centerline goodness [0,1] 0.6366065619481365 Centerline is valid? [False, False] Translation: X:2.76, Y:0.03, Z:-0.97 [[ 9.99977966e-01 -9.68355937e-04 -6.56730325e-03 2.76446600e+00] [ 9.69687764e-04 9.99999510e-01 1.99615567e-04 3.04299199e-02] [ 6.56710673e-03 -2.05979402e-04 9.99978415e-01 -9.65415566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.662414037 meters Centerline goodness [0,1] 0.6437049104026065 Centerline is valid? [False, False] Translation: X:2.76, Y:0.03, Z:-0.97 [[ 9.99977504e-01 -9.21707885e-04 -6.64399051e-03 2.76459016e+00] [ 9.22653067e-04 9.99999565e-01 1.39197463e-04 3.08546331e-02] [ 6.64385932e-03 -1.45324429e-04 9.99977919e-01 -9.65265228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.692414037 meters Centerline goodness [0,1] 0.6378517692950683 Centerline is valid? [False, False] Translation: X:2.76, Y:0.03, Z:-0.96 [[ 9.99976250e-01 -6.89656962e-04 -6.85744729e-03 2.76494275e+00] [ 6.91146899e-04 9.99999738e-01 2.14905387e-04 3.11694911e-02] [ 6.85729728e-03 -2.19639787e-04 9.99976464e-01 -9.64976869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.722414037 meters Centerline goodness [0,1] 0.6343546889507892 Centerline is valid? [False, False] Translation: X:2.76, Y:0.03, Z:-0.96 [[ 9.99975881e-01 -8.77104058e-04 -6.88975391e-03 2.76465554e+00] [ 8.76129421e-04 9.99999606e-01 -1.44478724e-04 3.16924600e-02] [ 6.88987792e-03 1.38438924e-04 9.99976255e-01 -9.64425610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.752414037 meters Centerline goodness [0,1] 0.6347213503522355 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.96 [[ 9.99974929e-01 -6.64492822e-04 -7.04984199e-03 2.76522251e+00] [ 6.63843215e-04 9.99999775e-01 -9.44844813e-05 3.22583183e-02] [ 7.04990319e-03 8.98021227e-05 9.99975145e-01 -9.64612225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.782414037 meters Centerline goodness [0,1] 0.6372740368976253 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99973548e-01 -3.98482054e-04 -7.26252549e-03 2.76604673e+00] [ 3.99060855e-04 9.99999917e-01 7.82480838e-05 3.25810581e-02] [ 7.26249371e-03 -8.11442036e-05 9.99973624e-01 -9.65045604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.812414037 meters Centerline goodness [0,1] 0.6433183375678888 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99971200e-01 -1.06010560e-04 -7.58867752e-03 2.76698525e+00] [ 1.06879554e-04 9.99999988e-01 1.14106434e-04 3.29574703e-02] [ 7.58866533e-03 -1.14914222e-04 9.99971199e-01 -9.65257525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.842414037 meters Centerline goodness [0,1] 0.6424538166608574 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99964833e-01 1.01675829e-03 -8.32456790e-03 2.76985145e+00] [-1.01024506e-03 9.99999180e-01 7.86577567e-04 3.32486301e-02] [ 8.32536084e-03 -7.78140052e-04 9.99965041e-01 -9.66705418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.872414037 meters Centerline goodness [0,1] 0.6417969202269307 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99960690e-01 1.51490548e-03 -8.73634070e-03 2.77130380e+00] [-1.50611314e-03 9.99998353e-01 1.01290152e-03 3.32913234e-02] [ 8.73786076e-03 -9.99703783e-04 9.99961324e-01 -9.67281639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.902414037 meters Centerline goodness [0,1] 0.6424807928881462 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99956062e-01 2.06897391e-03 -9.14298755e-03 2.77265147e+00] [-2.05974722e-03 9.99997360e-01 1.01845635e-03 3.40142470e-02] [ 9.14507057e-03 -9.99579354e-04 9.99957683e-01 -9.67577173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93241403699997 meters Centerline goodness [0,1] 0.6531659745228874 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99954092e-01 2.11287206e-03 -9.34606634e-03 2.77307495e+00] [-2.10503833e-03 9.99997425e-01 8.47942345e-04 3.45816954e-02] [ 9.34783387e-03 -8.28229590e-04 9.99955965e-01 -9.67458267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96241403699997 meters Centerline goodness [0,1] 0.6525583451613655 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99951997e-01 2.25331689e-03 -9.53556166e-03 2.77358657e+00] [-2.24530017e-03 9.99997117e-01 8.51339658e-04 3.48396793e-02] [ 9.53745251e-03 -8.29888593e-04 9.99954173e-01 -9.67500374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99241403699997 meters Centerline goodness [0,1] 0.6501712448451806 Centerline is valid? [False, False] Translation: X:2.77, Y:0.04, Z:-0.97 [[ 9.99952470e-01 2.02398187e-03 -9.53736743e-03 2.77301402e+00] [-2.02050272e-03 9.99997889e-01 3.74412912e-04 3.53021979e-02] [ 9.53810509e-03 -3.55124840e-04 9.99954448e-01 -9.66540966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02241403699998 meters Centerline goodness [0,1] 0.6494778219710186 Centerline is valid? [False, False] Translation: X:2.77, Y:0.04, Z:-0.97 [[ 9.99952457e-01 1.95797141e-03 -9.55245430e-03 2.77293702e+00] [-1.95483105e-03 9.99998032e-01 3.38075210e-04 3.50761955e-02] [ 9.55309744e-03 -3.19385703e-04 9.99954317e-01 -9.66319460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05241403699998 meters Centerline goodness [0,1] 0.6539855914478271 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99952583e-01 1.86755256e-03 -9.55738254e-03 2.77273015e+00] [-1.86584039e-03 9.99998242e-01 1.88059690e-04 3.48217372e-02] [ 9.55771695e-03 -1.70218222e-04 9.99954309e-01 -9.65821565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08241403699998 meters Centerline goodness [0,1] 0.6508633712147621 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99954069e-01 1.73310811e-03 -9.42637981e-03 2.77252775e+00] [-1.73225656e-03 9.99998495e-01 9.85010494e-05 3.47546936e-02] [ 9.42653633e-03 -8.21676168e-05 9.99955566e-01 -9.65864366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11241403699998 meters Centerline goodness [0,1] 0.6447661469933185 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99954306e-01 1.57785974e-03 -9.42844190e-03 2.77231497e+00] [-1.57832693e-03 9.99998754e-01 -4.21102236e-05 3.43870550e-02] [ 9.42836370e-03 5.69894632e-05 9.99955550e-01 -9.65495406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14241403699998 meters Centerline goodness [0,1] 0.6496480917980999 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99953315e-01 1.47758755e-03 -9.54902423e-03 2.77219451e+00] [-1.47743818e-03 9.99998908e-01 2.26957812e-05 3.32573027e-02] [ 9.54904734e-03 -8.58662860e-06 9.99954407e-01 -9.65019869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17241403699998 meters Centerline goodness [0,1] 0.6458227144247255 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99953092e-01 1.49120728e-03 -9.57029615e-03 2.77244482e+00] [-1.48821447e-03 9.99998841e-01 3.19833104e-04 3.22084295e-02] [ 9.57076200e-03 -3.05575448e-04 9.99954153e-01 -9.65364262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20241403699998 meters Centerline goodness [0,1] 0.6458227144247255 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99953092e-01 1.49120728e-03 -9.57029615e-03 2.77244482e+00] [-1.48821447e-03 9.99998841e-01 3.19833104e-04 3.22084295e-02] [ 9.57076200e-03 -3.05575448e-04 9.99954153e-01 -9.65364262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23241403699998 meters Centerline goodness [0,1] 0.6440575952590397 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99952816e-01 1.36563693e-03 -9.61775923e-03 2.77256389e+00] [-1.35925482e-03 9.99998852e-01 6.70080330e-04 3.03443741e-02] [ 9.61866328e-03 -6.56975727e-04 9.99953524e-01 -9.65550451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26241403699999 meters Centerline goodness [0,1] 0.6421335060369153 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99952712e-01 1.25800153e-03 -9.64319718e-03 2.77267265e+00] [-1.24961501e-03 9.99998836e-01 8.75658326e-04 2.93467721e-02] [ 9.64428753e-03 -8.63566634e-04 9.99953120e-01 -9.65756432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.292414037 meters Centerline goodness [0,1] 0.6430932840134089 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99952724e-01 1.24794275e-03 -9.64329096e-03 2.77284749e+00] [-1.23809772e-03 9.99998706e-01 1.02682264e-03 2.85757082e-02] [ 9.64455990e-03 -1.01483476e-03 9.99952975e-01 -9.65953130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.322414037 meters Centerline goodness [0,1] 0.6467039571005917 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99951779e-01 1.32820769e-03 -9.73012505e-03 2.77332227e+00] [-1.31597100e-03 9.99998335e-01 1.26390365e-03 2.80649252e-02] [ 9.73178758e-03 -1.25103814e-03 9.99951862e-01 -9.66284217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.352414037 meters Centerline goodness [0,1] 0.651021586055639 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99950467e-01 1.46028485e-03 -9.84539851e-03 2.77381149e+00] [-1.44659175e-03 9.99997977e-01 1.39779063e-03 2.79410520e-02] [ 9.84741977e-03 -1.38347912e-03 9.99950556e-01 -9.66534117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.382414037 meters Centerline goodness [0,1] 0.6489636707750542 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99952211e-01 1.15732143e-03 -9.70751589e-03 2.77313669e+00] [-1.14668684e-03 9.99998736e-01 1.10099530e-03 2.80793317e-02] [ 9.70877782e-03 -1.08981120e-03 9.99952275e-01 -9.65981422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.412414037 meters Centerline goodness [0,1] 0.6449454848491863 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99954123e-01 7.71250046e-04 -9.54758193e-03 2.77241547e+00] [-7.65070735e-04 9.99999496e-01 6.50847569e-04 2.83460359e-02] [ 9.54807908e-03 -6.43513135e-04 9.99954209e-01 -9.65398215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.442414037 meters Centerline goodness [0,1] 0.6518118699974627 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99954619e-01 6.97937587e-04 -9.50124593e-03 2.77240790e+00] [-6.91622259e-04 9.99999538e-01 6.67953599e-04 2.80472686e-02] [ 9.50170773e-03 -6.61352013e-04 9.99954639e-01 -9.65443717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.472414037 meters Centerline goodness [0,1] 0.6497010825658427 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99955180e-01 5.03830045e-04 -9.45433486e-03 2.77211335e+00] [-4.98882013e-04 9.99999737e-01 5.25712201e-04 2.79860838e-02] [ 9.45459725e-03 -5.20972041e-04 9.99955169e-01 -9.65169211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.502414037 meters Centerline goodness [0,1] 0.640935187106592 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.96 [[ 9.99956750e-01 1.51304746e-04 -9.29924900e-03 2.77167306e+00] [-1.49601492e-04 9.99999972e-01 1.83855784e-04 2.83029654e-02] [ 9.29927656e-03 -1.82456651e-04 9.99956744e-01 -9.64915410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.532414037 meters Centerline goodness [0,1] 0.6398780656782597 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99957379e-01 3.09654414e-05 -9.23253091e-03 2.77166953e+00] [-3.02431037e-05 9.99999996e-01 7.83779219e-05 2.86552474e-02] [ 9.23253330e-03 -7.80953609e-05 9.99957376e-01 -9.65050195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.562414037 meters Centerline goodness [0,1] 0.6444111891331875 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99954681e-01 2.84036679e-04 -9.51609074e-03 2.77274148e+00] [-2.82284377e-04 9.99999943e-01 1.85483681e-04 2.91404591e-02] [ 9.51614288e-03 -1.82789031e-04 9.99954704e-01 -9.65433943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.592414037 meters Centerline goodness [0,1] 0.6445482289836308 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99952398e-01 2.75888525e-04 -9.75326497e-03 2.77317129e+00] [-2.76612260e-04 9.99999959e-01 -7.28554927e-05 2.99308947e-02] [ 9.75324447e-03 7.55498972e-05 9.99952433e-01 -9.65236713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.622414037 meters Centerline goodness [0,1] 0.6455079027636565 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99949836e-01 5.75118112e-04 -9.99978185e-03 2.77409127e+00] [-5.74071778e-04 9.99999829e-01 1.07505760e-04 3.02160536e-02] [ 9.99984198e-03 -1.01759775e-04 9.99949995e-01 -9.65641035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.652414037 meters Centerline goodness [0,1] 0.6441499676793794 Centerline is valid? [False, False] Translation: X:2.77, Y:0.03, Z:-0.97 [[ 9.99948891e-01 8.08472954e-04 -1.00777638e-02 2.77491819e+00] [-8.05979268e-04 9.99999644e-01 2.51503284e-04 3.02547430e-02] [ 1.00779635e-02 -2.43367961e-04 9.99949186e-01 -9.66396851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68241403699997 meters Centerline goodness [0,1] 0.6474805170779085 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99948544e-01 9.37292165e-04 -1.01009831e-02 2.77543627e+00] [-9.32311600e-04 9.99999442e-01 4.97774798e-04 2.99673449e-02] [ 1.01014440e-02 -4.88331921e-04 9.99948860e-01 -9.67045220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71241403699997 meters Centerline goodness [0,1] 0.6348842592592592 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99948524e-01 8.33917322e-04 -1.01120225e-02 2.77555277e+00] [-8.29370018e-04 9.99999553e-01 4.53877880e-04 2.98254290e-02] [ 1.01123965e-02 -4.45467908e-04 9.99948769e-01 -9.67162087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74241403699997 meters Centerline goodness [0,1] 0.6385776011460523 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99950198e-01 5.52049320e-04 -9.96475068e-03 2.77528589e+00] [-5.47549639e-04 9.99999747e-01 4.54282331e-04 2.94594195e-02] [ 9.96499894e-03 -4.48803511e-04 9.99950247e-01 -9.67264107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77241403699998 meters Centerline goodness [0,1] 0.6408936690747109 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99950156e-01 6.32813743e-04 -9.96422339e-03 2.77558642e+00] [-6.26679039e-04 9.99999612e-01 6.18783255e-04 2.92203727e-02] [ 9.96461110e-03 -6.12508042e-04 9.99950164e-01 -9.67616742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80241403699998 meters Centerline goodness [0,1] 0.6435735083421916 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99951496e-01 3.48330958e-04 -9.84293594e-03 2.77513215e+00] [-3.44643588e-04 9.99999870e-01 3.76314627e-04 2.93734643e-02] [ 9.84306574e-03 -3.72904069e-04 9.99951486e-01 -9.67323393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83241403699998 meters Centerline goodness [0,1] 0.6385825681723805 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99950584e-01 5.08808906e-04 -9.92829007e-03 2.77573598e+00] [-5.02388853e-04 9.99999663e-01 6.49125664e-04 2.88718702e-02] [ 9.92861701e-03 -6.44105724e-04 9.99950503e-01 -9.67806319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86241403699998 meters Centerline goodness [0,1] 0.6422933111757374 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99951300e-01 3.39237824e-04 -9.86317126e-03 2.77555746e+00] [-3.34546725e-04 9.99999830e-01 4.77263719e-04 2.90087711e-02] [ 9.86333149e-03 -4.73940785e-04 9.99951244e-01 -9.67720450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89241403699998 meters Centerline goodness [0,1] 0.6218464161463493 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99952897e-01 1.83956243e-04 -9.70414803e-03 2.77528452e+00] [-1.80492396e-04 9.99999920e-01 3.57819584e-04 2.90585285e-02] [ 9.70421308e-03 -3.56051204e-04 9.99952850e-01 -9.67695273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92241403699998 meters Centerline goodness [0,1] 0.6314382504090521 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99952914e-01 3.73817215e-05 -9.70405218e-03 2.77511164e+00] [-3.54291534e-05 9.99999979e-01 2.01383458e-04 2.91572203e-02] [ 9.70405951e-03 -2.01030169e-04 9.99952894e-01 -9.67425686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95241403699998 meters Centerline goodness [0,1] 0.6330471609086934 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99952225e-01 1.47585512e-04 -9.77369763e-03 2.77563692e+00] [-1.43945164e-04 9.99999920e-01 3.73166170e-04 2.91002984e-02] [ 9.77375192e-03 -3.71741466e-04 9.99952167e-01 -9.67864288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98241403699998 meters Centerline goodness [0,1] 0.638290503567223 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99952265e-01 7.34375975e-05 -9.77044531e-03 2.77571465e+00] [-6.98026681e-05 9.99999928e-01 3.72373630e-04 2.92600955e-02] [ 9.77047195e-03 -3.71673851e-04 9.99952199e-01 -9.67951431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01241403699999 meters Centerline goodness [0,1] 0.6356314656668749 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99952259e-01 -1.41958690e-04 -9.77033801e-03 2.77576119e+00] [ 1.44282953e-04 9.99999961e-01 2.37185365e-04 2.92585377e-02] [ 9.77030397e-03 -2.38583735e-04 9.99952241e-01 -9.68060064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.042414037 meters Centerline goodness [0,1] 0.6245533964917134 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99951228e-01 -1.18248804e-05 -9.87628091e-03 2.77635380e+00] [ 1.77159117e-05 9.99999822e-01 5.96395489e-04 2.83169454e-02] [ 9.87627210e-03 -5.96541369e-04 9.99951050e-01 -9.68574951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.072414037 meters Centerline goodness [0,1] 0.6306898061720713 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99953083e-01 -2.09439777e-04 -9.68438413e-03 2.77610203e+00] [ 2.16346241e-04 9.99999723e-01 7.12112602e-04 2.75053448e-02] [ 9.68423231e-03 -7.14174372e-04 9.99952852e-01 -9.68854792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.102414037 meters Centerline goodness [0,1] 0.6325224663293829 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99953957e-01 -4.33852879e-04 -9.58621153e-03 2.77571318e+00] [ 4.38455207e-04 9.99999790e-01 4.78002403e-04 2.76259270e-02] [ 9.58600213e-03 -4.82183518e-04 9.99953937e-01 -9.68599321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.132414037 meters Centerline goodness [0,1] 0.6277175167320563 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99954207e-01 -3.86554528e-04 -9.56210226e-03 2.77576376e+00] [ 3.92137372e-04 9.99999754e-01 5.81983086e-04 2.74735405e-02] [ 9.56187494e-03 -5.85706093e-04 9.99954113e-01 -9.68666966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.162414037 meters Centerline goodness [0,1] 0.6247692449695403 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99953929e-01 -4.01005417e-04 -9.59062211e-03 2.77572380e+00] [ 4.04713117e-04 9.99999844e-01 3.84658673e-04 2.78556612e-02] [ 9.59046637e-03 -3.88522402e-04 9.99953935e-01 -9.68391379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.192414037 meters Centerline goodness [0,1] 0.631578947368421 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99953473e-01 -1.90043954e-04 -9.64442693e-03 2.77631463e+00] [ 1.96472061e-04 9.99999759e-01 6.65566986e-04 2.75935155e-02] [ 9.64429813e-03 -6.67430880e-04 9.99953270e-01 -9.68978766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.222414037 meters Centerline goodness [0,1] 0.6291331133620988 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99953604e-01 -2.52609979e-04 -9.62942429e-03 2.77634360e+00] [ 2.58360937e-04 9.99999789e-01 5.95988369e-04 2.74930543e-02] [ 9.62927170e-03 -5.98448584e-04 9.99953458e-01 -9.69049056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.252414037 meters Centerline goodness [0,1] 0.6275943178673554 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99954101e-01 -2.92337999e-04 -9.57655091e-03 2.77608171e+00] [ 2.98888653e-04 9.99999722e-01 6.82606522e-04 2.67366548e-02] [ 9.57634870e-03 -6.85437513e-04 9.99953911e-01 -9.68787208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.282414037 meters Centerline goodness [0,1] 0.6292018259786969 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99955516e-01 -4.14445201e-04 -9.42307191e-03 2.77570782e+00] [ 4.21001049e-04 9.99999671e-01 6.93750045e-04 2.65877635e-02] [ 9.42278129e-03 -6.97686307e-04 9.99955361e-01 -9.68696817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.312414037 meters Centerline goodness [0,1] 0.6304718852345588 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99955385e-01 -6.02497647e-04 -9.42679063e-03 2.77543461e+00] [ 6.07157521e-04 9.99999695e-01 4.91468342e-04 2.68003296e-02] [ 9.42649165e-03 -4.97169962e-04 9.99955446e-01 -9.68284549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.342414037 meters Centerline goodness [0,1] 0.6321517052953298 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99955567e-01 -5.83973207e-04 -9.40863350e-03 2.77542974e+00] [ 5.90422239e-04 9.99999593e-01 6.82674673e-04 2.60634054e-02] [ 9.40823100e-03 -6.88199407e-04 9.99955505e-01 -9.68322177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.372414037 meters Centerline goodness [0,1] 0.6294592282616235 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99955545e-01 -4.76078632e-04 -9.41707671e-03 2.77580116e+00] [ 4.86008476e-04 9.99999328e-01 1.05219036e-03 2.50156484e-02] [ 9.41656945e-03 -1.05672037e-03 9.99955105e-01 -9.68851171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.402414037 meters Centerline goodness [0,1] 0.6209412790564263 Centerline is valid? [False, False] Translation: X:2.78, Y:0.02, Z:-0.97 [[ 9.99946383e-01 -2.86206351e-03 -9.95188370e-03 2.77844499e+00] [ 2.84485527e-03 9.99994435e-01 -1.74286962e-03 2.42224241e-02] [ 9.95681651e-03 1.71446450e-03 9.99948960e-01 -9.70238185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43241403699997 meters Centerline goodness [0,1] 0.6306532085622973 Centerline is valid? [False, False] Translation: X:2.78, Y:0.02, Z:-0.97 [[ 9.99946896e-01 -2.75753268e-03 -9.92980290e-03 2.77858619e+00] [ 2.74313167e-03 9.99995167e-01 -1.46360934e-03 2.33641091e-02] [ 9.93379086e-03 1.43629286e-03 9.99949627e-01 -9.70531916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46241403699997 meters Centerline goodness [0,1] 0.6247680996770573 Centerline is valid? [False, False] Translation: X:2.78, Y:0.02, Z:-0.97 [[ 9.99945748e-01 -2.26069750e-03 -1.01680723e-02 2.77974279e+00] [ 2.25211492e-03 9.99997098e-01 -8.55442992e-04 2.26943447e-02] [ 1.01699767e-02 8.32496916e-04 9.99947938e-01 -9.71396376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49241403699997 meters Centerline goodness [0,1] 0.6248852790014685 Centerline is valid? [False, False] Translation: X:2.78, Y:0.02, Z:-0.97 [[ 9.99944107e-01 -2.06588301e-03 -1.03689766e-02 2.78031771e+00] [ 2.05771765e-03 9.99997564e-01 -7.98087093e-04 2.29351012e-02] [ 1.03706001e-02 7.76706059e-04 9.99945922e-01 -9.71475625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52241403699998 meters Centerline goodness [0,1] 0.6268478560279129 Centerline is valid? [False, False] Translation: X:2.78, Y:0.02, Z:-0.97 [[ 9.99943481e-01 -1.64181227e-03 -1.05042385e-02 2.78109442e+00] [ 1.63374066e-03 9.99998364e-01 -7.76948577e-04 2.39359035e-02] [ 1.05054969e-02 7.59743464e-04 9.99944527e-01 -9.71843759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55241403699998 meters Centerline goodness [0,1] 0.6275210035940755 Centerline is valid? [False, False] Translation: X:2.78, Y:0.02, Z:-0.97 [[ 9.99942250e-01 -1.35420594e-03 -1.06612906e-02 2.78181394e+00] [ 1.34853292e-03 9.99998945e-01 -5.39284094e-04 2.40268336e-02] [ 1.06620097e-02 5.24875849e-04 9.99943021e-01 -9.72296145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58241403699998 meters Centerline goodness [0,1] 0.6255190291573949 Centerline is valid? [False, False] Translation: X:2.78, Y:0.02, Z:-0.97 [[ 9.99942862e-01 -1.10456404e-03 -1.06326482e-02 2.78183413e+00] [ 1.09877467e-03 9.99999245e-01 -5.50316937e-04 2.45475877e-02] [ 1.06332480e-02 5.38602609e-04 9.99943320e-01 -9.72180505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61241403699998 meters Centerline goodness [0,1] 0.6208462332301341 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99942237e-01 -1.12822149e-03 -1.06887947e-02 2.78170798e+00] [ 1.12020687e-03 9.99999087e-01 -7.55771951e-04 2.50668411e-02] [ 1.06896376e-02 7.43754634e-04 9.99942588e-01 -9.71780036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64241403699998 meters Centerline goodness [0,1] 0.6183920704845816 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99942132e-01 -8.83840841e-04 -1.07215187e-02 2.78203342e+00] [ 8.75185837e-04 9.99999287e-01 -8.11920411e-04 2.61819705e-02] [ 1.07222287e-02 8.02490106e-04 9.99942193e-01 -9.71827848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67241403699998 meters Centerline goodness [0,1] 0.6168486380875762 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99941439e-01 -8.10778230e-04 -1.07917511e-02 2.78225314e+00] [ 8.00487649e-04 9.99999221e-01 -9.57845211e-04 2.71610526e-02] [ 1.07925193e-02 9.49150455e-04 9.99941309e-01 -9.71798126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70241403699998 meters Centerline goodness [0,1] 0.6157840321654222 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99938948e-01 -6.09411038e-04 -1.10330474e-02 2.78300363e+00] [ 5.98943761e-04 9.99999367e-01 -9.51999707e-04 2.79224525e-02] [ 1.10336206e-02 9.45333411e-04 9.99938681e-01 -9.72073250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73241403699998 meters Centerline goodness [0,1] 0.6311794966435211 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:-0.97 [[ 9.99937360e-01 -3.39110625e-04 -1.11875753e-02 2.78375258e+00] [ 3.29545380e-04 9.99999579e-01 -8.56820650e-04 2.85564795e-02] [ 1.11878611e-02 8.53080165e-04 9.99937050e-01 -9.72523481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76241403699999 meters Centerline goodness [0,1] 0.6314475873544093 Centerline is valid? [False, False] Translation: X:2.79, Y:0.03, Z:-0.97 [[ 9.99933894e-01 3.57826999e-04 -1.14926177e-02 2.78567771e+00] [-3.62307981e-04 9.99999859e-01 -3.87821302e-04 2.91244025e-02] [ 1.14924773e-02 3.91959532e-04 9.99933882e-01 -9.74119632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.792414037 meters Centerline goodness [0,1] 0.6368766768433713 Centerline is valid? [False, False] Translation: X:2.79, Y:0.03, Z:-0.97 [[ 9.99932595e-01 3.43690520e-04 -1.16055112e-02 2.78617179e+00] [-3.51652814e-04 9.99999704e-01 -6.84045056e-04 3.01021962e-02] [ 1.16052727e-02 6.88080058e-04 9.99932420e-01 -9.74333233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.822414037 meters Centerline goodness [0,1] 0.6247689036790534 Centerline is valid? [False, False] Translation: X:2.79, Y:0.03, Z:-0.98 [[ 9.99928817e-01 9.55125904e-04 -1.18931874e-02 2.78774549e+00] [-9.61095829e-04 9.99999415e-01 -4.96256404e-04 3.16004829e-02] [ 1.18927065e-02 5.07651572e-04 9.99929150e-01 -9.75375975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.852414037 meters Centerline goodness [0,1] 0.6327994815774857 Centerline is valid? [False, False] Translation: X:2.79, Y:0.03, Z:-0.98 [[ 9.99927175e-01 8.79811948e-04 -1.20362240e-02 2.78793362e+00] [-8.91231837e-04 9.99999158e-01 -9.43462483e-04 3.31148062e-02] [ 1.20353838e-02 9.54120842e-04 9.99927117e-01 -9.75051851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.882414037 meters Centerline goodness [0,1] 0.6345512642400667 Centerline is valid? [False, False] Translation: X:2.79, Y:0.03, Z:-0.98 [[ 9.99926067e-01 9.99161790e-04 -1.21186605e-02 2.78835843e+00] [-1.01150897e-03 9.99998976e-01 -1.01277031e-03 3.40763277e-02] [ 1.21176361e-02 1.02495356e-03 9.99926053e-01 -9.75277836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.912414037 meters Centerline goodness [0,1] 0.6281456031200668 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.98 [[ 9.99924875e-01 1.15808284e-03 -1.22025921e-02 2.78887667e+00] [-1.17407271e-03 9.99998462e-01 -1.30328452e-03 3.57239038e-02] [ 1.22010640e-02 1.31751334e-03 9.99924696e-01 -9.75485200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.942414037 meters Centerline goodness [0,1] 0.6352700757047978 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.98 [[ 9.99923869e-01 1.18573915e-03 -1.22820763e-02 2.78927209e+00] [-1.20313520e-03 9.99998283e-01 -1.40908504e-03 3.62938171e-02] [ 1.22803844e-02 1.42375477e-03 9.99923580e-01 -9.75752394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.972414037 meters Centerline goodness [0,1] 0.6251244414604218 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.98 [[ 9.99923002e-01 1.31356345e-03 -1.23395425e-02 2.78989567e+00] [-1.32994491e-03 9.99998245e-01 -1.31944616e-03 3.68517425e-02] [ 1.23377877e-02 1.33575547e-03 9.99922994e-01 -9.76394078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.002414037 meters Centerline goodness [0,1] 0.6288813023990338 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.98 [[ 9.99923994e-01 1.11268192e-03 -1.22787300e-02 2.78971327e+00] [-1.13463913e-03 9.99997770e-01 -1.78140998e-03 3.84856458e-02] [ 1.22767205e-02 1.79520651e-03 9.99923027e-01 -9.76246664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.032414037 meters Centerline goodness [0,1] 0.626005144485899 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.98 [[ 9.99921262e-01 1.31819351e-03 -1.24792848e-02 2.79043026e+00] [-1.33874531e-03 9.99997761e-01 -1.63866264e-03 3.88757156e-02] [ 1.24770968e-02 1.65524020e-03 9.99920788e-01 -9.76583919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.062414037 meters Centerline goodness [0,1] 0.6213236147542887 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.98 [[ 9.99922144e-01 1.13651805e-03 -1.24263819e-02 2.79026889e+00] [-1.16028625e-03 9.99997511e-01 -1.90567899e-03 3.97211459e-02] [ 1.24241851e-02 1.91994878e-03 9.99920974e-01 -9.76498003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.092414037 meters Centerline goodness [0,1] 0.6213236147542887 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.98 [[ 9.99922144e-01 1.13651805e-03 -1.24263819e-02 2.79026889e+00] [-1.16028625e-03 9.99997511e-01 -1.90567899e-03 3.97211459e-02] [ 1.24241851e-02 1.91994878e-03 9.99920974e-01 -9.76498003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.122414037 meters Centerline goodness [0,1] 0.6294641818477933 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.98 [[ 9.99922322e-01 9.87296728e-04 -1.24247462e-02 2.79012631e+00] [-1.01230778e-03 9.99997474e-01 -2.00687480e-03 3.98848356e-02] [ 1.24227334e-02 2.01929658e-03 9.99920796e-01 -9.76375705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.152414037 meters Centerline goodness [0,1] 0.6233790378805484 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.98 [[ 9.99920682e-01 1.10743185e-03 -1.25460833e-02 2.79072695e+00] [-1.13017258e-03 9.99997731e-01 -1.80563142e-03 3.98342366e-02] [ 1.25440552e-02 1.81966744e-03 9.99919665e-01 -9.76853894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18241403699997 meters Centerline goodness [0,1] 0.6218785769347568 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.98 [[ 9.99923037e-01 5.82929061e-04 -1.23927282e-02 2.79028257e+00] [-6.10866907e-04 9.99997281e-01 -2.25070841e-03 4.07808801e-02] [ 1.23913825e-02 2.25810550e-03 9.99920674e-01 -9.76813681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21241403699997 meters Centerline goodness [0,1] 0.6257632965086468 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.98 [[ 9.99921231e-01 6.90509182e-04 -1.25321930e-02 2.79109204e+00] [-7.15199072e-04 9.99997812e-01 -1.96574258e-03 4.06752625e-02] [ 1.25308082e-02 1.97455076e-03 9.99919537e-01 -9.77576177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24241403699997 meters Centerline goodness [0,1] 0.6262765857771948 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.98 [[ 9.99922763e-01 3.83940656e-04 -1.24225665e-02 2.79099384e+00] [-4.10235573e-04 9.99997681e-01 -2.11422677e-03 4.10866095e-02] [ 1.24217260e-02 2.11915965e-03 9.99920602e-01 -9.77898755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27241403699998 meters Centerline goodness [0,1] 0.6151764047041255 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.98 [[ 9.99922613e-01 1.84569291e-04 -1.24391733e-02 2.79143115e+00] [-2.09111442e-04 9.99998034e-01 -1.97170104e-03 4.09204407e-02] [ 1.24387849e-02 1.97414963e-03 9.99920687e-01 -9.78713020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30241403699998 meters Centerline goodness [0,1] 0.6150208493488947 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.98 [[ 9.99922034e-01 1.89723925e-04 -1.24855996e-02 2.79180564e+00] [-2.11538168e-04 9.99998454e-01 -1.74585479e-03 4.06321209e-02] [ 1.24852490e-02 1.74835985e-03 9.99920528e-01 -9.79207244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33241403699998 meters Centerline goodness [0,1] 0.6224060572069545 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.98 [[ 9.99923964e-01 -1.40838732e-04 -1.23307347e-02 2.79146827e+00] [ 1.16155305e-04 9.99997988e-01 -2.00247397e-03 4.14942654e-02] [ 1.23309919e-02 2.00088943e-03 9.99921968e-01 -9.79273532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36241403699998 meters Centerline goodness [0,1] 0.6186472434306056 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.98 [[ 9.99922622e-01 -2.32654133e-04 -1.24377005e-02 2.79165448e+00] [ 2.05435960e-04 9.99997582e-01 -2.18959338e-03 4.23912295e-02] [ 1.24381799e-02 2.18686880e-03 9.99920251e-01 -9.79218807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39241403699998 meters Centerline goodness [0,1] 0.6185615393640738 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.98 [[ 9.99921799e-01 -3.31641251e-04 -1.25014589e-02 2.79165151e+00] [ 3.01242600e-04 9.99996994e-01 -2.43341285e-03 4.34023307e-02] [ 1.25022283e-02 2.42945659e-03 9.99918893e-01 -9.79001741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42241403699998 meters Centerline goodness [0,1] 0.6169113329418673 Centerline is valid? [False, False] Translation: X:2.79, Y:0.05, Z:-0.98 [[ 9.99920231e-01 -3.90598342e-05 -1.26305536e-02 2.79229071e+00] [ 7.38433730e-06 9.99996855e-01 -2.50788399e-03 4.50003017e-02] [ 1.26306118e-02 2.50759067e-03 9.99917086e-01 -9.79263016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45241403699998 meters Centerline goodness [0,1] 0.6204714406699916 Centerline is valid? [False, False] Translation: X:2.79, Y:0.05, Z:-0.98 [[ 9.99917909e-01 1.05254689e-04 -1.28126547e-02 2.79282031e+00] [-1.38381710e-04 9.99996650e-01 -2.58463329e-03 4.56836847e-02] [ 1.28123397e-02 2.58619416e-03 9.99914574e-01 -9.79361552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48241403699998 meters Centerline goodness [0,1] 0.6200731218304045 Centerline is valid? [False, False] Translation: X:2.79, Y:0.05, Z:-0.98 [[ 9.99916238e-01 3.05777412e-04 -1.29392034e-02 2.79333435e+00] [-3.38599220e-04 9.99996731e-01 -2.53450270e-03 4.61394075e-02] [ 1.29383861e-02 2.53867161e-03 9.99913073e-01 -9.79621472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51241403699999 meters Centerline goodness [0,1] 0.6192274110956415 Centerline is valid? [False, False] Translation: X:2.79, Y:0.05, Z:-0.98 [[ 9.99914289e-01 4.08541898e-04 -1.30861467e-02 2.79378921e+00] [-4.43160168e-04 9.99996410e-01 -2.64262308e-03 4.67279566e-02] [ 1.30850201e-02 2.64819583e-03 9.99910881e-01 -9.79734985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.542414037 meters Centerline goodness [0,1] 0.6186364919544556 Centerline is valid? [False, False] Translation: X:2.80, Y:0.05, Z:-0.98 [[ 9.99909610e-01 1.00038244e-03 -1.34078566e-02 2.79531878e+00] [-1.03183041e-03 9.99996733e-01 -2.33877604e-03 4.74772782e-02] [ 1.34054731e-02 2.35239927e-03 9.99907375e-01 -9.80664106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.572414037 meters Centerline goodness [0,1] 0.617874852420307 Centerline is valid? [False, False] Translation: X:2.80, Y:0.05, Z:-0.98 [[ 9.99908140e-01 9.96854453e-04 -1.35173376e-02 2.79571435e+00] [-1.02955740e-03 9.99996560e-01 -2.41259064e-03 4.79493363e-02] [ 1.35148861e-02 2.42628589e-03 9.99905726e-01 -9.80885075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.602414037 meters Centerline goodness [0,1] 0.619055458864481 Centerline is valid? [False, False] Translation: X:2.80, Y:0.05, Z:-0.98 [[ 9.99904910e-01 1.36446947e-03 -1.37226033e-02 2.79690539e+00] [-1.38902344e-03 9.99997451e-01 -1.77993676e-03 4.71415934e-02] [ 1.37201396e-02 1.79882852e-03 9.99904256e-01 -9.82021707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.632414037 meters Centerline goodness [0,1] 0.6154717248212895 Centerline is valid? [False, False] Translation: X:2.80, Y:0.05, Z:-0.98 [[ 9.99904412e-01 1.31806239e-03 -1.37633356e-02 2.79706779e+00] [-1.34141987e-03 9.99997676e-01 -1.68798631e-03 4.65944051e-02] [ 1.37610787e-02 1.70628737e-03 9.99903856e-01 -9.82207729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.662414037 meters Centerline goodness [0,1] 0.6175764140724345 Centerline is valid? [False, False] Translation: X:2.80, Y:0.05, Z:-0.98 [[ 9.99903275e-01 1.46330245e-03 -1.38310929e-02 2.79754722e+00] [-1.48088139e-03 9.99998109e-01 -1.26081685e-03 4.57111042e-02] [ 1.38292218e-02 1.28117710e-03 9.99903551e-01 -9.82751534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.692414037 meters Centerline goodness [0,1] 0.6165785997357992 Centerline is valid? [False, False] Translation: X:2.80, Y:0.05, Z:-0.98 [[ 9.99906928e-01 9.65689719e-04 -1.36089558e-02 2.79670100e+00] [-9.81532993e-04 9.99998848e-01 -1.15754891e-03 4.51444116e-02] [ 1.36078223e-02 1.17079881e-03 9.99906724e-01 -9.82601398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.722414037 meters Centerline goodness [0,1] 0.6164900771644997 Centerline is valid? [False, False] Translation: X:2.80, Y:0.05, Z:-0.98 [[ 9.99908631e-01 4.86649554e-04 -1.35089699e-02 2.79591937e+00] [-5.06888267e-04 9.99998754e-01 -1.49478500e-03 4.53721137e-02] [ 1.35082256e-02 1.50149596e-03 9.99907632e-01 -9.81948987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.752414037 meters Centerline goodness [0,1] 0.6133418162967152 Centerline is valid? [False, False] Translation: X:2.80, Y:0.04, Z:-0.98 [[ 9.99909171e-01 3.66149118e-04 -1.34727642e-02 2.79578849e+00] [-3.84316680e-04 9.99999020e-01 -1.34590147e-03 4.48815927e-02] [ 1.34722582e-02 1.35095703e-03 9.99908332e-01 -9.81991175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.782414037 meters Centerline goodness [0,1] 0.6111398112055605 Centerline is valid? [False, False] Translation: X:2.80, Y:0.04, Z:-0.98 [[ 9.99910065e-01 2.89728199e-04 -1.34080996e-02 2.79586582e+00] [-3.03195248e-04 9.99999452e-01 -1.00237469e-03 4.39606533e-02] [ 1.34078019e-02 1.00634981e-03 9.99909605e-01 -9.82457703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.812414037 meters Centerline goodness [0,1] 0.6049690024422318 Centerline is valid? [False, False] Translation: X:2.80, Y:0.04, Z:-0.98 [[ 9.99914426e-01 -1.53457327e-04 -1.30811833e-02 2.79512817e+00] [ 1.43736486e-04 9.99999713e-01 -7.44053293e-04 4.14987184e-02] [ 1.30812937e-02 7.42109378e-04 9.99914161e-01 -9.82705945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.842414037 meters Centerline goodness [0,1] 0.602522328230854 Centerline is valid? [False, False] Translation: X:2.80, Y:0.04, Z:-0.98 [[ 9.99915981e-01 -1.40504479e-04 -1.29618851e-02 2.79526794e+00] [ 1.36769111e-04 9.99999949e-01 -2.89066926e-04 4.02411854e-02] [ 1.29619250e-02 2.87269853e-04 9.99915949e-01 -9.83416115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.872414037 meters Centerline goodness [0,1] 0.5991484184914841 Centerline is valid? [False, False] Translation: X:2.80, Y:0.04, Z:-0.98 [[ 9.99918285e-01 -2.75012116e-04 -1.27807749e-02 2.79525250e+00] [ 2.75083096e-04 9.99999962e-01 3.79563771e-06 3.95668792e-02] [ 1.27807734e-02 -7.31110268e-06 9.99918323e-01 -9.84111442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.902414037 meters Centerline goodness [0,1] 0.6004631903993263 Centerline is valid? [False, False] Translation: X:2.80, Y:0.04, Z:-0.98 [[ 9.99916923e-01 -5.58632631e-05 -1.28897107e-02 2.79580446e+00] [ 5.95445832e-05 9.99999958e-01 2.85217858e-04 3.95373705e-02] [ 1.28896942e-02 -2.85961675e-04 9.99916884e-01 -9.84537150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93241403699997 meters Centerline goodness [0,1] 0.5987797180727961 Centerline is valid? [False, False] Translation: X:2.80, Y:0.04, Z:-0.98 [[ 9.99917090e-01 -9.49876482e-06 -1.28768231e-02 2.79580203e+00] [ 1.36614254e-05 9.99999948e-01 3.23179742e-04 3.97042665e-02] [ 1.28768194e-02 -3.23328863e-04 9.99917038e-01 -9.84498969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96241403699997 meters Centerline goodness [0,1] 0.596298114001262 Centerline is valid? [False, False] Translation: X:2.80, Y:0.04, Z:-0.98 [[ 9.99916418e-01 2.88145012e-05 -1.29289113e-02 2.79564488e+00] [-2.70079648e-05 9.99999990e-01 1.39903004e-04 3.98311114e-02] [ 1.29289152e-02 -1.39542127e-04 9.99916408e-01 -9.83986565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99241403699997 meters Centerline goodness [0,1] 0.6226842658567924 Centerline is valid? [False, False] Translation: X:2.80, Y:0.04, Z:-0.98 [[ 9.99916747e-01 9.27372385e-05 -1.29031069e-02 2.79565088e+00] [-8.92338640e-05 9.99999959e-01 2.72089483e-04 3.96704896e-02] [ 1.29031316e-02 -2.70915436e-04 9.99916714e-01 -9.84101833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02241403699998 meters Centerline goodness [0,1] 0.6253971962616822 Centerline is valid? [False, False] Translation: X:2.80, Y:0.04, Z:-0.98 [[ 9.99916918e-01 1.76050951e-04 -1.28890070e-02 2.79531427e+00] [-1.72165117e-04 9.99999939e-01 3.02593333e-04 3.94994006e-02] [ 1.28890595e-02 -3.00349156e-04 9.99916888e-01 -9.83563191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05241403699998 meters Centerline goodness [0,1] 0.6244889376912833 Centerline is valid? [False, False] Translation: X:2.80, Y:0.04, Z:-0.98 [[ 9.99916870e-01 9.44806475e-05 -1.28935516e-02 2.79500202e+00] [-9.14514907e-05 9.99999968e-01 2.35525183e-04 3.93952089e-02] [ 1.28935734e-02 -2.34326469e-04 9.99916847e-01 -9.83135975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08241403699998 meters Centerline goodness [0,1] 0.6240308267164876 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.98 [[ 9.99917137e-01 2.00858863e-05 -1.28731793e-02 2.79472421e+00] [-1.68806798e-05 9.99999969e-01 2.49091899e-04 3.89023103e-02] [ 1.28731839e-02 -2.48853950e-04 9.99917106e-01 -9.82853292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11241403699998 meters Centerline goodness [0,1] 0.6246174691055202 Centerline is valid? [False, False] Translation: X:2.79, Y:0.04, Z:-0.98 [[ 9.99916708e-01 1.47845718e-04 -1.29055909e-02 2.79490329e+00] [-1.40738340e-04 9.99999838e-01 5.51627294e-04 3.78220292e-02] [ 1.29056704e-02 -5.49765037e-04 9.99916567e-01 -9.83054679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14241403699998 meters Centerline goodness [0,1] 0.6293909645000698 Centerline is valid? [False, False] Translation: X:2.80, Y:0.04, Z:-0.98 [[ 9.99912976e-01 6.32229748e-04 -1.31773029e-02 2.79611082e+00] [-6.12844842e-04 9.99998724e-01 1.47506906e-03 3.53605304e-02] [ 1.31782187e-02 -1.46686505e-03 9.99912088e-01 -9.84047001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17241403699998 meters Centerline goodness [0,1] 0.6288880610914509 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-0.98 [[ 9.99910780e-01 8.24069233e-04 -1.33323696e-02 2.79678862e+00] [-8.00025445e-04 9.99998044e-01 1.80864726e-03 3.43621059e-02] [ 1.33338339e-02 -1.79781966e-03 9.99909484e-01 -9.84526509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20241403699998 meters Centerline goodness [0,1] 0.6290457589285714 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-0.99 [[ 9.99909376e-01 1.16791815e-03 -1.34118057e-02 2.79750635e+00] [-1.13480907e-03 9.99996291e-01 2.47599647e-03 3.25408193e-02] [ 1.34146477e-02 -2.46055225e-03 9.99906992e-01 -9.85332870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23241403699998 meters Centerline goodness [0,1] 0.6309744779582367 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-0.99 [[ 9.99909021e-01 1.25386791e-03 -1.34304803e-02 2.79764063e+00] [-1.21837852e-03 9.99995746e-01 2.65030764e-03 3.18308797e-02] [ 1.34337463e-02 -2.63370311e-03 9.99906295e-01 -9.85446612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26241403699999 meters Centerline goodness [0,1] 0.630807694978818 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-0.99 [[ 9.99908752e-01 1.21250872e-03 -1.34542890e-02 2.79752156e+00] [-1.17739014e-03 9.99995880e-01 2.61782862e-03 3.13786732e-02] [ 1.34574077e-02 -2.60174880e-03 9.99906060e-01 -9.85170407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.292414037 meters Centerline goodness [0,1] 0.6250173442486471 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-0.98 [[ 9.99909510e-01 1.26866587e-03 -1.33926267e-02 2.79694261e+00] [-1.23215303e-03 9.99995503e-01 2.73423857e-03 3.02265998e-02] [ 1.33960353e-02 -2.71748938e-03 9.99906576e-01 -9.84484602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.322414037 meters Centerline goodness [0,1] 0.6251268567210997 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-0.98 [[ 9.99909440e-01 1.08352390e-03 -1.34140661e-02 2.79657267e+00] [-1.04955123e-03 9.99996225e-01 2.53939613e-03 2.99315698e-02] [ 1.34167669e-02 -2.52508742e-03 9.99906803e-01 -9.83918176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.352414037 meters Centerline goodness [0,1] 0.6274437476945777 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-0.98 [[ 9.99910433e-01 9.47037071e-04 -1.33502197e-02 2.79614129e+00] [-9.14670803e-04 9.99996629e-01 2.43029701e-03 2.96308525e-02] [ 1.33524762e-02 -2.41786828e-03 9.99907928e-01 -9.83491980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.382414037 meters Centerline goodness [0,1] 0.6267986646713479 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-0.98 [[ 9.99911415e-01 7.48954627e-04 -1.32891085e-02 2.79561742e+00] [-7.18404230e-04 9.99997089e-01 2.30352977e-03 2.92701259e-02] [ 1.32907950e-02 -2.29377876e-03 9.99909043e-01 -9.82962783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.412414037 meters Centerline goodness [0,1] 0.6188966246180005 Centerline is valid? [False, False] Translation: X:2.79, Y:0.03, Z:-0.98 [[ 9.99915378e-01 2.62162719e-04 -1.30064444e-02 2.79439042e+00] [-2.34753603e-04 9.99997749e-01 2.10883079e-03 2.83185475e-02] [ 1.30069680e-02 -2.10559903e-03 9.99913189e-01 -9.82224255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.442414037 meters Centerline goodness [0,1] 0.622648849022928 Centerline is valid? [False, False] Translation: X:2.79, Y:0.03, Z:-0.98 [[ 9.99915075e-01 2.78537683e-04 -1.30293988e-02 2.79455706e+00] [-2.47056145e-04 9.99997047e-01 2.41773981e-03 2.71707420e-02] [ 1.30300338e-02 -2.41431549e-03 9.99912191e-01 -9.82455859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.472414037 meters Centerline goodness [0,1] 0.6222145804676753 Centerline is valid? [False, False] Translation: X:2.79, Y:0.03, Z:-0.98 [[ 9.99917253e-01 -1.15696488e-04 -1.28636228e-02 2.79391994e+00] [ 1.47440614e-04 9.99996947e-01 2.46682285e-03 2.57921931e-02] [ 1.28632981e-02 -2.46851535e-03 9.99914217e-01 -9.82294121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.502414037 meters Centerline goodness [0,1] 0.6156200045672529 Centerline is valid? [False, False] Translation: X:2.79, Y:0.03, Z:-0.98 [[ 9.99917213e-01 -2.84728354e-04 -1.28641204e-02 2.79379133e+00] [ 3.15707291e-04 9.99997055e-01 2.40619944e-03 2.52891759e-02] [ 1.28633974e-02 -2.41006153e-03 9.99914359e-01 -9.82162424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.532414037 meters Centerline goodness [0,1] 0.6216939078751857 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.98 [[ 9.99917731e-01 -3.81372825e-04 -1.28212775e-02 2.79374242e+00] [ 4.13407315e-04 9.99996800e-01 2.49598374e-03 2.47349658e-02] [ 1.28202846e-02 -2.50107881e-03 9.99914689e-01 -9.82305844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.562414037 meters Centerline goodness [0,1] 0.6185268061010138 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.98 [[ 9.99917988e-01 -4.25191750e-04 -1.27998483e-02 2.79372585e+00] [ 4.59173862e-04 9.99996378e-01 2.65206225e-03 2.37840969e-02] [ 1.27986743e-02 -2.65772211e-03 9.99914562e-01 -9.82420938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.592414037 meters Centerline goodness [0,1] 0.6174308155995981 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.98 [[ 9.99917438e-01 -3.97940930e-04 -1.28436509e-02 2.79382957e+00] [ 4.32835294e-04 9.99996223e-01 2.71419173e-03 2.32812707e-02] [ 1.28425223e-02 -2.71952683e-03 9.99913833e-01 -9.82401852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.622414037 meters Centerline goodness [0,1] 0.6187306219223053 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.98 [[ 9.99916690e-01 -4.33200461e-04 -1.29006131e-02 2.79381099e+00] [ 4.68098430e-04 9.99996239e-01 2.70224374e-03 2.28516388e-02] [ 1.28993940e-02 -2.70805737e-03 9.99913132e-01 -9.82206346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.652414037 meters Centerline goodness [0,1] 0.6173281923338625 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.98 [[ 9.99915774e-01 -2.04501428e-04 -1.29770385e-02 2.79398529e+00] [ 2.42289240e-04 9.99995735e-01 2.91039264e-03 2.16549507e-02] [ 1.29763879e-02 -2.91329171e-03 9.99911559e-01 -9.82124696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68241403699997 meters Centerline goodness [0,1] 0.6245139283683911 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.98 [[ 9.99915109e-01 -7.65485223e-05 -1.30295569e-02 2.79406608e+00] [ 1.15793174e-04 9.99995459e-01 3.01124356e-03 2.11763697e-02] [ 1.30292672e-02 -3.01249666e-03 9.99910578e-01 -9.82011545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71241403699997 meters Centerline goodness [0,1] 0.6261268421172144 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.98 [[ 9.99914640e-01 -7.15541514e-06 -1.30657174e-02 2.79406355e+00] [ 4.66929664e-05 9.99995421e-01 3.02575030e-03 2.08829846e-02] [ 1.30656359e-02 -3.02610210e-03 9.99910062e-01 -9.81849357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74241403699997 meters Centerline goodness [0,1] 0.6180928430639571 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.98 [[ 9.99911063e-01 4.93863699e-04 -1.33274767e-02 2.79461560e+00] [-4.49721631e-04 9.99994405e-01 3.31490370e-03 2.03913327e-02] [ 1.33290392e-02 -3.30861523e-03 9.99905690e-01 -9.81657397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77241403699998 meters Centerline goodness [0,1] 0.6299448491863553 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.98 [[ 9.99908932e-01 7.55688323e-04 -1.34742903e-02 2.79493121e+00] [-7.11258328e-04 9.99994296e-01 3.30187760e-03 2.03182196e-02] [ 1.34767086e-02 -3.29199321e-03 9.99903766e-01 -9.81434314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80241403699998 meters Centerline goodness [0,1] 0.6262678980689373 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.98 [[ 9.99905110e-01 1.23685235e-03 -1.37200780e-02 2.79552270e+00] [-1.18803017e-03 9.99992936e-01 3.56602703e-03 1.98506556e-02] [ 1.37243918e-02 -3.54938878e-03 9.99899516e-01 -9.81370700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83241403699998 meters Centerline goodness [0,1] 0.6390189823299169 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.98 [[ 9.99901617e-01 1.55254371e-03 -1.39408108e-02 2.79625964e+00] [-1.49799182e-03 9.99991184e-01 3.92269748e-03 1.91028196e-02] [ 1.39467780e-02 -3.90142833e-03 9.99895128e-01 -9.81705520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86241403699998 meters Centerline goodness [0,1] 0.6319504139709542 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.98 [[ 9.99901195e-01 1.58572156e-03 -1.39672774e-02 2.79639276e+00] [-1.52869924e-03 9.99990458e-01 4.09229580e-03 1.82024787e-02] [ 1.39736333e-02 -4.07053970e-03 9.99894079e-01 -9.81871099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89241403699998 meters Centerline goodness [0,1] 0.6356666289720683 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.98 [[ 9.99903670e-01 1.46926220e-03 -1.38018870e-02 2.79607943e+00] [-1.40801450e-03 9.99989124e-01 4.44630123e-03 1.61946772e-02] [ 1.38082697e-02 -4.42643966e-03 9.99894864e-01 -9.82044880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92241403699998 meters Centerline goodness [0,1] 0.6364047893891038 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.98 [[ 9.99904195e-01 1.31783530e-03 -1.37791538e-02 2.79590734e+00] [-1.25564459e-03 9.99988992e-01 4.52106847e-03 1.53891853e-02] [ 1.37849601e-02 -4.50333360e-03 9.99894842e-01 -9.81947145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95241403699998 meters Centerline goodness [0,1] 0.632375189107413 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.98 [[ 9.99904150e-01 1.15363178e-03 -1.37971195e-02 2.79587238e+00] [-1.09140120e-03 9.99989202e-01 4.51708300e-03 1.49049404e-02] [ 1.38021815e-02 -4.50159184e-03 9.99894612e-01 -9.81896146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98241403699998 meters Centerline goodness [0,1] 0.6301496857052413 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.98 [[ 9.99905825e-01 8.39735370e-04 -1.36980103e-02 2.79547224e+00] [-7.78219510e-04 9.99989592e-01 4.49557323e-03 1.41229149e-02] [ 1.37016428e-02 -4.48448981e-03 9.99896072e-01 -9.81748941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01241403699999 meters Centerline goodness [0,1] 0.6301496857052413 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.98 [[ 9.99905825e-01 8.39735370e-04 -1.36980103e-02 2.79547224e+00] [-7.78219510e-04 9.99989592e-01 4.49557323e-03 1.41229149e-02] [ 1.37016428e-02 -4.48448981e-03 9.99896072e-01 -9.81748941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.042414037 meters Centerline goodness [0,1] 0.628746163567431 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.98 [[ 9.99904310e-01 7.07117398e-04 -1.38156080e-02 2.79562520e+00] [-6.47822007e-04 9.99990563e-01 4.29591716e-03 1.44068587e-02] [ 1.38185153e-02 -4.28655603e-03 9.99895332e-01 -9.81620222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.072414037 meters Centerline goodness [0,1] 0.6377297003711415 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.98 [[ 9.99904998e-01 4.28056759e-04 -1.37772183e-02 2.79533346e+00] [-3.73738978e-04 9.99992149e-01 3.94491296e-03 1.48755836e-02] [ 1.37787988e-02 -3.93938910e-03 9.99897308e-01 -9.81296359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.102414037 meters Centerline goodness [0,1] 0.6307322820373391 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.98 [[ 9.99907418e-01 -9.91533676e-05 -1.36068309e-02 2.79458690e+00] [ 1.46076848e-04 9.99994046e-01 3.44757323e-03 1.53360790e-02] [ 1.36064081e-02 -3.44924169e-03 9.99901479e-01 -9.80801751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.132414037 meters Centerline goodness [0,1] 0.6319208655892072 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.98 [[ 9.99907761e-01 -2.32889001e-04 -1.35799317e-02 2.79455287e+00] [ 2.78372461e-04 9.99994358e-01 3.34752024e-03 1.53227198e-02] [ 1.35790755e-02 -3.35099175e-03 9.99902185e-01 -9.80822749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.162414037 meters Centerline goodness [0,1] 0.637503388452155 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.98 [[ 9.99906632e-01 -2.75090530e-04 -1.36620500e-02 2.79477041e+00] [ 3.20432072e-04 9.99994448e-01 3.31671683e-03 1.52250613e-02] [ 1.36610618e-02 -3.32078491e-03 9.99901169e-01 -9.80862403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.192414037 meters Centerline goodness [0,1] 0.6313394312624525 Centerline is valid? [False, False] Translation: X:2.79, Y:0.02, Z:-0.98 [[ 9.99910389e-01 -9.28917543e-04 -1.33547789e-02 2.79369911e+00] [ 9.66992468e-04 9.99995486e-01 2.84485918e-03 1.50970298e-02] [ 1.33520760e-02 -2.85751822e-03 9.99906774e-01 -9.80409589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.222414037 meters Centerline goodness [0,1] 0.6315884680610515 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.98 [[ 9.99910982e-01 -1.02300522e-03 -1.33034656e-02 2.79370193e+00] [ 1.06131655e-03 9.99995310e-01 2.87305988e-03 1.46675949e-02] [ 1.33004641e-02 -2.88692331e-03 9.99907377e-01 -9.80582675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.252414037 meters Centerline goodness [0,1] 0.6284485685187281 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.98 [[ 9.99911765e-01 -1.14068770e-03 -1.32348464e-02 2.79362833e+00] [ 1.17813797e-03 9.99995324e-01 2.82222068e-03 1.44760469e-02] [ 1.32315652e-02 -2.83756414e-03 9.99908433e-01 -9.80702161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.282414037 meters Centerline goodness [0,1] 0.6244885965507109 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.98 [[ 9.99911869e-01 -1.29197132e-03 -1.32130843e-02 2.79345316e+00] [ 1.32785630e-03 9.99995453e-01 2.70745484e-03 1.43170559e-02] [ 1.32095262e-02 -2.72476131e-03 9.99909038e-01 -9.80548140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.312414037 meters Centerline goodness [0,1] 0.6418355588693825 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.98 [[ 9.99912173e-01 -1.28446599e-03 -1.31907945e-02 2.79339233e+00] [ 1.32185532e-03 9.99995133e-01 2.82617501e-03 1.38870809e-02] [ 1.31871002e-02 -2.84336311e-03 9.99909004e-01 -9.80525628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.342414037 meters Centerline goodness [0,1] 0.6330155000225948 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.98 [[ 9.99912976e-01 -1.44172450e-03 -1.31134310e-02 2.79305347e+00] [ 1.47734057e-03 9.99995246e-01 2.70671809e-03 1.37945488e-02] [ 1.31094664e-02 -2.72585555e-03 9.99910352e-01 -9.80218487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.372414037 meters Centerline goodness [0,1] 0.6313289358157546 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.98 [[ 9.99912818e-01 -1.39787756e-03 -1.31301975e-02 2.79306274e+00] [ 1.43670231e-03 9.99994623e-01 2.94793826e-03 1.30924061e-02] [ 1.31260060e-02 -2.96654544e-03 9.99909450e-01 -9.80151969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.402414037 meters Centerline goodness [0,1] 0.6311562323745065 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.98 [[ 9.99912788e-01 -1.53535877e-03 -1.31171536e-02 2.79285761e+00] [ 1.57414319e-03 9.99994419e-01 2.94695788e-03 1.24658940e-02] [ 1.31125558e-02 -2.96734914e-03 9.99909624e-01 -9.79927704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43241403699997 meters Centerline goodness [0,1] 0.6255833782085801 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.98 [[ 9.99906221e-01 -2.96884582e-03 -1.33691565e-02 2.79502647e+00] [ 2.98725341e-03 9.99994617e-01 1.35711153e-03 1.26012813e-02] [ 1.33650555e-02 -1.39692132e-03 9.99909708e-01 -9.81540099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46241403699997 meters Centerline goodness [0,1] 0.6287046212052968 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.98 [[ 9.99907381e-01 -3.31730526e-03 -1.31994208e-02 2.79442444e+00] [ 3.33482603e-03 9.99993587e-01 1.30560042e-03 1.18991264e-02] [ 1.31950051e-02 -1.34949727e-03 9.99912031e-01 -9.81287273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49241403699997 meters Centerline goodness [0,1] 0.6323257387773517 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.98 [[ 9.99908251e-01 -3.50220834e-03 -1.30852848e-02 2.79422861e+00] [ 3.51897687e-03 9.99993016e-01 1.25867533e-03 1.17867173e-02] [ 1.30807853e-02 -1.30460666e-03 9.99913592e-01 -9.81397255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52241403699998 meters Centerline goodness [0,1] 0.6318842542434091 Centerline is valid? [False, False] Translation: X:2.79, Y:0.01, Z:-0.98 [[ 9.99908015e-01 -3.47714682e-03 -1.31099750e-02 2.79458146e+00] [ 3.49623888e-03 9.99992860e-01 1.43366240e-03 1.15744228e-02] [ 1.31048963e-02 -1.47936613e-03 9.99913033e-01 -9.81876495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55241403699998 meters Centerline goodness [0,1] 0.6267692792367066 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.98 [[ 9.99905576e-01 -3.17091952e-03 -1.33710178e-02 2.79585543e+00] [ 3.19689428e-03 9.99993043e-01 1.92168989e-03 1.09678609e-02] [ 1.33648313e-02 -1.96425416e-03 9.99908757e-01 -9.82969266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58241403699998 meters Centerline goodness [0,1] 0.6350861287398005 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.98 [[ 9.99905353e-01 -3.22124511e-03 -1.33756381e-02 2.79599614e+00] [ 3.24493401e-03 9.99993204e-01 1.74972356e-03 1.14559197e-02] [ 1.33699109e-02 -1.79296101e-03 9.99909011e-01 -9.83083591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61241403699998 meters Centerline goodness [0,1] 0.6356242374949166 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.98 [[ 9.99902959e-01 -2.92979921e-03 -1.36194424e-02 2.79696415e+00] [ 2.95697903e-03 9.99993676e-01 1.97595397e-03 1.17458042e-02] [ 1.36135671e-02 -2.01603462e-03 9.99905299e-01 -9.83638501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64241403699998 meters Centerline goodness [0,1] 0.6327440639217727 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.98 [[ 9.99902093e-01 -2.87630153e-03 -1.36942413e-02 2.79725273e+00] [ 2.89691810e-03 9.99994700e-01 1.48589349e-03 1.39555596e-02] [ 1.36898949e-02 -1.52541911e-03 9.99905125e-01 -9.83533878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67241403699998 meters Centerline goodness [0,1] 0.6376667420302962 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.98 [[ 9.99899236e-01 -2.70376977e-03 -1.39358403e-02 2.79787248e+00] [ 2.72305335e-03 9.99995361e-01 1.36495138e-03 1.49593633e-02] [ 1.39320851e-02 -1.40276188e-03 9.99901960e-01 -9.83542910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70241403699998 meters Centerline goodness [0,1] 0.6424201223657375 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.98 [[ 9.99899010e-01 -2.91596763e-03 -1.39092605e-02 2.79735788e+00] [ 2.92528128e-03 9.99995511e-01 6.49302039e-04 1.67662771e-02] [ 1.39073047e-02 -6.89924965e-04 9.99903051e-01 -9.82686877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73241403699998 meters Centerline goodness [0,1] 0.6336597833216475 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.98 [[ 9.99898220e-01 -2.88430395e-03 -1.39724644e-02 2.79749465e+00] [ 2.89299830e-03 9.99995634e-01 6.02076837e-04 1.71015000e-02] [ 1.39706668e-02 -6.42437873e-04 9.99902199e-01 -9.82654314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76241403699999 meters Centerline goodness [0,1] 0.6333770462150674 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.98 [[ 9.99897181e-01 -3.04118456e-03 -1.40135087e-02 2.79736634e+00] [ 3.04616647e-03 9.99995305e-01 3.34175901e-04 1.75384828e-02] [ 1.40124266e-02 -3.76829021e-04 9.99901750e-01 -9.82352441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.792414037 meters Centerline goodness [0,1] 0.6324259660527266 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.98 [[ 9.99896306e-01 -2.80215671e-03 -1.41253608e-02 2.79796532e+00] [ 2.81103067e-03 9.99995864e-01 6.08414204e-04 1.72494580e-02] [ 1.41235975e-02 -6.48057938e-04 9.99900047e-01 -9.82795321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.822414037 meters Centerline goodness [0,1] 0.6302750225428313 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.98 [[ 9.99896197e-01 -2.60840755e-03 -1.41701083e-02 2.79851913e+00] [ 2.62046805e-03 9.99996220e-01 8.32622437e-04 1.70482873e-02] [ 1.41678829e-02 -8.69668324e-04 9.99899252e-01 -9.83405560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.852414037 meters Centerline goodness [0,1] 0.6367123164045755 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.98 [[ 9.99896111e-01 -2.45430393e-03 -1.42036422e-02 2.79901718e+00] [ 2.46988610e-03 9.99996367e-01 1.07961651e-03 1.68211294e-02] [ 1.42009409e-02 -1.11458573e-03 9.99898540e-01 -9.83960794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.882414037 meters Centerline goodness [0,1] 0.6405121026011561 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.98 [[ 9.99894925e-01 -2.30754500e-03 -1.43113198e-02 2.79946420e+00] [ 2.32538496e-03 9.99996540e-01 1.23004820e-03 1.66447407e-02] [ 1.43084319e-02 -1.26319828e-03 9.99896831e-01 -9.84239309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.912414037 meters Centerline goodness [0,1] 0.6393649648204943 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.98 [[ 9.99893407e-01 -1.99494748e-03 -1.44635543e-02 2.80014313e+00] [ 2.01816753e-03 9.99996698e-01 1.59100003e-03 1.63142965e-02] [ 1.44603326e-02 -1.62002032e-03 9.99894132e-01 -9.84692452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.942414037 meters Centerline goodness [0,1] 0.6359618463481183 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.98 [[ 9.99893925e-01 -1.95329391e-03 -1.44334013e-02 2.80010665e+00] [ 1.97684480e-03 9.99996738e-01 1.61760685e-03 1.63337894e-02] [ 1.44301945e-02 -1.64596786e-03 9.99894525e-01 -9.84661481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.972414037 meters Centerline goodness [0,1] 0.6456387347141375 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.98 [[ 9.99893680e-01 -2.04238737e-03 -1.44380678e-02 2.79989995e+00] [ 2.06487969e-03 9.99996678e-01 1.54311298e-03 1.63851207e-02] [ 1.44348682e-02 -1.57276179e-03 9.99894575e-01 -9.84364497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.002414037 meters Centerline goodness [0,1] 0.6342875160469359 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.98 [[ 9.99894313e-01 -2.11204697e-03 -1.43840823e-02 2.79977190e+00] [ 2.13375162e-03 9.99996608e-01 1.49375519e-03 1.63173489e-02] [ 1.43808787e-02 -1.52428937e-03 9.99895428e-01 -9.84302006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.032414037 meters Centerline goodness [0,1] 0.6395718309859155 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.98 [[ 9.99895677e-01 -2.27700936e-03 -1.42635742e-02 2.79949360e+00] [ 2.29898441e-03 9.99996195e-01 1.52443417e-03 1.58724401e-02] [ 1.42600488e-02 -1.55706687e-03 9.99897108e-01 -9.84356205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.062414037 meters Centerline goodness [0,1] 0.6381919779200507 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.98 [[ 9.99896575e-01 -2.50576410e-03 -1.41619487e-02 2.79914548e+00] [ 2.52721754e-03 9.99995686e-01 1.49717190e-03 1.52256076e-02] [ 1.41581361e-02 -1.53280738e-03 9.99898594e-01 -9.84256305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.092414037 meters Centerline goodness [0,1] 0.6362590252707581 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.98 [[ 9.99898891e-01 -2.78296337e-03 -1.39449958e-02 2.79865967e+00] [ 2.80449445e-03 9.99994905e-01 1.52468293e-03 1.45178644e-02] [ 1.39406816e-02 -1.56363743e-03 9.99901601e-01 -9.84305658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.122414037 meters Centerline goodness [0,1] 0.6274350466129432 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.98 [[ 9.99901983e-01 -3.25544203e-03 -1.36171031e-02 2.79771941e+00] [ 3.27615514e-03 9.99993510e-01 1.49907999e-03 1.37443954e-02] [ 1.36121346e-02 -1.54354480e-03 9.99906159e-01 -9.84100352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.152414037 meters Centerline goodness [0,1] 0.629005400540054 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.98 [[ 9.99902154e-01 -3.38478471e-03 -1.35729915e-02 2.79767125e+00] [ 3.40423907e-03 9.99993211e-01 1.41046605e-03 1.40562346e-02] [ 1.35681253e-02 -1.45653375e-03 9.99906888e-01 -9.84135028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18241403699997 meters Centerline goodness [0,1] 0.6298683736025965 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.98 [[ 9.99900896e-01 -3.22398034e-03 -1.37041591e-02 2.79824895e+00] [ 3.24482675e-03 9.99993612e-01 1.49921165e-03 1.48090230e-02] [ 1.36992381e-02 -1.54353069e-03 9.99904970e-01 -9.84468215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21241403699997 meters Centerline goodness [0,1] 0.6331676457297786 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.98 [[ 9.99899450e-01 -3.17863203e-03 -1.38197413e-02 2.79865276e+00] [ 3.19860587e-03 9.99993871e-01 1.42344921e-03 1.53496580e-02] [ 1.38151320e-02 -1.46750999e-03 9.99903490e-01 -9.84627584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24241403699997 meters Centerline goodness [0,1] 0.6287995295820518 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.98 [[ 9.99898260e-01 -3.09231500e-03 -1.39250592e-02 2.79907037e+00] [ 3.11299323e-03 9.99994084e-01 1.46353459e-03 1.55828739e-02] [ 1.39204511e-02 -1.50673430e-03 9.99901971e-01 -9.84881686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27241403699998 meters Centerline goodness [0,1] 0.634117673651138 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99898755e-01 -3.01097039e-03 -1.39073250e-02 2.79919908e+00] [ 3.03107409e-03 9.99994391e-01 1.42469576e-03 1.58824328e-02] [ 1.39029573e-02 -1.46670564e-03 9.99902274e-01 -9.85056356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30241403699998 meters Centerline goodness [0,1] 0.629339356295878 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99898764e-01 -2.89803373e-03 -1.39306846e-02 2.79953922e+00] [ 2.92027993e-03 9.99994493e-01 1.57684482e-03 1.58293605e-02] [ 1.39260381e-02 -1.61736669e-03 9.99901720e-01 -9.85426673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33241403699998 meters Centerline goodness [0,1] 0.6290512136690323 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99898883e-01 -2.88304720e-03 -1.39252126e-02 2.79964652e+00] [ 2.90469666e-03 9.99994604e-01 1.53472010e-03 1.61183139e-02] [ 1.39207128e-02 -1.57501343e-03 9.99901862e-01 -9.85534263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36241403699998 meters Centerline goodness [0,1] 0.6297189479140841 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99899280e-01 -2.73420882e-03 -1.39267388e-02 2.79986568e+00] [ 2.75840268e-03 9.99994719e-01 1.71831071e-03 1.60066848e-02] [ 1.39219671e-02 -1.75655319e-03 9.99901542e-01 -9.85823353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39241403699998 meters Centerline goodness [0,1] 0.6313204146011717 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99900171e-01 -2.81226314e-03 -1.38470267e-02 2.79966528e+00] [ 2.83608960e-03 9.99994531e-01 1.70135614e-03 1.57766788e-02] [ 1.38421663e-02 -1.74045770e-03 9.99902678e-01 -9.85779380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42241403699998 meters Centerline goodness [0,1] 0.6357366629854178 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99900360e-01 -2.92748342e-03 -1.38094064e-02 2.79939639e+00] [ 2.95172186e-03 9.99994138e-01 1.73515704e-03 1.53228989e-02] [ 1.38042458e-02 -1.77574567e-03 9.99903140e-01 -9.85565884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45241403699998 meters Centerline goodness [0,1] 0.6300155276008732 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.99 [[ 9.99900840e-01 -2.96905503e-03 -1.37657467e-02 2.79909618e+00] [ 2.99753077e-03 9.99993409e-01 2.04842279e-03 1.39362410e-02] [ 1.37595741e-02 -2.08948292e-03 9.99903149e-01 -9.85402446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48241403699998 meters Centerline goodness [0,1] 0.6285218801378347 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.99 [[ 9.99901970e-01 -2.90468652e-03 -1.36971826e-02 2.79905404e+00] [ 2.93602186e-03 9.99993118e-01 2.26816827e-03 1.33179523e-02] [ 1.36905000e-02 -2.30816115e-03 9.99903617e-01 -9.85528016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51241403699999 meters Centerline goodness [0,1] 0.6354267673920397 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.99 [[ 9.99899690e-01 -2.58821094e-03 -1.39252274e-02 2.79969635e+00] [ 2.62356419e-03 9.99993380e-01 2.52112357e-03 1.31241693e-02] [ 1.39186101e-02 -2.55740440e-03 9.99899861e-01 -9.85648844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.542414037 meters Centerline goodness [0,1] 0.6371147481933407 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.99 [[ 9.99897021e-01 -2.37867619e-03 -1.41523451e-02 2.80034527e+00] [ 2.41608998e-03 9.99993630e-01 2.62713616e-03 1.30905401e-02] [ 1.41460059e-02 -2.66105896e-03 9.99896399e-01 -9.85787472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.572414037 meters Centerline goodness [0,1] 0.6341292926559787 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.99 [[ 9.99896024e-01 -2.14994580e-03 -1.42590240e-02 2.80092833e+00] [ 2.18954815e-03 9.99993788e-01 2.76232417e-03 1.30494440e-02] [ 1.42529966e-02 -2.79325777e-03 9.99894519e-01 -9.86158299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.602414037 meters Centerline goodness [0,1] 0.639372861771303 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.99 [[ 9.99894688e-01 -1.84988759e-03 -1.43940958e-02 2.80153407e+00] [ 1.89333331e-03 9.99993692e-01 3.00525995e-03 1.27552075e-02] [ 1.43884456e-02 -3.03219628e-03 9.99891883e-01 -9.86538665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.632414037 meters Centerline goodness [0,1] 0.6358934983401459 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.99 [[ 9.99890175e-01 -1.30362130e-03 -1.47627514e-02 2.80272426e+00] [ 1.35221736e-03 9.99993699e-01 3.28229883e-03 1.23833627e-02] [ 1.47583795e-02 -3.30190080e-03 9.99885637e-01 -9.86880170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.662414037 meters Centerline goodness [0,1] 0.6389384125837828 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.99 [[ 9.99889875e-01 -1.23577365e-03 -1.47888898e-02 2.80282961e+00] [ 1.28349511e-03 9.99993999e-01 3.21778924e-03 1.26939113e-02] [ 1.47848246e-02 -3.23641635e-03 9.99885461e-01 -9.86877296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.692414037 meters Centerline goodness [0,1] 0.6444173386641368 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-0.99 [[ 9.99887753e-01 -1.24182545e-03 -1.49311477e-02 2.80286394e+00] [ 1.28583429e-03 9.99994857e-01 2.93821262e-03 1.32752384e-02] [ 1.49274222e-02 -2.95708179e-03 9.99884207e-01 -9.86412019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.722414037 meters Centerline goodness [0,1] 0.6484915645212357 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99885664e-01 -1.13124596e-03 -1.50790745e-02 2.80274539e+00] [ 1.16726548e-03 9.99996486e-01 2.38012148e-03 1.50352737e-02] [ 1.50763290e-02 -2.39745063e-03 9.99883471e-01 -9.85449418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.752414037 meters Centerline goodness [0,1] 0.6506901840490797 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99881525e-01 -8.93028191e-04 -1.53667735e-02 2.80352648e+00] [ 9.30059984e-04 9.99996681e-01 2.40288368e-03 1.54404743e-02] [ 1.53645767e-02 -2.41689102e-03 9.99879037e-01 -9.85551959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.782414037 meters Centerline goodness [0,1] 0.633144635648075 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99880636e-01 -6.83686101e-04 -1.54352036e-02 2.80377932e+00] [ 7.19870240e-04 9.99997006e-01 2.33882625e-03 1.57667639e-02] [ 1.54335584e-02 -2.34965842e-03 9.99878135e-01 -9.85479283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.812414037 meters Centerline goodness [0,1] 0.6496500338676903 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99880848e-01 -8.54041711e-04 -1.54129896e-02 2.80369622e+00] [ 8.87332400e-04 9.99997288e-01 2.15320183e-03 1.57614372e-02] [ 1.54111089e-02 -2.16662171e-03 9.99878894e-01 -9.85447842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.842414037 meters Centerline goodness [0,1] 0.6562796583359696 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99878291e-01 -6.68319120e-04 -1.55870839e-02 2.80443574e+00] [ 7.05567830e-04 9.99996909e-01 2.38433958e-03 1.54551157e-02] [ 1.55854422e-02 -2.39504712e-03 9.99875671e-01 -9.85945596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.872414037 meters Centerline goodness [0,1] 0.6441690140845071 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99878688e-01 -8.22097257e-04 -1.55542120e-02 2.80450600e+00] [ 8.59833172e-04 9.99996703e-01 2.41955794e-03 1.52178190e-02] [ 1.55521716e-02 -2.43263845e-03 9.99876098e-01 -9.86206751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.902414037 meters Centerline goodness [0,1] 0.6441690140845071 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99878688e-01 -8.22097257e-04 -1.55542120e-02 2.80450600e+00] [ 8.59833172e-04 9.99996703e-01 2.41955794e-03 1.52178190e-02] [ 1.55521716e-02 -2.43263845e-03 9.99876098e-01 -9.86206751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93241403699997 meters Centerline goodness [0,1] 0.6447507953340403 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99878249e-01 -1.07145629e-03 -1.55672236e-02 2.80440051e+00] [ 1.10499911e-03 9.99997086e-01 2.14626643e-03 1.55564780e-02] [ 1.55648786e-02 -2.16320688e-03 9.99876520e-01 -9.86041115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96241403699997 meters Centerline goodness [0,1] 0.6451913039531612 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99878900e-01 -1.30969076e-03 -1.55070939e-02 2.80419036e+00] [ 1.33949361e-03 9.99997276e-01 1.91165427e-03 1.59623408e-02] [ 1.55045479e-02 -1.93219442e-03 9.99877930e-01 -9.85966080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99241403699997 meters Centerline goodness [0,1] 0.65057288712422 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99880855e-01 -1.58896298e-03 -1.53541732e-02 2.80381322e+00] [ 1.61655010e-03 9.99997101e-01 1.78447382e-03 1.59760780e-02] [ 1.53512933e-02 -1.80908200e-03 9.99880525e-01 -9.85945349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02241403699998 meters Centerline goodness [0,1] 0.6456521739130434 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99881091e-01 -1.68932413e-03 -1.53280649e-02 2.80391024e+00] [ 1.71583356e-03 9.99997055e-01 1.71648402e-03 1.60745403e-02] [ 1.53251201e-02 -1.74258032e-03 9.99881045e-01 -9.86135832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05241403699998 meters Centerline goodness [0,1] 0.6572050915526513 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99882224e-01 -1.93822880e-03 -1.52243816e-02 2.80358762e+00] [ 1.96073625e-03 9.99997007e-01 1.46359432e-03 1.65881455e-02] [ 1.52214992e-02 -1.49327294e-03 9.99883031e-01 -9.85993740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08241403699998 meters Centerline goodness [0,1] 0.6480852028098799 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99881364e-01 -2.15798586e-03 -1.52512899e-02 2.80355814e+00] [ 2.17563978e-03 9.99996982e-01 1.14103986e-03 1.77684332e-02] [ 1.52487816e-02 -1.17408580e-03 9.99883041e-01 -9.85851567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11241403699998 meters Centerline goodness [0,1] 0.6504940174039159 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99881142e-01 -2.11336881e-03 -1.52720666e-02 2.80373142e+00] [ 2.13193585e-03 9.99997008e-01 1.19957322e-03 1.80392043e-02] [ 1.52694858e-02 -1.23198970e-03 9.99882656e-01 -9.86015508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14241403699998 meters Centerline goodness [0,1] 0.6415282693529358 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99880637e-01 -2.16333221e-03 -1.52981044e-02 2.80389851e+00] [ 2.17858696e-03 9.99997146e-01 9.80571403e-04 1.88267132e-02] [ 1.52959395e-02 -1.01378261e-03 9.99882496e-01 -9.86106096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17241403699998 meters Centerline goodness [0,1] 0.6484917214787933 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99879326e-01 -2.12514836e-03 -1.53888929e-02 2.80430782e+00] [ 2.14037759e-03 9.99997236e-01 9.73222213e-04 1.91236516e-02] [ 1.53867822e-02 -1.00604281e-03 9.99881110e-01 -9.86367602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20241403699998 meters Centerline goodness [0,1] 0.6499488694466538 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99878297e-01 -2.14133848e-03 -1.54533180e-02 2.80448786e+00] [ 2.15402821e-03 9.99997356e-01 8.04567944e-04 1.96826335e-02] [ 1.54515543e-02 -8.37756909e-04 9.99880267e-01 -9.86362087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23241403699998 meters Centerline goodness [0,1] 0.6411707228395482 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99877824e-01 -2.14587214e-03 -1.54832931e-02 2.80471837e+00] [ 2.15613539e-03 9.99997467e-01 6.46196891e-04 2.06743476e-02] [ 1.54818672e-02 -6.79502017e-04 9.99879918e-01 -9.86504598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26241403699999 meters Centerline goodness [0,1] 0.6378595195770089 Centerline is valid? [False, False] Translation: X:2.81, Y:0.02, Z:-0.99 [[ 9.99876168e-01 -1.98431847e-03 -1.56112796e-02 2.80541698e+00] [ 1.99260975e-03 9.99997882e-01 5.15572276e-04 2.26362278e-02] [ 1.56102234e-02 -5.46615619e-04 9.99878004e-01 -9.86943999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.292414037 meters Centerline goodness [0,1] 0.6423300970873786 Centerline is valid? [False, False] Translation: X:2.81, Y:0.02, Z:-0.99 [[ 9.99875204e-01 -2.02399354e-03 -1.56677970e-02 2.80562357e+00] [ 2.03138952e-03 9.99997833e-01 4.56149693e-04 2.31279115e-02] [ 1.56668398e-02 -4.87920166e-04 9.99877148e-01 -9.87066312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.322414037 meters Centerline goodness [0,1] 0.642788637194008 Centerline is valid? [False, False] Translation: X:2.81, Y:0.02, Z:-0.99 [[ 9.99875364e-01 -2.04075714e-03 -1.56554216e-02 2.80591518e+00] [ 2.05027508e-03 9.99997723e-01 5.91938811e-04 2.30489895e-02] [ 1.56541779e-02 -6.23962954e-04 9.99877271e-01 -9.87543454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.352414037 meters Centerline goodness [0,1] 0.6340057636887608 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99880986e-01 -2.82157298e-03 -1.51675036e-02 2.80479678e+00] [ 2.82644983e-03 9.99995961e-01 3.00105936e-04 2.26915146e-02] [ 1.51665956e-02 -3.42940407e-04 9.99884922e-01 -9.87674189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.382414037 meters Centerline goodness [0,1] 0.6314209778673876 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99883556e-01 -3.25708673e-03 -1.49085708e-02 2.80413956e+00] [ 3.25993856e-03 9.99994672e-01 1.66990077e-04 2.25171139e-02] [ 1.49079475e-02 -2.15571657e-04 9.99888847e-01 -9.87651344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.412414037 meters Centerline goodness [0,1] 0.6395680661141931 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99882872e-01 -3.30487531e-03 -1.49438645e-02 2.80458789e+00] [ 3.31252673e-03 9.99994395e-01 4.87287732e-04 2.19513455e-02] [ 1.49421703e-02 -5.36732608e-04 9.99888215e-01 -9.88330294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.442414037 meters Centerline goodness [0,1] 0.6358689412899226 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99884125e-01 -4.08819324e-03 -1.46636372e-02 2.80386592e+00] [ 4.08962102e-03 9.99991635e-01 6.73839189e-05 2.26788014e-02] [ 1.46632390e-02 -1.27344829e-04 9.99892481e-01 -9.88416456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.472414037 meters Centerline goodness [0,1] 0.6377867931880171 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99883797e-01 -4.11408331e-03 -1.46787543e-02 2.80410659e+00] [ 4.11702092e-03 9.99991511e-01 1.69914178e-04 2.28059646e-02] [ 1.46779307e-02 -2.30327172e-04 9.99892247e-01 -9.88688584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.502414037 meters Centerline goodness [0,1] 0.6329661773798347 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99883758e-01 -4.17146553e-03 -1.46652554e-02 2.80423426e+00] [ 4.17509256e-03 9.99991261e-01 2.16713760e-04 2.30370161e-02] [ 1.46642232e-02 -2.77917367e-04 9.99892436e-01 -9.88962841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.532414037 meters Centerline goodness [0,1] 0.6123423899313292 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-0.99 [[ 9.99881413e-01 -4.45755617e-03 -1.47407500e-02 2.80396022e+00] [ 4.45368165e-03 9.99990039e-01 -2.95661045e-04 2.44897380e-02] [ 1.47419211e-02 2.29975376e-04 9.99891306e-01 -9.88314561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.562414037 meters Centerline goodness [0,1] 0.6312770662489634 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-0.99 [[ 9.99880721e-01 -4.64209898e-03 -1.47307233e-02 2.80374005e+00] [ 4.63291959e-03 9.99989052e-01 -6.57210276e-04 2.55898025e-02] [ 1.47336128e-02 5.88885628e-04 9.99891281e-01 -9.88009824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.592414037 meters Centerline goodness [0,1] 0.6323129408510442 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-0.99 [[ 9.99881346e-01 -4.63555592e-03 -1.46903250e-02 2.80376161e+00] [ 4.62623876e-03 9.99989076e-01 -6.68156808e-04 2.60925122e-02] [ 1.46932618e-02 6.00116577e-04 9.99891868e-01 -9.88121871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.622414037 meters Centerline goodness [0,1] 0.6376871688551025 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-0.99 [[ 9.99881750e-01 -4.81987124e-03 -1.46032650e-02 2.80344411e+00] [ 4.80773587e-03 9.99988068e-01 -8.65995988e-04 2.65679639e-02] [ 1.46072647e-02 7.95684943e-04 9.99892992e-01 -9.87952028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.652414037 meters Centerline goodness [0,1] 0.6335469592881184 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-0.99 [[ 9.99882173e-01 -4.90592633e-03 -1.45455071e-02 2.80336150e+00] [ 4.89361638e-03 9.99987637e-01 -8.81777729e-04 2.65383071e-02] [ 1.45496532e-02 8.10493700e-04 9.99893820e-01 -9.88054384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68241403699997 meters Centerline goodness [0,1] 0.6347739943786573 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-0.99 [[ 9.99882324e-01 -4.68461361e-03 -1.46079277e-02 2.80388176e+00] [ 4.67783489e-03 9.99988935e-01 -4.98177963e-04 2.60776641e-02] [ 1.46100999e-02 4.29785865e-04 9.99893174e-01 -9.88615475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71241403699997 meters Centerline goodness [0,1] 0.6341138046828281 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-0.99 [[ 9.99880425e-01 -4.38133074e-03 -1.48303512e-02 2.80487324e+00] [ 4.37796799e-03 9.99990383e-01 -2.59205789e-04 2.64587718e-02] [ 1.48313443e-02 1.94247992e-04 9.99889991e-01 -9.89242430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74241403699997 meters Centerline goodness [0,1] 0.6353798943263884 Centerline is valid? [False, False] Translation: X:2.81, Y:0.03, Z:-0.99 [[ 9.99878900e-01 -4.34717991e-03 -1.49428096e-02 2.80520693e+00] [ 4.34239337e-03 9.99990510e-01 -3.52754611e-04 2.73185505e-02] [ 1.49442013e-02 2.87824335e-04 9.99888288e-01 -9.89349616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77241403699998 meters Centerline goodness [0,1] 0.6390302581660035 Centerline is valid? [False, False] Translation: X:2.81, Y:0.03, Z:-0.99 [[ 9.99878984e-01 -4.41679785e-03 -1.49167355e-02 2.80525313e+00] [ 4.40995488e-03 9.99990155e-01 -4.91606331e-04 2.80815973e-02] [ 1.49187600e-02 4.25764709e-04 9.99888618e-01 -9.89402910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80241403699998 meters Centerline goodness [0,1] 0.6283925807867323 Centerline is valid? [False, False] Translation: X:2.81, Y:0.03, Z:-0.99 [[ 9.99877959e-01 -4.30492338e-03 -1.50178308e-02 2.80584380e+00] [ 4.30129719e-03 9.99990712e-01 -2.73750553e-04 2.80298203e-02] [ 1.50188698e-02 2.09120990e-04 9.99887189e-01 -9.89956653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83241403699998 meters Centerline goodness [0,1] 0.6305871431886749 Centerline is valid? [False, False] Translation: X:2.81, Y:0.03, Z:-0.99 [[ 9.99878906e-01 -4.49168001e-03 -1.48995813e-02 2.80562042e+00] [ 4.48888886e-03 9.99989901e-01 -2.20768656e-04 2.74632327e-02] [ 1.49004225e-02 1.53859357e-04 9.99888971e-01 -9.90115332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86241403699998 meters Centerline goodness [0,1] 0.6265437788018433 Centerline is valid? [False, False] Translation: X:2.81, Y:0.02, Z:-1.00 [[ 9.99988138e-01 -3.86243872e-03 -2.96724568e-03 2.80649654e+00] [ 3.86642463e-03 9.99991629e-01 1.33874266e-03 2.39621261e-02] [ 2.96205003e-03 -1.35019942e-03 9.99994702e-01 -9.97549807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89241403699998 meters Centerline goodness [0,1] 0.629099871015294 Centerline is valid? [False, False] Translation: X:2.81, Y:0.02, Z:-1.00 [[ 9.99987224e-01 -4.24232698e-03 -2.74841240e-03 2.80576039e+00] [ 4.24571832e-03 9.99990231e-01 1.22926934e-03 2.35377380e-02] [ 2.74317059e-03 -1.24092262e-03 9.99995468e-01 -9.97308228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92241403699998 meters Centerline goodness [0,1] 0.6340880358579474 Centerline is valid? [False, False] Translation: X:2.81, Y:0.02, Z:-1.00 [[ 9.99987136e-01 -4.32103897e-03 -2.65631611e-03 2.80559505e+00] [ 4.32523224e-03 9.99989406e-01 1.57489036e-03 2.25163302e-02] [ 2.64948281e-03 -1.58635929e-03 9.99995232e-01 -9.97524227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95241403699998 meters Centerline goodness [0,1] 0.6120236153545748 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-1.00 [[ 9.99985389e-01 -4.86036134e-03 -2.36624043e-03 2.80449662e+00] [ 4.86447258e-03 9.99986664e-01 1.73481175e-03 2.05670443e-02] [ 2.35777706e-03 -1.74629691e-03 9.99995696e-01 -9.97144168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98241403699998 meters Centerline goodness [0,1] 0.6181726539589443 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-1.00 [[ 9.99985347e-01 -4.92866405e-03 -2.23906068e-03 2.80425873e+00] [ 4.93327927e-03 9.99985709e-01 2.06040339e-03 1.91333510e-02] [ 2.22887364e-03 -2.07141911e-03 9.99995371e-01 -9.97287796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01241403699999 meters Centerline goodness [0,1] 0.6199715935123247 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-1.00 [[ 9.99984961e-01 -5.05064057e-03 -2.13767764e-03 2.80399399e+00] [ 5.05553999e-03 9.99984592e-01 2.29277283e-03 1.79187724e-02] [ 2.12606473e-03 -2.30354546e-03 9.99995087e-01 -9.97324827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.042414037 meters Centerline goodness [0,1] 0.6230501806870683 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-1.00 [[ 9.99983445e-01 -5.40185344e-03 -1.98210872e-03 2.80310065e+00] [ 5.40692612e-03 9.99982098e-01 2.56286168e-03 1.59543834e-02] [ 1.96822903e-03 -2.57353637e-03 9.99994751e-01 -9.96806536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.072414037 meters Centerline goodness [0,1] 0.617487583724427 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-1.00 [[ 9.99984699e-01 -5.14807208e-03 -2.02485175e-03 2.80334974e+00] [ 5.15401925e-03 9.99982388e-01 2.94291819e-03 1.51545895e-02] [ 2.00966573e-03 -2.95330929e-03 9.99993620e-01 -9.97002325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.102414037 meters Centerline goodness [0,1] 0.618755998354737 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-1.00 [[ 9.99985532e-01 -4.94920756e-03 -2.10750140e-03 2.80334078e+00] [ 4.95561064e-03 9.99983088e-01 3.04393040e-03 1.48428351e-02] [ 2.09240072e-03 -3.05433031e-03 9.99993146e-01 -9.96639345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.132414037 meters Centerline goodness [0,1] 0.6180577666590857 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-1.00 [[ 9.99987009e-01 -4.53132231e-03 -2.33421426e-03 2.80414461e+00] [ 4.53945015e-03 9.99983611e-01 3.48859681e-03 1.40045299e-02] [ 2.31836805e-03 -3.49914754e-03 9.99991191e-01 -9.96987706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.162414037 meters Centerline goodness [0,1] 0.6188306065715719 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-1.00 [[ 9.99987350e-01 -4.46003210e-03 -2.32551689e-03 2.80421749e+00] [ 4.46842179e-03 9.99983482e-01 3.61504091e-03 1.34334986e-02] [ 2.30935528e-03 -3.62538657e-03 9.99990762e-01 -9.97116615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.192414037 meters Centerline goodness [0,1] 0.6191791453615778 Centerline is valid? [False, False] Translation: X:2.80, Y:0.01, Z:-1.00 [[ 9.99987641e-01 -4.32598658e-03 -2.45043501e-03 2.80457036e+00] [ 4.33520483e-03 9.99983500e-01 3.76914587e-03 1.27669234e-02] [ 2.43408930e-03 -3.77972242e-03 9.99989894e-01 -9.97225799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.222414037 meters Centerline goodness [0,1] 0.6203281677301732 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-1.00 [[ 0.99998991 -0.00338992 -0.00294922 2.80629484] [ 0.00340344 0.99998367 0.0045901 0.0112345 ] [ 0.00293361 -0.00460009 0.99998512 -0.99796863] [ 0. 0. 0. 1. ]] SLAMing on 227.252414037 meters Centerline goodness [0,1] 0.6185157267182896 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-1.00 [[ 0.99999021 -0.00306677 -0.00318943 2.80689522] [ 0.00308172 0.99998423 0.0046954 0.01112123] [ 0.00317498 -0.00470518 0.99998389 -0.99795716] [ 0. 0. 0. 1. ]] SLAMing on 227.282414037 meters Centerline goodness [0,1] 0.6212297380480132 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-1.00 [[ 9.99989715e-01 -2.72313678e-03 -3.62693945e-03 2.80784309e+00] [ 2.73973541e-03 9.99985761e-01 4.57940605e-03 1.14332040e-02] [ 3.61441745e-03 -4.58929580e-03 9.99982937e-01 -9.97750757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.312414037 meters Centerline goodness [0,1] 0.6205946007517941 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-1.00 [[ 9.99990197e-01 -1.93736717e-03 -3.98157932e-03 2.80865693e+00] [ 1.95512873e-03 9.99988134e-01 4.46189269e-03 1.25656303e-02] [ 3.97288776e-03 -4.46963345e-03 9.99982119e-01 -9.97227995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.342414037 meters Centerline goodness [0,1] 0.62254767770782 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-1.00 [[ 9.99989531e-01 -1.68068953e-03 -4.25584539e-03 2.80914482e+00] [ 1.69901317e-03 9.99989288e-01 4.30557330e-03 1.31211635e-02] [ 4.24856347e-03 -4.31275897e-03 9.99981675e-01 -9.96937226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.372414037 meters Centerline goodness [0,1] 0.6398558328390893 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-1.00 [[ 9.99989203e-01 -7.68855975e-04 -4.58285855e-03 2.80996058e+00] [ 7.88770230e-04 9.99990249e-01 4.34515631e-03 1.36012513e-02] [ 4.57947306e-03 -4.34872422e-03 9.99980058e-01 -9.96487326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.402414037 meters Centerline goodness [0,1] 0.6367316307734292 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-1.00 [[ 9.99988162e-01 -3.88017903e-04 -4.85029004e-03 2.81064987e+00] [ 4.09103581e-04 9.99990468e-01 4.34706654e-03 1.37961463e-02] [ 4.84855707e-03 -4.34899935e-03 9.99978789e-01 -9.96413742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43241403699997 meters Centerline goodness [0,1] 0.6439273552780931 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-1.00 [[ 9.99987119e-01 -5.93818207e-05 -5.07533859e-03 2.81119405e+00] [ 8.14090619e-05 9.99990579e-01 4.33995715e-03 1.38948431e-02] [ 5.07503306e-03 -4.34031442e-03 9.99977703e-01 -9.96310803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46241403699997 meters Centerline goodness [0,1] 0.6389866291344124 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-1.00 [[ 9.99986140e-01 4.51930798e-04 -5.24557490e-03 2.81176349e+00] [-4.27965423e-04 9.99989471e-01 4.56890792e-03 1.35031617e-02] [ 5.24758449e-03 -4.56659967e-03 9.99975804e-01 -9.96408742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49241403699997 meters Centerline goodness [0,1] 0.6384659155570729 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-1.00 [[ 9.99985169e-01 6.13632575e-04 -5.41155846e-03 2.81217375e+00] [-5.88582545e-04 9.99989111e-01 4.62936476e-03 1.31316688e-02] [ 5.41434026e-03 -4.62611096e-03 9.99974642e-01 -9.96433087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52241403699998 meters Centerline goodness [0,1] 0.6414207898320472 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-1.00 [[ 9.99984311e-01 7.49900796e-04 -5.55117472e-03 2.81260375e+00] [-7.23684044e-04 9.99988584e-01 4.72324262e-03 1.26142506e-02] [ 5.55465331e-03 -4.71915122e-03 9.99973437e-01 -9.96576305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55241403699998 meters Centerline goodness [0,1] 0.6428506540697674 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-1.00 [[ 9.99983564e-01 8.08245600e-04 -5.67613146e-03 2.81295380e+00] [-7.81371278e-04 9.99988483e-01 4.73524196e-03 1.22809406e-02] [ 5.67989333e-03 -4.73072897e-03 9.99972679e-01 -9.96659790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58241403699998 meters Centerline goodness [0,1] 0.640034442128161 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-1.00 [[ 9.99981758e-01 1.20973377e-03 -5.91775443e-03 2.81408302e+00] [-1.17901594e-03 9.99985829e-01 5.19152891e-03 1.13340409e-02] [ 5.92395094e-03 -5.18445708e-03 9.99969014e-01 -9.97494002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61241403699998 meters Centerline goodness [0,1] 0.6456728693795015 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-1.00 [[ 9.99981493e-01 1.15894223e-03 -5.97251027e-03 2.81419774e+00] [-1.12843834e-03 9.99986316e-01 5.10822312e-03 1.13595130e-02] [ 5.97834868e-03 -5.10138897e-03 9.99969117e-01 -9.97485838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64241403699998 meters Centerline goodness [0,1] 0.6434814110401667 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.00 [[ 9.99979892e-01 -7.19054692e-04 -6.30070928e-03 2.81627832e+00] [ 7.34962312e-04 9.99996548e-01 2.52278316e-03 1.16805391e-02] [ 6.29887350e-03 -2.52736322e-03 9.99976968e-01 -9.98473561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67241403699998 meters Centerline goodness [0,1] 0.6505911989651181 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.00 [[ 9.99980185e-01 -1.01476865e-03 -6.21295583e-03 2.81583515e+00] [ 1.02908092e-03 9.99996824e-01 2.30085350e-03 1.15044692e-02] [ 6.21060126e-03 -2.30720154e-03 9.99978052e-01 -9.98164290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70241403699998 meters Centerline goodness [0,1] 0.6462591199528708 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.00 [[ 9.99980209e-01 -9.95028214e-04 -6.21219052e-03 2.81589278e+00] [ 1.00999327e-03 9.99996595e-01 2.40630989e-03 1.08229080e-02] [ 6.20977501e-03 -2.41253654e-03 9.99977809e-01 -9.98227727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73241403699998 meters Centerline goodness [0,1] 0.6504992867332382 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.00 [[ 9.99980601e-01 -1.30575774e-03 -6.09039718e-03 2.81509376e+00] [ 1.31868661e-03 9.99996885e-01 2.11929752e-03 1.02413292e-02] [ 6.08761092e-03 -2.12728773e-03 9.99979208e-01 -9.97462620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76241403699999 meters Centerline goodness [0,1] 0.6621563525285665 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.00 [[ 9.99980280e-01 -1.26585518e-03 -6.15123322e-03 2.81517625e+00] [ 1.27911849e-03 9.99996865e-01 2.15274805e-03 9.88507248e-03] [ 6.14848887e-03 -2.16057375e-03 9.99978764e-01 -9.97397362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.792414037 meters Centerline goodness [0,1] 0.6583648425294903 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.00 [[ 9.99979697e-01 -1.07790027e-03 -6.28047390e-03 2.81563382e+00] [ 1.09236408e-03 9.99996758e-01 2.30000514e-03 9.61766952e-03] [ 6.27797437e-03 -2.30681900e-03 9.99977633e-01 -9.97605450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.822414037 meters Centerline goodness [0,1] 0.6583648425294903 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.00 [[ 9.99979697e-01 -1.07790027e-03 -6.28047390e-03 2.81563382e+00] [ 1.09236408e-03 9.99996758e-01 2.30000514e-03 9.61766952e-03] [ 6.27797437e-03 -2.30681900e-03 9.99977633e-01 -9.97605450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.852414037 meters Centerline goodness [0,1] 0.6563990146669981 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.00 [[ 9.99978556e-01 -5.06092860e-04 -6.52929449e-03 2.81663130e+00] [ 5.24332147e-04 9.99995965e-01 2.79204516e-03 8.93139857e-03] [ 6.52785511e-03 -2.79540881e-03 9.99974786e-01 -9.98102328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.882414037 meters Centerline goodness [0,1] 0.6559947507749395 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.00 [[ 9.99977548e-01 -4.56086977e-04 -6.68540965e-03 2.81683471e+00] [ 4.74149961e-04 9.99996241e-01 2.70051547e-03 9.10209021e-03] [ 6.68415285e-03 -2.70362472e-03 9.99974006e-01 -9.97876425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.912414037 meters Centerline goodness [0,1] 0.6541530116397334 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.00 [[ 9.99976282e-01 -3.55826921e-04 -6.87820367e-03 2.81723135e+00] [ 3.73537864e-04 9.99996618e-01 2.57382421e-03 9.30709057e-03] [ 6.87726457e-03 -2.57633243e-03 9.99973033e-01 -9.97721187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.942414037 meters Centerline goodness [0,1] 0.6541780914280577 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.00 [[ 9.99974752e-01 -3.44822672e-05 -7.10592051e-03 2.81813720e+00] [ 5.51274154e-05 9.99995778e-01 2.90516928e-03 9.03526845e-03] [ 7.10579034e-03 -2.90548766e-03 9.99970533e-01 -9.98286560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.972414037 meters Centerline goodness [0,1] 0.6557480456869945 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.00 [[ 9.99973555e-01 2.01131357e-04 -7.26970531e-03 2.81831334e+00] [-1.79987614e-04 9.99995753e-01 2.90901042e-03 8.94206559e-03] [ 7.27025953e-03 -2.90762504e-03 9.99969344e-01 -9.97865710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.002414037 meters Centerline goodness [0,1] 0.655072921127967 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.00 [[ 9.99973057e-01 1.06315749e-04 -7.33986661e-03 2.81809049e+00] [-8.57581894e-05 9.99996073e-01 2.80106629e-03 8.73150358e-03] [ 7.34013559e-03 -2.80036137e-03 9.99969140e-01 -9.97363808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.032414037 meters Centerline goodness [0,1] 0.6736230054989634 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.00 [[ 9.99973490e-01 5.64371449e-05 -7.28123406e-03 2.81788730e+00] [-3.56839294e-05 9.99995937e-01 2.85033169e-03 8.09404463e-03] [ 7.28136534e-03 -2.84999630e-03 9.99969429e-01 -9.97266053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.062414037 meters Centerline goodness [0,1] 0.6604395604395604 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.00 [[ 9.99967093e-01 -2.08727600e-03 -7.83935574e-03 2.82046923e+00] [ 2.08967087e-03 9.99997772e-01 2.97315388e-04 7.65427219e-03] [ 7.83871770e-03 -3.13687278e-04 9.99969228e-01 -9.98534959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.092414037 meters Centerline goodness [0,1] 0.6584083075959 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.00 [[ 9.99966585e-01 -1.87819978e-03 -7.95618464e-03 2.82116009e+00] [ 1.88400556e-03 9.99997964e-01 7.22286044e-04 6.86507029e-03] [ 7.95481185e-03 -7.37251405e-04 9.99968088e-01 -9.99215033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.122414037 meters Centerline goodness [0,1] 0.6642692299074634 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.00 [[ 9.99966040e-01 -1.80412008e-03 -8.04143590e-03 2.82153350e+00] [ 1.81194688e-03 9.99997892e-01 9.66128739e-04 5.95916235e-03] [ 8.03967594e-03 -9.80666584e-04 9.99967200e-01 -9.99553107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.152414037 meters Centerline goodness [0,1] 0.6696654925627622 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.00 [[ 9.99966290e-01 -1.65182915e-03 -8.04298869e-03 2.82188036e+00] [ 1.66168881e-03 9.99997876e-01 1.21934260e-03 5.45974753e-03] [ 8.04095746e-03 -1.23266644e-03 9.99966911e-01 -9.99986491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18241403699997 meters Centerline goodness [0,1] 0.6676521310667651 Centerline is valid? [False, False] Translation: X:2.82, Y:0.00, Z:-1.00 [[ 9.99965546e-01 -1.36795935e-03 -8.18758162e-03 2.82256912e+00] [ 1.38098564e-03 9.99997789e-01 1.58553887e-03 4.82316775e-03] [ 8.18539457e-03 -1.59679118e-03 9.99965224e-01 -1.00047965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21241403699997 meters Centerline goodness [0,1] 0.6607796731267304 Centerline is valid? [False, False] Translation: X:2.82, Y:0.00, Z:-1.00 [[ 9.99966046e-01 -1.38152579e-03 -8.12391285e-03 2.82231913e+00] [ 1.39397088e-03 9.99997863e-01 1.52644582e-03 4.64179322e-03] [ 8.12178667e-03 -1.53771849e-03 9.99965835e-01 -1.00021355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24241403699997 meters Centerline goodness [0,1] 0.6829503418899227 Centerline is valid? [False, False] Translation: X:2.82, Y:0.00, Z:-1.00 [[ 9.99965935e-01 -1.53235176e-03 -8.11049534e-03 2.82189101e+00] [ 1.54290547e-03 9.99997971e-01 1.29514430e-03 4.90807632e-03] [ 8.10849426e-03 -1.30761391e-03 9.99966271e-01 -9.99606040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27241403699998 meters Centerline goodness [0,1] 0.6578794642857143 Centerline is valid? [False, False] Translation: X:2.82, Y:0.00, Z:-1.00 [[ 9.99965020e-01 -1.37468611e-03 -8.25035637e-03 2.82213593e+00] [ 1.38637845e-03 9.99998043e-01 1.41164063e-03 4.92221456e-03] [ 8.24839966e-03 -1.42302937e-03 9.99964969e-01 -9.99481178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30241403699998 meters Centerline goodness [0,1] 0.6759810282339255 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.00 [[ 9.99964822e-01 -1.53012979e-03 -8.24699855e-03 2.82169595e+00] [ 1.53967481e-03 9.99998152e-01 1.15116895e-03 5.19180768e-03] [ 8.24522187e-03 -1.16382615e-03 9.99965330e-01 -9.98821557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33241403699998 meters Centerline goodness [0,1] 0.6616877428629186 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.00 [[ 9.99964250e-01 -1.48518283e-03 -8.32420660e-03 2.82163184e+00] [ 1.49316553e-03 9.99998431e-01 9.52841818e-04 5.57283444e-03] [ 8.32277839e-03 -9.65237173e-04 9.99964899e-01 -9.98340065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36241403699998 meters Centerline goodness [0,1] 0.6657774988231602 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.00 [[ 9.99962534e-01 -1.19423276e-03 -8.57345686e-03 2.82254494e+00] [ 1.20492971e-03 9.99998502e-01 1.24262629e-03 5.41996607e-03] [ 8.57196003e-03 -1.25291014e-03 9.99962475e-01 -9.98854440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39241403699998 meters Centerline goodness [0,1] 0.6626691678949483 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.00 [[ 9.99960473e-01 -8.38076386e-04 -8.85153645e-03 2.82362742e+00] [ 8.51536521e-04 9.99998487e-01 1.51699591e-03 5.26418866e-03] [ 8.85025170e-03 -1.52447336e-03 9.99959674e-01 -9.99464237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42241403699998 meters Centerline goodness [0,1] 0.6704102219233355 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.00 [[ 9.99959690e-01 -4.27817488e-04 -8.96857020e-03 2.82459609e+00] [ 4.40484089e-04 9.99998908e-01 1.41040457e-03 6.37638051e-03] [ 8.96795702e-03 -1.41429823e-03 9.99958787e-01 -1.00014764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45241403699998 meters Centerline goodness [0,1] 0.6687471935339021 Centerline is valid? [False, False] Translation: X:2.83, Y:0.01, Z:-1.00 [[ 9.99958007e-01 -3.28010290e-04 -9.15837935e-03 2.82518141e+00] [ 3.38202705e-04 9.99999325e-01 1.11137940e-03 7.59602814e-03] [ 9.15800862e-03 -1.11443012e-03 9.99957444e-01 -1.00024229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48241403699998 meters Centerline goodness [0,1] 0.6730405831008728 Centerline is valid? [False, False] Translation: X:2.83, Y:0.01, Z:-1.00 [[ 9.99956756e-01 -4.58175234e-05 -9.29964945e-03 2.82583608e+00] [ 5.13726116e-05 9.99999820e-01 5.97105825e-04 1.03357850e-02] [ 9.29962043e-03 -5.97557751e-04 9.99956579e-01 -1.00029601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51241403699999 meters Centerline goodness [0,1] 0.6641223087802797 Centerline is valid? [False, False] Translation: X:2.83, Y:0.01, Z:-1.00 [[ 9.99955011e-01 7.77970659e-05 -9.48525226e-03 2.82638651e+00] [-7.38056290e-05 9.99999909e-01 4.21153818e-04 1.15017247e-02] [ 9.48528416e-03 -4.20434805e-04 9.99954925e-01 -1.00038530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.542414037 meters Centerline goodness [0,1] 0.6691311969077263 Centerline is valid? [False, False] Translation: X:2.83, Y:0.01, Z:-1.00 [[ 9.99954485e-01 -6.45452157e-05 -9.54062889e-03 2.82636271e+00] [ 6.42732804e-05 9.99999998e-01 -2.88094794e-05 1.27691010e-02] [ 9.54063073e-03 2.81949606e-05 9.99954487e-01 -1.00009100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.572414037 meters Centerline goodness [0,1] 0.6721168079666263 Centerline is valid? [False, False] Translation: X:2.83, Y:0.01, Z:-1.00 [[ 9.99952611e-01 1.25922276e-04 -9.73447828e-03 2.82695078e+00] [-1.25741459e-04 9.99999992e-01 1.91868746e-05 1.32501319e-02] [ 9.73448061e-03 -1.79619379e-05 9.99952619e-01 -1.00024935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.602414037 meters Centerline goodness [0,1] 0.694195471067663 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.00 [[ 9.99953937e-01 -5.24323768e-04 -9.58382587e-03 2.82606807e+00] [ 5.15789004e-04 9.99999468e-01 -8.92988294e-04 1.50158530e-02] [ 9.58428899e-03 8.88003928e-04 9.99953675e-01 -9.99411787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.632414037 meters Centerline goodness [0,1] 0.6680890454258106 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.00 [[ 9.99953762e-01 -6.36945550e-04 -9.59518700e-03 2.82611845e+00] [ 6.27731098e-04 9.99999339e-01 -9.63301256e-04 1.54423986e-02] [ 9.59579423e-03 9.57233518e-04 9.99953501e-01 -9.99464457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.662414037 meters Centerline goodness [0,1] 0.6722905735480369 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.00 [[ 9.99955629e-01 -1.49632502e-03 -9.30058814e-03 2.82502578e+00] [ 1.48172613e-03 9.99997660e-01 -1.57636693e-03 1.62666420e-02] [ 9.30292514e-03 1.56251606e-03 9.99955506e-01 -9.98953297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.692414037 meters Centerline goodness [0,1] 0.6536991382625019 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.00 [[ 9.99954796e-01 -1.61467811e-03 -9.37013642e-03 2.82521028e+00] [ 1.60058320e-03 9.99997577e-01 -1.51154117e-03 1.61687956e-02] [ 9.37255436e-03 1.49647516e-03 9.99954957e-01 -9.99087336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.722414037 meters Centerline goodness [0,1] 0.6691576086956521 Centerline is valid? [False, False] Translation: X:2.82, Y:0.02, Z:-1.00 [[ 9.99956353e-01 -1.93527546e-03 -9.14041772e-03 2.82487781e+00] [ 1.92141492e-03 9.99996991e-01 -1.52493987e-03 1.62874599e-02] [ 9.14334140e-03 1.50731077e-03 9.99957063e-01 -9.99445896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.752414037 meters Centerline goodness [0,1] 0.6582120958436093 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.00 [[ 9.99956325e-01 -2.05123602e-03 -9.11808930e-03 2.82513765e+00] [ 2.03786663e-03 9.99996835e-01 -1.47529804e-03 1.65088386e-02] [ 9.12108663e-03 1.45665215e-03 9.99957341e-01 -9.99923955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.782414037 meters Centerline goodness [0,1] 0.6528308715419937 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.00 [[ 9.99956760e-01 -2.31541459e-03 -9.00654734e-03 2.82563386e+00] [ 2.30324698e-03 9.99996421e-01 -1.36111083e-03 1.68115962e-02] [ 9.00966664e-03 1.34030767e-03 9.99958514e-01 -1.00115871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.812414037 meters Centerline goodness [0,1] 0.6566254136633574 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.00 [[ 9.99956966e-01 -2.23152002e-03 -9.00479335e-03 2.82627290e+00] [ 2.22160973e-03 9.99996916e-01 -1.11041008e-03 1.69110686e-02] [ 9.00724348e-03 1.09035715e-03 9.99958839e-01 -1.00209744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.842414037 meters Centerline goodness [0,1] 0.6536794582392776 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.00 [[ 9.99955948e-01 -2.21032317e-03 -9.12232059e-03 2.82699022e+00] [ 2.20067216e-03 9.99997008e-01 -1.06785813e-03 1.73732464e-02] [ 9.12465361e-03 1.04773586e-03 9.99957821e-01 -1.00277340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.872414037 meters Centerline goodness [0,1] 0.6587413542045868 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.00 [[ 9.99955769e-01 -2.46580272e-03 -9.07631322e-03 2.82686286e+00] [ 2.45263882e-03 9.99995925e-01 -1.46120306e-03 1.85266464e-02] [ 9.07987927e-03 1.43887751e-03 9.99957742e-01 -1.00267680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.902414037 meters Centerline goodness [0,1] 0.6570818570000909 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.00 [[ 9.99955388e-01 -2.54324794e-03 -9.09688022e-03 2.82717586e+00] [ 2.52802968e-03 9.99995387e-01 -1.68401742e-03 1.97854192e-02] [ 9.10112113e-03 1.66094511e-03 9.99957205e-01 -1.00296148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93241403699997 meters Centerline goodness [0,1] 0.6599977187179195 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.00 [[ 9.99955467e-01 -2.63584834e-03 -9.06182677e-03 2.82703748e+00] [ 2.61837676e-03 9.99994691e-01 -1.93936497e-03 2.04939999e-02] [ 9.06689054e-03 1.91555133e-03 9.99957060e-01 -1.00277943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96241403699997 meters Centerline goodness [0,1] 0.65336196851653 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.00 [[ 9.99955298e-01 -2.63313468e-03 -9.08121490e-03 2.82731578e+00] [ 2.61496340e-03 9.99994556e-01 -2.01226919e-03 2.12697019e-02] [ 9.08646404e-03 1.98843219e-03 9.99956740e-01 -1.00305805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99241403699997 meters Centerline goodness [0,1] 0.650568635047975 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.00 [[ 9.99952923e-01 -2.61337237e-03 -9.34459246e-03 2.82811354e+00] [ 2.59248003e-03 9.99994115e-01 -2.24718257e-03 2.30017684e-02] [ 9.35041019e-03 2.22285111e-03 9.99953813e-01 -1.00330559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02241403699998 meters Centerline goodness [0,1] 0.6487483108494996 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.00 [[ 9.99951928e-01 -2.72879128e-03 -9.41780020e-03 2.82836636e+00] [ 2.70461675e-03 9.99993018e-01 -2.57868007e-03 2.43511997e-02] [ 9.42477113e-03 2.55308457e-03 9.99952327e-01 -1.00338332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05241403699998 meters Centerline goodness [0,1] 0.6478322509832617 Centerline is valid? [False, False] Translation: X:2.83, Y:0.03, Z:-1.00 [[ 9.99949142e-01 -2.58912236e-03 -9.74730545e-03 2.82927046e+00] [ 2.56362410e-03 9.99993262e-01 -2.62751536e-03 2.54161220e-02] [ 9.75404273e-03 2.60239330e-03 9.99949042e-01 -1.00360399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08241403699998 meters Centerline goodness [0,1] 0.649626677660208 Centerline is valid? [False, False] Translation: X:2.83, Y:0.03, Z:-1.00 [[ 9.99947078e-01 -2.63644244e-03 -9.94438390e-03 2.82989615e+00] [ 2.60498448e-03 9.99991567e-01 -3.17501654e-03 2.82430825e-02] [ 9.95267078e-03 3.14894354e-03 9.99945513e-01 -1.00368804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11241403699998 meters Centerline goodness [0,1] 0.6504736347163926 Centerline is valid? [False, False] Translation: X:2.83, Y:0.03, Z:-1.00 [[ 9.99945797e-01 -2.60003598e-03 -1.00817847e-02 2.83038802e+00] [ 2.56755445e-03 9.99991476e-01 -3.23340928e-03 2.89698651e-02] [ 1.00901057e-02 3.20734849e-03 9.99943950e-01 -1.00393238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14241403699998 meters Centerline goodness [0,1] 0.644625437143383 Centerline is valid? [False, False] Translation: X:2.83, Y:0.03, Z:-1.00 [[ 9.99946138e-01 -2.67320118e-03 -1.00287217e-02 2.83043618e+00] [ 2.63875965e-03 9.99990581e-01 -3.44595088e-03 2.96784270e-02] [ 1.00378389e-02 3.41930188e-03 9.99943774e-01 -1.00407335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17241403699998 meters Centerline goodness [0,1] 0.6504957343786026 Centerline is valid? [False, False] Translation: X:2.83, Y:0.03, Z:-1.00 [[ 9.99944964e-01 -2.77705317e-03 -1.01171750e-02 2.83107440e+00] [ 2.73850408e-03 9.99988946e-01 -3.82212469e-03 3.15958545e-02] [ 1.01276774e-02 3.79420841e-03 9.99941515e-01 -1.00460069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20241403699998 meters Centerline goodness [0,1] 0.6507998981316416 Centerline is valid? [False, False] Translation: X:2.83, Y:0.03, Z:-1.01 [[ 9.99943662e-01 -2.66692455e-03 -1.02742788e-02 2.83182356e+00] [ 2.62716666e-03 9.99989017e-01 -3.88120683e-03 3.29652995e-02] [ 1.02845169e-02 3.85399592e-03 9.99939686e-01 -1.00509996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23241403699998 meters Centerline goodness [0,1] 0.6446685140767995 Centerline is valid? [False, False] Translation: X:2.83, Y:0.03, Z:-1.01 [[ 9.99950901e-01 3.15302993e-04 -9.90434609e-03 2.83077621e+00] [-3.19098874e-04 9.99999876e-01 -3.81676179e-04 3.38366164e-02] [ 9.90422452e-03 3.84817905e-04 9.99950878e-01 -1.00528819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26241403699999 meters Centerline goodness [0,1] 0.6504935937828187 Centerline is valid? [False, False] Translation: X:2.83, Y:0.03, Z:-1.01 [[ 9.99950336e-01 2.11605452e-04 -9.96397211e-03 2.83096156e+00] [-2.17635286e-04 9.99999794e-01 -6.04083345e-04 3.48479356e-02] [ 9.96384223e-03 6.06221856e-04 9.99950176e-01 -1.00535436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.292414037 meters Centerline goodness [0,1] 0.653946937438585 Centerline is valid? [False, False] Translation: X:2.83, Y:0.04, Z:-1.01 [[ 9.99948782e-01 1.97442997e-04 -1.01189848e-02 2.83138112e+00] [-2.05179341e-04 9.99999687e-01 -7.63505182e-04 3.56284689e-02] [ 1.01188309e-02 7.65542284e-04 9.99948510e-01 -1.00543393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.322414037 meters Centerline goodness [0,1] 0.6526845245057902 Centerline is valid? [False, False] Translation: X:2.83, Y:0.04, Z:-1.01 [[ 9.99946912e-01 3.34276038e-04 -1.02986443e-02 2.83216927e+00] [-3.40722248e-04 9.99999747e-01 -6.24179877e-04 3.60021772e-02] [ 1.02984330e-02 6.27655717e-04 9.99946773e-01 -1.00598618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.352414037 meters Centerline goodness [0,1] 0.6517485136463649 Centerline is valid? [False, False] Translation: X:2.83, Y:0.04, Z:-1.01 [[ 9.99947999e-01 2.51014037e-05 -1.01979743e-02 2.83234010e+00] [-3.38340958e-05 9.99999633e-01 -8.56144729e-04 3.69667175e-02] [ 1.01979490e-02 8.56445248e-04 9.99947633e-01 -1.00663559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.382414037 meters Centerline goodness [0,1] 0.6468281917640982 Centerline is valid? [False, False] Translation: X:2.83, Y:0.04, Z:-1.01 [[ 9.99948938e-01 -2.85534793e-04 -1.01014962e-02 2.83209991e+00] [ 2.75416819e-04 9.99999459e-01 -1.00300818e-03 3.71926816e-02] [ 1.01017772e-02 1.00017485e-03 9.99948476e-01 -1.00671400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.412414037 meters Centerline goodness [0,1] 0.6425077812361049 Centerline is valid? [False, False] Translation: X:2.83, Y:0.04, Z:-1.01 [[ 9.99948844e-01 -3.92261391e-04 -1.01072235e-02 2.83226877e+00] [ 3.82577067e-04 9.99999466e-01 -9.60074306e-04 3.72173835e-02] [ 1.01075947e-02 9.56158401e-04 9.99948460e-01 -1.00701570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.442414037 meters Centerline goodness [0,1] 0.6419677820245269 Centerline is valid? [False, False] Translation: X:2.83, Y:0.04, Z:-1.01 [[ 9.99950589e-01 -8.11602280e-04 -9.90757218e-03 2.83164498e+00] [ 7.99813032e-04 9.99998968e-01 -1.19382727e-03 3.75299971e-02] [ 9.90853086e-03 1.18584407e-03 9.99950206e-01 -1.00687003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.472414037 meters Centerline goodness [0,1] 0.6384201916335592 Centerline is valid? [False, False] Translation: X:2.83, Y:0.04, Z:-1.01 [[ 9.99952510e-01 -1.46644332e-03 -9.63469052e-03 2.83082746e+00] [ 1.45558156e-03 9.99998297e-01 -1.13427516e-03 3.66893884e-02] [ 9.63633746e-03 1.12019722e-03 9.99952942e-01 -1.00697227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.502414037 meters Centerline goodness [0,1] 0.6331076807758076 Centerline is valid? [False, False] Translation: X:2.83, Y:0.04, Z:-1.01 [[ 9.99953147e-01 -1.91612866e-03 -9.48855823e-03 2.83019900e+00] [ 1.90338433e-03 9.99997275e-01 -1.35197363e-03 3.66396282e-02] [ 9.49112293e-03 1.33384992e-03 9.99954069e-01 -1.00671484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.532414037 meters Centerline goodness [0,1] 0.6232940736586278 Centerline is valid? [False, False] Translation: X:2.83, Y:0.04, Z:-1.01 [[ 9.99954635e-01 -2.45459612e-03 -9.20336993e-03 2.82957094e+00] [ 2.44320204e-03 9.99996235e-01 -1.24907256e-03 3.59896037e-02] [ 9.20640125e-03 1.22653020e-03 9.99956868e-01 -1.00702614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.562414037 meters Centerline goodness [0,1] 0.6331563062957677 Centerline is valid? [False, False] Translation: X:2.83, Y:0.04, Z:-1.01 [[ 9.99955502e-01 -2.52109781e-03 -9.09053656e-03 2.82950747e+00] [ 2.51191593e-03 9.99996324e-01 -1.02132449e-03 3.54084349e-02] [ 9.09307800e-03 9.98444382e-04 9.99958159e-01 -1.00734056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.592414037 meters Centerline goodness [0,1] 0.6326339890659315 Centerline is valid? [False, False] Translation: X:2.83, Y:0.04, Z:-1.01 [[ 9.99955736e-01 -2.69100229e-03 -9.01584017e-03 2.82930998e+00] [ 2.68215125e-03 9.99995909e-01 -9.93667989e-04 3.51046274e-02] [ 9.01847726e-03 9.69442158e-04 9.99958863e-01 -1.00736030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.622414037 meters Centerline goodness [0,1] 0.6292428808372462 Centerline is valid? [False, False] Translation: X:2.83, Y:0.03, Z:-1.01 [[ 9.99956790e-01 -2.78462360e-03 -8.86924047e-03 2.82926586e+00] [ 2.77723743e-03 9.99995786e-01 -8.44993062e-04 3.48700532e-02] [ 8.87155609e-03 8.20324564e-04 9.99960310e-01 -1.00772682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.652414037 meters Centerline goodness [0,1] 0.6326411708499382 Centerline is valid? [False, False] Translation: X:2.83, Y:0.03, Z:-1.01 [[ 9.99956138e-01 -2.52174540e-03 -9.02018815e-03 2.82975735e+00] [ 2.51706360e-03 9.99996692e-01 -5.30351166e-04 3.45769596e-02] [ 9.02149572e-03 5.07623517e-04 9.99959177e-01 -1.00793360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68241403699997 meters Centerline goodness [0,1] 0.6361387294029781 Centerline is valid? [False, False] Translation: X:2.83, Y:0.03, Z:-1.01 [[ 9.99954610e-01 -2.21197196e-03 -9.26737075e-03 2.83048932e+00] [ 2.20910507e-03 9.99997509e-01 -3.19578161e-04 3.45843855e-02] [ 9.26805457e-03 2.99091059e-04 9.99957006e-01 -1.00812251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71241403699997 meters Centerline goodness [0,1] 0.6361387294029781 Centerline is valid? [False, False] Translation: X:2.83, Y:0.03, Z:-1.01 [[ 9.99954610e-01 -2.21197196e-03 -9.26737075e-03 2.83048932e+00] [ 2.20910507e-03 9.99997509e-01 -3.19578161e-04 3.45843855e-02] [ 9.26805457e-03 2.99091059e-04 9.99957006e-01 -1.00812251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74241403699997 meters Centerline goodness [0,1] 0.4819648125417232 Centerline is valid? [False, False] Translation: X:2.88, Y:0.03, Z:-1.01 [[ 0.99994172 -0.00341026 -0.01024364 2.88321826] [ 0.00336187 0.99998313 -0.00473719 0.03225999] [ 0.01025962 0.00470247 0.99993631 -1.00528299] [ 0. 0. 0. 1. ]] SLAMing on 229.77241403699998 meters Centerline goodness [0,1] 0.6371358371358371 Centerline is valid? [False, False] Translation: X:2.80, Y:0.04, Z:-1.01 [[ 9.99969064e-01 -9.20073141e-04 -7.81180288e-03 2.80291785e+00] [ 9.13822686e-04 9.99999260e-01 -8.03661243e-04 3.96951920e-02] [ 7.81253652e-03 7.96497778e-04 9.99969164e-01 -1.00836044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80241403699998 meters Centerline goodness [0,1] 0.6348017931325838 Centerline is valid? [False, False] Translation: X:2.80, Y:0.04, Z:-1.01 [[ 9.99967602e-01 -6.31782230e-04 -8.02468745e-03 2.80349950e+00] [ 6.24987237e-04 9.99999444e-01 -8.49240586e-04 4.03678363e-02] [ 8.02521952e-03 8.44197746e-04 9.99967441e-01 -1.00835746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83241403699998 meters Centerline goodness [0,1] 0.6450977171949417 Centerline is valid? [False, False] Translation: X:2.80, Y:0.04, Z:-1.01 [[ 9.99966041e-01 2.51573322e-04 -8.23737068e-03 2.80469444e+00] [-2.56901997e-04 9.99999758e-01 -6.45838577e-04 4.12805340e-02] [ 8.23720622e-03 6.47932842e-04 9.99965864e-01 -1.00884247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86241403699998 meters Centerline goodness [0,1] 0.6398212907300413 Centerline is valid? [False, False] Translation: X:2.81, Y:0.04, Z:-1.01 [[ 9.99963531e-01 8.18690831e-04 -8.50093201e-03 2.80593179e+00] [-8.20787099e-04 9.99999634e-01 -2.43106772e-04 4.12247449e-02] [ 8.50072987e-03 2.50075362e-04 9.99963837e-01 -1.00958483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89241403699998 meters Centerline goodness [0,1] 0.6463803450862715 Centerline is valid? [False, False] Translation: X:2.81, Y:0.04, Z:-1.01 [[ 9.99962067e-01 1.13263426e-03 -8.63612532e-03 2.80649714e+00] [-1.13403116e-03 9.99999345e-01 -1.56854978e-04 4.11906075e-02] [ 8.63594200e-03 1.66642663e-04 9.99962696e-01 -1.00977022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92241403699998 meters Centerline goodness [0,1] 0.642072913245437 Centerline is valid? [False, False] Translation: X:2.81, Y:0.04, Z:-1.01 [[ 9.99961773e-01 1.28952025e-03 -8.64811004e-03 2.80674054e+00] [-1.28850518e-03 9.99999162e-01 1.22945467e-04 4.07946357e-02] [ 8.64826133e-03 -1.11797633e-04 9.99962597e-01 -1.01007555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95241403699998 meters Centerline goodness [0,1] 0.6437250762373915 Centerline is valid? [False, False] Translation: X:2.81, Y:0.04, Z:-1.01 [[ 9.99962391e-01 1.22589354e-03 -8.58570560e-03 2.80643550e+00] [-1.22566016e-03 9.99999248e-01 3.24445491e-05 4.07076344e-02] [ 8.58573892e-03 -2.19201716e-05 9.99963142e-01 -1.00977147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98241403699998 meters Centerline goodness [0,1] 0.6464908589329967 Centerline is valid? [False, False] Translation: X:2.81, Y:0.04, Z:-1.01 [[ 9.99962218e-01 1.19088868e-03 -8.61067648e-03 2.80634989e+00] [-1.19111947e-03 9.99999290e-01 -2.16747449e-05 4.06652566e-02] [ 8.61064455e-03 3.19302704e-05 9.99962927e-01 -1.00951106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01241403699999 meters Centerline goodness [0,1] 0.6422984426440028 Centerline is valid? [False, False] Translation: X:2.81, Y:0.04, Z:-1.01 [[ 9.99963211e-01 9.95212078e-04 -8.51978882e-03 2.80577601e+00] [-9.95875382e-04 9.99999501e-01 -7.36124846e-05 3.99453356e-02] [ 8.51971131e-03 8.20944244e-05 9.99963703e-01 -1.00901168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.042414037 meters Centerline goodness [0,1] 0.6432239391251575 Centerline is valid? [False, False] Translation: X:2.81, Y:0.04, Z:-1.01 [[ 9.99963727e-01 7.95186650e-04 -8.48007322e-03 2.80537828e+00] [-7.96865884e-04 9.99999664e-01 -1.94644205e-04 3.93249875e-02] [ 8.47991559e-03 2.01394626e-04 9.99964025e-01 -1.00860363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.072414037 meters Centerline goodness [0,1] 0.6379298286513579 Centerline is valid? [False, False] Translation: X:2.80, Y:0.04, Z:-1.01 [[ 9.99966100e-01 4.14131725e-04 -8.22362719e-03 2.80470593e+00] [-4.11844366e-04 9.99999876e-01 2.79836294e-04 3.66568597e-02] [ 8.22374205e-03 -2.76439953e-04 9.99966146e-01 -1.00888738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.102414037 meters Centerline goodness [0,1] 0.6284278836089596 Centerline is valid? [False, False] Translation: X:2.80, Y:0.04, Z:-1.01 [[ 9.99968522e-01 8.74694122e-05 -7.93390525e-03 2.80415707e+00] [-8.33303455e-05 9.99999860e-01 5.22022559e-04 3.52352968e-02] [ 7.93394980e-03 -5.21344991e-04 9.99968390e-01 -1.00923396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.132414037 meters Centerline goodness [0,1] 0.6228989151184989 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-1.01 [[ 9.99970697e-01 -6.32303210e-04 -7.62930728e-03 2.80327652e+00] [ 6.37630505e-04 9.99999555e-01 6.95855049e-04 3.29320569e-02] [ 7.62886389e-03 -7.00699337e-04 9.99970654e-01 -1.00937140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.162414037 meters Centerline goodness [0,1] 0.6205409915861206 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-1.01 [[ 9.99970247e-01 -4.80423068e-04 -7.69897172e-03 2.80382779e+00] [ 4.89115478e-04 9.99999245e-01 1.12719221e-03 3.18677391e-02] [ 7.69842438e-03 -1.13092435e-03 9.99969727e-01 -1.00997179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.192414037 meters Centerline goodness [0,1] 0.6209613869188337 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-1.01 [[ 9.99970935e-01 -6.08769969e-04 -7.59991115e-03 2.80350901e+00] [ 6.16736744e-04 9.99999263e-01 1.04597254e-03 3.16467666e-02] [ 7.59926879e-03 -1.05062929e-03 9.99970573e-01 -1.00978093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.222414037 meters Centerline goodness [0,1] 0.6399525978250766 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-1.01 [[ 9.99971055e-01 -7.61346734e-04 -7.57033328e-03 2.80316655e+00] [ 7.67673527e-04 9.99999359e-01 8.32864430e-04 3.17970737e-02] [ 7.56969432e-03 -8.38651867e-04 9.99970998e-01 -1.00937022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.252414037 meters Centerline goodness [0,1] 0.6405230270770654 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-1.01 [[ 9.99970429e-01 -6.76962231e-04 -7.66048593e-03 2.80322833e+00] [ 6.84001136e-04 9.99999346e-01 9.16276125e-04 3.12621074e-02] [ 7.65986064e-03 -9.21488811e-04 9.99970238e-01 -1.00907652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.282414037 meters Centerline goodness [0,1] 0.644383599786528 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-1.01 [[ 9.99970523e-01 -7.72004972e-04 -7.63919898e-03 2.80291954e+00] [ 7.78088728e-04 9.99999383e-01 7.93446725e-04 3.10091425e-02] [ 7.63858172e-03 -7.99367311e-04 9.99970506e-01 -1.00867372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.312414037 meters Centerline goodness [0,1] 0.6453759763368304 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-1.01 [[ 9.99969773e-01 -6.39420703e-04 -7.74879515e-03 2.80298041e+00] [ 6.46968406e-04 9.99999319e-01 9.71581196e-04 3.01565452e-02] [ 7.74816862e-03 -9.76565054e-04 9.99969506e-01 -1.00836738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.342414037 meters Centerline goodness [0,1] 0.6391859739899748 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-1.01 [[ 9.99970137e-01 -6.06221386e-04 -7.70439201e-03 2.80299519e+00] [ 6.14794647e-04 9.99999194e-01 1.11045622e-03 2.96546826e-02] [ 7.70371262e-03 -1.11515968e-03 9.99969704e-01 -1.00850034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.372414037 meters Centerline goodness [0,1] 0.6447828199847268 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-1.01 [[ 9.99968815e-01 -6.50600325e-04 -7.87050987e-03 2.80313369e+00] [ 6.58666774e-04 9.99999260e-01 1.02234660e-03 2.92569696e-02] [ 7.86983891e-03 -1.02749876e-03 9.99968504e-01 -1.00820289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40241403699997 meters Centerline goodness [0,1] 0.6492435616121954 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-1.01 [[ 9.99967259e-01 6.05116121e-05 -8.09184382e-03 2.80464085e+00] [-4.48409923e-05 9.99998123e-01 1.93676185e-03 2.74880137e-02] [ 8.09194583e-03 -1.93633559e-03 9.99965385e-01 -1.00956263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43241403699997 meters Centerline goodness [0,1] 0.6371283705923023 Centerline is valid? [False, False] Translation: X:2.80, Y:0.03, Z:-1.01 [[ 9.99967225e-01 1.22460041e-04 -8.09531043e-03 2.80490498e+00] [-1.05428529e-04 9.99997780e-01 2.10426708e-03 2.66887430e-02] [ 8.09555016e-03 -2.10334464e-03 9.99965018e-01 -1.00987962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46241403699997 meters Centerline goodness [0,1] 0.6450904213496138 Centerline is valid? [False, False] Translation: X:2.81, Y:0.03, Z:-1.01 [[ 9.99966974e-01 1.98672905e-04 -8.12477280e-03 2.80500986e+00] [-1.79952609e-04 9.99997328e-01 2.30476694e-03 2.57301509e-02] [ 8.12520898e-03 -2.30322875e-03 9.99964337e-01 -1.00995138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49241403699997 meters Centerline goodness [0,1] 0.6465590679897774 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-1.01 [[ 9.99967649e-01 2.05492483e-04 -8.04106524e-03 2.80452515e+00] [-1.84720360e-04 9.99996645e-01 2.58391250e-03 2.36506120e-02] [ 8.04156923e-03 -2.58234356e-03 9.99964332e-01 -1.00958219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52241403699998 meters Centerline goodness [0,1] 0.6454108059577799 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-1.01 [[ 9.99967559e-01 2.32450490e-04 -8.05152181e-03 2.80418875e+00] [-2.11139916e-04 9.99996473e-01 2.64752477e-03 2.26411694e-02] [ 8.05210883e-03 -2.64573888e-03 9.99964081e-01 -1.00905047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55241403699998 meters Centerline goodness [0,1] 0.6432270186050775 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-1.01 [[ 9.99967748e-01 1.89537869e-04 -8.02910666e-03 2.80380804e+00] [-1.68259360e-04 9.99996473e-01 2.65076406e-03 2.19722434e-02] [ 8.02958075e-03 -2.64932759e-03 9.99964253e-01 -1.00855836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58241403699998 meters Centerline goodness [0,1] 0.6409927942353884 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-1.01 [[ 9.99968215e-01 2.04936584e-04 -7.97038071e-03 2.80305974e+00] [-1.81791890e-04 9.99995766e-01 2.90445413e-03 2.01439519e-02] [ 7.97094219e-03 -2.90291286e-03 9.99964018e-01 -1.00768949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61241403699998 meters Centerline goodness [0,1] 0.634102453135321 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-1.01 [[ 9.99968288e-01 2.76250497e-04 -7.95911715e-03 2.80307134e+00] [-2.50448143e-04 9.99994711e-01 3.24267564e-03 1.87408532e-02] [ 7.95997084e-03 -3.24057946e-03 9.99963068e-01 -1.00777450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64241403699998 meters Centerline goodness [0,1] 0.6505672757096642 Centerline is valid? [False, False] Translation: X:2.80, Y:0.02, Z:-1.01 [[ 9.99968857e-01 2.73283684e-04 -7.88738795e-03 2.80286193e+00] [-2.45591031e-04 9.99993804e-01 3.51175935e-03 1.71664011e-02] [ 7.88829878e-03 -3.50971291e-03 9.99962728e-01 -1.00772524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67241403699998 meters Centerline goodness [0,1] 0.6462692996576507 Centerline is valid? [False, False] Translation: X:2.81, Y:0.02, Z:-1.01 [[ 9.99961270e-01 -2.43108768e-03 -8.45866357e-03 2.80513588e+00] [ 2.43738005e-03 9.99996760e-01 7.33667053e-04 1.50114403e-02] [ 8.45685256e-03 -7.54255616e-04 9.99963956e-01 -1.00882891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70241403699998 meters Centerline goodness [0,1] 0.6484327260382483 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-1.01 [[ 9.99962040e-01 -2.17193627e-03 -8.43811831e-03 2.80555266e+00] [ 2.18364735e-03 9.99996665e-01 1.37891342e-03 1.32242124e-02] [ 8.43509526e-03 -1.39728695e-03 9.99963448e-01 -1.00953566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73241403699998 meters Centerline goodness [0,1] 0.6510246040532297 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-1.01 [[ 9.99962744e-01 -2.14126998e-03 -8.36216798e-03 2.80547825e+00] [ 2.15486172e-03 9.99996371e-01 1.61671387e-03 1.22136703e-02] [ 8.35867582e-03 -1.63467296e-03 9.99963730e-01 -1.00965224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76241403699999 meters Centerline goodness [0,1] 0.6460214956647399 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-1.01 [[ 9.99962080e-01 -2.25120646e-03 -8.41248506e-03 2.80505019e+00] [ 2.26500823e-03 9.99996104e-01 1.63146188e-03 1.16466775e-02] [ 8.40877953e-03 -1.65045436e-03 9.99963284e-01 -1.00891865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.792414037 meters Centerline goodness [0,1] 0.6476984251791611 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-1.01 [[ 9.99961236e-01 -1.93116371e-03 -8.59058039e-03 2.80563251e+00] [ 1.94847655e-03 9.99996087e-01 2.00741606e-03 1.09091940e-02] [ 8.58667013e-03 -2.02407679e-03 9.99961085e-01 -1.00909791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.822414037 meters Centerline goodness [0,1] 0.6435220751050658 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-1.01 [[ 9.99960500e-01 -1.91263644e-03 -8.67983083e-03 2.80548943e+00] [ 1.93073745e-03 9.99995978e-01 2.07751113e-03 1.01252253e-02] [ 8.67582239e-03 -2.09418754e-03 9.99960171e-01 -1.00862581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.852414037 meters Centerline goodness [0,1] 0.6512883987847418 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-1.01 [[ 9.99959751e-01 -1.53803773e-03 -8.83913692e-03 2.80608872e+00] [ 1.56162737e-03 9.99995236e-01 2.66249051e-03 8.58732349e-03] [ 8.83499981e-03 -2.67618678e-03 9.99957389e-01 -1.00899370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.882414037 meters Centerline goodness [0,1] 0.6517629138479459 Centerline is valid? [False, False] Translation: X:2.81, Y:0.01, Z:-1.01 [[ 9.99960462e-01 -1.43491078e-03 -8.77587400e-03 2.80599706e+00] [ 1.46446893e-03 9.99993274e-01 3.36261710e-03 5.35065050e-03] [ 8.77098992e-03 -3.37533614e-03 9.99955837e-01 -1.00921910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.912414037 meters Centerline goodness [0,1] 0.6449664278817004 Centerline is valid? [False, False] Translation: X:2.81, Y:0.00, Z:-1.01 [[ 9.99960881e-01 -1.46329686e-03 -8.72328818e-03 2.80588250e+00] [ 1.49449416e-03 9.99992508e-01 3.57087775e-03 4.26593420e-03] [ 8.71799756e-03 -3.58377496e-03 9.99955576e-01 -1.00927510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.942414037 meters Centerline goodness [0,1] 0.631578947368421 Centerline is valid? [False, False] Translation: X:2.81, Y:0.00, Z:-1.01 [[ 9.99961339e-01 -1.46852393e-03 -8.66972453e-03 2.80560863e+00] [ 1.50147948e-03 9.99991668e-01 3.79593707e-03 2.91464239e-03] [ 8.66407787e-03 -3.80880773e-03 9.99955212e-01 -1.00904846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.972414037 meters Centerline goodness [0,1] 0.6421033804328384 Centerline is valid? [False, False] Translation: X:2.81, Y:0.00, Z:-1.01 [[ 9.99961692e-01 -1.44856248e-03 -8.63230455e-03 2.80543695e+00] [ 1.48203767e-03 9.99991403e-01 3.87276293e-03 2.25218222e-03] [ 8.62662040e-03 -3.88540797e-03 9.99955242e-01 -1.00889749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.002414037 meters Centerline goodness [0,1] 0.6571013521063807 Centerline is valid? [False, False] Translation: X:2.81, Y:0.00, Z:-1.01 [[ 9.99961477e-01 -1.35226264e-03 -8.67274502e-03 2.80535308e+00] [ 1.38764947e-03 9.99990732e-01 4.07551525e-03 1.24509653e-03] [ 8.66715348e-03 -4.08739298e-03 9.99954086e-01 -1.00865314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.032414037 meters Centerline goodness [0,1] 0.6503632069165293 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.00, Z:-1.01 [[ 9.99961571e-01 -1.15866383e-03 -8.68983122e-03 2.80507570e+00] [ 1.19827652e-03 9.99988909e-01 4.55469082e-03 -1.27694420e-03] [ 8.68445749e-03 -4.56492861e-03 9.99951870e-01 -1.00820942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.062414037 meters Centerline goodness [0,1] 0.659492852204554 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.00, Z:-1.01 [[ 9.99961189e-01 -1.13801870e-03 -8.73649656e-03 2.80498272e+00] [ 1.17917099e-03 9.99988228e-01 4.70668311e-03 -2.30473085e-03] [ 8.73103743e-03 -4.71680226e-03 9.99950759e-01 -1.00794809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.092414037 meters Centerline goodness [0,1] 0.6550204735623999 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.00, Z:-1.01 [[ 9.99960676e-01 -1.11867620e-03 -8.79738866e-03 2.80504276e+00] [ 1.16123457e-03 9.99987642e-01 4.83399469e-03 -3.11299088e-03] [ 8.79187226e-03 -4.84402043e-03 9.99949618e-01 -1.00784696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.122414037 meters Centerline goodness [0,1] 0.6565156281373402 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.00, Z:-1.01 [[ 9.99959435e-01 -7.95822848e-04 -8.97186349e-03 2.80543055e+00] [ 8.44029728e-04 9.99985222e-01 5.37061261e-03 -4.92947176e-03] [ 8.96745685e-03 -5.37796727e-03 9.99945330e-01 -1.00785759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15241403699997 meters Centerline goodness [0,1] 0.6523204678884746 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99958728e-01 -7.37497055e-04 -9.05527996e-03 2.80555294e+00] [ 7.87160686e-04 9.99984663e-01 5.48215561e-03 -5.56737202e-03] [ 9.05109800e-03 -5.48905731e-03 9.99943972e-01 -1.00778536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18241403699997 meters Centerline goodness [0,1] 0.6554943100995733 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99952753e-01 -2.03106926e-03 -9.50610915e-03 2.80829170e+00] [ 2.06568722e-03 9.99991266e-01 3.63325414e-03 -5.28401583e-03] [ 9.49864674e-03 -3.65271913e-03 9.99948215e-01 -1.00939479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21241403699997 meters Centerline goodness [0,1] 0.6450587790839797 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99952457e-01 -1.70357522e-03 -9.60109098e-03 2.80880179e+00] [ 1.74196256e-03 9.99990518e-01 3.99128300e-03 -6.55751392e-03] [ 9.59420049e-03 -4.00781798e-03 9.99945943e-01 -1.00973597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24241403699997 meters Centerline goodness [0,1] 0.653677631725273 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99952015e-01 -1.66524980e-03 -9.65378515e-03 2.80885253e+00] [ 1.70401080e-03 9.99990515e-01 4.00827591e-03 -6.95918218e-03] [ 9.64701881e-03 -4.02453372e-03 9.99945368e-01 -1.00961492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27241403699998 meters Centerline goodness [0,1] 0.6629210987986054 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99950746e-01 -1.62748831e-03 -9.79067058e-03 2.80917572e+00] [ 1.66649966e-03 9.99990700e-01 3.97770528e-03 -7.11272024e-03] [ 9.78410586e-03 -3.99382551e-03 9.99944159e-01 -1.00959060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30241403699998 meters Centerline goodness [0,1] 0.658137313698052 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99950049e-01 -1.77461842e-03 -9.83616590e-03 2.80897267e+00] [ 1.81155078e-03 9.99991339e-01 3.74711517e-03 -6.95387477e-03] [ 9.82943101e-03 -3.76474671e-03 9.99944603e-01 -1.00914456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33241403699998 meters Centerline goodness [0,1] 0.6552785404304313 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99949687e-01 -1.70480754e-03 -9.88519955e-03 2.80882054e+00] [ 1.74253197e-03 9.99991228e-01 3.80889751e-03 -7.54257874e-03] [ 9.87861940e-03 -3.82593115e-03 9.99943886e-01 -1.00866036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36241403699998 meters Centerline goodness [0,1] 0.6586909847495518 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99950722e-01 -1.84061647e-03 -9.75533370e-03 2.80847811e+00] [ 1.87744597e-03 9.99991141e-01 3.76750765e-03 -8.12278614e-03] [ 9.74831274e-03 -3.78563710e-03 9.99945318e-01 -1.00854530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39241403699998 meters Centerline goodness [0,1] 0.6597189851501631 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99950265e-01 -1.94592871e-03 -9.78168109e-03 2.80835773e+00] [ 1.98248816e-03 9.99991081e-01 3.72923726e-03 -8.83206924e-03] [ 9.77433702e-03 -3.74844385e-03 9.99945204e-01 -1.00830403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42241403699998 meters Centerline goodness [0,1] 0.6544479509191623 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99937033e-01 -4.29252758e-03 -1.03684553e-02 2.81093625e+00] [ 4.30382739e-03 9.99990168e-01 1.06775905e-03 -9.79483898e-03] [ 1.03637700e-02 -1.11231586e-03 9.99945676e-01 -1.00960547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45241403699998 meters Centerline goodness [0,1] 0.6463032443169279 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99937375e-01 -4.29315278e-03 -1.03350839e-02 2.81094515e+00] [ 4.30624143e-03 9.99989954e-01 1.24450912e-03 -1.05611894e-02] [ 1.03296372e-02 -1.28893655e-03 9.99945817e-01 -1.00971849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48241403699998 meters Centerline goodness [0,1] 0.6478475029266892 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99936878e-01 -4.19349681e-03 -1.04237407e-02 2.81119358e+00] [ 4.20874702e-03 9.99990104e-01 1.44152183e-03 -1.10210130e-02] [ 1.04175925e-02 -1.48530172e-03 9.99944632e-01 -1.00979496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51241403699999 meters Centerline goodness [0,1] 0.6556229996689107 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99937312e-01 -3.93942273e-03 -1.04811252e-02 2.81151449e+00] [ 3.95869708e-03 9.99990510e-01 1.81884810e-03 -1.14644287e-02] [ 1.04738606e-02 -1.86022567e-03 9.99943417e-01 -1.00999155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.542414037 meters Centerline goodness [0,1] 0.6702797357804673 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99937256e-01 -3.94824728e-03 -1.04830568e-02 2.81137784e+00] [ 3.96749920e-03 9.99990480e-01 1.81631873e-03 -1.17571745e-02] [ 1.04757857e-02 -1.85779629e-03 9.99943402e-01 -1.00975570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.572414037 meters Centerline goodness [0,1] 0.6378143666380127 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99936694e-01 -3.59364036e-03 -1.06626985e-02 2.81203874e+00] [ 3.61800922e-03 9.99990885e-01 2.26702216e-03 -1.29072104e-02] [ 1.06544545e-02 -2.30545639e-03 9.99940582e-01 -1.01006131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.602414037 meters Centerline goodness [0,1] 0.6608289035445662 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99937399e-01 -3.53510454e-03 -1.06161139e-02 2.81175079e+00] [ 3.56156892e-03 9.99990595e-01 2.47497979e-03 -1.42949091e-02] [ 1.06072648e-02 -2.51263487e-03 9.99940585e-01 -1.00977587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.632414037 meters Centerline goodness [0,1] 0.6608289035445662 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99937399e-01 -3.53510454e-03 -1.06161139e-02 2.81175079e+00] [ 3.56156892e-03 9.99990595e-01 2.47497979e-03 -1.42949091e-02] [ 1.06072648e-02 -2.51263487e-03 9.99940585e-01 -1.00977587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.662414037 meters Centerline goodness [0,1] 0.6552240779094876 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99937812e-01 -3.52007742e-03 -1.05820815e-02 2.81166339e+00] [ 3.54705951e-03 9.99990503e-01 2.53210412e-03 -1.44241159e-02] [ 1.05730678e-02 -2.56948193e-03 9.99940802e-01 -1.00970998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.692414037 meters Centerline goodness [0,1] 0.6578322262789777 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99937545e-01 -3.39806889e-03 -1.06470374e-02 2.81189763e+00] [ 3.42528030e-03 9.99990911e-01 2.53858150e-03 -1.43476215e-02] [ 1.06383144e-02 -2.57489204e-03 9.99940096e-01 -1.00970378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.722414037 meters Centerline goodness [0,1] 0.6644327851505665 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99937356e-01 -3.26099622e-03 -1.07074570e-02 2.81212073e+00] [ 3.28862699e-03 9.99991306e-01 2.56392443e-03 -1.40489836e-02] [ 1.06990029e-02 -2.59897665e-03 9.99939386e-01 -1.00971826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.752414037 meters Centerline goodness [0,1] 0.6627835278573002 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99937007e-01 -3.10561776e-03 -1.07859948e-02 2.81258756e+00] [ 3.13511968e-03 9.99991388e-01 2.71937533e-03 -1.43056712e-02] [ 1.07774565e-02 -2.75301941e-03 9.99938132e-01 -1.01010008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.782414037 meters Centerline goodness [0,1] 0.6791659288117584 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 0.99993694 -0.00296933 -0.01083005 2.81296259] [ 0.00300083 0.99999131 0.00289332 -0.01454952] [ 0.01082136 -0.00292564 0.99993717 -1.01049142] [ 0. 0. 0. 1. ]] SLAMing on 231.812414037 meters Centerline goodness [0,1] 0.6539755856153084 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99935395e-01 -2.63785335e-03 -1.10565294e-02 2.81406192e+00] [ 2.67348685e-03 9.99991276e-01 3.20930648e-03 -1.49325421e-02] [ 1.10479673e-02 -3.23865863e-03 9.99933725e-01 -1.01124066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.842414037 meters Centerline goodness [0,1] 0.6605445926579209 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99935924e-01 -2.73246886e-03 -1.09855412e-02 2.81391217e+00] [ 2.76535227e-03 9.99991738e-01 2.97926069e-03 -1.44378862e-02] [ 1.09773097e-02 -3.00944869e-03 9.99935219e-01 -1.01112705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.872414037 meters Centerline goodness [0,1] 0.6593539585442063 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99934249e-01 -2.73145500e-03 -1.11371576e-02 2.81431005e+00] [ 2.76363585e-03 9.99992048e-01 2.87513751e-03 -1.38820517e-02] [ 1.11292158e-02 -2.90572752e-03 9.99933846e-01 -1.01115681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90241403699997 meters Centerline goodness [0,1] 0.6619908401000066 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99933645e-01 -2.88344103e-03 -1.11531253e-02 2.81416809e+00] [ 2.91260711e-03 9.99992379e-01 2.59970061e-03 -1.31947290e-02] [ 1.11455442e-02 -2.63201277e-03 9.99934423e-01 -1.01085108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93241403699997 meters Centerline goodness [0,1] 0.6623431147251193 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99932908e-01 -2.68649393e-03 -1.12677885e-02 2.81466345e+00] [ 2.71633591e-03 9.99992842e-01 2.63396548e-03 -1.30684208e-02] [ 1.12606317e-02 -2.66439586e-03 9.99933047e-01 -1.01101225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96241403699997 meters Centerline goodness [0,1] 0.6744925679704927 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.01, Z:-1.01 [[ 9.99933248e-01 -2.66248747e-03 -1.12432533e-02 2.81492090e+00] [ 2.69309166e-03 9.99992708e-01 2.70774268e-03 -1.32712300e-02] [ 1.12359620e-02 -2.73784104e-03 9.99933126e-01 -1.01139368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99241403699997 meters Centerline goodness [0,1] 0.6618579476416657 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.01, Z:-1.01 [[ 9.99932859e-01 -2.60436763e-03 -1.12913511e-02 2.81525213e+00] [ 2.63587162e-03 9.99992673e-01 2.77611507e-03 -1.34037372e-02] [ 1.12840383e-02 -2.80569123e-03 9.99932397e-01 -1.01166957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02241403699998 meters Centerline goodness [0,1] 0.6705736926914332 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.01, Z:-1.01 [[ 9.99932508e-01 -2.58890892e-03 -1.13259432e-02 2.81577635e+00] [ 2.61896978e-03 9.99993085e-01 2.64013371e-03 -1.27504062e-02] [ 1.13190298e-02 -2.66961783e-03 9.99932374e-01 -1.01212954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05241403699998 meters Centerline goodness [0,1] 0.6603565439943517 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.01, Z:-1.01 [[ 9.99932094e-01 -2.55224614e-03 -1.13707004e-02 2.81620878e+00] [ 2.58200989e-03 9.99993277e-01 2.60367223e-03 -1.21236611e-02] [ 1.13639787e-02 -2.63285468e-03 9.99931962e-01 -1.01252391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08241403699998 meters Centerline goodness [0,1] 0.6620517576399929 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.01, Z:-1.01 [[ 9.99930617e-01 -2.61455164e-03 -1.14858420e-02 2.81648540e+00] [ 2.64167832e-03 9.99993756e-01 2.34721273e-03 -1.12173463e-02] [ 1.14796334e-02 -2.37739177e-03 9.99931281e-01 -1.01249154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11241403699998 meters Centerline goodness [0,1] 0.6748435046119136 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.01, Z:-1.01 [[ 9.99929618e-01 -2.64029875e-03 -1.15666808e-02 2.81668735e+00] [ 2.66523056e-03 9.99994157e-01 2.14060093e-03 -1.05461871e-02] [ 1.15609613e-02 -2.17127814e-03 9.99930812e-01 -1.01244782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14241403699998 meters Centerline goodness [0,1] 0.6887348276778595 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.01, Z:-1.01 [[ 9.99929583e-01 -2.92098809e-03 -1.15020264e-02 2.81644363e+00] [ 2.94124945e-03 9.99994152e-01 1.74502563e-03 -9.54001854e-03] [ 1.14968619e-02 -1.77873308e-03 9.99932327e-01 -1.01225922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17241403699998 meters Centerline goodness [0,1] 0.6546157243816255 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.01, Z:-1.01 [[ 9.99928110e-01 -2.87730385e-03 -1.16402617e-02 2.81688470e+00] [ 2.89837806e-03 9.99994190e-01 1.79399440e-03 -9.31566949e-03] [ 1.16350323e-02 -1.82760331e-03 9.99930641e-01 -1.01245185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20241403699998 meters Centerline goodness [0,1] 0.6540631429898891 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.01, Z:-1.01 [[ 9.99927777e-01 -2.98889984e-03 -1.16407206e-02 2.81684615e+00] [ 3.00803870e-03 9.99994152e-01 1.62696862e-03 -8.96773346e-03] [ 1.16357897e-02 -1.66186686e-03 9.99930921e-01 -1.01235091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23241403699998 meters Centerline goodness [0,1] 0.6697203044786688 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.01, Z:-1.01 [[ 9.99928031e-01 -3.21355074e-03 -1.15587654e-02 2.81652588e+00] [ 3.22983853e-03 9.99993817e-01 1.39073789e-03 -8.45290787e-03] [ 1.15542247e-02 -1.42797075e-03 9.99932228e-01 -1.01214932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26241403699999 meters Centerline goodness [0,1] 0.6618112589378611 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.01, Z:-1.01 [[ 9.99926575e-01 -3.33024891e-03 -1.16513339e-02 2.81682554e+00] [ 3.34412959e-03 9.99993722e-01 1.17205830e-03 -7.55002676e-03] [ 1.16473575e-02 -1.21093582e-03 9.99931434e-01 -1.01224270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.292414037 meters Centerline goodness [0,1] 0.6631094185892042 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.01, Z:-1.01 [[ 9.99925988e-01 -3.48976751e-03 -1.16550409e-02 2.81696377e+00] [ 3.50128720e-03 9.99993402e-01 9.68128672e-04 -6.69653858e-03] [ 1.16515855e-02 -1.00886466e-03 9.99931609e-01 -1.01242541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.322414037 meters Centerline goodness [0,1] 0.6553594756769923 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.01, Z:-1.01 [[ 9.99925293e-01 -3.67739445e-03 -1.16569841e-02 2.81739308e+00] [ 3.68681827e-03 9.99992894e-01 7.87040835e-04 -5.64577231e-03] [ 1.16540070e-02 -8.29959219e-04 9.99931745e-01 -1.01302585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.352414037 meters Centerline goodness [0,1] 0.6508221424455968 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.01, Z:-1.01 [[ 9.99924381e-01 -3.76005557e-03 -1.17087663e-02 2.81767973e+00] [ 3.76914231e-03 9.99992612e-01 7.54093638e-04 -5.25993198e-03] [ 1.17058444e-02 -7.98168621e-04 9.99931166e-01 -1.01328421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.382414037 meters Centerline goodness [0,1] 0.6471775982959085 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.00, Z:-1.01 [[ 9.99923896e-01 -3.97473895e-03 -1.16791613e-02 2.81755229e+00] [ 3.98102618e-03 9.99991943e-01 5.15129804e-04 -4.59122440e-03] [ 1.16770197e-02 -5.61585647e-04 9.99931664e-01 -1.01318666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.412414037 meters Centerline goodness [0,1] 0.650475958018062 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.00, Z:-1.01 [[ 9.99923317e-01 -3.94428622e-03 -1.17389437e-02 2.81782900e+00] [ 3.95103895e-03 9.99992042e-01 5.52105307e-04 -4.18534279e-03] [ 1.17366726e-02 -5.98443994e-04 9.99930944e-01 -1.01336418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.442414037 meters Centerline goodness [0,1] 0.6473135952735269 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.00, Z:-1.01 [[ 9.99920598e-01 -4.11836503e-03 -1.19095522e-02 2.81807947e+00] [ 4.12005127e-03 9.99991506e-01 1.17056120e-04 -2.52735500e-03] [ 1.19089689e-02 -1.66114791e-04 9.99929072e-01 -1.01315821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.472414037 meters Centerline goodness [0,1] 0.6588300835654597 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.00, Z:-1.01 [[ 9.99918413e-01 -4.12862026e-03 -1.20880497e-02 2.81874056e+00] [ 4.12619699e-03 9.99991462e-01 -2.25400575e-04 -2.86285815e-04] [ 1.20888771e-02 1.75504511e-04 9.99926911e-01 -1.01343291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.502414037 meters Centerline goodness [0,1] 0.6588300835654597 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.00, Z:-1.01 [[ 9.99918413e-01 -4.12862026e-03 -1.20880497e-02 2.81874056e+00] [ 4.12619699e-03 9.99991462e-01 -2.25400575e-04 -2.86285815e-04] [ 1.20888771e-02 1.75504511e-04 9.99926911e-01 -1.01343291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.532414037 meters Centerline goodness [0,1] 0.6562827050257187 Centerline is valid? [False, False] Translation: X:2.82, Y:0.00, Z:-1.01 [[ 9.99914743e-01 -3.92161139e-03 -1.24550021e-02 2.81982530e+00] [ 3.91952163e-03 9.99992300e-01 -1.92190610e-04 4.49470609e-04] [ 1.24556599e-02 1.43356574e-04 9.99922415e-01 -1.01379194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.562414037 meters Centerline goodness [0,1] 0.6530239600961967 Centerline is valid? [False, False] Translation: X:2.82, Y:0.00, Z:-1.01 [[ 9.99913240e-01 -3.89669665e-03 -1.25828476e-02 2.82055014e+00] [ 3.89053543e-03 9.99992300e-01 -5.14093478e-04 2.52293030e-03] [ 1.25847540e-02 4.65094861e-04 9.99920701e-01 -1.01425400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.592414037 meters Centerline goodness [0,1] 0.6525331011230937 Centerline is valid? [False, False] Translation: X:2.82, Y:0.00, Z:-1.01 [[ 9.99912437e-01 -3.90029783e-03 -1.26453912e-02 2.82081045e+00] [ 3.89086943e-03 9.99992134e-01 -7.70115595e-04 3.66299284e-03] [ 1.26482954e-02 7.20846596e-04 9.99919747e-01 -1.01430016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.622414037 meters Centerline goodness [0,1] 0.653985913597416 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.01 [[ 9.99910204e-01 -4.00585813e-03 -1.27881250e-02 2.82112782e+00] [ 3.99126893e-03 9.99991355e-01 -1.16615702e-03 5.11017162e-03] [ 1.27926859e-02 1.11501145e-03 9.99917549e-01 -1.01425443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65241403699997 meters Centerline goodness [0,1] 0.6578003050148022 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.01 [[ 9.99906805e-01 -3.97946955e-03 -1.30593249e-02 2.82226528e+00] [ 3.95954533e-03 9.99990958e-01 -1.55117101e-03 7.82315621e-03] [ 1.30653797e-02 1.49931746e-03 9.99913520e-01 -1.01485954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68241403699997 meters Centerline goodness [0,1] 0.6536800431887709 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.01 [[ 9.99904843e-01 -4.12985476e-03 -1.31623811e-02 2.82252042e+00] [ 4.10475849e-03 9.99989707e-01 -1.93311145e-03 9.17248243e-03] [ 1.31702291e-02 1.87889911e-03 9.99911503e-01 -1.01484986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71241403699997 meters Centerline goodness [0,1] 0.6512901054520979 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.02 [[ 9.99902044e-01 -4.19483432e-03 -1.33531456e-02 2.82308848e+00] [ 4.16702875e-03 9.99989093e-01 -2.10946569e-03 1.02403332e-02] [ 1.33618488e-02 2.05361611e-03 9.99908618e-01 -1.01506147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74241403699997 meters Centerline goodness [0,1] 0.6509987193025817 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.02 [[ 9.99901238e-01 -4.27428217e-03 -1.33882118e-02 2.82318089e+00] [ 4.24504025e-03 9.99988544e-01 -2.21181148e-03 1.08876381e-02] [ 1.33975123e-02 2.15475953e-03 9.99907928e-01 -1.01508658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77241403699998 meters Centerline goodness [0,1] 0.6537666307083783 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.01 [[ 9.99901317e-01 -4.86523331e-03 -1.31790123e-02 2.82258507e+00] [ 4.82845614e-03 9.99984364e-01 -2.82096907e-03 1.23477473e-02] [ 1.31925310e-02 2.75705640e-03 9.99909174e-01 -1.01485034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80241403699998 meters Centerline goodness [0,1] 0.6462883077199604 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.02 [[ 9.99901285e-01 -5.01346309e-03 -1.31257647e-02 2.82265498e+00] [ 4.97674377e-03 9.99983615e-01 -2.82866995e-03 1.26776542e-02] [ 1.31397310e-02 2.76306715e-03 9.99909852e-01 -1.01516114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83241403699998 meters Centerline goodness [0,1] 0.6438137252695312 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.02 [[ 0.99990091 -0.00533472 -0.01302739 2.82246872] [ 0.00529531 0.9999813 -0.00305808 0.01331695] [ 0.01304346 0.0029888 0.99991046 -1.01524652] [ 0. 0. 0. 1. ]] SLAMing on 232.86241403699998 meters Centerline goodness [0,1] 0.6481481481481481 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.02 [[ 0.99990145 -0.00552448 -0.01290612 2.82238026] [ 0.00548455 0.99998007 -0.00312705 0.01378507] [ 0.01292314 0.00305596 0.99991182 -1.01549755] [ 0. 0. 0. 1. ]] SLAMing on 232.89241403699998 meters Centerline goodness [0,1] 0.6444926161766698 Centerline is valid? [False, False] Translation: X:2.82, Y:0.02, Z:-1.02 [[ 0.9999003 -0.00617267 -0.01269998 2.82184109] [ 0.00612618 0.9999744 -0.00369622 0.01559761] [ 0.01272247 0.00361805 0.99991252 -1.01545088] [ 0. 0. 0. 1. ]] SLAMing on 232.92241403699998 meters Centerline goodness [0,1] 0.6405640157924422 Centerline is valid? [False, False] Translation: X:2.82, Y:0.02, Z:-1.02 [[ 0.99989925 -0.00618723 -0.01277528 2.82232262] [ 0.0061407 0.99997438 -0.00367829 0.01611386] [ 0.01279771 0.00359947 0.99991163 -1.01585874] [ 0. 0. 0. 1. ]] SLAMing on 232.95241403699998 meters Centerline goodness [0,1] 0.6413532644338407 Centerline is valid? [False, False] Translation: X:2.82, Y:0.02, Z:-1.02 [[ 0.99989806 -0.00620635 -0.01285917 2.82270063] [ 0.00615932 0.99997421 -0.00369338 0.01663634] [ 0.01288176 0.0036138 0.9999105 -1.01613334] [ 0. 0. 0. 1. ]] SLAMing on 232.98241403699998 meters Centerline goodness [0,1] 0.6480416572334163 Centerline is valid? [False, False] Translation: X:2.82, Y:0.02, Z:-1.02 [[ 0.9998979 -0.00614985 -0.01289822 2.8234396 ] [ 0.0061052 0.99997524 -0.00349809 0.01714053] [ 0.01291942 0.00341899 0.9999107 -1.01707732] [ 0. 0. 0. 1. ]] SLAMing on 233.01241403699999 meters Centerline goodness [0,1] 0.6201301636084244 Centerline is valid? [False, False] Translation: X:2.82, Y:0.02, Z:-1.02 [[ 0.9998973 -0.00603523 -0.0129986 2.82408178] [ 0.00599272 0.99997657 -0.00330708 0.01726624] [ 0.01301825 0.00322885 0.99991005 -1.01767178] [ 0. 0. 0. 1. ]] SLAMing on 233.042414037 meters Centerline goodness [0,1] 0.634890867187853 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.02 [[ 0.999897 -0.00576252 -0.01314443 2.8250071 ] [ 0.00572309 0.99997901 -0.00303583 0.01745358] [ 0.01316164 0.00296029 0.999909 -1.01841674] [ 0. 0. 0. 1. ]] SLAMing on 233.072414037 meters Centerline goodness [0,1] 0.6343426600229973 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.02 [[ 0.99989733 -0.00572646 -0.01313552 2.82550536] [ 0.00568667 0.99997913 -0.00306475 0.01836237] [ 0.0131528 0.00298974 0.99990903 -1.01903174] [ 0. 0. 0. 1. ]] SLAMing on 233.102414037 meters Centerline goodness [0,1] 0.6272030044569128 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.02 [[ 0.99989847 -0.00578814 -0.01302109 2.8253362 ] [ 0.00574893 0.99997884 -0.00304616 0.01862592] [ 0.01303845 0.00297099 0.99991058 -1.0191926 ] [ 0. 0. 0. 1. ]] SLAMing on 233.132414037 meters Centerline goodness [0,1] 0.6296237605831485 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.02 [[ 0.99989802 -0.00575977 -0.01306844 2.8255777 ] [ 0.00572117 0.99997917 -0.0029891 0.01886531] [ 0.01308538 0.00291403 0.99991014 -1.01936311] [ 0. 0. 0. 1. ]] SLAMing on 233.162414037 meters Centerline goodness [0,1] 0.6257354937992214 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.02 [[ 0.99989859 -0.00559269 -0.01309707 2.8259204 ] [ 0.00555493 0.99998032 -0.00291747 0.01950228] [ 0.01311313 0.00284443 0.99990997 -1.01965014] [ 0. 0. 0. 1. ]] SLAMing on 233.192414037 meters Centerline goodness [0,1] 0.6310183502906976 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.02 [[ 0.99989734 -0.00557372 -0.01320048 2.82606065] [ 0.00553292 0.99997981 -0.00312501 0.02031924] [ 0.01321763 0.00305166 0.99990799 -1.01945618] [ 0. 0. 0. 1. ]] SLAMing on 233.222414037 meters Centerline goodness [0,1] 0.6244737199511069 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.02 [[ 9.99896236e-01 -5.30418816e-03 -1.33933761e-02 2.82677855e+00] [ 5.26583896e-03 9.99981939e-01 -2.89694016e-03 2.05871206e-02] [ 1.34085001e-02 2.82611220e-03 9.99906108e-01 -1.01981122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.252414037 meters Centerline goodness [0,1] 0.6202428416092787 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.02 [[ 9.99910884e-01 -2.49170809e-03 -1.31154367e-02 2.82523533e+00] [ 2.49548660e-03 9.99996849e-01 2.71739288e-04 2.02662245e-02] [ 1.31147183e-02 -3.04444469e-04 9.99913952e-01 -1.01897491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.282414037 meters Centerline goodness [0,1] 0.6263703905046661 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.02 [[ 9.99909069e-01 -2.22431523e-03 -1.33005824e-02 2.82603819e+00] [ 2.23127134e-03 9.99997382e-01 5.08176068e-04 2.03036504e-02] [ 1.32994173e-02 -5.37807068e-04 9.99911414e-01 -1.01947818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.312414037 meters Centerline goodness [0,1] 0.6277478130807234 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.02 [[ 9.99908777e-01 -2.27089051e-03 -1.33147167e-02 2.82608849e+00] [ 2.27759051e-03 9.99997287e-01 4.88060465e-04 2.02458584e-02] [ 1.33135722e-02 -5.18341414e-04 9.99911236e-01 -1.01953237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.342414037 meters Centerline goodness [0,1] 0.6229326204177805 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.02 [[ 9.99910547e-01 -2.12917424e-03 -1.32047566e-02 2.82635629e+00] [ 2.14291298e-03 9.99997177e-01 1.02637755e-03 1.86249184e-02] [ 1.32025340e-02 -1.05458238e-03 9.99912287e-01 -1.02030528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.372414037 meters Centerline goodness [0,1] 0.6277393834682186 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.02 [[ 9.99911315e-01 -2.21481206e-03 -1.31323163e-02 2.82618597e+00] [ 2.22873740e-03 9.99996969e-01 1.04584672e-03 1.82482254e-02] [ 1.31299601e-02 -1.07502245e-03 9.99913220e-01 -1.02031853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40241403699997 meters Centerline goodness [0,1] 0.6276849642004774 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.02 [[ 9.99911412e-01 -2.14215326e-03 -1.31369487e-02 2.82628506e+00] [ 2.15830819e-03 9.99996932e-01 1.21567774e-03 1.77306297e-02] [ 1.31343042e-02 -1.24392363e-03 9.99912968e-01 -1.02042054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43241403699997 meters Centerline goodness [0,1] 0.6244049508092668 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.02 [[ 9.99911138e-01 -1.96650316e-03 -1.31851495e-02 2.82674516e+00] [ 1.98738091e-03 9.99996792e-01 1.57051348e-03 1.71668926e-02] [ 1.31820188e-02 -1.59657784e-03 9.99911839e-01 -1.02091882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46241403699997 meters Centerline goodness [0,1] 0.6299567452499037 Centerline is valid? [False, False] Translation: X:2.83, Y:0.02, Z:-1.02 [[ 9.99912423e-01 -2.01176524e-03 -1.30804719e-02 2.82640292e+00] [ 2.03635760e-03 9.99996184e-01 1.86703484e-03 1.58908337e-02] [ 1.30766659e-02 -1.89350785e-03 9.99912704e-01 -1.02080625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49241403699997 meters Centerline goodness [0,1] 0.6294872954154986 Centerline is valid? [False, False] Translation: X:2.83, Y:0.01, Z:-1.02 [[ 9.99913738e-01 -1.99324135e-03 -1.29824672e-02 2.82615269e+00] [ 2.02137442e-03 9.99995637e-01 2.15424377e-03 1.46016068e-02] [ 1.29781166e-02 -2.18030036e-03 9.99913404e-01 -1.02077093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52241403699998 meters Centerline goodness [0,1] 0.6294872954154986 Centerline is valid? [False, False] Translation: X:2.83, Y:0.01, Z:-1.02 [[ 9.99913738e-01 -1.99324135e-03 -1.29824672e-02 2.82615269e+00] [ 2.02137442e-03 9.99995637e-01 2.15424377e-03 1.46016068e-02] [ 1.29781166e-02 -2.18030036e-03 9.99913404e-01 -1.02077093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55241403699998 meters Centerline goodness [0,1] 0.6254953914441652 Centerline is valid? [False, False] Translation: X:2.83, Y:0.01, Z:-1.02 [[ 9.99915768e-01 -2.12872345e-03 -1.28033007e-02 2.82549036e+00] [ 2.15678416e-03 9.99995302e-01 2.17827011e-03 1.35675521e-02] [ 1.27986036e-02 -2.20570059e-03 9.99915662e-01 -1.02037882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58241403699998 meters Centerline goodness [0,1] 0.6252630626145596 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.02 [[ 9.99917890e-01 -2.30829402e-03 -1.26049364e-02 2.82439996e+00] [ 2.33819265e-03 9.99994487e-01 2.35775569e-03 1.16714330e-02] [ 1.25994245e-02 -2.38703487e-03 9.99917775e-01 -1.01951398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61241403699998 meters Centerline goodness [0,1] 0.6274761390239509 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.02 [[ 9.99915706e-01 -2.08264623e-03 -1.28157245e-02 2.82478660e+00] [ 2.11747285e-03 9.99994101e-01 2.70452264e-03 1.07128015e-02] [ 1.28100164e-02 -2.73143162e-03 9.99914218e-01 -1.01944096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64241403699998 meters Centerline goodness [0,1] 0.6266654663305726 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.02 [[ 9.99915000e-01 -2.13363975e-03 -1.28623374e-02 2.82455276e+00] [ 2.16856031e-03 9.99993999e-01 2.70161133e-03 1.03015256e-02] [ 1.28564960e-02 -2.72927444e-03 9.99913627e-01 -1.01898560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67241403699998 meters Centerline goodness [0,1] 0.6217968925917586 Centerline is valid? [False, False] Translation: X:2.82, Y:0.01, Z:-1.02 [[ 9.99914284e-01 -2.07411223e-03 -1.29275861e-02 2.82448822e+00] [ 2.11066732e-03 9.99993811e-01 2.81467949e-03 9.61441415e-03] [ 1.29216682e-02 -2.84172406e-03 9.99912474e-01 -1.01867712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70241403699998 meters Centerline goodness [0,1] 0.6275020195673637 Centerline is valid? [False, False] Translation: X:2.83, Y:0.01, Z:-1.02 [[ 9.99912964e-01 -1.57904429e-03 -1.30985363e-02 2.82515525e+00] [ 1.62654507e-03 9.99992137e-01 3.61655841e-03 7.17305975e-03] [ 1.30927226e-02 -3.63754900e-03 9.99907670e-01 -1.01908822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73241403699998 meters Centerline goodness [0,1] 0.6187284221853562 Centerline is valid? [False, False] Translation: X:2.83, Y:0.01, Z:-1.02 [[ 9.99910685e-01 -1.30313875e-03 -1.33012815e-02 2.82579363e+00] [ 1.35575007e-03 9.99991291e-01 3.94710673e-03 6.00656278e-03] [ 1.32960220e-02 -3.96478741e-03 9.99903743e-01 -1.01932540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76241403699999 meters Centerline goodness [0,1] 0.6236770858971203 Centerline is valid? [False, False] Translation: X:2.83, Y:0.00, Z:-1.02 [[ 9.99906933e-01 -6.15864033e-04 -1.36288572e-02 2.82721560e+00] [ 6.81364019e-04 9.99988239e-01 4.80185654e-03 4.23981486e-03] [ 1.36257396e-02 -4.81069586e-03 9.99895593e-01 -1.02023460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.792414037 meters Centerline goodness [0,1] 0.6348211487666204 Centerline is valid? [False, False] Translation: X:2.83, Y:0.00, Z:-1.02 [[ 9.99904744e-01 -4.57975352e-04 -1.37946533e-02 2.82764571e+00] [ 5.24533242e-04 9.99988238e-01 4.82167329e-03 4.19104393e-03] [ 1.37922829e-02 -4.82844975e-03 9.99893224e-01 -1.02022350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.822414037 meters Centerline goodness [0,1] 0.6200609264402832 Centerline is valid? [False, False] Translation: X:2.83, Y:0.00, Z:-1.02 [[ 9.99902770e-01 -3.25591963e-04 -1.39407537e-02 2.82786948e+00] [ 3.92334014e-04 9.99988474e-01 4.78508253e-03 4.17423448e-03] [ 1.39390350e-02 -4.79008671e-03 9.99891373e-01 -1.02000825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.852414037 meters Centerline goodness [0,1] 0.6308795282976727 Centerline is valid? [False, False] Translation: X:2.83, Y:0.00, Z:-1.02 [[ 9.99898291e-01 2.66188048e-04 -1.42595865e-02 2.82869451e+00] [-1.93865283e-04 9.99987113e-01 5.07301195e-03 3.56201429e-03] [ 1.42607531e-02 -5.06973155e-03 9.99885458e-01 -1.01994811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.882414037 meters Centerline goodness [0,1] 0.6258298129149065 Centerline is valid? [False, False] Translation: X:2.83, Y:0.00, Z:-1.02 [[ 9.99897249e-01 4.24967338e-04 -1.43287025e-02 2.82886464e+00] [-3.52976766e-04 9.99987305e-01 5.02637599e-03 3.47810039e-03] [ 1.43306567e-02 -5.02080183e-03 9.99884705e-01 -1.01982795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.912414037 meters Centerline goodness [0,1] 0.6258875541463851 Centerline is valid? [False, False] Translation: X:2.83, Y:0.00, Z:-1.02 [[ 9.99894314e-01 6.19982377e-04 -1.45250545e-02 2.82926989e+00] [-5.48688971e-04 9.99987787e-01 4.91177658e-03 3.55736303e-03] [ 1.45279223e-02 -4.90328773e-03 9.99882442e-01 -1.01962615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.942414037 meters Centerline goodness [0,1] 0.6276176699677312 Centerline is valid? [False, False] Translation: X:2.83, Y:0.00, Z:-1.02 [[ 9.99891415e-01 9.42363248e-04 -1.47061305e-02 2.82944411e+00] [-8.72465546e-04 9.99988297e-01 4.75865560e-03 3.85794136e-03] [ 1.47104428e-02 -4.74530829e-03 9.99880535e-01 -1.01900853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.972414037 meters Centerline goodness [0,1] 0.6310712057748864 Centerline is valid? [False, False] Translation: X:2.83, Y:0.00, Z:-1.02 [[ 9.99888933e-01 9.97045362e-04 -1.48703653e-02 2.82959533e+00] [-9.30727857e-04 9.99989594e-01 4.46596321e-03 4.43291601e-03] [ 1.48746633e-02 -4.45162692e-03 9.99879456e-01 -1.01856514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.002414037 meters Centerline goodness [0,1] 0.642365059193365 Centerline is valid? [False, False] Translation: X:2.83, Y:0.00, Z:-1.02 [[ 9.99886457e-01 1.08487122e-03 -1.50298357e-02 2.82976533e+00] [-1.02087886e-03 9.99990385e-01 4.26470674e-03 4.80253385e-03] [ 1.50343178e-02 -4.24887887e-03 9.99877951e-01 -1.01817466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.032414037 meters Centerline goodness [0,1] 0.6292674213499453 Centerline is valid? [False, False] Translation: X:2.83, Y:0.00, Z:-1.02 [[ 9.99883730e-01 1.29045339e-03 -1.51941400e-02 2.83005962e+00] [-1.22564688e-03 9.99990116e-01 4.27377060e-03 4.78022788e-03] [ 1.51995050e-02 -4.25465103e-03 9.99875429e-01 -1.01799862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.062414037 meters Centerline goodness [0,1] 0.6392944853762 Centerline is valid? [False, False] Translation: X:2.83, Y:0.00, Z:-1.02 [[ 9.99880441e-01 1.41510458e-03 -1.53980687e-02 2.83066963e+00] [-1.34793674e-03 9.99989536e-01 4.37159938e-03 4.43520152e-03] [ 1.54040938e-02 -4.35032110e-03 9.99871886e-01 -1.01823035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.092414037 meters Centerline goodness [0,1] 0.6384498953835196 Centerline is valid? [False, False] Translation: X:2.83, Y:0.00, Z:-1.02 [[ 9.99878322e-01 1.55835876e-03 -1.55213713e-02 2.83132390e+00] [-1.48561257e-03 9.99987864e-01 4.69726811e-03 3.33464905e-03] [ 1.55285030e-02 -4.67363781e-03 9.99868503e-01 -1.01881133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.122414037 meters Centerline goodness [0,1] 0.6300200579451749 Centerline is valid? [False, False] Translation: X:2.83, Y:0.00, Z:-1.02 [[ 9.99878729e-01 1.45453889e-03 -1.55052351e-02 2.83135620e+00] [-1.38088846e-03 9.99987719e-01 4.75968478e-03 2.55373063e-03] [ 1.55119678e-02 -4.73769657e-03 9.99868458e-01 -1.01895139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15241403699997 meters Centerline goodness [0,1] 0.6358456127854695 Centerline is valid? [False, False] Translation: X:2.83, Y:0.00, Z:-1.02 [[ 9.99879695e-01 1.29871868e-03 -1.54566452e-02 2.83127502e+00] [-1.22470999e-03 9.99987746e-01 4.79664929e-03 1.65957259e-03] [ 1.54626853e-02 -4.77714232e-03 9.99869034e-01 -1.01899346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18241403699997 meters Centerline goodness [0,1] 0.6403846581929078 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.00, Z:-1.02 [[ 9.99883276e-01 9.83153339e-04 -1.52468631e-02 2.83081222e+00] [-9.05614953e-04 9.99986628e-01 5.09160113e-03 -5.65402638e-04] [ 1.52516650e-02 -5.07719903e-03 9.99870796e-01 -1.01916941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21241403699997 meters Centerline goodness [0,1] 0.6481078440081727 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.00, Z:-1.02 [[ 9.99885436e-01 6.68889334e-04 -1.51217732e-02 2.83030125e+00] [-5.93562748e-04 9.99987397e-01 4.98527236e-03 -1.18956640e-03] [ 1.51249172e-02 -4.97572551e-03 9.99873231e-01 -1.01892259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24241403699997 meters Centerline goodness [0,1] 0.6435122471186516 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.00, Z:-1.02 [[ 9.99886518e-01 3.88594869e-04 -1.50598810e-02 2.82992522e+00] [-3.14476252e-04 9.99987829e-01 4.92364944e-03 -1.83597813e-03] [ 1.50616111e-02 -4.91835472e-03 9.99874471e-01 -1.01867757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27241403699998 meters Centerline goodness [0,1] 0.634514842711564 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.00, Z:-1.02 [[ 9.99888143e-01 8.04206876e-05 -1.49564275e-02 2.82936858e+00] [-8.98008482e-06 9.99988592e-01 4.77658784e-03 -2.38100952e-03] [ 1.49566410e-02 -4.77591923e-03 9.99876737e-01 -1.01827711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30241403699998 meters Centerline goodness [0,1] 0.6289142198172625 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.00, Z:-1.02 [[ 9.99891853e-01 -6.34568322e-04 -1.46928509e-02 2.82802178e+00] [ 7.01311502e-04 9.99989458e-01 4.53785492e-03 -3.61662582e-03] [ 1.46898164e-02 -4.54766843e-03 9.99881757e-01 -1.01745975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33241403699998 meters Centerline goodness [0,1] 0.6322705014291728 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.00, Z:-1.02 [[ 9.99893121e-01 -9.60307485e-04 -1.45884687e-02 2.82740756e+00] [ 1.02456773e-03 9.99989804e-01 4.39803045e-03 -4.50772171e-03] [ 1.45840965e-02 -4.41250727e-03 9.99883910e-01 -1.01697750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36241403699998 meters Centerline goodness [0,1] 0.6279495839127651 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.00, Z:-1.02 [[ 9.99890674e-01 -2.35440308e-03 -1.45978639e-02 2.82887561e+00] [ 2.39407959e-03 9.99993486e-01 2.70108803e-03 -4.60318361e-03] [ 1.45914094e-02 -2.73574118e-03 9.99889797e-01 -1.01813568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39241403699998 meters Centerline goodness [0,1] 0.6188521877275435 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:-1.02 [[ 9.99894124e-01 -2.86584934e-03 -1.42663337e-02 2.82771048e+00] [ 2.90388282e-03 9.99992283e-01 2.64595968e-03 -6.03702494e-03] [ 1.42586407e-02 -2.68710730e-03 9.99894730e-01 -1.01760995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42241403699998 meters Centerline goodness [0,1] 0.6231269998896612 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:-1.02 [[ 9.99894155e-01 -3.11876408e-03 -1.42109562e-02 2.82733909e+00] [ 3.15694744e-03 9.99991465e-01 2.66525559e-03 -6.72274820e-03] [ 1.42025226e-02 -2.70983673e-03 9.99895467e-01 -1.01739286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45241403699998 meters Centerline goodness [0,1] 0.6210147487414996 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:-1.02 [[ 0.99989659 -0.00333906 -0.01398812 2.82704214] [ 0.00338077 0.99998991 0.00295909 -0.00810728] [ 0.0139781 -0.00300607 0.99989778 -1.01776994] [ 0. 0. 0. 1. ]] SLAMing on 234.48241403699998 meters Centerline goodness [0,1] 0.6156045841490508 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:-1.02 [[ 0.99989406 -0.00305241 -0.01423221 2.82805303] [ 0.00310212 0.99998916 0.00347256 -0.00918703] [ 0.01422145 -0.00351635 0.99989269 -1.0184999 ] [ 0. 0. 0. 1. ]] SLAMing on 234.51241403699999 meters Centerline goodness [0,1] 0.6123907863383637 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:-1.02 [[ 0.99989335 -0.00304212 -0.01428409 2.82831972] [ 0.00309413 0.99998866 0.00362075 -0.00979414] [ 0.01427291 -0.00366456 0.99989142 -1.01879045] [ 0. 0. 0. 1. ]] SLAMing on 234.542414037 meters Centerline goodness [0,1] 0.6185939842991973 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:-1.02 [[ 0.99989548 -0.00300662 -0.01414141 2.82820447] [ 0.0030622 0.99998767 0.00391009 -0.01100495] [ 0.01412948 -0.00395299 0.99989236 -1.01906461] [ 0. 0. 0. 1. ]] SLAMing on 234.572414037 meters Centerline goodness [0,1] 0.6223750027544568 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:-1.02 [[ 0.99989655 -0.00314441 -0.01403602 2.82779302] [ 0.00319823 0.99998761 0.00381349 -0.01127494] [ 0.01402385 -0.00385799 0.99989422 -1.01876477] [ 0. 0. 0. 1. ]] SLAMing on 234.602414037 meters Centerline goodness [0,1] 0.6218212189814714 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:-1.02 [[ 0.99989644 -0.00295561 -0.01408418 2.82800165] [ 0.00301288 0.99998727 0.00404634 -0.01186665] [ 0.01407205 -0.00408835 0.99989263 -1.01885412] [ 0. 0. 0. 1. ]] SLAMing on 234.632414037 meters Centerline goodness [0,1] 0.6191787460897916 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:-1.02 [[ 0.99989663 -0.00306552 -0.01404771 2.82764788] [ 0.00312071 0.99998749 0.00390811 -0.01201848] [ 0.01403556 -0.00395154 0.99989369 -1.01840772] [ 0. 0. 0. 1. ]] SLAMing on 234.662414037 meters Centerline goodness [0,1] 0.6388876666519998 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:-1.02 [[ 0.99989579 -0.00283082 -0.01415611 2.82777098] [ 0.00289011 0.99998713 0.00416935 -0.01312542] [ 0.01414413 -0.00420983 0.9998911 -1.01819209] [ 0. 0. 0. 1. ]] SLAMing on 234.692414037 meters Centerline goodness [0,1] 0.6392512637132199 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:-1.02 [[ 9.99895164e-01 -2.81173830e-03 -1.42040389e-02 2.82776695e+00] [ 2.87181481e-03 9.99987010e-01 4.21091246e-03 -1.36601804e-02] [ 1.41920145e-02 -4.25126238e-03 9.99890251e-01 -1.01801273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.722414037 meters Centerline goodness [0,1] 0.6230087330495457 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:-1.02 [[ 9.99893115e-01 -2.59047843e-03 -1.43891297e-02 2.82827056e+00] [ 2.65570397e-03 9.99986278e-01 4.51571665e-03 -1.44728183e-02] [ 1.43772344e-02 -4.55344726e-03 9.99886274e-01 -1.01813276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.752414037 meters Centerline goodness [0,1] 0.6372176737856405 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 9.99891743e-01 -2.27907048e-03 -1.45364271e-02 2.82867084e+00] [ 2.34972215e-03 9.99985502e-01 4.84509291e-03 -1.55301582e-02] [ 1.45251740e-02 -4.87872497e-03 9.99882602e-01 -1.01817616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.782414037 meters Centerline goodness [0,1] 0.632264573007588 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 9.99890115e-01 -2.18354962e-03 -1.46625714e-02 2.82891961e+00] [ 2.25640011e-03 9.99985184e-01 4.95376208e-03 -1.61594412e-02] [ 1.46515374e-02 -4.98630236e-03 9.99880227e-01 -1.01806779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.812414037 meters Centerline goodness [0,1] 0.6306643877640459 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 9.99888125e-01 -2.11377984e-03 -1.48077693e-02 2.82920384e+00] [ 2.18745775e-03 9.99985301e-01 4.96119678e-03 -1.65168813e-02] [ 1.47970648e-02 -4.99303311e-03 9.99878051e-01 -1.01795762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.842414037 meters Centerline goodness [0,1] 0.6381330641622049 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 9.99888756e-01 -1.90692577e-03 -1.47931922e-02 2.82946325e+00] [ 1.98461909e-03 9.99984307e-01 5.23906270e-03 -1.74966426e-02] [ 1.47829696e-02 -5.26783873e-03 9.99876849e-01 -1.01823646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.872414037 meters Centerline goodness [0,1] 0.6271208762264316 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 9.99888918e-01 -1.90806770e-03 -1.47821023e-02 2.82944451e+00] [ 1.98684969e-03 9.99983892e-01 5.31670120e-03 -1.81004415e-02] [ 1.47717195e-02 -5.34548042e-03 9.99876603e-01 -1.01821127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90241403699997 meters Centerline goodness [0,1] 0.6243063628188538 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 9.99889943e-01 -2.23995998e-03 -1.46657650e-02 2.82892027e+00] [ 2.31617001e-03 9.99983893e-01 5.18153631e-03 -1.90108302e-02] [ 1.46539224e-02 -5.21493445e-03 9.99879026e-01 -1.01788117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93241403699997 meters Centerline goodness [0,1] 0.633412249550616 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 9.99890283e-01 -2.43043546e-03 -1.46121842e-02 2.82873499e+00] [ 2.50472841e-03 9.99984020e-01 5.06816617e-03 -1.94379054e-02] [ 1.45996329e-02 -5.10420966e-03 9.99880392e-01 -1.01776636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96241403699997 meters Centerline goodness [0,1] 0.6327565763471081 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 9.99890662e-01 -2.66780812e-03 -1.45446197e-02 2.82847514e+00] [ 2.73926856e-03 9.99984265e-01 4.89548112e-03 -1.95627884e-02] [ 1.45313307e-02 -4.93478748e-03 9.99882237e-01 -1.01760730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99241403699997 meters Centerline goodness [0,1] 0.6240608091827123 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 0.99988853 -0.00283056 -0.01466026 2.82877153] [ 0.00290098 0.99998434 0.00478477 -0.01938231] [ 0.01464649 -0.00482677 0.99988108 -1.01768743] [ 0. 0. 0. 1. ]] SLAMing on 235.02241403699998 meters Centerline goodness [0,1] 0.6254433206357546 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 0.99988749 -0.00301782 -0.01469366 2.82876693] [ 0.00308387 0.99998523 0.0044745 -0.01881919] [ 0.01467994 -0.00451931 0.99988203 -1.01754418] [ 0. 0. 0. 1. ]] SLAMing on 235.05241403699998 meters Centerline goodness [0,1] 0.6174801362088536 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 0.99988505 -0.00299154 -0.01486407 2.82934213] [ 0.00305678 0.99998579 0.00436809 -0.01831564] [ 0.01485079 -0.00441303 0.99987998 -1.01771177] [ 0. 0. 0. 1. ]] SLAMing on 235.08241403699998 meters Centerline goodness [0,1] 0.6223820558786236 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 0.99988509 -0.00320202 -0.01481713 2.82906849] [ 0.00326139 0.99998674 0.00398439 -0.01752881] [ 0.01480418 -0.00403226 0.99988228 -1.01738923] [ 0. 0. 0. 1. ]] SLAMing on 235.11241403699998 meters Centerline goodness [0,1] 0.6285657989797928 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 0.99988342 -0.00333573 -0.01489998 2.82900838] [ 0.00338866 0.99998803 0.00352877 -0.01646463] [ 0.01488803 -0.00357884 0.99988276 -1.0168716 ] [ 0. 0. 0. 1. ]] SLAMing on 235.14241403699998 meters Centerline goodness [0,1] 0.6327594515267008 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 0.99988317 -0.00347407 -0.01488579 2.8289374 ] [ 0.00352348 0.99998837 0.00329422 -0.01597098] [ 0.01487417 -0.00334628 0.99988377 -1.01674122] [ 0. 0. 0. 1. ]] SLAMing on 235.17241403699998 meters Centerline goodness [0,1] 0.6267032364234778 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 0.99988252 -0.00360298 -0.01489828 2.82895478] [ 0.00365014 0.99998841 0.00313988 -0.01596761] [ 0.0148868 -0.00319389 0.99988408 -1.01671469] [ 0. 0. 0. 1. ]] SLAMing on 235.20241403699998 meters Centerline goodness [0,1] 0.6379056856334072 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 0.99988146 -0.00368497 -0.01494916 2.82907392] [ 0.00373125 0.99998833 0.00306933 -0.01610734] [ 0.01493768 -0.00312475 0.99988354 -1.01672988] [ 0. 0. 0. 1. ]] SLAMing on 235.23241403699998 meters Centerline goodness [0,1] 0.6331916012799719 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 0.99988036 -0.0036044 -0.01504242 2.82952534] [ 0.00365249 0.9999883 0.00317119 -0.01636643] [ 0.01503081 -0.00322575 0.99988183 -1.01704245] [ 0. 0. 0. 1. ]] SLAMing on 235.26241403699999 meters Centerline goodness [0,1] 0.6352825229960578 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 0.99988028 -0.00346915 -0.01507955 2.8301057 ] [ 0.00352025 0.99998815 0.00336368 -0.01654832] [ 0.0150677 -0.00341636 0.99988064 -1.01765516] [ 0. 0. 0. 1. ]] SLAMing on 235.292414037 meters Centerline goodness [0,1] 0.6395517150627248 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 0.99987966 -0.00346869 -0.01512092 2.83055829] [ 0.00352041 0.99998804 0.00339536 -0.01630105] [ 0.01510896 -0.00344818 0.99987991 -1.01813874] [ 0. 0. 0. 1. ]] SLAMing on 235.322414037 meters Centerline goodness [0,1] 0.6347153099033128 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 0.99987814 -0.00340911 -0.01523432 2.83099978] [ 0.00346176 0.99998812 0.00343117 -0.01638229] [ 0.01522244 -0.00348349 0.99987806 -1.01834104] [ 0. 0. 0. 1. ]] SLAMing on 235.352414037 meters Centerline goodness [0,1] 0.6361366622864653 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 0.99987746 -0.00340154 -0.01528073 2.83121546] [ 0.00345533 0.99998792 0.00349541 -0.01669227] [ 0.01526865 -0.00354778 0.99987713 -1.01847235] [ 0. 0. 0. 1. ]] SLAMing on 235.382414037 meters Centerline goodness [0,1] 0.6266730714644424 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 0.99987704 -0.00336065 -0.01531703 2.83139625] [ 0.00341842 0.99998714 0.00374723 -0.01776959] [ 0.01530424 -0.00379913 0.99987567 -1.01864079] [ 0. 0. 0. 1. ]] SLAMing on 235.412414037 meters Centerline goodness [0,1] 0.628158844765343 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 0.99987583 -0.00353668 -0.01535653 2.83132342] [ 0.0035916 0.99998725 0.00355013 -0.01769565] [ 0.01534378 -0.00360485 0.99987578 -1.01840545] [ 0. 0. 0. 1. ]] SLAMing on 235.442414037 meters Centerline goodness [0,1] 0.628158844765343 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 0.99987583 -0.00353668 -0.01535653 2.83132342] [ 0.0035916 0.99998725 0.00355013 -0.01769565] [ 0.01534378 -0.00360485 0.99987578 -1.01840545] [ 0. 0. 0. 1. ]] SLAMing on 235.472414037 meters Centerline goodness [0,1] 0.6293266067119982 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 0.99987552 -0.00374791 -0.01532661 2.83107085] [ 0.00379957 0.99998719 0.00334324 -0.01724333] [ 0.01531388 -0.00340106 0.99987695 -1.01813914] [ 0. 0. 0. 1. ]] SLAMing on 235.502414037 meters Centerline goodness [0,1] 0.6327787641656255 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 0.99987407 -0.00399091 -0.01535953 2.83101322] [ 0.00403779 0.99998728 0.00302253 -0.01676236] [ 0.01534727 -0.00308417 0.99987747 -1.01791679] [ 0. 0. 0. 1. ]] SLAMing on 235.532414037 meters Centerline goodness [0,1] 0.6292871923568001 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-1.02 [[ 9.99873128e-01 -4.36750759e-03 -1.53183562e-02 2.83041799e+00] [ 4.40435097e-03 9.99987487e-01 2.37226812e-03 -1.52725753e-02] [ 1.53078036e-02 -2.43943456e-03 9.99879853e-01 -1.01712259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.562414037 meters Centerline goodness [0,1] 0.613445008683418 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:-1.02 [[ 9.99869809e-01 -4.21646824e-03 -1.55752072e-02 2.83127324e+00] [ 4.25244835e-03 9.99988364e-01 2.27769277e-03 -1.42478444e-02] [ 1.55654221e-02 -2.34362900e-03 9.99876105e-01 -1.01741882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.592414037 meters Centerline goodness [0,1] 0.6243286494070193 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:-1.02 [[ 9.99866101e-01 -3.90393504e-03 -1.58914659e-02 2.83238135e+00] [ 3.94032256e-03 9.99989685e-01 2.25908569e-03 -1.33547940e-02] [ 1.58824826e-02 -2.32140070e-03 9.99871171e-01 -1.01784303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.622414037 meters Centerline goodness [0,1] 0.6331208791208791 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:-1.02 [[ 9.99862811e-01 -3.80162729e-03 -1.61216174e-02 2.83310670e+00] [ 3.83249296e-03 9.99990881e-01 1.88408882e-03 -1.16999073e-02] [ 1.61143078e-02 -1.94561633e-03 9.99868263e-01 -1.01795859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65241403699997 meters Centerline goodness [0,1] 0.6347699372957697 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.01, Z:-1.02 [[ 9.99860358e-01 -2.83313412e-03 -1.64692883e-02 2.83520509e+00] [ 2.86466769e-03 9.99994108e-01 1.89141389e-03 -8.86282017e-03] [ 1.64638327e-02 -1.93832881e-03 9.99862583e-01 -1.01923700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68241403699997 meters Centerline goodness [0,1] 0.6380784097183876 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.01, Z:-1.02 [[ 9.99854767e-01 -1.85041036e-03 -1.69417175e-02 2.83762572e+00] [ 1.88341694e-03 9.99996359e-01 1.93249480e-03 -5.99333948e-03] [ 1.69380799e-02 -1.96412245e-03 9.99854611e-01 -1.02064468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71241403699997 meters Centerline goodness [0,1] 0.6394106325081303 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.00, Z:-1.02 [[ 9.99850962e-01 -1.81262567e-03 -1.71688379e-02 2.83816588e+00] [ 1.83731247e-03 9.99997301e-01 1.42221979e-03 -4.22381131e-03] [ 1.71662136e-02 -1.45355234e-03 9.99851593e-01 -1.02049290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74241403699997 meters Centerline goodness [0,1] 0.6485462281712614 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.00, Z:-1.02 [[ 9.99848721e-01 -1.88996695e-03 -1.72905243e-02 2.83834961e+00] [ 1.90640139e-03 9.99997747e-01 9.34054794e-04 -2.67013512e-03] [ 1.72887200e-02 -9.66876171e-04 9.99850071e-01 -1.02023749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77241403699998 meters Centerline goodness [0,1] 0.6417635163663029 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.00, Z:-1.02 [[ 9.99849184e-01 -2.05504261e-03 -1.72448649e-02 2.83799029e+00] [ 2.06164870e-03 9.99997808e-01 3.65306215e-04 -1.14283120e-03] [ 1.72440764e-02 -4.00803974e-04 9.99851230e-01 -1.01966942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80241403699998 meters Centerline goodness [0,1] 0.6384450009973626 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.00, Z:-1.02 [[ 9.99993556e-01 -7.70978203e-04 -3.50622254e-03 2.83797719e+00] [ 7.75429576e-04 9.99998895e-01 1.26838150e-03 -9.68509661e-04] [ 3.50524077e-03 -1.27109215e-03 9.99993049e-01 -1.02481221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83241403699998 meters Centerline goodness [0,1] 0.6363575702306545 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.00, Z:-1.02 [[ 9.99993272e-01 -1.14164214e-03 -3.48605410e-03 2.83754951e+00] [ 1.14429435e-03 9.99999057e-01 7.58904169e-04 -1.05195263e-04] [ 3.48518442e-03 -7.62888135e-04 9.99993636e-01 -1.02423857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86241403699998 meters Centerline goodness [0,1] 0.6313219857526464 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.00, Z:-1.02 [[ 9.99993174e-01 -1.08998413e-03 -3.53049834e-03 2.83791777e+00] [ 1.09318588e-03 9.99998993e-01 9.05079501e-04 -2.73209256e-04] [ 3.52950826e-03 -9.08932814e-04 9.99993358e-01 -1.02460040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89241403699998 meters Centerline goodness [0,1] 0.6367092524645241 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.00, Z:-1.02 [[ 9.99992701e-01 -1.14408980e-03 -3.64532361e-03 2.83832946e+00] [ 1.14765243e-03 9.99998866e-01 9.75373582e-04 -2.20560198e-04] [ 3.64420356e-03 -9.79550028e-04 9.99992880e-01 -1.02487365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92241403699998 meters Centerline goodness [0,1] 0.6325558730369681 Centerline is valid? [False, False] Translation: X:2.84, Y:0.00, Z:-1.02 [[ 9.99992385e-01 -1.29433008e-03 -3.68171810e-03 2.83839660e+00] [ 1.29681371e-03 9.99998933e-01 6.72275293e-04 3.62376254e-04] [ 3.68084403e-03 -6.77044676e-04 9.99992996e-01 -1.02475233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95241403699998 meters Centerline goodness [0,1] 0.6504289079514645 Centerline is valid? [False, False] Translation: X:2.84, Y:0.00, Z:-1.02 [[ 9.99992093e-01 -1.76851469e-03 -3.56188364e-03 2.83819065e+00] [ 1.76880494e-03 9.99998433e-01 7.83375675e-05 1.83017279e-03] [ 3.56173952e-03 -8.46372255e-05 9.99993653e-01 -1.02482047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98241403699998 meters Centerline goodness [0,1] 0.6343336588830685 Centerline is valid? [False, False] Translation: X:2.84, Y:0.00, Z:-1.03 [[ 9.99991767e-01 -1.54296597e-03 -3.75315192e-03 2.83924326e+00] [ 1.54420150e-03 9.99998754e-01 3.26322197e-04 1.90077918e-03] [ 3.75264375e-03 -3.32115133e-04 9.99992904e-01 -1.02571886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01241403699999 meters Centerline goodness [0,1] 0.6270132743362832 Centerline is valid? [False, False] Translation: X:2.84, Y:0.00, Z:-1.03 [[ 9.99991108e-01 -1.29353142e-03 -4.01372211e-03 2.84064245e+00] [ 1.29537801e-03 9.99999056e-01 4.57504712e-04 2.75213610e-03] [ 4.01312653e-03 -4.62699931e-04 9.99991840e-01 -1.02685224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.042414037 meters Centerline goodness [0,1] 0.6318244413842122 Centerline is valid? [False, False] Translation: X:2.84, Y:0.00, Z:-1.03 [[ 9.99990432e-01 -1.31050274e-03 -4.17363033e-03 2.84110777e+00] [ 1.31132067e-03 9.99999122e-01 1.93243967e-04 3.41194772e-03] [ 4.17337342e-03 -1.98715086e-04 9.99991272e-01 -1.02690785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.072414037 meters Centerline goodness [0,1] 0.6349294399573977 Centerline is valid? [False, False] Translation: X:2.84, Y:0.00, Z:-1.03 [[ 9.99989952e-01 -1.19048841e-03 -4.32180809e-03 2.84167517e+00] [ 1.19094288e-03 9.99999286e-01 1.02584578e-04 4.11806788e-03] [ 4.32168287e-03 -1.07730574e-04 9.99990656e-01 -1.02714122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.102414037 meters Centerline goodness [0,1] 0.6370154305181359 Centerline is valid? [False, False] Translation: X:2.84, Y:0.01, Z:-1.03 [[ 9.99989774e-01 -1.10385556e-03 -4.38561353e-03 2.84201732e+00] [ 1.10345793e-03 9.99999387e-01 -9.30866556e-05 5.31425863e-03] [ 4.38571359e-03 8.82463637e-05 9.99990379e-01 -1.02726648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.132414037 meters Centerline goodness [0,1] 0.6463349384697699 Centerline is valid? [False, False] Translation: X:2.84, Y:0.01, Z:-1.03 [[ 9.99989111e-01 -2.69350553e-04 -4.65889810e-03 2.84350946e+00] [ 2.68488505e-04 9.99999947e-01 -1.85657195e-04 8.36338284e-03] [ 4.65894786e-03 1.84404313e-04 9.99989130e-01 -1.02785074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.162414037 meters Centerline goodness [0,1] 0.6368235713648926 Centerline is valid? [False, False] Translation: X:2.84, Y:0.01, Z:-1.03 [[ 9.99988051e-01 -1.70462006e-05 -4.88856859e-03 2.84426427e+00] [ 1.50703690e-05 9.99999918e-01 -4.04210404e-04 1.00626274e-02] [ 4.88857508e-03 4.04131902e-04 9.99987969e-01 -1.02799926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.192414037 meters Centerline goodness [0,1] 0.6370057444287982 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-1.03 [[ 9.99986867e-01 2.30920623e-04 -5.11990190e-03 2.84511716e+00] [-2.33731239e-04 9.99999822e-01 -5.48367453e-04 1.16693874e-02] [ 5.11977436e-03 5.49556932e-04 9.99986743e-01 -1.02834110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.222414037 meters Centerline goodness [0,1] 0.6536129698657206 Centerline is valid? [False, False] Translation: X:2.85, Y:0.01, Z:-1.03 [[ 9.99986010e-01 5.52399784e-04 -5.26068885e-03 2.84562351e+00] [-5.59654747e-04 9.99998894e-01 -1.37771756e-03 1.48098395e-02] [ 5.25992198e-03 1.38064245e-03 9.99985213e-01 -1.02797359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.252414037 meters Centerline goodness [0,1] 0.6533498201438849 Centerline is valid? [False, False] Translation: X:2.85, Y:0.02, Z:-1.03 [[ 9.99985178e-01 6.58207722e-04 -5.40462410e-03 2.84599851e+00] [-6.67288536e-04 9.99998369e-01 -1.67856215e-03 1.60310368e-02] [ 5.40351044e-03 1.68214372e-03 9.99983986e-01 -1.02788160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.282414037 meters Centerline goodness [0,1] 0.6501931022094485 Centerline is valid? [False, False] Translation: X:2.85, Y:0.02, Z:-1.03 [[ 9.99983409e-01 9.76615932e-04 -5.67693129e-03 2.84704293e+00] [-9.85860554e-04 9.99998192e-01 -1.62588384e-03 1.68609918e-02] [ 5.67533316e-03 1.63145353e-03 9.99982564e-01 -1.02837194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.312414037 meters Centerline goodness [0,1] 0.651039552609029 Centerline is valid? [False, False] Translation: X:2.85, Y:0.02, Z:-1.03 [[ 9.99982056e-01 1.24370362e-03 -5.86011666e-03 2.84803243e+00] [-1.25530902e-03 9.99997258e-01 -1.97714167e-03 1.93110110e-02] [ 5.85764161e-03 1.98446245e-03 9.99980875e-01 -1.02884239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.342414037 meters Centerline goodness [0,1] 0.6498115932218687 Centerline is valid? [False, False] Translation: X:2.85, Y:0.02, Z:-1.03 [[ 9.99981109e-01 1.39633167e-03 -5.98592690e-03 2.84873567e+00] [-1.40842775e-03 9.99996974e-01 -2.01701295e-03 2.04090051e-02] [ 5.98309237e-03 2.02540559e-03 9.99980050e-01 -1.02936970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.372414037 meters Centerline goodness [0,1] 0.6524456276509341 Centerline is valid? [False, False] Translation: X:2.85, Y:0.02, Z:-1.03 [[ 9.99980306e-01 1.50410368e-03 -6.09307408e-03 2.84942351e+00] [-1.51626884e-03 9.99996866e-01 -1.99242856e-03 2.11302101e-02] [ 6.09005816e-03 2.00162806e-03 9.99979452e-01 -1.02995809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40241403699997 meters Centerline goodness [0,1] 0.6595398085929546 Centerline is valid? [False, False] Translation: X:2.85, Y:0.02, Z:-1.03 [[ 9.99980390e-01 1.35505393e-03 -6.11422523e-03 2.84977508e+00] [-1.36825245e-03 9.99996742e-01 -2.15499147e-03 2.19862545e-02] [ 6.11128518e-03 2.16331501e-03 9.99978986e-01 -1.03043791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43241403699997 meters Centerline goodness [0,1] 0.6521650604045066 Centerline is valid? [False, False] Translation: X:2.85, Y:0.02, Z:-1.03 [[ 9.99981091e-01 1.30212528e-03 -6.01018305e-03 2.84989843e+00] [-1.31446533e-03 9.99997035e-01 -2.04969814e-03 2.21614692e-02] [ 6.00749627e-03 2.05755956e-03 9.99979838e-01 -1.03096233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46241403699997 meters Centerline goodness [0,1] 0.6545241158281987 Centerline is valid? [False, False] Translation: X:2.85, Y:0.02, Z:-1.03 [[ 9.99981042e-01 1.17179505e-03 -6.04509048e-03 2.85011060e+00] [-1.18412071e-03 9.99997227e-01 -2.03577791e-03 2.24160337e-02] [ 6.04268820e-03 2.04289744e-03 9.99979656e-01 -1.03123093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49241403699997 meters Centerline goodness [0,1] 0.6427699127052331 Centerline is valid? [False, False] Translation: X:2.85, Y:0.02, Z:-1.03 [[ 9.99982470e-01 6.46975065e-04 -5.88568410e-03 2.84967890e+00] [-6.61202815e-04 9.99996864e-01 -2.41572387e-03 2.36198857e-02] [ 5.88410273e-03 2.41957316e-03 9.99979761e-01 -1.03122976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52241403699998 meters Centerline goodness [0,1] 0.6544385389573675 Centerline is valid? [False, False] Translation: X:2.85, Y:0.02, Z:-1.03 [[ 9.99981901e-01 6.18684744e-04 -5.98453512e-03 2.85008695e+00] [-6.33186850e-04 9.99996867e-01 -2.42167251e-03 2.40741684e-02] [ 5.98301812e-03 2.42541801e-03 9.99979160e-01 -1.03146452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55241403699998 meters Centerline goodness [0,1] 0.6422307326248046 Centerline is valid? [False, False] Translation: X:2.85, Y:0.02, Z:-1.03 [[ 9.99981859e-01 5.69989789e-04 -5.99642655e-03 2.85020066e+00] [-5.84609132e-04 9.99996861e-01 -2.43653896e-03 2.45652504e-02] [ 5.99501892e-03 2.44000033e-03 9.99979053e-01 -1.03157150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58241403699998 meters Centerline goodness [0,1] 0.6511664887212921 Centerline is valid? [False, False] Translation: X:2.85, Y:0.03, Z:-1.03 [[ 9.99981975e-01 2.95342311e-04 -5.99694898e-03 2.85025122e+00] [-3.11263585e-04 9.99996429e-01 -2.65413598e-03 2.52055884e-02] [ 5.99614369e-03 2.65595477e-03 9.99978496e-01 -1.03172171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61241403699998 meters Centerline goodness [0,1] 0.64531367671558 Centerline is valid? [False, False] Translation: X:2.85, Y:0.03, Z:-1.03 [[ 9.99982062e-01 1.87996968e-04 -5.98660061e-03 2.85036377e+00] [-2.04100657e-04 9.99996363e-01 -2.68945820e-03 2.54544438e-02] [ 5.98607322e-03 2.69063183e-03 9.99978463e-01 -1.03193617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64241403699998 meters Centerline goodness [0,1] 0.6341191208290627 Centerline is valid? [False, False] Translation: X:2.85, Y:0.03, Z:-1.03 [[ 9.99982417e-01 -5.08480148e-05 -5.92983343e-03 2.85039598e+00] [ 3.43807623e-05 9.99996143e-01 -2.77708660e-03 2.59829303e-02] [ 5.92995177e-03 2.77683390e-03 9.99978562e-01 -1.03220238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67241403699998 meters Centerline goodness [0,1] 0.6397708338088608 Centerline is valid? [False, False] Translation: X:2.85, Y:0.03, Z:-1.03 [[ 9.99981636e-01 -5.53840834e-05 -6.06011227e-03 2.85085030e+00] [ 3.88447692e-05 9.99996275e-01 -2.72929288e-03 2.63155449e-02] [ 6.06024085e-03 2.72900735e-03 9.99977913e-01 -1.03246791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70241403699998 meters Centerline goodness [0,1] 0.6372888301989892 Centerline is valid? [False, False] Translation: X:2.85, Y:0.03, Z:-1.03 [[ 9.99980592e-01 1.14818894e-04 -6.22912423e-03 2.85163492e+00] [-1.30463795e-04 9.99996838e-01 -2.51122501e-03 2.64111537e-02] [ 6.22881620e-03 2.51198895e-03 9.99977446e-01 -1.03302888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73241403699998 meters Centerline goodness [0,1] 0.6349815093822764 Centerline is valid? [False, False] Translation: X:2.85, Y:0.03, Z:-1.03 [[ 9.99979648e-01 6.75416367e-05 -6.37951750e-03 2.85200920e+00] [-8.45244419e-05 9.99996454e-01 -2.66185093e-03 2.68825664e-02] [ 6.37931509e-03 2.66233598e-03 9.99976108e-01 -1.03307744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76241403699999 meters Centerline goodness [0,1] 0.6412251957036228 Centerline is valid? [False, False] Translation: X:2.85, Y:0.03, Z:-1.03 [[ 9.99977376e-01 4.21473333e-04 -6.71342310e-03 2.85345686e+00] [-4.38693531e-04 9.99996617e-01 -2.56377396e-03 2.80428169e-02] [ 6.71231982e-03 2.56666109e-03 9.99974178e-01 -1.03393608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.792414037 meters Centerline goodness [0,1] 0.6423754771755777 Centerline is valid? [False, False] Translation: X:2.85, Y:0.03, Z:-1.03 [[ 9.99975317e-01 5.46141014e-04 -7.00474857e-03 2.85407093e+00] [-5.65911059e-04 9.99995862e-01 -2.82070599e-03 2.92808286e-02] [ 7.00317908e-03 2.82460043e-03 9.99971488e-01 -1.03373958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.822414037 meters Centerline goodness [0,1] 0.6425642083075584 Centerline is valid? [False, False] Translation: X:2.86, Y:0.03, Z:-1.03 [[ 9.99971005e-01 1.32990451e-03 -7.49806696e-03 2.85591189e+00] [-1.35116261e-03 9.99995080e-01 -2.83079060e-03 3.16705001e-02] [ 7.49426539e-03 2.84083963e-03 9.99967882e-01 -1.03430209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.852414037 meters Centerline goodness [0,1] 0.6436532792925571 Centerline is valid? [False, False] Translation: X:2.86, Y:0.03, Z:-1.03 [[ 9.99968716e-01 1.51542678e-03 -7.76340474e-03 2.85665638e+00] [-1.53982015e-03 9.99993894e-01 -3.13708386e-03 3.29805455e-02] [ 7.75860331e-03 3.14893997e-03 9.99964944e-01 -1.03432470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.882414037 meters Centerline goodness [0,1] 0.6463083229699231 Centerline is valid? [False, False] Translation: X:2.86, Y:0.03, Z:-1.04 [[ 9.99964045e-01 2.12173966e-03 -8.21011412e-03 2.85829474e+00] [-2.14598914e-03 9.99993358e-01 -2.94592933e-03 3.39207562e-02] [ 8.20380909e-03 2.96344223e-03 9.99961957e-01 -1.03500578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.912414037 meters Centerline goodness [0,1] 0.6488498439486765 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 0.99995925 0.00306921 -0.00848975 2.85991017] [-0.00309561 0.99999041 -0.00309858 0.03683867] [ 0.00848016 0.00312473 0.99995916 -1.03557759] [ 0. 0. 0. 1. ]] SLAMing on 236.942414037 meters Centerline goodness [0,1] 0.649456144411016 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 0.99995729 0.00322909 -0.00866031 2.86057241] [-0.00325839 0.99998901 -0.00337133 0.03822412] [ 0.00864933 0.00339941 0.99995682 -1.03574137] [ 0. 0. 0. 1. ]] SLAMing on 236.972414037 meters Centerline goodness [0,1] 0.6501300027857739 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 0.99995485 0.00342134 -0.00886469 2.86126282] [-0.00345189 0.99998815 -0.00343297 0.0392078 ] [ 0.00885284 0.00346342 0.99995481 -1.03597839] [ 0. 0. 0. 1. ]] SLAMing on 237.002414037 meters Centerline goodness [0,1] 0.6442834587164484 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 0.99995309 0.00356736 -0.0090052 2.86203458] [-0.00360021 0.99998692 -0.00363403 0.04102541] [ 0.00899211 0.00366628 0.99995285 -1.03639078] [ 0. 0. 0. 1. ]] SLAMing on 237.032414037 meters Centerline goodness [0,1] 0.6425796245027104 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 0.99995398 0.00332254 -0.0090003 2.86194008] [-0.00335812 0.9999866 -0.00394116 0.04172629] [ 0.00898709 0.0039712 0.99995173 -1.03623746] [ 0. 0. 0. 1. ]] SLAMing on 237.062414037 meters Centerline goodness [0,1] 0.6387018895956172 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 0.99995446 0.00317817 -0.00899896 2.86198644] [-0.00321389 0.999987 -0.00395753 0.04179665] [ 0.00898626 0.00398627 0.99995168 -1.03638179] [ 0. 0. 0. 1. ]] SLAMing on 237.092414037 meters Centerline goodness [0,1] 0.6401609414610321 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 9.99960432e-01 2.18025091e-03 -8.62448217e-03 2.86074396e+00] [-2.21903351e-03 9.99987459e-01 -4.48979226e-03 4.24424628e-02] [ 8.61458513e-03 4.50875263e-03 9.99952729e-01 -1.03609461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.122414037 meters Centerline goodness [0,1] 0.6389504890403603 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 9.99962009e-01 1.82301431e-03 -8.52392049e-03 2.86038555e+00] [-1.86249464e-03 9.99987565e-01 -4.62606939e-03 4.25593178e-02] [ 8.51538110e-03 4.64176940e-03 9.99952970e-01 -1.03604980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15241403699997 meters Centerline goodness [0,1] 0.6407837107445717 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 9.99964979e-01 1.01522448e-03 -8.30728190e-03 2.85981300e+00] [-1.05450614e-03 9.99988278e-01 -4.72556932e-03 4.20794487e-02] [ 8.30238701e-03 4.73416390e-03 9.99954328e-01 -1.03636216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18241403699997 meters Centerline goodness [0,1] 0.6413238969471889 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 9.99966629e-01 6.33874782e-04 -8.14482449e-03 2.85949588e+00] [-6.72026293e-04 9.99988812e-01 -4.68225884e-03 4.14857392e-02] [ 8.14176540e-03 4.68757613e-03 9.99955868e-01 -1.03662710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21241403699997 meters Centerline goodness [0,1] 0.638251110591536 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 9.99966783e-01 5.93566466e-04 -8.12894314e-03 2.85975643e+00] [-6.28521676e-04 9.99990565e-01 -4.29821343e-03 4.05420646e-02] [ 8.12631517e-03 4.30317988e-03 9.99957722e-01 -1.03726548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24241403699997 meters Centerline goodness [0,1] 0.6222814648519714 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 9.99967506e-01 3.04592222e-04 -8.05563540e-03 2.85990614e+00] [-3.37007214e-04 9.99991852e-01 -4.02283882e-03 3.98816130e-02] [ 8.05434443e-03 4.02542291e-03 9.99959461e-01 -1.03802110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27241403699998 meters Centerline goodness [0,1] 0.6326650252081135 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 9.99967513e-01 2.64716152e-04 -8.05624383e-03 2.86009810e+00] [-2.96754235e-04 9.99992052e-01 -3.97586608e-03 3.99968985e-02] [ 8.05512733e-03 3.97812764e-03 9.99959644e-01 -1.03832677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30241403699998 meters Centerline goodness [0,1] 0.6415332771693345 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 9.99965988e-01 3.81354901e-04 -8.23875668e-03 2.86073693e+00] [-4.14138067e-04 9.99992003e-01 -3.97780048e-03 4.06949312e-02] [ 8.23717384e-03 3.98107717e-03 9.99958149e-01 -1.03857789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33241403699998 meters Centerline goodness [0,1] 0.6415332771693345 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 9.99965988e-01 3.81354901e-04 -8.23875668e-03 2.86073693e+00] [-4.14138067e-04 9.99992003e-01 -3.97780048e-03 4.06949312e-02] [ 8.23717384e-03 3.98107717e-03 9.99958149e-01 -1.03857789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36241403699998 meters Centerline goodness [0,1] 0.6439252996726562 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 9.99967756e-01 2.67373871e-03 -7.57221836e-03 2.85812895e+00] [-2.68144622e-03 9.99995897e-01 -1.00789714e-03 3.99241892e-02] [ 7.56949244e-03 1.02816914e-03 9.99970822e-01 -1.03760110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39241403699998 meters Centerline goodness [0,1] 0.6393742095648508 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 9.99964518e-01 3.00898237e-03 -7.86818012e-03 2.85890763e+00] [-3.01570136e-03 9.99995098e-01 -8.42220367e-04 4.00565238e-02] [ 7.86560733e-03 8.65918565e-04 9.99968691e-01 -1.03769698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42241403699998 meters Centerline goodness [0,1] 0.6426825829495253 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 9.99964856e-01 2.80848493e-03 -7.89928660e-03 2.85851559e+00] [-2.82032496e-03 9.99994916e-01 -1.48813320e-03 4.11036857e-02] [ 7.89506704e-03 1.51035946e-03 9.99967693e-01 -1.03680940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45241403699998 meters Centerline goodness [0,1] 0.6398862675063446 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 9.99961802e-01 3.18858451e-03 -8.13808328e-03 2.85895386e+00] [-3.20181338e-03 9.99993573e-01 -1.61304112e-03 4.22347756e-02] [ 8.13288766e-03 1.63903613e-03 9.99965584e-01 -1.03631110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48241403699998 meters Centerline goodness [0,1] 0.64345659277369 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 9.99960989e-01 3.19199967e-03 -8.23599688e-03 2.85907213e+00] [-3.20681691e-03 9.99993262e-01 -1.78650545e-03 4.27670022e-02] [ 8.23023886e-03 1.81284709e-03 9.99964488e-01 -1.03610255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51241403699999 meters Centerline goodness [0,1] 0.6460854008756649 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 9.99957685e-01 3.54916984e-03 -8.48718327e-03 2.85984045e+00] [-3.56295412e-03 9.99992357e-01 -1.60956073e-03 4.28902420e-02] [ 8.48140580e-03 1.63973206e-03 9.99962688e-01 -1.03625754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.542414037 meters Centerline goodness [0,1] 0.6512273112009781 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 9.99955025e-01 3.68531732e-03 -8.73882908e-03 2.86043760e+00] [-3.69928556e-03 9.99991905e-01 -1.58278546e-03 4.27918127e-02] [ 8.73292527e-03 1.61504170e-03 9.99960563e-01 -1.03630526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.572414037 meters Centerline goodness [0,1] 0.6507539467163792 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 9.99953344e-01 3.77457477e-03 -8.89173029e-03 2.86084117e+00] [-3.78842179e-03 9.99991637e-01 -1.54096452e-03 4.26112274e-02] [ 8.88583944e-03 1.57457824e-03 9.99959280e-01 -1.03638491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.602414037 meters Centerline goodness [0,1] 0.6529458861206612 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 9.99948334e-01 4.20570067e-03 -9.25429399e-03 2.86215792e+00] [-4.21621217e-03 9.99990488e-01 -1.11663490e-03 4.18725381e-02] [ 9.24950973e-03 1.15559527e-03 9.99956555e-01 -1.03708034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.632414037 meters Centerline goodness [0,1] 0.6475473291575762 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 9.99945605e-01 4.44108974e-03 -9.43735166e-03 2.86292445e+00] [-4.44937283e-03 9.99989734e-01 -8.56878129e-04 4.15636240e-02] [ 9.43344931e-03 8.98821815e-04 9.99955100e-01 -1.03754400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.662414037 meters Centerline goodness [0,1] 0.6493650047036689 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 9.99943459e-01 4.52792327e-03 -9.62163619e-03 2.86339313e+00] [-4.53731319e-03 9.99989251e-01 -9.54311855e-04 4.17828879e-02] [ 9.61721171e-03 9.97914275e-04 9.99953256e-01 -1.03750465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.692414037 meters Centerline goodness [0,1] 0.6497719685927876 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 9.99943141e-01 4.39969788e-03 -9.71378680e-03 2.86332508e+00] [-4.41182910e-03 9.99989514e-01 -1.22779138e-03 4.19970727e-02] [ 9.70828303e-03 1.27057714e-03 9.99952066e-01 -1.03707106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.722414037 meters Centerline goodness [0,1] 0.6495608385056798 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 9.99940131e-01 4.69042805e-03 -9.88604453e-03 2.86402739e+00] [-4.69977791e-03 9.99988530e-01 -9.22743910e-04 4.15945277e-02] [ 9.88160307e-03 9.69150880e-04 9.99950706e-01 -1.03749573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.752414037 meters Centerline goodness [0,1] 0.6524454671394022 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 9.99940205e-01 4.60513186e-03 -9.91857889e-03 2.86359160e+00] [-4.61991785e-03 9.99988250e-01 -1.46834087e-03 4.18958540e-02] [ 9.91170044e-03 1.51407609e-03 9.99949732e-01 -1.03647951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.782414037 meters Centerline goodness [0,1] 0.6532477909381462 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 9.99939604e-01 4.60120331e-03 -9.98081345e-03 2.86354556e+00] [-4.61810197e-03 9.99987941e-01 -1.67072860e-03 4.20684536e-02] [ 9.97300573e-03 1.71672011e-03 9.99948795e-01 -1.03606958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.812414037 meters Centerline goodness [0,1] 0.6495805052790347 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.03 [[ 9.99937693e-01 4.69175545e-03 -1.01290101e-02 2.86341809e+00] [-4.71494736e-03 9.99986315e-01 -2.26698790e-03 4.33718669e-02] [ 1.01182354e-02 2.31460440e-03 9.99946131e-01 -1.03492127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.842414037 meters Centerline goodness [0,1] 0.6524046590268646 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.04 [[ 9.99932227e-01 5.06937052e-03 -1.04806427e-02 2.86436531e+00] [-5.09174423e-03 9.99984813e-01 -2.10918455e-03 4.37575133e-02] [ 1.04697913e-02 2.16240635e-03 9.99942852e-01 -1.03502251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.872414037 meters Centerline goodness [0,1] 0.6609846703658422 Centerline is valid? [False, False] Translation: X:2.86, Y:0.04, Z:-1.03 [[ 9.99929767e-01 5.08091661e-03 -1.07072493e-02 2.86455490e+00] [-5.10754733e-03 9.99983927e-01 -2.46129206e-03 4.47100547e-02] [ 1.06945716e-02 2.51580698e-03 9.99939647e-01 -1.03449010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90241403699997 meters Centerline goodness [0,1] 0.6491691219799647 Centerline is valid? [False, False] Translation: X:2.86, Y:0.05, Z:-1.03 [[ 9.99927383e-01 5.19347656e-03 -1.08745813e-02 2.86494354e+00] [-5.22112331e-03 9.99983206e-01 -2.51548346e-03 4.52819186e-02] [ 1.08613345e-02 2.57207832e-03 9.99937706e-01 -1.03443547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93241403699997 meters Centerline goodness [0,1] 0.6499092601758232 Centerline is valid? [False, False] Translation: X:2.87, Y:0.05, Z:-1.03 [[ 9.99922789e-01 5.62910688e-03 -1.10783331e-02 2.86583513e+00] [-5.65464344e-03 9.99981424e-01 -2.27511947e-03 4.50649790e-02] [ 1.10653204e-02 2.33758782e-03 9.99936045e-01 -1.03489219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96241403699997 meters Centerline goodness [0,1] 0.6518267260264292 Centerline is valid? [False, False] Translation: X:2.87, Y:0.04, Z:-1.04 [[ 9.99921002e-01 5.74681289e-03 -1.11787540e-02 2.86623006e+00] [-5.77197036e-03 9.99980879e-01 -2.21951205e-03 4.46915838e-02] [ 1.11657851e-02 2.28386015e-03 9.99935053e-01 -1.03508846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99241403699997 meters Centerline goodness [0,1] 0.6731838311504759 Centerline is valid? [False, False] Translation: X:2.87, Y:0.04, Z:-1.04 [[ 9.99919465e-01 5.83058739e-03 -1.12724269e-02 2.86657397e+00] [-5.85544166e-03 9.99980495e-01 -2.17312756e-03 4.44189381e-02] [ 1.12595364e-02 2.23895758e-03 9.99934103e-01 -1.03523622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02241403699998 meters Centerline goodness [0,1] 0.6831239836919378 Centerline is valid? [False, False] Translation: X:2.87, Y:0.04, Z:-1.04 [[ 9.99914972e-01 6.15337651e-03 -1.14971666e-02 2.86739635e+00] [-6.17755004e-03 9.99978780e-01 -2.06823476e-03 4.46168639e-02] [ 1.14841960e-02 2.13908323e-03 9.99931766e-01 -1.03554692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05241403699998 meters Centerline goodness [0,1] 0.6750194479149478 Centerline is valid? [False, False] Translation: X:2.87, Y:0.05, Z:-1.04 [[ 9.99913357e-01 6.17953590e-03 -1.16228797e-02 2.86769897e+00] [-6.20558966e-03 9.99978310e-01 -2.20686496e-03 4.50965510e-02] [ 1.16089902e-02 2.27880057e-03 9.99930017e-01 -1.03550882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08241403699998 meters Centerline goodness [0,1] 0.6805555555555556 Centerline is valid? [False, False] Translation: X:2.87, Y:0.05, Z:-1.04 [[ 9.99908133e-01 6.59906206e-03 -1.18396385e-02 2.86851021e+00] [-6.62350307e-03 9.99976011e-01 -2.02631483e-03 4.53597188e-02] [ 1.18259827e-02 2.10454856e-03 9.99927856e-01 -1.03577166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11241403699998 meters Centerline goodness [0,1] 0.6777427401515508 Centerline is valid? [False, False] Translation: X:2.87, Y:0.05, Z:-1.04 [[ 9.99906404e-01 6.68356545e-03 -1.19378747e-02 2.86872824e+00] [-6.70886278e-03 9.99975331e-01 -2.08029340e-03 4.54314570e-02] [ 1.19236765e-02 2.16018826e-03 9.99926577e-01 -1.03567635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14241403699998 meters Centerline goodness [0,1] 0.6866924455342828 Centerline is valid? [False, False] Translation: X:2.87, Y:0.05, Z:-1.04 [[ 9.99905735e-01 6.62355632e-03 -1.20270549e-02 2.86881340e+00] [-6.65150878e-03 9.99975266e-01 -2.28562026e-03 4.55976576e-02] [ 1.20116185e-02 2.36540287e-03 9.99925060e-01 -1.03545686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17241403699998 meters Centerline goodness [0,1] 0.6929297215738972 Centerline is valid? [False, False] Translation: X:2.87, Y:0.05, Z:-1.04 [[ 9.99903780e-01 6.75408950e-03 -1.21166233e-02 2.86901374e+00] [-6.78247552e-03 9.99974346e-01 -2.30317237e-03 4.57888039e-02] [ 1.21007566e-02 2.38513146e-03 9.99923939e-01 -1.03535285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20241403699998 meters Centerline goodness [0,1] 0.6895179332595436 Centerline is valid? [False, False] Translation: X:2.87, Y:0.05, Z:-1.04 [[ 9.99901733e-01 6.86036029e-03 -1.22254139e-02 2.86943880e+00] [-6.88745311e-03 9.99973915e-01 -2.17538316e-03 4.59984979e-02] [ 1.22101711e-02 2.25937135e-03 9.99922901e-01 -1.03562092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23241403699998 meters Centerline goodness [0,1] 0.6855366646258183 Centerline is valid? [False, False] Translation: X:2.87, Y:0.05, Z:-1.04 [[ 9.99903004e-01 6.70644396e-03 -1.22067723e-02 2.86933832e+00] [-6.73622211e-03 9.99974431e-01 -2.39999937e-03 4.65487706e-02] [ 1.21903648e-02 2.48199411e-03 9.99922614e-01 -1.03550995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26241403699999 meters Centerline goodness [0,1] 0.6803288342402186 Centerline is valid? [False, False] Translation: X:2.87, Y:0.05, Z:-1.04 [[ 9.99901918e-01 6.77380316e-03 -1.22584909e-02 2.86977745e+00] [-6.80196646e-03 9.99974319e-01 -2.25721955e-03 4.63918431e-02] [ 1.22428861e-02 2.34038000e-03 9.99922314e-01 -1.03594162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.292414037 meters Centerline goodness [0,1] 0.6818224762624592 Centerline is valid? [False, False] Translation: X:2.87, Y:0.05, Z:-1.04 [[ 9.99903650e-01 6.58247162e-03 -1.22213887e-02 2.86967989e+00] [-6.61360973e-03 9.99974982e-01 -2.50917191e-03 4.66632609e-02] [ 1.22045664e-02 2.58975764e-03 9.99922168e-01 -1.03586606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.322414037 meters Centerline goodness [0,1] 0.6824654622741764 Centerline is valid? [False, False] Translation: X:2.87, Y:0.05, Z:-1.04 [[ 9.99903840e-01 6.51418902e-03 -1.22424106e-02 2.86989338e+00] [-6.54639474e-03 9.99975212e-01 -2.59243758e-03 4.69664365e-02] [ 1.22252195e-02 2.67233194e-03 9.99921698e-01 -1.03606932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.352414037 meters Centerline goodness [0,1] 0.6788238083945933 Centerline is valid? [False, False] Translation: X:2.87, Y:0.05, Z:-1.04 [[ 0.99990804 0.00612581 -0.01209928 2.86937162] [-0.00616544 0.99997574 -0.00324043 0.04880315] [ 0.01207913 0.00331473 0.99992155 -1.03558735] [ 0. 0. 0. 1. ]] SLAMing on 238.382414037 meters Centerline goodness [0,1] 0.6843050599106657 Centerline is valid? [False, False] Translation: X:2.88, Y:0.05, Z:-1.04 [[ 0.99997399 0.00415917 -0.00589194 2.87954754] [-0.00412724 0.9999768 0.00541957 0.04686898] [ 0.00591435 -0.00539511 0.99996796 -1.03950691] [ 0. 0. 0. 1. ]] SLAMing on 238.412414037 meters Centerline goodness [0,1] 0.6820611503100278 Centerline is valid? [False, False] Translation: X:2.88, Y:0.05, Z:-1.04 [[ 0.99997497 0.00384067 -0.00594216 2.87921181] [-0.00381253 0.9999815 0.00473936 0.0482734 ] [ 0.00596025 -0.00471659 0.99997111 -1.03876946] [ 0. 0. 0. 1. ]] SLAMing on 238.442414037 meters Centerline goodness [0,1] 0.6843421710855428 Centerline is valid? [False, False] Translation: X:2.88, Y:0.05, Z:-1.04 [[ 0.99997763 0.00324979 -0.00584559 2.87870883] [-0.00322732 0.99998738 0.00384976 0.05017445] [ 0.00585802 -0.00383081 0.9999755 -1.03819165] [ 0. 0. 0. 1. ]] SLAMing on 238.472414037 meters Centerline goodness [0,1] 0.6752528143484068 Centerline is valid? [False, False] Translation: X:2.88, Y:0.05, Z:-1.04 [[ 9.99978721e-01 2.85276361e-03 -5.86686984e-03 2.87846946e+00] [-2.83301539e-03 9.99990303e-01 3.37161690e-03 5.07096970e-02] [ 5.87643138e-03 -3.35492422e-03 9.99977106e-01 -1.03782952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.502414037 meters Centerline goodness [0,1] 0.6809620677276534 Centerline is valid? [False, False] Translation: X:2.88, Y:0.05, Z:-1.04 [[ 9.99983456e-01 1.77407755e-03 -5.47181691e-03 2.87716926e+00] [-1.75987055e-03 9.99995071e-01 2.60011845e-03 5.13962453e-02] [ 5.47640275e-03 -2.59044574e-03 9.99981649e-01 -1.03747471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.532414037 meters Centerline goodness [0,1] 0.6663081409245184 Centerline is valid? [False, False] Translation: X:2.88, Y:0.05, Z:-1.04 [[ 9.99985733e-01 1.25781857e-03 -5.19153776e-03 2.87665259e+00] [-1.24575307e-03 9.99996517e-01 2.32665079e-03 5.15136522e-02] [ 5.19444619e-03 -2.32015022e-03 9.99983817e-01 -1.03768698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.562414037 meters Centerline goodness [0,1] 0.6693737161419768 Centerline is valid? [False, False] Translation: X:2.88, Y:0.05, Z:-1.04 [[ 9.99987821e-01 6.77385072e-04 -4.88860512e-03 2.87589195e+00] [-6.67587102e-04 9.99997766e-01 2.00560014e-03 5.15692633e-02] [ 4.88995276e-03 -2.00231214e-03 9.99986039e-01 -1.03764416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.592414037 meters Centerline goodness [0,1] 0.6635460450897974 Centerline is valid? [False, False] Translation: X:2.87, Y:0.05, Z:-1.04 [[ 9.99989832e-01 -3.04813403e-04 -4.49918277e-03 2.87483471e+00] [ 3.11753187e-04 9.99998763e-01 1.54183375e-03 5.17993691e-02] [ 4.49870723e-03 -1.54322070e-03 9.99988690e-01 -1.03765284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.622414037 meters Centerline goodness [0,1] 0.6705368021214075 Centerline is valid? [False, False] Translation: X:2.87, Y:0.05, Z:-1.04 [[ 9.99990373e-01 -6.39982782e-04 -4.34110081e-03 2.87451939e+00] [ 6.46270634e-04 9.99998744e-01 1.44719829e-03 5.19157840e-02] [ 4.34016917e-03 -1.44998989e-03 9.99989530e-01 -1.03780996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65241403699997 meters Centerline goodness [0,1] 0.6690540637650609 Centerline is valid? [False, False] Translation: X:2.87, Y:0.05, Z:-1.04 [[ 9.99991168e-01 -1.09040186e-03 -4.05900982e-03 2.87381589e+00] [ 1.09512391e-03 9.99998726e-01 1.16131039e-03 5.22441630e-02] [ 4.05773836e-03 -1.16574525e-03 9.99991088e-01 -1.03771875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68241403699997 meters Centerline goodness [0,1] 0.6573535397064809 Centerline is valid? [False, False] Translation: X:2.87, Y:0.05, Z:-1.04 [[ 9.99991338e-01 -1.32191667e-03 -3.94667122e-03 2.87375653e+00] [ 1.32620232e-03 9.99998534e-01 1.08346817e-03 5.25721266e-02] [ 3.94523318e-03 -1.08869287e-03 9.99991625e-01 -1.03794439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71241403699997 meters Centerline goodness [0,1] 0.6697907428270093 Centerline is valid? [False, False] Translation: X:2.87, Y:0.05, Z:-1.04 [[ 9.99991426e-01 -1.49234935e-03 -3.86270772e-03 2.87346930e+00] [ 1.49589870e-03 9.99998461e-01 9.16150022e-04 5.30778522e-02] [ 3.86133456e-03 -9.21920386e-04 9.99992120e-01 -1.03778728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74241403699997 meters Centerline goodness [0,1] 0.6527986992803003 Centerline is valid? [False, False] Translation: X:2.87, Y:0.05, Z:-1.04 [[ 9.99990922e-01 -1.46122821e-03 -4.00247136e-03 2.87383627e+00] [ 1.46469755e-03 9.99998554e-01 8.64005400e-04 5.34358418e-02] [ 4.00120306e-03 -8.69859967e-04 9.99991617e-01 -1.03780866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77241403699998 meters Centerline goodness [0,1] 0.6657221755312763 Centerline is valid? [False, False] Translation: X:2.87, Y:0.05, Z:-1.04 [[ 9.99991181e-01 -1.66719406e-03 -3.85452914e-03 2.87378337e+00] [ 1.66951931e-03 9.99998426e-01 6.00112834e-04 5.47586156e-02] [ 3.85352257e-03 -6.06542753e-04 9.99992391e-01 -1.03814200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80241403699998 meters Centerline goodness [0,1] 0.6600705188170108 Centerline is valid? [False, False] Translation: X:2.87, Y:0.05, Z:-1.04 [[ 9.99990747e-01 -1.40652835e-03 -4.06544148e-03 2.87481173e+00] [ 1.40997335e-03 9.99998649e-01 8.44645557e-04 5.49871224e-02] [ 4.06424797e-03 -8.50369905e-04 9.99991379e-01 -1.03892320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83241403699998 meters Centerline goodness [0,1] 0.6679930545507162 Centerline is valid? [False, False] Translation: X:2.88, Y:0.06, Z:-1.04 [[ 9.99991051e-01 -1.40314652e-03 -3.99104375e-03 2.87511783e+00] [ 1.40616560e-03 9.99998727e-01 7.53760181e-04 5.57915398e-02] [ 3.98998104e-03 -7.59365504e-04 9.99991752e-01 -1.03949108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86241403699998 meters Centerline goodness [0,1] 0.668199975789856 Centerline is valid? [False, False] Translation: X:2.88, Y:0.06, Z:-1.04 [[ 9.99990659e-01 -1.08679469e-03 -4.18336781e-03 2.87634599e+00] [ 1.09011795e-03 9.99999092e-01 7.92200879e-04 5.72835909e-02] [ 4.18250305e-03 -7.96753844e-04 9.99990936e-01 -1.04045572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89241403699998 meters Centerline goodness [0,1] 0.665615141955836 Centerline is valid? [False, False] Translation: X:2.88, Y:0.06, Z:-1.04 [[ 9.99989486e-01 -9.12731956e-04 -4.49381915e-03 2.87729186e+00] [ 9.15658025e-04 9.99999370e-01 6.49117544e-04 5.84337833e-02] [ 4.49322385e-03 -6.53225521e-04 9.99989692e-01 -1.04072055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92241403699998 meters Centerline goodness [0,1] 0.669452519379845 Centerline is valid? [False, False] Translation: X:2.88, Y:0.06, Z:-1.04 [[ 9.99988846e-01 -9.20633532e-04 -4.63248442e-03 2.87763674e+00] [ 9.21388296e-04 9.99999563e-01 1.60796988e-04 6.02386294e-02] [ 4.63233436e-03 -1.65063511e-04 9.99989257e-01 -1.04058205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95241403699998 meters Centerline goodness [0,1] 0.6711223448208817 Centerline is valid? [False, False] Translation: X:2.88, Y:0.06, Z:-1.04 [[ 9.99987681e-01 -5.51003452e-04 -4.93288845e-03 2.87874339e+00] [ 5.49996332e-04 9.99999828e-01 -2.05518578e-04 6.30842865e-02] [ 4.93300084e-03 2.02802976e-04 9.99987812e-01 -1.04076341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98241403699998 meters Centerline goodness [0,1] 0.6714722052535125 Centerline is valid? [False, False] Translation: X:2.88, Y:0.06, Z:-1.04 [[ 9.99987563e-01 -7.87595866e-04 -4.92476855e-03 2.87851226e+00] [ 7.83680831e-04 9.99999375e-01 -7.96847490e-04 6.47737064e-02] [ 4.92539307e-03 7.92978132e-04 9.99987556e-01 -1.04034261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01241403699999 meters Centerline goodness [0,1] 0.6717628095540468 Centerline is valid? [False, False] Translation: X:2.88, Y:0.07, Z:-1.04 [[ 9.99987250e-01 -6.70044723e-04 -5.00512766e-03 2.87899730e+00] [ 6.66149362e-04 9.99999474e-01 -7.79900653e-04 6.55972746e-02] [ 5.00564760e-03 7.76556547e-04 9.99987170e-01 -1.04071695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.042414037 meters Centerline goodness [0,1] 0.6698069460376346 Centerline is valid? [False, False] Translation: X:2.88, Y:0.07, Z:-1.04 [[ 9.99986657e-01 -4.52045105e-04 -5.14603790e-03 2.87981687e+00] [ 4.48891023e-04 9.99999711e-01 -6.14053110e-04 6.60386234e-02] [ 5.14631399e-03 6.11734907e-04 9.99986571e-01 -1.04139000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.072414037 meters Centerline goodness [0,1] 0.6707883290161771 Centerline is valid? [False, False] Translation: X:2.88, Y:0.07, Z:-1.04 [[ 9.99987911e-01 -9.30443830e-04 -4.82825189e-03 2.87915965e+00] [ 9.25546642e-04 9.99999055e-01 -1.01641285e-03 6.70778557e-02] [ 4.82919305e-03 1.01193179e-03 9.99987827e-01 -1.04149904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.102414037 meters Centerline goodness [0,1] 0.6576646969770963 Centerline is valid? [False, False] Translation: X:2.88, Y:0.07, Z:-1.04 [[ 9.99988682e-01 -9.87006691e-04 -4.65431596e-03 2.87897577e+00] [ 9.83368080e-04 9.99999209e-01 -7.83995000e-04 6.68231701e-02] [ 4.65508608e-03 7.79409221e-04 9.99988861e-01 -1.04185698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.132414037 meters Centerline goodness [0,1] 0.650385226855815 Centerline is valid? [False, False] Translation: X:2.88, Y:0.07, Z:-1.04 [[ 9.99989772e-01 -1.44451931e-03 -4.28583459e-03 2.87829972e+00] [ 1.44164287e-03 9.99998734e-01 -6.74164071e-04 6.68428774e-02] [ 4.28680301e-03 6.67978533e-04 9.99990589e-01 -1.04230264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.162414037 meters Centerline goodness [0,1] 0.647379002598931 Centerline is valid? [False, False] Translation: X:2.88, Y:0.07, Z:-1.04 [[ 9.99990185e-01 -1.66232489e-03 -4.10699076e-03 2.87800675e+00] [ 1.65963113e-03 9.99998406e-01 -6.59217827e-04 6.69128498e-02] [ 4.10808005e-03 6.52395267e-04 9.99991349e-01 -1.04252869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.192414037 meters Centerline goodness [0,1] 0.6620365841729434 Centerline is valid? [False, False] Translation: X:2.88, Y:0.07, Z:-1.04 [[ 9.99990021e-01 -1.60573135e-03 -4.16898466e-03 2.87846616e+00] [ 1.60471764e-03 9.99998682e-01 -2.46489546e-04 6.63073457e-02] [ 4.16937496e-03 2.39797043e-04 9.99991279e-01 -1.04316262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.222414037 meters Centerline goodness [0,1] 0.6358634518511272 Centerline is valid? [False, False] Translation: X:2.88, Y:0.07, Z:-1.04 [[ 9.99990474e-01 -2.18091400e-03 -3.78101965e-03 2.87770247e+00] [ 2.18069441e-03 9.99997620e-01 -6.21998310e-05 6.52839290e-02] [ 3.78114631e-03 5.39539901e-05 9.99992850e-01 -1.04372248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.252414037 meters Centerline goodness [0,1] 0.6358634518511272 Centerline is valid? [False, False] Translation: X:2.88, Y:0.07, Z:-1.04 [[ 9.99990474e-01 -2.18091400e-03 -3.78101965e-03 2.87770247e+00] [ 2.18069441e-03 9.99997620e-01 -6.21998310e-05 6.52839290e-02] [ 3.78114631e-03 5.39539901e-05 9.99992850e-01 -1.04372248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.282414037 meters Centerline goodness [0,1] 0.6342148316362659 Centerline is valid? [False, False] Translation: X:2.88, Y:0.06, Z:-1.04 [[ 9.99990884e-01 -2.06901932e-03 -3.73507631e-03 2.87806455e+00] [ 2.07053184e-03 9.99997776e-01 4.01128747e-04 6.42195191e-02] [ 3.73423806e-03 -4.08858685e-04 9.99992944e-01 -1.04445175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.312414037 meters Centerline goodness [0,1] 0.6493933635433415 Centerline is valid? [False, False] Translation: X:2.88, Y:0.06, Z:-1.05 [[ 9.99991044e-01 -2.12177445e-03 -3.66186214e-03 2.87825397e+00] [ 2.12463539e-03 9.99997441e-01 7.77566694e-04 6.33623121e-02] [ 3.66020294e-03 -7.85339852e-04 9.99992993e-01 -1.04513354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.342414037 meters Centerline goodness [0,1] 0.6481097307983306 Centerline is valid? [False, False] Translation: X:2.88, Y:0.06, Z:-1.05 [[ 9.99990923e-01 -2.65241199e-03 -3.33434629e-03 2.87741759e+00] [ 2.65490238e-03 9.99996200e-01 7.42687650e-04 6.28373319e-02] [ 3.33236371e-03 -7.51533273e-04 9.99994165e-01 -1.04521698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.372414037 meters Centerline goodness [0,1] 0.6431918008784774 Centerline is valid? [False, False] Translation: X:2.88, Y:0.06, Z:-1.05 [[ 9.99991165e-01 -2.56422358e-03 -3.33072017e-03 2.87755601e+00] [ 2.56764342e-03 9.99996180e-01 1.02288812e-03 6.23375097e-02] [ 3.32808454e-03 -1.03143118e-03 9.99993930e-01 -1.04546162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40241403699997 meters Centerline goodness [0,1] 0.6445346902828065 Centerline is valid? [False, False] Translation: X:2.88, Y:0.06, Z:-1.05 [[ 9.99990881e-01 -2.83803733e-03 -3.19123379e-03 2.87706259e+00] [ 2.84086346e-03 9.99995576e-01 8.81406850e-04 6.25092142e-02] [ 3.18871821e-03 -8.90464671e-04 9.99994520e-01 -1.04529435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43241403699997 meters Centerline goodness [0,1] 0.6385751308004499 Centerline is valid? [False, False] Translation: X:2.88, Y:0.06, Z:-1.05 [[ 9.99991184e-01 -2.70063776e-03 -3.21525323e-03 2.87728344e+00] [ 2.70459414e-03 9.99995590e-01 1.22679111e-03 6.18703876e-02] [ 3.21192593e-03 -1.23547625e-03 9.99994079e-01 -1.04560082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46241403699997 meters Centerline goodness [0,1] 0.6455999608668004 Centerline is valid? [False, False] Translation: X:2.88, Y:0.06, Z:-1.05 [[ 9.99991413e-01 -2.55544392e-03 -3.26255795e-03 2.87757093e+00] [ 2.56007990e-03 9.99995718e-01 1.41757993e-03 6.16356105e-02] [ 3.25892144e-03 -1.42592017e-03 9.99993673e-01 -1.04581355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49241403699997 meters Centerline goodness [0,1] 0.6408727734747233 Centerline is valid? [False, False] Translation: X:2.88, Y:0.06, Z:-1.05 [[ 9.99991136e-01 -2.47190583e-03 -3.40837678e-03 2.87790102e+00] [ 2.47687038e-03 9.99995877e-01 1.45312169e-03 6.15253304e-02] [ 3.40477075e-03 -1.46155091e-03 9.99993136e-01 -1.04578803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52241403699998 meters Centerline goodness [0,1] 0.6388360407824771 Centerline is valid? [False, False] Translation: X:2.88, Y:0.06, Z:-1.05 [[ 9.99991104e-01 -2.27509392e-03 -3.55193126e-03 2.87841710e+00] [ 2.28138539e-03 9.99995834e-01 1.76823553e-03 6.09503549e-02] [ 3.54789356e-03 -1.77632312e-03 9.99992129e-01 -1.04609074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55241403699998 meters Centerline goodness [0,1] 0.638984415014268 Centerline is valid? [False, False] Translation: X:2.88, Y:0.06, Z:-1.05 [[ 9.99990995e-01 -2.66007431e-03 -3.30669027e-03 2.87739976e+00] [ 2.66544306e-03 9.99995135e-01 1.62025620e-03 5.99189261e-02] [ 3.30236418e-03 -1.62905540e-03 9.99993220e-01 -1.04551297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58241403699998 meters Centerline goodness [0,1] 0.6344156474470977 Centerline is valid? [False, False] Translation: X:2.88, Y:0.06, Z:-1.05 [[ 9.99990814e-01 -2.65327620e-03 -3.36644513e-03 2.87745098e+00] [ 2.65966214e-03 9.99994670e-01 1.89388039e-03 5.85363146e-02] [ 3.36140220e-03 -1.90281660e-03 9.99992540e-01 -1.04552884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61241403699998 meters Centerline goodness [0,1] 0.637183632783059 Centerline is valid? [False, False] Translation: X:2.88, Y:0.06, Z:-1.05 [[ 9.99990921e-01 -2.86555340e-03 -3.15387820e-03 2.87681136e+00] [ 2.87206457e-03 9.99993750e-01 2.06190872e-03 5.72970939e-02] [ 3.14794998e-03 -2.07094814e-03 9.99992901e-01 -1.04544032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64241403699998 meters Centerline goodness [0,1] 0.633543219705194 Centerline is valid? [False, False] Translation: X:2.88, Y:0.05, Z:-1.05 [[ 9.99989863e-01 -3.17413893e-03 -3.19339657e-03 2.87642063e+00] [ 3.18150202e-03 9.99992286e-01 2.30329363e-03 5.45408201e-02] [ 3.18606096e-03 -2.31343008e-03 9.99992248e-01 -1.04507913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67241403699998 meters Centerline goodness [0,1] 0.6310138591982322 Centerline is valid? [False, False] Translation: X:2.88, Y:0.05, Z:-1.05 [[ 9.99989966e-01 -3.00133654e-03 -3.32552597e-03 2.87678927e+00] [ 3.01041267e-03 9.99991749e-01 2.72759669e-03 5.31106630e-02] [ 3.31731209e-03 -2.73758053e-03 9.99990751e-01 -1.04525311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70241403699998 meters Centerline goodness [0,1] 0.632181979433831 Centerline is valid? [False, False] Translation: X:2.88, Y:0.05, Z:-1.04 [[ 9.99989706e-01 -2.96042119e-03 -3.43863309e-03 2.87682121e+00] [ 2.96994993e-03 9.99991755e-01 2.76929166e-03 5.22849131e-02] [ 3.43040647e-03 -2.77947572e-03 9.99990253e-01 -1.04489131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73241403699998 meters Centerline goodness [0,1] 0.6322859198848645 Centerline is valid? [False, False] Translation: X:2.88, Y:0.05, Z:-1.04 [[ 9.99989506e-01 -2.96485313e-03 -3.49248291e-03 2.87673116e+00] [ 2.97443669e-03 9.99991817e-01 2.74206223e-03 5.18794430e-02] [ 3.48432452e-03 -2.75242162e-03 9.99990142e-01 -1.04454337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76241403699999 meters Centerline goodness [0,1] 0.6231056078787589 Centerline is valid? [False, False] Translation: X:2.88, Y:0.05, Z:-1.04 [[ 9.99989624e-01 -2.43853509e-03 -3.84777605e-03 2.87758174e+00] [ 2.45104668e-03 9.99991714e-01 3.25028310e-03 5.02995921e-02] [ 3.83981823e-03 -3.25968045e-03 9.99987315e-01 -1.04450445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.792414037 meters Centerline goodness [0,1] 0.6318874560375147 Centerline is valid? [False, False] Translation: X:2.88, Y:0.05, Z:-1.04 [[ 9.99989561e-01 -2.24554914e-03 -3.97945721e-03 2.87781705e+00] [ 2.25929195e-03 9.99991489e-01 3.45231338e-03 4.94294087e-02] [ 3.97167100e-03 -3.46126809e-03 9.99986123e-01 -1.04439517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.822414037 meters Centerline goodness [0,1] 0.6315714149413224 Centerline is valid? [False, False] Translation: X:2.88, Y:0.05, Z:-1.04 [[ 9.99989166e-01 -2.26323566e-03 -4.06774163e-03 2.87767710e+00] [ 2.27689931e-03 9.99991771e-01 3.35754039e-03 4.87670758e-02] [ 4.06010925e-03 -3.36676585e-03 9.99986090e-01 -1.04389765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.852414037 meters Centerline goodness [0,1] 0.6296578671495283 Centerline is valid? [False, False] Translation: X:2.88, Y:0.05, Z:-1.04 [[ 9.99989698e-01 -2.36106460e-03 -3.87668614e-03 2.87662963e+00] [ 2.37504845e-03 9.99990676e-01 3.60653286e-03 4.60253649e-02] [ 3.86813473e-03 -3.61570303e-03 9.99985982e-01 -1.04304857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.882414037 meters Centerline goodness [0,1] 0.6262616667062484 Centerline is valid? [False, False] Translation: X:2.88, Y:0.04, Z:-1.04 [[ 9.99989945e-01 -2.31223327e-03 -3.84235542e-03 2.87648663e+00] [ 2.32744555e-03 9.99989453e-01 3.95935825e-03 4.42068996e-02] [ 3.83315994e-03 -3.96826131e-03 9.99984780e-01 -1.04299795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.912414037 meters Centerline goodness [0,1] 0.6291034155597723 Centerline is valid? [False, False] Translation: X:2.88, Y:0.04, Z:-1.04 [[ 9.99989789e-01 -2.40099118e-03 -3.82841952e-03 2.87611734e+00] [ 2.41633510e-03 9.99989047e-01 4.00832573e-03 4.28034571e-02] [ 3.81875363e-03 -4.01753555e-03 9.99984638e-01 -1.04253637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.942414037 meters Centerline goodness [0,1] 0.6240695668612207 Centerline is valid? [False, False] Translation: X:2.88, Y:0.04, Z:-1.04 [[ 9.99990440e-01 -1.96807618e-03 -3.90459363e-03 2.87661733e+00] [ 1.98704148e-03 9.99986220e-01 4.85925548e-03 3.97089538e-02] [ 3.89497644e-03 -4.86696762e-03 9.99980571e-01 -1.04304382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.972414037 meters Centerline goodness [0,1] 0.6235113421550095 Centerline is valid? [False, False] Translation: X:2.88, Y:0.04, Z:-1.04 [[ 9.99989998e-01 -1.72929867e-03 -4.12476353e-03 2.87728739e+00] [ 1.75060948e-03 9.99985111e-01 5.16855093e-03 3.85690834e-02] [ 4.11576415e-03 -5.17572008e-03 9.99978136e-01 -1.04330629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.002414037 meters Centerline goodness [0,1] 0.6320560946242652 Centerline is valid? [False, False] Translation: X:2.88, Y:0.04, Z:-1.04 [[ 9.99989259e-01 -1.37923549e-03 -4.42481681e-03 2.87811445e+00] [ 1.40327698e-03 9.99984247e-01 5.43483442e-03 3.77870411e-02] [ 4.41725119e-03 -5.44098529e-03 9.99975441e-01 -1.04348421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.032414037 meters Centerline goodness [0,1] 0.6317423725623956 Centerline is valid? [False, False] Translation: X:2.88, Y:0.04, Z:-1.04 [[ 9.99987949e-01 -5.83105891e-04 -4.87463250e-03 2.87931425e+00] [ 6.11451388e-04 9.99982903e-01 5.81543276e-03 3.70751783e-02] [ 4.87115815e-03 -5.81834327e-03 9.99971209e-01 -1.04346218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.062414037 meters Centerline goodness [0,1] 0.6304230253721166 Centerline is valid? [False, False] Translation: X:2.88, Y:0.04, Z:-1.04 [[ 9.99986871e-01 -3.10815545e-04 -5.11488313e-03 2.87961990e+00] [ 3.40592415e-04 9.99982995e-01 5.82177198e-03 3.65274420e-02] [ 5.11298665e-03 -5.82343763e-03 9.99969972e-01 -1.04296708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.092414037 meters Centerline goodness [0,1] 0.637078360756067 Centerline is valid? [False, False] Translation: X:2.88, Y:0.04, Z:-1.04 [[ 9.99985540e-01 -6.90164103e-05 -5.37735912e-03 2.87995672e+00] [ 1.00568270e-04 9.99982781e-01 5.86748864e-03 3.59381391e-02] [ 5.37686158e-03 -5.86794459e-03 9.99968328e-01 -1.04252439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.122414037 meters Centerline goodness [0,1] 0.6363913727146847 Centerline is valid? [False, False] Translation: X:2.88, Y:0.03, Z:-1.04 [[ 9.99984035e-01 4.80645586e-04 -5.63023277e-03 2.88035877e+00] [-4.45921057e-04 9.99980884e-01 6.16714459e-03 3.46161004e-02] [ 5.63308935e-03 -6.16453549e-03 9.99965133e-01 -1.04207169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15241403699997 meters Centerline goodness [0,1] 0.6351107887409626 Centerline is valid? [False, False] Translation: X:2.88, Y:0.03, Z:-1.04 [[ 9.99983112e-01 7.28131308e-04 -5.76595642e-03 2.88070369e+00] [-6.91594355e-04 9.99979687e-01 6.33612882e-03 3.38541544e-02] [ 5.77045283e-03 -6.33203411e-03 9.99963303e-01 -1.04200607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18241403699997 meters Centerline goodness [0,1] 0.6376103920377553 Centerline is valid? [False, False] Translation: X:2.88, Y:0.03, Z:-1.04 [[ 9.99982096e-01 9.05300136e-04 -5.91509095e-03 2.88092923e+00] [-8.67454387e-04 9.99979159e-01 6.39760463e-03 3.30753533e-02] [ 5.92075942e-03 -6.39235902e-03 9.99962040e-01 -1.04172810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21241403699997 meters Centerline goodness [0,1] 0.6383291351805206 Centerline is valid? [False, False] Translation: X:2.88, Y:0.03, Z:-1.04 [[ 9.99980810e-01 1.35052519e-03 -6.04616173e-03 2.88129034e+00] [-1.30884349e-03 9.99975389e-01 6.89256777e-03 3.08563680e-02] [ 6.05532152e-03 -6.88452202e-03 9.99957967e-01 -1.04168951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24241403699997 meters Centerline goodness [0,1] 0.6373034125490742 Centerline is valid? [False, False] Translation: X:2.88, Y:0.03, Z:-1.04 [[ 9.99977773e-01 -7.86363515e-04 -6.62083147e-03 2.88354565e+00] [ 8.11191891e-04 9.99992646e-01 3.74818904e-03 3.11952124e-02] [ 6.61783535e-03 -3.75347650e-03 9.99971057e-01 -1.04207761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27241403699998 meters Centerline goodness [0,1] 0.6360453523151476 Centerline is valid? [False, False] Translation: X:2.88, Y:0.03, Z:-1.04 [[ 9.99976511e-01 -4.14588337e-04 -6.84139013e-03 2.88422578e+00] [ 4.42811602e-04 9.99991397e-01 4.12437087e-03 3.01610373e-02] [ 6.83962136e-03 -4.12730344e-03 9.99968092e-01 -1.04227978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30241403699998 meters Centerline goodness [0,1] 0.6517347080953044 Centerline is valid? [False, False] Translation: X:2.88, Y:0.03, Z:-1.04 [[ 9.99975088e-01 -1.74187244e-04 -7.05645599e-03 2.88458475e+00] [ 2.04586898e-04 9.99990701e-01 4.30756983e-03 2.93917945e-02] [ 7.05564005e-03 -4.30890618e-03 9.99965825e-01 -1.04207014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33241403699998 meters Centerline goodness [0,1] 0.6438739843985093 Centerline is valid? [False, False] Translation: X:2.89, Y:0.03, Z:-1.04 [[ 9.99972398e-01 1.34312618e-04 -7.42863900e-03 2.88502365e+00] [-1.02142630e-04 9.99990617e-01 4.33074584e-03 2.86544068e-02] [ 7.42915097e-03 -4.32986753e-03 9.99963029e-01 -1.04132973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36241403699998 meters Centerline goodness [0,1] 0.6555328440026015 Centerline is valid? [False, False] Translation: X:2.88, Y:0.03, Z:-1.04 [[ 9.99971589e-01 1.47906792e-04 -7.53655364e-03 2.88495669e+00] [-1.15959274e-04 9.99991008e-01 4.23926965e-03 2.84331233e-02] [ 7.53711288e-03 -4.23827528e-03 9.99962614e-01 -1.04083385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39241403699998 meters Centerline goodness [0,1] 0.6735770476631189 Centerline is valid? [False, False] Translation: X:2.89, Y:0.03, Z:-1.04 [[ 9.99969950e-01 2.57913573e-04 -7.74805051e-03 2.88506288e+00] [-2.25159273e-04 9.99991037e-01 4.22799957e-03 2.77754646e-02] [ 7.74907152e-03 -4.22612797e-03 9.99961045e-01 -1.04023341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42241403699998 meters Centerline goodness [0,1] 0.6695982225513794 Centerline is valid? [False, False] Translation: X:2.89, Y:0.03, Z:-1.04 [[ 9.99969174e-01 2.56502113e-04 -7.84764400e-03 2.88502187e+00] [-2.23472061e-04 9.99991115e-01 4.20950058e-03 2.71324567e-02] [ 7.84865402e-03 -4.20761709e-03 9.99960347e-01 -1.03983933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45241403699998 meters Centerline goodness [0,1] 0.6607155230154514 Centerline is valid? [False, False] Translation: X:2.89, Y:0.03, Z:-1.04 [[ 9.99967590e-01 5.59033156e-04 -8.03163544e-03 2.88537272e+00] [-5.22698420e-04 9.99989624e-01 4.52533941e-03 2.51944620e-02] [ 8.03408192e-03 -4.52099462e-03 9.99957506e-01 -1.03964111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48241403699998 meters Centerline goodness [0,1] 0.6617031070195627 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-1.04 [[ 9.99966189e-01 5.64543231e-04 -8.20373474e-03 2.88566019e+00] [-5.27777660e-04 9.99989812e-01 4.48303914e-03 2.47781360e-02] [ 8.20618203e-03 -4.47855782e-03 9.99956300e-01 -1.03951013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51241403699999 meters Centerline goodness [0,1] 0.6682173041936301 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-1.04 [[ 9.99964620e-01 6.01768669e-04 -8.39028150e-03 2.88594750e+00] [-5.64253475e-04 9.99989837e-01 4.47291811e-03 2.43564726e-02] [ 8.39288789e-03 -4.46802561e-03 9.99954797e-01 -1.03936076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.542414037 meters Centerline goodness [0,1] 0.6617177998577297 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-1.04 [[ 9.99963594e-01 5.72403695e-04 -8.51370191e-03 2.88615386e+00] [-5.35042105e-04 9.99990221e-01 4.39003748e-03 2.40776021e-02] [ 8.51613153e-03 -4.38532246e-03 9.99954121e-01 -1.03917118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.572414037 meters Centerline goodness [0,1] 0.6607056549057515 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-1.04 [[ 9.99962834e-01 4.20479950e-04 -8.61122024e-03 2.88596733e+00] [-3.84446151e-04 9.99991166e-01 4.18574504e-03 2.39871747e-02] [ 8.61290419e-03 -4.18227892e-03 9.99954162e-01 -1.03858884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.602414037 meters Centerline goodness [0,1] 0.6638998440796111 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-1.04 [[ 9.99962076e-01 4.14219736e-04 -8.69908575e-03 2.88615479e+00] [-3.77499042e-04 9.99991014e-01 4.22243086e-03 2.34967718e-02] [ 8.70075660e-03 -4.21898683e-03 9.99953247e-01 -1.03855410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.632414037 meters Centerline goodness [0,1] 0.6572692475188522 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-1.04 [[ 9.99963928e-01 1.52689075e-04 -8.49231673e-03 2.88542728e+00] [-1.16277211e-04 9.99990800e-01 4.28795275e-03 2.19774899e-02] [ 8.49289332e-03 -4.28681062e-03 9.99954746e-01 -1.03824194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.662414037 meters Centerline goodness [0,1] 0.6537309337053214 Centerline is valid? [False, False] Translation: X:2.88, Y:0.02, Z:-1.04 [[ 9.99964590e-01 -1.02286474e-04 -8.41479114e-03 2.88490841e+00] [ 1.37254448e-04 9.99991358e-01 4.15506427e-03 2.12149349e-02] [ 8.41429341e-03 -4.15607211e-03 9.99955962e-01 -1.03776858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.692414037 meters Centerline goodness [0,1] 0.6545363339945733 Centerline is valid? [False, False] Translation: X:2.88, Y:0.02, Z:-1.04 [[ 9.99966730e-01 -8.92241868e-04 -8.10819793e-03 2.88341474e+00] [ 9.23666525e-04 9.99992074e-01 3.87274683e-03 1.97109951e-02] [ 8.10467824e-03 -3.88010725e-03 9.99959629e-01 -1.03686111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.722414037 meters Centerline goodness [0,1] 0.6690655674235351 Centerline is valid? [False, False] Translation: X:2.88, Y:0.02, Z:-1.04 [[ 9.99967172e-01 -1.08140203e-03 -8.03023743e-03 2.88302967e+00] [ 1.11200886e-03 9.99992131e-01 3.80796103e-03 1.91106686e-02] [ 8.02605630e-03 -3.81676572e-03 9.99960507e-01 -1.03658944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.752414037 meters Centerline goodness [0,1] 0.6679778091037243 Centerline is valid? [False, False] Translation: X:2.88, Y:0.02, Z:-1.04 [[ 9.99966675e-01 -1.17488932e-03 -8.07888141e-03 2.88304967e+00] [ 1.20579136e-03 9.99991972e-01 3.82123353e-03 1.86560550e-02] [ 8.07432703e-03 -3.83084763e-03 9.99960064e-01 -1.03652029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.782414037 meters Centerline goodness [0,1] 0.6792629250381993 Centerline is valid? [False, False] Translation: X:2.88, Y:0.02, Z:-1.04 [[ 9.99966426e-01 -1.06172007e-03 -8.12528047e-03 2.88320132e+00] [ 1.09482038e-03 9.99991117e-01 4.07038052e-03 1.76229146e-02] [ 8.12088668e-03 -4.07913958e-03 9.99958705e-01 -1.03657513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.812414037 meters Centerline goodness [0,1] 0.6709356020108732 Centerline is valid? [False, False] Translation: X:2.88, Y:0.02, Z:-1.04 [[ 9.99965386e-01 -1.00195302e-03 -8.25973365e-03 2.88345539e+00] [ 1.03608671e-03 9.99990938e-01 4.12929800e-03 1.70603057e-02] [ 8.25552144e-03 -4.13771287e-03 9.99957362e-01 -1.03649438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.842414037 meters Centerline goodness [0,1] 0.6767123287671233 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-1.04 [[ 9.99959718e-01 -2.15548137e-03 -8.71301886e-03 2.88650753e+00] [ 2.17615602e-03 9.99994838e-01 2.36406162e-03 1.71600717e-02] [ 8.70787819e-03 -2.38292728e-03 9.99959246e-01 -1.03831464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.872414037 meters Centerline goodness [0,1] 0.6784595122394296 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-1.04 [[ 9.99959800e-01 -2.13635146e-03 -8.70826789e-03 2.88653205e+00] [ 2.15822068e-03 9.99994539e-01 2.50269364e-03 1.65642257e-02] [ 8.70287370e-03 -2.52138740e-03 9.99958950e-01 -1.03834635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90241403699997 meters Centerline goodness [0,1] 0.6695320828324525 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-1.04 [[ 9.99958847e-01 -2.12455903e-03 -8.81992080e-03 2.88673448e+00] [ 2.14696451e-03 9.99994491e-01 2.53163554e-03 1.61672527e-02] [ 8.81449360e-03 -2.55046741e-03 9.99957899e-01 -1.03827570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93241403699997 meters Centerline goodness [0,1] 0.6723577235772358 Centerline is valid? [False, False] Translation: X:2.89, Y:0.01, Z:-1.04 [[ 9.99958502e-01 -1.92517529e-03 -8.90435969e-03 2.88746408e+00] [ 1.95311331e-03 9.99993194e-01 3.12993611e-03 1.45492591e-02] [ 8.89827341e-03 -3.14719745e-03 9.99955457e-01 -1.03914546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96241403699997 meters Centerline goodness [0,1] 0.6816260089077797 Centerline is valid? [False, False] Translation: X:2.89, Y:0.01, Z:-1.04 [[ 9.99958890e-01 -2.07129077e-03 -8.82764598e-03 2.88722909e+00] [ 2.09890906e-03 9.99992929e-01 3.12049807e-03 1.37918455e-02] [ 8.82112010e-03 -3.13889821e-03 9.99956167e-01 -1.03907688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99241403699997 meters Centerline goodness [0,1] 0.6809688424953118 Centerline is valid? [False, False] Translation: X:2.89, Y:0.01, Z:-1.04 [[ 9.99960555e-01 -2.39593956e-03 -8.55266543e-03 2.88675492e+00] [ 2.42296988e-03 9.99992099e-01 3.15149513e-03 1.26540943e-02] [ 8.54504706e-03 -3.17209367e-03 9.99958459e-01 -1.03929353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02241403699998 meters Centerline goodness [0,1] 0.6754984792159513 Centerline is valid? [False, False] Translation: X:2.89, Y:0.01, Z:-1.04 [[ 9.99959995e-01 -2.30230180e-03 -8.64341679e-03 2.88734470e+00] [ 2.33134486e-03 9.99991666e-01 3.35156552e-03 1.22950438e-02] [ 8.63562844e-03 -3.37158223e-03 9.99957028e-01 -1.03986233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05241403699998 meters Centerline goodness [0,1] 0.6751729126169703 Centerline is valid? [False, False] Translation: X:2.89, Y:0.01, Z:-1.04 [[ 9.99959988e-01 -2.41974629e-03 -8.61208609e-03 2.88724732e+00] [ 2.44690364e-03 9.99992063e-01 3.14426239e-03 1.25468593e-02] [ 8.60440942e-03 -3.16520952e-03 9.99957972e-01 -1.03972678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08241403699998 meters Centerline goodness [0,1] 0.6712112319985554 Centerline is valid? [False, False] Translation: X:2.89, Y:0.01, Z:-1.04 [[ 9.99959809e-01 -2.51528002e-03 -8.60549437e-03 2.88738120e+00] [ 2.54101637e-03 9.99992328e-01 2.98106311e-03 1.31314892e-02] [ 8.59793014e-03 -3.00281000e-03 9.99958529e-01 -1.03986083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11241403699998 meters Centerline goodness [0,1] 0.6692203082502266 Centerline is valid? [False, False] Translation: X:2.89, Y:0.01, Z:-1.04 [[ 9.99959563e-01 -2.74374661e-03 -8.56406958e-03 2.88712663e+00] [ 2.76474152e-03 9.99993200e-01 2.44063559e-03 1.46369759e-02] [ 8.55731485e-03 -2.46421434e-03 9.99960349e-01 -1.03943480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14241403699998 meters Centerline goodness [0,1] 0.6692203082502266 Centerline is valid? [False, False] Translation: X:2.89, Y:0.01, Z:-1.04 [[ 9.99959563e-01 -2.74374661e-03 -8.56406958e-03 2.88712663e+00] [ 2.76474152e-03 9.99993200e-01 2.44063559e-03 1.46369759e-02] [ 8.55731485e-03 -2.46421434e-03 9.99960349e-01 -1.03943480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17241403699998 meters Centerline goodness [0,1] 0.674796195652174 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-1.04 [[ 9.99959381e-01 -2.55061922e-03 -8.64466051e-03 2.88769780e+00] [ 2.57235102e-03 9.99993557e-01 2.50371279e-03 1.50957517e-02] [ 8.63821879e-03 -2.52584819e-03 9.99959500e-01 -1.03986015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20241403699998 meters Centerline goodness [0,1] 0.6666591314962588 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-1.04 [[ 9.99958660e-01 -2.57540655e-03 -8.72041106e-03 2.88792228e+00] [ 2.59575578e-03 9.99993933e-01 2.32300417e-03 1.58299605e-02] [ 8.71437547e-03 -2.34554419e-03 9.99959278e-01 -1.03984993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23241403699998 meters Centerline goodness [0,1] 0.6706122448979592 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-1.04 [[ 9.99958395e-01 -2.85026937e-03 -8.66507079e-03 2.88749198e+00] [ 2.86638525e-03 9.99994184e-01 1.84801670e-03 1.68780396e-02] [ 8.65975305e-03 -1.87277725e-03 9.99960750e-01 -1.03934587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26241403699999 meters Centerline goodness [0,1] 0.6675849821270008 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-1.04 [[ 9.99958214e-01 -3.17459666e-03 -8.57271520e-03 2.88697903e+00] [ 3.18479387e-03 9.99994237e-01 1.17610605e-03 1.87495884e-02] [ 8.56893214e-03 -1.20335924e-03 9.99962562e-01 -1.03874656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.292414037 meters Centerline goodness [0,1] 0.662920072661217 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-1.04 [[ 9.99957276e-01 -3.05631609e-03 -8.72380955e-03 2.88761122e+00] [ 3.06770633e-03 9.99994459e-01 1.29256721e-03 1.90458004e-02] [ 8.71981072e-03 -1.31927407e-03 9.99961111e-01 -1.03918707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.322414037 meters Centerline goodness [0,1] 0.6653688524590164 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-1.04 [[ 9.99957729e-01 -3.10821289e-03 -8.65325808e-03 2.88773457e+00] [ 3.11900456e-03 9.99994375e-01 1.23390634e-03 1.96110874e-02] [ 8.64937416e-03 -1.26084374e-03 9.99961799e-01 -1.03956724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.352414037 meters Centerline goodness [0,1] 0.67184 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-1.04 [[ 9.99957448e-01 -2.94881689e-03 -8.74111237e-03 2.88870255e+00] [ 2.96032146e-03 9.99994769e-01 1.30349877e-03 2.05985998e-02] [ 8.73722286e-03 -1.32931980e-03 9.99960946e-01 -1.04060746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.382414037 meters Centerline goodness [0,1] 0.6647811848764513 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-1.04 [[ 9.99957134e-01 -2.86953056e-03 -8.80314046e-03 2.88928347e+00] [ 2.88072732e-03 9.99995058e-01 1.25948913e-03 2.14106800e-02] [ 8.79948281e-03 -1.28479458e-03 9.99960458e-01 -1.04115182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.412414037 meters Centerline goodness [0,1] 0.6636538373529816 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-1.04 [[ 9.99956553e-01 -2.59964982e-03 -8.95178306e-03 2.89027007e+00] [ 2.61196048e-03 9.99995659e-01 1.36380288e-03 2.21309447e-02] [ 8.94819879e-03 -1.38712533e-03 9.99959002e-01 -1.04193535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.442414037 meters Centerline goodness [0,1] 0.6670491840903353 Centerline is valid? [False, False] Translation: X:2.89, Y:0.02, Z:-1.04 [[ 9.99956262e-01 -2.06507374e-03 -9.12189810e-03 2.89170352e+00] [ 2.07871690e-03 9.99996735e-01 1.48642071e-03 2.40162809e-02] [ 9.11879875e-03 -1.50531754e-03 9.99957290e-01 -1.04312650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.472414037 meters Centerline goodness [0,1] 0.6694612709307415 Centerline is valid? [False, False] Translation: X:2.89, Y:0.03, Z:-1.04 [[ 9.99956493e-01 -2.14988097e-03 -9.07691867e-03 2.89170195e+00] [ 2.16080046e-03 9.99996953e-01 1.19336001e-03 2.52537353e-02] [ 9.07432543e-03 -1.21292150e-03 9.99958092e-01 -1.04317662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.502414037 meters Centerline goodness [0,1] 0.6678908830526875 Centerline is valid? [False, False] Translation: X:2.89, Y:0.03, Z:-1.04 [[ 9.99956620e-01 -2.37904977e-03 -9.00546974e-03 2.89139003e+00] [ 2.38613323e-03 9.99996852e-01 7.75910299e-04 2.65106945e-02] [ 9.00359546e-03 -7.97364890e-04 9.99959149e-01 -1.04291890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.532414037 meters Centerline goodness [0,1] 0.6616723612521932 Centerline is valid? [False, False] Translation: X:2.89, Y:0.03, Z:-1.04 [[ 9.99956458e-01 -2.59174922e-03 -8.96468927e-03 2.89106414e+00] [ 2.59344248e-03 9.99996621e-01 1.77261761e-04 2.85457557e-02] [ 8.96419956e-03 -2.00503448e-04 9.99959801e-01 -1.04234787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.562414037 meters Centerline goodness [0,1] 0.6586233172466345 Centerline is valid? [False, False] Translation: X:2.89, Y:0.03, Z:-1.04 [[ 9.99956705e-01 -2.63585156e-03 -8.92413337e-03 2.89100347e+00] [ 2.63645837e-03 9.99996523e-01 5.62326267e-05 2.91294059e-02] [ 8.92395412e-03 -7.97582982e-05 9.99960178e-01 -1.04230801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.592414037 meters Centerline goodness [0,1] 0.6540817977943727 Centerline is valid? [False, False] Translation: X:2.89, Y:0.03, Z:-1.04 [[ 9.99957314e-01 -2.83916033e-03 -8.79259350e-03 2.89070856e+00] [ 2.83831419e-03 9.99995966e-01 -1.08710094e-04 2.96694707e-02] [ 8.79286668e-03 8.37493105e-05 9.99961338e-01 -1.04230170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.622414037 meters Centerline goodness [0,1] 0.651640672004443 Centerline is valid? [False, False] Translation: X:2.89, Y:0.03, Z:-1.04 [[ 9.99956711e-01 -3.14485304e-03 -8.75705672e-03 2.89105491e+00] [ 3.14278546e-03 9.99995030e-01 -2.49856059e-04 3.03563250e-02] [ 8.75779896e-03 2.22323693e-04 9.99961625e-01 -1.04298559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65241403699997 meters Centerline goodness [0,1] 0.6623379634997565 Centerline is valid? [False, False] Translation: X:2.89, Y:0.03, Z:-1.04 [[ 9.99956579e-01 -3.14607077e-03 -8.77166349e-03 2.89160064e+00] [ 3.14531417e-03 9.99995048e-01 -1.00049125e-04 3.05253949e-02] [ 8.77193482e-03 7.24551438e-05 9.99961523e-01 -1.04379508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68241403699997 meters Centerline goodness [0,1] 0.6571282812355069 Centerline is valid? [False, False] Translation: X:2.89, Y:0.03, Z:-1.04 [[ 9.99956380e-01 -3.22314826e-03 -8.76637820e-03 2.89211327e+00] [ 3.22302336e-03 9.99994806e-01 -2.83752632e-05 3.08459240e-02] [ 8.76642412e-03 1.19783824e-07 9.99961574e-01 -1.04459499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71241403699997 meters Centerline goodness [0,1] 0.6567666012888764 Centerline is valid? [False, False] Translation: X:2.89, Y:0.03, Z:-1.05 [[ 9.99957221e-01 -3.29676897e-03 -8.64220422e-03 2.89278312e+00] [ 3.29786501e-03 9.99994556e-01 1.12576913e-04 3.16728503e-02] [ 8.64178603e-03 -1.41072919e-04 9.99962649e-01 -1.04601898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74241403699997 meters Centerline goodness [0,1] 0.6452442159383034 Centerline is valid? [False, False] Translation: X:2.89, Y:0.03, Z:-1.05 [[ 9.99957191e-01 -3.11064411e-03 -8.71435449e-03 2.89357049e+00] [ 3.11316522e-03 9.99995116e-01 2.75754874e-04 3.22973813e-02] [ 8.71345415e-03 -3.02872294e-04 9.99961991e-01 -1.04686567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77241403699998 meters Centerline goodness [0,1] 0.6434465508777671 Centerline is valid? [False, False] Translation: X:2.89, Y:0.03, Z:-1.05 [[ 9.99956041e-01 -2.99530150e-03 -8.88507445e-03 2.89426450e+00] [ 2.99848702e-03 9.99995445e-01 3.45225146e-04 3.30453840e-02] [ 8.88399993e-03 -3.71851751e-04 9.99960467e-01 -1.04734040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80241403699998 meters Centerline goodness [0,1] 0.6506702979362806 Centerline is valid? [False, False] Translation: X:2.89, Y:0.04, Z:-1.05 [[ 9.99955919e-01 -3.21604893e-03 -8.82145091e-03 2.89403640e+00] [ 3.21295398e-03 9.99994772e-01 -3.64993805e-04 3.55362366e-02] [ 8.82257863e-03 3.36634799e-04 9.99961024e-01 -1.04694765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83241403699998 meters Centerline goodness [0,1] 0.6382363315696649 Centerline is valid? [False, False] Translation: X:2.89, Y:0.04, Z:-1.05 [[ 9.99955463e-01 -3.19558981e-03 -8.88029280e-03 2.89415126e+00] [ 3.19102959e-03 9.99994769e-01 -5.27642180e-04 3.63931522e-02] [ 8.88193248e-03 4.99281403e-04 9.99960430e-01 -1.04683688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86241403699998 meters Centerline goodness [0,1] 0.6451202263083451 Centerline is valid? [False, False] Translation: X:2.89, Y:0.04, Z:-1.05 [[ 9.99955401e-01 -3.12318517e-03 -8.91298498e-03 2.89428252e+00] [ 3.11875218e-03 9.99995006e-01 -5.11218707e-04 3.69193651e-02] [ 8.91453710e-03 4.83398516e-04 9.99960148e-01 -1.04689468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89241403699998 meters Centerline goodness [0,1] 0.6430229558937323 Centerline is valid? [False, False] Translation: X:2.89, Y:0.04, Z:-1.05 [[ 9.99954485e-01 -2.99070947e-03 -9.05999883e-03 2.89480141e+00] [ 2.98710656e-03 9.99995454e-01 -4.11177341e-04 3.71221569e-02] [ 9.06118736e-03 3.84095444e-04 9.99958873e-01 -1.04712615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92241403699998 meters Centerline goodness [0,1] 0.6400725935702838 Centerline is valid? [False, False] Translation: X:2.89, Y:0.04, Z:-1.05 [[ 9.99954865e-01 -3.25001116e-03 -8.92774461e-03 2.89447111e+00] [ 3.24522630e-03 9.99994583e-01 -5.50388232e-04 3.72996964e-02] [ 8.92948502e-03 5.21390839e-04 9.99959995e-01 -1.04713936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95241403699998 meters Centerline goodness [0,1] 0.6400782797321513 Centerline is valid? [False, False] Translation: X:2.89, Y:0.04, Z:-1.05 [[ 9.99954653e-01 -3.14438235e-03 -8.98917200e-03 2.89492370e+00] [ 3.14189769e-03 9.99995022e-01 -2.90514619e-04 3.69465534e-02] [ 8.99004074e-03 2.62258386e-04 9.99959554e-01 -1.04762079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98241403699998 meters Centerline goodness [0,1] 0.6428183128885108 Centerline is valid? [False, False] Translation: X:2.90, Y:0.04, Z:-1.05 [[ 9.99954206e-01 -3.10239299e-03 -9.05320884e-03 2.89533224e+00] [ 3.10146313e-03 9.99995184e-01 -1.16747694e-04 3.68292803e-02] [ 9.05352743e-03 8.86641541e-05 9.99959012e-01 -1.04805062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01241403699999 meters Centerline goodness [0,1] 0.6497183165270084 Centerline is valid? [False, False] Translation: X:2.90, Y:0.04, Z:-1.05 [[ 9.99953352e-01 -2.96515192e-03 -9.19251925e-03 2.89625936e+00] [ 2.96716187e-03 9.99995577e-01 2.05020452e-04 3.69614384e-02] [ 9.19187068e-03 -2.32286581e-04 9.99957727e-01 -1.04903300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.042414037 meters Centerline goodness [0,1] 0.639874195989406 Centerline is valid? [False, False] Translation: X:2.90, Y:0.04, Z:-1.05 [[ 9.99951813e-01 -2.67289020e-03 -9.44604593e-03 2.89718826e+00] [ 2.67877199e-03 9.99996226e-01 6.10074271e-04 3.66502014e-02] [ 9.44437962e-03 -6.35348677e-04 9.99955199e-01 -1.04961385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.072414037 meters Centerline goodness [0,1] 0.6439284444970975 Centerline is valid? [False, False] Translation: X:2.90, Y:0.04, Z:-1.05 [[ 9.99951713e-01 -2.79454559e-03 -9.42138050e-03 2.89713780e+00] [ 2.79876020e-03 9.99995989e-01 4.34190337e-04 3.70201845e-02] [ 9.42012934e-03 -4.60537556e-04 9.99955524e-01 -1.04955704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.102414037 meters Centerline goodness [0,1] 0.6481258129360293 Centerline is valid? [False, False] Translation: X:2.90, Y:0.04, Z:-1.05 [[ 9.99950354e-01 -2.50100862e-03 -9.64542018e-03 2.89796108e+00] [ 2.50793339e-03 9.99996606e-01 7.05904764e-04 3.70387182e-02] [ 9.64362197e-03 -7.30059790e-04 9.99953233e-01 -1.04997960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.132414037 meters Centerline goodness [0,1] 0.6474492698653518 Centerline is valid? [False, False] Translation: X:2.90, Y:0.04, Z:-1.05 [[ 9.99949017e-01 -2.57579244e-03 -9.76367534e-03 2.89825744e+00] [ 2.57931252e-03 9.99996613e-01 3.47953655e-04 3.84094257e-02] [ 9.76274601e-03 -3.73119485e-04 9.99952274e-01 -1.04993440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.162414037 meters Centerline goodness [0,1] 0.6427860460707175 Centerline is valid? [False, False] Translation: X:2.90, Y:0.04, Z:-1.05 [[ 9.99946451e-01 -2.11313330e-03 -1.01306406e-02 2.89962831e+00] [ 2.11959428e-03 9.99997557e-01 6.27072033e-04 3.87852242e-02] [ 1.01292908e-02 -6.48511302e-04 9.99948487e-01 -1.05058618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.192414037 meters Centerline goodness [0,1] 0.6480140965806267 Centerline is valid? [False, False] Translation: X:2.90, Y:0.04, Z:-1.05 [[ 9.99943238e-01 -1.84478973e-03 -1.04937153e-02 2.90060757e+00] [ 1.84747287e-03 9.99998263e-01 2.46002160e-04 4.07428965e-02] [ 1.04932433e-02 -2.65375050e-04 9.99944909e-01 -1.05051674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.222414037 meters Centerline goodness [0,1] 0.6499619083896772 Centerline is valid? [False, False] Translation: X:2.90, Y:0.04, Z:-1.05 [[ 9.99940062e-01 -1.40199945e-03 -1.08585154e-02 2.90186171e+00] [ 1.40749846e-03 9.99998885e-01 4.98797753e-04 4.10925077e-02] [ 1.08578040e-02 -5.14051200e-04 9.99940920e-01 -1.05105328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.252414037 meters Centerline goodness [0,1] 0.6561006349130858 Centerline is valid? [False, False] Translation: X:2.90, Y:0.04, Z:-1.05 [[ 9.99938711e-01 -1.14152160e-03 -1.10122832e-02 2.90271604e+00] [ 1.14942746e-03 9.99999086e-01 7.11610267e-04 4.14017663e-02] [ 1.10114609e-02 -7.24224474e-04 9.99939110e-01 -1.05170752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.282414037 meters Centerline goodness [0,1] 0.654198236095509 Centerline is valid? [False, False] Translation: X:2.90, Y:0.04, Z:-1.05 [[ 9.99938756e-01 -1.37447867e-03 -1.09815445e-02 2.90222788e+00] [ 1.37495181e-03 9.99999054e-01 3.55348349e-05 4.27518627e-02] [ 1.09814852e-02 -5.06317530e-05 9.99939700e-01 -1.05088685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.312414037 meters Centerline goodness [0,1] 0.6492505251097958 Centerline is valid? [False, False] Translation: X:2.90, Y:0.04, Z:-1.05 [[ 9.99937929e-01 -1.35213844e-03 -1.10593756e-02 2.90241077e+00] [ 1.35160296e-03 9.99999085e-01 -5.58923825e-05 4.31489603e-02] [ 1.10594411e-02 4.09410284e-05 9.99938842e-01 -1.05081013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.342414037 meters Centerline goodness [0,1] 0.6594915213699744 Centerline is valid? [False, False] Translation: X:2.90, Y:0.04, Z:-1.05 [[ 9.99937698e-01 -1.33819503e-03 -1.10818995e-02 2.90248391e+00] [ 1.33702192e-03 9.99999100e-01 -1.13265912e-04 4.35339164e-02] [ 1.10820411e-02 9.84421132e-05 9.99938587e-01 -1.05077297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.372414037 meters Centerline goodness [0,1] 0.6515155122741018 Centerline is valid? [False, False] Translation: X:2.90, Y:0.04, Z:-1.05 [[ 9.99934858e-01 -8.21024215e-04 -1.13844589e-02 2.90395057e+00] [ 8.23310967e-04 9.99999642e-01 1.96180946e-04 4.38321268e-02] [ 1.13842938e-02 -2.05541116e-04 9.99935176e-01 -1.05164715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40241403699997 meters Centerline goodness [0,1] 0.6518355850479782 Centerline is valid? [False, False] Translation: X:2.90, Y:0.04, Z:-1.05 [[ 9.99932721e-01 -7.91237547e-04 -1.15727262e-02 2.90455178e+00] [ 7.92771981e-04 9.99999678e-01 1.28003764e-04 4.42653676e-02] [ 1.15726212e-02 -1.37169685e-04 9.99933026e-01 -1.05191132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43241403699997 meters Centerline goodness [0,1] 0.6502348542944785 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-1.05 [[ 9.99931144e-01 -7.65490917e-04 -1.17098748e-02 2.90509930e+00] [ 7.66553337e-04 9.99999702e-01 8.62405553e-05 4.46116269e-02] [ 1.17098053e-02 -9.52108608e-05 9.99931433e-01 -1.05224586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46241403699997 meters Centerline goodness [0,1] 0.652915291529153 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-1.05 [[ 9.99929802e-01 -5.17331771e-04 -1.18373769e-02 2.90599301e+00] [ 5.22212621e-04 9.99999780e-01 4.09238065e-04 4.44923477e-02] [ 1.18371626e-02 -4.15390965e-04 9.99929852e-01 -1.05307585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49241403699997 meters Centerline goodness [0,1] 0.6527877827402392 Centerline is valid? [False, False] Translation: X:2.91, Y:0.05, Z:-1.05 [[ 9.99929783e-01 -7.14467540e-04 -1.18287210e-02 2.90579248e+00] [ 7.16010448e-04 9.99999736e-01 1.26203102e-04 4.50491512e-02] [ 1.18286277e-02 -1.34663728e-04 9.99930030e-01 -1.05280009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52241403699998 meters Centerline goodness [0,1] 0.6540278677123055 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-1.05 [[ 9.99929420e-01 -6.68749804e-04 -1.18620461e-02 2.90602712e+00] [ 6.71520613e-04 9.99999748e-01 2.29604625e-04 4.49790707e-02] [ 1.18618896e-02 -2.37554028e-04 9.99929617e-01 -1.05299017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55241403699998 meters Centerline goodness [0,1] 0.6474135043307652 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-1.05 [[ 9.99928455e-01 -4.68658047e-04 -1.19526172e-02 2.90638449e+00] [ 4.74797696e-04 9.99999757e-01 5.10833185e-04 4.45147221e-02] [ 1.19523749e-02 -5.16471713e-04 9.99928434e-01 -1.05316668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58241403699998 meters Centerline goodness [0,1] 0.6482963530934011 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-1.05 [[ 9.99929108e-01 -5.75305979e-04 -1.18931558e-02 2.90611897e+00] [ 5.80995200e-04 9.99999718e-01 4.74911396e-04 4.42616744e-02] [ 1.18928793e-02 -4.81787596e-04 9.99929161e-01 -1.05298527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61241403699998 meters Centerline goodness [0,1] 0.6508596982088624 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-1.05 [[ 9.99930443e-01 -6.71447809e-04 -1.17753038e-02 2.90595541e+00] [ 6.78906668e-04 9.99999571e-01 6.29446503e-04 4.32215759e-02] [ 1.17748762e-02 -6.37397053e-04 9.99930471e-01 -1.05312918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64241403699998 meters Centerline goodness [0,1] 0.6545450198441161 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-1.05 [[ 9.99930389e-01 -7.37645186e-04 -1.17759318e-02 2.90589656e+00] [ 7.44676073e-04 9.99999547e-01 5.92682064e-04 4.28505383e-02] [ 1.17754892e-02 -6.01410061e-04 9.99930486e-01 -1.05298999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67241403699998 meters Centerline goodness [0,1] 0.6470980653769179 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-1.05 [[ 9.99928615e-01 -5.32256217e-04 -1.19366020e-02 2.90653190e+00] [ 5.43093180e-04 9.99999443e-01 9.04653642e-04 4.22222681e-02] [ 1.19361138e-02 -9.11071750e-04 9.99928347e-01 -1.05338622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70241403699998 meters Centerline goodness [0,1] 0.6499881263357872 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-1.05 [[ 9.99928394e-01 -5.53997354e-04 -1.19541040e-02 2.90652046e+00] [ 5.64321383e-04 9.99999471e-01 8.60283070e-04 4.18230901e-02] [ 1.19536211e-02 -8.66967425e-04 9.99928177e-01 -1.05320986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73241403699998 meters Centerline goodness [0,1] 0.6516254475612359 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-1.05 [[ 9.99927374e-01 -3.23478457e-04 -1.20475286e-02 2.90694496e+00] [ 3.37827825e-04 9.99999236e-01 1.18904724e-03 4.12242568e-02] [ 1.20471348e-02 -1.19303087e-03 9.99926719e-01 -1.05347675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76241403699999 meters Centerline goodness [0,1] 0.6545934504982283 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-1.05 [[ 9.99926894e-01 -2.40023913e-04 -1.20891940e-02 2.90712515e+00] [ 2.54803904e-04 9.99999222e-01 1.22105325e-03 4.10932836e-02] [ 1.20888915e-02 -1.22404436e-03 9.99926177e-01 -1.05352814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.792414037 meters Centerline goodness [0,1] 0.6515370919881306 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-1.05 [[ 9.99925012e-01 2.99113550e-04 -1.22426200e-02 2.90807820e+00] [-2.76897416e-04 9.99998312e-01 1.81631000e-03 4.01632482e-02] [ 1.22431426e-02 -1.81278385e-03 9.99923407e-01 -1.05424888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.822414037 meters Centerline goodness [0,1] 0.6507136060894386 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-1.05 [[ 9.99924846e-01 2.15454958e-04 -1.22578817e-02 2.90794591e+00] [-1.94416002e-04 9.99998506e-01 1.71752719e-03 3.98381773e-02] [ 1.22582335e-02 -1.71501498e-03 9.99923394e-01 -1.05399827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.852414037 meters Centerline goodness [0,1] 0.6482487135099244 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-1.05 [[ 9.99922733e-01 4.56495964e-04 -1.24225220e-02 2.90863878e+00] [-4.29707315e-04 9.99997577e-01 2.15904187e-03 3.87184700e-02] [ 1.24234774e-02 -2.15353700e-03 9.99920507e-01 -1.05450177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.882414037 meters Centerline goodness [0,1] 0.6516219358819202 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-1.05 [[ 9.99924095e-01 1.50240645e-04 -1.23199840e-02 2.90819942e+00] [-1.27655970e-04 9.99998310e-01 1.83393996e-03 3.89342487e-02] [ 1.23202387e-02 -1.83222804e-03 9.99922424e-01 -1.05417321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.912414037 meters Centerline goodness [0,1] 0.6522100562905256 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-1.05 [[ 9.99924526e-01 -1.94494074e-04 -1.22843452e-02 2.90772915e+00] [ 2.13302558e-04 9.99998807e-01 1.52980211e-03 3.91436089e-02] [ 1.22840330e-02 -1.53230693e-03 9.99923374e-01 -1.05369381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.942414037 meters Centerline goodness [0,1] 0.656050805042731 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-1.05 [[ 9.99915474e-01 -1.77781653e-03 -1.28795823e-02 2.91050412e+00] [ 1.77058324e-03 9.99998268e-01 -5.72989589e-04 3.95095598e-02] [ 1.28805786e-02 5.50136784e-04 9.99916891e-01 -1.05488625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.972414037 meters Centerline goodness [0,1] 0.653819699736736 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-1.05 [[ 9.99916989e-01 -2.48073347e-03 -1.26436141e-02 2.90934066e+00] [ 2.46821714e-03 9.99996448e-01 -1.00544100e-03 3.89490263e-02] [ 1.26460634e-02 9.74150348e-04 9.99919561e-01 -1.05412429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.002414037 meters Centerline goodness [0,1] 0.651823869673002 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-1.05 [[ 9.99915070e-01 -2.24188122e-03 -1.28384618e-02 2.91012253e+00] [ 2.23578475e-03 9.99997381e-01 -4.89192785e-04 3.78007050e-02] [ 1.28395249e-02 4.60447201e-04 9.99917464e-01 -1.05471744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.032414037 meters Centerline goodness [0,1] 0.6514575711082261 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-1.06 [[ 9.99916030e-01 -2.28159951e-03 -1.27564887e-02 2.91020198e+00] [ 2.27968125e-03 9.99997388e-01 -1.64914528e-04 3.68160628e-02] [ 1.27568316e-02 1.35819952e-04 9.99918619e-01 -1.05517213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.062414037 meters Centerline goodness [0,1] 0.6514575711082261 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-1.06 [[ 9.99916030e-01 -2.28159951e-03 -1.27564887e-02 2.91020198e+00] [ 2.27968125e-03 9.99997388e-01 -1.64914528e-04 3.68160628e-02] [ 1.27568316e-02 1.35819952e-04 9.99918619e-01 -1.05517213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.092414037 meters Centerline goodness [0,1] 0.6506089501510575 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-1.05 [[ 9.99917702e-01 -2.76996517e-03 -1.25266179e-02 2.90944627e+00] [ 2.76677382e-03 9.99996135e-01 -2.72088169e-04 3.61660977e-02] [ 1.25273231e-02 2.37407458e-04 9.99921502e-01 -1.05499081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.122414037 meters Centerline goodness [0,1] 0.6494381493085821 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-1.05 [[ 9.99916987e-01 -2.67023602e-03 -1.26051522e-02 2.90964339e+00] [ 2.66857592e-03 9.99996428e-01 -1.48517944e-04 3.59265868e-02] [ 1.26055038e-02 1.14867809e-04 9.99920541e-01 -1.05495378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15241403699997 meters Centerline goodness [0,1] 0.6476545716376685 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-1.05 [[ 9.99917259e-01 -2.85485137e-03 -1.25429205e-02 2.90918916e+00] [ 2.85071680e-03 9.99995876e-01 -3.47500337e-04 3.62358815e-02] [ 1.25438608e-02 3.11715270e-04 9.99921274e-01 -1.05448063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18241403699997 meters Centerline goodness [0,1] 0.6521452456082513 Centerline is valid? [False, False] Translation: X:2.91, Y:0.04, Z:-1.05 [[ 9.99917370e-01 -2.66228159e-03 -1.25763897e-02 2.90910731e+00] [ 2.66127644e-03 9.99996454e-01 -9.66580725e-05 3.54821357e-02] [ 1.25766025e-02 6.31808360e-05 9.99920909e-01 -1.05417591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21241403699997 meters Centerline goodness [0,1] 0.6420206011006068 Centerline is valid? [False, False] Translation: X:2.91, Y:0.03, Z:-1.05 [[ 9.99917106e-01 -2.62987802e-03 -1.26041272e-02 2.90903075e+00] [ 2.62999863e-03 9.99996542e-01 -7.00591366e-06 3.48083440e-02] [ 1.26041021e-02 -2.61435045e-05 9.99920565e-01 -1.05398163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24241403699997 meters Centerline goodness [0,1] 0.651702786377709 Centerline is valid? [False, False] Translation: X:2.91, Y:0.03, Z:-1.05 [[ 9.99916129e-01 -2.35999009e-03 -1.27343875e-02 2.90954091e+00] [ 2.36648413e-03 9.99997077e-01 4.94916478e-04 3.35531686e-02] [ 1.27331823e-02 -5.25010695e-04 9.99918792e-01 -1.05432407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27241403699998 meters Centerline goodness [0,1] 0.6491318267860064 Centerline is valid? [False, False] Translation: X:2.91, Y:0.03, Z:-1.05 [[ 9.99916524e-01 -2.32069277e-03 -1.27105672e-02 2.90945898e+00] [ 2.33269957e-03 9.99996847e-01 9.29887366e-04 3.17476638e-02] [ 1.27083692e-02 -9.59459678e-04 9.99918785e-01 -1.05437438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30241403699998 meters Centerline goodness [0,1] 0.6393434957448798 Centerline is valid? [False, False] Translation: X:2.91, Y:0.03, Z:-1.05 [[ 9.99916749e-01 -2.33091034e-03 -1.26910184e-02 2.90947655e+00] [ 2.34611068e-03 9.99996548e-01 1.18296821e-03 3.06821472e-02] [ 1.26882172e-02 -1.21264426e-03 9.99918766e-01 -1.05454326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33241403699998 meters Centerline goodness [0,1] 0.6529908957552332 Centerline is valid? [False, False] Translation: X:2.91, Y:0.03, Z:-1.06 [[ 9.99917081e-01 -2.23582144e-03 -1.26819678e-02 2.90965270e+00] [ 2.25860423e-03 9.99995861e-01 1.78243381e-03 2.84266101e-02] [ 1.26779301e-02 -1.81092956e-03 9.99917992e-01 -1.05501551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36241403699998 meters Centerline goodness [0,1] 0.6468059396277275 Centerline is valid? [False, False] Translation: X:2.91, Y:0.03, Z:-1.06 [[ 9.99917069e-01 -2.19804346e-03 -1.26895413e-02 2.90972114e+00] [ 2.22383824e-03 9.99995489e-01 2.01900688e-03 2.71749525e-02] [ 1.26850462e-02 -2.04705893e-03 9.99917446e-01 -1.05508222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39241403699998 meters Centerline goodness [0,1] 0.6441831826947653 Centerline is valid? [False, False] Translation: X:2.91, Y:0.03, Z:-1.06 [[ 9.99917973e-01 -2.25169509e-03 -1.26085975e-02 2.90954660e+00] [ 2.28004247e-03 9.99994905e-01 2.23433474e-03 2.60877928e-02] [ 1.26035023e-02 -2.26289960e-03 9.99918012e-01 -1.05517796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42241403699998 meters Centerline goodness [0,1] 0.6537854889589905 Centerline is valid? [False, False] Translation: X:2.91, Y:0.03, Z:-1.06 [[ 9.99918193e-01 -2.25083158e-03 -1.25912760e-02 2.90951196e+00] [ 2.28178542e-03 9.99994409e-01 2.44453059e-03 2.50403815e-02] [ 1.25857034e-02 -2.47306120e-03 9.99917739e-01 -1.05520710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45241403699998 meters Centerline goodness [0,1] 0.6544046017534908 Centerline is valid? [False, False] Translation: X:2.91, Y:0.02, Z:-1.05 [[ 9.99920210e-01 -2.38603687e-03 -1.24048172e-02 2.90873248e+00] [ 2.41765628e-03 9.99993865e-01 2.53459175e-03 2.36950210e-02] [ 1.23986934e-02 -2.56438011e-03 9.99919845e-01 -1.05471186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48241403699998 meters Centerline goodness [0,1] 0.6518088452997779 Centerline is valid? [False, False] Translation: X:2.91, Y:0.02, Z:-1.05 [[ 9.99918498e-01 -2.03268305e-03 -1.26041495e-02 2.90929414e+00] [ 2.07115717e-03 9.99993234e-01 3.04019469e-03 2.22799900e-02] [ 1.25978845e-02 -3.06605209e-03 9.99915943e-01 -1.05486628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51241403699999 meters Centerline goodness [0,1] 0.6469715927522128 Centerline is valid? [False, False] Translation: X:2.91, Y:0.02, Z:-1.05 [[ 9.99918688e-01 -2.03618277e-03 -1.25885519e-02 2.90915513e+00] [ 2.07545440e-03 9.99993018e-01 3.10735400e-03 2.14025025e-02] [ 1.25821369e-02 -3.13322830e-03 9.99915933e-01 -1.05469661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.542414037 meters Centerline goodness [0,1] 0.6501972181855926 Centerline is valid? [False, False] Translation: X:2.91, Y:0.02, Z:-1.05 [[ 9.99916636e-01 -1.67778461e-03 -1.28025889e-02 2.90966807e+00] [ 1.72387704e-03 9.99992070e-01 3.59005729e-03 1.97590602e-02] [ 1.27964641e-02 -3.61182810e-03 9.99911599e-01 -1.05472869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.572414037 meters Centerline goodness [0,1] 0.6496630043393962 Centerline is valid? [False, False] Translation: X:2.91, Y:0.02, Z:-1.05 [[ 9.99916464e-01 -1.68789332e-03 -1.28147009e-02 2.90957456e+00] [ 1.73461948e-03 9.99991885e-01 3.63605514e-03 1.91498562e-02] [ 1.28084596e-02 -3.65798003e-03 9.99911277e-01 -1.05453429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.602414037 meters Centerline goodness [0,1] 0.6567593701077448 Centerline is valid? [False, False] Translation: X:2.91, Y:0.02, Z:-1.05 [[ 9.99916162e-01 -1.79629091e-03 -1.28235003e-02 2.90922161e+00] [ 1.84321985e-03 9.99991645e-01 3.64872477e-03 1.82569581e-02] [ 1.28168390e-02 -3.67205539e-03 9.99911118e-01 -1.05407144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.632414037 meters Centerline goodness [0,1] 0.6413562887257929 Centerline is valid? [False, False] Translation: X:2.91, Y:0.02, Z:-1.05 [[ 9.99902422e-01 -4.63703027e-03 -1.31774377e-02 2.91056242e+00] [ 4.64465796e-03 9.99989063e-01 5.48299610e-04 1.68598518e-02] [ 1.31747511e-02 -6.09450799e-04 9.99913023e-01 -1.05426753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.662414037 meters Centerline goodness [0,1] 0.6396590935195607 Centerline is valid? [False, False] Translation: X:2.91, Y:0.02, Z:-1.05 [[ 9.99904385e-01 -4.73215129e-03 -1.29933355e-02 2.90992678e+00] [ 4.74262042e-03 9.99988453e-01 7.75036315e-04 1.51899797e-02] [ 1.29895178e-02 -8.36584668e-04 9.99915283e-01 -1.05399446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.692414037 meters Centerline goodness [0,1] 0.6542592084818573 Centerline is valid? [False, False] Translation: X:2.91, Y:0.01, Z:-1.05 [[ 9.99903791e-01 -4.51431381e-03 -1.31160213e-02 2.91042070e+00] [ 4.53383355e-03 9.99988658e-01 1.45888360e-03 1.30857452e-02] [ 1.31092867e-02 -1.51820910e-03 9.99912917e-01 -1.05444568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.722414037 meters Centerline goodness [0,1] 0.6527235800187126 Centerline is valid? [False, False] Translation: X:2.91, Y:0.01, Z:-1.05 [[ 9.99905110e-01 -4.64695417e-03 -1.29682773e-02 2.91004726e+00] [ 4.67468306e-03 9.99986850e-01 2.10871612e-03 9.55832189e-03] [ 1.29583076e-02 -2.16913862e-03 9.99913685e-01 -1.05466291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.752414037 meters Centerline goodness [0,1] 0.646170295047658 Centerline is valid? [False, False] Translation: X:2.91, Y:0.01, Z:-1.05 [[ 9.99905360e-01 -4.51049385e-03 -1.29971472e-02 2.91022000e+00] [ 4.54513342e-03 9.99986194e-01 2.63686239e-03 7.75899636e-03] [ 1.29850742e-02 -2.69568661e-03 9.99912057e-01 -1.05489365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.782414037 meters Centerline goodness [0,1] 0.6587323301413588 Centerline is valid? [False, False] Translation: X:2.91, Y:0.01, Z:-1.05 [[ 9.99906188e-01 -4.50632009e-03 -1.29347950e-02 2.90996465e+00] [ 4.54431136e-03 9.99985443e-01 2.90925032e-03 6.48761223e-03] [ 1.29214967e-02 -2.96775713e-03 9.99912110e-01 -1.05478077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.812414037 meters Centerline goodness [0,1] 0.6500759619963266 Centerline is valid? [False, False] Translation: X:2.91, Y:0.00, Z:-1.05 [[ 0.99990751 -0.00446929 -0.01284525 2.90934575] [ 0.00451408 0.99998382 0.00346049 0.00345574] [ 0.01282958 -0.00351816 0.99991151 -1.05428119] [ 0. 0. 0. 1. ]] SLAMing on 243.842414037 meters Centerline goodness [0,1] 0.6423096922972575 Centerline is valid? [False, False] Translation: X:2.91, Y:0.00, Z:-1.05 [[ 9.99908005e-01 -4.37976212e-03 -1.28374321e-02 2.90929909e+00] [ 4.43006327e-03 9.99982611e-01 3.89250510e-03 1.65734435e-03] [ 1.28201606e-02 -3.94901764e-03 9.99910020e-01 -1.05427110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.872414037 meters Centerline goodness [0,1] 0.6396312947608612 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:-1.05 [[ 9.99908999e-01 -4.38404344e-03 -1.27582702e-02 2.90893769e+00] [ 4.43859903e-03 9.99981114e-01 4.25092688e-03 -1.45440446e-04] [ 1.27393930e-02 -4.30716889e-03 9.99909574e-01 -1.05410349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90241403699997 meters Centerline goodness [0,1] 0.6628402607067951 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:-1.05 [[ 9.99909477e-01 -4.42834580e-03 -1.27054026e-02 2.90860794e+00] [ 4.48634111e-03 9.99979631e-01 4.53975304e-03 -1.85550727e-03] [ 1.26850402e-02 -4.59634286e-03 9.99908978e-01 -1.05386919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93241403699997 meters Centerline goodness [0,1] 0.6586949171644314 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.00, Z:-1.05 [[ 0.9999119 -0.00449834 -0.01248829 2.90780232] [ 0.00456113 0.99997707 0.00500463 -0.00450691] [ 0.01246549 -0.00506115 0.99990949 -1.0534578 ] [ 0. 0. 0. 1. ]] SLAMing on 243.96241403699997 meters Centerline goodness [0,1] 0.6550089847259659 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 0.999912 -0.0044502 -0.01249716 2.90770466] [ 0.00451615 0.999976 0.00525393 -0.00574806] [ 0.01247348 -0.00530991 0.9999081 -1.05330311] [ 0. 0. 0. 1. ]] SLAMing on 243.99241403699997 meters Centerline goodness [0,1] 0.6507701288787103 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 0.99991172 -0.00434906 -0.01255564 2.90782377] [ 0.0044187 0.99997498 0.00552376 -0.00687639] [ 0.0125313 -0.00557875 0.99990592 -1.05331561] [ 0. 0. 0. 1. ]] SLAMing on 244.02241403699998 meters Centerline goodness [0,1] 0.651656372824256 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 0.9999125 -0.00414414 -0.01256226 2.90794203] [ 0.00422116 0.99997242 0.0061108 -0.00932352] [ 0.01253659 -0.00616329 0.99990242 -1.05351669] [ 0. 0. 0. 1. ]] SLAMing on 244.05241403699998 meters Centerline goodness [0,1] 0.6458669174279061 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 0.99991216 -0.00390749 -0.0126649 2.9084401 ] [ 0.00399087 0.99997049 0.00656485 -0.01065161] [ 0.01263888 -0.00661482 0.99989825 -1.05390824] [ 0. 0. 0. 1. ]] SLAMing on 244.08241403699998 meters Centerline goodness [0,1] 0.6431891312120128 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 0.99991135 -0.00387378 -0.01273893 2.90862792] [ 0.00395904 0.99996989 0.00667452 -0.01144726] [ 0.01271269 -0.00672436 0.99989658 -1.0539507 ] [ 0. 0. 0. 1. ]] SLAMing on 244.11241403699998 meters Centerline goodness [0,1] 0.6611878052588149 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 0.99990992 -0.00393618 -0.01283206 2.90863347] [ 0.00402238 0.99996947 0.00669904 -0.01207846] [ 0.0128053 -0.00675005 0.99989523 -1.05371096] [ 0. 0. 0. 1. ]] SLAMing on 244.14241403699998 meters Centerline goodness [0,1] 0.6489480253187127 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 0.99990994 -0.00403769 -0.01279895 2.90821071] [ 0.00412244 0.99996971 0.00660162 -0.01278041] [ 0.01277191 -0.00665379 0.9998963 -1.05312634] [ 0. 0. 0. 1. ]] SLAMing on 244.17241403699998 meters Centerline goodness [0,1] 0.6476821487529558 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 0.99990934 -0.00425005 -0.01277654 2.90781689] [ 0.00433176 0.9999703 0.00637453 -0.01279162] [ 0.01274907 -0.00642929 0.99989806 -1.05263734] [ 0. 0. 0. 1. ]] SLAMing on 244.20241403699998 meters Centerline goodness [0,1] 0.6482112246488123 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 0.99990744 -0.0042028 -0.01293979 2.90809084] [ 0.00428637 0.99997009 0.00643732 -0.01333671] [ 0.01291235 -0.00649219 0.99989556 -1.05251007] [ 0. 0. 0. 1. ]] SLAMing on 244.23241403699998 meters Centerline goodness [0,1] 0.6524640657084189 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 0.99990674 -0.00442832 -0.01291876 2.9074808 ] [ 0.00450773 0.99997108 0.00612456 -0.01357422] [ 0.01289126 -0.00618222 0.99989779 -1.05167025] [ 0. 0. 0. 1. ]] SLAMing on 244.26241403699999 meters Centerline goodness [0,1] 0.6527321855251111 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 0.9999058 -0.00453279 -0.01295565 2.90743046] [ 0.00461186 0.99997088 0.00607958 -0.0140465 ] [ 0.01292771 -0.00613876 0.99989759 -1.05148381] [ 0. 0. 0. 1. ]] SLAMing on 244.292414037 meters Centerline goodness [0,1] 0.6486679459145879 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 0.99990487 -0.00462832 -0.01299366 2.90753961] [ 0.00470798 0.99997027 0.00610654 -0.01452232] [ 0.01296501 -0.00616713 0.99989693 -1.0515507 ] [ 0. 0. 0. 1. ]] SLAMing on 244.322414037 meters Centerline goodness [0,1] 0.6329431623836705 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99990294 -0.00463454 -0.01313918 2.9080686 ] [ 0.00471601 0.99996981 0.00617626 -0.01506005] [ 0.01311016 -0.00623762 0.9998946 -1.05185439] [ 0. 0. 0. 1. ]] SLAMing on 244.352414037 meters Centerline goodness [0,1] 0.6672986416255883 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99990386 -0.00471925 -0.01303868 2.90802588] [ 0.00480143 0.99996876 0.00627835 -0.01556416] [ 0.01300865 -0.00634035 0.99989528 -1.05206736] [ 0. 0. 0. 1. ]] SLAMing on 244.382414037 meters Centerline goodness [0,1] 0.6593030491599253 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99990279 -0.00483742 -0.01307672 2.90816036] [ 0.00491931 0.99996844 0.00623783 -0.01570363] [ 0.01304613 -0.00630155 0.99989504 -1.05215174] [ 0. 0. 0. 1. ]] SLAMing on 244.412414037 meters Centerline goodness [0,1] 0.6557800124588413 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.9999026 -0.00501598 -0.0130243 2.90797078] [ 0.00509578 0.9999684 0.00610163 -0.01581284] [ 0.01299329 -0.0061674 0.99989656 -1.05200015] [ 0. 0. 0. 1. ]] SLAMing on 244.442414037 meters Centerline goodness [0,1] 0.6462258916483565 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99990145 -0.00545915 -0.01293386 2.90723827] [ 0.00553216 0.99996893 0.00561601 -0.01573507] [ 0.0129028 -0.00568701 0.99990058 -1.05123808] [ 0. 0. 0. 1. ]] SLAMing on 244.472414037 meters Centerline goodness [0,1] 0.6522019716491978 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99990032 -0.00562951 -0.01294819 2.90699409] [ 0.00569956 0.99996929 0.00537985 -0.01565209] [ 0.0129175 -0.00545311 0.9999017 -1.05084081] [ 0. 0. 0. 1. ]] SLAMing on 244.502414037 meters Centerline goodness [0,1] 0.6558655731859511 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989926 -0.00591164 -0.01290407 2.90644343] [ 0.00597785 0.99996913 0.00509898 -0.0155092 ] [ 0.01287352 -0.0051756 0.99990374 -1.05025608] [ 0. 0. 0. 1. ]] SLAMing on 244.532414037 meters Centerline goodness [0,1] 0.6574610244988864 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989852 -0.00606321 -0.01289115 2.90614921] [ 0.00612749 0.99996896 0.00495247 -0.01558593] [ 0.01286073 -0.00503096 0.99990464 -1.04984759] [ 0. 0. 0. 1. ]] SLAMing on 244.562414037 meters Centerline goodness [0,1] 0.6459565198061619 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989537 -0.00616385 -0.01308664 2.90636342] [ 0.00622734 0.99996901 0.00481609 -0.01562692] [ 0.01305655 -0.00489708 0.99990277 -1.04952885] [ 0. 0. 0. 1. ]] SLAMing on 244.592414037 meters Centerline goodness [0,1] 0.6450502852829518 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.9998937 -0.00604238 -0.0132693 2.90701251] [ 0.00610794 0.99996932 0.00490529 -0.01584485] [ 0.01323925 -0.00498582 0.99989993 -1.04978708] [ 0. 0. 0. 1. ]] SLAMing on 244.622414037 meters Centerline goodness [0,1] 0.6343570270690382 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989382 -0.0061329 -0.01321846 2.907226 ] [ 0.00619948 0.99996827 0.00500173 -0.01640511] [ 0.01318737 -0.00508315 0.99990012 -1.05022139] [ 0. 0. 0. 1. ]] SLAMing on 244.65241403699997 meters Centerline goodness [0,1] 0.6607142857142857 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989332 -0.00608235 -0.01328017 2.90743743] [ 0.00615082 0.99996797 0.00512132 -0.01695061] [ 0.0132486 -0.00520245 0.9998987 -1.05030851] [ 0. 0. 0. 1. ]] SLAMing on 244.68241403699997 meters Centerline goodness [0,1] 0.6384247152165241 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989271 -0.006003 -0.01336133 2.90791469] [ 0.00607467 0.99996734 0.00533024 -0.01744078] [ 0.0133289 -0.00541083 0.99989653 -1.05072395] [ 0. 0. 0. 1. ]] SLAMing on 244.71241403699997 meters Centerline goodness [0,1] 0.6617127624125292 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989281 -0.00626778 -0.0132321 2.90749081] [ 0.00633624 0.99996673 0.0051377 -0.01755181] [ 0.01319946 -0.00522099 0.99989925 -1.05047897] [ 0. 0. 0. 1. ]] SLAMing on 244.74241403699997 meters Centerline goodness [0,1] 0.6395325631416724 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989272 -0.00650015 -0.01312606 2.90713546] [ 0.00656583 0.99996611 0.00496638 -0.0175556 ] [ 0.01309333 -0.00505203 0.99990152 -1.05026682] [ 0. 0. 0. 1. ]] SLAMing on 244.77241403699998 meters Centerline goodness [0,1] 0.6543456543456543 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989354 -0.00667604 -0.01297467 2.90673481] [ 0.00673961 0.99996547 0.00486182 -0.01764075] [ 0.01294176 -0.00494875 0.99990401 -1.05013792] [ 0. 0. 0. 1. ]] SLAMing on 244.80241403699998 meters Centerline goodness [0,1] 0.6561417532640554 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989372 -0.00679022 -0.01290116 2.90655246] [ 0.00685259 0.99996501 0.004797 -0.01770018] [ 0.01286813 -0.0048849 0.99990527 -1.05008258] [ 0. 0. 0. 1. ]] SLAMing on 244.83241403699998 meters Centerline goodness [0,1] 0.6440832278551285 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989468 -0.00683623 -0.01280252 2.90638275] [ 0.00689975 0.99996407 0.00492366 -0.01855052] [ 0.0127684 -0.00501148 0.99990592 -1.05014437] [ 0. 0. 0. 1. ]] SLAMing on 244.86241403699998 meters Centerline goodness [0,1] 0.6405712128278589 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989418 -0.00699876 -0.01275359 2.90610077] [ 0.00706051 0.99996354 0.00480373 -0.01869116] [ 0.0127195 -0.00489327 0.99990713 -1.04992176] [ 0. 0. 0. 1. ]] SLAMing on 244.89241403699998 meters Centerline goodness [0,1] 0.6338559105927224 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989461 -0.00711443 -0.01265483 2.90575062] [ 0.00717565 0.99996274 0.00479932 -0.01939043] [ 0.01262022 -0.00488962 0.99990841 -1.04962916] [ 0. 0. 0. 1. ]] SLAMing on 244.92241403699998 meters Centerline goodness [0,1] 0.6292262461579581 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989341 -0.00727789 -0.0126567 2.90548037] [ 0.00733764 0.99996212 0.00468093 -0.01951831] [ 0.01262215 -0.0047733 0.99990894 -1.04925251] [ 0. 0. 0. 1. ]] SLAMing on 244.95241403699998 meters Centerline goodness [0,1] 0.6292262461579581 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989341 -0.00727789 -0.0126567 2.90548037] [ 0.00733764 0.99996212 0.00468093 -0.01951831] [ 0.01262215 -0.0047733 0.99990894 -1.04925251] [ 0. 0. 0. 1. ]] SLAMing on 244.98241403699998 meters Centerline goodness [0,1] 0.6389258470817811 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989167 -0.00728664 -0.01278896 2.90561315] [ 0.00734595 0.99996245 0.00459685 -0.01961171] [ 0.01275498 -0.0046903 0.99990765 -1.04895746] [ 0. 0. 0. 1. ]] SLAMing on 245.01241403699999 meters Centerline goodness [0,1] 0.6425285057011403 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989141 -0.00728287 -0.01281087 2.90556775] [ 0.00734215 0.99996253 0.00458599 -0.01969187] [ 0.01277699 -0.00467955 0.99990742 -1.04877981] [ 0. 0. 0. 1. ]] SLAMing on 245.042414037 meters Centerline goodness [0,1] 0.6197564276048715 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989118 -0.00699611 -0.01298758 2.90613961] [ 0.00705897 0.99996356 0.00480075 -0.0201152 ] [ 0.01295352 -0.00489191 0.99990413 -1.04893499] [ 0. 0. 0. 1. ]] SLAMing on 245.072414037 meters Centerline goodness [0,1] 0.6407846979447327 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.9998911 -0.00680789 -0.0130937 2.90652331] [ 0.00687259 0.99996436 0.00490297 -0.02010705] [ 0.01305986 -0.00499242 0.99990225 -1.04909346] [ 0. 0. 0. 1. ]] SLAMing on 245.102414037 meters Centerline goodness [0,1] 0.6537556078710078 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989051 -0.00648415 -0.013301 2.90736469] [ 0.00655243 0.99996554 0.00509661 -0.01995621] [ 0.01326749 -0.0051832 0.99989855 -1.04957259] [ 0. 0. 0. 1. ]] SLAMing on 245.132414037 meters Centerline goodness [0,1] 0.653753619959902 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989054 -0.00610539 -0.0134768 2.90818275] [ 0.00617562 0.99996754 0.0051759 -0.01949216] [ 0.01344476 -0.00525856 0.99989579 -1.04999137] [ 0. 0. 0. 1. ]] SLAMing on 245.162414037 meters Centerline goodness [0,1] 0.6526179932797793 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989285 -0.00539315 -0.01360925 2.90925544] [ 0.00546735 0.99997036 0.00542075 -0.0185992 ] [ 0.01357961 -0.00549457 0.9998927 -1.05077964] [ 0. 0. 0. 1. ]] SLAMing on 245.192414037 meters Centerline goodness [0,1] 0.6524481290811437 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989223 -0.00522158 -0.01372073 2.90966783] [ 0.00529415 0.99997216 0.00525796 -0.01778881] [ 0.01369289 -0.00533004 0.99989204 -1.05084988] [ 0. 0. 0. 1. ]] SLAMing on 245.222414037 meters Centerline goodness [0,1] 0.6454143425409453 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989044 -0.00515016 -0.01387724 2.91004715] [ 0.00522076 0.99997359 0.00505584 -0.01709536] [ 0.01385083 -0.00512774 0.99989092 -1.05076936] [ 0. 0. 0. 1. ]] SLAMing on 245.252414037 meters Centerline goodness [0,1] 0.6421920249498775 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989175 -0.00538983 -0.01369098 2.90922324] [ 0.0054491 0.99997593 0.00429523 -0.01527938] [ 0.0136675 -0.00436937 0.99989705 -1.04986545] [ 0. 0. 0. 1. ]] SLAMing on 245.282414037 meters Centerline goodness [0,1] 0.665992667481391 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 0.99988997 -0.00534335 -0.01383821 2.90955099] [ 0.00540149 0.99997673 0.00416742 -0.01469787] [ 0.01381562 -0.00424171 0.99989556 -1.0497816 ] [ 0. 0. 0. 1. ]] SLAMing on 245.312414037 meters Centerline goodness [0,1] 0.6562270614142403 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 0.99988998 -0.00543251 -0.01380284 2.90933409] [ 0.00548596 0.99997759 0.00383779 -0.01388024] [ 0.01378168 -0.00391309 0.99989737 -1.04943618] [ 0. 0. 0. 1. ]] SLAMing on 245.342414037 meters Centerline goodness [0,1] 0.6439365192741233 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 0.99989054 -0.00563668 -0.01368005 2.90898699] [ 0.0056826 0.99997834 0.00332025 -0.01235478] [ 0.01366104 -0.00339762 0.99990091 -1.04917342] [ 0. 0. 0. 1. ]] SLAMing on 245.372414037 meters Centerline goodness [0,1] 0.6473707664884136 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 0.99988847 -0.00563345 -0.01383184 2.90943573] [ 0.00567883 0.99997862 0.00324304 -0.01207172] [ 0.01381328 -0.00332123 0.99989908 -1.04930812] [ 0. 0. 0. 1. ]] SLAMing on 245.40241403699997 meters Centerline goodness [0,1] 0.6492092878013963 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 0.9998879 -0.00575871 -0.01382105 2.90937779] [ 0.00580224 0.99997832 0.00311192 -0.01191454] [ 0.01380283 -0.00319177 0.99989964 -1.04925065] [ 0. 0. 0. 1. ]] SLAMing on 245.43241403699997 meters Centerline goodness [0,1] 0.6439214282518233 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 0.99988705 -0.00577098 -0.0138772 2.90979346] [ 0.0058124 0.99997877 0.00294672 -0.0109454 ] [ 0.0138599 -0.00302705 0.99989937 -1.04962616] [ 0. 0. 0. 1. ]] SLAMing on 245.46241403699997 meters Centerline goodness [0,1] 0.6414803908445992 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 0.99988557 -0.00566332 -0.01402729 2.91060667] [ 0.00570597 0.99997921 0.00300285 -0.01064896] [ 0.01400999 -0.00308254 0.9998971 -1.0502505 ] [ 0. 0. 0. 1. ]] SLAMing on 245.49241403699997 meters Centerline goodness [0,1] 0.654712222990917 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 0.99988449 -0.00561903 -0.01412233 2.91102038] [ 0.00566156 0.99997955 0.0029734 -0.01026694] [ 0.01410533 -0.00305301 0.99989585 -1.05051359] [ 0. 0. 0. 1. ]] SLAMing on 245.52241403699998 meters Centerline goodness [0,1] 0.6498571301009018 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 9.99885171e-01 -5.67006728e-03 -1.40533060e-02 2.91130024e+00] [ 5.71103192e-03 9.99979555e-01 2.87653086e-03 -9.46928270e-03] [ 1.40367085e-02 -2.95645943e-03 9.99897110e-01 -1.05104668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55241403699998 meters Centerline goodness [0,1] 0.6554941489718749 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 9.99885151e-01 -5.77766917e-03 -1.40107943e-02 2.91125913e+00] [ 5.81700891e-03 9.99979248e-01 2.76869114e-03 -9.13138268e-03] [ 1.39945070e-02 -2.84987407e-03 9.99898011e-01 -1.05110862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58241403699998 meters Centerline goodness [0,1] 0.6476817337184051 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 9.99885983e-01 -5.89816078e-03 -1.39008313e-02 2.91123225e+00] [ 5.93635480e-03 9.99978713e-01 2.70794812e-03 -8.88327848e-03] [ 1.38845634e-02 -2.79015963e-03 9.99899712e-01 -1.05137519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61241403699998 meters Centerline goodness [0,1] 0.6530071813285458 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 9.99886718e-01 -6.45358734e-03 -1.35978845e-02 2.91036050e+00] [ 6.48488385e-03 9.99976422e-01 2.25873711e-03 -8.30621723e-03] [ 1.35829870e-02 -2.34666194e-03 9.99904993e-01 -1.05110683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64241403699998 meters Centerline goodness [0,1] 0.6480289621882542 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 9.99885253e-01 -6.53099416e-03 -1.36684500e-02 2.91063695e+00] [ 6.56273804e-03 9.99975868e-01 2.27885654e-03 -8.34936749e-03] [ 1.36532369e-02 -2.36829751e-03 9.99903986e-01 -1.05130803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67241403699998 meters Centerline goodness [0,1] 0.6488438660047409 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 9.99885240e-01 -6.66664613e-03 -1.36037750e-02 2.91044894e+00] [ 6.69766909e-03 9.99975070e-01 2.23618315e-03 -8.38440140e-03] [ 1.35885280e-02 -2.32704010e-03 9.99904964e-01 -1.05127556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70241403699998 meters Centerline goodness [0,1] 0.63867553809056 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 9.99884649e-01 -7.10945589e-03 -1.34217731e-02 2.90987374e+00] [ 7.13658358e-03 9.99972585e-01 1.97435740e-03 -8.15072323e-03] [ 1.34073685e-02 -2.06991526e-03 9.99907975e-01 -1.05108828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73241403699998 meters Centerline goodness [0,1] 0.6329680161037798 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 9.99883439e-01 -7.23792591e-03 -1.34432491e-02 2.90977860e+00] [ 7.26414822e-03 9.99971805e-01 1.90278894e-03 -8.00410050e-03] [ 1.34290978e-02 -2.00022091e-03 9.99907825e-01 -1.05094416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76241403699999 meters Centerline goodness [0,1] 0.6387047653170906 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 9.99884232e-01 -7.29173784e-03 -1.33548683e-02 2.90972589e+00] [ 7.31849843e-03 9.99971306e-01 1.95603293e-03 -7.94784074e-03] [ 1.33402222e-02 -2.05354407e-03 9.99908907e-01 -1.05114096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.792414037 meters Centerline goodness [0,1] 0.6424473330345137 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 9.99883904e-01 -7.28958192e-03 -1.33806211e-02 2.90996193e+00] [ 7.31759727e-03 9.99971133e-01 2.04596088e-03 -8.21979751e-03] [ 1.33653206e-02 -2.14363734e-03 9.99908382e-01 -1.05135998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.822414037 meters Centerline goodness [0,1] 0.6479425066045762 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 9.99883509e-01 -7.32871711e-03 -1.33887276e-02 2.91031321e+00] [ 7.35935614e-03 9.99970409e-01 2.24058541e-03 -8.59660779e-03] [ 1.33719108e-02 -2.33885682e-03 9.99907857e-01 -1.05191233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.852414037 meters Centerline goodness [0,1] 0.6464707461084273 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 9.99883573e-01 -7.16060344e-03 -1.34746648e-02 2.91084347e+00] [ 7.19556427e-03 9.99970866e-01 2.54786994e-03 -9.07129097e-03] [ 1.34560280e-02 -2.64453111e-03 9.99905966e-01 -1.05241043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.882414037 meters Centerline goodness [0,1] 0.6425465142344766 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 9.99883993e-01 -7.14705137e-03 -1.34506406e-02 2.91085642e+00] [ 7.18262982e-03 9.99970828e-01 2.59866538e-03 -9.35070847e-03] [ 1.34316754e-02 -2.69497489e-03 9.99906159e-01 -1.05246988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.912414037 meters Centerline goodness [0,1] 0.6425128319571525 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 0.9998841 -0.00685709 -0.01359281 2.91153463] [ 0.00689864 0.99997167 0.00301244 -0.0100539 ] [ 0.01357176 -0.00310587 0.99990308 -1.05301437] [ 0. 0. 0. 1. ]] SLAMing on 245.942414037 meters Centerline goodness [0,1] 0.6335068009738012 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 0.99988567 -0.0070308 -0.01338743 2.91089472] [ 0.00707271 0.99997023 0.00308567 -0.01070217] [ 0.01336534 -0.00318001 0.99990562 -1.0527905 ] [ 0. 0. 0. 1. ]] SLAMing on 245.972414037 meters Centerline goodness [0,1] 0.6400938128210856 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 0.99988689 -0.00709964 -0.01325889 2.91068022] [ 0.00714372 0.9999691 0.00328052 -0.0114703 ] [ 0.01323519 -0.00337487 0.99990672 -1.05291708] [ 0. 0. 0. 1. ]] SLAMing on 246.002414037 meters Centerline goodness [0,1] 0.6443015936788536 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 0.99988764 -0.00730705 -0.01308845 2.91025331] [ 0.00735449 0.99996655 0.0035797 -0.01325439] [ 0.01306186 -0.00367555 0.99990793 -1.05300304] [ 0. 0. 0. 1. ]] SLAMing on 246.032414037 meters Centerline goodness [0,1] 0.6410948514321406 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.01, Z:-1.05 [[ 0.99988939 -0.00725279 -0.01298442 2.91029916] [ 0.0073044 0.99996559 0.00393203 -0.01436909] [ 0.01295546 -0.00402644 0.99990797 -1.05340262] [ 0. 0. 0. 1. ]] SLAMing on 246.062414037 meters Centerline goodness [0,1] 0.6343570057581573 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99988876 -0.00734787 -0.01298016 2.91026893] [ 0.00740038 0.99996461 0.00400193 -0.01509998] [ 0.0129503 -0.00409755 0.99990775 -1.0534055 ] [ 0. 0. 0. 1. ]] SLAMing on 246.092414037 meters Centerline goodness [0,1] 0.6323608137044967 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.9998898 -0.00746612 -0.01283134 2.91019643] [ 0.00752181 0.99996248 0.00429771 -0.01605209] [ 0.01279877 -0.00439375 0.99990844 -1.05384193] [ 0. 0. 0. 1. ]] SLAMing on 246.122414037 meters Centerline goodness [0,1] 0.6344232010505464 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99988945 -0.00738266 -0.01290636 2.91053764] [ 0.00744177 0.99996201 0.00453824 -0.01663903] [ 0.01287237 -0.00463378 0.99990641 -1.05410613] [ 0. 0. 0. 1. ]] SLAMing on 246.15241403699997 meters Centerline goodness [0,1] 0.6354217617501889 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99988915 -0.00744895 -0.01289224 2.91040698] [ 0.00750806 0.9999615 0.00454211 -0.01720859] [ 0.01285791 -0.0046384 0.99990658 -1.0539527 ] [ 0. 0. 0. 1. ]] SLAMing on 246.18241403699997 meters Centerline goodness [0,1] 0.632305609198464 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99988928 -0.00757354 -0.01280878 2.90973765] [ 0.00763383 0.99995998 0.00466464 -0.01880196] [ 0.01277294 -0.0047619 0.99990708 -1.05333034] [ 0. 0. 0. 1. ]] SLAMing on 246.21241403699997 meters Centerline goodness [0,1] 0.6221575768342512 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99988954 -0.00772142 -0.01270018 2.90925382] [ 0.00778078 0.99995901 0.00463079 -0.01944129] [ 0.0126639 -0.0047291 0.99990863 -1.05297486] [ 0. 0. 0. 1. ]] SLAMing on 246.24241403699997 meters Centerline goodness [0,1] 0.628232160692487 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989109 -0.00765466 -0.01261815 2.90908862] [ 0.00771625 0.99995852 0.00484017 -0.02033978] [ 0.01258058 -0.004937 0.99990867 -1.05291539] [ 0. 0. 0. 1. ]] SLAMing on 246.27241403699998 meters Centerline goodness [0,1] 0.63103708974473 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989143 -0.00744898 -0.01271386 2.90907091] [ 0.00751424 0.9999588 0.00509343 -0.02131938] [ 0.01267539 -0.00518842 0.9999062 -1.05256895] [ 0. 0. 0. 1. ]] SLAMing on 246.30241403699998 meters Centerline goodness [0,1] 0.6281215347083611 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989206 -0.0072653 -0.01277054 2.90931834] [ 0.00733263 0.99995942 0.00523355 -0.02171674] [ 0.012732 -0.00532663 0.99990476 -1.05264988] [ 0. 0. 0. 1. ]] SLAMing on 246.33241403699998 meters Centerline goodness [0,1] 0.6291589444885712 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99989111 -0.0067514 -0.01312215 2.91045338] [ 0.00682644 0.99996055 0.00568253 -0.0224063 ] [ 0.01308327 -0.00577149 0.99989775 -1.05308763] [ 0. 0. 0. 1. ]] SLAMing on 246.36241403699998 meters Centerline goodness [0,1] 0.6353653666977239 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99988975 -0.00644161 -0.01337883 2.91114888] [ 0.0065204 0.9999616 0.00585432 -0.0226086 ] [ 0.01334061 -0.00594091 0.99989336 -1.05324202] [ 0. 0. 0. 1. ]] SLAMing on 246.39241403699998 meters Centerline goodness [0,1] 0.6383694425387834 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99988996 -0.00563561 -0.01372229 2.91249593] [ 0.00572139 0.99996429 0.00621981 -0.02270258] [ 0.01368674 -0.00629763 0.9998865 -1.05379665] [ 0. 0. 0. 1. ]] SLAMing on 246.42241403699998 meters Centerline goodness [0,1] 0.6444709995795437 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99988963 -0.00533238 -0.01386724 2.91312177] [ 0.00541905 0.99996597 0.00621974 -0.02221103] [ 0.01383361 -0.0062942 0.9998845 -1.05402898] [ 0. 0. 0. 1. ]] SLAMing on 246.45241403699998 meters Centerline goodness [0,1] 0.6447988321426201 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99988841 -0.00506226 -0.01405527 2.91367717] [ 0.00514897 0.9999679 0.00613968 -0.02155885] [ 0.01402373 -0.00621136 0.99988237 -1.05408716] [ 0. 0. 0. 1. ]] SLAMing on 246.48241403699998 meters Centerline goodness [0,1] 0.6435307431158054 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.9998884 -0.00435849 -0.01428969 2.91458157] [ 0.0044461 0.99997148 0.00610468 -0.02037663] [ 0.01426267 -0.00616753 0.99987926 -1.05419253] [ 0. 0. 0. 1. ]] SLAMing on 246.51241403699999 meters Centerline goodness [0,1] 0.6458005103739044 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99988765 -0.00423972 -0.01437768 2.91481212] [ 0.00432479 0.99997329 0.00589128 -0.01960766] [ 0.01435232 -0.00595279 0.99987928 -1.0541169 ] [ 0. 0. 0. 1. ]] SLAMing on 246.542414037 meters Centerline goodness [0,1] 0.6482972136222911 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:-1.05 [[ 0.99988478 -0.00393428 -0.01466108 2.91572136] [ 0.00402097 0.99997458 0.00588793 -0.01912551] [ 0.01463755 -0.0059462 0.99987518 -1.0543554 ] [ 0. 0. 0. 1. ]] SLAMing on 246.572414037 meters Centerline goodness [0,1] 0.6452092156906224 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:-1.05 [[ 0.99988393 -0.00369698 -0.01478024 2.91595725] [ 0.00377965 0.99997735 0.0055689 -0.0178563 ] [ 0.01475932 -0.00562411 0.99987526 -1.05404377] [ 0. 0. 0. 1. ]] SLAMing on 246.602414037 meters Centerline goodness [0,1] 0.6428033491339211 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:-1.05 [[ 0.99988325 -0.00386212 -0.01478433 2.91590258] [ 0.00393955 0.99997866 0.00521132 -0.01703516] [ 0.01476389 -0.00526896 0.99987713 -1.05390697] [ 0. 0. 0. 1. ]] SLAMing on 246.632414037 meters Centerline goodness [0,1] 0.6424778761061947 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:-1.05 [[ 0.99988147 -0.0038431 -0.01490909 2.91622833] [ 0.00391851 0.99997966 0.00503155 -0.01650164] [ 0.01488945 -0.00508938 0.99987619 -1.05386743] [ 0. 0. 0. 1. ]] SLAMing on 246.662414037 meters Centerline goodness [0,1] 0.6464443018082822 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:-1.05 [[ 0.99988082 -0.00390181 -0.01493729 2.91634972] [ 0.0039715 0.99998135 0.00463879 -0.01542006] [ 0.01491891 -0.00469756 0.99987767 -1.0537784 ] [ 0. 0. 0. 1. ]] SLAMing on 246.692414037 meters Centerline goodness [0,1] 0.6502106897316478 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:-1.05 [[ 0.99988075 -0.00404885 -0.01490251 2.91617378] [ 0.00411406 0.99998209 0.00434739 -0.0148451 ] [ 0.01488464 -0.00440818 0.9998795 -1.05358107] [ 0. 0. 0. 1. ]] SLAMing on 246.722414037 meters Centerline goodness [0,1] 0.6420982735723771 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:-1.05 [[ 0.99988039 -0.00405168 -0.01492631 2.91653893] [ 0.00411464 0.99998276 0.00418963 -0.01444834] [ 0.01490908 -0.00425054 0.99987982 -1.05384101] [ 0. 0. 0. 1. ]] SLAMing on 246.752414037 meters Centerline goodness [0,1] 0.6422270490713241 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:-1.05 [[ 0.99988094 -0.00418742 -0.01485135 2.9163898 ] [ 0.00424677 0.99998311 0.00396691 -0.01406996] [ 0.01483448 -0.0040295 0.99988184 -1.05377218] [ 0. 0. 0. 1. ]] SLAMing on 246.782414037 meters Centerline goodness [0,1] 0.6629066572112401 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:-1.05 [[ 0.99988096 -0.00436373 -0.01479919 2.91624193] [ 0.00442083 0.9999829 0.00382759 -0.01399962] [ 0.01478224 -0.00389256 0.99988316 -1.0537189 ] [ 0. 0. 0. 1. ]] SLAMing on 246.812414037 meters Centerline goodness [0,1] 0.6382479294920058 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:-1.05 [[ 0.99988138 -0.00435755 -0.01477278 2.91640135] [ 0.00441652 0.9999824 0.00396095 -0.01441253] [ 0.01475526 -0.00402572 0.99988303 -1.05400858] [ 0. 0. 0. 1. ]] SLAMing on 246.842414037 meters Centerline goodness [0,1] 0.6431743494093614 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:-1.05 [[ 0.99988185 -0.00446004 -0.01471001 2.91632296] [ 0.00451902 0.99998187 0.00397902 -0.01470601] [ 0.014692 -0.00404503 0.99988388 -1.05410382] [ 0. 0. 0. 1. ]] SLAMing on 246.872414037 meters Centerline goodness [0,1] 0.6431743494093614 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:-1.05 [[ 0.99988185 -0.00446004 -0.01471001 2.91632296] [ 0.00451902 0.99998187 0.00397902 -0.01470601] [ 0.014692 -0.00404503 0.99988388 -1.05410382] [ 0. 0. 0. 1. ]] SLAMing on 246.90241403699997 meters Centerline goodness [0,1] 0.6529812757292728 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:-1.05 [[ 0.99988086 -0.00451566 -0.01476062 2.91672535] [ 0.00457882 0.99998049 0.00424848 -0.01558075] [ 0.01474115 -0.00431556 0.99988203 -1.05462127] [ 0. 0. 0. 1. ]] SLAMing on 246.93241403699997 meters Centerline goodness [0,1] 0.6349509390400924 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:-1.05 [[ 0.9998817 -0.00470053 -0.01464577 2.91652529] [ 0.00476305 0.99997968 0.00423665 -0.01587041] [ 0.01462555 -0.0043059 0.99988377 -1.05473638] [ 0. 0. 0. 1. ]] SLAMing on 246.96241403699997 meters Centerline goodness [0,1] 0.6432831518967697 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:-1.05 [[ 0.99988185 -0.00478031 -0.01460932 2.91659945] [ 0.00484296 0.99997921 0.00425622 -0.01615971] [ 0.01458867 -0.00432647 0.99988422 -1.05494789] [ 0. 0. 0. 1. ]] SLAMing on 246.99241403699997 meters Centerline goodness [0,1] 0.6434640233648996 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:-1.06 [[ 0.99988158 -0.00487049 -0.01459816 2.9166797 ] [ 0.00493306 0.99997879 0.00425307 -0.01638715] [ 0.01457714 -0.00432458 0.9998844 -1.05507466] [ 0. 0. 0. 1. ]] SLAMing on 247.02241403699998 meters Centerline goodness [0,1] 0.6377980675472033 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:-1.05 [[ 0.99988383 -0.00543382 -0.01424108 2.91568684] [ 0.00548857 0.99997769 0.00380782 -0.01629848] [ 0.01422007 -0.00388554 0.99989134 -1.0547645 ] [ 0. 0. 0. 1. ]] SLAMing on 247.05241403699998 meters Centerline goodness [0,1] 0.6375661961844408 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:-1.05 [[ 0.99988354 -0.00565496 -0.01417484 2.91542315] [ 0.0057071 0.99997709 0.00364055 -0.01633244] [ 0.01415393 -0.00372103 0.9998929 -1.05457588] [ 0. 0. 0. 1. ]] SLAMing on 247.08241403699998 meters Centerline goodness [0,1] 0.6379880579787351 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.02, Z:-1.05 [[ 0.99988291 -0.00606482 -0.01404948 2.91488867] [ 0.00611127 0.99997599 0.00326564 -0.01568464] [ 0.01402934 -0.00335112 0.99989597 -1.05423677] [ 0. 0. 0. 1. ]] SLAMing on 247.11241403699998 meters Centerline goodness [0,1] 0.631836391403466 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:-1.05 [[ 0.99987992 -0.00592773 -0.01431816 2.91572752] [ 0.00597695 0.99997637 0.00339759 -0.01560693] [ 0.01429768 -0.00348276 0.99989172 -1.0546001 ] [ 0. 0. 0. 1. ]] SLAMing on 247.14241403699998 meters Centerline goodness [0,1] 0.6331839957416607 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:-1.05 [[ 0.99987849 -0.00608123 -0.01435363 2.91584425] [ 0.00612737 0.99997619 0.00317263 -0.01508053] [ 0.01433399 -0.00326019 0.99989195 -1.0546445 ] [ 0. 0. 0. 1. ]] SLAMing on 247.17241403699998 meters Centerline goodness [0,1] 0.6392271688738049 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:-1.05 [[ 0.99987742 -0.00613073 -0.01440683 2.91607626] [ 0.00617522 0.99997629 0.003046 -0.01453722] [ 0.01438782 -0.00313459 0.99989158 -1.05478734] [ 0. 0. 0. 1. ]] SLAMing on 247.20241403699998 meters Centerline goodness [0,1] 0.6296271608230013 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:-1.06 [[ 0.99987842 -0.00597613 -0.01440259 2.91666272] [ 0.00601962 0.99997745 0.00297804 -0.01337755] [ 0.01438447 -0.00306437 0.99989184 -1.05542802] [ 0. 0. 0. 1. ]] SLAMing on 247.23241403699998 meters Centerline goodness [0,1] 0.6351285244151916 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:-1.06 [[ 9.99877845e-01 -5.99376860e-03 -1.44350025e-02 2.91687658e+00] [ 6.03393388e-03 9.99978040e-01 2.74054878e-03 -1.24217390e-02] [ 1.44182593e-02 -2.82731386e-03 9.99892054e-01 -1.05554029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26241403699999 meters Centerline goodness [0,1] 0.6368134916232109 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:-1.06 [[ 9.99875792e-01 -5.84757718e-03 -1.46357699e-02 2.91758849e+00] [ 5.88704399e-03 9.99979147e-01 2.65497045e-03 -1.16724675e-02] [ 1.46199395e-02 -2.74080210e-03 9.99889367e-01 -1.05577251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.292414037 meters Centerline goodness [0,1] 0.6413142615620759 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:-1.06 [[ 9.99874795e-01 -5.91491685e-03 -1.46767963e-02 2.91755283e+00] [ 5.94654024e-03 9.99980089e-01 2.11194810e-03 -9.77058060e-03] [ 1.46640121e-02 -2.19895983e-03 9.99890060e-01 -1.05540932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.322414037 meters Centerline goodness [0,1] 0.639486028055043 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:-1.06 [[ 9.99874973e-01 -6.03359383e-03 -1.46162247e-02 2.91743714e+00] [ 6.06097195e-03 9.99979958e-01 1.82956007e-03 -8.76702192e-03] [ 1.46048929e-02 -1.91791986e-03 9.99891503e-01 -1.05536253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.352414037 meters Centerline goodness [0,1] 0.6299590820138765 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:-1.06 [[ 9.99874700e-01 -6.08494030e-03 -1.46136412e-02 2.91744481e+00] [ 6.10984512e-03 9.99979957e-01 1.66017557e-03 -8.19110851e-03] [ 1.46032462e-02 -1.74925463e-03 9.99891837e-01 -1.05531360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.382414037 meters Centerline goodness [0,1] 0.6287614260614283 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:-1.06 [[ 9.99873042e-01 -6.12073604e-03 -1.47117613e-02 2.91775098e+00] [ 6.14410342e-03 9.99979933e-01 1.54367406e-03 -7.63494556e-03] [ 1.47020177e-02 -1.63386866e-03 9.99890585e-01 -1.05542980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.412414037 meters Centerline goodness [0,1] 0.6396980224478888 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:-1.06 [[ 9.99872899e-01 -6.33833027e-03 -1.46291099e-02 2.91774283e+00] [ 6.35860734e-03 9.99978886e-01 1.33997976e-03 -6.93983986e-03] [ 1.46203078e-02 -1.43283021e-03 9.99892091e-01 -1.05565831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.442414037 meters Centerline goodness [0,1] 0.6437167708495539 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:-1.06 [[ 9.99872271e-01 -6.26486324e-03 -1.47034938e-02 2.91840796e+00] [ 6.28580087e-03 9.99979294e-01 1.37820759e-03 -6.41905641e-03] [ 1.46945551e-02 -1.47045479e-03 9.99890948e-01 -1.05628367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.472414037 meters Centerline goodness [0,1] 0.6411741125116921 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:-1.06 [[ 9.99871257e-01 -6.18759881e-03 -1.48048636e-02 2.91896389e+00] [ 6.20767735e-03 9.99979873e-01 1.31064193e-03 -5.51734501e-03] [ 1.47964559e-02 -1.40237701e-03 9.99889543e-01 -1.05666828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.502414037 meters Centerline goodness [0,1] 0.642546160887718 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:-1.06 [[ 9.99869674e-01 -5.68073554e-03 -1.51117067e-02 2.92044032e+00] [ 5.70047109e-03 9.99982954e-01 1.26322414e-03 -2.89135006e-03] [ 1.51042731e-02 -1.34920335e-03 9.99885014e-01 -1.05749831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.532414037 meters Centerline goodness [0,1] 0.6451605694236485 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:-1.06 [[ 9.99867680e-01 -5.44693349e-03 -1.53281947e-02 2.92133161e+00] [ 5.46621790e-03 9.99984320e-01 1.21648558e-03 -1.68142715e-03] [ 1.53213283e-02 -1.30011187e-03 9.99881776e-01 -1.05794437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.562414037 meters Centerline goodness [0,1] 0.6451374751113 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.00, Z:-1.06 [[ 9.99866173e-01 -5.37880859e-03 -1.54500915e-02 2.92179605e+00] [ 5.39476975e-03 9.99984956e-01 9.91586978e-04 -4.65647826e-04] [ 1.54445255e-02 -1.07480396e-03 9.99880149e-01 -1.05808076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.592414037 meters Centerline goodness [0,1] 0.6486032769272092 Centerline is valid? [False, False] Translation: X:2.92, Y:0.00, Z:-1.06 [[ 9.99864143e-01 -4.88207869e-03 -1.57436138e-02 2.92318596e+00] [ 4.89806495e-03 9.99987527e-01 9.77012812e-04 1.66193533e-03] [ 1.57386476e-02 -1.05399332e-03 9.99875584e-01 -1.05884688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.622414037 meters Centerline goodness [0,1] 0.6475396985374813 Centerline is valid? [False, False] Translation: X:2.92, Y:0.00, Z:-1.06 [[ 9.99863167e-01 -5.02087573e-03 -1.57619388e-02 2.92318653e+00] [ 5.03027587e-03 9.99987193e-01 5.56792643e-04 3.02234003e-03] [ 1.57589414e-02 -6.36003356e-04 9.99875618e-01 -1.05870209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65241403699997 meters Centerline goodness [0,1] 0.6514226730096042 Centerline is valid? [False, False] Translation: X:2.92, Y:0.00, Z:-1.06 [[ 9.99861832e-01 -5.08800710e-03 -1.58249257e-02 2.92335985e+00] [ 5.09212630e-03 9.99987011e-01 2.20015029e-04 4.43962401e-03] [ 1.58236007e-02 -3.00567150e-04 9.99874754e-01 -1.05867126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68241403699997 meters Centerline goodness [0,1] 0.6491539117554648 Centerline is valid? [False, False] Translation: X:2.92, Y:0.01, Z:-1.06 [[ 9.99859836e-01 -4.97867450e-03 -1.59850155e-02 2.92389596e+00] [ 4.97287382e-03 9.99987554e-01 -4.02610308e-04 7.49120852e-03] [ 1.59868210e-02 3.23062412e-04 9.99872150e-01 -1.05855497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71241403699997 meters Centerline goodness [0,1] 0.6544542653442188 Centerline is valid? [False, False] Translation: X:2.92, Y:0.01, Z:-1.06 [[ 9.99858731e-01 -5.03217763e-03 -1.60373249e-02 2.92405403e+00] [ 5.01972194e-03 9.99987068e-01 -8.16828158e-04 9.40484098e-03] [ 1.60412279e-02 7.36209854e-04 9.99871060e-01 -1.05848759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74241403699997 meters Centerline goodness [0,1] 0.6488446466375388 Centerline is valid? [False, False] Translation: X:2.92, Y:0.01, Z:-1.06 [[ 9.99855618e-01 -4.87244963e-03 -1.62788903e-02 2.92486675e+00] [ 4.85765282e-03 9.99987752e-01 -9.48374860e-04 1.08533068e-02] [ 1.62833118e-02 8.69160734e-04 9.99867040e-01 -1.05878602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77241403699998 meters Centerline goodness [0,1] 0.6529330713107904 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-1.06 [[ 9.99852660e-01 -4.94829014e-03 -1.64369116e-02 2.92513437e+00] [ 4.92606518e-03 9.99986898e-01 -1.39235003e-03 1.24261318e-02] [ 1.64435860e-02 1.31117559e-03 9.99863935e-01 -1.05853798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80241403699998 meters Centerline goodness [0,1] 0.652358864124901 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-1.06 [[ 9.99848801e-01 -4.74519687e-03 -1.67289503e-02 2.92615927e+00] [ 4.71779596e-03 9.99987465e-01 -1.67701838e-03 1.46915873e-02] [ 1.67366983e-02 1.59784104e-03 9.99858655e-01 -1.05886757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83241403699998 meters Centerline goodness [0,1] 0.6525718178721471 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.06 [[ 9.99847597e-01 -4.77816702e-03 -1.67914018e-02 2.92652523e+00] [ 4.74782693e-03 9.99987025e-01 -1.84628251e-03 1.57639611e-02] [ 1.68000057e-02 1.76627846e-03 9.99857310e-01 -1.05913430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86241403699998 meters Centerline goodness [0,1] 0.6495142545850736 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.06 [[ 9.99843307e-01 -4.60107919e-03 -1.70936277e-02 2.92793574e+00] [ 4.56997857e-03 9.99987831e-01 -1.85804427e-03 1.74091396e-02] [ 1.71019687e-02 1.77963561e-03 9.99852167e-01 -1.06014761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89241403699998 meters Centerline goodness [0,1] 0.6455877668047149 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.06 [[ 9.99842019e-01 -4.57634362e-03 -1.71753739e-02 2.92848796e+00] [ 4.54457860e-03 9.99987891e-01 -1.88802660e-03 1.80387646e-02] [ 1.71838062e-02 1.80967350e-03 9.99850710e-01 -1.06063773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92241403699998 meters Centerline goodness [0,1] 0.6538811745959481 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.06 [[ 9.99842640e-01 -4.54365696e-03 -1.71478864e-02 2.92877801e+00] [ 4.51356591e-03 9.99988206e-01 -1.79309054e-03 1.83458450e-02] [ 1.71558314e-02 1.71541026e-03 9.99851356e-01 -1.06110395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95241403699998 meters Centerline goodness [0,1] 0.6466771754277751 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.06 [[ 9.99842900e-01 -4.69703086e-03 -1.70913278e-02 2.92908212e+00] [ 4.66591654e-03 9.99987385e-01 -1.85989552e-03 1.93269693e-02] [ 1.70998482e-02 1.77985662e-03 9.99852203e-01 -1.06172730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98241403699998 meters Centerline goodness [0,1] 0.6481747497548852 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.06 [[ 9.99840883e-01 -4.61083628e-03 -1.72322292e-02 2.92968273e+00] [ 4.58195388e-03 9.99988032e-01 -1.71517485e-03 1.94887242e-02] [ 1.72399313e-02 1.63594465e-03 9.99850043e-01 -1.06215447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01241403699999 meters Centerline goodness [0,1] 0.6536566449199325 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.06 [[ 9.99839441e-01 -4.55215871e-03 -1.73312156e-02 2.93018938e+00] [ 4.52623007e-03 9.99988578e-01 -1.53499755e-03 1.95470046e-02] [ 1.73380052e-02 1.45630602e-03 9.99848625e-01 -1.06256586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.042414037 meters Centerline goodness [0,1] 0.6485337478000504 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.06 [[ 9.99841471e-01 -4.98891298e-03 -1.70922344e-02 2.92963486e+00] [ 4.96165747e-03 9.99986352e-01 -1.63664920e-03 2.00455791e-02] [ 1.71001663e-02 1.55158393e-03 9.99852578e-01 -1.06274128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.072414037 meters Centerline goodness [0,1] 0.646763546346383 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.06 [[ 9.99841175e-01 -5.25432572e-03 -1.70298660e-02 2.92931955e+00] [ 5.22390846e-03 9.99984681e-01 -1.83010545e-03 2.04154638e-02] [ 1.70392211e-02 1.74085232e-03 9.99853306e-01 -1.06253286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.102414037 meters Centerline goodness [0,1] 0.6426209177346011 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.06 [[ 9.99843065e-01 -5.51130700e-03 -1.68365859e-02 2.92888980e+00] [ 5.47929661e-03 9.99983094e-01 -1.94677859e-03 2.06919157e-02] [ 1.68470305e-02 1.85422042e-03 9.99856359e-01 -1.06255358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.132414037 meters Centerline goodness [0,1] 0.642352562185048 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.06 [[ 9.99842779e-01 -6.13388174e-03 -1.66370763e-02 2.92820302e+00] [ 6.09724117e-03 9.99978875e-01 -2.25217528e-03 2.10811407e-02] [ 1.66505394e-02 2.15038093e-03 9.99859058e-01 -1.06241585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.162414037 meters Centerline goodness [0,1] 0.6346843121036669 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.06 [[ 9.99842133e-01 -6.04175044e-03 -1.67094513e-02 2.92876354e+00] [ 6.00961277e-03 9.99979996e-01 -1.97286713e-03 2.07821960e-02] [ 1.67210366e-02 1.87213835e-03 9.99858441e-01 -1.06300319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.192414037 meters Centerline goodness [0,1] 0.6375108989949979 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.06 [[ 9.99841709e-01 -5.91256218e-03 -1.67809273e-02 2.92951302e+00] [ 5.88625105e-03 9.99981369e-01 -1.61687799e-03 2.05491725e-02] [ 1.67901746e-02 1.51784531e-03 9.99857883e-01 -1.06389257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.222414037 meters Centerline goodness [0,1] 0.633536515238643 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.06 [[ 9.99841685e-01 -6.35296412e-03 -1.66206301e-02 2.92924298e+00] [ 6.32385342e-03 9.99978378e-01 -1.80345139e-03 2.09754782e-02] [ 1.66317280e-02 1.69805945e-03 9.99860241e-01 -1.06417969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.252414037 meters Centerline goodness [0,1] 0.6335862068965517 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.06 [[ 9.99842905e-01 -6.25545878e-03 -1.65841685e-02 2.92956785e+00] [ 6.23032896e-03 9.99979364e-01 -1.56652317e-03 2.10690047e-02] [ 1.65936256e-02 1.46295225e-03 9.99861246e-01 -1.06470432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.282414037 meters Centerline goodness [0,1] 0.6277435944531178 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.07 [[ 9.99841436e-01 -6.06074279e-03 -1.67442349e-02 2.93029337e+00] [ 6.03745882e-03 9.99980736e-01 -1.44076698e-03 2.15241197e-02] [ 1.67526445e-02 1.33944590e-03 9.99858767e-01 -1.06514252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.312414037 meters Centerline goodness [0,1] 0.6298626474926254 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.07 [[ 9.99840364e-01 -6.08097009e-03 -1.68008234e-02 2.93045862e+00] [ 6.05600659e-03 9.99980482e-01 -1.53632698e-03 2.22091574e-02] [ 1.68098379e-02 1.43433583e-03 9.99857676e-01 -1.06516943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.342414037 meters Centerline goodness [0,1] 0.6380225154563071 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.07 [[ 9.99840481e-01 -6.01587245e-03 -1.68173087e-02 2.93070261e+00] [ 5.99178960e-03 9.99980951e-01 -1.48204822e-03 2.26125483e-02] [ 1.68259042e-02 1.38104603e-03 9.99857481e-01 -1.06540136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.372414037 meters Centerline goodness [0,1] 0.6350729530372049 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.07 [[ 9.99837847e-01 -5.81122224e-03 -1.70443287e-02 2.93148313e+00] [ 5.78379558e-03 9.99981899e-01 -1.65799025e-03 2.37926341e-02] [ 1.70536551e-02 1.55914049e-03 9.99853360e-01 -1.06557760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40241403699997 meters Centerline goodness [0,1] 0.6340085658062276 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.07 [[ 9.99836544e-01 -5.56660576e-03 -1.72016734e-02 2.93221834e+00] [ 5.54004910e-03 9.99983388e-01 -1.59110928e-03 2.44039075e-02] [ 1.72102447e-02 1.49555109e-03 9.99850774e-01 -1.06599387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43241403699997 meters Centerline goodness [0,1] 0.6349680466796332 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.07 [[ 9.99833907e-01 -5.22159234e-03 -1.74611731e-02 2.93328151e+00] [ 5.19853384e-03 9.99985555e-01 -1.36568810e-03 2.49497062e-02] [ 1.74680519e-02 1.27468877e-03 9.99846609e-01 -1.06660015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46241403699997 meters Centerline goodness [0,1] 0.6393841166936791 Centerline is valid? [False, False] Translation: X:2.93, Y:0.03, Z:-1.07 [[ 9.99828653e-01 -4.77422330e-03 -1.78849436e-02 2.93463114e+00] [ 4.74973694e-03 9.99987724e-01 -1.41133265e-03 2.67281589e-02] [ 1.78914621e-02 1.32614205e-03 9.99839056e-01 -1.06693615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49241403699997 meters Centerline goodness [0,1] 0.6407922539299231 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.07 [[ 9.99825395e-01 -4.62158956e-03 -1.81058384e-02 2.93529760e+00] [ 4.59429837e-03 9.99988247e-01 -1.54861991e-03 2.77862757e-02] [ 1.81127827e-02 1.46516589e-03 9.99834877e-01 -1.06703394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52241403699998 meters Centerline goodness [0,1] 0.6360637457603494 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.07 [[ 9.99822212e-01 -4.27779399e-03 -1.83642286e-02 2.93620917e+00] [ 4.25379206e-03 9.99990047e-01 -1.34585659e-03 2.82128036e-02] [ 1.83698032e-02 1.26749970e-03 9.99830458e-01 -1.06739602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55241403699998 meters Centerline goodness [0,1] 0.6369082305773759 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.07 [[ 9.99820814e-01 -4.24907601e-03 -1.84468194e-02 2.93638104e+00] [ 4.21925317e-03 9.99989729e-01 -1.65531137e-03 2.98197220e-02] [ 1.84536635e-02 1.57718296e-03 9.99828473e-01 -1.06723603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58241403699998 meters Centerline goodness [0,1] 0.6398138452588714 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.07 [[ 9.99817087e-01 -3.93836745e-03 -1.87157993e-02 2.93732058e+00] [ 3.91378591e-03 9.99991430e-01 -1.34985788e-03 2.97898884e-02] [ 1.87209551e-02 1.27636135e-03 9.99823933e-01 -1.06767540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61241403699998 meters Centerline goodness [0,1] 0.6427224253149231 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.07 [[ 9.99815868e-01 -3.73303152e-03 -1.88226970e-02 2.93786106e+00] [ 3.71282480e-03 9.99992493e-01 -1.10836106e-03 2.95721385e-02] [ 1.88266933e-02 1.03827160e-03 9.99822223e-01 -1.06805325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64241403699998 meters Centerline goodness [0,1] 0.6417987072083635 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.07 [[ 9.99817468e-01 -3.87009739e-03 -1.87097086e-02 2.93782923e+00] [ 3.85192017e-03 9.99992074e-01 -1.00747916e-03 2.93263587e-02] [ 1.87134593e-02 9.35226962e-04 9.99824450e-01 -1.06844856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67241403699998 meters Centerline goodness [0,1] 0.6466051540146325 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.07 [[ 9.99814015e-01 -3.63030990e-03 -1.89408544e-02 2.93856556e+00] [ 3.61805775e-03 9.99993223e-01 -6.81091304e-04 2.87907103e-02] [ 1.89431986e-02 6.12435526e-04 9.99820374e-01 -1.06877374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70241403699998 meters Centerline goodness [0,1] 0.6358677917113421 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.07 [[ 9.99814131e-01 -3.54678337e-03 -1.89505620e-02 2.93883711e+00] [ 3.53862055e-03 9.99993631e-01 -4.64258120e-04 2.86320788e-02] [ 1.89520880e-02 3.97112981e-04 9.99820314e-01 -1.06911974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73241403699998 meters Centerline goodness [0,1] 0.6369408908394808 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.07 [[ 9.99814441e-01 -3.49925627e-03 -1.89430448e-02 2.93886832e+00] [ 3.49311672e-03 9.99993835e-01 -3.57184150e-04 2.87993413e-02] [ 1.89441779e-02 2.90947604e-04 9.99820501e-01 -1.06916628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76241403699999 meters Centerline goodness [0,1] 0.6369408908394808 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.07 [[ 9.99814441e-01 -3.49925627e-03 -1.89430448e-02 2.93886832e+00] [ 3.49311672e-03 9.99993835e-01 -3.57184150e-04 2.87993413e-02] [ 1.89441779e-02 2.90947604e-04 9.99820501e-01 -1.06916628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.792414037 meters Centerline goodness [0,1] 0.6412094326406724 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.07 [[ 9.99812494e-01 -3.32297984e-03 -1.90770718e-02 2.93941224e+00] [ 3.32154035e-03 9.99994478e-01 -1.07141248e-04 2.85972244e-02] [ 1.90773225e-02 4.37558941e-05 9.99818010e-01 -1.06950825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.822414037 meters Centerline goodness [0,1] 0.6319687835880181 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.07 [[ 9.99812978e-01 -3.40109335e-03 -1.90379054e-02 2.93922920e+00] [ 3.39742752e-03 9.99994203e-01 -2.24893577e-04 2.87062942e-02] [ 1.90385599e-02 1.60171614e-04 9.99818737e-01 -1.06931551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.852414037 meters Centerline goodness [0,1] 0.6426707061291075 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.08 [[ 9.99971811e-01 -1.45662763e-03 -7.36578180e-03 2.94030422e+00] [ 1.46336080e-03 9.99998516e-01 9.08808396e-04 2.66447652e-02] [ 7.36444707e-03 -9.19561574e-04 9.99972459e-01 -1.07591389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.882414037 meters Centerline goodness [0,1] 0.6428254834721348 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.07 [[ 9.99971969e-01 -1.71353946e-03 -7.28867684e-03 2.93947787e+00] [ 1.71768266e-03 9.99998367e-01 5.62221469e-04 2.67824974e-02] [ 7.28770155e-03 -5.74725344e-04 9.99973279e-01 -1.07498600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.912414037 meters Centerline goodness [0,1] 0.6455109080738393 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.08 [[ 9.99971509e-01 -1.40527346e-03 -7.41663268e-03 2.94007657e+00] [ 1.41226416e-03 9.99998563e-01 9.37418122e-04 2.62426446e-02] [ 7.41530469e-03 -9.47865658e-04 9.99972057e-01 -1.07538396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.942414037 meters Centerline goodness [0,1] 0.628858042692173 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.08 [[ 9.99969608e-01 -1.26001422e-03 -7.69382275e-03 2.94053796e+00] [ 1.26695377e-03 9.99998795e-01 8.97156457e-04 2.62707250e-02] [ 7.69268305e-03 -9.06876908e-04 9.99970000e-01 -1.07512017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.972414037 meters Centerline goodness [0,1] 0.6424231136358345 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.08 [[ 9.99969060e-01 -8.11755730e-04 -7.82430214e-03 2.94148646e+00] [ 8.23126002e-04 9.99998610e-01 1.45008892e-03 2.54234146e-02] [ 7.82311414e-03 -1.45648444e-03 9.99968338e-01 -1.07592317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.002414037 meters Centerline goodness [0,1] 0.6203055600772039 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:-1.08 [[ 9.99968496e-01 -7.23349143e-04 -7.90461257e-03 2.94179732e+00] [ 7.35623119e-04 9.99998528e-01 1.54996409e-03 2.49251746e-02] [ 7.90347978e-03 -1.55573008e-03 9.99967557e-01 -1.07604337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.032414037 meters Centerline goodness [0,1] 0.6390540791674411 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:-1.08 [[ 9.99967536e-01 -6.09404876e-04 -8.03465165e-03 2.94214373e+00] [ 6.21916194e-04 9.99998598e-01 1.55476346e-03 2.46323598e-02] [ 8.03369290e-03 -1.55970987e-03 9.99966513e-01 -1.07603583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.062414037 meters Centerline goodness [0,1] 0.6385041872549702 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:-1.08 [[ 9.99967365e-01 -2.48218964e-04 -8.07515312e-03 2.94249765e+00] [ 2.63833329e-04 9.99998098e-01 1.93262310e-03 2.35145468e-02] [ 8.07465805e-03 -1.93469052e-03 9.99965528e-01 -1.07623373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.092414037 meters Centerline goodness [0,1] 0.6447599667005828 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:-1.08 [[ 9.99966858e-01 -2.37705719e-04 -8.13795146e-03 2.94255416e+00] [ 2.53239276e-04 9.99998148e-01 1.90780256e-03 2.31280724e-02] [ 8.13748290e-03 -1.90980018e-03 9.99965066e-01 -1.07604079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.122414037 meters Centerline goodness [0,1] 0.6381018518518519 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:-1.08 [[ 9.99966255e-01 -3.02636486e-04 -8.20958449e-03 2.94236121e+00] [ 3.17439972e-04 9.99998326e-01 1.80195244e-03 2.27943343e-02] [ 8.20902541e-03 -1.80449769e-03 9.99964677e-01 -1.07555117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15241403699997 meters Centerline goodness [0,1] 0.6382477299507867 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:-1.08 [[ 9.99966064e-01 -2.88051745e-04 -8.23337716e-03 2.94217799e+00] [ 3.03209634e-04 9.99998262e-01 1.83984037e-03 2.21779547e-02] [ 8.23283288e-03 -1.84227438e-03 9.99964413e-01 -1.07518575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18241403699997 meters Centerline goodness [0,1] 0.654478386167147 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:-1.07 [[ 9.99965475e-01 -9.42682068e-06 -8.30956393e-03 2.94224855e+00] [ 2.77946570e-05 9.99997557e-01 2.21033256e-03 2.06429747e-02] [ 8.30952279e-03 -2.21048721e-03 9.99963032e-01 -1.07497509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21241403699997 meters Centerline goodness [0,1] 0.6504044431129445 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:-1.07 [[ 9.99964458e-01 1.44900790e-04 -8.42983432e-03 2.94233781e+00] [-1.24416718e-04 9.99997039e-01 2.43042324e-03 1.95456478e-02] [ 8.43016153e-03 -2.42928805e-03 9.99961515e-01 -1.07468929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24241403699997 meters Centerline goodness [0,1] 0.6454723276953169 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:-1.07 [[ 9.99963732e-01 2.38960083e-04 -8.51332016e-03 2.94240115e+00] [-2.17001134e-04 9.99996648e-01 2.58019404e-03 1.86340378e-02] [ 8.51390819e-03 -2.57825306e-03 9.99960432e-01 -1.07451471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27241403699998 meters Centerline goodness [0,1] 0.6490029796011918 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:-1.07 [[ 9.99962282e-01 5.00333006e-04 -8.67091606e-03 2.94235286e+00] [-4.75482878e-04 9.99995775e-01 2.86774180e-03 1.68386974e-02] [ 8.67231425e-03 -2.86351076e-03 9.99958295e-01 -1.07383966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30241403699998 meters Centerline goodness [0,1] 0.6417845434329077 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:-1.07 [[ 9.99961963e-01 5.01070924e-04 -8.70751039e-03 2.94207733e+00] [-4.75801835e-04 9.99995671e-01 2.90381708e-03 1.60048840e-02] [ 8.70892771e-03 -2.89956358e-03 9.99957873e-01 -1.07329670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33241403699998 meters Centerline goodness [0,1] 0.6454721936736325 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:-1.07 [[ 9.99962050e-01 4.41149571e-04 -8.70079754e-03 2.94173986e+00] [-4.15769822e-04 9.99995655e-01 2.91853829e-03 1.50596371e-02] [ 8.70204724e-03 -2.91481001e-03 9.99957888e-01 -1.07284012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36241403699998 meters Centerline goodness [0,1] 0.6446455779682987 Centerline is valid? [False, False] Translation: X:2.94, Y:0.01, Z:-1.07 [[ 9.99962529e-01 2.86044372e-04 -8.65213976e-03 2.94121882e+00] [-2.58493779e-04 9.99994894e-01 3.18520265e-03 1.25562767e-02] [ 8.65300669e-03 -3.18284678e-03 9.99957497e-01 -1.07237600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39241403699998 meters Centerline goodness [0,1] 0.6599330433396342 Centerline is valid? [False, False] Translation: X:2.94, Y:0.01, Z:-1.07 [[ 9.99963131e-01 1.75347270e-04 -8.58527177e-03 2.94097389e+00] [-1.46870233e-04 9.99994486e-01 3.31748199e-03 1.11444665e-02] [ 8.58580614e-03 -3.31609876e-03 9.99957643e-01 -1.07226230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42241403699998 meters Centerline goodness [0,1] 0.6362442844854905 Centerline is valid? [False, False] Translation: X:2.94, Y:0.01, Z:-1.07 [[ 9.99955232e-01 -2.04310303e-03 -9.23898640e-03 2.94385346e+00] [ 2.05088791e-03 9.99997550e-01 8.33215371e-04 9.29345569e-03] [ 9.23726142e-03 -8.52126196e-04 9.99956973e-01 -1.07376730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45241403699998 meters Centerline goodness [0,1] 0.6292302475415394 Centerline is valid? [False, False] Translation: X:2.94, Y:0.01, Z:-1.07 [[ 9.99955086e-01 -1.80520670e-03 -9.30415203e-03 2.94438412e+00] [ 1.81689286e-03 9.99997571e-01 1.24771617e-03 8.12489555e-03] [ 9.30187704e-03 -1.26456478e-03 9.99955937e-01 -1.07427127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48241403699998 meters Centerline goodness [0,1] 0.6622648787239354 Centerline is valid? [False, False] Translation: X:2.94, Y:0.01, Z:-1.07 [[ 9.99954516e-01 -1.78310540e-03 -9.36942817e-03 2.94460440e+00] [ 1.79542412e-03 9.99997535e-01 1.30653101e-03 7.68364496e-03] [ 9.36707539e-03 -1.32329368e-03 9.99955252e-01 -1.07435856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51241403699999 meters Centerline goodness [0,1] 0.6512753256150506 Centerline is valid? [False, False] Translation: X:2.95, Y:0.01, Z:-1.07 [[ 9.99953147e-01 -1.17720906e-03 -9.60825766e-03 2.94560977e+00] [ 1.19650781e-03 9.99997278e-01 2.00305735e-03 6.38731297e-03] [ 9.60587349e-03 -2.01445986e-03 9.99951833e-01 -1.07495243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.542414037 meters Centerline goodness [0,1] 0.6514942112060176 Centerline is valid? [False, False] Translation: X:2.95, Y:0.01, Z:-1.07 [[ 9.99952736e-01 -1.28170780e-03 -9.63758439e-03 2.94529896e+00] [ 1.29921473e-03 9.99997517e-01 1.81048558e-03 6.30844357e-03] [ 9.63523994e-03 -1.82292130e-03 9.99951918e-01 -1.07435180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.572414037 meters Centerline goodness [0,1] 0.6551309944701296 Centerline is valid? [False, False] Translation: X:2.94, Y:0.01, Z:-1.07 [[ 9.99953317e-01 -1.34316871e-03 -9.56867917e-03 2.94491241e+00] [ 1.35941838e-03 9.99997645e-01 1.69191219e-03 6.04492741e-03] [ 9.56638411e-03 -1.70484104e-03 9.99952788e-01 -1.07390364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.602414037 meters Centerline goodness [0,1] 0.6488135440587149 Centerline is valid? [False, False] Translation: X:2.95, Y:0.01, Z:-1.07 [[ 9.99951551e-01 -1.05995512e-03 -9.78630137e-03 2.94546774e+00] [ 1.07804609e-03 9.99997720e-01 1.84351169e-03 5.45208864e-03] [ 9.78432501e-03 -1.85397245e-03 9.99950414e-01 -1.07388591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.632414037 meters Centerline goodness [0,1] 0.6525354969574036 Centerline is valid? [False, False] Translation: X:2.95, Y:0.01, Z:-1.07 [[ 9.99950584e-01 -9.66593076e-04 -9.89420445e-03 2.94521243e+00] [ 9.83282490e-04 9.99998102e-01 1.68206139e-03 5.20032726e-03] [ 9.89255980e-03 -1.69170707e-03 9.99949636e-01 -1.07312023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.662414037 meters Centerline goodness [0,1] 0.6461784659769649 Centerline is valid? [False, False] Translation: X:2.95, Y:0.01, Z:-1.07 [[ 9.99948268e-01 -5.79377887e-04 -1.01551220e-02 2.94611670e+00] [ 5.98853161e-04 9.99997987e-01 1.91484257e-03 5.13743648e-03] [ 1.01539922e-02 -1.92082493e-03 9.99946602e-01 -1.07345401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.692414037 meters Centerline goodness [0,1] 0.667200505266957 Centerline is valid? [False, False] Translation: X:2.95, Y:0.01, Z:-1.07 [[ 9.99946321e-01 -3.52247141e-04 -1.03552678e-02 2.94665260e+00] [ 3.72116977e-04 9.99998093e-01 1.91695016e-03 5.40624735e-03] [ 1.03545729e-02 -1.92070063e-03 9.99944545e-01 -1.07350038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.722414037 meters Centerline goodness [0,1] 0.6549235224907232 Centerline is valid? [False, False] Translation: X:2.95, Y:0.01, Z:-1.07 [[ 9.99944650e-01 -8.18857596e-05 -1.05209621e-02 2.94726346e+00] [ 1.02105839e-04 9.99998149e-01 1.92136221e-03 5.79360450e-03] [ 1.05207853e-02 -1.92233012e-03 9.99942807e-01 -1.07367807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.752414037 meters Centerline goodness [0,1] 0.6534655707266264 Centerline is valid? [False, False] Translation: X:2.95, Y:0.01, Z:-1.07 [[ 9.99941650e-01 2.94879013e-04 -1.07986017e-02 2.94836400e+00] [-2.72437622e-04 9.99997801e-01 2.07958766e-03 6.18068495e-03] [ 1.07991912e-02 -2.07652437e-03 9.99939531e-01 -1.07420013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.782414037 meters Centerline goodness [0,1] 0.6611743965283428 Centerline is valid? [False, False] Translation: X:2.95, Y:0.01, Z:-1.07 [[ 9.99937225e-01 7.64835642e-04 -1.11785785e-02 2.94952895e+00] [-7.42956100e-04 9.99997801e-01 1.96129576e-03 7.43912032e-03] [ 1.11800540e-02 -1.95286745e-03 9.99935594e-01 -1.07441778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.812414037 meters Centerline goodness [0,1] 0.6646998982706003 Centerline is valid? [False, False] Translation: X:2.95, Y:0.01, Z:-1.07 [[ 9.99935053e-01 8.59587504e-04 -1.13644246e-02 2.95007038e+00] [-8.39033298e-04 9.99998004e-01 1.81328866e-03 7.96706511e-03] [ 1.13659606e-02 -1.80363576e-03 9.99933779e-01 -1.07447178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.842414037 meters Centerline goodness [0,1] 0.6066159843214955 Centerline is valid? [False, False] Translation: X:3.00, Y:0.01, Z:-1.07 [[ 9.99923267e-01 -1.70177005e-03 -1.22704433e-02 2.99914709e+00] [ 1.68505328e-03 9.99997638e-01 -1.37257050e-03 6.77298147e-03] [ 1.22727502e-02 1.35178883e-03 9.99923773e-01 -1.07234242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.872414037 meters Centerline goodness [0,1] 0.6655569144358382 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-1.08 [[ 9.99950537e-01 1.85530645e-03 -9.77143862e-03 2.93074228e+00] [-1.88370061e-03 9.99994028e-01 -2.89743050e-03 1.22422955e-02] [ 9.76600465e-03 2.91569365e-03 9.99948061e-01 -1.07531977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90241403699997 meters Centerline goodness [0,1] 0.6559707923261826 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-1.08 [[ 9.99949413e-01 1.83875550e-03 -9.88885356e-03 2.93100418e+00] [-1.86946720e-03 9.99993456e-01 -3.09734159e-03 1.29321631e-02] [ 9.88309359e-03 3.11567179e-03 9.99946307e-01 -1.07527180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93241403699997 meters Centerline goodness [0,1] 0.6570408604106506 Centerline is valid? [False, False] Translation: X:2.93, Y:0.01, Z:-1.08 [[ 9.99948262e-01 1.91491911e-03 -9.99030245e-03 2.93168662e+00] [-1.94727501e-03 9.99992888e-01 -3.23000890e-03 1.43070188e-02] [ 9.98404619e-03 3.24929566e-03 9.99944879e-01 -1.07579087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96241403699997 meters Centerline goodness [0,1] 0.6679241852643062 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.08 [[ 9.99946755e-01 2.00197400e-03 -1.01231926e-02 2.93218636e+00] [-2.03575832e-03 9.99992390e-01 -3.32811715e-03 1.51540242e-02] [ 1.01164527e-02 3.34854831e-03 9.99943221e-01 -1.07595496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99241403699997 meters Centerline goodness [0,1] 0.6889460739661141 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.08 [[ 9.99947597e-01 1.86899101e-03 -1.00652542e-02 2.93210743e+00] [-1.90424324e-03 9.99992083e-01 -3.49392436e-03 1.60271494e-02] [ 1.00586444e-02 3.51290796e-03 9.99943240e-01 -1.07600490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02241403699998 meters Centerline goodness [0,1] 0.6679640101650679 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.08 [[ 9.99951341e-01 1.20730231e-03 -9.79072588e-03 2.93112599e+00] [-1.24868852e-03 9.99990307e-01 -4.22207209e-03 1.82426526e-02] [ 9.78553366e-03 4.23409222e-03 9.99943156e-01 -1.07552060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05241403699998 meters Centerline goodness [0,1] 0.6569142857142858 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.08 [[ 9.99950643e-01 1.11772593e-03 -9.87231796e-03 2.93132823e+00] [-1.15940912e-03 9.99990434e-01 -4.21751600e-03 1.86051130e-02] [ 9.86750949e-03 4.22875389e-03 9.99942373e-01 -1.07556638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08241403699998 meters Centerline goodness [0,1] 0.657864077669903 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.08 [[ 9.99952050e-01 8.07674825e-04 -9.75941018e-03 2.93096169e+00] [-8.50902196e-04 9.99989843e-01 -4.42596144e-03 1.92817131e-02] [ 9.75573632e-03 4.43405352e-03 9.99942581e-01 -1.07544736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11241403699998 meters Centerline goodness [0,1] 0.6439040029312082 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.08 [[ 9.99953786e-01 4.61140951e-05 -9.61371712e-03 2.93042151e+00] [-9.32414034e-05 9.99987982e-01 -4.90169961e-03 2.05298410e-02] [ 9.61337555e-03 4.90236948e-03 9.99941773e-01 -1.07539413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14241403699998 meters Centerline goodness [0,1] 0.6423710560685563 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.08 [[ 9.99953962e-01 -7.11619105e-05 -9.59521520e-03 2.93072611e+00] [ 2.45463092e-05 9.99988198e-01 -4.85824346e-03 2.09201757e-02] [ 9.59544769e-03 4.85778427e-03 9.99942163e-01 -1.07589335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17241403699998 meters Centerline goodness [0,1] 0.6387414098232549 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.08 [[ 9.99954936e-01 -3.93942618e-04 -9.48526243e-03 2.93059344e+00] [ 3.47121803e-04 9.99987751e-01 -4.93730484e-03 2.13543480e-02] [ 9.48709126e-03 4.93378981e-03 9.99942825e-01 -1.07619294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20241403699998 meters Centerline goodness [0,1] 0.6364180892482779 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.08 [[ 9.99956635e-01 -9.17607014e-04 -9.26752282e-03 2.93020726e+00] [ 8.69577647e-04 9.99986178e-01 -5.18524686e-03 2.15587528e-02] [ 9.27215275e-03 5.17696317e-03 9.99943612e-01 -1.07649386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23241403699998 meters Centerline goodness [0,1] 0.6307515249165612 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.08 [[ 9.99957293e-01 -1.11966887e-03 -9.17375272e-03 2.93047826e+00] [ 1.07396954e-03 9.99986998e-01 -4.98494393e-03 2.13114119e-02] [ 9.17921494e-03 4.97487871e-03 9.99945495e-01 -1.07735545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26241403699999 meters Centerline goodness [0,1] 0.6229772345372097 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.08 [[ 9.99958734e-01 -1.84144804e-03 -8.89602729e-03 2.93016791e+00] [ 1.79678008e-03 9.99985753e-01 -5.02649851e-03 2.11850203e-02] [ 8.90515658e-03 5.01030688e-03 9.99947796e-01 -1.07819053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.292414037 meters Centerline goodness [0,1] 0.6343865786021678 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.08 [[ 9.99958703e-01 -2.04549081e-03 -8.85487656e-03 2.93025469e+00] [ 2.00169437e-03 9.99985735e-01 -4.95206432e-03 2.11321735e-02] [ 8.86487965e-03 4.93413505e-03 9.99948533e-01 -1.07857868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.322414037 meters Centerline goodness [0,1] 0.6292700966116581 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.08 [[ 9.99958971e-01 -2.89604721e-03 -8.58304699e-03 2.92904362e+00] [ 2.85029688e-03 9.99981692e-01 -5.33776125e-03 2.13192451e-02] [ 8.59834826e-03 5.31307801e-03 9.99948918e-01 -1.07805874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.352414037 meters Centerline goodness [0,1] 0.6265348906858341 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.08 [[ 0.99995901 -0.00303389 -0.0085308 2.92900041] [ 0.00298896 0.99998162 -0.00527484 0.02137044] [ 0.00854665 0.00524913 0.9999497 -1.07821787] [ 0. 0. 0. 1. ]] SLAMing on 250.382414037 meters Centerline goodness [0,1] 0.6283894491496089 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.08 [[ 0.99995907 -0.00310471 -0.00849866 2.92894623] [ 0.0030611 0.99998211 -0.00513949 0.02137633] [ 0.00851447 0.00511326 0.99995068 -1.07830837] [ 0. 0. 0. 1. ]] SLAMing on 250.412414037 meters Centerline goodness [0,1] 0.6082890787347033 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.08 [[ 9.99958466e-01 -2.87575522e-03 -8.64846422e-03 2.92955672e+00] [ 2.83415884e-03 9.99984377e-01 -4.81809977e-03 2.12037892e-02] [ 8.66218477e-03 4.79338854e-03 9.99950994e-01 -1.07866755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.442414037 meters Centerline goodness [0,1] 0.6240705675887868 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.08 [[ 9.99958052e-01 -2.84174207e-03 -8.70738542e-03 2.92973614e+00] [ 2.79929473e-03 9.99984159e-01 -4.88318216e-03 2.20074194e-02] [ 8.72112423e-03 4.85860278e-03 9.99950167e-01 -1.07868923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.472414037 meters Centerline goodness [0,1] 0.626326374921978 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.08 [[ 9.99956736e-01 -2.60249040e-03 -8.93047128e-03 2.93056329e+00] [ 2.55954003e-03 9.99985120e-01 -4.81748121e-03 2.25406855e-02] [ 8.94287585e-03 4.79441489e-03 9.99948518e-01 -1.07900898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.502414037 meters Centerline goodness [0,1] 0.6313937064394378 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.08 [[ 9.99955448e-01 -2.20266657e-03 -9.17878004e-03 2.93159641e+00] [ 2.16060372e-03 9.99987132e-01 -4.59001831e-03 2.30394881e-02] [ 9.18877220e-03 4.56998211e-03 9.99947339e-01 -1.07954584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.532414037 meters Centerline goodness [0,1] 0.6269885312615613 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.08 [[ 9.99953617e-01 -1.79987333e-03 -9.46167672e-03 2.93269801e+00] [ 1.75820711e-03 9.99988730e-01 -4.41015698e-03 2.36569381e-02] [ 9.46950781e-03 4.39331683e-03 9.99945512e-01 -1.08006384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.562414037 meters Centerline goodness [0,1] 0.6366191294653226 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.08 [[ 9.99956924e-01 1.82103587e-03 -9.10130608e-03 2.93205044e+00] [-1.82728528e-03 9.99998100e-01 -6.78381427e-04 2.38524338e-02] [ 9.10005343e-03 6.94982888e-04 9.99958352e-01 -1.08043717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.592414037 meters Centerline goodness [0,1] 0.6322435122314203 Centerline is valid? [False, False] Translation: X:2.93, Y:0.03, Z:-1.08 [[ 9.99952815e-01 2.27752490e-03 -9.44359775e-03 2.93323247e+00] [-2.28516177e-03 9.99997071e-01 -7.97970250e-04 2.51628245e-02] [ 9.44175269e-03 8.19512746e-04 9.99955090e-01 -1.08068357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.622414037 meters Centerline goodness [0,1] 0.6429121096938181 Centerline is valid? [False, False] Translation: X:2.93, Y:0.03, Z:-1.08 [[ 9.99948585e-01 2.74122692e-03 -9.76283852e-03 2.93440477e+00] [-2.74984542e-03 9.99995841e-01 -8.69472103e-04 2.65630942e-02] [ 9.76041450e-03 8.96273696e-04 9.99951964e-01 -1.08100648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65241403699997 meters Centerline goodness [0,1] 0.642840457836954 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.08 [[ 9.99941668e-01 4.09619184e-03 -9.99406662e-03 2.93587087e+00] [-4.10501533e-03 9.99991202e-01 -8.62518786e-04 2.96507703e-02] [ 9.99044565e-03 9.03494270e-04 9.99949686e-01 -1.08123947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68241403699997 meters Centerline goodness [0,1] 0.642840457836954 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.08 [[ 9.99941668e-01 4.09619184e-03 -9.99406662e-03 2.93587087e+00] [-4.10501533e-03 9.99991202e-01 -8.62518786e-04 2.96507703e-02] [ 9.99044565e-03 9.03494270e-04 9.99949686e-01 -1.08123947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71241403699997 meters Centerline goodness [0,1] 0.649514972585407 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.08 [[ 9.99937858e-01 4.42198106e-03 -1.02335490e-02 2.93648517e+00] [-4.43513583e-03 9.99989367e-01 -1.26311804e-03 3.14310604e-02] [ 1.02278547e-02 1.30842673e-03 9.99946838e-01 -1.08094298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74241403699997 meters Centerline goodness [0,1] 0.6461156172347509 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.08 [[ 9.99930330e-01 5.04352332e-03 -1.06722999e-02 2.93792634e+00] [-5.05629580e-03 9.99986532e-01 -1.17014450e-03 3.26418419e-02] [ 1.06662545e-02 1.22402529e-03 9.99942365e-01 -1.08128819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77241403699998 meters Centerline goodness [0,1] 0.6481450986849844 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.08 [[ 9.99926525e-01 5.22387256e-03 -1.09387504e-02 2.93845978e+00] [-5.24178440e-03 9.99984967e-01 -1.60943716e-03 3.42173366e-02] [ 1.09301785e-02 1.66665748e-03 9.99938875e-01 -1.08088088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80241403699998 meters Centerline goodness [0,1] 0.6613929289346103 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99921893e-01 5.66902445e-03 -1.11386544e-02 2.93920537e+00] [-5.69272832e-03 9.99981596e-01 -2.09752069e-03 3.67732542e-02] [ 1.11265585e-02 2.16076619e-03 9.99935763e-01 -1.08068440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83241403699998 meters Centerline goodness [0,1] 0.653879727274872 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99917564e-01 5.98059192e-03 -1.13621224e-02 2.94008428e+00] [-6.00428374e-03 9.99979868e-01 -2.05219158e-03 3.74696205e-02] [ 1.13496203e-02 2.12024381e-03 9.99933343e-01 -1.08104806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86241403699998 meters Centerline goodness [0,1] 0.6528113305859504 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99914945e-01 6.08865861e-03 -1.15339432e-02 2.94066142e+00] [-6.11412144e-03 9.99978946e-01 -2.17366939e-03 3.82155056e-02] [ 1.15204656e-02 2.24400443e-03 9.99931119e-01 -1.08116604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89241403699998 meters Centerline goodness [0,1] 0.6593377984995148 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99912063e-01 6.29036941e-03 -1.16746192e-02 2.94131376e+00] [-6.31499577e-03 9.99977910e-01 -2.07372859e-03 3.88417724e-02] [ 1.16613168e-02 2.14727141e-03 9.99929699e-01 -1.08156264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92241403699998 meters Centerline goodness [0,1] 0.6574835818772375 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99914202e-01 5.97969791e-03 -1.16547287e-02 2.94091957e+00] [-6.00828014e-03 9.99979024e-01 -2.41894563e-03 3.89794136e-02] [ 1.16400196e-02 2.48876296e-03 9.99929155e-01 -1.08105769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95241403699998 meters Centerline goodness [0,1] 0.6549035407877897 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99915863e-01 5.89386365e-03 -1.15554860e-02 2.94072892e+00] [-5.92127328e-03 9.99979733e-01 -2.33922509e-03 3.85932030e-02] [ 1.15414648e-02 2.40745146e-03 9.99930497e-01 -1.08113136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98241403699998 meters Centerline goodness [0,1] 0.6625520242149072 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99919101e-01 5.73562079e-03 -1.13531282e-02 2.94039123e+00] [-5.76167574e-03 9.99980839e-01 -2.26358195e-03 3.81381403e-02] [ 1.13399277e-02 2.32881187e-03 9.99932989e-01 -1.08131844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01241403699999 meters Centerline goodness [0,1] 0.6515341487071515 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99925316e-01 5.21662586e-03 -1.10521253e-02 2.93938645e+00] [-5.24520933e-03 9.99982970e-01 -2.55883596e-03 3.79707630e-02] [ 1.10385886e-02 2.61661557e-03 9.99935649e-01 -1.08092764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.042414037 meters Centerline goodness [0,1] 0.6511627906976745 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99925987e-01 5.13765051e-03 -1.10283368e-02 2.93947100e+00] [-5.16493421e-03 9.99983668e-01 -2.44690887e-03 3.77513282e-02] [ 1.10155853e-02 2.50368840e-03 9.99936192e-01 -1.08120749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.072414037 meters Centerline goodness [0,1] 0.6577532507519954 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99927560e-01 4.96594312e-03 -1.09642130e-02 2.93936432e+00] [-4.99344739e-03 9.99984451e-01 -2.48260017e-03 3.74995997e-02] [ 1.09517141e-02 2.53716955e-03 9.99936809e-01 -1.08128645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.102414037 meters Centerline goodness [0,1] 0.6590796049359324 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99933782e-01 4.45044939e-03 -1.06125384e-02 2.93826227e+00] [-4.47825458e-03 9.99986598e-01 -2.59770883e-03 3.74010827e-02] [ 1.06008353e-02 2.64506246e-03 9.99940311e-01 -1.08108564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.132414037 meters Centerline goodness [0,1] 0.6482905477345321 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99936352e-01 4.22706344e-03 -1.04606335e-02 2.93784745e+00] [-4.25531234e-03 9.99987356e-01 -2.67971393e-03 3.72034592e-02] [ 1.04491739e-02 2.72405663e-03 9.99941695e-01 -1.08096091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.162414037 meters Centerline goodness [0,1] 0.6522971536553679 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99939639e-01 3.88756073e-03 -1.02764260e-02 2.93728879e+00] [-3.91730021e-03 9.99988193e-01 -2.87540857e-03 3.72643526e-02] [ 1.02651263e-02 2.91549086e-03 9.99943062e-01 -1.08078064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.192414037 meters Centerline goodness [0,1] 0.6520957091804132 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99940869e-01 3.81823697e-03 -1.01823066e-02 2.93713011e+00] [-3.84702808e-03 9.99988654e-01 -2.80947654e-03 3.72392051e-02] [ 1.01714638e-02 2.84848203e-03 9.99944212e-01 -1.08087640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.222414037 meters Centerline goodness [0,1] 0.652367318931453 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 0.99994355 0.00344257 -0.01005245 2.93652781] [-0.00347418 0.99998907 -0.0031285 0.03793404] [ 0.01004157 0.00316325 0.99994458 -1.08050894] [ 0. 0. 0. 1. ]] SLAMing on 251.252414037 meters Centerline goodness [0,1] 0.6427541200671506 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 0.99994335 0.00352618 -0.01004284 2.93679427] [-0.00355605 0.9999893 -0.00295836 0.03788728] [ 0.0100323 0.00299391 0.99994519 -1.08090189] [ 0. 0. 0. 1. ]] SLAMing on 251.282414037 meters Centerline goodness [0,1] 0.6517122315769559 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99940963e-01 3.84229965e-03 -1.01640630e-02 2.93772491e+00] [-3.86960323e-03 9.99988954e-01 -2.66798483e-03 3.78480652e-02] [ 1.01536995e-02 2.70715821e-03 9.99944785e-01 -1.08167350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.312414037 meters Centerline goodness [0,1] 0.6568896891584534 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99938650e-01 3.95031145e-03 -1.03484607e-02 2.93828878e+00] [-3.97936769e-03 9.99988194e-01 -2.78870017e-03 3.81401297e-02] [ 1.03373223e-02 2.82970941e-03 9.99942565e-01 -1.08173832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.342414037 meters Centerline goodness [0,1] 0.6544462888309224 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99936288e-01 4.11738533e-03 -1.05103578e-02 2.93899227e+00] [-4.14739224e-03 9.99987381e-01 -2.83478731e-03 3.86987436e-02] [ 1.04985533e-02 2.87819728e-03 9.99940746e-01 -1.08207405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.372414037 meters Centerline goodness [0,1] 0.6509608540925267 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99931452e-01 4.72103586e-03 -1.07146240e-02 2.94015418e+00] [-4.75059142e-03 9.99984977e-01 -2.73465952e-03 4.00558626e-02] [ 1.07015526e-02 2.78537287e-03 9.99938857e-01 -1.08264375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40241403699997 meters Centerline goodness [0,1] 0.647109126324291 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99928067e-01 5.02289404e-03 -1.08918409e-02 2.94088493e+00] [-5.05156784e-03 9.99983843e-01 -2.60668275e-03 4.06835814e-02] [ 1.08785719e-02 2.66151611e-03 9.99937285e-01 -1.08298376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43241403699997 meters Centerline goodness [0,1] 0.6688148943788041 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99928355e-01 4.93798734e-03 -1.09041871e-02 2.94083101e+00] [-4.97025289e-03 9.99983344e-01 -2.93389089e-03 4.16828532e-02] [ 1.08895180e-02 2.98787726e-03 9.99936243e-01 -1.08267900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46241403699997 meters Centerline goodness [0,1] 0.6618911855547636 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99923920e-01 5.27130293e-03 -1.11520187e-02 2.94146905e+00] [-5.30359939e-03 9.99981822e-01 -2.86842960e-03 4.23228292e-02] [ 1.11366957e-02 2.92735721e-03 9.99933700e-01 -1.08260328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49241403699997 meters Centerline goodness [0,1] 0.6633554872674432 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 0.99992367 0.00519931 -0.01120781 2.94149953] [-0.00523449 0.99998146 -0.00311209 0.04267165] [ 0.01119142 0.00317052 0.99993235 -1.08233712] [ 0. 0. 0. 1. ]] SLAMing on 251.52241403699998 meters Centerline goodness [0,1] 0.6625895343026438 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99922773e-01 5.33140392e-03 -1.12260591e-02 2.94191716e+00] [-5.36428801e-03 9.99981404e-01 -2.90119355e-03 4.25570501e-02] [ 1.12103829e-02 2.96118931e-03 9.99932777e-01 -1.08283031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55241403699998 meters Centerline goodness [0,1] 0.658451290591174 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99921027e-01 5.49993491e-03 -1.13000153e-02 2.94274874e+00] [-5.52966142e-03 9.99981328e-01 -2.60110314e-03 4.24770610e-02] [ 1.12854984e-02 2.66338298e-03 9.99932770e-01 -1.08378649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58241403699998 meters Centerline goodness [0,1] 0.6590844062947068 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99921544e-01 5.41419009e-03 -1.12957138e-02 2.94295158e+00] [-5.44478463e-03 9.99981587e-01 -2.67951675e-03 4.27312817e-02] [ 1.12809984e-02 2.74080925e-03 9.99932611e-01 -1.08403954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61241403699998 meters Centerline goodness [0,1] 0.6566618911174785 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99923807e-01 5.15428973e-03 -1.12166316e-02 2.94276859e+00] [-5.18649787e-03 9.99982505e-01 -2.84427116e-03 4.30651083e-02] [ 1.12017752e-02 2.90222948e-03 9.99933046e-01 -1.08409375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64241403699998 meters Centerline goodness [0,1] 0.6571299359721992 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99920633e-01 5.38036845e-03 -1.13920638e-02 2.94361501e+00] [-5.40968874e-03 9.99982130e-01 -2.54449881e-03 4.27932368e-02] [ 1.13781698e-02 2.60592438e-03 9.99931871e-01 -1.08466566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67241403699998 meters Centerline goodness [0,1] 0.6569727118360318 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99924689e-01 4.99190669e-03 -1.12115166e-02 2.94298807e+00] [-5.02508718e-03 9.99983072e-01 -2.93328271e-03 4.31720076e-02] [ 1.11966841e-02 2.98940065e-03 9.99932847e-01 -1.08429896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70241403699998 meters Centerline goodness [0,1] 0.6564512282375388 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 0.99992866 0.00451853 -0.01105733 2.94233228] [-0.00455209 0.9999851 -0.00301181 0.04285126] [ 0.01104356 0.00306193 0.99993433 -1.08408618] [ 0. 0. 0. 1. ]] SLAMing on 251.73241403699998 meters Centerline goodness [0,1] 0.6587757054041128 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 0.99993479 0.00393025 -0.01072277 2.94120822] [-0.00396696 0.99998633 -0.00340488 0.04306765] [ 0.01070924 0.00344719 0.99993671 -1.08362898] [ 0. 0. 0. 1. ]] SLAMing on 251.76241403699999 meters Centerline goodness [0,1] 0.6605092957208658 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 0.99993604 0.00384697 -0.01063573 2.94122409] [-0.00388076 0.99998748 -0.00315754 0.04263821] [ 0.01062345 0.00319861 0.99993845 -1.08403735] [ 0. 0. 0. 1. ]] SLAMing on 251.792414037 meters Centerline goodness [0,1] 0.6528236025438723 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 0.99994239 0.00302658 -0.01029856 2.94004443] [-0.00306308 0.99998908 -0.00352992 0.04279656] [ 0.01028776 0.00356127 0.99994074 -1.08375577] [ 0. 0. 0. 1. ]] SLAMing on 251.822414037 meters Centerline goodness [0,1] 0.6514622957086877 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99945362e-01 2.74599720e-03 -1.00862179e-02 2.93969751e+00] [-2.78163489e-03 9.99989933e-01 -3.52097796e-03 4.25585230e-02] [ 1.00764477e-02 3.54884175e-03 9.99942934e-01 -1.08401338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.852414037 meters Centerline goodness [0,1] 0.6497908449862555 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.08 [[ 9.99946467e-01 2.65519532e-03 -1.00006257e-02 2.93977273e+00] [-2.68798524e-03 9.99991051e-01 -3.26677447e-03 4.21876850e-02] [ 9.99186233e-03 3.29348113e-03 9.99944656e-01 -1.08452624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.882414037 meters Centerline goodness [0,1] 0.6488317533275878 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.09 [[ 9.99948373e-01 2.44199584e-03 -9.86346667e-03 2.93981174e+00] [-2.47187373e-03 9.99992390e-01 -3.01809235e-03 4.20049582e-02] [ 9.85602144e-03 3.04231778e-03 9.99946800e-01 -1.08527973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.912414037 meters Centerline goodness [0,1] 0.6441160293660473 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.09 [[ 9.99948893e-01 2.42383774e-03 -9.81512236e-03 2.94003569e+00] [-2.45275563e-03 9.99992684e-01 -2.93529369e-03 4.19796472e-02] [ 9.80793588e-03 2.95921778e-03 9.99947522e-01 -1.08574432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.942414037 meters Centerline goodness [0,1] 0.6520063206282322 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.09 [[ 9.99950141e-01 2.28984763e-03 -9.71968139e-03 2.94002092e+00] [-2.31882603e-03 9.99992898e-01 -2.97119334e-03 4.20959971e-02] [ 9.71280878e-03 2.99358345e-03 9.99948349e-01 -1.08601917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.972414037 meters Centerline goodness [0,1] 0.6468884633796075 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.09 [[ 9.99950029e-01 2.35692821e-03 -9.71511701e-03 2.94033746e+00] [-2.38415017e-03 9.99993262e-01 -2.79139251e-03 4.21169115e-02] [ 9.70847243e-03 2.81441532e-03 9.99948911e-01 -1.08648803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.002414037 meters Centerline goodness [0,1] 0.6470954605341956 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.09 [[ 9.99948045e-01 2.51643760e-03 -9.87798222e-03 2.94082846e+00] [-2.54262806e-03 9.99993283e-01 -2.63973561e-03 4.21240084e-02] [ 9.87127314e-03 2.66471450e-03 9.99947727e-01 -1.08664648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.032414037 meters Centerline goodness [0,1] 0.6524445940099033 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.09 [[ 9.99949605e-01 2.24730421e-03 -9.78454252e-03 2.94027559e+00] [-2.27657494e-03 9.99992964e-01 -2.98141835e-03 4.25351631e-02] [ 9.77777352e-03 3.00354335e-03 9.99947686e-01 -1.08610515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.062414037 meters Centerline goodness [0,1] 0.6450260023485992 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.09 [[ 9.99948039e-01 2.45385402e-03 -9.89428725e-03 2.94043294e+00] [-2.48069378e-03 9.99993275e-01 -2.70129268e-03 4.20894666e-02] [ 9.88759213e-03 2.72569701e-03 9.99947402e-01 -1.08593112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.092414037 meters Centerline goodness [0,1] 0.650815021397317 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.09 [[ 9.99947985e-01 2.37299835e-03 -9.91947917e-03 2.94018932e+00] [-2.40105344e-03 9.99993149e-01 -2.81733057e-03 4.20703633e-02] [ 9.91272569e-03 2.84100122e-03 9.99946832e-01 -1.08546745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.122414037 meters Centerline goodness [0,1] 0.645902659740011 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.09 [[ 9.99946744e-01 2.58235191e-03 -9.99201015e-03 2.94066838e+00] [-2.60722753e-03 9.99993533e-01 -2.47732586e-03 4.16511063e-02] [ 9.98554820e-03 2.50324537e-03 9.99947010e-01 -1.08586288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15241403699997 meters Centerline goodness [0,1] 0.6382198576461284 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.09 [[ 9.99947068e-01 2.47312055e-03 -9.98727428e-03 2.94052514e+00] [-2.49814353e-03 9.99993770e-01 -2.49378851e-03 4.13310116e-02] [ 9.98104462e-03 2.51860615e-03 9.99947016e-01 -1.08572960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18241403699997 meters Centerline goodness [0,1] 0.6414702299921187 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.09 [[ 9.99947732e-01 2.42684445e-03 -9.93190461e-03 2.94059471e+00] [-2.44735842e-03 9.99994896e-01 -2.05382882e-03 3.94530095e-02] [ 9.92686960e-03 2.07802840e-03 9.99948568e-01 -1.08620050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21241403699997 meters Centerline goodness [0,1] 0.6319050569562938 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.09 [[ 9.99949112e-01 2.26289794e-03 -9.83116504e-03 2.94040691e+00] [-2.28164682e-03 9.99995599e-01 -1.89628946e-03 3.83534595e-02] [ 9.82683066e-03 1.91862421e-03 9.99949875e-01 -1.08638438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24241403699997 meters Centerline goodness [0,1] 0.6398291943987213 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:-1.09 [[ 9.99951096e-01 2.11394941e-03 -9.66108720e-03 2.94016159e+00] [-2.13058197e-03 9.99996265e-01 -1.71163559e-03 3.71770698e-02] [ 9.65743281e-03 1.73213562e-03 9.99951866e-01 -1.08666865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27241403699998 meters Centerline goodness [0,1] 0.6296278783866849 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.09 [[ 9.99951536e-01 1.73521122e-03 -9.69095195e-03 2.93999021e+00] [-1.74974111e-03 9.99997358e-01 -1.49104894e-03 3.47024408e-02] [ 9.68833906e-03 1.50793334e-03 9.99951930e-01 -1.08668376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30241403699998 meters Centerline goodness [0,1] 0.6298947568028823 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.09 [[ 9.99955093e-01 1.37562770e-03 -9.37649903e-03 2.93928476e+00] [-1.38823379e-03 9.99998141e-01 -1.33805876e-03 3.36544426e-02] [ 9.37464093e-03 1.35101545e-03 9.99955144e-01 -1.08688212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33241403699998 meters Centerline goodness [0,1] 0.6241327871569626 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.09 [[ 9.99955785e-01 1.22932390e-03 -9.32296522e-03 2.93910147e+00] [-1.23887525e-03 9.99998714e-01 -1.01879106e-03 3.22704185e-02] [ 9.32170080e-03 1.03029600e-03 9.99956021e-01 -1.08704872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36241403699998 meters Centerline goodness [0,1] 0.6392642108756459 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.09 [[ 9.99958119e-01 8.69928328e-04 -9.11058967e-03 2.93833382e+00] [-8.79355572e-04 9.99999082e-01 -1.03080197e-03 3.12465122e-02] [ 9.10968458e-03 1.03877025e-03 9.99957966e-01 -1.08675747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39241403699998 meters Centerline goodness [0,1] 0.6112840834040947 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.09 [[ 9.99960324e-01 6.52695775e-04 -8.88391138e-03 2.93770639e+00] [-6.57257559e-04 9.99999654e-01 -5.10578405e-04 2.87489395e-02] [ 8.88357505e-03 5.16397165e-04 9.99960407e-01 -1.08685193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42241403699998 meters Centerline goodness [0,1] 0.6346180963572268 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.09 [[ 9.99961078e-01 6.30555040e-04 -8.80032968e-03 2.93759844e+00] [-6.32821723e-04 9.99999767e-01 -2.54785772e-04 2.75694655e-02] [ 8.80016697e-03 2.60344895e-04 9.99961244e-01 -1.08697898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45241403699998 meters Centerline goodness [0,1] 0.6379459992024209 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.09 [[ 9.99962469e-01 4.32675446e-04 -8.65298699e-03 2.93695944e+00] [-4.34594918e-04 9.99999881e-01 -2.19948562e-04 2.66319277e-02] [ 8.65289080e-03 2.23700851e-04 9.99962538e-01 -1.08659743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48241403699998 meters Centerline goodness [0,1] 0.6333669614996598 Centerline is valid? [False, False] Translation: X:2.94, Y:0.03, Z:-1.09 [[ 9.99963281e-01 2.65983415e-04 -8.56541449e-03 2.93656052e+00] [-2.66896608e-04 9.99999959e-01 -1.05471097e-04 2.56120063e-02] [ 8.56538609e-03 1.07753304e-04 9.99963311e-01 -1.08643526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51241403699999 meters Centerline goodness [0,1] 0.6285687606508392 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:-1.09 [[ 9.99964360e-01 2.08066173e-04 -8.44012212e-03 2.93607673e+00] [-2.05012764e-04 9.99999913e-01 3.62636607e-04 2.31760714e-02] [ 8.44019684e-03 -3.60893350e-04 9.99964316e-01 -1.08627986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.542414037 meters Centerline goodness [0,1] 0.6318382404445586 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:-1.09 [[ 9.99964273e-01 1.33399015e-04 -8.45188858e-03 2.93580921e+00] [-1.30047960e-04 9.99999913e-01 3.97034272e-04 2.21156263e-02] [ 8.45194081e-03 -3.95920936e-04 9.99964203e-01 -1.08583980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.572414037 meters Centerline goodness [0,1] 0.6318382404445586 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:-1.09 [[ 9.99964273e-01 1.33399015e-04 -8.45188858e-03 2.93580921e+00] [-1.30047960e-04 9.99999913e-01 3.97034272e-04 2.21156263e-02] [ 8.45194081e-03 -3.95920936e-04 9.99964203e-01 -1.08583980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.602414037 meters Centerline goodness [0,1] 0.6257566270089752 Centerline is valid? [False, False] Translation: X:2.94, Y:0.02, Z:-1.09 [[ 9.99964588e-01 -6.74071501e-06 -8.41567837e-03 2.93524314e+00] [ 1.37801236e-05 9.99999650e-01 8.36405889e-04 1.87989759e-02] [ 8.41566979e-03 -8.36492239e-04 9.99964238e-01 -1.08539884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.632414037 meters Centerline goodness [0,1] 0.6289328576062276 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.09 [[ 9.99965245e-01 -6.37133053e-05 -8.33692021e-03 2.93499353e+00] [ 7.24339218e-05 9.99999451e-01 1.04572599e-03 1.71860083e-02] [ 8.33684900e-03 -1.04629352e-03 9.99964700e-01 -1.08531567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.662414037 meters Centerline goodness [0,1] 0.6216353478923311 Centerline is valid? [False, False] Translation: X:2.93, Y:0.02, Z:-1.09 [[ 9.99965618e-01 1.46760465e-05 -8.29230597e-03 2.93493256e+00] [-2.89094970e-06 9.99998990e-01 1.42121883e-03 1.53607363e-02] [ 8.29231845e-03 -1.42114599e-03 9.99964608e-01 -1.08538981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.692414037 meters Centerline goodness [0,1] 0.6213986078458489 Centerline is valid? [False, False] Translation: X:2.94, Y:0.01, Z:-1.09 [[ 9.99964655e-01 2.47800172e-04 -8.40406648e-03 2.93514420e+00] [-2.32766816e-04 9.99998371e-01 1.78975017e-03 1.36050812e-02] [ 8.40449629e-03 -1.78773072e-03 9.99963084e-01 -1.08529353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.722414037 meters Centerline goodness [0,1] 0.6251263206247129 Centerline is valid? [False, False] Translation: X:2.94, Y:0.01, Z:-1.09 [[ 9.99963576e-01 7.56498425e-04 -8.50149114e-03 2.93537775e+00] [-7.34136460e-04 9.99996264e-01 2.63317088e-03 1.04739890e-02] [ 8.50345136e-03 -2.62683372e-03 9.99960395e-01 -1.08533523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.752414037 meters Centerline goodness [0,1] 0.6245519508687016 Centerline is valid? [False, False] Translation: X:2.94, Y:0.01, Z:-1.09 [[ 9.99960392e-01 1.22660193e-03 -8.81526596e-03 2.93621758e+00] [-1.19905267e-03 9.99994383e-01 3.12978136e-03 8.81237149e-03] [ 8.81905544e-03 -3.11908743e-03 9.99956247e-01 -1.08540804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.782414037 meters Centerline goodness [0,1] 0.6334882017714508 Centerline is valid? [False, False] Translation: X:2.94, Y:0.01, Z:-1.09 [[ 9.99959187e-01 1.39804433e-03 -8.92583329e-03 2.93622518e+00] [-1.36850303e-03 9.99993569e-01 3.31489165e-03 7.65845206e-03] [ 8.93041025e-03 -3.30254133e-03 9.99954669e-01 -1.08501007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.812414037 meters Centerline goodness [0,1] 0.6363036153355797 Centerline is valid? [False, False] Translation: X:2.94, Y:0.01, Z:-1.09 [[ 9.99958141e-01 9.78104978e-05 -9.14918589e-03 2.93831064e+00] [-8.84751084e-05 9.99999475e-01 1.02075110e-03 7.45182956e-03] [ 9.14928093e-03 -1.01989890e-03 9.99957624e-01 -1.08585106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.842414037 meters Centerline goodness [0,1] 0.6469397502672458 Centerline is valid? [False, False] Translation: X:2.94, Y:0.01, Z:-1.09 [[ 9.99953183e-01 1.05297343e-03 -9.61892826e-03 2.93923248e+00] [-1.03633040e-03 9.99997958e-01 1.73505807e-03 5.33641483e-03] [ 9.62073559e-03 -1.72500846e-03 9.99952232e-01 -1.08548088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.872414037 meters Centerline goodness [0,1] 0.6471002476090957 Centerline is valid? [False, False] Translation: X:2.94, Y:0.00, Z:-1.09 [[ 9.99950152e-01 1.41780615e-03 -9.88352949e-03 2.93976036e+00] [-1.39928402e-03 9.99997252e-01 1.88070316e-03 4.62010769e-03] [ 9.88616880e-03 -1.86677954e-03 9.99949388e-01 -1.08524570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90241403699997 meters Centerline goodness [0,1] 0.657351569078124 Centerline is valid? [False, False] Translation: X:2.94, Y:0.00, Z:-1.09 [[ 9.99946232e-01 1.80547398e-03 -1.02113962e-02 2.94046179e+00] [-1.78437480e-03 9.99996255e-01 2.07497219e-03 3.84286008e-03] [ 1.02151043e-02 -2.05663967e-03 9.99945709e-01 -1.08511054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93241403699997 meters Centerline goodness [0,1] 0.6519492293744333 Centerline is valid? [False, False] Translation: X:2.94, Y:0.00, Z:-1.09 [[ 9.99938973e-01 2.71388572e-03 -1.07090962e-02 2.94173317e+00] [-2.68477340e-03 9.99992664e-01 2.73190722e-03 2.15211636e-03] [ 1.07164317e-02 -2.70298901e-03 9.99938924e-01 -1.08514839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96241403699997 meters Centerline goodness [0,1] 0.6568227181999637 Centerline is valid? [False, False] Translation: X:2.94, Y:0.00, Z:-1.08 [[ 9.99935636e-01 3.03378464e-03 -1.09325057e-02 2.94224294e+00] [-3.00349812e-03 9.99991609e-01 2.78567320e-03 1.72813330e-03] [ 1.09408651e-02 -2.75265815e-03 9.99936358e-01 -1.08497881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99241403699997 meters Centerline goodness [0,1] 0.6540988806815606 Centerline is valid? [False, False] Translation: X:2.94, Y:0.00, Z:-1.09 [[ 9.99931128e-01 3.39920241e-03 -1.12331571e-02 2.94299559e+00] [-3.36554703e-03 9.99989796e-01 3.01362187e-03 1.12311540e-03] [ 1.12432864e-02 -2.97560860e-03 9.99932365e-01 -1.08502328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02241403699998 meters Centerline goodness [0,1] 0.6581652246594529 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.00, Z:-1.08 [[ 9.99924792e-01 4.00853776e-03 -1.15905670e-02 2.94367635e+00] [-3.96944831e-03 9.99986364e-01 3.39356274e-03 -9.87053241e-05] [ 1.16040122e-02 -3.34729936e-03 9.99927069e-01 -1.08469126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05241403699998 meters Centerline goodness [0,1] 0.664041816577286 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.00, Z:-1.08 [[ 9.99921725e-01 4.25878249e-03 -1.17646733e-02 2.94397577e+00] [-4.21683900e-03 9.99984673e-01 3.58771505e-03 -8.95890361e-04] [ 1.17797723e-02 -3.53782449e-03 9.99924358e-01 -1.08451907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08241403699998 meters Centerline goodness [0,1] 0.663398323656327 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.00, Z:-1.08 [[ 9.99919910e-01 4.45635493e-03 -1.18454622e-02 2.94369239e+00] [-4.41104251e-03 9.99982865e-01 3.84867496e-03 -2.73071258e-03] [ 1.18624103e-02 -3.79611588e-03 9.99922433e-01 -1.08380786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11241403699998 meters Centerline goodness [0,1] 0.6574542186271206 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.00, Z:-1.08 [[ 9.99924330e-01 1.81212465e-03 -1.21676241e-02 2.94505899e+00] [-1.80748761e-03 9.99998290e-01 3.92082740e-04 -2.35305010e-03] [ 1.21683138e-02 -3.70060241e-04 9.99925895e-01 -1.08387613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14241403699998 meters Centerline goodness [0,1] 0.6525347689546882 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.00, Z:-1.08 [[ 9.99924781e-01 1.85418190e-03 -1.21240871e-02 2.94482551e+00] [-1.84633333e-03 9.99998079e-01 6.58513939e-04 -3.83507128e-03] [ 1.21252848e-02 -6.36079300e-04 9.99926284e-01 -1.08367229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17241403699998 meters Centerline goodness [0,1] 0.6580671213208902 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.01, Z:-1.08 [[ 9.99925838e-01 1.76760921e-03 -1.20496379e-02 2.94441946e+00] [-1.75726450e-03 9.99998078e-01 8.69042143e-04 -5.27926184e-03] [ 1.20511509e-02 -8.47803293e-04 9.99927023e-01 -1.08343975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20241403699998 meters Centerline goodness [0,1] 0.6501746998745744 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.01, Z:-1.08 [[ 9.99929257e-01 1.36924035e-03 -1.18154729e-02 2.94328547e+00] [-1.35665225e-03 9.99998504e-01 1.07334047e-03 -8.33745007e-03] [ 1.18169249e-02 -1.05723505e-03 9.99929619e-01 -1.08280692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23241403699998 meters Centerline goodness [0,1] 0.6551886264412852 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.01, Z:-1.08 [[ 9.99931544e-01 1.05457516e-03 -1.16531104e-02 2.94253474e+00] [-1.03904134e-03 9.99998564e-01 1.33899311e-03 -1.08238032e-02] [ 1.16545057e-02 -1.32679338e-03 9.99931204e-01 -1.08247636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26241403699999 meters Centerline goodness [0,1] 0.6681617351720445 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.01, Z:-1.08 [[ 9.99929837e-01 1.25360761e-03 -1.17792160e-02 2.94283935e+00] [-1.23212756e-03 9.99997565e-01 1.83063515e-03 -1.24816565e-02] [ 1.17814822e-02 -1.81599321e-03 9.99928947e-01 -1.08257902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.292414037 meters Centerline goodness [0,1] 0.6667038184614699 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.01, Z:-1.08 [[ 9.99929242e-01 1.23952288e-03 -1.18310970e-02 2.94278835e+00] [-1.21517436e-03 9.99997130e-01 2.06497736e-03 -1.38675734e-02] [ 1.18336226e-02 -2.05045440e-03 9.99927878e-01 -1.08241969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.322414037 meters Centerline goodness [0,1] 0.6583637010043552 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.02, Z:-1.08 [[ 9.99928221e-01 1.29381977e-03 -1.19112736e-02 2.94245804e+00] [-1.26235697e-03 9.99995696e-01 2.64856974e-03 -1.70544404e-02] [ 1.19146491e-02 -2.63334335e-03 9.99925551e-01 -1.08191412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.352414037 meters Centerline goodness [0,1] 0.6645238783726672 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.02, Z:-1.08 [[ 9.99927746e-01 1.27591605e-03 -1.19530055e-02 2.94229244e+00] [-1.24229330e-03 9.99995252e-01 2.81991442e-03 -1.83875401e-02] [ 1.19565467e-02 -2.80486153e-03 9.99924584e-01 -1.08159296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.382414037 meters Centerline goodness [0,1] 0.660833945546428 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.02, Z:-1.08 [[ 9.99927290e-01 1.27778549e-03 -1.19908860e-02 2.94221657e+00] [-1.24266980e-03 9.99994919e-01 2.93552543e-03 -1.94893623e-02] [ 1.19945761e-02 -2.92041128e-03 9.99923798e-01 -1.08135401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.412414037 meters Centerline goodness [0,1] 0.6565766405539157 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.02, Z:-1.08 [[ 9.99927374e-01 1.19400807e-03 -1.19925645e-02 2.94204212e+00] [-1.15766328e-03 9.99994718e-01 3.03709529e-03 -2.04264715e-02] [ 1.19961275e-02 -3.02299136e-03 9.99923474e-01 -1.08115718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.442414037 meters Centerline goodness [0,1] 0.6581694855141533 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.02, Z:-1.08 [[ 9.99925918e-01 1.26388769e-03 -1.21062797e-02 2.94231146e+00] [-1.22493028e-03 9.99994050e-01 3.22482521e-03 -2.13753845e-02] [ 1.21102835e-02 -3.20975696e-03 9.99921516e-01 -1.08119491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.472414037 meters Centerline goodness [0,1] 0.6537073527132642 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.02, Z:-1.08 [[ 9.99925874e-01 1.53478343e-03 -1.20785554e-02 2.94232203e+00] [-1.48978016e-03 9.99991919e-01 3.73399722e-03 -2.32877641e-02] [ 1.20841887e-02 -3.71572604e-03 9.99920080e-01 -1.08128397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.502414037 meters Centerline goodness [0,1] 0.6547113000354233 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.02, Z:-1.08 [[ 9.99926042e-01 1.54079492e-03 -1.20638763e-02 2.94226378e+00] [-1.49462087e-03 9.99991527e-01 3.83554439e-03 -2.43139909e-02] [ 1.20696838e-02 -3.81722980e-03 9.99919873e-01 -1.08123124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.532414037 meters Centerline goodness [0,1] 0.6499393136930376 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.02, Z:-1.08 [[ 9.99925397e-01 -2.20443705e-04 -1.22127479e-02 2.94401364e+00] [ 2.39243635e-04 9.99998789e-01 1.53792979e-03 -2.45869706e-02] [ 1.22123941e-02 -1.54073688e-03 9.99924239e-01 -1.08231656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.562414037 meters Centerline goodness [0,1] 0.6475770925110131 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.03, Z:-1.08 [[ 9.99927226e-01 -4.01801332e-04 -1.20574416e-02 2.94329439e+00] [ 4.23220452e-04 9.99998337e-01 1.77392434e-03 -2.66753939e-02] [ 1.20567088e-02 -1.77889820e-03 9.99925733e-01 -1.08188045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.592414037 meters Centerline goodness [0,1] 0.6586124032716771 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.03, Z:-1.08 [[ 9.99927852e-01 -4.72367241e-04 -1.20028017e-02 2.94297574e+00] [ 4.95372000e-04 9.99998046e-01 1.91371502e-03 -2.75202032e-02] [ 1.20018742e-02 -1.91952281e-03 9.99926132e-01 -1.08163488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.622414037 meters Centerline goodness [0,1] 0.6736658881593443 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.03, Z:-1.08 [[ 9.99928473e-01 -6.89072902e-04 -1.19404289e-02 2.94245913e+00] [ 7.10960899e-04 9.99998075e-01 1.82895194e-03 -2.80565090e-02] [ 1.19391457e-02 -1.83731030e-03 9.99927038e-01 -1.08111745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65241403699997 meters Centerline goodness [0,1] 0.6801827653187357 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.03, Z:-1.08 [[ 9.99926274e-01 -6.97654019e-04 -1.21227340e-02 2.94219259e+00] [ 7.20011186e-04 9.99998048e-01 1.83996822e-03 -2.90200080e-02] [ 1.21214267e-02 -1.84856107e-03 9.99924824e-01 -1.08020176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68241403699997 meters Centerline goodness [0,1] 0.667921703326948 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.03, Z:-1.08 [[ 9.99923500e-01 -3.41403503e-04 -1.23643297e-02 2.94306068e+00] [ 3.69691022e-04 9.99997320e-01 2.28561951e-03 -3.00349950e-02] [ 1.23635163e-02 -2.29001565e-03 9.99920947e-01 -1.08066633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71241403699997 meters Centerline goodness [0,1] 0.6690038684719536 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.03, Z:-1.08 [[ 9.99920912e-01 6.69395158e-06 -1.25765373e-02 2.94387187e+00] [ 2.68623289e-05 9.99996441e-01 2.66799449e-03 -3.10351623e-02] [ 1.25765104e-02 -2.66812132e-03 9.99917353e-01 -1.08108464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74241403699997 meters Centerline goodness [0,1] 0.678056288478452 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.03, Z:-1.08 [[ 9.99918910e-01 2.28355151e-04 -1.27327127e-02 2.94427182e+00] [-1.91721120e-04 9.99995839e-01 2.87830473e-03 -3.18711007e-02] [ 1.27333170e-02 -2.87563020e-03 9.99914793e-01 -1.08114158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77241403699998 meters Centerline goodness [0,1] 0.6699718582358631 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.03, Z:-1.08 [[ 9.99917591e-01 3.29345546e-04 -1.28336705e-02 2.94459254e+00] [-2.93301745e-04 9.99996008e-01 2.81031500e-03 -3.17715741e-02] [ 1.28345448e-02 -2.80631927e-03 9.99913696e-01 -1.08116676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80241403699998 meters Centerline goodness [0,1] 0.6702052837487362 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.03, Z:-1.08 [[ 9.99913342e-01 8.44038461e-04 -1.31375453e-02 2.94531089e+00] [-8.05855092e-04 9.99995437e-01 2.91145340e-03 -3.14741688e-02] [ 1.31399427e-02 -2.90061414e-03 9.99909460e-01 -1.08104615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83241403699998 meters Centerline goodness [0,1] 0.6694654475118691 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.03, Z:-1.08 [[ 9.99911091e-01 9.51095457e-04 -1.33005572e-02 2.94560956e+00] [-9.14050777e-04 9.99995687e-01 2.79099927e-03 -3.12465151e-02] [ 1.33031543e-02 -2.77859374e-03 9.99907648e-01 -1.08085780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86241403699998 meters Centerline goodness [0,1] 0.6690261595955155 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.03, Z:-1.08 [[ 9.99910268e-01 9.52401206e-04 -1.33621879e-02 2.94550014e+00] [-9.17605354e-04 9.99996173e-01 2.60994277e-03 -3.12191343e-02] [ 1.33646224e-02 -2.59744736e-03 9.99907316e-01 -1.08043884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89241403699998 meters Centerline goodness [0,1] 0.672597473915431 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.03, Z:-1.08 [[ 9.99908667e-01 1.10655844e-03 -1.34697026e-02 2.94562677e+00] [-1.07134295e-03 9.99995990e-01 2.62135722e-03 -3.15510847e-02] [ 1.34725493e-02 -2.60668713e-03 9.99905843e-01 -1.08018491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92241403699998 meters Centerline goodness [0,1] 0.6758613122668422 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.03, Z:-1.08 [[ 9.99908070e-01 1.21086620e-03 -1.35050140e-02 2.94528010e+00] [-1.17548850e-03 9.99995858e-01 2.62722763e-03 -3.23157272e-02] [ 1.35081393e-02 -2.61111112e-03 9.99905352e-01 -1.07944382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95241403699998 meters Centerline goodness [0,1] 0.6915451255620133 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.03, Z:-1.08 [[ 9.99906259e-01 1.27897915e-03 -1.36322397e-02 2.94557537e+00] [-1.24313920e-03 9.99995750e-01 2.63720728e-03 -3.26500108e-02] [ 1.36355547e-02 -2.62001329e-03 9.99903599e-01 -1.07938620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98241403699998 meters Centerline goodness [0,1] 0.6844693227966194 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.03, Z:-1.08 [[ 9.99905159e-01 1.22829502e-03 -1.37172941e-02 2.94561700e+00] [-1.19357991e-03 9.99996065e-01 2.53865534e-03 -3.27557380e-02] [ 1.37203584e-02 -2.52204188e-03 9.99902691e-01 -1.07914719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01241403699999 meters Centerline goodness [0,1] 0.6761497512871979 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.03, Z:-1.08 [[ 9.99901959e-01 1.35974441e-03 -1.39363878e-02 2.94626087e+00] [-1.32118552e-03 9.99995275e-01 2.77561175e-03 -3.32347991e-02] [ 1.39400961e-02 -2.75692707e-03 9.99899031e-01 -1.07941024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.042414037 meters Centerline goodness [0,1] 0.6849390310886521 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.03, Z:-1.08 [[ 9.99901889e-01 1.35105383e-03 -1.39422763e-02 2.94616315e+00] [-1.31185402e-03 9.99995162e-01 2.82034169e-03 -3.38840230e-02] [ 1.39460193e-02 -2.80177476e-03 9.99898824e-01 -1.07924515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.072414037 meters Centerline goodness [0,1] 0.6740989213364904 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.03, Z:-1.08 [[ 9.99900966e-01 1.33863565e-03 -1.40095361e-02 2.94644977e+00] [-1.29909152e-03 9.99995148e-01 2.83137821e-03 -3.42495089e-02] [ 1.40132583e-02 -2.81289814e-03 9.99897853e-01 -1.07937019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.102414037 meters Centerline goodness [0,1] 0.681791306252053 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.03, Z:-1.08 [[ 9.99897957e-01 1.39167646e-03 -1.42175755e-02 2.94686778e+00] [-1.35084347e-03 9.99994937e-01 2.88120841e-03 -3.48138752e-02] [ 1.42215132e-02 -2.86170868e-03 9.99894774e-01 -1.07930951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.132414037 meters Centerline goodness [0,1] 0.680210618692409 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.03, Z:-1.08 [[ 9.99897735e-01 1.17626123e-03 -1.42525862e-02 2.94678188e+00] [-1.13886499e-03 9.99995889e-01 2.63165302e-03 -3.46443321e-02] [ 1.42556231e-02 -2.61515212e-03 9.99894964e-01 -1.07910790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.162414037 meters Centerline goodness [0,1] 0.681143533641725 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.03, Z:-1.08 [[ 9.99897572e-01 1.02358059e-03 -1.42757826e-02 2.94680227e+00] [-9.89078667e-04 9.99996574e-01 2.42366601e-03 -3.44687308e-02] [ 1.42782145e-02 -2.40929789e-03 9.99895158e-01 -1.07899114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.192414037 meters Centerline goodness [0,1] 0.7000526108115217 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.03, Z:-1.08 [[ 9.99898484e-01 6.93639594e-04 -1.42316916e-02 2.94643563e+00] [-6.61273619e-04 9.99997185e-01 2.27879816e-03 -3.49287888e-02] [ 1.42332322e-02 -2.26915578e-03 9.99896128e-01 -1.07859830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.222414037 meters Centerline goodness [0,1] 0.689873417721519 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.04, Z:-1.08 [[ 9.99899397e-01 3.39114451e-04 -1.41802826e-02 2.94594170e+00] [-3.10475942e-04 9.99997908e-01 2.02175335e-03 -3.51045073e-02] [ 1.41809385e-02 -2.01714732e-03 9.99897411e-01 -1.07811545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.252414037 meters Centerline goodness [0,1] 0.6614629012453955 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.04, Z:-1.08 [[ 9.99900788e-01 9.10615586e-05 -1.40856308e-02 2.94551039e+00] [-6.35940567e-05 9.99998096e-01 1.95047266e-03 -3.56060487e-02] [ 1.40857816e-02 -1.94938339e-03 9.99898890e-01 -1.07782872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.282414037 meters Centerline goodness [0,1] 0.6652382097645233 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.04, Z:-1.08 [[ 9.99901658e-01 -3.51055610e-04 -1.40196711e-02 2.94498585e+00] [ 3.77981829e-04 9.99998089e-01 1.91799923e-03 -3.67402071e-02] [ 1.40189710e-02 -1.92310979e-03 9.99899880e-01 -1.07746143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.312414037 meters Centerline goodness [0,1] 0.6743181618872227 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.04, Z:-1.08 [[ 9.99902154e-01 -6.29031043e-04 -1.39745188e-02 2.94456637e+00] [ 6.52732703e-04 9.99998356e-01 1.69156640e-03 -3.69189200e-02] [ 1.39734318e-02 -1.70052251e-03 9.99900921e-01 -1.07705502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.342414037 meters Centerline goodness [0,1] 0.6657842343623515 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.04, Z:-1.08 [[ 9.99900512e-01 -5.79284018e-04 -1.40936572e-02 2.94486683e+00] [ 6.05811056e-04 9.99998053e-01 1.87800047e-03 -3.76289172e-02] [ 1.40925419e-02 -1.88635172e-03 9.99898916e-01 -1.07708753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.372414037 meters Centerline goodness [0,1] 0.6779791154791155 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.04, Z:-1.08 [[ 9.99901174e-01 -8.98697874e-04 -1.40297547e-02 2.94464958e+00] [ 9.24278595e-04 9.99997922e-01 1.81694166e-03 -3.79829208e-02] [ 1.40280926e-02 -1.82972950e-03 9.99899927e-01 -1.07705173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40241403699997 meters Centerline goodness [0,1] 0.6722364756704603 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.04, Z:-1.08 [[ 9.99900319e-01 -9.70220284e-04 -1.40858434e-02 2.94478370e+00] [ 9.96315576e-04 9.99997800e-01 1.84569087e-03 -3.82417403e-02] [ 1.40840217e-02 -1.85954083e-03 9.99899086e-01 -1.07708406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43241403699997 meters Centerline goodness [0,1] 0.6599040378590364 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.04, Z:-1.08 [[ 9.99901259e-01 -1.01849270e-03 -1.40155192e-02 2.94497604e+00] [ 1.04599900e-03 9.99997541e-01 1.95536990e-03 -3.86618762e-02] [ 1.40134932e-02 -1.96983704e-03 9.99899866e-01 -1.07754150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46241403699997 meters Centerline goodness [0,1] 0.6686904109589041 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.04, Z:-1.08 [[ 9.99901257e-01 -1.11388474e-03 -1.40084287e-02 2.94498287e+00] [ 1.14132805e-03 9.99997445e-01 1.95121487e-03 -3.90802868e-02] [ 1.40062195e-02 -1.96701042e-03 9.99899973e-01 -1.07755371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49241403699997 meters Centerline goodness [0,1] 0.6686904109589041 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.04, Z:-1.08 [[ 9.99901257e-01 -1.11388474e-03 -1.40084287e-02 2.94498287e+00] [ 1.14132805e-03 9.99997445e-01 1.95121487e-03 -3.90802868e-02] [ 1.40062195e-02 -1.96701042e-03 9.99899973e-01 -1.07755371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52241403699998 meters Centerline goodness [0,1] 0.652558088796771 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.04, Z:-1.08 [[ 9.99888644e-01 -3.72491952e-03 -1.44507832e-02 2.94705487e+00] [ 3.71035603e-03 9.99992582e-01 -1.03447858e-03 -3.89136085e-02] [ 1.44545293e-02 9.80745830e-04 9.99895047e-01 -1.07858236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55241403699998 meters Centerline goodness [0,1] 0.6601044420652435 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.04, Z:-1.08 [[ 9.99890937e-01 -3.80645711e-03 -1.42696978e-02 2.94676788e+00] [ 3.79452621e-03 9.99992428e-01 -8.63081960e-04 -3.95270106e-02] [ 1.42728750e-02 8.08841088e-04 9.99897810e-01 -1.07876302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58241403699998 meters Centerline goodness [0,1] 0.6812691466083152 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.04, Z:-1.08 [[ 9.99891181e-01 -3.93518288e-03 -1.42176023e-02 2.94659940e+00] [ 3.92376979e-03 9.99991957e-01 -8.30549360e-04 -3.97043259e-02] [ 1.42207563e-02 7.74672382e-04 9.99898580e-01 -1.07873419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61241403699998 meters Centerline goodness [0,1] 0.6603682595352915 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.04, Z:-1.08 [[ 9.99890546e-01 -4.05078522e-03 -1.42298285e-02 2.94659415e+00] [ 4.03908882e-03 9.99991481e-01 -8.50606683e-04 -3.93639777e-02] [ 1.42331529e-02 7.93038039e-04 9.99898389e-01 -1.07872516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64241403699998 meters Centerline goodness [0,1] 0.6566008008927986 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.04, Z:-1.08 [[ 9.99890343e-01 -3.96744610e-03 -1.42674892e-02 2.94672628e+00] [ 3.95621792e-03 9.99991842e-01 -8.15114800e-04 -3.91946347e-02] [ 1.42706068e-02 7.58580120e-04 9.99897882e-01 -1.07872753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67241403699998 meters Centerline goodness [0,1] 0.6602332654981509 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.04, Z:-1.08 [[ 9.99888879e-01 -3.88069621e-03 -1.43933752e-02 2.94718412e+00] [ 3.87027325e-03 9.99992228e-01 -7.51933472e-04 -3.89500999e-02] [ 1.43961813e-02 6.96143622e-04 9.99896127e-01 -1.07896111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70241403699998 meters Centerline goodness [0,1] 0.6700248019139177 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.04, Z:-1.08 [[ 9.99887795e-01 -3.81176860e-03 -1.44868061e-02 2.94741947e+00] [ 3.79712644e-03 9.99992252e-01 -1.03809509e-03 -3.77687470e-02] [ 1.44906509e-02 9.82970376e-04 9.99894522e-01 -1.07881103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73241403699998 meters Centerline goodness [0,1] 0.6719140539355404 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.04, Z:-1.08 [[ 9.99885148e-01 -3.55039779e-03 -1.47338200e-02 2.94823998e+00] [ 3.53773545e-03 9.99993350e-01 -8.85381259e-04 -3.73793548e-02] [ 1.47368655e-02 8.33155213e-04 9.99891059e-01 -1.07914554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76241403699999 meters Centerline goodness [0,1] 0.6563610051309039 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.04, Z:-1.08 [[ 9.99883677e-01 -3.37475705e-03 -1.48742740e-02 2.94875741e+00] [ 3.36138292e-03 9.99993924e-01 -9.24053625e-04 -3.66543338e-02] [ 1.48773021e-02 8.73948006e-04 9.99888945e-01 -1.07932610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.792414037 meters Centerline goodness [0,1] 0.6806859404199186 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.03, Z:-1.08 [[ 9.99881881e-01 -3.04870696e-03 -1.50641630e-02 2.94918579e+00] [ 3.02715335e-03 9.99994362e-01 -1.45338171e-03 -3.40879529e-02] [ 1.50685090e-02 1.40760851e-03 9.99885473e-01 -1.07894603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.822414037 meters Centerline goodness [0,1] 0.6608053455248812 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.03, Z:-1.08 [[ 9.99878569e-01 -2.61675420e-03 -1.53623162e-02 2.95037293e+00] [ 2.59555785e-03 9.99995652e-01 -1.39953867e-03 -3.28483408e-02] [ 1.53659116e-02 1.35949494e-03 9.99881013e-01 -1.07946867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.852414037 meters Centerline goodness [0,1] 0.681676778819636 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.03, Z:-1.08 [[ 9.99876604e-01 -2.42038575e-03 -1.55215386e-02 2.95101737e+00] [ 2.39404186e-03 9.99995663e-01 -1.71560387e-03 -3.11815971e-02] [ 1.55256237e-02 1.67823296e-03 9.99878062e-01 -1.07965414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.882414037 meters Centerline goodness [0,1] 0.6753693495038589 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.03, Z:-1.08 [[ 9.99876988e-01 -6.46874391e-04 -1.56713318e-02 2.95298271e+00] [ 6.35771872e-04 9.99999543e-01 -7.13432052e-04 -2.82694658e-02] [ 1.56717862e-02 7.03380899e-04 9.99876943e-01 -1.08126249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.912414037 meters Centerline goodness [0,1] 0.6798625338708612 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.03, Z:-1.08 [[ 9.99869416e-01 -9.75993313e-05 -1.61598996e-02 2.95487877e+00] [ 8.62431646e-05 9.99999749e-01 -7.03432846e-04 -2.64011380e-02] [ 1.61599642e-02 7.01947308e-04 9.99869173e-01 -1.08217601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.942414037 meters Centerline goodness [0,1] 0.6845239412923649 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.02, Z:-1.08 [[ 9.99866256e-01 5.80428875e-05 -1.63544275e-02 2.95560755e+00] [-7.78818234e-05 9.99999262e-01 -1.21242780e-03 -2.40051712e-02] [ 1.63543450e-02 1.21353935e-03 9.99865522e-01 -1.08233392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.972414037 meters Centerline goodness [0,1] 0.6994886325902641 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.02, Z:-1.08 [[ 9.99862851e-01 2.58621734e-04 -1.65593632e-02 2.95634306e+00] [-2.85508817e-04 9.99998645e-01 -1.62133501e-03 -2.15763634e-02] [ 1.65589215e-02 1.62584049e-03 9.99861570e-01 -1.08249494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.002414037 meters Centerline goodness [0,1] 0.6821600213599146 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.02, Z:-1.08 [[ 9.99861727e-01 3.30901023e-03 -1.62965619e-02 2.95532700e+00] [-3.29327764e-03 9.99994085e-01 9.92135349e-04 -1.87093775e-02] [ 1.62997485e-02 -9.38329061e-04 9.99866710e-01 -1.08185409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.032414037 meters Centerline goodness [0,1] 0.692245971426661 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.02, Z:-1.08 [[ 9.99859108e-01 3.18252151e-03 -1.64814017e-02 2.95568646e+00] [-3.17755389e-03 9.99994898e-01 3.27585643e-04 -1.66018507e-02] [ 1.64823602e-02 -2.75168947e-04 9.99864119e-01 -1.08160954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.062414037 meters Centerline goodness [0,1] 0.6882764751639071 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.01, Z:-1.08 [[ 9.99854448e-01 3.21050568e-03 -1.67563316e-02 2.95649378e+00] [-3.21238677e-03 9.99994837e-01 -8.53463901e-05 -1.47009374e-02] [ 1.67559710e-02 1.39161786e-04 9.99859599e-01 -1.08175049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.092414037 meters Centerline goodness [0,1] 0.6745389264289379 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.01, Z:-1.08 [[ 9.99854407e-01 2.81864165e-03 -1.68291367e-02 2.95650088e+00] [-2.83646632e-03 9.99995441e-01 -1.03538003e-03 -1.13623103e-02] [ 1.68261416e-02 1.08296457e-03 9.99857844e-01 -1.08133234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.122414037 meters Centerline goodness [0,1] 0.6765437075858363 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.01, Z:-1.08 [[ 9.99855826e-01 2.28080676e-03 -1.68263356e-02 2.95610884e+00] [-2.31256099e-03 9.99995581e-01 -1.86795877e-03 -9.44883687e-03] [ 1.68220008e-02 1.90660139e-03 9.99856682e-01 -1.08073537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15241403699997 meters Centerline goodness [0,1] 0.6789685302904378 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.01, Z:-1.08 [[ 9.99858934e-01 1.79865489e-03 -1.66996191e-02 2.95566789e+00] [-1.83940692e-03 9.99995367e-01 -2.42525798e-03 -8.00536986e-03] [ 1.66951795e-02 2.45563326e-03 9.99857610e-01 -1.08050437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18241403699997 meters Centerline goodness [0,1] 0.6808237965690132 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.01, Z:-1.08 [[ 9.99863305e-01 9.38362666e-04 -1.65073034e-02 2.95528208e+00] [-9.89647689e-04 9.99994709e-01 -3.09891370e-03 -6.35295900e-03] [ 1.65043081e-02 3.11482651e-03 9.99858943e-01 -1.08069296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21241403699997 meters Centerline goodness [0,1] 0.673429495820976 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.01, Z:-1.08 [[ 9.99863720e-01 7.71207593e-04 -1.64908007e-02 2.95566537e+00] [-8.21172923e-04 9.99995093e-01 -3.02333441e-03 -6.22019616e-03] [ 1.64883881e-02 3.03646419e-03 9.99859447e-01 -1.08139079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24241403699997 meters Centerline goodness [0,1] 0.666546551957119 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.01, Z:-1.08 [[ 9.99870364e-01 -3.27671000e-04 -1.60980469e-02 2.95491855e+00] [ 2.69300061e-04 9.99993383e-01 -3.62799793e-03 -5.15293332e-03] [ 1.60991292e-02 3.62319240e-03 9.99863836e-01 -1.08187940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27241403699998 meters Centerline goodness [0,1] 0.6627604166666667 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.00, Z:-1.08 [[ 9.99869795e-01 -6.25229137e-04 -1.61245953e-02 2.95523346e+00] [ 5.65555378e-04 9.99992976e-01 -3.70508558e-03 -4.85373704e-03] [ 1.61267985e-02 3.69548381e-03 9.99863126e-01 -1.08235004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30241403699998 meters Centerline goodness [0,1] 0.6616779943286673 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.00, Z:-1.08 [[ 9.99873018e-01 -1.11590970e-03 -1.58966089e-02 2.95481147e+00] [ 1.05242077e-03 9.99991439e-01 -4.00167193e-03 -4.03496573e-03] [ 1.59009383e-02 3.98443387e-03 9.99865633e-01 -1.08251969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33241403699998 meters Centerline goodness [0,1] 0.6589087789792094 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.00, Z:-1.08 [[ 9.99875338e-01 -1.96931337e-03 -1.56661952e-02 2.95441622e+00] [ 1.89713960e-03 9.99987526e-01 -4.62050336e-03 -2.19405044e-03] [ 1.56750990e-02 4.59020640e-03 9.99866602e-01 -1.08282855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36241403699998 meters Centerline goodness [0,1] 0.652711917987626 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.00, Z:-1.08 [[ 9.99876341e-01 -2.29197501e-03 -1.55579495e-02 2.95423709e+00] [ 2.21623987e-03 9.99985620e-01 -4.88343516e-03 -1.25469909e-03] [ 1.55689185e-02 4.84835113e-03 9.99867042e-01 -1.08293247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39241403699998 meters Centerline goodness [0,1] 0.651602839444771 Centerline is valid? [False, False] Translation: X:2.95, Y:0.00, Z:-1.08 [[ 9.99875384e-01 -2.52820371e-03 -1.55828391e-02 2.95426515e+00] [ 2.44719882e-03 9.99983406e-01 -5.21521799e-03 6.49634489e-06] [ 1.55957656e-02 5.17643378e-03 9.99864979e-01 -1.08287657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42241403699998 meters Centerline goodness [0,1] 0.6480820494284553 Centerline is valid? [False, False] Translation: X:2.95, Y:0.00, Z:-1.08 [[ 9.99873483e-01 -2.56369076e-03 -1.56986094e-02 2.95472091e+00] [ 2.47895170e-03 9.99982266e-01 -5.41495311e-03 1.27190929e-03] [ 1.57122133e-02 5.37535193e-03 9.99862106e-01 -1.08308595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45241403699998 meters Centerline goodness [0,1] 0.6396101683364002 Centerline is valid? [False, False] Translation: X:2.95, Y:0.00, Z:-1.08 [[ 9.99884670e-01 5.70650258e-05 -1.51869615e-02 2.95292467e+00] [-9.47170422e-05 9.99996924e-01 -2.47852529e-03 2.99768031e-03] [ 1.51867734e-02 2.47967791e-03 9.99881600e-01 -1.08257146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48241403699998 meters Centerline goodness [0,1] 0.6632164515981943 Centerline is valid? [False, False] Translation: X:2.95, Y:0.01, Z:-1.08 [[ 9.99883175e-01 -1.56912523e-04 -1.52843894e-02 2.95299986e+00] [ 1.07695375e-04 9.99994807e-01 -3.22086235e-03 5.24919567e-03] [ 1.52848154e-02 3.21884001e-03 9.99877999e-01 -1.08218192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51241403699999 meters Centerline goodness [0,1] 0.6578048113723346 Centerline is valid? [False, False] Translation: X:2.95, Y:0.01, Z:-1.08 [[ 9.99878855e-01 7.26183044e-05 -1.55650125e-02 2.95399717e+00] [-1.24921468e-04 9.99994350e-01 -3.35935743e-03 6.86150200e-03] [ 1.55646806e-02 3.36089487e-03 9.99873215e-01 -1.08256701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.542414037 meters Centerline goodness [0,1] 0.6380474849463105 Centerline is valid? [False, False] Translation: X:2.95, Y:0.01, Z:-1.08 [[ 9.99876601e-01 1.79132864e-04 -1.57083037e-02 2.95451335e+00] [-2.38165356e-04 9.99992917e-01 -3.75625353e-03 8.70623617e-03] [ 1.57075196e-02 3.75953119e-03 9.99869561e-01 -1.08260589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.572414037 meters Centerline goodness [0,1] 0.639017354274463 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-1.08 [[ 9.99868266e-01 1.06667647e-03 -1.61960921e-02 2.95678254e+00] [-1.12654063e-03 9.99992566e-01 -3.68753688e-03 1.11962772e-02] [ 1.61920383e-02 3.70529666e-03 9.99862035e-01 -1.08383280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.602414037 meters Centerline goodness [0,1] 0.6679368285740519 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-1.08 [[ 9.99865682e-01 1.25797861e-03 -1.63412090e-02 2.95762302e+00] [-1.32027545e-03 9.99991901e-01 -3.80202516e-03 1.24974413e-02] [ 1.63362938e-02 3.82308937e-03 9.99859245e-01 -1.08440049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.632414037 meters Centerline goodness [0,1] 0.6631769864774892 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-1.09 [[ 9.99859047e-01 1.96814072e-03 -1.66737229e-02 2.95955766e+00] [-2.02766868e-03 9.99991629e-01 -3.55401337e-03 1.44517943e-02] [ 1.66665886e-02 3.58732121e-03 9.99854667e-01 -1.08576819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.662414037 meters Centerline goodness [0,1] 0.6651824649988525 Centerline is valid? [False, False] Translation: X:2.96, Y:0.02, Z:-1.09 [[ 9.99855965e-01 2.13763998e-03 -1.68368321e-02 2.96022257e+00] [-2.19808248e-03 9.99991204e-01 -3.57221019e-03 1.52310203e-02] [ 1.68290479e-02 3.60870442e-03 9.99851869e-01 -1.08609407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.692414037 meters Centerline goodness [0,1] 0.6649887371856755 Centerline is valid? [False, False] Translation: X:2.96, Y:0.02, Z:-1.09 [[ 9.99854967e-01 2.26829921e-03 -1.68789496e-02 2.96052866e+00] [-2.32779241e-03 9.99991145e-01 -3.50588650e-03 1.58003309e-02] [ 1.68708477e-02 3.54466873e-03 9.99851394e-01 -1.08633065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.722414037 meters Centerline goodness [0,1] 0.6611498057605223 Centerline is valid? [False, False] Translation: X:2.96, Y:0.02, Z:-1.09 [[ 9.99853809e-01 2.18502265e-03 -1.69583512e-02 2.96045764e+00] [-2.24822102e-03 9.99990596e-01 -3.70851237e-03 1.69043017e-02] [ 1.69500886e-02 3.74609634e-03 9.99849319e-01 -1.08591659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.752414037 meters Centerline goodness [0,1] 0.6639461099871253 Centerline is valid? [False, False] Translation: X:2.96, Y:0.02, Z:-1.09 [[ 9.99856283e-01 1.92273412e-03 -1.68439030e-02 2.95995973e+00] [-1.98685367e-03 9.99990841e-01 -3.79078493e-03 1.71425766e-02] [ 1.68364601e-02 3.82370650e-03 9.99850945e-01 -1.08567502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.782414037 meters Centerline goodness [0,1] 0.666206610999931 Centerline is valid? [False, False] Translation: X:2.96, Y:0.02, Z:-1.09 [[ 9.99862429e-01 1.17635002e-03 -1.65450783e-02 2.95881972e+00] [-1.24229651e-03 9.99991323e-01 -3.97615500e-03 1.65507848e-02] [ 1.65402574e-02 3.99616189e-03 9.99855215e-01 -1.08531850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.812414037 meters Centerline goodness [0,1] 0.6559384332644154 Centerline is valid? [False, False] Translation: X:2.96, Y:0.02, Z:-1.09 [[ 9.99863351e-01 1.06917656e-03 -1.64965734e-02 2.95884787e+00] [-1.13031780e-03 9.99992526e-01 -3.69742102e-03 1.55658209e-02] [ 1.64924969e-02 3.71556214e-03 9.99857086e-01 -1.08565004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.842414037 meters Centerline goodness [0,1] 0.6562033228393501 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-1.09 [[ 9.99864056e-01 8.70523828e-04 -1.64654623e-02 2.95877484e+00] [-9.28244449e-04 9.99993450e-01 -3.49823965e-03 1.48422000e-02] [ 1.64623092e-02 3.51304806e-03 9.99858315e-01 -1.08585061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.872414037 meters Centerline goodness [0,1] 0.6525037936267071 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-1.09 [[ 9.99865152e-01 6.43310044e-04 -1.64092784e-02 2.95869890e+00] [-6.97827287e-04 9.99994256e-01 -3.31683308e-03 1.40358813e-02] [ 1.64070504e-02 3.32783665e-03 9.99859857e-01 -1.08610865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90241403699997 meters Centerline goodness [0,1] 0.6488044651675586 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-1.09 [[ 9.99867722e-01 9.23826443e-05 -1.62643676e-02 2.95839223e+00] [-1.46457887e-04 9.99994466e-01 -3.32360792e-03 1.36186766e-02] [ 1.62639705e-02 3.32555033e-03 9.99862202e-01 -1.08641233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93241403699997 meters Centerline goodness [0,1] 0.6482486319240804 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-1.09 [[ 9.99866787e-01 -5.15517903e-05 -1.63219480e-02 2.95850137e+00] [-4.38406652e-06 9.99994128e-01 -3.42697882e-03 1.38382978e-02] [ 1.63220288e-02 3.42659386e-03 9.99860915e-01 -1.08643743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96241403699997 meters Centerline goodness [0,1] 0.6430643156392432 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-1.09 [[ 9.99862544e-01 1.24429174e-04 -1.65794439e-02 2.95926738e+00] [-1.77702729e-04 9.99994826e-01 -3.21179480e-03 1.38552512e-02] [ 1.65789585e-02 3.21429953e-03 9.99857393e-01 -1.08675918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99241403699997 meters Centerline goodness [0,1] 0.6438735269020548 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-1.09 [[ 9.99860189e-01 2.39288970e-04 -1.67196224e-02 2.95968786e+00] [-2.90471110e-04 9.99995280e-01 -3.05884051e-03 1.39440091e-02] [ 1.67188116e-02 3.06326941e-03 9.99855538e-01 -1.08688878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.022414037 meters Centerline goodness [0,1] 0.6379226886107461 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-1.09 [[ 9.99859678e-01 2.08321240e-04 -1.67505692e-02 2.95955188e+00] [-2.59966971e-04 9.99995220e-01 -3.08110416e-03 1.38987432e-02] [ 1.67498473e-02 3.08502641e-03 9.99854952e-01 -1.08661864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.052414037 meters Centerline goodness [0,1] 0.6444326519311523 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-1.09 [[ 9.99860646e-01 9.80265443e-05 -1.66937029e-02 2.95908605e+00] [-1.50014044e-04 9.99995143e-01 -3.11297446e-03 1.37575751e-02] [ 1.66933167e-02 3.11504495e-03 9.99855804e-01 -1.08619063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.082414037 meters Centerline goodness [0,1] 0.653898484883426 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-1.09 [[ 9.99861059e-01 1.37164023e-04 -1.66686337e-02 2.95892934e+00] [-1.86589879e-04 9.99995591e-01 -2.96368238e-03 1.32936185e-02] [ 1.66681537e-02 2.96638080e-03 9.99856676e-01 -1.08605113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.112414037 meters Centerline goodness [0,1] 0.6462324098250802 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-1.09 [[ 9.99859093e-01 3.56113383e-04 -1.67829686e-02 2.95896244e+00] [-4.04240944e-04 9.99995816e-01 -2.86433778e-03 1.29230153e-02] [ 1.67818784e-02 2.87071853e-03 9.99855053e-01 -1.08562988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.142414037 meters Centerline goodness [0,1] 0.6427632640826397 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-1.09 [[ 9.99855325e-01 6.41113918e-04 -1.69976039e-02 2.95964725e+00] [-6.84516924e-04 9.99996520e-01 -2.54778284e-03 1.25791262e-02] [ 1.69959113e-02 2.55904938e-03 9.99852284e-01 -1.08588954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.172414037 meters Centerline goodness [0,1] 0.6237644341801385 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-1.09 [[ 9.99852378e-01 7.08348888e-04 -1.71674516e-02 2.96009699e+00] [-7.50057905e-04 9.99996783e-01 -2.42322340e-03 1.23166572e-02] [ 1.71656799e-02 2.43574226e-03 9.99849692e-01 -1.08604396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.202414037 meters Centerline goodness [0,1] 0.6469367041889648 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-1.09 [[ 9.99849785e-01 1.07922092e-03 -1.72986160e-02 2.96093394e+00] [-1.11058257e-03 9.99997757e-01 -1.80345320e-03 1.09657789e-02] [ 1.72966309e-02 1.82239384e-03 9.99848741e-01 -1.08685721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.232414037 meters Centerline goodness [0,1] 0.65434091013878 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-1.09 [[ 9.99848918e-01 1.21556004e-03 -1.73396575e-02 2.96115880e+00] [-1.24373185e-03 9.99997924e-01 -1.61401250e-03 1.03662011e-02] [ 1.73376596e-02 1.63533453e-03 9.99848354e-01 -1.08700751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.262414037 meters Centerline goodness [0,1] 0.6518666850803296 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-1.09 [[ 9.99847910e-01 1.48457575e-03 -1.73767983e-02 2.96153672e+00] [-1.50407610e-03 9.99998254e-01 -1.10919081e-03 9.14204054e-03] [ 1.73751213e-02 1.13515814e-03 9.99848397e-01 -1.08744599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29241403699996 meters Centerline goodness [0,1] 0.6530228720722373 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-1.09 [[ 9.99843467e-01 1.96317155e-03 -1.75837376e-02 2.96246170e+00] [-1.97297494e-03 9.99997908e-01 -5.40195869e-04 8.22832754e-03] [ 1.75826403e-02 5.74803584e-04 9.99845248e-01 -1.08800252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.322414037 meters Centerline goodness [0,1] 0.6576218180145791 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-1.09 [[ 9.99844023e-01 1.91604978e-03 -1.75573079e-02 2.96235456e+00] [-1.92559911e-03 9.99998007e-01 -5.27005277e-04 7.90540215e-03] [ 1.75562632e-02 5.60731413e-04 9.99845720e-01 -1.08791980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35241403699996 meters Centerline goodness [0,1] 0.6570682427324582 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-1.09 [[ 9.99839560e-01 2.20360890e-03 -1.77763512e-02 2.96298436e+00] [-2.20682929e-03 9.99997552e-01 -1.61547092e-04 7.09543730e-03] [ 1.77759517e-02 2.00750546e-04 9.99841975e-01 -1.08813257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.382414037 meters Centerline goodness [0,1] 0.6570682427324582 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-1.09 [[ 9.99839560e-01 2.20360890e-03 -1.77763512e-02 2.96298436e+00] [-2.20682929e-03 9.99997552e-01 -1.61547092e-04 7.09543730e-03] [ 1.77759517e-02 2.00750546e-04 9.99841975e-01 -1.08813257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41241403699996 meters Centerline goodness [0,1] 0.6510914129961749 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-1.09 [[ 9.99838288e-01 2.27814709e-03 -1.78383766e-02 2.96293494e+00] [-2.28031278e-03 9.99997395e-01 -1.01066745e-04 6.59970088e-03] [ 1.78380998e-02 1.41727480e-04 9.99840878e-01 -1.08783285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.442414037 meters Centerline goodness [0,1] 0.6534479211903728 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-1.09 [[ 9.99837088e-01 2.38727710e-03 -1.78912845e-02 2.96329118e+00] [-2.38516278e-03 9.99997146e-01 1.39513503e-04 6.19088104e-03] [ 1.78915665e-02 -9.68171487e-05 9.99839928e-01 -1.08818519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47241403699996 meters Centerline goodness [0,1] 0.6478046328871019 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-1.09 [[ 9.99838808e-01 2.24599680e-03 -1.78132979e-02 2.96291837e+00] [-2.24596530e-03 9.99997478e-01 2.17738375e-05 6.03059850e-03] [ 1.78133019e-02 1.82377214e-05 9.99841330e-01 -1.08790092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.502414037 meters Centerline goodness [0,1] 0.6681882503309444 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:-1.09 [[ 9.99840784e-01 2.16955407e-03 -1.77115566e-02 2.96260075e+00] [-2.16475513e-03 9.99997615e-01 2.90117098e-04 4.62306299e-03] [ 1.77121438e-02 -2.51729724e-04 9.99843096e-01 -1.08784728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53241403699997 meters Centerline goodness [0,1] 0.6486061407307788 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:-1.09 [[ 9.99842772e-01 2.02627673e-03 -1.76160413e-02 2.96230937e+00] [-2.02049978e-03 9.99997899e-01 3.45729252e-04 3.80867401e-03] [ 1.76167048e-02 -3.10081686e-04 9.99844766e-01 -1.08775467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.562414037 meters Centerline goodness [0,1] 0.6592890220648324 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:-1.09 [[ 9.99841861e-01 1.95685590e-03 -1.76755288e-02 2.96233899e+00] [-1.94444828e-03 9.99997851e-01 7.19124673e-04 2.16975059e-03] [ 1.76768980e-02 -6.84641799e-04 9.99843517e-01 -1.08779421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59241403699997 meters Centerline goodness [0,1] 0.6525909967116453 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:-1.09 [[ 9.99838429e-01 2.18623617e-03 -1.78420017e-02 2.96304690e+00] [-2.16497547e-03 9.99996923e-01 1.21083833e-03 1.09420568e-03] [ 1.78445940e-02 -1.17201520e-03 9.99840086e-01 -1.08835737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.622414037 meters Centerline goodness [0,1] 0.6499647943307516 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:-1.09 [[ 9.99839877e-01 1.95849215e-03 -1.77871925e-02 2.96274820e+00] [-1.93834032e-03 9.99997460e-01 1.15011026e-03 6.42928146e-04] [ 1.77893998e-02 -1.11544847e-03 9.99841134e-01 -1.08819560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65241403699997 meters Centerline goodness [0,1] 0.6515443796382452 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.00, Z:-1.09 [[ 9.99842428e-01 1.79664141e-03 -1.76604608e-02 2.96250906e+00] [-1.77479055e-03 9.99997640e-01 1.25287093e-03 -1.98556632e-05] [ 1.76626701e-02 -1.22132990e-03 9.99843257e-01 -1.08833681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.682414037 meters Centerline goodness [0,1] 0.6237473703259665 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.00, Z:-1.09 [[ 9.99833438e-01 -1.01180719e-03 -1.82228560e-02 2.96489609e+00] [ 9.79635304e-04 9.99997946e-01 -1.77430907e-03 -6.27115862e-04] [ 1.82246138e-02 1.75616178e-03 9.99832376e-01 -1.08949575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.712414037 meters Centerline goodness [0,1] 0.6428781936478429 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.00, Z:-1.09 [[ 9.99836851e-01 -1.24981245e-03 -1.80197194e-02 2.96438707e+00] [ 1.21996099e-03 9.99997866e-01 -1.66749737e-03 -1.54858893e-03] [ 1.80217650e-02 1.64524196e-03 9.99836241e-01 -1.08950085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.742414037 meters Centerline goodness [0,1] 0.6410563954014665 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.00, Z:-1.09 [[ 9.99841052e-01 -1.84424174e-03 -1.77332900e-02 2.96329735e+00] [ 1.82333580e-03 9.99997624e-01 -1.19500506e-03 -3.96582606e-03] [ 1.77354517e-02 1.16248137e-03 9.99842039e-01 -1.08938979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.772414037 meters Centerline goodness [0,1] 0.631032459031195 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.01, Z:-1.09 [[ 9.99844564e-01 -1.93365929e-03 -1.75245316e-02 2.96282287e+00] [ 1.92156839e-03 9.99997904e-01 -7.06753719e-04 -5.76866541e-03] [ 1.75258615e-02 6.72969278e-04 9.99846184e-01 -1.08948281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.802414037 meters Centerline goodness [0,1] 0.626780241572021 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.01, Z:-1.09 [[ 9.99847207e-01 -2.09469598e-03 -1.73543673e-02 2.96238509e+00] [ 2.09120186e-03 9.99997789e-01 -2.19484496e-04 -7.41948725e-03] [ 1.73547886e-02 1.83159475e-04 9.99849378e-01 -1.08961660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.832414037 meters Centerline goodness [0,1] 0.6265062954704146 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.01, Z:-1.09 [[ 9.99850064e-01 -2.27503395e-03 -1.71660426e-02 2.96184347e+00] [ 2.27946498e-03 9.99997374e-01 2.38565370e-04 -9.34822994e-03] [ 1.71654547e-02 -2.77658994e-04 9.99852624e-01 -1.08967423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.862414037 meters Centerline goodness [0,1] 0.6156007011551081 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.01, Z:-1.09 [[ 9.99855152e-01 -3.21672189e-03 -1.67130976e-02 2.96009475e+00] [ 3.22228415e-03 9.99994762e-01 3.05890269e-04 -1.25571456e-02] [ 1.67120261e-02 -3.59700311e-04 9.99860280e-01 -1.08898794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.892414037 meters Centerline goodness [0,1] 0.6116381046131818 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.01, Z:-1.09 [[ 9.99854950e-01 -2.98533347e-03 -1.67680123e-02 2.96049873e+00] [ 3.00331004e-03 9.99994942e-01 1.04699555e-03 -1.47305291e-02] [ 1.67648019e-02 -1.09720322e-03 9.99858859e-01 -1.08950170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.922414037 meters Centerline goodness [0,1] 0.6179442938131625 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.02, Z:-1.09 [[ 9.99857175e-01 -3.11240283e-03 -1.66115416e-02 2.95997108e+00] [ 3.13380349e-03 9.99994293e-01 1.26242537e-03 -1.59605966e-02] [ 1.66075176e-02 -1.31430237e-03 9.99861222e-01 -1.08934269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.952414037 meters Centerline goodness [0,1] 0.6157253103679678 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.02, Z:-1.09 [[ 9.99858671e-01 -3.04531037e-03 -1.65336996e-02 2.95982401e+00] [ 3.07285057e-03 9.99993933e-01 1.64055232e-03 -1.73434511e-02] [ 1.65286033e-02 -1.69112605e-03 9.99861963e-01 -1.08941027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.982414037 meters Centerline goodness [0,1] 0.5965734172132244 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.02, Z:-1.09 [[ 9.99859174e-01 -2.93633578e-03 -1.65230000e-02 2.95977791e+00] [ 2.97218252e-03 9.99993282e-01 2.14536760e-03 -1.92846636e-02] [ 1.65165895e-02 -2.19417485e-03 9.99861184e-01 -1.08943335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.012414037 meters Centerline goodness [0,1] 0.5945722950673445 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.02, Z:-1.09 [[ 9.99857825e-01 -2.76006070e-03 -1.66346467e-02 2.96007208e+00] [ 2.79988643e-03 9.99993269e-01 2.37132979e-03 -1.99940964e-02] [ 1.66279897e-02 -2.41756777e-03 9.99858823e-01 -1.08946052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04241403699996 meters Centerline goodness [0,1] 0.5902404178851262 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.02, Z:-1.09 [[ 9.99857569e-01 -2.67757000e-03 -1.66635037e-02 2.96002592e+00] [ 2.72073547e-03 9.99993001e-01 2.56828881e-03 -2.07662746e-02] [ 1.66565103e-02 -2.61325999e-03 9.99857856e-01 -1.08931515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.072414037 meters Centerline goodness [0,1] 0.5901954645077605 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.02, Z:-1.09 [[ 9.99856222e-01 -2.42351111e-03 -1.67827956e-02 2.96013819e+00] [ 2.47295429e-03 9.99992662e-01 2.92593760e-03 -2.20168563e-02] [ 1.67755814e-02 -2.96702000e-03 9.99854878e-01 -1.08907414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10241403699996 meters Centerline goodness [0,1] 0.587444446925877 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.02, Z:-1.09 [[ 9.99853216e-01 -2.02650055e-03 -1.70129043e-02 2.96091720e+00] [ 2.08504281e-03 9.99991964e-01 3.42401797e-03 -2.31020610e-02] [ 1.70058288e-02 -3.45898802e-03 9.99849407e-01 -1.08942294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.132414037 meters Centerline goodness [0,1] 0.5853533438886782 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.02, Z:-1.09 [[ 9.99850774e-01 -1.63688285e-03 -1.71973694e-02 2.96151855e+00] [ 1.70452494e-03 9.99990867e-01 3.91936014e-03 -2.47332260e-02] [ 1.71907968e-02 -3.94808862e-03 9.99844432e-01 -1.08965285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16241403699996 meters Centerline goodness [0,1] 0.6334886001470948 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.03, Z:-1.09 [[ 9.99848313e-01 -1.33139074e-03 -1.73660007e-02 2.96218783e+00] [ 1.40457536e-03 9.99990182e-01 4.20273183e-03 -2.54172064e-02] [ 1.73602348e-02 -4.22648619e-03 9.99840367e-01 -1.08999704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.192414037 meters Centerline goodness [0,1] 0.6332233909787841 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.03, Z:-1.09 [[ 9.99845609e-01 -1.10649926e-03 -1.75366241e-02 2.96280596e+00] [ 1.18199274e-03 9.99990077e-01 4.29512333e-03 -2.55258227e-02] [ 1.75316975e-02 -4.31518837e-03 9.99836996e-01 -1.09022632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22241403699996 meters Centerline goodness [0,1] 0.6419506123446912 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.03, Z:-1.09 [[ 9.99840155e-01 -6.85916746e-04 -1.78660086e-02 2.96392296e+00] [ 7.67249812e-04 9.99989373e-01 4.54593502e-03 -2.57066749e-02] [ 1.78627006e-02 -4.55891606e-03 9.99830056e-01 -1.09065348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.252414037 meters Centerline goodness [0,1] 0.6435570798628123 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.03, Z:-1.09 [[ 9.99838455e-01 -5.29819971e-04 -1.79661862e-02 2.96425825e+00] [ 6.12208443e-04 9.99989322e-01 4.58056201e-03 -2.56953845e-02] [ 1.79635675e-02 -4.59082110e-03 9.99828103e-01 -1.09074467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28241403699997 meters Centerline goodness [0,1] 0.6406514948683624 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.03, Z:-1.09 [[ 9.99837353e-01 -3.06823025e-04 -1.80325898e-02 2.96437589e+00] [ 3.87847712e-04 9.99989845e-01 4.48991086e-03 -2.55949024e-02] [ 1.80310290e-02 -4.49617449e-03 9.99827318e-01 -1.09046219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.312414037 meters Centerline goodness [0,1] 0.643835311407513 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.03, Z:-1.09 [[ 9.99834850e-01 -3.12392027e-04 -1.81707183e-02 2.96446121e+00] [ 3.90392479e-04 9.99990725e-01 4.28925674e-03 -2.55434854e-02] [ 1.81692098e-02 -4.29564208e-03 9.99825698e-01 -1.09006281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34241403699997 meters Centerline goodness [0,1] 0.6425912302993826 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.03, Z:-1.09 [[ 9.99834747e-01 -3.74414499e-04 -1.81752135e-02 2.96425247e+00] [ 4.49880866e-04 9.99991295e-01 4.14824741e-03 -2.56785483e-02] [ 1.81735021e-02 -4.15573859e-03 9.99826212e-01 -1.08969538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.372414037 meters Centerline goodness [0,1] 0.6557380702966545 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.03, Z:-1.09 [[ 9.99834259e-01 -5.06210101e-04 -1.81988395e-02 2.96401220e+00] [ 5.77685470e-04 9.99992140e-01 3.92242601e-03 -2.56375188e-02] [ 1.81967109e-02 -3.93228911e-03 9.99826693e-01 -1.08925691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40241403699997 meters Centerline goodness [0,1] 0.6487847260899593 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.03, Z:-1.09 [[ 9.99837535e-01 -8.18128965e-04 -1.80065017e-02 2.96299325e+00] [ 8.86129902e-04 9.99992505e-01 3.76881110e-03 -2.63673642e-02] [ 1.80032833e-02 -3.78415490e-03 9.99830767e-01 -1.08842991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.432414037 meters Centerline goodness [0,1] 0.6388555422168867 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.03, Z:-1.09 [[ 9.99838277e-01 -8.67848553e-04 -1.79629257e-02 2.96286368e+00] [ 9.38173631e-04 9.99991928e-01 3.90695596e-03 -2.72137469e-02] [ 1.79593901e-02 -3.92317645e-03 9.99831020e-01 -1.08837224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.462414037 meters Centerline goodness [0,1] 0.6395184135977336 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.03, Z:-1.09 [[ 9.99824149e-01 -3.33682251e-03 -1.84536129e-02 2.96502488e+00] [ 3.35673849e-03 9.99993817e-01 1.04837600e-03 -2.71272209e-02] [ 1.84500005e-02 -1.11013559e-03 9.99829168e-01 -1.08929633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.492414037 meters Centerline goodness [0,1] 0.6410966798173678 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.03, Z:-1.09 [[ 9.99826352e-01 -4.07499739e-03 -1.81840908e-02 2.96385118e+00] [ 4.09941334e-03 9.99990745e-01 1.30563605e-03 -2.99457692e-02] [ 1.81786020e-02 -1.37995344e-03 9.99833803e-01 -1.08895601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.522414037 meters Centerline goodness [0,1] 0.642790738855195 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.03, Z:-1.09 [[ 9.99827409e-01 -4.03796362e-03 -1.81341412e-02 2.96403669e+00] [ 4.07275764e-03 9.99989935e-01 1.88218143e-03 -3.19014982e-02] [ 1.81263585e-02 -1.95571255e-03 9.99833791e-01 -1.08948080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.552414037 meters Centerline goodness [0,1] 0.6386367150398693 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.04, Z:-1.09 [[ 9.99827524e-01 -4.50300520e-03 -1.80178942e-02 2.96374655e+00] [ 4.54667330e-03 9.99986824e-01 2.38336627e-03 -3.50734506e-02] [ 1.80069245e-02 -2.46487668e-03 9.99834824e-01 -1.08987281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.582414037 meters Centerline goodness [0,1] 0.6267145944515503 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.04, Z:-1.09 [[ 9.99828840e-01 -4.56238739e-03 -1.79297541e-02 2.96373758e+00] [ 4.61375544e-03 9.99985367e-01 2.82464152e-03 -3.67586527e-02] [ 1.79166046e-02 -2.90688155e-03 9.99835259e-01 -1.09025761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.612414037 meters Centerline goodness [0,1] 0.641027338319984 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.04, Z:-1.09 [[ 0.99983003 -0.00461383 -0.0178502 2.96369987] [ 0.00467158 0.99998398 0.00319481 -0.03824853] [ 0.01783518 -0.00327766 0.99983557 -1.09053097] [ 0. 0. 0. 1. ]] SLAMing on 257.642414037 meters Centerline goodness [0,1] 0.6379439499427162 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.04, Z:-1.09 [[ 0.99983105 -0.00496802 -0.01769718 2.96302078] [ 0.00502583 0.99998218 0.00322332 -0.03954825] [ 0.01768085 -0.00331172 0.9998382 -1.09019259] [ 0. 0. 0. 1. ]] SLAMing on 257.672414037 meters Centerline goodness [0,1] 0.632935108446482 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.04, Z:-1.09 [[ 0.99983159 -0.00554894 -0.01749261 2.96173085] [ 0.00560827 0.99997868 0.00334443 -0.04263673] [ 0.01747368 -0.00344197 0.9998414 -1.08926348] [ 0. 0. 0. 1. ]] SLAMing on 257.702414037 meters Centerline goodness [0,1] 0.6276358989048763 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.04, Z:-1.09 [[ 0.99983306 -0.00552968 -0.01741483 2.96149768] [ 0.00559427 0.99997765 0.00366214 -0.04403054] [ 0.01739419 -0.00375895 0.99984164 -1.0892366 ] [ 0. 0. 0. 1. ]] SLAMing on 257.732414037 meters Centerline goodness [0,1] 0.6218193803559657 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.05, Z:-1.09 [[ 0.99983302 -0.00540287 -0.01745708 2.96162965] [ 0.00547352 0.99997701 0.00400211 -0.04526386] [ 0.01743506 -0.004097 0.9998396 -1.08928477] [ 0. 0. 0. 1. ]] SLAMing on 257.762414037 meters Centerline goodness [0,1] 0.6232446051046117 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.05, Z:-1.09 [[ 0.99983386 -0.00503484 -0.01751883 2.96134792] [ 0.00511132 0.99997759 0.00432405 -0.04675368] [ 0.01749667 -0.00441288 0.99983718 -1.08856309] [ 0. 0. 0. 1. ]] SLAMing on 257.79241403699996 meters Centerline goodness [0,1] 0.62335105335696 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.05, Z:-1.09 [[ 0.99983326 -0.00469964 -0.01764547 2.96175913] [ 0.00478248 0.99997773 0.00465557 -0.04742955] [ 0.0176232 -0.00473919 0.99983347 -1.08865546] [ 0. 0. 0. 1. ]] SLAMing on 257.822414037 meters Centerline goodness [0,1] 0.6251614174090043 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.05, Z:-1.09 [[ 0.99983156 -0.00448959 -0.01779621 2.96192552] [ 0.004576 0.99997792 0.00481788 -0.04795047] [ 0.01777419 -0.0048985 0.99983003 -1.08834744] [ 0. 0. 0. 1. ]] SLAMing on 257.85241403699996 meters Centerline goodness [0,1] 0.6181738750546091 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.05, Z:-1.09 [[ 0.99982969 -0.00427397 -0.01795324 2.96224608] [ 0.00436545 0.99997767 0.00505912 -0.04875636] [ 0.01793122 -0.00513663 0.99982603 -1.08824461] [ 0. 0. 0. 1. ]] SLAMing on 257.882414037 meters Centerline goodness [0,1] 0.6233483532510503 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.05, Z:-1.09 [[ 0.99982818 -0.0037314 -0.01815754 2.96293098] [ 0.00384138 0.99997447 0.00602594 -0.05167838] [ 0.0181346 -0.00609466 0.99981698 -1.08865881] [ 0. 0. 0. 1. ]] SLAMing on 257.91241403699996 meters Centerline goodness [0,1] 0.6195550732501356 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.05, Z:-1.09 [[ 0.99982553 -0.00303225 -0.01843145 2.96392238] [ 0.00316191 0.99997044 0.00700937 -0.05469242] [ 0.01840965 -0.00706643 0.99980556 -1.08922735] [ 0. 0. 0. 1. ]] SLAMing on 257.942414037 meters Centerline goodness [0,1] 0.618124593010636 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.06, Z:-1.09 [[ 9.99823947e-01 -2.76367316e-03 -1.85589972e-02 2.96434601e+00] [ 2.90080099e-03 9.99968664e-01 7.36590142e-03 -5.60250254e-02] [ 1.85380587e-02 -7.41844059e-03 9.99800634e-01 -1.08941340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97241403699996 meters Centerline goodness [0,1] 0.6147681615810621 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.06, Z:-1.09 [[ 9.99823035e-01 -2.66807335e-03 -1.86220572e-02 2.96437403e+00] [ 2.80845201e-03 9.99967809e-01 7.51622415e-03 -5.70885450e-02] [ 1.86014039e-02 -7.56719319e-03 9.99798342e-01 -1.08923723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.002414037 meters Centerline goodness [0,1] 0.6252897467559195 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.06, Z:-1.09 [[ 9.99821582e-01 -2.50572452e-03 -1.87223225e-02 2.96448768e+00] [ 2.64938483e-03 9.99967211e-01 7.65235053e-03 -5.80401826e-02] [ 1.87025339e-02 -7.70058785e-03 9.99795437e-01 -1.08901645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03241403699997 meters Centerline goodness [0,1] 0.6122400449651952 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:-1.09 [[ 9.99817186e-01 -1.60469418e-03 -1.90530742e-02 2.96514519e+00] [ 1.76259451e-03 9.99964221e-01 8.27349518e-03 -5.92865784e-02] [ 1.90391161e-02 -8.30556552e-03 9.99784242e-01 -1.08867431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.062414037 meters Centerline goodness [0,1] 0.6113948154238975 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:-1.09 [[ 9.99814932e-01 -1.34393268e-03 -1.91910503e-02 2.96529586e+00] [ 1.50229581e-03 9.99964923e-01 8.23989509e-03 -5.91858129e-02] [ 1.91793032e-02 -8.26720078e-03 9.99781880e-01 -1.08829171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09241403699997 meters Centerline goodness [0,1] 0.6559930952637825 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:-1.09 [[ 9.99808169e-01 -3.52813093e-05 -1.95863300e-02 2.96620549e+00] [ 2.05037670e-04 9.99962436e-01 8.66514317e-03 -5.93592233e-02] [ 1.95852886e-02 -8.66749687e-03 9.99770619e-01 -1.08775676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.122414037 meters Centerline goodness [0,1] 0.666975861250728 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:-1.09 [[ 9.99802494e-01 3.25084030e-04 -1.98712479e-02 2.96670070e+00] [-1.53717385e-04 9.99962794e-01 8.62476832e-03 -5.91677433e-02] [ 1.98733124e-02 -8.62001033e-03 9.99765346e-01 -1.08741448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15241403699997 meters Centerline goodness [0,1] 0.6615573929751084 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:-1.09 [[ 9.99796313e-01 6.13479582e-04 -2.01731538e-02 2.96715706e+00] [-4.41749728e-04 9.99963639e-01 8.51614616e-03 -5.88410668e-02] [ 2.01776448e-02 -8.50550004e-03 9.99760231e-01 -1.08700655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.182414037 meters Centerline goodness [0,1] 0.6790749897437005 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:-1.09 [[ 9.99790773e-01 9.40802401e-04 -2.04334313e-02 2.96773948e+00] [-7.67310229e-04 9.99963607e-01 8.49678518e-03 -5.87320306e-02] [ 2.04406814e-02 -8.47932864e-03 9.99755110e-01 -1.08685783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.212414037 meters Centerline goodness [0,1] 0.6769572148735404 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:-1.09 [[ 9.99782851e-01 1.55409352e-03 -2.07806480e-02 2.96854312e+00] [-1.37240275e-03 9.99960735e-01 8.75467197e-03 -5.92748271e-02] [ 2.07934376e-02 -8.72425149e-03 9.99745728e-01 -1.08669086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.242414037 meters Centerline goodness [0,1] 0.6982827519170537 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:-1.09 [[ 9.99779214e-01 1.68491605e-03 -2.09447715e-02 2.96886587e+00] [-1.50154943e-03 9.99960438e-01 8.76741427e-03 -5.97649101e-02] [ 2.09587153e-02 -8.73402894e-03 9.99742191e-01 -1.08659832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.272414037 meters Centerline goodness [0,1] 0.6938010385468962 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:-1.09 [[ 9.99773700e-01 1.91899127e-03 -2.11864712e-02 2.96949963e+00] [-1.73088438e-03 9.99958955e-01 8.89340274e-03 -6.03024641e-02] [ 2.12026680e-02 -8.85471883e-03 9.99735986e-01 -1.08669880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.302414037 meters Centerline goodness [0,1] 0.6938010385468962 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:-1.09 [[ 9.99773700e-01 1.91899127e-03 -2.11864712e-02 2.96949963e+00] [-1.73088438e-03 9.99958955e-01 8.89340274e-03 -6.03024641e-02] [ 2.12026680e-02 -8.85471883e-03 9.99735986e-01 -1.08669880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.332414037 meters Centerline goodness [0,1] 0.6870509030490042 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:-1.09 [[ 9.99770716e-01 2.01397320e-03 -2.13180429e-02 2.96987207e+00] [-1.82485921e-03 9.99958846e-01 8.88681609e-03 -6.06034310e-02] [ 2.13350634e-02 -8.84587606e-03 9.99733247e-01 -1.08675198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.362414037 meters Centerline goodness [0,1] 0.7019887526663937 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:-1.09 [[ 9.99766128e-01 2.30988661e-03 -2.15024229e-02 2.97026503e+00] [-2.11781857e-03 9.99957697e-01 8.95088052e-03 -6.10884625e-02] [ 2.15221888e-02 -8.90324893e-03 9.99728727e-01 -1.08656341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.392414037 meters Centerline goodness [0,1] 0.6830320724743464 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:-1.09 [[ 9.99760186e-01 2.44195088e-03 -2.17625365e-02 2.97082744e+00] [-2.24767744e-03 9.99957449e-01 8.94696042e-03 -6.11787388e-02] [ 2.17834586e-02 -8.89589964e-03 9.99723134e-01 -1.08650608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.422414037 meters Centerline goodness [0,1] 0.6959137466307277 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:-1.09 [[ 9.99756382e-01 2.47213305e-03 -2.19332164e-02 2.97099396e+00] [-2.28064364e-03 9.99959106e-01 8.75128925e-03 -6.09688418e-02] [ 2.19539538e-02 -8.69913543e-03 9.99721136e-01 -1.08614626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.452414037 meters Centerline goodness [0,1] 0.7024380796625853 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:-1.09 [[ 9.99750146e-01 2.73647886e-03 -2.21845952e-02 2.97147809e+00] [-2.54751996e-03 9.99960277e-01 8.54136408e-03 -6.03727304e-02] [ 2.22070872e-02 -8.48271429e-03 9.99717404e-01 -1.08575696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.482414037 meters Centerline goodness [0,1] 0.7102864023393824 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:-1.09 [[ 9.99744448e-01 2.88607036e-03 -2.24211839e-02 2.97212519e+00] [-2.69787210e-03 9.99960916e-01 8.41948872e-03 -5.98723186e-02] [ 2.24446068e-02 -8.35684762e-03 9.99713160e-01 -1.08585628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.512414037 meters Centerline goodness [0,1] 0.7028689405995957 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:-1.09 [[ 9.99738207e-01 3.05768195e-03 -2.26752658e-02 2.97270744e+00] [-2.87696927e-03 9.99963877e-01 7.99793913e-03 -5.88675766e-02] [ 2.26989018e-02 -7.93060928e-03 9.99710891e-01 -1.08559761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54241403699996 meters Centerline goodness [0,1] 0.7070448582856652 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:-1.09 [[ 9.99734154e-01 2.98074978e-03 -2.28634491e-02 2.97294146e+00] [-2.80549460e-03 9.99966469e-01 7.69354907e-03 -5.83873154e-02] [ 2.28856150e-02 -7.62736048e-03 9.99708994e-01 -1.08531402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.572414037 meters Centerline goodness [0,1] 0.7104588263183983 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:-1.08 [[ 9.99731877e-01 2.82318919e-03 -2.29826900e-02 2.97293348e+00] [-2.65584485e-03 9.99969765e-01 7.30859094e-03 -5.77997930e-02] [ 2.30026287e-02 -7.24559287e-03 9.99709148e-01 -1.08486203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60241403699996 meters Centerline goodness [0,1] 0.7006233418890063 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:-1.08 [[ 9.99731689e-01 2.53328869e-03 -2.30246044e-02 2.97278760e+00] [-2.37778284e-03 9.99974197e-01 6.77876847e-03 -5.69255160e-02] [ 2.30411829e-02 -6.72220215e-03 9.99711916e-01 -1.08446178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.632414037 meters Centerline goodness [0,1] 0.6968177101349013 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.06, Z:-1.08 [[ 9.99729888e-01 2.15856793e-03 -2.31406736e-02 2.97269623e+00] [-2.01510517e-03 9.99978618e-01 6.22112011e-03 -5.62747218e-02] [ 2.31536076e-02 -6.17280882e-03 9.99712862e-01 -1.08394494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66241403699996 meters Centerline goodness [0,1] 0.6939039369060702 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.06, Z:-1.09 [[ 9.99720693e-01 1.90852511e-04 -2.36326026e-02 2.97551381e+00] [-1.05324921e-04 9.99993441e-01 3.62024271e-03 -5.52862107e-02] [ 2.36331385e-02 -3.61674245e-03 9.99714156e-01 -1.08555569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.692414037 meters Centerline goodness [0,1] 0.6884793620002155 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.06, Z:-1.09 [[ 9.99720794e-01 3.09314253e-05 -2.36290888e-02 2.97571686e+00] [ 5.23796576e-05 9.99993785e-01 3.52515777e-03 -5.53772757e-02] [ 2.36290510e-02 -3.52541121e-03 9.99714579e-01 -1.08581438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72241403699996 meters Centerline goodness [0,1] 0.7132984926359436 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.06, Z:-1.09 [[ 9.99721656e-01 -2.79334898e-04 -2.35909248e-02 2.97568484e+00] [ 3.60051813e-04 9.99994096e-01 3.41734572e-03 -5.56278596e-02] [ 2.35898309e-02 -3.42488848e-03 9.99715855e-01 -1.08594349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.752414037 meters Centerline goodness [0,1] 0.7007637870026754 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.06, Z:-1.09 [[ 9.99720566e-01 -4.05219455e-04 -2.36352814e-02 2.97601289e+00] [ 4.86795714e-04 9.99993945e-01 3.44580983e-03 -5.58557828e-02] [ 2.36337420e-02 -3.45635251e-03 9.99714709e-01 -1.08625886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78241403699997 meters Centerline goodness [0,1] 0.6968256369254706 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.06, Z:-1.09 [[ 9.99721767e-01 -1.09832824e-03 -2.35623114e-02 2.97574178e+00] [ 1.17017707e-03 9.99994707e-01 3.03574016e-03 -5.57033402e-02] [ 2.35588524e-02 -3.06246759e-03 9.99717761e-01 -1.08619184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.812414037 meters Centerline goodness [0,1] 0.6960341961529328 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.06, Z:-1.09 [[ 9.99721599e-01 -1.42427829e-03 -2.35519783e-02 2.97567477e+00] [ 1.49282116e-03 9.99994701e-01 2.89295490e-03 -5.57479808e-02] [ 2.35477331e-02 -2.92730839e-03 9.99718428e-01 -1.08619966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84241403699997 meters Centerline goodness [0,1] 0.6791351351351351 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.06, Z:-1.09 [[ 9.99721531e-01 -1.72454860e-03 -2.35347876e-02 2.97575715e+00] [ 1.79094809e-03 9.99994475e-01 2.80054751e-03 -5.58168427e-02] [ 2.35298279e-02 -2.84191722e-03 9.99719096e-01 -1.08637023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.872414037 meters Centerline goodness [0,1] 0.7000865051903113 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.06, Z:-1.09 [[ 9.99721820e-01 -2.15099548e-03 -2.34873655e-02 2.97562786e+00] [ 2.21039362e-03 9.99994424e-01 2.50327143e-03 -5.54089456e-02] [ 2.34818500e-02 -2.55449139e-03 9.99721000e-01 -1.08633504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90241403699997 meters Centerline goodness [0,1] 0.667595111629313 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.05, Z:-1.09 [[ 9.99939437e-01 -2.98525922e-03 -1.05929128e-02 2.97637982e+00] [ 3.01568771e-03 9.99991369e-01 2.85772308e-03 -5.46354413e-02] [ 1.05842903e-02 -2.88949492e-03 9.99939810e-01 -1.09202821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.932414037 meters Centerline goodness [0,1] 0.6687972612831234 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.05, Z:-1.09 [[ 9.99938899e-01 -3.44647384e-03 -1.05033341e-02 2.97590681e+00] [ 3.47060910e-03 9.99991377e-01 2.28050673e-03 -5.37673209e-02] [ 1.04953838e-02 -2.31682035e-03 9.99942238e-01 -1.09160764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.962414037 meters Centerline goodness [0,1] 0.6980392156862745 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.05, Z:-1.09 [[ 9.99937864e-01 -4.05113651e-03 -1.03854298e-02 2.97557639e+00] [ 4.06984668e-03 9.99990132e-01 1.78107820e-03 -5.30131124e-02] [ 1.03781119e-02 -1.82323464e-03 9.99944484e-01 -1.09150480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.992414037 meters Centerline goodness [0,1] 0.6997735783331882 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.05, Z:-1.09 [[ 9.99936927e-01 -4.38153494e-03 -1.03414209e-02 2.97540017e+00] [ 4.39612851e-03 9.99989372e-01 1.38886732e-03 -5.24246415e-02] [ 1.03352256e-02 -1.43424193e-03 9.99945562e-01 -1.09136296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.022414037 meters Centerline goodness [0,1] 0.6942458512067247 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.05, Z:-1.09 [[ 9.99935372e-01 -4.36080511e-03 -1.04993256e-02 2.97599256e+00] [ 4.37467232e-03 9.99989588e-01 1.29816787e-03 -5.17305284e-02] [ 1.04935552e-02 -1.34401508e-03 9.99944038e-01 -1.09168993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.052414037 meters Centerline goodness [0,1] 0.6482222029035904 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.05, Z:-1.09 [[ 9.99934945e-01 -4.38416216e-03 -1.05302300e-02 2.97617669e+00] [ 4.39553709e-03 9.99989781e-01 1.05731554e-03 -5.07286380e-02] [ 1.05254869e-02 -1.10353277e-03 9.99943997e-01 -1.09171823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.082414037 meters Centerline goodness [0,1] 0.689720963510613 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.05, Z:-1.09 [[ 9.99932858e-01 -4.22189816e-03 -1.07914452e-02 2.97721047e+00] [ 4.23251879e-03 9.99990581e-01 9.61522918e-04 -4.96017738e-02] [ 1.07872841e-02 -1.00713335e-03 9.99941308e-01 -1.09224509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.112414037 meters Centerline goodness [0,1] 0.6930833224443573 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.05, Z:-1.09 [[ 9.99931672e-01 -4.16379366e-03 -1.09230801e-02 2.97768833e+00] [ 4.16735115e-03 9.99991271e-01 3.02944915e-04 -4.70145369e-02] [ 1.09217233e-02 -3.48444526e-04 9.99940295e-01 -1.09214070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.142414037 meters Centerline goodness [0,1] 0.6798369873163927 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.05, Z:-1.09 [[ 9.99930034e-01 -3.76990214e-03 -1.12122558e-02 2.97870396e+00] [ 3.77519432e-03 9.99992772e-01 4.50872432e-04 -4.63705300e-02] [ 1.12104750e-02 -4.93169331e-04 9.99937039e-01 -1.09258409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.172414037 meters Centerline goodness [0,1] 0.6990174672489082 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.04, Z:-1.09 [[ 9.99930365e-01 -3.53130824e-03 -1.12603686e-02 2.97929707e+00] [ 3.53238682e-03 9.99993758e-01 7.58982082e-05 -4.46937356e-02] [ 1.12600303e-02 -1.15668901e-04 9.99936597e-01 -1.09286091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.202414037 meters Centerline goodness [0,1] 0.7115460224542396 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.04, Z:-1.09 [[ 9.99928704e-01 -3.32546284e-03 -1.14686158e-02 2.98011157e+00] [ 3.32587886e-03 9.99994469e-01 1.72019010e-05 -4.37374434e-02] [ 1.14684952e-02 -5.53439013e-05 9.99934233e-01 -1.09326909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.232414037 meters Centerline goodness [0,1] 0.6889097744360902 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.04, Z:-1.09 [[ 9.99926758e-01 -3.13674256e-03 -1.16892617e-02 2.98097264e+00] [ 3.13672956e-03 9.99995080e-01 -1.94451359e-05 -4.27904755e-02] [ 1.16892652e-02 -1.72223411e-05 9.99931678e-01 -1.09369838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.262414037 meters Centerline goodness [0,1] 0.7104532435446138 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.04, Z:-1.09 [[ 9.99924934e-01 -2.97934691e-03 -1.18848715e-02 2.98177475e+00] [ 2.97487640e-03 9.99995498e-01 -3.93812165e-04 -4.06487782e-02] [ 1.18859913e-02 3.58426579e-04 9.99929295e-01 -1.09393569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29241403699996 meters Centerline goodness [0,1] 0.6808943979676756 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.04, Z:-1.09 [[ 9.99923312e-01 -3.03864562e-03 -1.20057135e-02 2.98207623e+00] [ 3.03024318e-03 9.99995151e-01 -7.17998232e-04 -3.95100951e-02] [ 1.20078371e-02 6.81562939e-04 9.99927671e-01 -1.09388958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.322414037 meters Centerline goodness [0,1] 0.695850213511442 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.04, Z:-1.09 [[ 9.99921516e-01 -3.00772424e-03 -1.21620679e-02 2.98263024e+00] [ 2.99829202e-03 9.99995190e-01 -7.93703243e-04 -3.88295795e-02] [ 1.21643966e-02 7.57175519e-04 9.99925724e-01 -1.09414484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35241403699996 meters Centerline goodness [0,1] 0.6805598008820575 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.04, Z:-1.09 [[ 9.99919464e-01 -2.80868946e-03 -1.23764570e-02 2.98348847e+00] [ 2.80012205e-03 9.99995828e-01 -7.09508587e-04 -3.85313848e-02] [ 1.23783982e-02 6.74795856e-04 9.99923157e-01 -1.09459123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.382414037 meters Centerline goodness [0,1] 0.6959185017674051 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.04, Z:-1.09 [[ 9.99919189e-01 -3.06755188e-03 -1.23371291e-02 2.98361055e+00] [ 3.05316190e-03 9.99994637e-01 -1.18506151e-03 -3.72272063e-02] [ 1.23406982e-02 1.14729849e-03 9.99923192e-01 -1.09476137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41241403699996 meters Centerline goodness [0,1] 0.7136842105263158 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.04, Z:-1.10 [[ 9.99918230e-01 -3.05337160e-03 -1.24181490e-02 2.98402688e+00] [ 3.03852391e-03 9.99994646e-01 -1.21433645e-03 -3.67100743e-02] [ 1.24217904e-02 1.17650431e-03 9.99922154e-01 -1.09506958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.442414037 meters Centerline goodness [0,1] 0.6800860479409957 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.04, Z:-1.10 [[ 9.99918069e-01 -3.13150363e-03 -1.24116241e-02 2.98414321e+00] [ 3.11445349e-03 9.99994180e-01 -1.39281373e-03 -3.59611145e-02] [ 1.24159134e-02 1.35404419e-03 9.99922003e-01 -1.09517580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47241403699996 meters Centerline goodness [0,1] 0.7071257498187251 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.04, Z:-1.10 [[ 9.99917120e-01 -3.23311505e-03 -1.24619075e-02 2.98436099e+00] [ 3.21407483e-03 9.99993637e-01 -1.54759801e-03 -3.51588060e-02] [ 1.24668318e-02 1.50741624e-03 9.99921150e-01 -1.09530642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.502414037 meters Centerline goodness [0,1] 0.6786098960279603 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.03, Z:-1.10 [[ 9.99917085e-01 -3.24383116e-03 -1.24619820e-02 2.98449848e+00] [ 3.22364665e-03 9.99993460e-01 -1.63943298e-03 -3.46125419e-02] [ 1.24672186e-02 1.59912402e-03 9.99921003e-01 -1.09543096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53241403699997 meters Centerline goodness [0,1] 0.700127820874471 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.03, Z:-1.10 [[ 9.99917949e-01 -3.40417133e-03 -1.23493795e-02 2.98449717e+00] [ 3.38085241e-03 9.99992463e-01 -1.90865208e-03 -3.36602759e-02] [ 1.23557838e-02 1.86674404e-03 9.99921922e-01 -1.09570185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.562414037 meters Centerline goodness [0,1] 0.6893182614791448 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.03, Z:-1.10 [[ 9.99916382e-01 -3.47748606e-03 -1.24553840e-02 2.98490247e+00] [ 3.45302148e-03 9.99992068e-01 -1.98514372e-03 -3.32226797e-02] [ 1.24621885e-02 1.94196901e-03 9.99920458e-01 -1.09592866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59241403699997 meters Centerline goodness [0,1] 0.6845123022847099 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.03, Z:-1.10 [[ 9.99916348e-01 -3.56727482e-03 -1.24326709e-02 2.98504516e+00] [ 3.54171327e-03 9.99991570e-01 -2.07740993e-03 -3.27287355e-02] [ 1.24399768e-02 2.03320319e-03 9.99920553e-01 -1.09616345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.622414037 meters Centerline goodness [0,1] 0.6738025329769053 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.03, Z:-1.10 [[ 9.99916785e-01 -3.78663648e-03 -1.23322567e-02 2.98510018e+00] [ 3.76074599e-03 9.99990677e-01 -2.12192609e-03 -3.22957781e-02] [ 1.23401767e-02 2.07537103e-03 9.99921703e-01 -1.09653789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65241403699997 meters Centerline goodness [0,1] 0.6642843049130731 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.03, Z:-1.10 [[ 9.99917809e-01 -3.78892858e-03 -1.22482298e-02 2.98509237e+00] [ 3.76387100e-03 9.99990778e-01 -2.06821707e-03 -3.22026504e-02] [ 1.22559532e-02 2.02194633e-03 9.99922849e-01 -1.09673146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.682414037 meters Centerline goodness [0,1] 0.6948909931733098 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.03, Z:-1.10 [[ 9.99918023e-01 -3.89505486e-03 -1.21973445e-02 2.98517179e+00] [ 3.86807677e-03 9.99990022e-01 -2.23461103e-03 -3.15961240e-02] [ 1.22059267e-02 2.18724758e-03 9.99923113e-01 -1.09697749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.712414037 meters Centerline goodness [0,1] 0.6905086085734364 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.03, Z:-1.10 [[ 9.99915980e-01 -3.74584744e-03 -1.24097297e-02 2.98595595e+00] [ 3.71877393e-03 9.99990657e-01 -2.20399287e-03 -3.10487754e-02] [ 1.24178695e-02 2.15765871e-03 9.99920567e-01 -1.09737256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.742414037 meters Centerline goodness [0,1] 0.6844164121046964 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.03, Z:-1.10 [[ 9.99914864e-01 -3.73792593e-03 -1.25016874e-02 2.98641070e+00] [ 3.70863698e-03 9.99990326e-01 -2.36516252e-03 -3.02341051e-02] [ 1.25104072e-02 2.31859694e-03 9.99919054e-01 -1.09764552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.772414037 meters Centerline goodness [0,1] 0.679967462515939 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.03, Z:-1.10 [[ 9.99914686e-01 -3.61848542e-03 -1.25510230e-02 2.98710239e+00] [ 3.58974958e-03 9.99990886e-01 -2.31129538e-03 -2.95737463e-02] [ 1.25592720e-02 2.26604317e-03 9.99918562e-01 -1.09838268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.802414037 meters Centerline goodness [0,1] 0.6786226369311539 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.03, Z:-1.10 [[ 9.99914799e-01 -3.72469860e-03 -1.25108542e-02 2.98754647e+00] [ 3.69072516e-03 9.99989442e-01 -2.73750808e-03 -2.77031354e-02] [ 1.25209185e-02 2.69110072e-03 9.99917989e-01 -1.09899051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.832414037 meters Centerline goodness [0,1] 0.6614500442086648 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.03, Z:-1.10 [[ 9.99914808e-01 -3.77833668e-03 -1.24940459e-02 2.98764463e+00] [ 3.74128190e-03 9.99988538e-01 -2.98783902e-03 -2.67449511e-02] [ 1.25051918e-02 2.94084074e-03 9.99917482e-01 -1.09907144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.862414037 meters Centerline goodness [0,1] 0.6567688096079124 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.03, Z:-1.10 [[ 9.99913091e-01 -3.60047839e-03 -1.26825693e-02 2.98836936e+00] [ 3.56352852e-03 9.99989344e-01 -2.93483115e-03 -2.61266773e-02] [ 1.26930010e-02 2.88938139e-03 9.99915266e-01 -1.09946548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.892414037 meters Centerline goodness [0,1] 0.6583877031958421 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:-1.10 [[ 0.99991151 -0.00359601 -0.01280765 2.98894989] [ 0.00355359 0.99998813 -0.00333334 -0.02401239] [ 0.01281948 0.00328753 0.99991242 -1.0997523 ] [ 0. 0. 0. 1. ]] SLAMing on 259.922414037 meters Centerline goodness [0,1] 0.6608861067486562 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:-1.10 [[ 0.9999099 -0.00358558 -0.01293567 2.98930002] [ 0.00354084 0.99998768 -0.00347985 -0.02309405] [ 0.01294799 0.00343373 0.99991028 -1.09982587] [ 0. 0. 0. 1. ]] SLAMing on 259.952414037 meters Centerline goodness [0,1] 0.6559518274999446 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:-1.10 [[ 0.99990867 -0.00340218 -0.01307989 2.9900678 ] [ 0.0033572 0.99998838 -0.00345902 -0.02224491] [ 0.0130915 0.00341479 0.99990847 -1.10033522] [ 0. 0. 0. 1. ]] SLAMing on 259.982414037 meters Centerline goodness [0,1] 0.6626923333111303 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:-1.10 [[ 0.99990674 -0.00341153 -0.01322398 2.99052383] [ 0.00336365 0.99998771 -0.00364109 -0.02139349] [ 0.01323624 0.00359627 0.99990593 -1.10048558] [ 0. 0. 0. 1. ]] SLAMing on 260.012414037 meters Centerline goodness [0,1] 0.6612677153091419 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:-1.10 [[ 0.99990429 -0.00336351 -0.01341969 2.99153575] [ 0.00331185 0.99998703 -0.00386991 -0.01988389] [ 0.01343253 0.00382509 0.99990246 -1.10120134] [ 0. 0. 0. 1. ]] SLAMing on 260.04241403699996 meters Centerline goodness [0,1] 0.6333148004003113 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:-1.10 [[ 0.99990208 -0.00328353 -0.01360353 2.99233103] [ 0.00323068 0.99998715 -0.00390558 -0.01914393] [ 0.01361618 0.00386125 0.99989984 -1.10171468] [ 0. 0. 0. 1. ]] SLAMing on 260.072414037 meters Centerline goodness [0,1] 0.6529187392652406 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:-1.10 [[ 0.99990186 -0.00342184 -0.01358523 2.9923969 ] [ 0.00336599 0.9999858 -0.00413128 -0.01827389] [ 0.01359917 0.00408514 0.99989918 -1.10183347] [ 0. 0. 0. 1. ]] SLAMing on 260.10241403699996 meters Centerline goodness [0,1] 0.6546422628951747 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:-1.10 [[ 0.9999 -0.00323948 -0.01376585 2.99319475] [ 0.00318437 0.99998683 -0.00402371 -0.01783151] [ 0.01377871 0.00397947 0.99989715 -1.10234629] [ 0. 0. 0. 1. ]] SLAMing on 260.132414037 meters Centerline goodness [0,1] 0.6604931384581055 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:-1.10 [[ 9.99914783e-01 -8.16471663e-04 -1.30291784e-02 2.99096541e+00] [ 8.05051682e-04 9.99999287e-01 -8.81713551e-04 -1.75604333e-02] [ 1.30298890e-02 8.71149252e-04 9.99914728e-01 -1.10202095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16241403699996 meters Centerline goodness [0,1] 0.6365583720099964 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:-1.10 [[ 9.99914424e-01 -1.02641362e-03 -1.30419171e-02 2.99104337e+00] [ 1.01248824e-03 9.99998910e-01 -1.07429843e-03 -1.68757048e-02] [ 1.30430055e-02 1.06100171e-03 9.99914373e-01 -1.10211967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.192414037 meters Centerline goodness [0,1] 0.6365583720099964 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:-1.10 [[ 9.99914424e-01 -1.02641362e-03 -1.30419171e-02 2.99104337e+00] [ 1.01248824e-03 9.99998910e-01 -1.07429843e-03 -1.68757048e-02] [ 1.30430055e-02 1.06100171e-03 9.99914373e-01 -1.10211967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22241403699996 meters Centerline goodness [0,1] 0.648447787176111 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:-1.10 [[ 9.99915742e-01 -1.29151408e-03 -1.29166839e-02 2.99092605e+00] [ 1.27693189e-03 9.99998538e-01 -1.13712593e-03 -1.65947465e-02] [ 1.29181336e-02 1.12053639e-03 9.99915930e-01 -1.10239297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.252414037 meters Centerline goodness [0,1] 0.6262734584450402 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:-1.10 [[ 9.99920132e-01 -1.98321598e-03 -1.24818660e-02 2.99010013e+00] [ 1.96739895e-03 9.99997246e-01 -1.27935217e-03 -1.66695697e-02] [ 1.24843688e-02 1.25469318e-03 9.99921280e-01 -1.10277983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28241403699997 meters Centerline goodness [0,1] 0.640368325771629 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:-1.10 [[ 9.99921684e-01 -2.28071480e-03 -1.23054514e-02 2.98984000e+00] [ 2.26646015e-03 9.99996745e-01 -1.17222265e-03 -1.70580458e-02] [ 1.23080849e-02 1.14424103e-03 9.99923598e-01 -1.10309865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.312414037 meters Centerline goodness [0,1] 0.6266610184607153 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:-1.10 [[ 9.99922311e-01 -2.54607561e-03 -1.22019968e-02 2.98966000e+00] [ 2.53249529e-03 9.99996157e-01 -1.12828147e-03 -1.74255928e-02] [ 1.22048226e-02 1.09729232e-03 9.99924916e-01 -1.10324464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34241403699997 meters Centerline goodness [0,1] 0.6370980339648746 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:-1.10 [[ 9.99922504e-01 -2.74988692e-03 -1.21417993e-02 2.98962189e+00] [ 2.73702651e-03 9.99995676e-01 -1.07567486e-03 -1.75723568e-02] [ 1.21447047e-02 1.04235908e-03 9.99925707e-01 -1.10345155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.372414037 meters Centerline goodness [0,1] 0.6254097812270021 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:-1.10 [[ 9.99921076e-01 -3.32814506e-03 -1.21146848e-02 2.98934450e+00] [ 3.31062701e-03 9.99993446e-01 -1.46578503e-03 -1.67747830e-02] [ 1.21194838e-02 1.42556214e-03 9.99925540e-01 -1.10325105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40241403699997 meters Centerline goodness [0,1] 0.6286865070485568 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:-1.10 [[ 9.99920185e-01 -3.52616636e-03 -1.21322037e-02 2.98948422e+00] [ 3.50691361e-03 9.99992558e-01 -1.60782081e-03 -1.62115499e-02] [ 1.21377828e-02 1.56514589e-03 9.99925109e-01 -1.10344755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.432414037 meters Centerline goodness [0,1] 0.6238017563068398 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:-1.10 [[ 9.99918634e-01 -3.38079497e-03 -1.23002513e-02 2.99026056e+00] [ 3.36356141e-03 9.99993333e-01 -1.42149144e-03 -1.60149480e-02] [ 1.23049751e-02 1.38000313e-03 9.99923339e-01 -1.10401824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.462414037 meters Centerline goodness [0,1] 0.6218000358037952 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.02, Z:-1.10 [[ 9.99917416e-01 -3.27270787e-03 -1.24278081e-02 2.99085408e+00] [ 3.25556901e-03 9.99993722e-01 -1.39905316e-03 -1.55817144e-02] [ 1.24323088e-02 1.35847804e-03 9.99921793e-01 -1.10441681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.492414037 meters Centerline goodness [0,1] 0.6245065494347748 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.01, Z:-1.11 [[ 9.99916010e-01 -2.91965338e-03 -1.26272910e-02 2.99203862e+00] [ 2.90374780e-03 9.99994968e-01 -1.27777008e-03 -1.45243120e-02] [ 1.26309581e-02 1.24099629e-03 9.99919456e-01 -1.10529204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.522414037 meters Centerline goodness [0,1] 0.6274865998340398 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.01, Z:-1.11 [[ 9.99914663e-01 -2.83641488e-03 -1.27523403e-02 2.99250604e+00] [ 2.82006016e-03 9.99995178e-01 -1.30028742e-03 -1.38991555e-02] [ 1.27559670e-02 1.26421409e-03 9.99917840e-01 -1.10550190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.552414037 meters Centerline goodness [0,1] 0.63401275029182 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.01, Z:-1.11 [[ 9.99912886e-01 -2.63930665e-03 -1.29326675e-02 2.99307056e+00] [ 2.61944999e-03 9.99995365e-01 -1.55208579e-03 -1.23820036e-02] [ 1.29367040e-02 1.51807411e-03 9.99915165e-01 -1.10548579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.582414037 meters Centerline goodness [0,1] 0.640154405493963 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.01, Z:-1.11 [[ 9.99912151e-01 -2.55921728e-03 -1.30053784e-02 2.99326603e+00] [ 2.54000388e-03 9.99995659e-01 -1.49364570e-03 -1.19543033e-02] [ 1.30091445e-02 1.46048077e-03 9.99914311e-01 -1.10551749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.612414037 meters Centerline goodness [0,1] 0.6358847921102768 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.01, Z:-1.11 [[ 9.99911723e-01 -2.43425526e-03 -1.30621978e-02 2.99346449e+00] [ 2.41554778e-03 9.99996035e-01 -1.44777023e-03 -1.16074187e-02] [ 1.30656702e-02 1.41609006e-03 9.99913638e-01 -1.10550726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.642414037 meters Centerline goodness [0,1] 0.630980471471269 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.01, Z:-1.11 [[ 9.99909585e-01 -2.32238804e-03 -1.32449606e-02 2.99377156e+00] [ 2.30291847e-03 9.99996246e-01 -1.48502288e-03 -1.12549630e-02] [ 1.32483597e-02 1.45438654e-03 9.99911179e-01 -1.10532921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.672414037 meters Centerline goodness [0,1] 0.6362062374924111 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.01, Z:-1.11 [[ 9.99908846e-01 -2.29668352e-03 -1.33050797e-02 2.99395742e+00] [ 2.27605277e-03 9.99996184e-01 -1.56552646e-03 -1.09795740e-02] [ 1.33086245e-02 1.53510069e-03 9.99910258e-01 -1.10536058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.702414037 meters Centerline goodness [0,1] 0.6441207543776833 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.01, Z:-1.11 [[ 9.99906944e-01 -1.89749044e-03 -1.35093555e-02 2.99496150e+00] [ 1.87950301e-03 9.99997330e-01 -1.34405112e-03 -1.08734894e-02] [ 1.35118697e-02 1.31853517e-03 9.99907841e-01 -1.10591671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.732414037 meters Centerline goodness [0,1] 0.6363309109726191 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.01, Z:-1.11 [[ 9.99905460e-01 -1.70860678e-03 -1.36437108e-02 2.99560415e+00] [ 1.69273926e-03 9.99997878e-01 -1.17445534e-03 -1.08400771e-02] [ 1.36456885e-02 1.15124906e-03 9.99906231e-01 -1.10637243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.762414037 meters Centerline goodness [0,1] 0.6403893272191876 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.01, Z:-1.11 [[ 9.99902247e-01 -1.41350964e-03 -1.39103763e-02 2.99656749e+00] [ 1.40090171e-03 9.99998599e-01 -9.16070635e-04 -1.09716218e-02] [ 1.39116517e-02 8.96494016e-04 9.99902826e-01 -1.10685046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79241403699996 meters Centerline goodness [0,1] 0.6510508077944287 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.01, Z:-1.11 [[ 9.99900392e-01 -1.10692195e-03 -1.40705619e-02 2.99739500e+00] [ 1.09768696e-03 9.99999177e-01 -6.64040101e-04 -1.08119943e-02] [ 1.40712854e-02 6.48528885e-04 9.99900784e-01 -1.10738112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.822414037 meters Centerline goodness [0,1] 0.6562021784138987 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.01, Z:-1.11 [[ 9.99897896e-01 -9.68506545e-04 -1.42569427e-02 2.99787158e+00] [ 9.59607426e-04 9.99999340e-01 -6.31023064e-04 -1.08103331e-02] [ 1.42575444e-02 6.17277566e-04 9.99898166e-01 -1.10742625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85241403699996 meters Centerline goodness [0,1] 0.6557668905214765 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.01, Z:-1.11 [[ 9.99897401e-01 -8.36929341e-04 -1.42999026e-02 2.99814456e+00] [ 8.30127651e-04 9.99999539e-01 -4.81574933e-04 -1.10428894e-02] [ 1.43002991e-02 4.69654779e-04 9.99897635e-01 -1.10761451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.882414037 meters Centerline goodness [0,1] 0.6466582767764844 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.01, Z:-1.11 [[ 9.99893486e-01 -1.86803864e-04 -1.45939099e-02 2.99959753e+00] [ 1.90206834e-04 9.99999955e-01 2.31789769e-04 -1.16951034e-02] [ 1.45938659e-02 -2.34540941e-04 9.99893476e-01 -1.10861448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91241403699996 meters Centerline goodness [0,1] 0.633770499178908 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.01, Z:-1.11 [[ 9.99892222e-01 -1.80495018e-04 -1.46803380e-02 2.99983454e+00] [ 1.81876486e-04 9.99999979e-01 9.27682881e-05 -1.12436498e-02] [ 1.46803209e-02 -9.54282980e-05 9.99892234e-01 -1.10860927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.942414037 meters Centerline goodness [0,1] 0.6505317115942355 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.01, Z:-1.11 [[ 9.99891701e-01 -2.98436691e-05 -1.47168082e-02 3.00011448e+00] [ 3.28630474e-05 9.99999978e-01 2.04923508e-04 -1.10951556e-02] [ 1.47168018e-02 -2.05384954e-04 9.99891681e-01 -1.10879894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97241403699996 meters Centerline goodness [0,1] 0.6427212711200627 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.01, Z:-1.11 [[ 9.99888692e-01 2.50821791e-04 -1.49178216e-02 3.00073562e+00] [-2.44452784e-04 9.99999878e-01 4.28761349e-04 -1.13952403e-02] [ 1.49179274e-02 -4.25066922e-04 9.99888631e-01 -1.10895647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.002414037 meters Centerline goodness [0,1] 0.6445018533078737 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.01, Z:-1.11 [[ 9.99889249e-01 2.93557444e-04 -1.48796603e-02 3.00045046e+00] [-2.89822954e-04 9.99999926e-01 2.53135256e-04 -1.14012728e-02] [ 1.48797336e-02 -2.48794754e-04 9.99889260e-01 -1.10847403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03241403699997 meters Centerline goodness [0,1] 0.65179933590595 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.01, Z:-1.11 [[ 9.99888216e-01 4.41528499e-04 -1.49452800e-02 3.00078232e+00] [-4.35197437e-04 9.99999814e-01 4.26865739e-04 -1.15928891e-02] [ 1.49454657e-02 -4.20313875e-04 9.99888222e-01 -1.10867357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.062414037 meters Centerline goodness [0,1] 0.647529950195181 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.01, Z:-1.11 [[ 9.99886589e-01 5.51271778e-04 -1.50500795e-02 3.00109782e+00] [-5.44647678e-04 9.99999753e-01 4.44232378e-04 -1.16123439e-02] [ 1.50503207e-02 -4.35985007e-04 9.99886642e-01 -1.10870033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09241403699997 meters Centerline goodness [0,1] 0.6486431799276062 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.01, Z:-1.11 [[ 9.99883852e-01 9.00312899e-04 -1.52141898e-02 3.00190837e+00] [-8.89333913e-04 9.99999339e-01 7.28378266e-04 -1.16052615e-02] [ 1.52148356e-02 -7.14763171e-04 9.99883992e-01 -1.10921471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.122414037 meters Centerline goodness [0,1] 0.648205542828909 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.01, Z:-1.11 [[ 9.99879401e-01 1.33350864e-03 -1.54727239e-02 3.00314322e+00] [-1.31486871e-03 9.99998398e-01 1.21480642e-03 -1.21506501e-02] [ 1.54743191e-02 -1.19431531e-03 9.99879552e-01 -1.11007360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15241403699997 meters Centerline goodness [0,1] 0.652717879604672 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.01, Z:-1.11 [[ 9.99878803e-01 1.45136736e-03 -1.55007553e-02 3.00357000e+00] [-1.42903845e-03 9.99997926e-01 1.45148394e-03 -1.26734293e-02] [ 1.55028298e-02 -1.42915685e-03 9.99878803e-01 -1.11055577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.182414037 meters Centerline goodness [0,1] 0.642457724179748 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.01, Z:-1.11 [[ 9.99878477e-01 1.65830744e-03 -1.55009951e-02 3.00381161e+00] [-1.63100997e-03 9.99997097e-01 1.77349009e-03 -1.38999414e-02] [ 1.55038910e-02 -1.74799229e-03 9.99878280e-01 -1.11081279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.212414037 meters Centerline goodness [0,1] 0.6500695597540727 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.01, Z:-1.11 [[ 9.99875912e-01 1.92816409e-03 -1.56346437e-02 3.00440743e+00] [-1.89578553e-03 9.99996028e-01 2.08550642e-03 -1.45836159e-02] [ 1.56386028e-02 -2.05560770e-03 9.99875597e-01 -1.11118206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.242414037 meters Centerline goodness [0,1] 0.6486905002356427 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.01, Z:-1.11 [[ 9.99875895e-01 1.89861319e-03 -1.56393522e-02 3.00434471e+00] [-1.86789377e-03 9.99996298e-01 1.97861183e-03 -1.45212952e-02] [ 1.56430510e-02 -1.94915363e-03 9.99875740e-01 -1.11101272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.272414037 meters Centerline goodness [0,1] 0.6481950388778094 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.01, Z:-1.11 [[ 9.99872943e-01 2.07979007e-03 -1.58042171e-02 3.00495587e+00] [-2.04733657e-03 9.99995763e-01 2.06937277e-03 -1.44893406e-02] [ 1.58084540e-02 -2.03675328e-03 9.99872964e-01 -1.11128437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.302414037 meters Centerline goodness [0,1] 0.6491633394643579 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.01, Z:-1.11 [[ 9.99870218e-01 2.41676732e-03 -1.59281895e-02 3.00533246e+00] [-2.38488274e-03 9.99995115e-01 2.02046075e-03 -1.38514834e-02] [ 1.59329946e-02 -1.98221166e-03 9.99871097e-01 -1.11114716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.332414037 meters Centerline goodness [0,1] 0.6459003934191703 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.01, Z:-1.11 [[ 9.99865444e-01 2.73243851e-03 -1.61748841e-02 3.00613151e+00] [-2.69802216e-03 9.99994051e-01 2.14920470e-03 -1.37613580e-02] [ 1.61806605e-02 -2.10527532e-03 9.99866868e-01 -1.11138689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.362414037 meters Centerline goodness [0,1] 0.6486565289552775 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.01, Z:-1.11 [[ 9.99863210e-01 2.63875959e-03 -1.63278441e-02 3.00619319e+00] [-2.60891172e-03 9.99994887e-01 1.84906538e-03 -1.33231429e-02] [ 1.63326399e-02 -1.80621454e-03 9.99864982e-01 -1.11097738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.392414037 meters Centerline goodness [0,1] 0.6448258862546498 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.01, Z:-1.11 [[ 9.99859056e-01 2.98355700e-03 -1.65217252e-02 3.00699262e+00] [-2.95255774e-03 9.99993836e-01 1.90034724e-03 -1.33072748e-02] [ 1.65272932e-02 -1.85129805e-03 9.99861701e-01 -1.11125872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.422414037 meters Centerline goodness [0,1] 0.6525767875973166 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.01, Z:-1.11 [[ 9.99856228e-01 2.94778172e-03 -1.66982951e-02 3.00725243e+00] [-2.92105881e-03 9.99994414e-01 1.62450162e-03 -1.26554168e-02] [ 1.67029905e-02 -1.57549136e-03 9.99859254e-01 -1.11106839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.452414037 meters Centerline goodness [0,1] 0.653288840115563 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.01, Z:-1.11 [[ 9.99851020e-01 3.21042233e-03 -1.69596771e-02 3.00829792e+00] [-3.18223101e-03 9.99993510e-01 1.68898101e-03 -1.22078550e-02] [ 1.69649894e-02 -1.63475977e-03 9.99854748e-01 -1.11159079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.482414037 meters Centerline goodness [0,1] 0.6437381085618354 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.01, Z:-1.11 [[ 9.99846252e-01 3.37278312e-03 -1.72074400e-02 3.00904448e+00] [-3.34595348e-03 9.99993142e-01 1.58773991e-03 -1.15606854e-02] [ 1.72126771e-02 -1.52992050e-03 9.99850680e-01 -1.11173507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.512414037 meters Centerline goodness [0,1] 0.6402488321954725 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.01, Z:-1.11 [[ 9.99842732e-01 3.60095571e-03 -1.73650259e-02 3.00978903e+00] [-3.57659732e-03 9.99992576e-01 1.43357963e-03 -1.05730410e-02] [ 1.73700593e-02 -1.37124647e-03 9.99848189e-01 -1.11211357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54241403699996 meters Centerline goodness [0,1] 0.6609533650822177 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.01, Z:-1.11 [[ 9.99840534e-01 3.69062318e-03 -1.74724404e-02 3.01020969e+00] [-3.66664553e-03 9.99992292e-01 1.40414903e-03 -1.04455694e-02] [ 1.74774879e-02 -1.33985987e-03 9.99846359e-01 -1.11229679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.572414037 meters Centerline goodness [0,1] 0.644868831489419 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.01, Z:-1.11 [[ 9.99839833e-01 3.65365040e-03 -1.75202549e-02 3.01028090e+00] [-3.63344879e-03 9.99992697e-01 1.18473687e-03 -1.01679454e-02] [ 1.75244556e-02 -1.12088816e-03 9.99845807e-01 -1.11215218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60241403699996 meters Centerline goodness [0,1] 0.6501100282929897 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.01, Z:-1.11 [[ 9.99839625e-01 3.60017166e-03 -1.75431918e-02 3.01026804e+00] [-3.58390388e-03 9.99993118e-01 9.58649593e-04 -9.73299950e-03] [ 1.75465223e-02 -8.95622736e-04 9.99845647e-01 -1.11200835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.632414037 meters Centerline goodness [0,1] 0.6523652365236523 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.01, Z:-1.11 [[ 9.99837246e-01 3.92334885e-03 -1.76093657e-02 3.01048854e+00] [-3.91077395e-03 9.99992073e-01 7.48482274e-04 -8.49351769e-03] [ 1.76121627e-02 -6.79494206e-04 9.99844663e-01 -1.11172257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66241403699996 meters Centerline goodness [0,1] 0.6659481306837318 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.01, Z:-1.11 [[ 9.99832860e-01 4.12221710e-03 -1.78117663e-02 3.01100298e+00] [-4.11063764e-03 9.99991316e-01 6.86664640e-04 -7.84765284e-03] [ 1.78144422e-02 -6.13332154e-04 9.99841122e-01 -1.11170793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.692414037 meters Centerline goodness [0,1] 0.660765636232926 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.01, Z:-1.11 [[ 9.99829143e-01 4.27878440e-03 -1.79826725e-02 3.01145993e+00] [-4.27010468e-03 9.99990747e-01 5.21041175e-04 -6.90999301e-03] [ 1.79847355e-02 -4.44164258e-04 9.99838163e-01 -1.11169229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72241403699996 meters Centerline goodness [0,1] 0.68235822571589 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.01, Z:-1.11 [[ 9.99819687e-01 5.06007382e-03 -1.83027290e-02 3.01294620e+00] [-5.04771116e-03 9.99987000e-01 7.21588809e-04 -6.12215602e-03] [ 1.83061423e-02 -6.29071808e-04 9.99832231e-01 -1.11236488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.752414037 meters Centerline goodness [0,1] 0.6814819810705695 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.01, Z:-1.11 [[ 9.99816828e-01 5.21339223e-03 -1.84155324e-02 3.01334746e+00] [-5.20397915e-03 9.99986303e-01 5.59033164e-04 -5.57776176e-03] [ 1.84181947e-02 -4.63096717e-04 9.99830263e-01 -1.11239868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78241403699997 meters Centerline goodness [0,1] 0.6861116737559922 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.01, Z:-1.11 [[ 9.99810426e-01 5.46392053e-03 -1.86884150e-02 3.01393355e+00] [-5.45596092e-03 9.99985002e-01 4.76871336e-04 -5.28964733e-03] [ 1.86907403e-02 -3.74817672e-04 9.99825243e-01 -1.11223189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.812414037 meters Centerline goodness [0,1] 0.6942383583267562 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.00, Z:-1.11 [[ 9.99794966e-01 6.73498397e-03 -1.90962523e-02 3.01556192e+00] [-6.71901688e-03 9.99977022e-01 9.00174421e-04 -4.64007526e-03] [ 1.91018761e-02 -7.71681812e-04 9.99817245e-01 -1.11260967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84241403699997 meters Centerline goodness [0,1] 0.6911960020709993 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.00, Z:-1.11 [[ 9.99784926e-01 7.16739531e-03 -1.94609925e-02 3.01650788e+00] [-7.15414832e-03 9.99974127e-01 7.50229752e-04 -3.62761076e-03] [ 1.94658662e-02 -6.10841571e-04 9.99810335e-01 -1.11249381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.872414037 meters Centerline goodness [0,1] 0.7029575653664809 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.00, Z:-1.11 [[ 9.99771370e-01 7.81404037e-03 -1.99035016e-02 3.01772302e+00] [-7.80303099e-03 9.99969357e-01 6.30740797e-04 -2.35329455e-03] [ 1.99078203e-02 -4.75288951e-04 9.99801707e-01 -1.11242878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90241403699997 meters Centerline goodness [0,1] 0.735500779467251 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.00, Z:-1.11 [[ 9.99710029e-01 1.28278872e-02 -2.03790028e-02 3.01948013e+00] [-1.27287995e-02 9.99906562e-01 4.98454915e-03 -2.09776090e-03] [ 2.04410398e-02 -4.72370353e-03 9.99779901e-01 -1.11303551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.932414037 meters Centerline goodness [0,1] 0.7343135037321873 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.00, Z:-1.11 [[ 9.99687608e-01 1.37247071e-02 -2.08882502e-02 3.02106353e+00] [-1.36223036e-02 9.99894526e-01 5.03686774e-03 -1.05039180e-03] [ 2.09551765e-02 -4.75074817e-03 9.99769129e-01 -1.11324427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.962414037 meters Centerline goodness [0,1] 0.7501244625480878 Centerline is valid? [False, False] Translation: X:3.02, Y:0.00, Z:-1.11 [[ 9.99663389e-01 1.46637107e-02 -2.14028910e-02 3.02266907e+00] [-1.45601897e-02 9.99881570e-01 4.98463343e-03 1.68740577e-04] [ 2.14734495e-02 -4.67132540e-03 9.99758506e-01 -1.11334455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.992414037 meters Centerline goodness [0,1] 0.7598379760584735 Centerline is valid? [False, False] Translation: X:3.02, Y:0.00, Z:-1.11 [[ 9.99639065e-01 1.56417499e-02 -2.18420474e-02 3.02414923e+00] [-1.55385729e-02 9.99867333e-01 4.88554528e-03 1.57505403e-03] [ 2.19155682e-02 -4.54438767e-03 9.99749497e-01 -1.11339341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.022414037 meters Centerline goodness [0,1] 0.77527122828475 Centerline is valid? [False, False] Translation: X:3.03, Y:0.00, Z:-1.11 [[ 9.99535348e-01 2.09310404e-02 -2.21580791e-02 3.02551583e+00] [-2.07362440e-02 9.99744608e-01 8.98480329e-03 2.34436438e-03] [ 2.23404814e-02 -8.52115315e-03 9.99714106e-01 -1.11346165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.052414037 meters Centerline goodness [0,1] 0.7791047476872272 Centerline is valid? [False, False] Translation: X:3.03, Y:0.00, Z:-1.11 [[ 0.99950755 0.02177275 -0.02259647 3.02677487] [-0.02158116 0.99972935 0.00868806 0.00408481] [ 0.02277952 -0.00819612 0.99970692 -1.11319002] [ 0. 0. 0. 1. ]] SLAMing on 262.082414037 meters Centerline goodness [0,1] 0.7849560344434826 Centerline is valid? [False, False] Translation: X:3.03, Y:0.00, Z:-1.11 [[ 0.99938948 0.0265293 -0.02273476 3.02706746] [-0.02624929 0.99957693 0.01252776 0.00450444] [ 0.0230575 -0.01192334 0.99966304 -1.11246272] [ 0. 0. 0. 1. ]] SLAMing on 262.112414037 meters Centerline goodness [0,1] 0.7849560344434826 Centerline is valid? [False, False] Translation: X:3.03, Y:0.00, Z:-1.11 [[ 0.99938948 0.0265293 -0.02273476 3.02706746] [-0.02624929 0.99957693 0.01252776 0.00450444] [ 0.0230575 -0.01192334 0.99966304 -1.11246272] [ 0. 0. 0. 1. ]] SLAMing on 262.142414037 meters Centerline goodness [0,1] 0.7858773050940295 Centerline is valid? [False, False] Translation: X:3.03, Y:0.01, Z:-1.11 [[ 0.99936677 0.02700973 -0.02316321 3.02780994] [-0.02673135 0.99956766 0.01224475 0.00558823] [ 0.02348393 -0.01161781 0.99965671 -1.11184115] [ 0. 0. 0. 1. ]] SLAMing on 262.172414037 meters Centerline goodness [0,1] 0.7879944245138587 Centerline is valid? [False, False] Translation: X:3.03, Y:0.01, Z:-1.11 [[ 0.99934734 0.02736798 -0.0235772 3.02870636] [-0.02708982 0.99956052 0.01203779 0.00637819] [ 0.02389629 -0.01139123 0.99964954 -1.11157533] [ 0. 0. 0. 1. ]] SLAMing on 262.202414037 meters Centerline goodness [0,1] 0.7857762359063313 Centerline is valid? [False, False] Translation: X:3.03, Y:0.01, Z:-1.11 [[ 0.99932338 0.02786609 -0.02400566 3.02983203] [-0.02757939 0.99954526 0.01219246 0.00643215] [ 0.0243345 -0.01152215 0.99963747 -1.11165895] [ 0. 0. 0. 1. ]] SLAMing on 262.232414037 meters Centerline goodness [0,1] 0.7835904212900726 Centerline is valid? [False, False] Translation: X:3.03, Y:0.01, Z:-1.11 [[ 0.99937566 0.02547483 -0.02448088 3.03180037] [-0.02527123 0.99964372 0.00859038 0.00825099] [ 0.02469099 -0.00796635 0.99966339 -1.11201156] [ 0. 0. 0. 1. ]] SLAMing on 262.262414037 meters Centerline goodness [0,1] 0.7861365348184328 Centerline is valid? [False, False] Translation: X:3.03, Y:0.01, Z:-1.11 [[ 0.99942527 0.02278706 -0.02509725 3.0337735 ] [-0.02266609 0.99973011 0.00509408 0.00892015] [ 0.02520656 -0.0045223 0.99967204 -1.11232833] [ 0. 0. 0. 1. ]] SLAMing on 262.29241403699996 meters Centerline goodness [0,1] 0.787093102663328 Centerline is valid? [False, False] Translation: X:3.04, Y:0.01, Z:-1.11 [[ 9.99473718e-01 1.98181806e-02 -2.56812654e-02 3.03579875e+00] [-1.97847720e-02 9.99803054e-01 1.55435887e-03 9.59442466e-03] [ 2.57070121e-02 -1.04544285e-03 9.99668973e-01 -1.11293574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.322414037 meters Centerline goodness [0,1] 0.7831482243246949 Centerline is valid? [False, False] Translation: X:3.04, Y:0.01, Z:-1.11 [[ 9.99483548e-01 1.94640494e-02 -2.55692670e-02 3.03538935e+00] [-1.94297989e-02 9.99809964e-01 1.58730065e-03 8.40283573e-03] [ 2.55953032e-02 -1.08967517e-03 9.99671793e-01 -1.11290703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35241403699996 meters Centerline goodness [0,1] 0.7840139917321582 Centerline is valid? [False, False] Translation: X:3.05, Y:0.00, Z:-1.12 [[ 0.99971031 0.01371787 -0.01977642 3.04560996] [-0.01358025 0.99988275 0.00707607 0.00440068] [ 0.01987117 -0.00680545 0.99977939 -1.11724405] [ 0. 0. 0. 1. ]] SLAMing on 262.382414037 meters Centerline goodness [0,1] 0.7832698758045509 Centerline is valid? [False, False] Translation: X:3.05, Y:0.00, Z:-1.12 [[ 9.99748877e-01 9.96282689e-03 -2.00730127e-02 3.04646084e+00] [-9.90083313e-03 9.99945912e-01 3.18543259e-03 4.45980466e-03] [ 2.01036629e-02 -2.98589311e-03 9.99793442e-01 -1.11737924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41241403699996 meters Centerline goodness [0,1] 0.7824486939245479 Centerline is valid? [False, False] Translation: X:3.05, Y:0.00, Z:-1.12 [[ 9.99763784e-01 6.76727068e-03 -2.06538099e-02 3.04839326e+00] [-6.76959862e-03 9.99977085e-01 -4.27969340e-05 3.90889675e-03] [ 2.06530470e-02 1.82604827e-04 9.99786686e-01 -1.11819057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.442414037 meters Centerline goodness [0,1] 0.7773651158079546 Centerline is valid? [False, False] Translation: X:3.05, Y:0.00, Z:-1.12 [[ 9.99785103e-01 2.57983574e-03 -2.05692233e-02 3.04812343e+00] [-2.65299693e-03 9.99990249e-01 -3.53033377e-03 1.65503804e-03] [ 2.05599151e-02 3.58414519e-03 9.99782198e-01 -1.11823498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47241403699996 meters Centerline goodness [0,1] 0.7765255264693997 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.00, Z:-1.12 [[ 9.99896452e-01 -1.40822494e-03 -1.43213719e-02 3.05707797e+00] [ 1.46475113e-03 9.99991176e-01 3.93725802e-03 -1.34607072e-03] [ 1.43157010e-02 -3.95782757e-03 9.99889692e-01 -1.12213986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.502414037 meters Centerline goodness [0,1] 0.7676261900485001 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.00, Z:-1.12 [[ 9.99898672e-01 -2.18545340e-03 -1.40665928e-02 3.05576052e+00] [ 2.23886573e-03 9.99990340e-01 3.78247824e-03 -2.98807761e-03] [ 1.40581905e-02 -3.81358819e-03 9.99893906e-01 -1.12133026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53241403699997 meters Centerline goodness [0,1] 0.7685456620493656 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.00, Z:-1.12 [[ 9.99881760e-01 -6.13132732e-03 -1.41022249e-02 3.05576535e+00] [ 6.13735758e-03 9.99981092e-01 3.84372681e-04 -4.75059283e-03] [ 1.40996016e-02 -4.70877630e-04 9.99900485e-01 -1.12121586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.562414037 meters Centerline goodness [0,1] 0.772211804625413 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.01, Z:-1.12 [[ 9.99882337e-01 -6.45620776e-03 -1.39151092e-02 3.05531618e+00] [ 6.46982645e-03 9.99978634e-01 9.33903146e-04 -6.90783813e-03] [ 1.39087824e-02 -1.02382160e-03 9.99902744e-01 -1.12144787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59241403699997 meters Centerline goodness [0,1] 0.7588912598915266 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.01, Z:-1.12 [[ 9.99869268e-01 -8.23989511e-03 -1.39122453e-02 3.05409404e+00] [ 8.24906708e-03 9.99965795e-01 6.02017027e-04 -1.02904389e-02] [ 1.39068088e-02 -7.16701369e-04 9.99903039e-01 -1.12076351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.622414037 meters Centerline goodness [0,1] 0.7533490587031021 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.01, Z:-1.12 [[ 9.99867942e-01 -8.92977805e-03 -1.35778208e-02 3.05301092e+00] [ 8.94053628e-03 9.99959765e-01 7.31844508e-04 -1.20710429e-02] [ 1.35707393e-02 -8.53140862e-04 9.99907549e-01 -1.12058512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65241403699997 meters Centerline goodness [0,1] 0.7378980468576997 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.01, Z:-1.12 [[ 9.99864085e-01 -9.29647661e-03 -1.36156759e-02 3.05293126e+00] [ 9.31298546e-03 9.99955972e-01 1.14958499e-03 -1.41381938e-02] [ 1.36043893e-02 -1.27623133e-03 9.99906642e-01 -1.12075103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.682414037 meters Centerline goodness [0,1] 0.7430972388955582 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:-1.12 [[ 9.99861375e-01 -9.95306199e-03 -1.33479703e-02 3.05202104e+00] [ 9.96936026e-03 9.99949638e-01 1.15504596e-03 -1.54043867e-02] [ 1.33358018e-02 -1.28795657e-03 9.99910245e-01 -1.12056261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.712414037 meters Centerline goodness [0,1] 0.7110746222291255 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:-1.12 [[ 9.99855677e-01 -1.06604126e-02 -1.32280542e-02 3.05178272e+00] [ 1.06819095e-02 9.99941737e-01 1.55550952e-03 -1.78062889e-02] [ 1.32107011e-02 -1.69658590e-03 9.99911296e-01 -1.12109615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.742414037 meters Centerline goodness [0,1] 0.7156695030103752 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:-1.12 [[ 9.99854454e-01 -1.08764303e-02 -1.31443458e-02 3.05165180e+00] [ 1.08996743e-02 9.99939155e-01 1.69801635e-03 -1.84889750e-02] [ 1.31250776e-02 -1.84103829e-03 9.99912168e-01 -1.12128286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.772414037 meters Centerline goodness [0,1] 0.6978029294274302 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:-1.12 [[ 9.99854953e-01 -1.08732693e-02 -1.31089635e-02 3.05184177e+00] [ 1.09008628e-02 9.99938512e-01 2.03531504e-03 -1.93289278e-02] [ 1.30860270e-02 -2.17791884e-03 9.99912002e-01 -1.12173706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.802414037 meters Centerline goodness [0,1] 0.7214686882589296 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:-1.12 [[ 9.99856087e-01 -1.08313717e-02 -1.30570378e-02 3.05206602e+00] [ 1.08631095e-02 9.99938204e-01 2.36223419e-03 -1.99011771e-02] [ 1.30306447e-02 -2.50373426e-03 9.99911963e-01 -1.12227594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.832414037 meters Centerline goodness [0,1] 0.734216247393407 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:-1.12 [[ 9.99855989e-01 -1.08091229e-02 -1.30829328e-02 3.05230190e+00] [ 1.08450895e-02 9.99937595e-01 2.68131102e-03 -2.04736539e-02] [ 1.30531337e-02 -2.82281046e-03 9.99910820e-01 -1.12261525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.862414037 meters Centerline goodness [0,1] 0.704450564093453 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:-1.12 [[ 9.99856215e-01 -1.08443756e-02 -1.30364535e-02 3.05216259e+00] [ 1.08816056e-02 9.99936906e-01 2.78830622e-03 -2.08014755e-02] [ 1.30053935e-02 -2.92976285e-03 9.99911134e-01 -1.12260509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.892414037 meters Centerline goodness [0,1] 0.6962061846515861 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:-1.12 [[ 9.99855905e-01 -1.09472162e-02 -1.29740796e-02 3.05191288e+00] [ 1.09841089e-02 9.99935820e-01 2.77573080e-03 -2.10303320e-02] [ 1.29428604e-02 -2.91783954e-03 9.99911980e-01 -1.12246491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.922414037 meters Centerline goodness [0,1] 0.6903453167250322 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:-1.12 [[ 9.99856485e-01 -1.10093564e-02 -1.28764394e-02 3.05178530e+00] [ 1.10477433e-02 9.99934726e-01 2.91384426e-03 -2.13541400e-02] [ 1.28435194e-02 -3.05568168e-03 9.99912850e-01 -1.12261119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.952414037 meters Centerline goodness [0,1] 0.7223258292260557 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:-1.12 [[ 9.99855196e-01 -1.09957781e-02 -1.29876499e-02 3.05206889e+00] [ 1.10346885e-02 9.99934829e-01 2.92810108e-03 -2.11296980e-02] [ 1.29546067e-02 -3.07099175e-03 9.99911370e-01 -1.12272217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.982414037 meters Centerline goodness [0,1] 0.7072300635926525 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:-1.12 [[ 0.99985451 -0.01082984 -0.01317817 3.0528768 ] [ 0.01087156 0.9999361 0.00309791 -0.02080166] [ 0.01314378 -0.00324073 0.99990837 -1.12330021] [ 0. 0. 0. 1. ]] SLAMing on 263.012414037 meters Centerline goodness [0,1] 0.7143460009328566 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:-1.12 [[ 9.99851832e-01 -1.10448771e-02 -1.32032374e-02 3.05306171e+00] [ 1.10828159e-02 9.99934653e-01 2.80374096e-03 -1.94885332e-02] [ 1.31714076e-02 -2.94965458e-03 9.99908903e-01 -1.12353024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04241403699996 meters Centerline goodness [0,1] 0.7037555866853445 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:-1.12 [[ 9.99851142e-01 -1.11817738e-02 -1.31400872e-02 3.05302238e+00] [ 1.12170262e-02 9.99933675e-01 2.61218209e-03 -1.87711174e-02] [ 1.31100069e-02 -2.75918595e-03 9.99910253e-01 -1.12364961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.072414037 meters Centerline goodness [0,1] 0.7063738999022136 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:-1.12 [[ 9.99851141e-01 -1.11611018e-02 -1.31577491e-02 3.05340148e+00] [ 1.11968712e-02 9.99933807e-01 2.64797348e-03 -1.83937354e-02] [ 1.31273238e-02 -2.79490493e-03 9.99909927e-01 -1.12411058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10241403699996 meters Centerline goodness [0,1] 0.7194465453574765 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:-1.12 [[ 9.99849358e-01 -1.13113952e-02 -1.31648719e-02 3.05343214e+00] [ 1.13442793e-02 9.99932709e-01 2.42587348e-03 -1.76629757e-02] [ 1.31365460e-02 -2.57485402e-03 9.99910397e-01 -1.12413831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.132414037 meters Centerline goodness [0,1] 0.7015509913438216 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.02, Z:-1.12 [[ 9.99845872e-01 -1.14883622e-02 -1.32759128e-02 3.05370500e+00] [ 1.15154590e-02 9.99931761e-01 1.96640642e-03 -1.58635210e-02] [ 1.32524161e-02 -2.11898157e-03 9.99909938e-01 -1.12414376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16241403699996 meters Centerline goodness [0,1] 0.6986980504254227 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.01, Z:-1.12 [[ 9.99844095e-01 -1.16017146e-02 -1.33111410e-02 3.05389118e+00] [ 1.16239112e-02 9.99931174e-01 1.59136063e-03 -1.43664354e-02] [ 1.32917624e-02 -1.74584005e-03 9.99910137e-01 -1.12422678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.192414037 meters Centerline goodness [0,1] 0.7016835767644107 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.01, Z:-1.12 [[ 9.99843229e-01 -1.14242372e-02 -1.35279271e-02 3.05468666e+00] [ 1.14459236e-02 9.99933328e-01 1.52674802e-03 -1.30879012e-02] [ 1.35095833e-02 -1.68134829e-03 9.99907328e-01 -1.12462019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22241403699996 meters Centerline goodness [0,1] 0.7052737655357743 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.01, Z:-1.12 [[ 9.99842672e-01 -1.14186764e-02 -1.35737112e-02 3.05491848e+00] [ 1.14366119e-02 9.99933825e-01 1.24445269e-03 -1.14754638e-02] [ 1.35586030e-02 -1.39949417e-03 9.99907099e-01 -1.12471082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.252414037 meters Centerline goodness [0,1] 0.6969887358075664 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.01, Z:-1.13 [[ 9.99840869e-01 -1.12557363e-02 -1.38399788e-02 3.05588528e+00] [ 1.12669727e-02 9.99936256e-01 7.34173678e-04 -8.34878131e-03] [ 1.38308329e-02 -8.89991511e-04 9.99903953e-01 -1.12504443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28241403699997 meters Centerline goodness [0,1] 0.6951397791422081 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.01, Z:-1.13 [[ 9.99839700e-01 -1.12325909e-02 -1.39428192e-02 3.05630900e+00] [ 1.12407933e-02 9.99936690e-01 5.10062874e-04 -7.19399834e-03] [ 1.39362072e-02 -6.66709460e-04 9.99902664e-01 -1.12525818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.312414037 meters Centerline goodness [0,1] 0.6895876033243993 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.01, Z:-1.13 [[ 9.99836948e-01 -1.13489789e-02 -1.40455654e-02 3.05685752e+00] [ 1.13512360e-02 9.99935569e-01 8.09843350e-05 -5.08789689e-03] [ 1.40437413e-02 -2.40405657e-04 9.99901353e-01 -1.12566574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34241403699997 meters Centerline goodness [0,1] 0.6878584118559831 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.00, Z:-1.13 [[ 9.99835305e-01 -1.13526328e-02 -1.41591397e-02 3.05740817e+00] [ 1.13527876e-02 9.99935553e-01 -6.94410549e-05 -3.96641483e-03] [ 1.41590156e-02 -9.13160884e-05 9.99899752e-01 -1.12603523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.372414037 meters Centerline goodness [0,1] 0.6893311346540468 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.00, Z:-1.13 [[ 9.99833338e-01 -1.14891292e-02 -1.41878894e-02 3.05754130e+00] [ 1.14837799e-02 9.99933954e-01 -4.58448067e-04 -2.54245025e-03] [ 1.41922195e-02 2.95441062e-04 9.99899242e-01 -1.12605261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40241403699997 meters Centerline goodness [0,1] 0.6779209039548022 Centerline is valid? [False, False] Translation: X:3.06, Y:0.00, Z:-1.13 [[ 9.99827596e-01 -1.17748374e-02 -1.43573033e-02 3.05794628e+00] [ 1.17600108e-02 9.99930225e-01 -1.11667796e-03 5.89613162e-05] [ 1.43694502e-02 9.47643402e-04 9.99896305e-01 -1.12606452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.432414037 meters Centerline goodness [0,1] 0.7014394196985152 Centerline is valid? [False, False] Translation: X:3.06, Y:0.00, Z:-1.13 [[ 9.99826405e-01 -1.18497702e-02 -1.43785528e-02 3.05825233e+00] [ 1.18331134e-02 9.99929214e-01 -1.24297171e-03 9.65002080e-04] [ 1.43922640e-02 1.07261289e-03 9.99895851e-01 -1.12646047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.462414037 meters Centerline goodness [0,1] 0.6827959434262586 Centerline is valid? [False, False] Translation: X:3.06, Y:0.00, Z:-1.13 [[ 9.99823323e-01 -1.20793510e-02 -1.44017959e-02 3.05864218e+00] [ 1.20577914e-02 9.99926049e-01 -1.58290351e-03 2.50538376e-03] [ 1.44198513e-02 1.40897000e-03 9.99895036e-01 -1.12697099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.492414037 meters Centerline goodness [0,1] 0.6822342441050926 Centerline is valid? [False, False] Translation: X:3.06, Y:0.00, Z:-1.13 [[ 9.99820926e-01 -1.22497665e-02 -1.44242784e-02 3.05878741e+00] [ 1.22254852e-02 9.99923699e-01 -1.77034283e-03 3.32023962e-03] [ 1.44448641e-02 1.59368200e-03 9.99894397e-01 -1.12717356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.522414037 meters Centerline goodness [0,1] 0.681846125822537 Centerline is valid? [False, False] Translation: X:3.06, Y:0.00, Z:-1.13 [[ 9.99820651e-01 -1.20703306e-02 -1.45936131e-02 3.05959530e+00] [ 1.20476672e-02 9.99926080e-01 -1.63988931e-03 3.84321178e-03] [ 1.46123284e-02 1.46377620e-03 9.99892163e-01 -1.12772234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.552414037 meters Centerline goodness [0,1] 0.6842921666134404 Centerline is valid? [False, False] Translation: X:3.06, Y:0.00, Z:-1.13 [[ 9.99820121e-01 -1.21022021e-02 -1.46035167e-02 3.05984602e+00] [ 1.20786906e-02 9.99925610e-01 -1.69711923e-03 4.63701669e-03] [ 1.46229692e-02 1.52042259e-03 9.99891923e-01 -1.12802627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.582414037 meters Centerline goodness [0,1] 0.6887827398637838 Centerline is valid? [False, False] Translation: X:3.06, Y:0.01, Z:-1.13 [[ 9.99819509e-01 -1.21858831e-02 -1.45757697e-02 3.06009209e+00] [ 1.21610296e-02 9.99924445e-01 -1.79254661e-03 5.65970267e-03] [ 1.45965122e-02 1.61496670e-03 9.99892161e-01 -1.12847338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.612414037 meters Centerline goodness [0,1] 0.6712485419573222 Centerline is valid? [False, False] Translation: X:3.06, Y:0.01, Z:-1.13 [[ 9.99816623e-01 -1.21785623e-02 -1.47784337e-02 3.06052242e+00] [ 1.21526927e-02 9.99924462e-01 -1.83904129e-03 6.19673517e-03] [ 1.47997142e-02 1.65910629e-03 9.99889102e-01 -1.12852335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.642414037 meters Centerline goodness [0,1] 0.6893809163629696 Centerline is valid? [False, False] Translation: X:3.06, Y:0.01, Z:-1.13 [[ 9.99815419e-01 -1.22192347e-02 -1.48262566e-02 3.06071004e+00] [ 1.21913091e-02 9.99923738e-01 -1.97244476e-03 6.93136376e-03] [ 1.48492277e-02 1.79132921e-03 9.99888140e-01 -1.12862059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.672414037 meters Centerline goodness [0,1] 0.6854192956292302 Centerline is valid? [False, False] Translation: X:3.06, Y:0.01, Z:-1.13 [[ 9.99848564e-01 -9.67007222e-03 -1.44685578e-02 3.05896641e+00] [ 9.68705363e-03 9.99952470e-01 1.10405299e-03 7.40971991e-03] [ 1.44571939e-02 -1.24404349e-03 9.99894715e-01 -1.12800511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.702414037 meters Centerline goodness [0,1] 0.6860886726638517 Centerline is valid? [False, False] Translation: X:3.06, Y:0.01, Z:-1.13 [[ 9.99847490e-01 -9.52916240e-03 -1.46352895e-02 3.05942602e+00] [ 9.54381726e-03 9.99954023e-01 9.31820552e-04 8.53233301e-03] [ 1.46257372e-02 -1.07135497e-03 9.99892464e-01 -1.12800764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.732414037 meters Centerline goodness [0,1] 0.6915172413793104 Centerline is valid? [False, False] Translation: X:3.06, Y:0.01, Z:-1.13 [[ 9.99846164e-01 -9.46279556e-03 -1.47683226e-02 3.05973173e+00] [ 9.47361908e-03 9.99954904e-01 6.63099343e-04 9.86272027e-03] [ 1.47613819e-02 -8.02906797e-04 9.99890723e-01 -1.12789819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.762414037 meters Centerline goodness [0,1] 0.7022804151229951 Centerline is valid? [False, False] Translation: X:3.06, Y:0.01, Z:-1.13 [[ 9.99847330e-01 -9.05915275e-03 -1.49415029e-02 3.06077193e+00] [ 9.06644807e-03 9.99958810e-01 4.20592866e-04 1.21054909e-02] [ 1.49370773e-02 -5.55995014e-04 9.99888281e-01 -1.12848208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79241403699996 meters Centerline goodness [0,1] 0.6956251152498617 Centerline is valid? [False, False] Translation: X:3.06, Y:0.01, Z:-1.13 [[ 9.99846219e-01 -8.89400047e-03 -1.51140607e-02 3.06156279e+00] [ 8.90108775e-03 9.99960304e-01 4.01713068e-04 1.30610313e-02] [ 1.51098879e-02 -5.36182872e-04 9.99885695e-01 -1.12903240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.822414037 meters Centerline goodness [0,1] 0.7047850208044383 Centerline is valid? [False, False] Translation: X:3.06, Y:0.01, Z:-1.13 [[ 9.99844780e-01 -8.67512455e-03 -1.53348685e-02 3.06242298e+00] [ 8.68148753e-03 9.99962254e-01 3.48413994e-04 1.39118768e-02] [ 1.53312672e-02 -4.81489383e-04 9.99882353e-01 -1.12944958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85241403699996 meters Centerline goodness [0,1] 0.7009120792629289 Centerline is valid? [False, False] Translation: X:3.06, Y:0.02, Z:-1.13 [[ 9.99843906e-01 -8.23635141e-03 -1.56309126e-02 3.06388194e+00] [ 8.24264254e-03 9.99965972e-01 3.38097581e-04 1.60998369e-02] [ 1.56275960e-02 -4.66884832e-04 9.99877773e-01 -1.13041830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.882414037 meters Centerline goodness [0,1] 0.6800759188963985 Centerline is valid? [False, False] Translation: X:3.06, Y:0.02, Z:-1.13 [[ 9.99842310e-01 -8.15684476e-03 -1.57740360e-02 3.06437596e+00] [ 8.16092566e-03 9.99966680e-01 1.94356716e-04 1.73290812e-02] [ 1.57719250e-02 -3.23056803e-04 9.99875563e-01 -1.13056039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91241403699996 meters Centerline goodness [0,1] 0.7032334439776236 Centerline is valid? [False, False] Translation: X:3.06, Y:0.02, Z:-1.13 [[ 9.99841360e-01 -8.18419004e-03 -1.58200407e-02 3.06445727e+00] [ 8.18431947e-03 9.99966506e-01 -5.65622534e-05 1.85459339e-02] [ 1.58199737e-02 -7.29229863e-05 9.99874854e-01 -1.13043182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.942414037 meters Centerline goodness [0,1] 0.6987248103504444 Centerline is valid? [False, False] Translation: X:3.06, Y:0.02, Z:-1.13 [[ 9.99839403e-01 -8.36667611e-03 -1.58482748e-02 3.06430615e+00] [ 8.35656720e-03 9.99964835e-01 -7.03972268e-04 2.07317293e-02] [ 1.58536074e-02 5.71422039e-04 9.99874160e-01 -1.12993737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97241403699996 meters Centerline goodness [0,1] 0.7016089598807833 Centerline is valid? [False, False] Translation: X:3.06, Y:0.02, Z:-1.13 [[ 9.99839312e-01 -8.24369587e-03 -1.59182518e-02 3.06475643e+00] [ 8.23420353e-03 9.99965879e-01 -6.61768493e-04 2.11784413e-02] [ 1.59231641e-02 5.30588030e-04 9.99873078e-01 -1.13028407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.002414037 meters Centerline goodness [0,1] 0.7016089598807833 Centerline is valid? [False, False] Translation: X:3.06, Y:0.02, Z:-1.13 [[ 9.99839312e-01 -8.24369587e-03 -1.59182518e-02 3.06475643e+00] [ 8.23420353e-03 9.99965879e-01 -6.61768493e-04 2.11784413e-02] [ 1.59231641e-02 5.30588030e-04 9.99873078e-01 -1.13028407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03241403699997 meters Centerline goodness [0,1] 0.6990164849217606 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:-1.13 [[ 9.99838704e-01 -8.18072407e-03 -1.59888312e-02 3.06519400e+00] [ 8.17305717e-03 9.99966452e-01 -5.44801234e-04 2.14120079e-02] [ 1.59927517e-02 4.14035727e-04 9.99872022e-01 -1.13068515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.062414037 meters Centerline goodness [0,1] 0.7046807517217228 Centerline is valid? [False, False] Translation: X:3.06, Y:0.02, Z:-1.13 [[ 9.99837424e-01 -8.54220667e-03 -1.58794084e-02 3.06498924e+00] [ 8.52858994e-03 9.99963203e-01 -9.25031000e-04 2.27461716e-02] [ 1.58867259e-02 7.89451650e-04 9.99873486e-01 -1.13079327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09241403699997 meters Centerline goodness [0,1] 0.7089021881428839 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:-1.13 [[ 9.99837202e-01 -8.42217096e-03 -1.59573474e-02 3.06567879e+00] [ 8.41109818e-03 9.99964337e-01 -7.60886831e-04 2.31822808e-02] [ 1.59631866e-02 6.26544144e-04 9.99872384e-01 -1.13154728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.122414037 meters Centerline goodness [0,1] 0.7018200533383241 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:-1.13 [[ 9.99837015e-01 -8.20293540e-03 -1.60827673e-02 3.06658712e+00] [ 8.19623466e-03 9.99966294e-01 -4.82510679e-04 2.34965899e-02] [ 1.60861832e-02 3.50613902e-04 9.99870548e-01 -1.13240431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15241403699997 meters Centerline goodness [0,1] 0.680900457263454 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:-1.13 [[ 9.99836743e-01 -7.97069599e-03 -1.62159194e-02 3.06791276e+00] [ 7.96772940e-03 9.99968227e-01 -2.47541984e-04 2.45827395e-02] [ 1.62173772e-02 1.18297514e-04 9.99868483e-01 -1.13384436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.182414037 meters Centerline goodness [0,1] 0.6982776850959844 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:-1.13 [[ 9.99837497e-01 -7.85135709e-03 -1.62276225e-02 3.06842773e+00] [ 7.85135064e-03 9.99969176e-01 -6.41065902e-05 2.47981267e-02] [ 1.62276256e-02 -6.33125815e-05 9.99868321e-01 -1.13452299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.212414037 meters Centerline goodness [0,1] 0.7032340184801056 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:-1.13 [[ 9.99836836e-01 -7.91294623e-03 -1.62384149e-02 3.06849455e+00] [ 7.91066739e-03 9.99968689e-01 -2.04564760e-04 2.53076835e-02] [ 1.62395251e-02 7.60746837e-05 9.99868127e-01 -1.13455572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.242414037 meters Centerline goodness [0,1] 0.6852614971625026 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:-1.13 [[ 9.99834285e-01 -8.02997021e-03 -1.63377228e-02 3.06878267e+00] [ 8.02263099e-03 9.99967686e-01 -5.14711165e-04 2.67453212e-02] [ 1.63413280e-02 3.83554348e-04 9.99866398e-01 -1.13461157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.272414037 meters Centerline goodness [0,1] 0.6901557823289576 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:-1.13 [[ 9.99832045e-01 -7.93823163e-03 -1.65186596e-02 3.06929621e+00] [ 7.92942803e-03 9.99968383e-01 -5.98378054e-04 2.76923290e-02] [ 1.65228873e-02 4.67294031e-04 9.99863379e-01 -1.13472284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.302414037 meters Centerline goodness [0,1] 0.6855164591062693 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:-1.13 [[ 9.99830610e-01 -7.93943599e-03 -1.66047295e-02 3.06932594e+00] [ 7.92573310e-03 9.99968194e-01 -8.90885614e-04 2.89434126e-02] [ 1.66112745e-02 7.59130052e-04 9.99861735e-01 -1.13434232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.332414037 meters Centerline goodness [0,1] 0.7026553699058078 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:-1.13 [[ 9.99826488e-01 -7.75889272e-03 -1.69349691e-02 3.07015467e+00] [ 7.73791650e-03 9.99969212e-01 -1.30380839e-03 3.13512075e-02] [ 1.69445638e-02 1.17254079e-03 9.99855743e-01 -1.13422170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.362414037 meters Centerline goodness [0,1] 0.6901468700983887 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:-1.13 [[ 9.99824140e-01 -7.72913751e-03 -1.70865203e-02 3.07053944e+00] [ 7.70378788e-03 9.99969126e-01 -1.54892790e-03 3.26017264e-02] [ 1.70979646e-02 1.41702458e-03 9.99852815e-01 -1.13420095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.392414037 meters Centerline goodness [0,1] 0.6898970444872434 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:-1.13 [[ 9.99820963e-01 -7.57804176e-03 -1.73382787e-02 3.07121796e+00] [ 7.54929957e-03 9.99970020e-01 -1.72258232e-03 3.36247766e-02] [ 1.73508127e-02 1.59138206e-03 9.99848197e-01 -1.13428351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.422414037 meters Centerline goodness [0,1] 0.6947771005139238 Centerline is valid? [False, False] Translation: X:3.07, Y:0.04, Z:-1.14 [[ 9.99818650e-01 -6.99406002e-03 -1.77129911e-02 3.07303725e+00] [ 6.96542500e-03 9.99974334e-01 -1.67779021e-03 3.59080607e-02] [ 1.77242710e-02 1.55410743e-03 9.99841705e-01 -1.13541599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.452414037 meters Centerline goodness [0,1] 0.6988271900430828 Centerline is valid? [False, False] Translation: X:3.07, Y:0.04, Z:-1.14 [[ 9.99815863e-01 -6.72194328e-03 -1.79737301e-02 3.07416482e+00] [ 6.69264730e-03 9.99976177e-01 -1.68958848e-03 3.70221266e-02] [ 1.79846592e-02 1.56898553e-03 9.99837032e-01 -1.13606535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.482414037 meters Centerline goodness [0,1] 0.7058415130476419 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99812625e-01 -6.26558806e-03 -1.83154792e-02 3.07563437e+00] [ 6.23944602e-03 9.99979433e-01 -1.48411571e-03 3.78368205e-02] [ 1.83244014e-02 1.36955918e-03 9.99831156e-01 -1.13692264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.512414037 meters Centerline goodness [0,1] 0.7008376737152869 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99810459e-01 -5.76472741e-03 -1.85960882e-02 3.07696178e+00] [ 5.73819150e-03 9.99982441e-01 -1.48000521e-03 3.98193479e-02] [ 1.86042935e-02 1.37301677e-03 9.99825982e-01 -1.13764524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54241403699996 meters Centerline goodness [0,1] 0.7100809065373442 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99808559e-01 -5.57708128e-03 -1.87547599e-02 3.07754029e+00] [ 5.54912927e-03 9.99983414e-01 -1.54210683e-03 4.08103992e-02] [ 1.87630493e-02 1.43773903e-03 9.99822925e-01 -1.13783010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.572414037 meters Centerline goodness [0,1] 0.7076371165791882 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99806628e-01 -5.31466297e-03 -1.89330815e-02 3.07812430e+00] [ 5.28737395e-03 9.99984910e-01 -1.49110707e-03 4.15312072e-02] [ 1.89407206e-02 1.39071245e-03 9.99819641e-01 -1.13795616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60241403699996 meters Centerline goodness [0,1] 0.7033881944109271 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99803121e-01 -5.51871531e-03 -1.90594541e-02 3.07795635e+00] [ 5.48218637e-03 9.99983036e-01 -1.96829620e-03 4.30387616e-02] [ 1.90699932e-02 1.86342120e-03 9.99816415e-01 -1.13728910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.632414037 meters Centerline goodness [0,1] 0.7036152714468321 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99802052e-01 -5.63098552e-03 -1.90826603e-02 3.07790181e+00] [ 5.59273071e-03 9.99982244e-01 -2.05746459e-03 4.34914512e-02] [ 1.90939070e-02 1.95033314e-03 9.99815792e-01 -1.13717583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66241403699996 meters Centerline goodness [0,1] 0.6931744155186141 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99800688e-01 -5.59912638e-03 -1.91633665e-02 3.07822822e+00] [ 5.56229036e-03 9.99982580e-01 -1.97497194e-03 4.36111764e-02] [ 1.91740908e-02 1.86798610e-03 9.99814415e-01 -1.13738134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.692414037 meters Centerline goodness [0,1] 0.6852487550161969 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99802030e-01 -5.99312101e-03 -1.89732331e-02 3.07799561e+00] [ 5.95705533e-03 9.99980342e-01 -1.95681923e-03 4.37191577e-02] [ 1.89845876e-02 1.84340723e-03 9.99818077e-01 -1.13791286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72241403699996 meters Centerline goodness [0,1] 0.6972839386523877 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99804349e-01 -6.17445110e-03 -1.87919977e-02 3.07775376e+00] [ 6.14121008e-03 9.99979475e-01 -1.82608665e-03 4.33114628e-02] [ 1.88028871e-02 1.71032377e-03 9.99821747e-01 -1.13826097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.752414037 meters Centerline goodness [0,1] 0.6915045317220544 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99803287e-01 -6.16460874e-03 -1.88516741e-02 3.07813371e+00] [ 6.13658819e-03 9.99979979e-01 -1.54385636e-03 4.26776349e-02] [ 1.88608140e-02 1.42786771e-03 9.99821099e-01 -1.13876403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78241403699997 meters Centerline goodness [0,1] 0.6796353612535062 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99804611e-01 -6.81035516e-03 -1.85569235e-02 3.07747806e+00] [ 6.78355783e-03 9.99975856e-01 -1.50662570e-03 4.21356128e-02] [ 1.85667361e-02 1.38044936e-03 9.99826670e-01 -1.13920604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.812414037 meters Centerline goodness [0,1] 0.6734004296092486 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99803617e-01 -6.59362448e-03 -1.86882596e-02 3.07839909e+00] [ 6.57615036e-03 9.99977881e-01 -9.96332172e-04 4.15781557e-02] [ 1.86944157e-02 8.73239704e-04 9.99824863e-01 -1.14017131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84241403699997 meters Centerline goodness [0,1] 0.6807881534621071 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99803756e-01 -6.85183594e-03 -1.85876970e-02 3.07850390e+00] [ 6.83381809e-03 9.99976116e-01 -1.03268834e-03 4.21112758e-02] [ 1.85943289e-02 9.05460736e-04 9.99826701e-01 -1.14074374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.872414037 meters Centerline goodness [0,1] 0.6854453259577359 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99803284e-01 -6.87332785e-03 -1.86051405e-02 3.07873259e+00] [ 6.85609358e-03 9.99976007e-01 -9.89945209e-04 4.24566272e-02] [ 1.86114983e-02 8.62191886e-04 9.99826419e-01 -1.14103847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90241403699997 meters Centerline goodness [0,1] 0.6836732219500958 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99801224e-01 -6.95447653e-03 -1.86855165e-02 3.07878949e+00] [ 6.93543996e-03 9.99975363e-01 -1.08339693e-03 4.29095824e-02] [ 1.86925906e-02 9.53589301e-04 9.99824824e-01 -1.14094780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.932414037 meters Centerline goodness [0,1] 0.6690973399874025 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99799935e-01 -6.74116737e-03 -1.88320831e-02 3.07935859e+00] [ 6.72490740e-03 9.99976958e-01 -9.26613450e-04 4.30821501e-02] [ 1.88378956e-02 7.99784052e-04 9.99822231e-01 -1.14120570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.962414037 meters Centerline goodness [0,1] 0.6835100548446069 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99816241e-01 -5.43731645e-03 -1.83826031e-02 3.07685720e+00] [ 5.44872669e-03 9.99984993e-01 5.70679640e-04 4.33583313e-02] [ 1.83792242e-02 -6.70736552e-04 9.99830863e-01 -1.13963962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.992414037 meters Centerline goodness [0,1] 0.6915612122985395 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99814080e-01 -5.36816289e-03 -1.85199480e-02 3.07720880e+00] [ 5.37877576e-03 9.99985397e-01 5.23286270e-04 4.38145512e-02] [ 1.85168685e-02 -6.22803628e-04 9.99828354e-01 -1.13962152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.022414037 meters Centerline goodness [0,1] 0.6863360841305777 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99811231e-01 -5.34606814e-03 -1.86794270e-02 3.07751084e+00] [ 5.35131960e-03 9.99985655e-01 2.31162791e-04 4.49328575e-02] [ 1.86779232e-02 -3.31078738e-04 9.99825498e-01 -1.13939695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.052414037 meters Centerline goodness [0,1] 0.6877409594456103 Centerline is valid? [False, False] Translation: X:3.08, Y:0.05, Z:-1.14 [[ 9.99811534e-01 -5.24729313e-03 -1.86912318e-02 3.07783257e+00] [ 5.25447233e-03 9.99986139e-01 3.35004507e-04 4.51221624e-02] [ 1.86892149e-02 -4.33153930e-04 9.99825248e-01 -1.13971825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.082414037 meters Centerline goodness [0,1] 0.6907261592300962 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99808309e-01 -4.84724372e-03 -1.89696801e-02 3.07907042e+00] [ 4.86015224e-03 9.99987988e-01 6.34438601e-04 4.48499979e-02] [ 1.89663770e-02 -7.26512519e-04 9.99819858e-01 -1.14041024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.112414037 meters Centerline goodness [0,1] 0.688547383827296 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99806902e-01 -4.75686592e-03 -1.90664880e-02 3.07943934e+00] [ 4.77162929e-03 9.99988350e-01 7.28891386e-04 4.48223427e-02] [ 1.90627986e-02 -8.19728850e-04 9.99817952e-01 -1.14060136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.142414037 meters Centerline goodness [0,1] 0.6972327197366817 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99805763e-01 -4.55550588e-03 -1.91750599e-02 3.08005303e+00] [ 4.57530360e-03 9.99989044e-01 9.88729029e-04 4.45207547e-02] [ 1.91703457e-02 -1.07626870e-03 9.99815653e-01 -1.14109372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.172414037 meters Centerline goodness [0,1] 0.692069150754505 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99805892e-01 -4.56211572e-03 -1.91668050e-02 3.08011236e+00] [ 4.58339111e-03 9.99988928e-01 1.06623024e-03 4.43404075e-02] [ 1.91617285e-02 -1.15387224e-03 9.99815731e-01 -1.14121295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.202414037 meters Centerline goodness [0,1] 0.6947974340837582 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99807604e-01 -4.67464132e-03 -1.90500120e-02 3.07991125e+00] [ 4.69858091e-03 9.99988227e-01 1.21210617e-03 4.37274358e-02] [ 1.90441216e-02 -1.30138099e-03 9.99817797e-01 -1.14135683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.232414037 meters Centerline goodness [0,1] 0.6870862949121908 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99809571e-01 -4.95118694e-03 -1.88761195e-02 3.07927691e+00] [ 4.97396799e-03 9.99986957e-01 1.16011338e-03 4.33165026e-02] [ 1.88701294e-02 -1.25378167e-03 9.99821157e-01 -1.14109646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.262414037 meters Centerline goodness [0,1] 0.6816673984096785 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99812275e-01 -5.58656226e-03 -1.85527827e-02 3.07789643e+00] [ 5.60770791e-03 9.99983685e-01 1.08792737e-03 4.21663554e-02] [ 1.85464023e-02 -1.19176172e-03 9.99827290e-01 -1.14048665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29241403699996 meters Centerline goodness [0,1] 0.6824477277706107 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99812790e-01 -5.54542517e-03 -1.85373429e-02 3.07795687e+00] [ 5.57254471e-03 9.99983477e-01 1.41163302e-03 4.09741731e-02] [ 1.85292085e-02 -1.51466892e-03 9.99827172e-01 -1.14064880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.322414037 meters Centerline goodness [0,1] 0.6735728668817778 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99813232e-01 -5.78519165e-03 -1.84399706e-02 3.07755270e+00] [ 5.81166120e-03 9.99982157e-01 1.38217875e-03 4.02316648e-02] [ 1.84316454e-02 -1.48908746e-03 9.99829014e-01 -1.14040628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35241403699996 meters Centerline goodness [0,1] 0.6718254256581656 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99813877e-01 -5.95025694e-03 -1.83522852e-02 3.07728075e+00] [ 5.97772287e-03 9.99981093e-01 1.44210024e-03 3.95252334e-02] [ 1.83433574e-02 -1.55153671e-03 9.99830543e-01 -1.14034837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.382414037 meters Centerline goodness [0,1] 0.6739425359755802 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99818503e-01 -6.54297296e-03 -1.78927757e-02 3.07589927e+00] [ 6.57129203e-03 9.99977247e-01 1.52437367e-03 3.81159591e-02] [ 1.78823947e-02 -1.64167565e-03 9.99838749e-01 -1.14012087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41241403699996 meters Centerline goodness [0,1] 0.6666425208257878 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99817601e-01 -6.47126367e-03 -1.79690701e-02 3.07629615e+00] [ 6.50432570e-03 9.99977259e-01 1.78210727e-03 3.71281422e-02] [ 1.79571290e-02 -1.89865890e-03 9.99836955e-01 -1.14040867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.442414037 meters Centerline goodness [0,1] 0.6644154465857836 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 9.99819486e-01 -6.64265558e-03 -1.78008742e-02 3.07579963e+00] [ 6.68086396e-03 9.99975503e-01 2.08782512e-03 3.53123710e-02] [ 1.77865694e-02 -2.20637345e-03 9.99839372e-01 -1.14038420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47241403699996 meters Centerline goodness [0,1] 0.6715140735043146 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-1.14 [[ 9.99818606e-01 -6.37507602e-03 -1.79475090e-02 3.07635275e+00] [ 6.42251788e-03 9.99976029e-01 2.58697049e-03 3.39281556e-02] [ 1.79305867e-02 -2.70176943e-03 9.99835584e-01 -1.14072081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.502414037 meters Centerline goodness [0,1] 0.6734875873704507 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-1.14 [[ 9.99817490e-01 -6.44797073e-03 -1.79836029e-02 3.07604058e+00] [ 6.49721396e-03 9.99975299e-01 2.68114806e-03 3.28755599e-02] [ 1.79658707e-02 -2.79750204e-03 9.99834687e-01 -1.14024952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53241403699997 meters Centerline goodness [0,1] 0.6509889687327262 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-1.14 [[ 9.99819318e-01 -6.39356046e-03 -1.79012290e-02 3.07597673e+00] [ 6.44411394e-03 9.99975406e-01 2.76776443e-03 3.24904295e-02] [ 1.78830929e-02 -2.88262191e-03 9.99835929e-01 -1.14025911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.562414037 meters Centerline goodness [0,1] 0.6654425883256528 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-1.14 [[ 9.99818882e-01 -6.37270507e-03 -1.79329728e-02 3.07588342e+00] [ 6.42292743e-03 9.99975607e-01 2.74435837e-03 3.23340274e-02] [ 1.79150464e-02 -2.85904350e-03 9.99835425e-01 -1.13994720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59241403699997 meters Centerline goodness [0,1] 0.6646242221158449 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-1.14 [[ 9.99818514e-01 -6.40301750e-03 -1.79426720e-02 3.07556209e+00] [ 6.45202154e-03 9.99975609e-01 2.67458905e-03 3.16623806e-02] [ 1.79251090e-02 -2.78987016e-03 9.99835440e-01 -1.13936450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.622414037 meters Centerline goodness [0,1] 0.6705699233716476 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-1.14 [[ 9.99818250e-01 -6.29140385e-03 -1.79968281e-02 3.07573414e+00] [ 6.34447194e-03 9.99975688e-01 2.89317284e-03 3.08546993e-02] [ 1.79781885e-02 -3.00682738e-03 9.99833858e-01 -1.13944844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65241403699997 meters Centerline goodness [0,1] 0.6756536730198257 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-1.14 [[ 0.99981965 -0.00613372 -0.01797359 3.07595534] [ 0.00619462 0.99997525 0.00333445 0.02925048] [ 0.0179527 -0.00344519 0.9998329 -1.13983735] [ 0. 0. 0. 1. ]] SLAMing on 265.682414037 meters Centerline goodness [0,1] 0.6731616238988893 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-1.14 [[ 0.99982039 -0.00602172 -0.01797014 3.0762014 ] [ 0.00608661 0.99997514 0.00355847 0.02845443] [ 0.01794826 -0.00366721 0.99983219 -1.14011057] [ 0. 0. 0. 1. ]] SLAMing on 265.712414037 meters Centerline goodness [0,1] 0.6732642462245411 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-1.14 [[ 0.99982093 -0.00602156 -0.01794011 3.07631235] [ 0.00608917 0.99997455 0.00371652 0.02794227] [ 0.01791727 -0.00382509 0.99983216 -1.14032895] [ 0. 0. 0. 1. ]] SLAMing on 265.742414037 meters Centerline goodness [0,1] 0.6707885861895764 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-1.14 [[ 0.9998206 -0.00582461 -0.0180236 3.07665769] [ 0.00589747 0.99997464 0.0039923 0.02721196] [ 0.01799989 -0.00409788 0.99982959 -1.14046705] [ 0. 0. 0. 1. ]] SLAMing on 265.772414037 meters Centerline goodness [0,1] 0.6657164758300196 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-1.14 [[ 0.99982208 -0.00589283 -0.01791882 3.07637108] [ 0.00596547 0.99997419 0.00400297 0.02685219] [ 0.01789477 -0.00410915 0.99983143 -1.14032627] [ 0. 0. 0. 1. ]] SLAMing on 265.802414037 meters Centerline goodness [0,1] 0.6610351492590736 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-1.14 [[ 0.99982445 -0.00633674 -0.01763294 3.07507536] [ 0.00640401 0.99997242 0.00376116 0.02579042] [ 0.01760862 -0.00387342 0.99983745 -1.13938857] [ 0. 0. 0. 1. ]] SLAMing on 265.832414037 meters Centerline goodness [0,1] 0.666833357146259 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:-1.14 [[ 0.99982511 -0.00651967 -0.01752811 3.07457325] [ 0.00658703 0.99997113 0.00378764 0.02495436] [ 0.01750291 -0.00390244 0.9998392 -1.13906444] [ 0. 0. 0. 1. ]] SLAMing on 265.862414037 meters Centerline goodness [0,1] 0.6554831061055127 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:-1.14 [[ 0.99982508 -0.00685049 -0.01740355 3.07388193] [ 0.00691877 0.99996859 0.0038663 0.02322841] [ 0.01737652 -0.00398604 0.99984107 -1.13860825] [ 0. 0. 0. 1. ]] SLAMing on 265.892414037 meters Centerline goodness [0,1] 0.6648401391337495 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:-1.14 [[ 0.99982516 -0.00703149 -0.01732659 3.0733895 ] [ 0.00709968 0.99996728 0.00387697 0.02254438] [ 0.01729876 -0.0039993 0.99984237 -1.13822749] [ 0. 0. 0. 1. ]] SLAMing on 265.922414037 meters Centerline goodness [0,1] 0.6648401391337495 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:-1.14 [[ 0.99982516 -0.00703149 -0.01732659 3.0733895 ] [ 0.00709968 0.99996728 0.00387697 0.02254438] [ 0.01729876 -0.0039993 0.99984237 -1.13822749] [ 0. 0. 0. 1. ]] SLAMing on 265.952414037 meters Centerline goodness [0,1] 0.6462960768045514 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:-1.14 [[ 0.9998232 -0.00687392 -0.01750208 3.07385462] [ 0.0069487 0.99996697 0.00421524 0.02130002] [ 0.01747252 -0.00433611 0.99983794 -1.13834994] [ 0. 0. 0. 1. ]] SLAMing on 265.982414037 meters Centerline goodness [0,1] 0.6652810581010864 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:-1.14 [[ 0.99982205 -0.00681302 -0.01759149 3.07427145] [ 0.00689722 0.99996503 0.00473019 0.01914757] [ 0.01755864 -0.00485068 0.99983407 -1.13878705] [ 0. 0. 0. 1. ]] SLAMing on 266.012414037 meters Centerline goodness [0,1] 0.6636671481683203 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:-1.14 [[ 0.99982348 -0.00678144 -0.01752196 3.07437339] [ 0.00687027 0.99996383 0.00501414 0.01812682] [ 0.01748733 -0.00513363 0.99983391 -1.13918602] [ 0. 0. 0. 1. ]] SLAMing on 266.04241403699996 meters Centerline goodness [0,1] 0.6634461683121768 Centerline is valid? [False, False] Translation: X:3.08, Y:0.02, Z:-1.14 [[ 0.99982283 -0.00649321 -0.0176677 3.07504977] [ 0.00659384 0.99996234 0.00564334 0.01592984] [ 0.01763039 -0.00575884 0.99982799 -1.13971047] [ 0. 0. 0. 1. ]] SLAMing on 266.072414037 meters Centerline goodness [0,1] 0.6665411055654957 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-1.14 [[ 0.99982217 -0.00637919 -0.01774613 3.07511337] [ 0.00648511 0.99996146 0.00591714 0.014845 ] [ 0.01770769 -0.00603118 0.99982502 -1.13958783] [ 0. 0. 0. 1. ]] SLAMing on 266.10241403699996 meters Centerline goodness [0,1] 0.6642617881989178 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-1.14 [[ 0.99982109 -0.00631513 -0.01782968 3.07516588] [ 0.00642249 0.99996155 0.00597043 0.01407995] [ 0.01779129 -0.00608387 0.99982321 -1.13928401] [ 0. 0. 0. 1. ]] SLAMing on 266.132414037 meters Centerline goodness [0,1] 0.6603438194363233 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-1.14 [[ 0.99982028 -0.0062821 -0.01788712 3.07506197] [ 0.00639007 0.99996167 0.00598593 0.01351193] [ 0.01784883 -0.00609916 0.99982209 -1.13890484] [ 0. 0. 0. 1. ]] SLAMing on 266.16241403699996 meters Centerline goodness [0,1] 0.659618215378864 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-1.14 [[ 0.99981981 -0.00606754 -0.01798687 3.07480745] [ 0.00618124 0.99996123 0.00627222 0.01185111] [ 0.01794812 -0.00638227 0.99981855 -1.13822223] [ 0. 0. 0. 1. ]] SLAMing on 266.192414037 meters Centerline goodness [0,1] 0.6568595426971535 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-1.14 [[ 0.99981897 -0.00604916 -0.01804001 3.07475266] [ 0.00616402 0.99996104 0.00631784 0.01109472] [ 0.01800109 -0.00642789 0.9998173 -1.1379481 ] [ 0. 0. 0. 1. ]] SLAMing on 266.22241403699996 meters Centerline goodness [0,1] 0.6570040448184481 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-1.14 [[ 0.9998179 -0.00588889 -0.01815183 3.07498058] [ 0.00600742 0.99996094 0.00648231 0.01019636] [ 0.01811294 -0.00659018 0.99981423 -1.13785092] [ 0. 0. 0. 1. ]] SLAMing on 266.252414037 meters Centerline goodness [0,1] 0.6656597109262443 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-1.14 [[ 0.99981676 -0.00568154 -0.01828006 3.07513579] [ 0.00580702 0.99995989 0.00681857 0.00861011] [ 0.01824059 -0.00692348 0.99980966 -1.13767018] [ 0. 0. 0. 1. ]] SLAMing on 266.28241403699997 meters Centerline goodness [0,1] 0.6618507850970918 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-1.14 [[ 0.99981461 -0.00554236 -0.0184397 3.07535905] [ 0.00567117 0.99995983 0.00694027 0.00780486] [ 0.0184005 -0.00704356 0.99980589 -1.1374354 ] [ 0. 0. 0. 1. ]] SLAMing on 266.312414037 meters Centerline goodness [0,1] 0.6637817017425807 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-1.14 [[ 0.99981217 -0.00534792 -0.01862844 3.0755659 ] [ 0.00548269 0.99995911 0.00719107 0.00644385] [ 0.01858922 -0.00729185 0.99980061 -1.13714989] [ 0. 0. 0. 1. ]] SLAMing on 266.34241403699997 meters Centerline goodness [0,1] 0.6676812267657992 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-1.14 [[ 0.9998118 -0.00529373 -0.01866368 3.07557919] [ 0.00542931 0.99995919 0.00722118 0.00596712] [ 0.01862469 -0.00732115 0.99979974 -1.13693621] [ 0. 0. 0. 1. ]] SLAMing on 266.372414037 meters Centerline goodness [0,1] 0.6695906432748537 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-1.14 [[ 0.99980827 -0.00512961 -0.01889711 3.07601746] [ 0.0052683 0.9999595 0.00729653 0.00544864] [ 0.01885892 -0.00739468 0.99979481 -1.136744 ] [ 0. 0. 0. 1. ]] SLAMing on 266.40241403699997 meters Centerline goodness [0,1] 0.6728874221437204 Centerline is valid? [False, False] Translation: X:3.08, Y:0.00, Z:-1.14 [[ 0.99980799 -0.00494023 -0.01896242 3.07633486] [ 0.00508503 0.99995822 0.00759547 0.00440508] [ 0.01892411 -0.00769044 0.99979135 -1.13697348] [ 0. 0. 0. 1. ]] SLAMing on 266.432414037 meters Centerline goodness [0,1] 0.6735913291183214 Centerline is valid? [False, False] Translation: X:3.08, Y:0.00, Z:-1.14 [[ 0.99980406 -0.00464255 -0.01924302 3.07713541] [ 0.00479438 0.99995768 0.00785154 0.00376883] [ 0.01920575 -0.00794226 0.99978401 -1.13717064] [ 0. 0. 0. 1. ]] SLAMing on 266.462414037 meters Centerline goodness [0,1] 0.6708881236856092 Centerline is valid? [False, False] Translation: X:3.08, Y:0.00, Z:-1.14 [[ 0.99980274 -0.00466252 -0.01930675 3.07700844] [ 0.00481214 0.9999587 0.00771048 0.00347006] [ 0.01927 -0.00780187 0.99978388 -1.13667734] [ 0. 0. 0. 1. ]] SLAMing on 266.492414037 meters Centerline goodness [0,1] 0.6761675426613258 Centerline is valid? [False, False] Translation: X:3.08, Y:0.00, Z:-1.14 [[ 0.99980221 -0.00477775 -0.01930576 3.07678166] [ 0.00492249 0.99996008 0.00745679 0.00364659] [ 0.01926936 -0.00755035 0.99978582 -1.13627504] [ 0. 0. 0. 1. ]] SLAMing on 266.522414037 meters Centerline goodness [0,1] 0.6708025465867373 Centerline is valid? [False, False] Translation: X:3.08, Y:0.00, Z:-1.14 [[ 0.99980226 -0.0049036 -0.01927174 3.07649007] [ 0.00504562 0.99996042 0.00732775 0.00358621] [ 0.01923505 -0.00742354 0.99978743 -1.13593183] [ 0. 0. 0. 1. ]] SLAMing on 266.552414037 meters Centerline goodness [0,1] 0.6703515263644773 Centerline is valid? [False, False] Translation: X:3.08, Y:0.00, Z:-1.14 [[ 9.99800117e-01 -4.96850765e-03 -1.93659466e-02 3.07651399e+00] [ 5.10859300e-03 9.99961096e-01 7.19084471e-03 3.05739098e-03] [ 1.93294654e-02 -7.28834012e-03 9.99786603e-01 -1.13559361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.582414037 meters Centerline goodness [0,1] 0.670206121174266 Centerline is valid? [False, False] Translation: X:3.08, Y:0.00, Z:-1.14 [[ 9.99800938e-01 -5.17552617e-03 -1.92691090e-02 3.07615825e+00] [ 5.31122634e-03 9.99961410e-01 6.99786522e-03 2.87848023e-03] [ 1.92321477e-02 -7.09881481e-03 9.99789844e-01 -1.13536098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.612414037 meters Centerline goodness [0,1] 0.663867291142745 Centerline is valid? [False, False] Translation: X:3.08, Y:0.00, Z:-1.14 [[ 9.99800192e-01 -5.42324500e-03 -1.92396688e-02 3.07587595e+00] [ 5.55735533e-03 9.99960587e-01 6.92390638e-03 1.98767147e-03] [ 1.92013605e-02 -7.02944460e-03 9.99790925e-01 -1.13507843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.642414037 meters Centerline goodness [0,1] 0.6635240422294961 Centerline is valid? [False, False] Translation: X:3.08, Y:0.00, Z:-1.13 [[ 9.99799526e-01 -5.62282481e-03 -1.92169448e-02 3.07570044e+00] [ 5.75464203e-03 9.99960246e-01 6.81102475e-03 1.63080969e-03] [ 1.91778837e-02 -6.92024596e-03 9.99792138e-01 -1.13493014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.672414037 meters Centerline goodness [0,1] 0.6753019268000369 Centerline is valid? [False, False] Translation: X:3.08, Y:0.00, Z:-1.13 [[ 9.99799897e-01 -5.83763489e-03 -1.91334116e-02 3.07536251e+00] [ 5.96735965e-03 9.99959548e-01 6.72994577e-03 1.20441001e-03] [ 1.90933506e-02 -6.84277504e-03 9.99794289e-01 -1.13473270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.702414037 meters Centerline goodness [0,1] 0.6659075224292615 Centerline is valid? [False, False] Translation: X:3.08, Y:0.00, Z:-1.13 [[ 9.99800207e-01 -6.09523755e-03 -1.90366466e-02 3.07507867e+00] [ 6.22445227e-03 9.99957942e-01 6.73582281e-03 2.83360203e-04] [ 1.89947895e-02 -6.85296974e-03 9.99796097e-01 -1.13468904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.732414037 meters Centerline goodness [0,1] 0.6685421642476576 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.00, Z:-1.13 [[ 9.99799388e-01 -6.36149320e-03 -1.89925240e-02 3.07480124e+00] [ 6.48755099e-03 9.99957287e-01 6.58301267e-03 -3.77474609e-05] [ 1.89498350e-02 -6.70490700e-03 9.99797954e-01 -1.13447922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.762414037 meters Centerline goodness [0,1] 0.6705041591984926 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.00, Z:-1.13 [[ 9.99799102e-01 -6.54007551e-03 -1.89468291e-02 3.07471129e+00] [ 6.66545148e-03 9.99956257e-01 6.56167760e-03 -5.04461379e-04] [ 1.89030864e-02 -6.68664855e-03 9.99798961e-01 -1.13453644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79241403699996 meters Centerline goodness [0,1] 0.6683085523150587 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.00, Z:-1.13 [[ 9.99798113e-01 -6.89293956e-03 -1.88737930e-02 3.07439749e+00] [ 7.01607210e-03 9.99954485e-01 6.46556965e-03 -1.26377042e-03] [ 1.88283671e-02 -6.59668423e-03 9.99800968e-01 -1.13440942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.822414037 meters Centerline goodness [0,1] 0.6630721578524722 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.00, Z:-1.13 [[ 9.99797792e-01 -7.12596139e-03 -1.88041238e-02 3.07398791e+00] [ 7.24565751e-03 9.99953873e-01 6.30498383e-03 -1.39582913e-03] [ 1.87583273e-02 -6.43995715e-03 9.99803307e-01 -1.13405995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85241403699996 meters Centerline goodness [0,1] 0.6661627960240026 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.00, Z:-1.13 [[ 9.99795863e-01 -7.68793250e-03 -1.86849699e-02 3.07314690e+00] [ 7.80005939e-03 9.99951964e-01 5.93546125e-03 -1.73242493e-03] [ 1.86384409e-02 -6.07999348e-03 9.99807803e-01 -1.13336671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.882414037 meters Centerline goodness [0,1] 0.6611606222364774 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.00, Z:-1.13 [[ 9.99795284e-01 -7.93739184e-03 -1.86115158e-02 3.07277044e+00] [ 8.04517936e-03 9.99951256e-01 5.72373811e-03 -1.81679392e-03] [ 1.85651771e-02 -5.87229935e-03 9.99810407e-01 -1.13302347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91241403699996 meters Centerline goodness [0,1] 0.6644700713893466 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.00, Z:-1.13 [[ 9.99794722e-01 -8.12867221e-03 -1.85590475e-02 3.07266287e+00] [ 8.23317134e-03 9.99950643e-01 5.56118276e-03 -1.83049091e-03] [ 1.85129264e-02 -5.71284099e-03 9.99812300e-01 -1.13297901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.942414037 meters Centerline goodness [0,1] 0.6695122788547365 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.00, Z:-1.13 [[ 9.99792214e-01 -8.48134143e-03 -1.85363450e-02 3.07242084e+00] [ 8.57894173e-03 9.99949720e-01 5.19218627e-03 -1.43792249e-03] [ 1.84913763e-02 -5.35012963e-03 9.99814705e-01 -1.13273816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97241403699996 meters Centerline goodness [0,1] 0.6601694915254237 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.00, Z:-1.13 [[ 9.99790359e-01 -8.71767197e-03 -1.85267511e-02 3.07227507e+00] [ 8.80918699e-03 9.99949370e-01 4.86375801e-03 -8.96084551e-04] [ 1.84834125e-02 -5.02594398e-03 9.99816535e-01 -1.13252515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.002414037 meters Centerline goodness [0,1] 0.6563950165733227 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.00, Z:-1.13 [[ 9.99789813e-01 -8.68961483e-03 -1.85693152e-02 3.07269862e+00] [ 8.78311019e-03 9.99949130e-01 4.95932755e-03 -8.79670920e-04] [ 1.85252759e-02 -5.12138151e-03 9.99815276e-01 -1.13299785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03241403699997 meters Centerline goodness [0,1] 0.6679412034069054 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.00, Z:-1.13 [[ 9.99789666e-01 -9.06541617e-03 -1.83968065e-02 3.07214320e+00] [ 9.14989728e-03 9.99947954e-01 4.51319604e-03 -1.97622002e-04] [ 1.83549350e-02 -4.68057565e-03 9.99820578e-01 -1.13266842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.062414037 meters Centerline goodness [0,1] 0.6603920135240097 Centerline is valid? [False, False] Translation: X:3.07, Y:0.00, Z:-1.13 [[ 9.99787367e-01 -9.04454402e-03 -1.85314874e-02 3.07263072e+00] [ 9.12930270e-03 9.99948227e-01 4.49428335e-03 2.85286698e-05] [ 1.84898792e-02 -4.66250728e-03 9.99818176e-01 -1.13289996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09241403699997 meters Centerline goodness [0,1] 0.6590576395242451 Centerline is valid? [False, False] Translation: X:3.07, Y:0.00, Z:-1.13 [[ 9.99785746e-01 -9.28381525e-03 -1.85005973e-02 3.07243486e+00] [ 9.36114083e-03 9.99947789e-01 4.09741620e-03 7.31121098e-04] [ 1.84615917e-02 -4.26972501e-03 9.99820453e-01 -1.13263896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.122414037 meters Centerline goodness [0,1] 0.6594888675536049 Centerline is valid? [False, False] Translation: X:3.07, Y:0.00, Z:-1.13 [[ 9.99784241e-01 -9.34889571e-03 -1.85491134e-02 3.07271986e+00] [ 9.42261279e-03 9.99948037e-01 3.89074455e-03 1.51489867e-03] [ 1.85117753e-02 -4.06468620e-03 9.99820380e-01 -1.13275038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15241403699997 meters Centerline goodness [0,1] 0.660526074603611 Centerline is valid? [False, False] Translation: X:3.07, Y:0.00, Z:-1.13 [[ 9.99784826e-01 -9.50207928e-03 -1.84394439e-02 3.07256945e+00] [ 9.57286844e-03 9.99947130e-01 3.75454361e-03 1.89444195e-03] [ 1.84027930e-02 -3.93025409e-03 9.99822929e-01 -1.13282470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.182414037 meters Centerline goodness [0,1] 0.6568696964845269 Centerline is valid? [False, False] Translation: X:3.07, Y:0.00, Z:-1.13 [[ 9.99783888e-01 -9.57502208e-03 -1.84525650e-02 3.07285202e+00] [ 9.64491403e-03 9.99946633e-01 3.70238853e-03 2.06090087e-03] [ 1.84161298e-02 -3.87956180e-03 9.99822882e-01 -1.13312811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.212414037 meters Centerline goodness [0,1] 0.6642389262974668 Centerline is valid? [False, False] Translation: X:3.07, Y:0.00, Z:-1.13 [[ 9.99782904e-01 -9.94218855e-03 -1.83111617e-02 3.07236326e+00] [ 1.00032415e-02 9.99944699e-01 3.24561979e-03 2.74947883e-03] [ 1.82778805e-02 -3.42808615e-03 9.99827069e-01 -1.13283150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.242414037 meters Centerline goodness [0,1] 0.6683674642028086 Centerline is valid? [False, False] Translation: X:3.07, Y:0.00, Z:-1.13 [[ 0.99978176 -0.01011424 -0.01827909 3.07213468] [ 0.01017235 0.99994349 0.00308852 0.00316817] [ 0.01824682 -0.00327379 0.99982815 -1.1326599 ] [ 0. 0. 0. 1. ]] SLAMing on 267.272414037 meters Centerline goodness [0,1] 0.6613469884497922 Centerline is valid? [False, False] Translation: X:3.07, Y:0.00, Z:-1.13 [[ 9.99780944e-01 -1.00363303e-02 -1.83667186e-02 3.07268849e+00] [ 1.00935850e-02 9.99944476e-01 3.02726713e-03 3.86782588e-03] [ 1.83353162e-02 -3.21199003e-03 9.99826735e-01 -1.13300387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.302414037 meters Centerline goodness [0,1] 0.6750644211301307 Centerline is valid? [False, False] Translation: X:3.07, Y:0.00, Z:-1.13 [[ 9.99779644e-01 -1.00754623e-02 -1.84159843e-02 3.07278910e+00] [ 1.01291406e-02 9.99944712e-01 2.82381183e-03 4.61680941e-03] [ 1.83865149e-02 -3.00972768e-03 9.99826424e-01 -1.13292865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.332414037 meters Centerline goodness [0,1] 0.6576283691867838 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-1.13 [[ 9.99779266e-01 -1.00316712e-02 -1.84603341e-02 3.07310410e+00] [ 1.00839972e-02 9.99945391e-01 2.74360711e-03 5.31116817e-03] [ 1.84318030e-02 -2.92915546e-03 9.99825829e-01 -1.13308572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.362414037 meters Centerline goodness [0,1] 0.6489062859774349 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-1.13 [[ 9.99779376e-01 -9.92073081e-03 -1.85142780e-02 3.07366314e+00] [ 9.97608128e-03 9.99946033e-01 2.89964845e-03 5.36290356e-03] [ 1.84845122e-02 -3.08370866e-03 9.99824391e-01 -1.13364212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.392414037 meters Centerline goodness [0,1] 0.6583687419176057 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-1.13 [[ 9.99778030e-01 -9.99051188e-03 -1.85493939e-02 3.07378230e+00] [ 1.00442775e-02 9.99945613e-01 2.80760867e-03 5.67669410e-03] [ 1.85203356e-02 -2.99330073e-03 9.99824003e-01 -1.13372403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.422414037 meters Centerline goodness [0,1] 0.6692578197297798 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-1.13 [[ 9.99778655e-01 -1.01592336e-02 -1.84236654e-02 3.07356283e+00] [ 1.02115891e-02 9.99944079e-01 2.74990888e-03 5.84976682e-03] [ 1.83946982e-02 -2.93743510e-03 9.99826488e-01 -1.13381243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.452414037 meters Centerline goodness [0,1] 0.6592720970537262 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-1.13 [[ 9.99778315e-01 -1.04047464e-02 -1.83047157e-02 3.07328495e+00] [ 1.04526718e-02 9.99942183e-01 2.52447642e-03 6.22413560e-03] [ 1.82773908e-02 -2.71524997e-03 9.99829268e-01 -1.13370997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.482414037 meters Centerline goodness [0,1] 0.6615363283416529 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-1.13 [[ 9.99779328e-01 -1.04882045e-02 -1.82014724e-02 3.07335086e+00] [ 1.05353832e-02 9.99941381e-01 2.49807409e-03 6.58333271e-03] [ 1.81742051e-02 -2.68928232e-03 9.99831219e-01 -1.13407214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.512414037 meters Centerline goodness [0,1] 0.6239199108055375 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-1.13 [[ 9.99776748e-01 -1.05245813e-02 -1.83217566e-02 3.07355229e+00] [ 1.05663644e-02 9.99941787e-01 2.18520740e-03 7.86911512e-03] [ 1.82976916e-02 -2.37831390e-03 9.99829755e-01 -1.13389612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54241403699996 meters Centerline goodness [0,1] 0.658301694601352 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-1.13 [[ 9.99773212e-01 -1.03649265e-02 -1.86035698e-02 3.07443014e+00] [ 1.04074246e-02 9.99943445e-01 2.18904004e-03 8.47904960e-03] [ 1.85798285e-02 -2.38215884e-03 9.99824542e-01 -1.13418856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.572414037 meters Centerline goodness [0,1] 0.6552845528455284 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-1.13 [[ 9.99771017e-01 -1.03983912e-02 -1.87025988e-02 3.07456242e+00] [ 1.04379781e-02 9.99943482e-01 2.02027731e-03 9.09640353e-03] [ 1.86805341e-02 -2.21503201e-03 9.99823050e-01 -1.13400899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60241403699996 meters Centerline goodness [0,1] 0.6565896343875817 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-1.13 [[ 9.99769621e-01 -1.04010655e-02 -1.87756022e-02 3.07471945e+00] [ 1.04356837e-02 9.99944021e-01 1.74674898e-03 1.03704574e-02] [ 1.87563831e-02 -1.94228281e-03 9.99822197e-01 -1.13390594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.632414037 meters Centerline goodness [0,1] 0.6467113219834404 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-1.13 [[ 9.99767037e-01 -1.02536822e-02 -1.89930156e-02 3.07539452e+00] [ 1.02892121e-02 9.99945491e-01 1.77390563e-03 1.08590341e-02] [ 1.89737912e-02 -1.96891554e-03 9.99818043e-01 -1.13411629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66241403699996 meters Centerline goodness [0,1] 0.656092942799037 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-1.13 [[ 9.99764179e-01 -1.05352613e-02 -1.89893432e-02 3.07511556e+00] [ 1.05603500e-02 9.99943492e-01 1.22140494e-03 1.22554618e-02] [ 1.89754024e-02 -1.42165102e-03 9.99818940e-01 -1.13363674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.692414037 meters Centerline goodness [0,1] 0.6502034647134054 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-1.13 [[ 9.99762315e-01 -1.05090882e-02 -1.91016525e-02 3.07552431e+00] [ 1.05347185e-02 9.99943737e-01 1.24165108e-03 1.26148867e-02] [ 1.90875292e-02 -1.44258649e-03 9.99816776e-01 -1.13386078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72241403699996 meters Centerline goodness [0,1] 0.6539710727387433 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-1.13 [[ 9.99761137e-01 -1.07282102e-02 -1.90413627e-02 3.07531202e+00] [ 1.07494545e-02 9.99941709e-01 1.01368665e-03 1.31221190e-02] [ 1.90293777e-02 -1.21812877e-03 9.99818183e-01 -1.13375986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.752414037 meters Centerline goodness [0,1] 0.6586926674888884 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-1.13 [[ 9.99760159e-01 -1.09543260e-02 -1.89638256e-02 3.07548058e+00] [ 1.09782473e-02 9.99939067e-01 1.15776549e-03 1.27290377e-02] [ 1.89499875e-02 -1.36567738e-03 9.99819500e-01 -1.13436050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78241403699997 meters Centerline goodness [0,1] 0.6526100211780586 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-1.13 [[ 9.99761613e-01 -1.10981898e-02 -1.88028441e-02 3.07533216e+00] [ 1.11243321e-02 9.99937295e-01 1.28631095e-03 1.22360282e-02] [ 1.87873893e-02 -1.49517339e-03 9.99822383e-01 -1.13465802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.812414037 meters Centerline goodness [0,1] 0.6526100211780586 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-1.13 [[ 9.99761613e-01 -1.10981898e-02 -1.88028441e-02 3.07533216e+00] [ 1.11243321e-02 9.99937295e-01 1.28631095e-03 1.22360282e-02] [ 1.87873893e-02 -1.49517339e-03 9.99822383e-01 -1.13465802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84241403699997 meters Centerline goodness [0,1] 0.655058197849362 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-1.13 [[ 9.99761213e-01 -1.15175171e-02 -1.85705203e-02 3.07462534e+00] [ 1.15414920e-02 9.99932693e-01 1.18435553e-03 1.18533795e-02] [ 1.85556296e-02 -1.39840423e-03 9.99826852e-01 -1.13450418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.872414037 meters Centerline goodness [0,1] 0.6147226206449822 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-1.14 [[ 0.99980245 -0.01571961 -0.01216407 3.08333618] [ 0.01582448 0.99983803 0.00857297 0.00897344] [ 0.01202734 -0.00876377 0.99988926 -1.13790416] [ 0. 0. 0. 1. ]] SLAMing on 267.90241403699997 meters Centerline goodness [0,1] 0.635317276516906 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-1.14 [[ 0.99979617 -0.01633844 -0.01186081 3.08224668] [ 0.0164373 0.99983056 0.00828599 0.00861209] [ 0.01172342 -0.00847926 0.99989533 -1.13743695] [ 0. 0. 0. 1. ]] SLAMing on 267.932414037 meters Centerline goodness [0,1] 0.6291060194535367 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-1.14 [[ 0.99977858 -0.01765087 -0.01145555 3.08049308] [ 0.01773976 0.99981295 0.00770544 0.00760802] [ 0.0113174 -0.00790695 0.99990469 -1.13668171] [ 0. 0. 0. 1. ]] SLAMing on 267.962414037 meters Centerline goodness [0,1] 0.6232421286750226 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-1.14 [[ 0.99977217 -0.01805431 -0.01138656 3.08001948] [ 0.01814214 0.99980609 0.00765817 0.00666959] [ 0.01124609 -0.007863 0.99990584 -1.13635643] [ 0. 0. 0. 1. ]] SLAMing on 267.992414037 meters Centerline goodness [0,1] 0.6289325712161347 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-1.14 [[ 0.99976686 -0.01856834 -0.01102014 3.07912249] [ 0.018652 0.99979762 0.00753743 0.00602651] [ 0.01087795 -0.00774122 0.99991087 -1.13629401] [ 0. 0. 0. 1. ]] SLAMing on 268.022414037 meters Centerline goodness [0,1] 0.6321031590137036 Centerline is valid? [False, False] Translation: X:3.08, Y:0.00, Z:-1.14 [[ 0.99975673 -0.01916559 -0.01091607 3.07868682] [ 0.01924856 0.99978624 0.00754733 0.00473469] [ 0.01076908 -0.00775561 0.99991193 -1.13628987] [ 0. 0. 0. 1. ]] SLAMing on 268.052414037 meters Centerline goodness [0,1] 0.6264170110590355 Centerline is valid? [False, False] Translation: X:3.08, Y:0.00, Z:-1.14 [[ 0.99975533 -0.01928647 -0.01083065 3.07863744] [ 0.01937026 0.99978284 0.00768569 0.0041547 ] [ 0.01068007 -0.00789361 0.99991181 -1.13649829] [ 0. 0. 0. 1. ]] SLAMing on 268.082414037 meters Centerline goodness [0,1] 0.6096526609353032 Centerline is valid? [False, False] Translation: X:3.08, Y:0.00, Z:-1.14 [[ 0.99975288 -0.0194243 -0.01081058 3.07857699] [ 0.01950868 0.99977961 0.0077558 0.00356396] [ 0.01065755 -0.00796478 0.99991149 -1.13655184] [ 0. 0. 0. 1. ]] SLAMing on 268.112414037 meters Centerline goodness [0,1] 0.6051263172426488 Centerline is valid? [False, False] Translation: X:3.08, Y:0.00, Z:-1.14 [[ 9.99745792e-01 -1.99122829e-02 -1.05760375e-02 3.07774027e+00] [ 1.99938543e-02 9.99770729e-01 7.66394000e-03 2.57613420e-03] [ 1.04210062e-02 -7.87344751e-03 9.99914702e-01 -1.13620979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.142414037 meters Centerline goodness [0,1] 0.6191111520058888 Centerline is valid? [False, False] Translation: X:3.08, Y:0.00, Z:-1.14 [[ 9.99745349e-01 -2.00715850e-02 -1.03135241e-02 3.07713423e+00] [ 2.01518178e-02 9.99767008e-01 7.73524240e-03 1.81042155e-03] [ 1.01558626e-02 -7.94110887e-03 9.99916895e-01 -1.13614272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.172414037 meters Centerline goodness [0,1] 0.6036327730320565 Centerline is valid? [False, False] Translation: X:3.08, Y:0.00, Z:-1.14 [[ 9.99744080e-01 -2.02230746e-02 -1.01391369e-02 3.07647931e+00] [ 2.03030451e-02 9.99763074e-01 7.84739961e-03 5.04138652e-04] [ 9.97803611e-03 -8.05124666e-03 9.99917805e-01 -1.13576174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.202414037 meters Centerline goodness [0,1] 0.6065179001444855 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.14 [[ 9.99744442e-01 -2.02425688e-02 -1.00642610e-02 3.07621777e+00] [ 2.03229283e-02 9.99761879e-01 7.94752526e-03 -1.15059679e-04] [ 9.90098621e-03 -8.15002946e-03 9.99917770e-01 -1.13560871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.232414037 meters Centerline goodness [0,1] 0.6172504881130125 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.14 [[ 9.99744524e-01 -2.02298693e-02 -1.00816226e-02 3.07607521e+00] [ 2.03111491e-02 9.99761491e-01 8.02606989e-03 -5.79052551e-04] [ 9.91685168e-03 -8.22878876e-03 9.99916968e-01 -1.13534241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.262414037 meters Centerline goodness [0,1] 0.5886399596413585 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.14 [[ 9.99747166e-01 -2.00721235e-02 -1.01347568e-02 3.07622664e+00] [ 2.01559452e-02 9.99762913e-01 8.23743739e-03 -1.15004896e-03] [ 9.96701113e-03 -8.43963029e-03 9.99914712e-01 -1.13535162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29241403699996 meters Centerline goodness [0,1] 0.6313242511811386 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.13 [[ 9.99752040e-01 -1.96777190e-02 -1.04233006e-02 3.07660605e+00] [ 1.97657363e-02 9.99769270e-01 8.40966171e-03 -1.70820986e-03] [ 1.02554126e-02 -8.61360066e-03 9.99910312e-01 -1.13479243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.322414037 meters Centerline goodness [0,1] 0.6314148845951087 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.13 [[ 9.99755110e-01 -1.94549792e-02 -1.05462574e-02 3.07692040e+00] [ 1.95449024e-02 9.99772919e-01 8.49161100e-03 -1.82956630e-03] [ 1.03786585e-02 -8.69565706e-03 9.99908330e-01 -1.13472078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35241403699996 meters Centerline goodness [0,1] 0.6111709811294798 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.13 [[ 9.99762223e-01 -1.89155189e-02 -1.08489509e-02 3.07744866e+00] [ 1.90111042e-02 9.99780754e-01 8.77615305e-03 -2.39162554e-03] [ 1.06805668e-02 -8.98031683e-03 9.99902635e-01 -1.13435746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.382414037 meters Centerline goodness [0,1] 0.6280103572328773 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.13 [[ 9.99765052e-01 -1.86430488e-02 -1.10579580e-02 3.07786806e+00] [ 1.87425170e-02 9.99784188e-01 8.96079095e-03 -2.63506270e-03] [ 1.08885151e-02 -9.16593959e-03 9.99898708e-01 -1.13428298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41241403699996 meters Centerline goodness [0,1] 0.6202493993822218 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.13 [[ 9.99767171e-01 -1.83608917e-02 -1.13349991e-02 3.07853818e+00] [ 1.84633984e-02 9.99788976e-01 9.00595896e-03 -2.55134486e-03] [ 1.11672497e-02 -9.21314471e-03 9.99895200e-01 -1.13423510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.442414037 meters Centerline goodness [0,1] 0.6276727256078019 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.13 [[ 9.99776456e-01 -1.76482648e-02 -1.16437523e-02 3.07966544e+00] [ 1.77572426e-02 9.99798858e-01 9.32329036e-03 -2.37254244e-03] [ 1.14768703e-02 -9.52796713e-03 9.99888743e-01 -1.13459869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47241403699996 meters Centerline goodness [0,1] 0.6422189043298496 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.13 [[ 9.99777674e-01 -1.74375467e-02 -1.18547423e-02 3.08019339e+00] [ 1.75491194e-02 9.99802062e-01 9.37368285e-03 -2.23608102e-03] [ 1.16889417e-02 -9.57963912e-03 9.99885793e-01 -1.13462917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.502414037 meters Centerline goodness [0,1] 0.6275026343519494 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.14 [[ 9.99780705e-01 -1.70380917e-02 -1.21755715e-02 3.08128391e+00] [ 1.71557696e-02 9.99806483e-01 9.62689318e-03 -2.47741981e-03] [ 1.20091914e-02 -9.83366336e-03 9.99879532e-01 -1.13506926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53241403699997 meters Centerline goodness [0,1] 0.6410591771643606 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.14 [[ 9.99782074e-01 -1.68833992e-02 -1.22782419e-02 3.08165086e+00] [ 1.70025901e-02 9.99808695e-01 9.66876507e-03 -2.47120348e-03] [ 1.21126514e-02 -9.87541990e-03 9.99877872e-01 -1.13517969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.562414037 meters Centerline goodness [0,1] 0.6368652410824671 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.13 [[ 9.99779648e-01 -1.70869069e-02 -1.21939477e-02 3.08136600e+00] [ 1.72027010e-02 9.99807315e-01 9.45517407e-03 -2.40650572e-03] [ 1.20300384e-02 -9.66285944e-03 9.99880947e-01 -1.13497493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59241403699997 meters Centerline goodness [0,1] 0.632059914800055 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.13 [[ 9.99775382e-01 -1.74788796e-02 -1.19864228e-02 3.08062656e+00] [ 1.75909244e-02 9.99801952e-01 9.30679909e-03 -2.86274555e-03] [ 1.18213764e-02 -9.51556087e-03 9.99884848e-01 -1.13463364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.622414037 meters Centerline goodness [0,1] 0.6358177484415108 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.13 [[ 9.99771261e-01 -1.77343769e-02 -1.19547803e-02 3.08043775e+00] [ 1.78444334e-02 9.99798786e-01 9.16312395e-03 -2.81896519e-03] [ 1.17898725e-02 -9.37435427e-03 9.99886554e-01 -1.13450189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65241403699997 meters Centerline goodness [0,1] 0.6307734604105573 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.13 [[ 9.99768368e-01 -1.80033677e-02 -1.17936362e-02 3.08004899e+00] [ 1.81092924e-02 9.99796070e-01 8.93714930e-03 -2.63652937e-03] [ 1.16303324e-02 -9.14865357e-03 9.99890513e-01 -1.13440189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.682414037 meters Centerline goodness [0,1] 0.6410885977190849 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.13 [[ 9.99766089e-01 -1.82091543e-02 -1.16701916e-02 3.07979767e+00] [ 1.83117997e-02 9.99794038e-01 8.74985683e-03 -2.31067125e-03] [ 1.15084605e-02 -8.96151236e-03 9.99893618e-01 -1.13435612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.712414037 meters Centerline goodness [0,1] 0.6342497136311569 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.13 [[ 9.99765452e-01 -1.83147940e-02 -1.15589608e-02 3.07983105e+00] [ 1.84158622e-02 9.99792573e-01 8.69868661e-03 -2.22355763e-03] [ 1.13972485e-02 -8.90951457e-03 9.99895356e-01 -1.13465843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.742414037 meters Centerline goodness [0,1] 0.6385807279728615 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.13 [[ 9.99758790e-01 -1.87225211e-02 -1.14816388e-02 3.07953773e+00] [ 1.88185683e-02 9.99788338e-01 8.31508711e-03 -1.50590955e-03] [ 1.13235292e-02 -8.52914944e-03 9.99899511e-01 -1.13451225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.772414037 meters Centerline goodness [0,1] 0.6480470005048882 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.13 [[ 9.99755290e-01 -1.89005453e-02 -1.14947229e-02 3.07949190e+00] [ 1.89950997e-02 9.99786170e-01 8.17310752e-03 -1.40432812e-03] [ 1.13377888e-02 -8.38945089e-03 9.99900531e-01 -1.13444233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.802414037 meters Centerline goodness [0,1] 0.6299286433080231 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.13 [[ 9.99752989e-01 -1.89984628e-02 -1.15334099e-02 3.07969096e+00] [ 1.90931157e-02 9.99784468e-01 8.15296092e-03 -1.42214532e-03] [ 1.13760303e-02 -8.37115577e-03 9.99900250e-01 -1.13459707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.832414037 meters Centerline goodness [0,1] 0.6325590984057174 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.13 [[ 9.99742707e-01 -1.97584861e-02 -1.11409650e-02 3.07854405e+00] [ 1.98457256e-02 9.99772822e-01 7.77509689e-03 -1.30060789e-03] [ 1.09848099e-02 -7.99419695e-03 9.99907709e-01 -1.13435402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.862414037 meters Centerline goodness [0,1] 0.6357990742013842 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.13 [[ 9.99738253e-01 -1.99978741e-02 -1.11135298e-02 3.07838605e+00] [ 2.00837484e-02 9.99768881e-01 7.66987250e-03 -1.36609368e-03] [ 1.09575801e-02 -7.89106627e-03 9.99908827e-01 -1.13426084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.892414037 meters Centerline goodness [0,1] 0.6259608745684695 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.13 [[ 9.99734045e-01 -2.02740231e-02 -1.09910467e-02 3.07803320e+00] [ 2.03571814e-02 9.99764582e-01 7.50766033e-03 -1.24522535e-03] [ 1.08362487e-02 -7.72941037e-03 9.99911412e-01 -1.13418236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.922414037 meters Centerline goodness [0,1] 0.6255791550071104 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.13 [[ 9.99731262e-01 -2.03345806e-02 -1.11314512e-02 3.07842621e+00] [ 2.04188204e-02 9.99763329e-01 7.50711456e-03 -1.16234619e-03] [ 1.09761627e-02 -7.73238821e-03 9.99909863e-01 -1.13432673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.952414037 meters Centerline goodness [0,1] 0.6152960942714447 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.00, Z:-1.13 [[ 9.99724688e-01 -2.06852698e-02 -1.10755345e-02 3.07816747e+00] [ 2.07655451e-02 9.99758571e-01 7.18270191e-03 -4.08560561e-04] [ 1.09242844e-02 -7.41071394e-03 9.99912867e-01 -1.13415055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.982414037 meters Centerline goodness [0,1] 0.5027520152552657 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.00, Z:-1.13 [[ 9.99632840e-01 -2.45462103e-02 -1.14746952e-02 3.13430224e+00] [ 2.45499553e-02 9.99698587e-01 1.85608827e-04 -2.07526875e-03] [ 1.14666805e-02 -4.67243932e-04 9.99934146e-01 -1.13261230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.012414037 meters Centerline goodness [0,1] 0.6354311382791515 Centerline is valid? [False, False] Translation: X:3.06, Y:0.00, Z:-1.14 [[ 9.99740617e-01 -2.07304883e-02 -9.43107019e-03 3.06378863e+00] [ 2.07291434e-02 9.99785099e-01 -2.40345411e-04 3.99448162e-03] [ 9.43402593e-03 4.47850640e-05 9.99955498e-01 -1.13501750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04241403699996 meters Centerline goodness [0,1] 0.6182637845335799 Centerline is valid? [False, False] Translation: X:3.06, Y:0.00, Z:-1.14 [[ 9.99743260e-01 -2.04809665e-02 -9.69248785e-03 3.06472370e+00] [ 2.04820185e-02 9.99790221e-01 9.27361676e-06 4.20159681e-03] [ 9.69026464e-03 -2.07792951e-04 9.99953027e-01 -1.13552924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.072414037 meters Centerline goodness [0,1] 0.6272562758108673 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-1.14 [[ 9.99746117e-01 -2.02234210e-02 -9.93549644e-03 3.06579748e+00] [ 2.02250248e-02 9.99795451e-01 6.09639842e-05 5.33834512e-03] [ 9.93223125e-03 -2.61894168e-04 9.99950640e-01 -1.13618287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10241403699996 meters Centerline goodness [0,1] 0.6097396716286199 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-1.14 [[ 9.99747440e-01 -2.01092847e-02 -1.00335787e-02 3.06631427e+00] [ 2.01115566e-02 9.99797734e-01 1.25576100e-04 5.90849375e-03] [ 1.00290240e-02 -3.27335270e-04 9.99949654e-01 -1.13653328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.132414037 meters Centerline goodness [0,1] 0.6155347475545436 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-1.14 [[ 9.99747121e-01 -2.00320954e-02 -1.02180931e-02 3.06688979e+00] [ 2.00335732e-02 9.99799307e-01 4.22846416e-05 6.64395902e-03] [ 1.02151953e-02 -2.46978864e-04 9.99947793e-01 -1.13668944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16241403699996 meters Centerline goodness [0,1] 0.6200284587930672 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-1.14 [[ 9.99790750e-01 -1.78700705e-02 -9.95579100e-03 3.06501956e+00] [ 1.78997325e-02 9.99835586e-01 2.89827492e-03 7.09183188e-03] [ 9.90236176e-03 -3.07587445e-03 9.99946240e-01 -1.13587189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.192414037 meters Centerline goodness [0,1] 0.6178321596518728 Centerline is valid? [False, False] Translation: X:3.06, Y:0.01, Z:-1.14 [[ 9.99785009e-01 -1.81843717e-02 -9.96312093e-03 3.06473849e+00] [ 1.82095571e-02 9.99831208e-01 2.44300254e-03 8.12496506e-03] [ 9.91701477e-03 -2.62390134e-03 9.99947383e-01 -1.13542651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22241403699996 meters Centerline goodness [0,1] 0.6138340013594918 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-1.14 [[ 9.99779669e-01 -1.83486879e-02 -1.01950749e-02 3.06525536e+00] [ 1.83704756e-02 9.99829152e-01 2.04754764e-03 9.76541780e-03] [ 1.01557633e-02 -2.23438487e-03 9.99945933e-01 -1.13539484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.252414037 meters Centerline goodness [0,1] 0.6096892138939671 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-1.14 [[ 9.99780644e-01 -1.81930698e-02 -1.03767236e-02 3.06598921e+00] [ 1.82165237e-02 9.99831710e-01 2.17021615e-03 1.00880136e-02] [ 1.03354944e-02 -2.35876793e-03 9.99943805e-01 -1.13577865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28241403699997 meters Centerline goodness [0,1] 0.6182301342802718 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-1.14 [[ 9.99777930e-01 -1.83060586e-02 -1.04392855e-02 3.06618693e+00] [ 1.83269156e-02 9.99830232e-01 1.90577584e-03 1.10219140e-02] [ 1.04026260e-02 -2.09667253e-03 9.99943693e-01 -1.13577411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.312414037 meters Centerline goodness [0,1] 0.6191636888562841 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-1.14 [[ 9.99773173e-01 -1.84169471e-02 -1.06967081e-02 3.06692250e+00] [ 1.84325773e-02 9.99829175e-01 1.36446387e-03 1.33927292e-02] [ 1.06697515e-02 -1.56132227e-03 9.99941858e-01 -1.13582286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34241403699997 meters Centerline goodness [0,1] 0.6187304446762112 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-1.14 [[ 9.99773449e-01 -1.82984090e-02 -1.08728523e-02 3.06774382e+00] [ 1.83129097e-02 9.99831541e-01 1.23559345e-03 1.47021520e-02] [ 1.08484113e-02 -1.43442708e-03 9.99940125e-01 -1.13628323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.372414037 meters Centerline goodness [0,1] 0.6146261493501866 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:-1.14 [[ 9.99776053e-01 -1.79759406e-02 -1.11673295e-02 3.06917177e+00] [ 1.79876493e-02 9.99837759e-01 9.48914659e-04 1.75167926e-02] [ 1.11484601e-02 -1.14957616e-03 9.99937193e-01 -1.13698370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40241403699997 meters Centerline goodness [0,1] 0.6113844325609031 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:-1.14 [[ 9.99773481e-01 -1.80265342e-02 -1.13151039e-02 3.06971321e+00] [ 1.80350246e-02 9.99837145e-01 6.48759664e-04 1.89811296e-02] [ 1.13015663e-02 -8.52680884e-04 9.99935772e-01 -1.13718616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.432414037 meters Centerline goodness [0,1] 0.6193885587456147 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:-1.14 [[ 9.99769039e-01 -1.83028655e-02 -1.12638486e-02 3.06982009e+00] [ 1.83037987e-02 9.99832471e-01 -2.02369668e-05 2.17427632e-02] [ 1.12623319e-02 -1.85938924e-04 9.99936561e-01 -1.13723092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.462414037 meters Centerline goodness [0,1] 0.6086914903800134 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:-1.14 [[ 9.99763359e-01 -1.85927707e-02 -1.12931415e-02 3.06964806e+00] [ 1.85891999e-02 9.99827117e-01 -4.21090723e-04 2.29559261e-02] [ 1.12990183e-02 2.11060612e-04 9.99936142e-01 -1.13691635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.492414037 meters Centerline goodness [0,1] 0.6141970855576395 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:-1.14 [[ 9.99759873e-01 -1.88013137e-02 -1.12564071e-02 3.06944896e+00] [ 1.87942524e-02 9.99823104e-01 -7.32776407e-04 2.40070697e-02] [ 1.12681930e-02 5.21044692e-04 9.99936376e-01 -1.13671332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.522414037 meters Centerline goodness [0,1] 0.613311898649135 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:-1.14 [[ 9.99750833e-01 -1.92330236e-02 -1.13297573e-02 3.06938359e+00] [ 1.92182861e-02 9.99814320e-01 -1.40822815e-03 2.60694298e-02] [ 1.13547381e-02 1.19013875e-03 9.99934825e-01 -1.13627088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.552414037 meters Centerline goodness [0,1] 0.6208804426268943 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:-1.14 [[ 9.99797101e-01 -1.68017029e-02 -1.11112778e-02 3.06789286e+00] [ 1.68222626e-02 9.99856948e-01 1.75947116e-03 2.56217237e-02] [ 1.10801262e-02 -1.94603100e-03 9.99936720e-01 -1.13581999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.582414037 meters Centerline goodness [0,1] 0.6159514521022973 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:-1.14 [[ 9.99795487e-01 -1.68113293e-02 -1.12411210e-02 3.06836891e+00] [ 1.68297254e-02 9.99857178e-01 1.54390995e-03 2.66416695e-02] [ 1.12135603e-02 -1.73277918e-03 9.99935625e-01 -1.13595249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.612414037 meters Centerline goodness [0,1] 0.6163552418477605 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:-1.14 [[ 9.99794083e-01 -1.66524676e-02 -1.15968264e-02 3.06976782e+00] [ 1.66694220e-02 9.99860121e-01 1.36685538e-03 2.89135700e-02] [ 1.15724427e-02 -1.55988632e-03 9.99931820e-01 -1.13663125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.642414037 meters Centerline goodness [0,1] 0.6216634803862255 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:-1.14 [[ 9.99796024e-01 -1.63004954e-02 -1.19249098e-02 3.07105319e+00] [ 1.63189030e-02 9.99865789e-01 1.44794712e-03 2.96829469e-02] [ 1.18997071e-02 -1.64225323e-03 9.99927847e-01 -1.13723071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.672414037 meters Centerline goodness [0,1] 0.6050577053632044 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:-1.14 [[ 9.99795327e-01 -1.61712947e-02 -1.21570491e-02 3.07186061e+00] [ 1.61877709e-02 9.99868178e-01 1.25809514e-03 3.07421596e-02] [ 1.21351015e-02 -1.45463317e-03 9.99925309e-01 -1.13748403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.702414037 meters Centerline goodness [0,1] 0.6236444358184332 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:-1.14 [[ 9.99797797e-01 -1.57354423e-02 -1.25204161e-02 3.07323981e+00] [ 1.57531671e-02 9.99875042e-01 1.31830828e-03 3.17441473e-02] [ 1.24981075e-02 -1.51527792e-03 9.99920747e-01 -1.13800140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.732414037 meters Centerline goodness [0,1] 0.6205485458177036 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:-1.14 [[ 0.99984847 -0.01231207 -0.01230677 3.07265417] [ 0.01237203 0.99991191 0.00480762 0.03299046] [ 0.0122465 -0.00495915 0.99991271 -1.13821987] [ 0. 0. 0. 1. ]] SLAMing on 269.762414037 meters Centerline goodness [0,1] 0.6205485458177036 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:-1.14 [[ 0.99984847 -0.01231207 -0.01230677 3.07265417] [ 0.01237203 0.99991191 0.00480762 0.03299046] [ 0.0122465 -0.00495915 0.99991271 -1.13821987] [ 0. 0. 0. 1. ]] SLAMing on 269.79241403699996 meters Centerline goodness [0,1] 0.6177431944579959 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:-1.14 [[ 0.99984932 -0.01202667 -0.01251768 3.07349242] [ 0.01208564 0.99991617 0.00464611 0.03440697] [ 0.01246076 -0.00479669 0.99991086 -1.13840341] [ 0. 0. 0. 1. ]] SLAMing on 269.822414037 meters Centerline goodness [0,1] 0.629194424641707 Centerline is valid? [False, False] Translation: X:3.07, Y:0.04, Z:-1.14 [[ 0.99988672 -0.00895017 -0.01210124 3.07189975] [ 0.00904347 0.99992964 0.00767716 0.03591679] [ 0.01203167 -0.00778573 0.99989731 -1.13769482] [ 0. 0. 0. 1. ]] SLAMing on 269.85241403699996 meters Centerline goodness [0,1] 0.6281868294123437 Centerline is valid? [False, False] Translation: X:3.07, Y:0.04, Z:-1.14 [[ 0.99988459 -0.00896243 -0.01226738 3.07227729] [ 0.00905072 0.9999334 0.00716033 0.0374434 ] [ 0.01220239 -0.00727053 0.99989912 -1.13741633] [ 0. 0. 0. 1. ]] SLAMing on 269.882414037 meters Centerline goodness [0,1] 0.6192529443650521 Centerline is valid? [False, False] Translation: X:3.07, Y:0.04, Z:-1.14 [[ 0.99988442 -0.00873399 -0.01244407 3.07284528] [ 0.00881591 0.99993973 0.00654372 0.03927774] [ 0.01238616 -0.00665267 0.99990116 -1.13699631] [ 0. 0. 0. 1. ]] SLAMing on 269.91241403699996 meters Centerline goodness [0,1] 0.6327548324980867 Centerline is valid? [False, False] Translation: X:3.07, Y:0.04, Z:-1.14 [[ 0.99988243 -0.00863714 -0.01266993 3.07341974] [ 0.00871764 0.99994208 0.00631229 0.04003293] [ 0.01261467 -0.006422 0.99989981 -1.13689604] [ 0. 0. 0. 1. ]] SLAMing on 269.942414037 meters Centerline goodness [0,1] 0.6320075009869719 Centerline is valid? [False, False] Translation: X:3.07, Y:0.04, Z:-1.14 [[ 0.99988013 -0.00846059 -0.01296677 3.07416797] [ 0.00854045 0.99994483 0.0061153 0.0406336 ] [ 0.01291431 -0.00622531 0.99989723 -1.13676157] [ 0. 0. 0. 1. ]] SLAMing on 269.97241403699996 meters Centerline goodness [0,1] 0.6176492435684751 Centerline is valid? [False, False] Translation: X:3.07, Y:0.04, Z:-1.14 [[ 0.99987857 -0.00829172 -0.01319439 3.07482138] [ 0.00837173 0.99994683 0.00602016 0.04136949] [ 0.01314377 -0.00612989 0.99989483 -1.13683664] [ 0. 0. 0. 1. ]] SLAMing on 270.002414037 meters Centerline goodness [0,1] 0.6159642961662277 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 0.99987454 -0.00781333 -0.01377864 3.07647225] [ 0.0078908 0.99995331 0.00557724 0.04327704] [ 0.01373442 -0.00568527 0.99988952 -1.136612 ] [ 0. 0. 0. 1. ]] SLAMing on 270.03241403699997 meters Centerline goodness [0,1] 0.6336449525132046 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 0.99987262 -0.00766781 -0.01399789 3.07708602] [ 0.00774479 0.99995514 0.00545323 0.0439786 ] [ 0.01395545 -0.00556095 0.99988715 -1.13660957] [ 0. 0. 0. 1. ]] SLAMing on 270.062414037 meters Centerline goodness [0,1] 0.6218522942171792 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 0.99987194 -0.00727515 -0.01425376 3.07798481] [ 0.00735185 0.99995874 0.00533644 0.0447912 ] [ 0.01421435 -0.00544055 0.99988417 -1.13664282] [ 0. 0. 0. 1. ]] SLAMing on 270.09241403699997 meters Centerline goodness [0,1] 0.6280443724292659 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 0.99987113 -0.00711152 -0.01439272 3.07861158] [ 0.00719054 0.99995932 0.0054459 0.04472049] [ 0.01435341 -0.00554869 0.99988159 -1.13697148] [ 0. 0. 0. 1. ]] SLAMing on 270.122414037 meters Centerline goodness [0,1] 0.6303915228098105 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 0.99987072 -0.00709851 -0.01442725 3.07895726] [ 0.00717846 0.99995912 0.00549778 0.04445231] [ 0.01438763 -0.00560063 0.99988081 -1.13726212] [ 0. 0. 0. 1. ]] SLAMing on 270.15241403699997 meters Centerline goodness [0,1] 0.6186977136757441 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 0.99986919 -0.00754619 -0.01430618 3.07829672] [ 0.00762324 0.99995669 0.00533884 0.04375766] [ 0.01426528 -0.0054472 0.99988341 -1.13686372] [ 0. 0. 0. 1. ]] SLAMing on 270.182414037 meters Centerline goodness [0,1] 0.6412650977462333 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 0.99986955 -0.00779689 -0.01414562 3.0776831 ] [ 0.00787081 0.99995562 0.00517713 0.04331669] [ 0.01410463 -0.0052878 0.99988654 -1.13648704] [ 0. 0. 0. 1. ]] SLAMing on 270.212414037 meters Centerline goodness [0,1] 0.6243087071894453 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 0.99986854 -0.00795963 -0.01412579 3.07759318] [ 0.00803311 0.99995446 0.00515293 0.04274835] [ 0.01408413 -0.00526573 0.99988695 -1.13644079] [ 0. 0. 0. 1. ]] SLAMing on 270.242414037 meters Centerline goodness [0,1] 0.6328519141359186 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.14 [[ 0.99986806 -0.00844857 -0.01387356 3.0763277 ] [ 0.0085172 0.99995175 0.00489526 0.04159639] [ 0.01383153 -0.00501278 0.99989177 -1.13548384] [ 0. 0. 0. 1. ]] SLAMing on 270.272414037 meters Centerline goodness [0,1] 0.6269073822183752 Centerline is valid? [False, False] Translation: X:3.08, Y:0.04, Z:-1.13 [[ 0.9998676 -0.0088177 -0.01367618 3.07545758] [ 0.0088823 0.99994965 0.00466992 0.041171 ] [ 0.01363431 -0.00479078 0.99989557 -1.13493825] [ 0. 0. 0. 1. ]] SLAMing on 270.302414037 meters Centerline goodness [0,1] 0.6339769480839326 Centerline is valid? [False, False] Translation: X:3.07, Y:0.04, Z:-1.13 [[ 0.99986604 -0.00920261 -0.01353601 3.07432057] [ 0.00926296 0.9999474 0.00440283 0.03983443] [ 0.01349478 -0.00452762 0.99989869 -1.13375606] [ 0. 0. 0. 1. ]] SLAMing on 270.332414037 meters Centerline goodness [0,1] 0.6243795763919603 Centerline is valid? [False, False] Translation: X:3.07, Y:0.04, Z:-1.13 [[ 0.9998659 -0.00925515 -0.01351029 3.07416159] [ 0.00931756 0.99994618 0.00456343 0.03894021] [ 0.01346732 -0.0046887 0.99989832 -1.13369059] [ 0. 0. 0. 1. ]] SLAMing on 270.362414037 meters Centerline goodness [0,1] 0.6222293134343013 Centerline is valid? [False, False] Translation: X:3.07, Y:0.04, Z:-1.13 [[ 0.99986647 -0.00922846 -0.01348596 3.07412575] [ 0.00929349 0.99994545 0.00476791 0.03794665] [ 0.01344123 -0.00489261 0.99989769 -1.13373453] [ 0. 0. 0. 1. ]] SLAMing on 270.392414037 meters Centerline goodness [0,1] 0.6302033624550327 Centerline is valid? [False, False] Translation: X:3.07, Y:0.04, Z:-1.13 [[ 0.99986756 -0.00888885 -0.01363246 3.07494219] [ 0.00896301 0.99994531 0.00538859 0.03610968] [ 0.01358382 -0.00551006 0.99989255 -1.13439873] [ 0. 0. 0. 1. ]] SLAMing on 270.422414037 meters Centerline goodness [0,1] 0.6144316823956886 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-1.14 [[ 0.99986816 -0.00839805 -0.01389751 3.07605871] [ 0.00848222 0.99994597 0.00600897 0.03470297] [ 0.0138463 -0.00612606 0.99988537 -1.13505857] [ 0. 0. 0. 1. ]] SLAMing on 270.452414037 meters Centerline goodness [0,1] 0.6274332608748748 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-1.14 [[ 0.99986872 -0.00809873 -0.01403418 3.07660277] [ 0.00818811 0.99994649 0.0063231 0.03394038] [ 0.01398222 -0.00643718 0.99988152 -1.13531786] [ 0. 0. 0. 1. ]] SLAMing on 270.482414037 meters Centerline goodness [0,1] 0.6213919413919413 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-1.14 [[ 0.99986972 -0.00758811 -0.01424676 3.0772848 ] [ 0.00768351 0.99994835 0.00665309 0.03319517] [ 0.01419554 -0.00676168 0.99987638 -1.13534239] [ 0. 0. 0. 1. ]] SLAMing on 270.512414037 meters Centerline goodness [0,1] 0.6215040699793464 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-1.14 [[ 0.99986871 -0.00735984 -0.01443569 3.07774445] [ 0.00745611 0.99995024 0.00662687 0.03287268] [ 0.01438619 -0.00673364 0.99987384 -1.13513774] [ 0. 0. 0. 1. ]] SLAMing on 270.54241403699996 meters Centerline goodness [0,1] 0.6294063528956033 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-1.13 [[ 0.99986935 -0.00669461 -0.0147128 3.07842519] [ 0.00679529 0.99995376 0.00680414 0.03204616] [ 0.01466657 -0.00690323 0.99986861 -1.13469749] [ 0. 0. 0. 1. ]] SLAMing on 270.572414037 meters Centerline goodness [0,1] 0.6207255139056832 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-1.13 [[ 0.99986824 -0.00633641 -0.01494504 3.07899726] [ 0.00644053 0.99995525 0.00692885 0.03173978] [ 0.01490047 -0.00702419 0.99986431 -1.13457477] [ 0. 0. 0. 1. ]] SLAMing on 270.60241403699996 meters Centerline goodness [0,1] 0.6169630973986691 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-1.13 [[ 0.99986698 -0.00595524 -0.01518382 3.07973327] [ 0.00606194 0.99995719 0.00699148 0.0315761 ] [ 0.01514153 -0.0070826 0.99986028 -1.13457884] [ 0. 0. 0. 1. ]] SLAMing on 270.632414037 meters Centerline goodness [0,1] 0.631937894507727 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-1.13 [[ 0.99986517 -0.00485978 -0.0156852 3.08145617] [ 0.0049772 0.99995982 0.0074561 0.03126671] [ 0.01564833 -0.00753316 0.99984918 -1.13474211] [ 0. 0. 0. 1. ]] SLAMing on 270.66241403699996 meters Centerline goodness [0,1] 0.6380158480141518 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-1.13 [[ 0.99986259 -0.00432982 -0.01600187 3.08236206] [ 0.00445106 0.9999616 0.00754888 0.03139544] [ 0.01596857 -0.00761907 0.99984346 -1.13469563] [ 0. 0. 0. 1. ]] SLAMing on 270.692414037 meters Centerline goodness [0,1] 0.6301353310778154 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-1.13 [[ 0.99985837 -0.00383587 -0.01638683 3.08344192] [ 0.00396091 0.99996324 0.00760467 0.03153228] [ 0.01635706 -0.0076685 0.99983681 -1.13465919] [ 0. 0. 0. 1. ]] SLAMing on 270.72241403699996 meters Centerline goodness [0,1] 0.6310923355461677 Centerline is valid? [False, False] Translation: X:3.08, Y:0.03, Z:-1.13 [[ 9.99856395e-01 -2.90693827e-03 -1.66954870e-02 3.08454816e+00] [ 3.03737048e-03 9.99965026e-01 7.79238685e-03 3.17296299e-02] [ 1.66722511e-02 -7.84197820e-03 9.99830255e-01 -1.13451829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.752414037 meters Centerline goodness [0,1] 0.6425876662636034 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-1.13 [[ 9.99852851e-01 -2.66995070e-03 -1.69454218e-02 3.08503017e+00] [ 2.80060608e-03 9.99966500e-01 7.69132364e-03 3.19442458e-02] [ 1.69243187e-02 -7.73764932e-03 9.99826833e-01 -1.13417948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78241403699997 meters Centerline goodness [0,1] 0.6459828440256131 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-1.13 [[ 9.99849547e-01 -2.21995627e-03 -1.72033302e-02 3.08568002e+00] [ 2.35030679e-03 9.99968657e-01 7.56054160e-03 3.22915369e-02] [ 1.71860069e-02 -7.59983720e-03 9.99823426e-01 -1.13376582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.812414037 meters Centerline goodness [0,1] 0.6476098503138581 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-1.13 [[ 9.99846332e-01 -1.99614638e-03 -1.74162817e-02 3.08627029e+00] [ 2.12712698e-03 9.99969572e-01 7.50530257e-03 3.22330572e-02] [ 1.74007701e-02 -7.54119590e-03 9.99820156e-01 -1.13369961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84241403699997 meters Centerline goodness [0,1] 0.6538507836386835 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-1.13 [[ 9.99841661e-01 -1.85193872e-03 -1.76981294e-02 3.08687208e+00] [ 1.98303200e-03 9.99970709e-01 7.39250610e-03 3.21544425e-02] [ 1.76839205e-02 -7.42643153e-03 9.99816047e-01 -1.13350015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.872414037 meters Centerline goodness [0,1] 0.6440661642549298 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-1.13 [[ 9.99839844e-01 -1.64076844e-03 -1.78211737e-02 3.08727181e+00] [ 1.77353471e-03 9.99970775e-01 7.43666921e-03 3.16630041e-02] [ 1.78084510e-02 -7.46708466e-03 9.99813533e-01 -1.13345834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90241403699997 meters Centerline goodness [0,1] 0.6410503725494925 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-1.13 [[ 9.99838288e-01 -1.53611706e-03 -1.79175176e-02 3.08764462e+00] [ 1.66851588e-03 9.99971399e-01 7.37674335e-03 3.17402927e-02] [ 1.79056736e-02 -7.40544611e-03 9.99812255e-01 -1.13350009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.932414037 meters Centerline goodness [0,1] 0.6610132689987938 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-1.13 [[ 9.99835435e-01 -1.41122911e-03 -1.80862035e-02 3.08793011e+00] [ 1.54108537e-03 9.99973123e-01 7.16792663e-03 3.19921592e-02] [ 1.80756018e-02 -7.19461943e-03 9.99810737e-01 -1.13306553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.962414037 meters Centerline goodness [0,1] 0.6594892096750833 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-1.13 [[ 9.99832967e-01 -1.57786478e-03 -1.82084814e-02 3.08784954e+00] [ 1.70211114e-03 9.99975363e-01 6.81006396e-03 3.22326098e-02] [ 1.81972874e-02 -6.83991931e-03 9.99811019e-01 -1.13245162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.992414037 meters Centerline goodness [0,1] 0.6562862669245648 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-1.13 [[ 9.99831620e-01 -1.75619499e-03 -1.82659964e-02 3.08752415e+00] [ 1.87612221e-03 9.99976785e-01 6.55053717e-03 3.22458847e-02] [ 1.82540684e-02 -6.58370344e-03 9.99811704e-01 -1.13180085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.022414037 meters Centerline goodness [0,1] 0.6508887171561051 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-1.13 [[ 9.99833717e-01 -2.18784032e-03 -1.81038979e-02 3.08647005e+00] [ 2.29996140e-03 9.99978291e-01 6.17469989e-03 3.15689392e-02] [ 1.80899956e-02 -6.21531141e-03 9.99817044e-01 -1.13081573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.052414037 meters Centerline goodness [0,1] 0.6529662753417063 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-1.13 [[ 9.99832634e-01 -2.37277792e-03 -1.81403929e-02 3.08618978e+00] [ 2.47939366e-03 9.99979774e-01 5.85702662e-03 3.14068278e-02] [ 1.81261286e-02 -5.90102353e-03 9.99818294e-01 -1.13021253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.082414037 meters Centerline goodness [0,1] 0.6519882250747997 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-1.13 [[ 9.99830131e-01 -2.03557385e-03 -1.83184334e-02 3.08688979e+00] [ 2.14528967e-03 9.99979868e-01 5.97171046e-03 3.12783730e-02] [ 1.83059087e-02 -6.00999440e-03 9.99814370e-01 -1.13035735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.112414037 meters Centerline goodness [0,1] 0.6536893648840968 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-1.13 [[ 9.99826496e-01 -1.88104675e-03 -1.85321463e-02 3.08748713e+00] [ 1.98835009e-03 9.99981357e-01 5.77339644e-03 3.19496972e-02] [ 1.85209408e-02 -5.80924312e-03 9.99811596e-01 -1.13031243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.142414037 meters Centerline goodness [0,1] 0.6527258247459999 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-1.13 [[ 9.99822943e-01 -1.64627734e-03 -1.87449050e-02 3.08820996e+00] [ 1.75282594e-03 9.99982394e-01 5.66912599e-03 3.25500997e-02] [ 1.87352421e-02 -5.70097879e-03 9.99808226e-01 -1.13041415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.172414037 meters Centerline goodness [0,1] 0.6569511072345786 Centerline is valid? [False, False] Translation: X:3.09, Y:0.03, Z:-1.13 [[ 9.99819154e-01 -5.01667756e-04 -1.90107221e-02 3.08991208e+00] [ 6.11809361e-04 9.99983061e-01 5.78828405e-03 3.40692298e-02] [ 1.90074963e-02 -5.79886820e-03 9.99802525e-01 -1.13094067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.202414037 meters Centerline goodness [0,1] 0.6876805437553102 Centerline is valid? [False, False] Translation: X:3.09, Y:0.04, Z:-1.13 [[ 9.99818060e-01 1.32478994e-03 -1.90287099e-02 3.09177821e+00] [-1.21324830e-03 9.99982023e-01 5.87210368e-03 3.66645107e-02] [ 1.90361471e-02 -5.84794876e-03 9.99801694e-01 -1.13158305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.232414037 meters Centerline goodness [0,1] 0.6681297895043166 Centerline is valid? [False, False] Translation: X:3.09, Y:0.04, Z:-1.13 [[ 9.99809401e-01 2.10230821e-03 -1.94098360e-02 3.09330812e+00] [-1.99556744e-03 9.99982790e-01 5.51704474e-03 3.86979668e-02] [ 1.94211005e-02 -5.47725956e-03 9.99796390e-01 -1.13168161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.262414037 meters Centerline goodness [0,1] 0.6884063287115154 Centerline is valid? [False, False] Translation: X:3.09, Y:0.04, Z:-1.13 [[ 9.99800344e-01 3.04780172e-03 -1.97479671e-02 3.09488244e+00] [-2.94298605e-03 9.99981440e-01 5.33455865e-03 4.08122264e-02] [ 1.97638592e-02 -5.27537558e-03 9.99790758e-01 -1.13191724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29241403699996 meters Centerline goodness [0,1] 0.6869710276476216 Centerline is valid? [False, False] Translation: X:3.10, Y:0.04, Z:-1.13 [[ 0.99979097 0.00396383 -0.02005729 3.09625337] [-0.00386739 0.99998078 0.00484491 0.04326542] [ 0.02007611 -0.00476632 0.99978709 -1.13170619] [ 0. 0. 0. 1. ]] SLAMing on 271.322414037 meters Centerline goodness [0,1] 0.7330280905828487 Centerline is valid? [False, False] Translation: X:3.10, Y:0.05, Z:-1.13 [[ 0.99974952 0.00936209 -0.02032872 3.09843805] [-0.00919162 0.99992195 0.00846268 0.04679978] [ 0.02040636 -0.00827371 0.99975753 -1.13247679] [ 0. 0. 0. 1. ]] SLAMing on 271.35241403699996 meters Centerline goodness [0,1] 0.7334556544593489 Centerline is valid? [False, False] Translation: X:3.10, Y:0.05, Z:-1.13 [[ 0.99972124 0.01102031 -0.02088067 3.10124817] [-0.01084582 0.99990546 0.00845165 0.04944242] [ 0.02097183 -0.00822282 0.99974625 -1.13316761] [ 0. 0. 0. 1. ]] SLAMing on 271.382414037 meters Centerline goodness [0,1] 0.755043371747119 Centerline is valid? [False, False] Translation: X:3.10, Y:0.05, Z:-1.13 [[ 0.99969547 0.01268268 -0.02116888 3.1034389 ] [-0.0125115 0.99988811 0.00819902 0.05274201] [ 0.0212705 -0.00793167 0.99974229 -1.13351483] [ 0. 0. 0. 1. ]] SLAMing on 271.41241403699996 meters Centerline goodness [0,1] 0.7731083947873523 Centerline is valid? [False, False] Translation: X:3.11, Y:0.06, Z:-1.13 [[ 0.99953904 0.02176709 -0.02116352 3.10532687] [-0.02143126 0.9996428 0.01596789 0.05595609] [ 0.02150353 -0.01550697 0.9996485 -1.13488818] [ 0. 0. 0. 1. ]] SLAMing on 271.442414037 meters Centerline goodness [0,1] 0.7916391862411851 Centerline is valid? [False, False] Translation: X:3.11, Y:0.06, Z:-1.14 [[ 0.99948761 0.0237658 -0.0214405 3.10792567] [-0.02342453 0.99959708 0.01603006 0.0596494 ] [ 0.02181282 -0.01551962 0.99964161 -1.13569086] [ 0. 0. 0. 1. ]] SLAMing on 271.47241403699996 meters Centerline goodness [0,1] 0.8276560297321542 Centerline is valid? [False, False] Translation: X:3.11, Y:0.06, Z:-1.14 [[ 0.99924344 0.03253793 -0.02130307 3.10982595] [-0.03203251 0.99920695 0.02365138 0.06362469] [ 0.02205575 -0.02295109 0.99949327 -1.1374059 ] [ 0. 0. 0. 1. ]] SLAMing on 271.502414037 meters Centerline goodness [0,1] 0.8351376430559851 Centerline is valid? [False, False] Translation: X:3.11, Y:0.07, Z:-1.14 [[ 0.99919948 0.03371075 -0.02154011 3.11190753] [-0.03321364 0.99918281 0.02303412 0.06779246] [ 0.02229901 -0.02230026 0.9995026 -1.13795325] [ 0. 0. 0. 1. ]] SLAMing on 271.53241403699997 meters Centerline goodness [0,1] 0.8407663072985341 Centerline is valid? [False, False] Translation: X:3.11, Y:0.07, Z:-1.14 [[ 0.99915928 0.0346079 -0.02197784 3.11412673] [-0.03411895 0.99917016 0.0222461 0.07181133] [ 0.02272949 -0.02147754 0.99951092 -1.13832483] [ 0. 0. 0. 1. ]] SLAMing on 271.562414037 meters Centerline goodness [0,1] 0.8483779971791255 Centerline is valid? [False, False] Translation: X:3.12, Y:0.08, Z:-1.14 [[ 0.99901362 0.03873589 -0.02170971 3.11520594] [-0.03818873 0.99895587 0.0250756 0.07714012] [ 0.02265837 -0.0242218 0.9994498 -1.13933224] [ 0. 0. 0. 1. ]] SLAMing on 271.59241403699997 meters Centerline goodness [0,1] 0.8420845469574116 Centerline is valid? [False, False] Translation: X:3.12, Y:0.08, Z:-1.14 [[ 0.99901162 0.03862334 -0.02200051 3.11595272] [-0.03809889 0.99899102 0.02377863 0.08101237] [ 0.02289672 -0.02291694 0.99947514 -1.13879138] [ 0. 0. 0. 1. ]] SLAMing on 271.622414037 meters Centerline goodness [0,1] 0.8420845469574116 Centerline is valid? [False, False] Translation: X:3.12, Y:0.08, Z:-1.14 [[ 0.99901162 0.03862334 -0.02200051 3.11595272] [-0.03809889 0.99899102 0.02377863 0.08101237] [ 0.02289672 -0.02291694 0.99947514 -1.13879138] [ 0. 0. 0. 1. ]] SLAMing on 271.65241403699997 meters Centerline goodness [0,1] 0.8463492735596898 Centerline is valid? [False, False] Translation: X:3.12, Y:0.09, Z:-1.14 [[ 0.99903567 0.03815385 -0.02172604 3.11579348] [-0.03768698 0.99905811 0.02150766 0.08826821] [ 0.02252617 -0.02066813 0.99953259 -1.13797679] [ 0. 0. 0. 1. ]] SLAMing on 271.682414037 meters Centerline goodness [0,1] 0.8481558950462019 Centerline is valid? [False, False] Translation: X:3.12, Y:0.09, Z:-1.14 [[ 0.99905394 0.03764452 -0.02177424 3.11569671] [-0.03720569 0.99910305 0.02021947 0.09186357] [ 0.02251586 -0.01939022 0.99955843 -1.13729609] [ 0. 0. 0. 1. ]] SLAMing on 271.712414037 meters Centerline goodness [0,1] 0.8509906402495934 Centerline is valid? [False, False] Translation: X:3.12, Y:0.10, Z:-1.14 [[ 0.99907954 0.03698549 -0.0217288 3.11533682] [-0.03657919 0.99915376 0.01880767 0.09567052] [ 0.02240602 -0.01799553 0.99958698 -1.13652247] [ 0. 0. 0. 1. ]] SLAMing on 271.742414037 meters Centerline goodness [0,1] 0.8476847765026884 Centerline is valid? [False, False] Translation: X:3.11, Y:0.10, Z:-1.14 [[ 0.99914204 0.0354597 -0.02139597 3.11414301] [-0.03512238 0.99925588 0.01594068 0.10352482] [ 0.0219453 -0.01517553 0.99964399 -1.13506744] [ 0. 0. 0. 1. ]] SLAMing on 271.772414037 meters Centerline goodness [0,1] 0.8490121539861862 Centerline is valid? [False, False] Translation: X:3.12, Y:0.11, Z:-1.13 [[ 0.99924521 0.03216866 -0.02177601 3.11567937] [-0.03193582 0.99942986 0.01095698 0.10908456] [ 0.02211607 -0.01025327 0.99970283 -1.13470166] [ 0. 0. 0. 1. ]] SLAMing on 271.802414037 meters Centerline goodness [0,1] 0.8542750325097529 Centerline is valid? [False, False] Translation: X:3.12, Y:0.12, Z:-1.14 [[ 0.99929081 0.03084275 -0.02160107 3.11592484] [-0.030656 0.99949016 0.00892384 0.11611139] [ 0.02186529 -0.00825531 0.99972684 -1.13527012] [ 0. 0. 0. 1. ]] SLAMing on 271.832414037 meters Centerline goodness [0,1] 0.853519598535196 Centerline is valid? [False, False] Translation: X:3.12, Y:0.12, Z:-1.14 [[ 0.99938132 0.02749382 -0.02193305 3.11788198] [-0.0274101 0.99961583 0.0041085 0.12168903] [ 0.02203758 -0.00350477 0.999751 -1.13576463] [ 0. 0. 0. 1. ]] SLAMing on 271.862414037 meters Centerline goodness [0,1] 0.8564063602322679 Centerline is valid? [False, False] Translation: X:3.12, Y:0.12, Z:-1.14 [[ 9.99392654e-01 2.70055235e-02 -2.20232707e-02 3.11883946e+00] [-2.69373532e-02 9.99631388e-01 3.38623599e-03 1.24950275e-01] [ 2.21065998e-02 -2.79093076e-03 9.99751724e-01 -1.13674424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.892414037 meters Centerline goodness [0,1] 0.8524134169620944 Centerline is valid? [False, False] Translation: X:3.12, Y:0.13, Z:-1.14 [[ 9.99454516e-01 2.50992969e-02 -2.14638198e-02 3.11875729e+00] [-2.50827205e-02 9.99684837e-01 1.04120964e-03 1.33107257e-01] [ 2.14831888e-02 -5.02270682e-04 9.99769083e-01 -1.13806539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.922414037 meters Centerline goodness [0,1] 0.833087310699251 Centerline is valid? [False, False] Translation: X:3.12, Y:0.14, Z:-1.14 [[ 9.99488856e-01 2.39546057e-02 -2.11708385e-02 3.11790082e+00] [-2.39707752e-02 9.99712529e-01 -5.10286023e-04 1.37597784e-01] [ 2.11525288e-02 1.01750660e-03 9.99775742e-01 -1.13768327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.952414037 meters Centerline goodness [0,1] 0.8258679073865044 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:-1.14 [[ 0.99956616 0.0214376 -0.02019702 3.11513754] [-0.0215134 0.99976228 -0.00354304 0.14716219] [ 0.02011627 0.00397601 0.99978974 -1.13686008] [ 0. 0. 0. 1. ]] SLAMing on 271.982414037 meters Centerline goodness [0,1] 0.8157414574809245 Centerline is valid? [False, False] Translation: X:3.11, Y:0.15, Z:-1.14 [[ 0.99959973 0.02022332 -0.01978373 3.11393041] [-0.02032709 0.99978059 -0.00505796 0.15204858] [ 0.0196771 0.00545809 0.99979149 -1.13645764] [ 0. 0. 0. 1. ]] SLAMing on 272.012414037 meters Centerline goodness [0,1] 0.812435922303195 Centerline is valid? [False, False] Translation: X:3.11, Y:0.16, Z:-1.14 [[ 0.99963112 0.01902283 -0.01938455 3.1127195 ] [-0.01915175 0.99979555 -0.00648667 0.15670173] [ 0.01925719 0.00685553 0.99979106 -1.13606623] [ 0. 0. 0. 1. ]] SLAMing on 272.04241403699996 meters Centerline goodness [0,1] 0.7882241480201744 Centerline is valid? [False, False] Translation: X:3.12, Y:0.16, Z:-1.14 [[ 0.9998069 0.01513694 -0.0125312 3.11794749] [-0.01509488 0.99988013 0.00344455 0.16303733] [ 0.01258184 -0.00325473 0.99991555 -1.14155851] [ 0. 0. 0. 1. ]] SLAMing on 272.072414037 meters Centerline goodness [0,1] 0.7739444304541258 Centerline is valid? [False, False] Translation: X:3.12, Y:0.17, Z:-1.14 [[ 9.99836812e-01 1.35002032e-02 -1.20038974e-02 3.11604941e+00] [-1.34839135e-02 9.99908055e-01 1.43693697e-03 1.68266976e-01] [ 1.20221926e-02 -1.27484296e-03 9.99926918e-01 -1.14064653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10241403699996 meters Centerline goodness [0,1] 0.7557051896095115 Centerline is valid? [False, False] Translation: X:3.11, Y:0.18, Z:-1.14 [[ 9.99883853e-01 1.06031230e-02 -1.09478332e-02 3.11388645e+00] [-1.06192069e-02 9.99942618e-01 -1.41205372e-03 1.78719645e-01] [ 1.09322328e-02 1.52814702e-03 9.99939074e-01 -1.14153378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.132414037 meters Centerline goodness [0,1] 0.7363254252588225 Centerline is valid? [False, False] Translation: X:3.11, Y:0.18, Z:-1.14 [[ 9.99893578e-01 9.81115651e-03 -1.07969340e-02 3.11419692e+00] [-9.83793786e-03 9.99948653e-01 -2.43014812e-03 1.83384436e-01] [ 1.07725371e-02 2.53610906e-03 9.99938758e-01 -1.14246826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16241403699996 meters Centerline goodness [0,1] 0.7255269586955286 Centerline is valid? [False, False] Translation: X:3.11, Y:0.19, Z:-1.14 [[ 0.99990746 0.00863917 -0.01050888 3.11387178] [-0.00867901 0.9999553 -0.0037511 0.18893841] [ 0.010476 0.00384196 0.99993774 -1.14315811] [ 0. 0. 0. 1. ]] SLAMing on 272.192414037 meters Centerline goodness [0,1] 0.7255747126436782 Centerline is valid? [False, False] Translation: X:3.11, Y:0.20, Z:-1.14 [[ 0.99993345 0.00624689 -0.00969874 3.11283859] [-0.006307 0.99996102 -0.00617954 0.2003338 ] [ 0.00965976 0.0062403 0.99993387 -1.14467811] [ 0. 0. 0. 1. ]] SLAMing on 272.22241403699996 meters Centerline goodness [0,1] 0.6995734308348568 Centerline is valid? [False, False] Translation: X:3.11, Y:0.21, Z:-1.15 [[ 0.99995916 0.00319196 -0.00845478 3.11004104] [-0.00326851 0.99995365 -0.00905594 0.21197188] [ 0.00842548 0.0090832 0.99992325 -1.14551876] [ 0. 0. 0. 1. ]] SLAMing on 272.252414037 meters Centerline goodness [0,1] 0.6989520389993287 Centerline is valid? [False, False] Translation: X:3.11, Y:0.22, Z:-1.15 [[ 0.99996478 0.00394124 -0.00740918 3.10691249] [-0.00399117 0.99996934 -0.0067371 0.2157782 ] [ 0.0073824 0.00676644 0.99994986 -1.14653607] [ 0. 0. 0. 1. ]] SLAMing on 272.28241403699997 meters Centerline goodness [0,1] 0.6940982835645426 Centerline is valid? [False, False] Translation: X:3.11, Y:0.22, Z:-1.15 [[ 9.99973597e-01 2.50237932e-03 -6.82234077e-03 3.10533959e+00] [-2.55810989e-03 9.99963333e-01 -8.17238363e-03 2.21023424e-01] [ 6.80164021e-03 8.18962015e-03 9.99943332e-01 -1.14660611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.312414037 meters Centerline goodness [0,1] 0.6871915323779509 Centerline is valid? [False, False] Translation: X:3.10, Y:0.23, Z:-1.15 [[ 9.99982093e-01 -3.02960417e-04 -5.97685355e-03 3.10253179e+00] [ 2.34238307e-04 9.99933898e-01 -1.14953927e-02 2.32088440e-01] [ 5.97994112e-03 1.14937868e-02 9.99916063e-01 -1.14569346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34241403699997 meters Centerline goodness [0,1] 0.7028842117886911 Centerline is valid? [False, False] Translation: X:3.10, Y:0.24, Z:-1.14 [[ 0.99997231 0.00429696 -0.00607548 3.10361803] [-0.00435117 0.99995059 -0.00893732 0.23926557] [ 0.00603678 0.0089635 0.9999416 -1.14482097] [ 0. 0. 0. 1. ]] SLAMing on 272.372414037 meters Centerline goodness [0,1] 0.7171553490078577 Centerline is valid? [False, False] Translation: X:3.10, Y:0.25, Z:-1.14 [[ 0.99990174 0.01263128 -0.00608037 3.10452404] [-0.01265122 0.99991468 -0.00325318 0.24931376] [ 0.00603876 0.00332978 0.99997622 -1.1432612 ] [ 0. 0. 0. 1. ]] SLAMing on 272.40241403699997 meters Centerline goodness [0,1] 0.7351653469958082 Centerline is valid? [False, False] Translation: X:3.11, Y:0.25, Z:-1.14 [[ 9.99836256e-01 1.69601810e-02 -6.30973765e-03 3.10584753e+00] [-1.69603989e-02 9.99856162e-01 1.89830529e-05 2.52970070e-01] [ 6.30915203e-03 8.80357230e-05 9.99980093e-01 -1.14334296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.432414037 meters Centerline goodness [0,1] 0.7429436742850006 Centerline is valid? [False, False] Translation: X:3.11, Y:0.26, Z:-1.14 [[ 9.99780317e-01 1.97380927e-02 -7.05164096e-03 3.11120996e+00] [-1.97373111e-02 9.99805184e-01 1.80413328e-04 2.55759123e-01] [ 7.05382820e-03 -4.11932631e-05 9.99975121e-01 -1.14472681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.462414037 meters Centerline goodness [0,1] 0.749898548462619 Centerline is valid? [False, False] Translation: X:3.11, Y:0.25, Z:-1.15 [[ 9.99759021e-01 2.06446371e-02 -7.46318983e-03 3.11354990e+00] [-2.06371742e-02 9.99786452e-01 1.07559142e-03 2.54129753e-01] [ 7.48380127e-03 -9.21313079e-04 9.99971572e-01 -1.14641432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.492414037 meters Centerline goodness [0,1] 0.741579990094106 Centerline is valid? [False, False] Translation: X:3.12, Y:0.25, Z:-1.15 [[ 9.99791047e-01 1.85650576e-02 -8.55580017e-03 3.11846256e+00] [-1.85781936e-02 9.99826347e-01 -1.45841046e-03 2.50942192e-01] [ 8.52723896e-03 1.61705703e-03 9.99962335e-01 -1.14889553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.522414037 meters Centerline goodness [0,1] 0.7342259156663589 Centerline is valid? [False, False] Translation: X:3.12, Y:0.25, Z:-1.15 [[ 0.99982114 0.01608775 -0.00994338 3.12282252] [-0.01614121 0.99985557 -0.00531963 0.25108492] [ 0.00985637 0.00547918 0.99993641 -1.14899324] [ 0. 0. 0. 1. ]] SLAMing on 272.552414037 meters Centerline goodness [0,1] 0.7381290960801286 Centerline is valid? [False, False] Translation: X:3.12, Y:0.25, Z:-1.15 [[ 0.99981874 0.01625795 -0.00990835 3.12317518] [-0.01630518 0.99985599 -0.00470544 0.24953731] [ 0.00983042 0.00486615 0.99993984 -1.14990817] [ 0. 0. 0. 1. ]] SLAMing on 272.582414037 meters Centerline goodness [0,1] 0.7379461393713176 Centerline is valid? [False, False] Translation: X:3.12, Y:0.25, Z:-1.15 [[ 0.99982082 0.01608748 -0.00997625 3.12291531] [-0.01613397 0.99985927 -0.0045973 0.24876247] [ 0.00990089 0.00475743 0.99993967 -1.14967429] [ 0. 0. 0. 1. ]] SLAMing on 272.612414037 meters Centerline goodness [0,1] 0.7338189450291676 Centerline is valid? [False, False] Translation: X:3.12, Y:0.25, Z:-1.15 [[ 0.99981786 0.01610083 -0.01024751 3.123039 ] [-0.01615361 0.99985657 -0.00508912 0.2496163 ] [ 0.0101641 0.00525373 0.99993454 -1.14851405] [ 0. 0. 0. 1. ]] SLAMing on 272.642414037 meters Centerline goodness [0,1] 0.738957064696609 Centerline is valid? [False, False] Translation: X:3.12, Y:0.25, Z:-1.15 [[ 0.99981647 0.01594649 -0.01061747 3.12246529] [-0.01601659 0.99985027 -0.00655049 0.25156273] [ 0.01051143 0.00671934 0.99992218 -1.1452259 ] [ 0. 0. 0. 1. ]] SLAMing on 272.672414037 meters Centerline goodness [0,1] 0.7414936607335657 Centerline is valid? [False, False] Translation: X:3.12, Y:0.25, Z:-1.14 [[ 0.99981809 0.01589762 -0.01053772 3.12210043] [-0.01596759 0.9998508 -0.00658935 0.25121747] [ 0.01043139 0.00675641 0.99992277 -1.14489454] [ 0. 0. 0. 1. ]] SLAMing on 272.702414037 meters Centerline goodness [0,1] 0.7437249460376194 Centerline is valid? [False, False] Translation: X:3.12, Y:0.25, Z:-1.14 [[ 0.9998169 0.01596143 -0.01055499 3.12213036] [-0.01602995 0.99985078 -0.00643888 0.25026712] [ 0.01045064 0.00660689 0.99992356 -1.14488766] [ 0. 0. 0. 1. ]] SLAMing on 272.732414037 meters Centerline goodness [0,1] 0.7351013752576685 Centerline is valid? [False, False] Translation: X:3.12, Y:0.25, Z:-1.14 [[ 0.99980944 0.01635824 -0.01065304 3.12258985] [-0.01642453 0.9998461 -0.00616536 0.24891881] [ 0.01055054 0.00633915 0.99992425 -1.14491965] [ 0. 0. 0. 1. ]] SLAMing on 272.762414037 meters Centerline goodness [0,1] 0.7434817365637683 Centerline is valid? [False, False] Translation: X:3.12, Y:0.25, Z:-1.15 [[ 0.99980403 0.01659225 -0.01079823 3.12316601] [-0.01665813 0.999843 -0.00604065 0.24860513] [ 0.01069631 0.00621934 0.99992345 -1.14507426] [ 0. 0. 0. 1. ]] SLAMing on 272.79241403699996 meters Centerline goodness [0,1] 0.7467162939493679 Centerline is valid? [False, False] Translation: X:3.12, Y:0.25, Z:-1.14 [[ 0.9997882 0.01716613 -0.01135293 3.1247558 ] [-0.0172346 0.99983371 -0.00596049 0.24863316] [ 0.01124872 0.00615489 0.99991779 -1.14499239] [ 0. 0. 0. 1. ]] SLAMing on 272.822414037 meters Centerline goodness [0,1] 0.7531482277781191 Centerline is valid? [False, False] Translation: X:3.13, Y:0.25, Z:-1.15 [[ 0.99977962 0.01748256 -0.01162177 3.12576439] [-0.01755071 0.99982922 -0.0057888 0.24868855] [ 0.01151858 0.00599149 0.99991571 -1.14534878] [ 0. 0. 0. 1. ]] SLAMing on 272.85241403699996 meters Centerline goodness [0,1] 0.7684657778872502 Centerline is valid? [False, False] Translation: X:3.13, Y:0.25, Z:-1.15 [[ 0.99975005 0.01860633 -0.01239531 3.12865498] [-0.01867794 0.99980938 -0.00568622 0.24930402] [ 0.01228714 0.00591632 0.99990701 -1.14565752] [ 0. 0. 0. 1. ]] SLAMing on 272.882414037 meters Centerline goodness [0,1] 0.7797133679268594 Centerline is valid? [False, False] Translation: X:3.13, Y:0.25, Z:-1.14 [[ 0.99972093 0.01953815 -0.01327866 3.13097104] [-0.01962387 0.99978723 -0.00635641 0.25096473] [ 0.01315164 0.00661521 0.99989163 -1.14435649] [ 0. 0. 0. 1. ]] SLAMing on 272.91241403699996 meters Centerline goodness [0,1] 0.7989424533844585 Centerline is valid? [False, False] Translation: X:3.14, Y:0.25, Z:-1.14 [[ 0.99965934 0.02193843 -0.0141386 3.13502339] [-0.02202847 0.99973784 -0.00624472 0.25213892] [ 0.01399789 0.00655404 0.99988054 -1.14406575] [ 0. 0. 0. 1. ]] SLAMing on 272.942414037 meters Centerline goodness [0,1] 0.8065900809091471 Centerline is valid? [False, False] Translation: X:3.14, Y:0.25, Z:-1.14 [[ 0.99963098 0.02278728 -0.01478686 3.13725536] [-0.02287869 0.99971999 -0.00604252 0.25199767] [ 0.01464503 0.0063786 0.99987241 -1.14435314] [ 0. 0. 0. 1. ]] SLAMing on 272.97241403699996 meters Centerline goodness [0,1] 0.8170455602766492 Centerline is valid? [False, False] Translation: X:3.14, Y:0.25, Z:-1.14 [[ 0.99960315 0.02362066 -0.01534945 3.13931562] [-0.02371064 0.99970257 -0.00570682 0.25143968] [ 0.01521009 0.0060685 0.9998659 -1.14480985] [ 0. 0. 0. 1. ]] SLAMing on 273.002414037 meters Centerline goodness [0,1] 0.8211552703036287 Centerline is valid? [False, False] Translation: X:3.14, Y:0.25, Z:-1.15 [[ 0.99956071 0.02488706 -0.0160942 3.14225213] [-0.02497126 0.9996754 -0.00505193 0.24997114] [ 0.01596325 0.0054516 0.99985772 -1.1456064 ] [ 0. 0. 0. 1. ]] SLAMing on 273.03241403699997 meters Centerline goodness [0,1] 0.8226543209876543 Centerline is valid? [False, False] Translation: X:3.14, Y:0.25, Z:-1.15 [[ 0.99955214 0.02513914 -0.01623418 3.14292479] [-0.02522311 0.9996694 -0.0049883 0.24997463] [ 0.01610341 0.00539554 0.99985577 -1.14581431] [ 0. 0. 0. 1. ]] SLAMing on 273.062414037 meters Centerline goodness [0,1] 0.8215608792294393 Centerline is valid? [False, False] Translation: X:3.14, Y:0.25, Z:-1.15 [[ 0.9995242 0.02575746 -0.01696855 3.14474436] [-0.02584753 0.99965284 -0.00511011 0.25064516] [ 0.01683104 0.00554627 0.99984297 -1.14528319] [ 0. 0. 0. 1. ]] SLAMing on 273.09241403699997 meters Centerline goodness [0,1] 0.8253012048192772 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:-1.14 [[ 0.999512 0.02597425 -0.01735231 3.14549559] [-0.02607121 0.99964558 -0.00538518 0.25127843] [ 0.01720628 0.00583495 0.99983494 -1.14464141] [ 0. 0. 0. 1. ]] SLAMing on 273.122414037 meters Centerline goodness [0,1] 0.8253874949726201 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:-1.14 [[ 0.99948724 0.02652063 -0.01794185 3.14703436] [-0.02662473 0.99962988 -0.00558827 0.25214987] [ 0.01778701 0.0060631 0.99982341 -1.14413916] [ 0. 0. 0. 1. ]] SLAMing on 273.15241403699997 meters Centerline goodness [0,1] 0.825359444719881 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:-1.14 [[ 0.99948972 0.02641599 -0.01795836 3.14700194] [-0.02652338 0.99963155 -0.0057682 0.25260941] [ 0.01779937 0.00624157 0.9998221 -1.14404718] [ 0. 0. 0. 1. ]] SLAMing on 273.182414037 meters Centerline goodness [0,1] 0.8238639876352396 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:-1.14 [[ 0.9994811 0.02656687 -0.0182136 3.14765983] [-0.02667477 0.99962788 -0.00570684 0.25199042] [ 0.01805521 0.00618972 0.99981783 -1.14409788] [ 0. 0. 0. 1. ]] SLAMing on 273.212414037 meters Centerline goodness [0,1] 0.823647728679292 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:-1.14 [[ 0.99948046 0.02655945 -0.01825934 3.14778873] [-0.02666663 0.99962841 -0.00565173 0.25165577] [ 0.01810245 0.00613571 0.99981731 -1.14422652] [ 0. 0. 0. 1. ]] SLAMing on 273.242414037 meters Centerline goodness [0,1] 0.8213457076566125 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:-1.14 [[ 0.99945749 0.02700506 -0.01885323 3.14903817] [-0.02711765 0.99961576 -0.0057423 0.25205051] [ 0.01869092 0.00625044 0.99980577 -1.1435931 ] [ 0. 0. 0. 1. ]] SLAMing on 273.272414037 meters Centerline goodness [0,1] 0.8215910145734707 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:-1.14 [[ 0.99944967 0.02707235 -0.01916871 3.14931621] [-0.02719026 0.99961276 -0.00591742 0.25207604] [ 0.01900109 0.00643537 0.99979875 -1.14284153] [ 0. 0. 0. 1. ]] SLAMing on 273.302414037 meters Centerline goodness [0,1] 0.8214087289338848 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:-1.14 [[ 0.9994239 0.02765017 -0.01968075 3.15082521] [-0.02775944 0.99960058 -0.00530057 0.25032796] [ 0.01952633 0.00584384 0.99979226 -1.14323247] [ 0. 0. 0. 1. ]] SLAMing on 273.332414037 meters Centerline goodness [0,1] 0.822788327929597 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:-1.14 [[ 0.9994205 0.02767039 -0.01982472 3.15092625] [-0.02777915 0.99960039 -0.00523182 0.24966997] [ 0.01967203 0.0057795 0.99978978 -1.14299538] [ 0. 0. 0. 1. ]] SLAMing on 273.362414037 meters Centerline goodness [0,1] 0.8254036864367532 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:-1.14 [[ 0.99941782 0.02768585 -0.01993756 3.15106467] [-0.02779421 0.99960025 -0.00517854 0.24896201] [ 0.01978621 0.00572968 0.99978782 -1.1428412 ] [ 0. 0. 0. 1. ]] SLAMing on 273.392414037 meters Centerline goodness [0,1] 0.704245810055866 Centerline is valid? [False, False] Translation: X:3.23, Y:0.25, Z:-1.13 [[ 0.99960267 0.01943114 -0.02041905 3.22848308] [-0.01981265 0.99962974 -0.01865061 0.25365548] [ 0.02004909 0.01904775 0.99961754 -1.13247642] [ 0. 0. 0. 1. ]] SLAMing on 273.422414037 meters Centerline goodness [0,1] 0.8265867527278316 Centerline is valid? [False, False] Translation: X:3.14, Y:0.25, Z:-1.13 [[ 0.99946446 0.02377433 -0.02248512 3.14152299] [-0.02408409 0.99961733 -0.01360721 0.25205597] [ 0.02215301 0.01414146 0.99965457 -1.13457426] [ 0. 0. 0. 1. ]] SLAMing on 273.452414037 meters Centerline goodness [0,1] 0.8297755045787265 Centerline is valid? [False, False] Translation: X:3.14, Y:0.25, Z:-1.14 [[ 0.99944222 0.02438543 -0.02281661 3.14265319] [-0.02467335 0.99961836 -0.01242382 0.24899271] [ 0.02250494 0.01297985 0.99966247 -1.13558819] [ 0. 0. 0. 1. ]] SLAMing on 273.482414037 meters Centerline goodness [0,1] 0.8289939024390244 Centerline is valid? [False, False] Translation: X:3.14, Y:0.25, Z:-1.14 [[ 0.99942532 0.02479362 -0.02311503 3.14363888] [-0.02507357 0.99961477 -0.01190093 0.24752623] [ 0.02281105 0.01247366 0.99966197 -1.13601382] [ 0. 0. 0. 1. ]] SLAMing on 273.512414037 meters Centerline goodness [0,1] 0.8332517888814139 Centerline is valid? [False, False] Translation: X:3.14, Y:0.25, Z:-1.14 [[ 0.99940497 0.0251344 -0.0236212 3.14452773] [-0.02541068 0.9996113 -0.01146978 0.24595388] [ 0.02332373 0.01206318 0.99965518 -1.1357469 ] [ 0. 0. 0. 1. ]] SLAMing on 273.54241403699996 meters Centerline goodness [0,1] 0.8332517888814139 Centerline is valid? [False, False] Translation: X:3.14, Y:0.25, Z:-1.14 [[ 0.99940497 0.0251344 -0.0236212 3.14452773] [-0.02541068 0.9996113 -0.01146978 0.24595388] [ 0.02332373 0.01206318 0.99965518 -1.1357469 ] [ 0. 0. 0. 1. ]] SLAMing on 273.572414037 meters Centerline goodness [0,1] 0.8403147773899198 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:-1.14 [[ 0.99938344 0.02558024 -0.02404971 3.14585642] [-0.02585176 0.99960474 -0.01104757 0.24578322] [ 0.0237576 0.01166249 0.99964972 -1.13621422] [ 0. 0. 0. 1. ]] SLAMing on 273.60241403699996 meters Centerline goodness [0,1] 0.8401039278618371 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:-1.14 [[ 0.99934972 0.02624142 -0.02472902 3.14776086] [-0.02651384 0.99959061 -0.01075347 0.24538933] [ 0.02443671 0.01140214 0.99963635 -1.13626684] [ 0. 0. 0. 1. ]] SLAMing on 273.632414037 meters Centerline goodness [0,1] 0.8468233779766465 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:-1.14 [[ 0.99929754 0.02733352 -0.02563803 3.15072038] [-0.02761398 0.99956193 -0.01064964 0.2459372 ] [ 0.02533571 0.01135012 0.99961456 -1.13624166] [ 0. 0. 0. 1. ]] SLAMing on 273.66241403699996 meters Centerline goodness [0,1] 0.8445919085043271 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:-1.14 [[ 0.99925577 0.02812779 -0.02639575 3.15297604] [-0.02841022 0.99954239 -0.01038639 0.24591986] [ 0.02609152 0.01112857 0.99959761 -1.13635966] [ 0. 0. 0. 1. ]] SLAMing on 273.692414037 meters Centerline goodness [0,1] 0.8508138538734549 Centerline is valid? [False, False] Translation: X:3.15, Y:0.25, Z:-1.14 [[ 0.99921164 0.02900451 -0.02710804 3.15499596] [-0.02930076 0.99951448 -0.01059567 0.24656356] [ 0.02678756 0.0113816 0.99957635 -1.13549994] [ 0. 0. 0. 1. ]] SLAMing on 273.72241403699996 meters Centerline goodness [0,1] 0.8525052064192087 Centerline is valid? [False, False] Translation: X:3.16, Y:0.25, Z:-1.13 [[ 0.99920718 0.02898988 -0.0272875 3.15501467] [-0.02929277 0.99951289 -0.01076628 0.24671843] [ 0.02696209 0.01155707 0.99956965 -1.13484958] [ 0. 0. 0. 1. ]] SLAMing on 273.752414037 meters Centerline goodness [0,1] 0.8536309086456038 Centerline is valid? [False, False] Translation: X:3.16, Y:0.25, Z:-1.13 [[ 0.99918087 0.02946297 -0.02774038 3.15564395] [-0.02977477 0.99949726 -0.01089469 0.24621026] [ 0.02740544 0.01171173 0.99955579 -1.13346711] [ 0. 0. 0. 1. ]] SLAMing on 273.78241403699997 meters Centerline goodness [0,1] 0.8520617609215122 Centerline is valid? [False, False] Translation: X:3.16, Y:0.25, Z:-1.13 [[ 0.99918089 0.02940486 -0.02780121 3.15539931] [-0.02972075 0.99949751 -0.01101793 0.24591689] [ 0.02746326 0.01183518 0.99955275 -1.13287148] [ 0. 0. 0. 1. ]] SLAMing on 273.812414037 meters Centerline goodness [0,1] 0.8552422314656227 Centerline is valid? [False, False] Translation: X:3.16, Y:0.24, Z:-1.13 [[ 0.99915404 0.03002401 -0.02810274 3.15640642] [-0.03032697 0.99948575 -0.0104169 0.24418992] [ 0.02777553 0.01126036 0.99955076 -1.13302393] [ 0. 0. 0. 1. ]] SLAMing on 273.84241403699997 meters Centerline goodness [0,1] 0.8558280332681018 Centerline is valid? [False, False] Translation: X:3.16, Y:0.24, Z:-1.13 [[ 0.99914021 0.03033403 -0.02826095 3.15714972] [-0.03062441 0.99948194 -0.00989954 0.24325853] [ 0.02794602 0.01075651 0.99955156 -1.13364401] [ 0. 0. 0. 1. ]] SLAMing on 273.872414037 meters Centerline goodness [0,1] 0.860148628398422 Centerline is valid? [False, False] Translation: X:3.16, Y:0.24, Z:-1.13 [[ 0.99910943 0.03094269 -0.02868605 3.15867406] [-0.0312135 0.99947185 -0.00904109 0.24149693] [ 0.02839115 0.00992843 0.99954758 -1.13445811] [ 0. 0. 0. 1. ]] SLAMing on 273.90241403699997 meters Centerline goodness [0,1] 0.8645139610191238 Centerline is valid? [False, False] Translation: X:3.16, Y:0.24, Z:-1.13 [[ 0.99909747 0.03116652 -0.02885995 3.15938597] [-0.03142912 0.9994682 -0.00869053 0.24088767] [ 0.02857375 0.00958973 0.99954569 -1.13488104] [ 0. 0. 0. 1. ]] SLAMing on 273.932414037 meters Centerline goodness [0,1] 0.8646116282618648 Centerline is valid? [False, False] Translation: X:3.16, Y:0.24, Z:-1.14 [[ 0.99907673 0.0314835 -0.02923155 3.16048067] [-0.03174017 0.9994612 -0.00835859 0.24016231] [ 0.02895264 0.00927868 0.99953772 -1.13511604] [ 0. 0. 0. 1. ]] SLAMing on 273.962414037 meters Centerline goodness [0,1] 0.8646204439572486 Centerline is valid? [False, False] Translation: X:3.16, Y:0.24, Z:-1.14 [[ 0.99905149 0.03187015 -0.0296718 3.16170029] [-0.03212621 0.99945024 -0.00819333 0.23952736] [ 0.02939437 0.0091388 0.99952611 -1.13502542] [ 0. 0. 0. 1. ]] SLAMing on 273.992414037 meters Centerline goodness [0,1] 0.8675783754082848 Centerline is valid? [False, False] Translation: X:3.16, Y:0.24, Z:-1.13 [[ 0.99904512 0.03192679 -0.02982487 3.16179407] [-0.03218804 0.9994472 -0.0083207 0.2392032 ] [ 0.02954272 0.00927276 0.99952051 -1.13437458] [ 0. 0. 0. 1. ]] SLAMing on 274.022414037 meters Centerline goodness [0,1] 0.8686504174439585 Centerline is valid? [False, False] Translation: X:3.16, Y:0.24, Z:-1.13 [[ 0.99904677 0.03174674 -0.0299615 3.16160668] [-0.03202286 0.99944856 -0.00878152 0.23955761] [ 0.02966619 0.0097326 0.99951248 -1.13341469] [ 0. 0. 0. 1. ]] SLAMing on 274.052414037 meters Centerline goodness [0,1] 0.8709341819405771 Centerline is valid? [False, False] Translation: X:3.16, Y:0.24, Z:-1.13 [[ 0.99901874 0.03221717 -0.03039112 3.16252006] [-0.032497 0.99943345 -0.00875879 0.23930731] [ 0.03009171 0.00973781 0.99949971 -1.13270409] [ 0. 0. 0. 1. ]] SLAMing on 274.082414037 meters Centerline goodness [0,1] 0.8720485100909564 Centerline is valid? [False, False] Translation: X:3.16, Y:0.24, Z:-1.13 [[ 0.99900966 0.03234242 -0.03055598 3.16280235] [-0.03262642 0.99942851 -0.00884163 0.23891882] [ 0.03025256 0.00982981 0.99949395 -1.13225622] [ 0. 0. 0. 1. ]] SLAMing on 274.112414037 meters Centerline goodness [0,1] 0.8714255130440102 Centerline is valid? [False, False] Translation: X:3.16, Y:0.24, Z:-1.13 [[ 0.99900211 0.03243044 -0.03070914 3.16309979] [-0.03271214 0.99942681 -0.0087157 0.23815163] [ 0.03040889 0.00971156 0.99949036 -1.13213809] [ 0. 0. 0. 1. ]] SLAMing on 274.142414037 meters Centerline goodness [0,1] 0.87337375460833 Centerline is valid? [False, False] Translation: X:3.16, Y:0.24, Z:-1.13 [[ 0.99898142 0.03273592 -0.03105602 3.16391508] [-0.03301081 0.99941986 -0.0083802 0.23575999] [ 0.03076367 0.00939685 0.99948251 -1.1320312 ] [ 0. 0. 0. 1. ]] SLAMing on 274.172414037 meters Centerline goodness [0,1] 0.8732944659808919 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:-1.13 [[ 0.99897283 0.03290509 -0.03115339 3.16433809] [-0.03316972 0.99941759 -0.00801614 0.23446577] [ 0.03087147 0.00904125 0.99948247 -1.13233429] [ 0. 0. 0. 1. ]] SLAMing on 274.202414037 meters Centerline goodness [0,1] 0.8749619899045187 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:-1.13 [[ 0.99896961 0.03288363 -0.03127907 3.1644812 ] [-0.03313193 0.9994232 -0.00745299 0.2322146 ] [ 0.03101594 0.00848165 0.9994829 -1.13259236] [ 0. 0. 0. 1. ]] SLAMing on 274.232414037 meters Centerline goodness [0,1] 0.8743525683992444 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:-1.13 [[ 0.99897657 0.0327021 -0.03124715 3.16408457] [-0.03294908 0.99942947 -0.00742201 0.2315921 ] [ 0.03098661 0.00844398 0.99948413 -1.13233023] [ 0. 0. 0. 1. ]] SLAMing on 274.262414037 meters Centerline goodness [0,1] 0.8755136204535079 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:-1.14 [[ 0.99916577 0.03150555 -0.02598377 3.17447227] [-0.03139664 0.99949647 0.00458925 0.22730411] [ 0.02611528 -0.00376962 0.99965183 -1.13820741] [ 0. 0. 0. 1. ]] SLAMing on 274.29241403699996 meters Centerline goodness [0,1] 0.8721212857750501 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:-1.14 [[ 9.99247245e-01 2.81445793e-02 -2.66987868e-02 3.17595818e+00] [-2.81683195e-02 9.99603062e-01 -5.13433776e-04 2.29617673e-01] [ 2.66737387e-02 1.26510724e-03 9.99643392e-01 -1.13610190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.322414037 meters Centerline goodness [0,1] 0.8723494873901008 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:-1.14 [[ 9.99258299e-01 2.78124907e-02 -2.66330066e-02 3.17511941e+00] [-2.78444577e-02 9.99611923e-01 -8.30099313e-04 2.28982651e-01] [ 2.65995838e-02 1.57106525e-03 9.99644934e-01 -1.13513625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35241403699996 meters Centerline goodness [0,1] 0.8694294549202692 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:-1.13 [[ 0.99934406 0.02411852 -0.02701398 3.17573595] [-0.02427419 0.99969049 -0.00544944 0.22937169] [ 0.02687418 0.00610161 0.9996202 -1.13350551] [ 0. 0. 0. 1. ]] SLAMing on 274.382414037 meters Centerline goodness [0,1] 0.8678099863408711 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:-1.13 [[ 0.99935575 0.02388284 -0.02678973 3.17504683] [-0.02403056 0.99969767 -0.00520558 0.22776253] [ 0.02665731 0.005846 0.99962754 -1.13357536] [ 0. 0. 0. 1. ]] SLAMing on 274.41241403699996 meters Centerline goodness [0,1] 0.8661569611072497 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:-1.13 [[ 0.99939053 0.02274778 -0.02647853 3.17333318] [-0.02289254 0.99972453 -0.00517668 0.22478539] [ 0.02635348 0.00577968 0.99963598 -1.1333375 ] [ 0. 0. 0. 1. ]] SLAMing on 274.442414037 meters Centerline goodness [0,1] 0.8693221312218562 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:-1.13 [[ 0.99940626 0.02239837 -0.02618074 3.17255444] [-0.02252495 0.99973593 -0.00454976 0.22297242] [ 0.02607192 0.00513678 0.99964687 -1.13405654] [ 0. 0. 0. 1. ]] SLAMing on 274.47241403699996 meters Centerline goodness [0,1] 0.8669403525718425 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:-1.13 [[ 0.99943369 0.02161563 -0.02578871 3.17106866] [-0.02174215 0.99975286 -0.00463596 0.22205602] [ 0.02568213 0.00519404 0.99965667 -1.13388274] [ 0. 0. 0. 1. ]] SLAMing on 274.502414037 meters Centerline goodness [0,1] 0.8648445712569455 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:-1.14 [[ 0.9996212 0.0180799 -0.02075048 3.18261115] [-0.01799233 0.99982845 0.00439902 0.21789171] [ 0.02082645 -0.00402401 0.99977501 -1.13962863] [ 0. 0. 0. 1. ]] SLAMing on 274.53241403699997 meters Centerline goodness [0,1] 0.8555885262116716 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:-1.14 [[ 9.99684954e-01 1.38361579e-02 -2.09416638e-02 3.18293756e+00] [-1.38370221e-02 9.99904258e-01 1.03643622e-04 2.18854603e-01] [ 2.09410929e-02 1.86159295e-04 9.99780694e-01 -1.13923343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.562414037 meters Centerline goodness [0,1] 0.8311699964110539 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:-1.14 [[ 9.99698513e-01 1.32293965e-02 -2.06849378e-02 3.18213294e+00] [-1.32282895e-02 9.99912484e-01 1.90347047e-04 2.18165907e-01] [ 2.06856457e-02 8.33366858e-05 9.99786026e-01 -1.13957147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59241403699997 meters Centerline goodness [0,1] 0.8178411918107971 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:-1.14 [[ 9.99714703e-01 1.25530910e-02 -2.03207233e-02 3.18101223e+00] [-1.25536918e-02 9.99921195e-01 9.79993257e-05 2.17714930e-01] [ 2.03203521e-02 1.57128731e-04 9.99793508e-01 -1.13966706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.622414037 meters Centerline goodness [0,1] 0.8061206174464521 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:-1.14 [[ 9.99738875e-01 1.12384935e-02 -1.98967009e-02 3.17923194e+00] [-1.12433294e-02 9.99936783e-01 -1.31200637e-04 2.16657862e-01] [ 1.98939686e-02 3.54871539e-04 9.99802032e-01 -1.13965468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65241403699997 meters Centerline goodness [0,1] 0.8002574619046193 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:-1.14 [[ 9.99758254e-01 1.04322217e-02 -1.93546457e-02 3.17760578e+00] [-1.04397567e-02 9.99945463e-01 -2.88314196e-04 2.16366158e-01] [ 1.93505824e-02 4.90302289e-04 9.99812640e-01 -1.13972235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.682414037 meters Centerline goodness [0,1] 0.7686932632584806 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:-1.14 [[ 9.99773840e-01 9.41079394e-03 -1.90710889e-02 3.17630814e+00] [-9.41965943e-03 9.99955564e-01 -3.75087214e-04 2.15352351e-01] [ 1.90667116e-02 5.54645547e-04 9.99818060e-01 -1.13969971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.712414037 meters Centerline goodness [0,1] 0.7662073706548704 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:-1.14 [[ 9.99785151e-01 8.77408723e-03 -1.87794258e-02 3.17515386e+00] [-8.78854940e-03 9.99961143e-01 -6.87714670e-04 2.15397112e-01] [ 1.87726620e-02 8.52610826e-04 9.99823415e-01 -1.13934196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.742414037 meters Centerline goodness [0,1] 0.7711516737023605 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:-1.14 [[ 9.99796021e-01 7.22725850e-03 -1.88595767e-02 3.17729297e+00] [-7.28772456e-03 9.99968516e-01 -3.13936329e-03 2.16461293e-01] [ 1.88362940e-02 3.27616633e-03 9.99817214e-01 -1.14005454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.772414037 meters Centerline goodness [0,1] 0.7605684367988033 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:-1.14 [[ 0.99980912 0.00641994 -0.01845267 3.17598526] [-0.00648231 0.99997347 -0.00332182 0.21655228] [ 0.01843085 0.00344081 0.99982422 -1.14013285] [ 0. 0. 0. 1. ]] SLAMing on 274.802414037 meters Centerline goodness [0,1] 0.7549142994126813 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:-1.14 [[ 0.99981594 0.00593633 -0.01824401 3.17531758] [-0.00600228 0.99997564 -0.0035623 0.21660276] [ 0.01822242 0.00367115 0.99982722 -1.14001301] [ 0. 0. 0. 1. ]] SLAMing on 274.832414037 meters Centerline goodness [0,1] 0.7499849858867336 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:-1.14 [[ 0.99983027 0.00502603 -0.0177247 3.17391237] [-0.00509093 0.99998049 -0.00361855 0.21682389] [ 0.01770616 0.00370817 0.99983636 -1.14044375] [ 0. 0. 0. 1. ]] SLAMing on 274.862414037 meters Centerline goodness [0,1] 0.7435496951311087 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:-1.14 [[ 0.99983426 0.004694 -0.01759041 3.1735841 ] [-0.00475646 0.99998253 -0.00351046 0.21679959] [ 0.01757362 0.00359354 0.99983911 -1.14078236] [ 0. 0. 0. 1. ]] SLAMing on 274.892414037 meters Centerline goodness [0,1] 0.7398942879452219 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:-1.14 [[ 0.99984519 0.00372723 -0.01719628 3.17244316] [-0.00378557 0.99998719 -0.00336121 0.21652429] [ 0.01718353 0.00342579 0.99984648 -1.14156521] [ 0. 0. 0. 1. ]] SLAMing on 274.922414037 meters Centerline goodness [0,1] 0.7350604802310887 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:-1.14 [[ 9.99851912e-01 3.14450225e-03 -1.69194010e-02 3.17171425e+00] [-3.20268553e-03 9.99989048e-01 -3.41285350e-03 2.16626474e-01] [ 1.69084840e-02 3.46653561e-03 9.99851032e-01 -1.14194707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.952414037 meters Centerline goodness [0,1] 0.7282837391042982 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:-1.14 [[ 9.99860533e-01 2.34144035e-03 -1.65358149e-02 3.17100713e+00] [-2.39248837e-03 9.99992432e-01 -3.06801143e-03 2.16624603e-01] [ 1.65285061e-02 3.10714529e-03 9.99858567e-01 -1.14324707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.982414037 meters Centerline goodness [0,1] 0.7243692400664753 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:-1.14 [[ 9.99867868e-01 1.59807313e-03 -1.61769336e-02 3.16980626e+00] [-1.65209624e-03 9.99993102e-01 -3.32670217e-03 2.17070189e-01] [ 1.61715057e-02 3.35298846e-03 9.99863611e-01 -1.14322256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.012414037 meters Centerline goodness [0,1] 0.7188283255322361 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:-1.15 [[ 9.99949217e-01 -1.54560382e-03 -9.95862876e-03 3.18122825e+00] [ 1.59983118e-03 9.99983926e-01 5.43960006e-03 2.15943827e-01] [ 9.95006122e-03 -5.45525595e-03 9.99935616e-01 -1.14998351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04241403699996 meters Centerline goodness [0,1] 0.7154247256411811 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:-1.15 [[ 9.99952267e-01 -2.49251388e-03 -9.44727761e-03 3.17957783e+00] [ 2.53864093e-03 9.99984901e-01 4.87373261e-03 2.16840421e-01] [ 9.43498712e-03 -4.89748322e-03 9.99943496e-01 -1.14973113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.072414037 meters Centerline goodness [0,1] 0.7196165281232935 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:-1.15 [[ 9.99952964e-01 -3.11547682e-03 -9.18496268e-03 3.17884235e+00] [ 3.15643945e-03 9.99985123e-01 4.44863136e-03 2.17683840e-01] [ 9.17096643e-03 -4.47741389e-03 9.99947922e-01 -1.14969390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10241403699996 meters Centerline goodness [0,1] 0.7106812704030265 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:-1.15 [[ 0.99995332 -0.00469578 -0.00844451 3.17645165] [ 0.00472314 0.99998365 0.00322299 0.22077964] [ 0.00842924 -0.00326273 0.99995915 -1.14924162] [ 0. 0. 0. 1. ]] SLAMing on 275.132414037 meters Centerline goodness [0,1] 0.7050236677355322 Centerline is valid? [False, False] Translation: X:3.18, Y:0.22, Z:-1.15 [[ 9.99952540e-01 -5.13459286e-03 -8.27969656e-03 3.17618448e+00] [ 5.15821632e-03 9.99982679e-01 2.83435374e-03 2.22229104e-01] [ 8.26499990e-03 -2.87692768e-03 9.99961706e-01 -1.14947546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16241403699996 meters Centerline goodness [0,1] 0.7115719922914563 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:-1.15 [[ 9.99948219e-01 -6.68162851e-03 -7.67567031e-03 3.17402462e+00] [ 6.69908016e-03 9.99975029e-01 2.25017593e-03 2.24079352e-01] [ 7.66044381e-03 -2.30147934e-03 9.99968010e-01 -1.14964486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.192414037 meters Centerline goodness [0,1] 0.7081429228645912 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:-1.15 [[ 9.99944998e-01 -7.57692816e-03 -7.25191927e-03 3.17259448e+00] [ 7.59081517e-03 9.99969404e-01 1.88933733e-03 2.25020728e-01] [ 7.23738202e-03 -1.94428139e-03 9.99971920e-01 -1.14964993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22241403699996 meters Centerline goodness [0,1] 0.7026188941082558 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:-1.15 [[ 9.99938552e-01 -8.84740071e-03 -6.67944972e-03 3.17089673e+00] [ 8.85953726e-03 9.99959152e-01 1.78960043e-03 2.25992019e-01] [ 6.66334356e-03 -1.84866730e-03 9.99976091e-01 -1.15050208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.252414037 meters Centerline goodness [0,1] 0.6994823442410797 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:-1.15 [[ 9.99937015e-01 -9.29673267e-03 -6.28777805e-03 3.17018217e+00] [ 9.30885193e-03 9.99954865e-01 1.90091747e-03 2.26302375e-01] [ 6.26982193e-03 -1.95932974e-03 9.99978425e-01 -1.15131534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28241403699997 meters Centerline goodness [0,1] 0.6974162915459086 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:-1.15 [[ 9.99935717e-01 -9.58542259e-03 -6.05659398e-03 3.16995631e+00] [ 9.59882543e-03 9.99951537e-01 2.18775227e-03 2.26158433e-01] [ 6.03532993e-03 -2.24574782e-03 9.99979265e-01 -1.15223610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.312414037 meters Centerline goodness [0,1] 0.6919040019641542 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:-1.15 [[ 9.99934422e-01 -9.74516523e-03 -6.01531385e-03 3.17046909e+00] [ 9.76002358e-03 9.99949379e-01 2.44569271e-03 2.26329138e-01] [ 5.99117567e-03 -2.50424193e-03 9.99978917e-01 -1.15347850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34241403699997 meters Centerline goodness [0,1] 0.6935404339250493 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:-1.15 [[ 9.99937110e-01 -9.29545273e-03 -6.27464781e-03 3.17170846e+00] [ 9.31058934e-03 9.99953805e-01 2.38745938e-03 2.27226110e-01] [ 6.25216544e-03 -2.44572991e-03 9.99977464e-01 -1.15377670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.372414037 meters Centerline goodness [0,1] 0.6985008328706275 Centerline is valid? [False, False] Translation: X:3.17, Y:0.23, Z:-1.15 [[ 9.99939051e-01 -8.76423633e-03 -6.71440394e-03 3.17319784e+00] [ 8.77790347e-03 9.99959456e-01 2.00873615e-03 2.28555427e-01] [ 6.69652667e-03 -2.06755211e-03 9.99975441e-01 -1.15349709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40241403699997 meters Centerline goodness [0,1] 0.7112926685853991 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:-1.15 [[ 9.99945918e-01 -7.58862214e-03 -7.11154696e-03 3.17549571e+00] [ 7.60055768e-03 9.99969749e-01 1.65281128e-03 2.30506703e-01] [ 7.09878927e-03 -1.70677362e-03 9.99973347e-01 -1.15343214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.432414037 meters Centerline goodness [0,1] 0.7112926685853991 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:-1.15 [[ 9.99945918e-01 -7.58862214e-03 -7.11154696e-03 3.17549571e+00] [ 7.60055768e-03 9.99969749e-01 1.65281128e-03 2.30506703e-01] [ 7.09878927e-03 -1.70677362e-03 9.99973347e-01 -1.15343214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.462414037 meters Centerline goodness [0,1] 0.7106709304852681 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:-1.15 [[ 9.99947441e-01 -7.03279148e-03 -7.46024277e-03 3.17688960e+00] [ 7.04416764e-03 9.99974065e-01 1.49972544e-03 2.31476227e-01] [ 7.44950203e-03 -1.55219782e-03 9.99971047e-01 -1.15346278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.492414037 meters Centerline goodness [0,1] 0.7172623668602305 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:-1.15 [[ 9.99948442e-01 -6.33025497e-03 -7.93980996e-03 3.17871560e+00] [ 6.34177861e-03 9.99978872e-01 1.42703784e-03 2.32299380e-01] [ 7.93060869e-03 -1.47731678e-03 9.99967461e-01 -1.15358535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.522414037 meters Centerline goodness [0,1] 0.7230888992682547 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:-1.15 [[ 9.99967295e-01 -1.85458405e-03 -7.87212891e-03 3.17949551e+00] [ 1.89919904e-03 9.99982157e-01 5.66377495e-03 2.32535718e-01] [ 7.86148450e-03 -5.67854046e-03 9.99952975e-01 -1.15458512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.552414037 meters Centerline goodness [0,1] 0.7224036577400392 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:-1.15 [[ 9.99963159e-01 -1.14244312e-03 -8.50741546e-03 3.18146870e+00] [ 1.18363713e-03 9.99987593e-01 4.83867040e-03 2.34381572e-01] [ 8.50178200e-03 -4.84856183e-03 9.99952104e-01 -1.15357725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.582414037 meters Centerline goodness [0,1] 0.7288851351351351 Centerline is valid? [False, False] Translation: X:3.18, Y:0.23, Z:-1.15 [[ 0.99995646 0.00361495 -0.00860237 3.18268196] [-0.00353778 0.99995352 0.00896848 0.23473523] [ 0.00863439 -0.00893765 0.99992278 -1.15413411] [ 0. 0. 0. 1. ]] SLAMing on 275.612414037 meters Centerline goodness [0,1] 0.7307127456800925 Centerline is valid? [False, False] Translation: X:3.19, Y:0.24, Z:-1.15 [[ 0.99994583 0.00442608 -0.00942047 3.18500208] [-0.00434942 0.9999574 0.00814189 0.23612239] [ 0.0094561 -0.00810047 0.99992248 -1.15295705] [ 0. 0. 0. 1. ]] SLAMing on 275.642414037 meters Centerline goodness [0,1] 0.7397328829251509 Centerline is valid? [False, False] Translation: X:3.19, Y:0.24, Z:-1.15 [[ 0.99992993 0.00633687 -0.00999909 3.18847735] [-0.00625984 0.99995064 0.00771631 0.23797456] [ 0.01004749 -0.00765318 0.99992024 -1.15277734] [ 0. 0. 0. 1. ]] SLAMing on 275.672414037 meters Centerline goodness [0,1] 0.7379194317225909 Centerline is valid? [False, False] Translation: X:3.19, Y:0.24, Z:-1.15 [[ 0.9999154 0.00724433 -0.01080311 3.19109803] [-0.00716493 0.99994716 0.00737104 0.23868924] [ 0.01085593 -0.00729301 0.99991448 -1.15245964] [ 0. 0. 0. 1. ]] SLAMing on 275.702414037 meters Centerline goodness [0,1] 0.7530317673099105 Centerline is valid? [False, False] Translation: X:3.19, Y:0.24, Z:-1.15 [[ 0.99990054 0.00814671 -0.01151283 3.19358326] [-0.00806479 0.99994196 0.00714435 0.23932888] [ 0.01157036 -0.00705079 0.9999082 -1.15234248] [ 0. 0. 0. 1. ]] SLAMing on 275.732414037 meters Centerline goodness [0,1] 0.7813388310998657 Centerline is valid? [False, False] Translation: X:3.20, Y:0.24, Z:-1.15 [[ 0.99986876 0.0105502 -0.01229452 3.19796072] [-0.01046469 0.99992075 0.00699875 0.24072475] [ 0.01236738 -0.00686917 0.99989993 -1.15244416] [ 0. 0. 0. 1. ]] SLAMing on 275.762414037 meters Centerline goodness [0,1] 0.7972034534534534 Centerline is valid? [False, False] Translation: X:3.20, Y:0.24, Z:-1.15 [[ 0.99985092 0.01132831 -0.0130309 3.20015026] [-0.0112454 0.99991617 0.00641816 0.24195344] [ 0.01310252 -0.00627067 0.9998945 -1.1516614 ] [ 0. 0. 0. 1. ]] SLAMing on 275.79241403699996 meters Centerline goodness [0,1] 0.8007470817120623 Centerline is valid? [False, False] Translation: X:3.20, Y:0.24, Z:-1.15 [[ 0.99982654 0.01236935 -0.01392428 3.20302206] [-0.01228637 0.99990634 0.00602944 0.24312036] [ 0.01399755 -0.00585731 0.99988487 -1.15123395] [ 0. 0. 0. 1. ]] SLAMing on 275.822414037 meters Centerline goodness [0,1] 0.8209202665081798 Centerline is valid? [False, False] Translation: X:3.21, Y:0.25, Z:-1.15 [[ 0.99978033 0.01511452 -0.0145202 3.20711202] [-0.01503355 0.99987092 0.00566931 0.24529279] [ 0.01460401 -0.00544977 0.9998785 -1.15051943] [ 0. 0. 0. 1. ]] SLAMing on 275.85241403699996 meters Centerline goodness [0,1] 0.8271044140221171 Centerline is valid? [False, False] Translation: X:3.21, Y:0.25, Z:-1.15 [[ 0.99975633 0.01595084 -0.01525932 3.20930199] [-0.01587753 0.99986187 0.00491391 0.24686313] [ 0.01533559 -0.00467044 0.9998715 -1.14943187] [ 0. 0. 0. 1. ]] SLAMing on 275.882414037 meters Centerline goodness [0,1] 0.8205788993997297 Centerline is valid? [False, False] Translation: X:3.21, Y:0.25, Z:-1.15 [[ 0.99971172 0.01784192 -0.01606684 3.2128184 ] [-0.01777131 0.99983183 0.00452702 0.24840605] [ 0.01614491 -0.00424019 0.99986067 -1.14875531] [ 0. 0. 0. 1. ]] SLAMing on 275.91241403699996 meters Centerline goodness [0,1] 0.8196777833500501 Centerline is valid? [False, False] Translation: X:3.22, Y:0.25, Z:-1.15 [[ 9.99730004e-01 1.63103312e-02 -1.65496793e-02 3.21592242e+00] [-1.63104562e-02 9.99866968e-01 1.27430509e-04 2.50760457e-01] [ 1.65495561e-02 1.42536717e-04 9.99863037e-01 -1.14742508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.942414037 meters Centerline goodness [0,1] 0.8153734954903994 Centerline is valid? [False, False] Translation: X:3.22, Y:0.25, Z:-1.15 [[ 9.99711846e-01 1.68766258e-02 -1.70706004e-02 3.21752467e+00] [-1.68809698e-02 9.99857500e-01 -1.10400464e-04 2.51223322e-01] [ 1.70663047e-02 3.98536942e-04 9.99854281e-01 -1.14710638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97241403699996 meters Centerline goodness [0,1] 0.815292015423681 Centerline is valid? [False, False] Translation: X:3.22, Y:0.25, Z:-1.15 [[ 9.99676688e-01 1.80439023e-02 -1.79147090e-02 3.22046657e+00] [-1.80490604e-02 9.99837094e-01 -1.26272371e-04 2.51475360e-01] [ 1.79095122e-02 4.49575212e-04 9.99839511e-01 -1.14708571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.002414037 meters Centerline goodness [0,1] 0.8107879130189212 Centerline is valid? [False, False] Translation: X:3.22, Y:0.25, Z:-1.15 [[ 9.99658942e-01 1.85457665e-02 -1.83862542e-02 3.22190979e+00] [-1.85512176e-02 9.99827903e-01 -1.25951858e-04 2.51417731e-01] [ 1.83807542e-02 4.66996305e-04 9.99830951e-01 -1.14708566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03241403699997 meters Centerline goodness [0,1] 0.8066320917806067 Centerline is valid? [False, False] Translation: X:3.22, Y:0.25, Z:-1.15 [[ 9.99634928e-01 1.93212935e-02 -1.88864539e-02 3.22383723e+00] [-1.93329657e-02 9.99813006e-01 -4.35616894e-04 2.52341188e-01] [ 1.88745056e-02 8.00589029e-04 9.99821540e-01 -1.14685880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.062414037 meters Centerline goodness [0,1] 0.8040267193527143 Centerline is valid? [False, False] Translation: X:3.22, Y:0.25, Z:-1.15 [[ 9.99624493e-01 1.94733364e-02 -1.92785612e-02 3.22470747e+00] [-1.94952679e-02 9.99809498e-01 -9.50309755e-04 2.53140341e-01] [ 1.92563829e-02 1.32579362e-03 9.99813700e-01 -1.14614863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09241403699997 meters Centerline goodness [0,1] 0.8055424934950939 Centerline is valid? [False, False] Translation: X:3.23, Y:0.25, Z:-1.15 [[ 9.99607617e-01 1.98623012e-02 -1.97509608e-02 3.22596737e+00] [-1.98901312e-02 9.99801435e-01 -1.21358344e-03 2.53841113e-01] [ 1.97229344e-02 1.60595646e-03 9.99804194e-01 -1.14571525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.122414037 meters Centerline goodness [0,1] 0.8059668716275568 Centerline is valid? [False, False] Translation: X:3.23, Y:0.25, Z:-1.15 [[ 9.99602861e-01 1.98771140e-02 -1.99754776e-02 3.22643607e+00] [-1.99112014e-02 9.99800614e-01 -1.50900844e-03 2.54274030e-01] [ 1.99415001e-02 1.90614491e-03 9.99799331e-01 -1.14531884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15241403699997 meters Centerline goodness [0,1] 0.8023833480065401 Centerline is valid? [False, False] Translation: X:3.23, Y:0.26, Z:-1.15 [[ 9.99601128e-01 1.97797575e-02 -2.01580465e-02 3.22678938e+00] [-1.98204163e-02 9.99801901e-01 -1.81918819e-03 2.55032906e-01] [ 2.01180701e-02 2.21800344e-03 9.99795151e-01 -1.14513725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.182414037 meters Centerline goodness [0,1] 0.8032435836876083 Centerline is valid? [False, False] Translation: X:3.23, Y:0.26, Z:-1.15 [[ 9.99593775e-01 1.98676921e-02 -2.04342775e-02 3.22750515e+00] [-1.99118104e-02 9.99799823e-01 -1.95782380e-03 2.55604425e-01] [ 2.03912896e-02 2.36391194e-03 9.99789281e-01 -1.14510187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.212414037 meters Centerline goodness [0,1] 0.8053932868104455 Centerline is valid? [False, False] Translation: X:3.23, Y:0.26, Z:-1.14 [[ 9.99583217e-01 2.00038389e-02 -2.08144110e-02 3.22861668e+00] [-2.00613750e-02 9.99795475e-01 -2.55909562e-03 2.57813894e-01] [ 2.07589622e-02 2.97559474e-03 9.99780081e-01 -1.14480939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.242414037 meters Centerline goodness [0,1] 0.8070812671741259 Centerline is valid? [False, False] Translation: X:3.23, Y:0.26, Z:-1.14 [[ 0.99958384 0.01979502 -0.02098361 3.22903056] [-0.0198695 0.99979698 -0.00334718 0.26022775] [ 0.02091309 0.00376272 0.99977422 -1.14439067] [ 0. 0. 0. 1. ]] SLAMing on 276.272414037 meters Centerline goodness [0,1] 0.8111227369288817 Centerline is valid? [False, False] Translation: X:3.23, Y:0.26, Z:-1.14 [[ 0.99959752 0.01925531 -0.02083364 3.22818931] [-0.01933657 0.99980616 -0.00370613 0.26085695] [ 0.02075824 0.00410749 0.99977609 -1.14403769] [ 0. 0. 0. 1. ]] SLAMing on 276.302414037 meters Centerline goodness [0,1] 0.8156937193482043 Centerline is valid? [False, False] Translation: X:3.24, Y:0.26, Z:-1.15 [[ 0.99975435 0.01592259 -0.01541799 3.23974255] [-0.01585294 0.99986362 0.00462935 0.25921763] [ 0.01548959 -0.0043838 0.99987042 -1.14954929] [ 0. 0. 0. 1. ]] SLAMing on 276.332414037 meters Centerline goodness [0,1] 0.8208546038948762 Centerline is valid? [False, False] Translation: X:3.24, Y:0.26, Z:-1.15 [[ 9.99808660e-01 1.14970816e-02 -1.58259549e-02 3.24008119e+00] [-1.15051041e-02 9.99933728e-01 -4.15965742e-04 2.61130657e-01] [ 1.58201237e-02 5.97965409e-04 9.99874675e-01 -1.14825272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.362414037 meters Centerline goodness [0,1] 0.821685912966867 Centerline is valid? [False, False] Translation: X:3.24, Y:0.26, Z:-1.15 [[ 9.99817980e-01 1.09475932e-02 -1.56255173e-02 3.23924203e+00] [-1.09545904e-02 9.99939931e-01 -3.62279828e-04 2.60244776e-01] [ 1.56206126e-02 5.33385026e-04 9.99877849e-01 -1.14839689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.392414037 meters Centerline goodness [0,1] 0.8319491632062413 Centerline is valid? [False, False] Translation: X:3.24, Y:0.26, Z:-1.15 [[ 9.99835374e-01 9.83354826e-03 -1.52488195e-02 3.23771707e+00] [-9.84042803e-03 9.99951511e-01 -3.76199273e-04 2.59546898e-01] [ 1.52443807e-02 5.26192251e-04 9.99883659e-01 -1.14880300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.422414037 meters Centerline goodness [0,1] 0.8381622776695368 Centerline is valid? [False, False] Translation: X:3.24, Y:0.26, Z:-1.15 [[ 9.99844754e-01 9.12258208e-03 -1.50746983e-02 3.23659854e+00] [-9.13546431e-03 9.99957962e-01 -7.85918300e-04 2.59954914e-01] [ 1.50668950e-02 9.23510658e-04 9.99886061e-01 -1.14826835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.452414037 meters Centerline goodness [0,1] 0.8414067892326034 Centerline is valid? [False, False] Translation: X:3.24, Y:0.26, Z:-1.15 [[ 9.99848537e-01 8.73907734e-03 -1.50509992e-02 3.23616150e+00] [-8.75333282e-03 9.99961300e-01 -8.81528063e-04 2.60001029e-01] [ 1.50427130e-02 1.01314095e-03 9.99886339e-01 -1.14811063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.482414037 meters Centerline goodness [0,1] 0.8449641526564604 Centerline is valid? [False, False] Translation: X:3.23, Y:0.26, Z:-1.15 [[ 9.99860060e-01 7.72310856e-03 -1.48395949e-02 3.23461818e+00] [-7.74156576e-03 9.99969329e-01 -1.18673855e-03 2.60076419e-01] [ 1.48299745e-02 1.30145417e-03 9.99889183e-01 -1.14754401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.512414037 meters Centerline goodness [0,1] 0.8473597102082878 Centerline is valid? [False, False] Translation: X:3.23, Y:0.26, Z:-1.15 [[ 9.99859777e-01 7.62501127e-03 -1.49092539e-02 3.23469803e+00] [-7.64015744e-03 9.99970354e-01 -9.59196141e-04 2.59448401e-01] [ 1.49014980e-02 1.07297069e-03 9.99888391e-01 -1.14776220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54241403699996 meters Centerline goodness [0,1] 0.8504955432275759 Centerline is valid? [False, False] Translation: X:3.23, Y:0.26, Z:-1.15 [[ 9.99862718e-01 7.37049602e-03 -1.48398756e-02 3.23445952e+00] [-7.38069794e-03 9.99972562e-01 -6.32815869e-04 2.58052288e-01] [ 1.48348042e-02 7.42257634e-04 9.99889683e-01 -1.14821634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.572414037 meters Centerline goodness [0,1] 0.8510849965802401 Centerline is valid? [False, False] Translation: X:3.23, Y:0.26, Z:-1.15 [[ 9.99861105e-01 7.41915767e-03 -1.49240559e-02 3.23482672e+00] [-7.42670346e-03 9.99972320e-01 -4.50253823e-04 2.57360340e-01] [ 1.49203023e-02 5.61027822e-04 9.99888529e-01 -1.14852718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60241403699996 meters Centerline goodness [0,1] 0.8504321333084623 Centerline is valid? [False, False] Translation: X:3.24, Y:0.26, Z:-1.15 [[ 9.99858958e-01 7.43050632e-03 -1.50615844e-02 3.23521488e+00] [-7.43744215e-03 9.99972260e-01 -4.04536641e-04 2.57081131e-01] [ 1.50581607e-02 5.16499247e-04 9.99886486e-01 -1.14869817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.632414037 meters Centerline goodness [0,1] 0.8515443477183308 Centerline is valid? [False, False] Translation: X:3.24, Y:0.26, Z:-1.15 [[ 9.99845112e-01 8.04104655e-03 -1.56554582e-02 3.23716476e+00] [-8.05171877e-03 9.99967393e-01 -6.18780798e-04 2.57757067e-01] [ 1.56499720e-02 7.44738302e-04 9.99877254e-01 -1.14853862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66241403699996 meters Centerline goodness [0,1] 0.8498666170357962 Centerline is valid? [False, False] Translation: X:3.24, Y:0.26, Z:-1.15 [[ 9.99834043e-01 8.41867251e-03 -1.61558805e-02 3.23843934e+00] [-8.43441034e-03 9.99964019e-01 -9.06232976e-04 2.58643775e-01] [ 1.61476699e-02 1.04234791e-03 9.99869075e-01 -1.14804523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.692414037 meters Centerline goodness [0,1] 0.8452202670660177 Centerline is valid? [False, False] Translation: X:3.24, Y:0.26, Z:-1.15 [[ 9.99814231e-01 9.99100425e-03 -1.64828265e-02 3.24062693e+00] [-1.00146373e-02 9.99948938e-01 -1.35187911e-03 2.61021918e-01] [ 1.64684782e-02 1.51669750e-03 9.99863235e-01 -1.14720037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72241403699996 meters Centerline goodness [0,1] 0.8420542938364937 Centerline is valid? [False, False] Translation: X:3.24, Y:0.26, Z:-1.15 [[ 9.99797696e-01 1.05557340e-02 -1.71214563e-02 3.24226706e+00] [-1.05893231e-02 9.99942179e-01 -1.87234003e-03 2.62493577e-01] [ 1.71007024e-02 2.05326588e-03 9.99851664e-01 -1.14632857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.752414037 meters Centerline goodness [0,1] 0.8409588783876822 Centerline is valid? [False, False] Translation: X:3.25, Y:0.26, Z:-1.15 [[ 9.99762889e-01 1.27028952e-02 -1.76862015e-02 3.24575967e+00] [-1.27394668e-02 9.99916935e-01 -1.95667232e-03 2.64317609e-01] [ 1.76598770e-02 2.18152115e-03 9.99841672e-01 -1.14622190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78241403699997 meters Centerline goodness [0,1] 0.8371474188398085 Centerline is valid? [False, False] Translation: X:3.25, Y:0.27, Z:-1.15 [[ 9.99738147e-01 1.35587015e-02 -1.84336202e-02 3.24804791e+00] [-1.36019510e-02 9.99905018e-01 -2.22287444e-03 2.65135810e-01] [ 1.84017300e-02 2.47302558e-03 9.99827615e-01 -1.14575824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.812414037 meters Centerline goodness [0,1] 0.83608811123262 Centerline is valid? [False, False] Translation: X:3.25, Y:0.27, Z:-1.15 [[ 9.99691775e-01 1.56957114e-02 -1.92353850e-02 3.25191291e+00] [-1.57361820e-02 9.99874269e-01 -1.95440643e-03 2.65409425e-01] [ 1.92022907e-02 2.25649555e-03 9.99813073e-01 -1.14585502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84241403699997 meters Centerline goodness [0,1] 0.8342741306720723 Centerline is valid? [False, False] Translation: X:3.25, Y:0.27, Z:-1.15 [[ 9.99665555e-01 1.66021095e-02 -1.98279427e-02 3.25418289e+00] [-1.66408919e-02 9.99859924e-01 -1.79254746e-03 2.65562720e-01] [ 1.97954052e-02 2.12190260e-03 9.99801800e-01 -1.14611695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.872414037 meters Centerline goodness [0,1] 0.8317791868705706 Centerline is valid? [False, False] Translation: X:3.26, Y:0.27, Z:-1.15 [[ 9.99634090e-01 1.76070838e-02 -2.05347812e-02 3.25664172e+00] [-1.76471743e-02 9.99842705e-01 -1.77273586e-03 2.65695954e-01] [ 2.05003385e-02 2.13446806e-03 9.99787568e-01 -1.14598896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90241403699997 meters Centerline goodness [0,1] 0.8299275496934795 Centerline is valid? [False, False] Translation: X:3.26, Y:0.27, Z:-1.15 [[ 9.99566293e-01 2.03016738e-02 -2.13323064e-02 3.26144439e+00] [-2.03330787e-02 9.99792472e-01 -1.25628351e-03 2.65811833e-01] [ 2.13023747e-02 1.68949012e-03 9.99771651e-01 -1.14661278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.932414037 meters Centerline goodness [0,1] 0.8272656855151046 Centerline is valid? [False, False] Translation: X:3.26, Y:0.27, Z:-1.15 [[ 9.99530747e-01 2.13663628e-02 -2.19491164e-02 3.26400935e+00] [-2.14005161e-02 9.99770108e-01 -1.32228362e-03 2.66602382e-01] [ 2.19158181e-02 1.79138556e-03 9.99758215e-01 -1.14670158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.962414037 meters Centerline goodness [0,1] 0.8264214150562983 Centerline is valid? [False, False] Translation: X:3.27, Y:0.27, Z:-1.15 [[ 9.99463613e-01 2.39801434e-02 -2.23033243e-02 3.26785862e+00] [-2.40075735e-02 9.99711313e-01 -9.62884365e-04 2.67610433e-01] [ 2.22737955e-02 1.49781658e-03 9.99750786e-01 -1.14726262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.992414037 meters Centerline goodness [0,1] 0.8305670600691308 Centerline is valid? [False, False] Translation: X:3.27, Y:0.27, Z:-1.15 [[ 9.99438287e-01 2.46050565e-02 -2.27530424e-02 3.26933391e+00] [-2.46430736e-02 9.99695344e-01 -1.39194232e-03 2.68754428e-01] [ 2.27118618e-02 1.95186535e-03 9.99740147e-01 -1.14663079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.022414037 meters Centerline goodness [0,1] 0.8303810890039294 Centerline is valid? [False, False] Translation: X:3.27, Y:0.27, Z:-1.15 [[ 9.99403038e-01 2.57045264e-02 -2.30834186e-02 3.27116525e+00] [-2.57506875e-02 9.99666943e-01 -1.70468749e-03 2.70052100e-01] [ 2.30319123e-02 2.29808376e-03 9.99732089e-01 -1.14610773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.052414037 meters Centerline goodness [0,1] 0.8337490646046396 Centerline is valid? [False, False] Translation: X:3.27, Y:0.27, Z:-1.15 [[ 9.99385332e-01 2.60961166e-02 -2.34083525e-02 3.27222479e+00] [-2.61465156e-02 9.99656410e-01 -1.84950902e-03 2.70738176e-01] [ 2.33520446e-02 2.46041904e-03 9.99724276e-01 -1.14591411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.082414037 meters Centerline goodness [0,1] 0.8358218299057815 Centerline is valid? [False, False] Translation: X:3.27, Y:0.27, Z:-1.15 [[ 9.99379507e-01 2.61621430e-02 -2.35826892e-02 3.27268806e+00] [-2.62212693e-02 9.99653739e-01 -2.20140467e-03 2.71518720e-01] [ 2.35169300e-02 2.81840676e-03 9.99719466e-01 -1.14554704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.112414037 meters Centerline goodness [0,1] 0.8324174108536814 Centerline is valid? [False, False] Translation: X:3.27, Y:0.27, Z:-1.14 [[ 9.99396051e-01 2.57546720e-02 -2.33287368e-02 3.27172564e+00] [-2.58242973e-02 9.99662883e-01 -2.68814619e-03 2.71911383e-01] [ 2.32516399e-02 3.28897092e-03 9.99724234e-01 -1.14491135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.142414037 meters Centerline goodness [0,1] 0.831723706829192 Centerline is valid? [False, False] Translation: X:3.27, Y:0.27, Z:-1.14 [[ 9.99421931e-01 2.50363110e-02 -2.29997122e-02 3.27024402e+00] [-2.51098104e-02 9.99680457e-01 -2.91239981e-03 2.71587717e-01] [ 2.29194470e-02 3.48823465e-03 9.99731229e-01 -1.14457194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.172414037 meters Centerline goodness [0,1] 0.8370888209225391 Centerline is valid? [False, False] Translation: X:3.27, Y:0.27, Z:-1.14 [[ 0.99948061 0.02312601 -0.02244318 3.26720694] [-0.02320609 0.99972521 -0.00331455 0.27068718] [ 0.02236036 0.00383364 0.99974263 -1.14433815] [ 0. 0. 0. 1. ]] SLAMing on 277.202414037 meters Centerline goodness [0,1] 0.8320779382470119 Centerline is valid? [False, False] Translation: X:3.27, Y:0.27, Z:-1.15 [[ 9.99506582e-01 2.23308474e-02 -2.20890578e-02 3.26608716e+00] [-2.24016251e-02 9.99744664e-01 -2.96192938e-03 2.69773812e-01] [ 2.20172753e-02 3.45529870e-03 9.99751619e-01 -1.14528558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23241403699996 meters Centerline goodness [0,1] 0.8353051058530511 Centerline is valid? [False, False] Translation: X:3.26, Y:0.27, Z:-1.15 [[ 9.99542047e-01 2.12978198e-02 -2.14964890e-02 3.26416110e+00] [-2.13644554e-02 9.99767620e-01 -2.87492527e-03 2.69049473e-01] [ 2.14302640e-02 3.33286947e-03 9.99764790e-01 -1.14588527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.262414037 meters Centerline goodness [0,1] 0.8397308694034479 Centerline is valid? [False, False] Translation: X:3.26, Y:0.27, Z:-1.15 [[ 0.99965381 0.01570621 -0.02110852 3.26172327] [-0.01585661 0.99984993 -0.00697683 0.2686383 ] [ 0.02099578 0.00730913 0.99975285 -1.14579754] [ 0. 0. 0. 1. ]] SLAMing on 277.29241403699996 meters Centerline goodness [0,1] 0.8422227735053337 Centerline is valid? [False, False] Translation: X:3.26, Y:0.27, Z:-1.15 [[ 0.99968645 0.01439165 -0.02049118 3.25920938] [-0.01453076 0.99987227 -0.00665611 0.26694388] [ 0.02039277 0.00695177 0.99976788 -1.14627493] [ 0. 0. 0. 1. ]] SLAMing on 277.322414037 meters Centerline goodness [0,1] 0.8528031612743887 Centerline is valid? [False, False] Translation: X:3.26, Y:0.26, Z:-1.15 [[ 0.99972994 0.01187546 -0.01997557 3.2558587 ] [-0.01199888 0.99990959 -0.00607014 0.26417828] [ 0.01990168 0.00630818 0.99978204 -1.14755535] [ 0. 0. 0. 1. ]] SLAMing on 277.35241403699996 meters Centerline goodness [0,1] 0.8528031612743887 Centerline is valid? [False, False] Translation: X:3.26, Y:0.26, Z:-1.15 [[ 0.99972994 0.01187546 -0.01997557 3.2558587 ] [-0.01199888 0.99990959 -0.00607014 0.26417828] [ 0.01990168 0.00630818 0.99978204 -1.14755535] [ 0. 0. 0. 1. ]] SLAMing on 277.382414037 meters Centerline goodness [0,1] 0.8518999474383947 Centerline is valid? [False, False] Translation: X:3.25, Y:0.26, Z:-1.15 [[ 0.99975327 0.01095576 -0.01932292 3.25393181] [-0.01106199 0.99992424 -0.00539942 0.26235893] [ 0.0192623 0.00561184 0.99979872 -1.14873882] [ 0. 0. 0. 1. ]] SLAMing on 277.41241403699996 meters Centerline goodness [0,1] 0.8485413365644515 Centerline is valid? [False, False] Translation: X:3.25, Y:0.26, Z:-1.15 [[ 0.99977284 0.01001213 -0.01881561 3.25213714] [-0.01011171 0.99993533 -0.00520474 0.26092412] [ 0.01876228 0.00539382 0.99980942 -1.14909174] [ 0. 0. 0. 1. ]] SLAMing on 277.442414037 meters Centerline goodness [0,1] 0.8559424140381229 Centerline is valid? [False, False] Translation: X:3.26, Y:0.26, Z:-1.16 [[ 9.99903999e-01 3.97634928e-03 -1.32733396e-02 3.26223326e+00] [-3.94286140e-03 9.99988980e-01 2.54815906e-03 2.57071598e-01] [ 1.32833257e-02 -2.49557949e-03 9.99908658e-01 -1.15582673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47241403699996 meters Centerline goodness [0,1] 0.8589917835299932 Centerline is valid? [False, False] Translation: X:3.26, Y:0.26, Z:-1.16 [[ 9.99916713e-01 2.56579881e-03 -1.26484698e-02 3.25962371e+00] [-2.53541792e-03 9.99993864e-01 2.41739288e-03 2.56124222e-01] [ 1.26545947e-02 -2.38512239e-03 9.99917083e-01 -1.15571199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.502414037 meters Centerline goodness [0,1] 0.8571824480369515 Centerline is valid? [False, False] Translation: X:3.26, Y:0.26, Z:-1.15 [[ 9.99920511e-01 -2.91685832e-03 -1.22663451e-02 3.25725536e+00] [ 2.89009406e-03 9.99993406e-01 -2.19908598e-03 2.56325395e-01] [ 1.22726786e-02 2.16346029e-03 9.99922347e-01 -1.15462096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53241403699997 meters Centerline goodness [0,1] 0.8512401768172888 Centerline is valid? [False, False] Translation: X:3.26, Y:0.25, Z:-1.16 [[ 9.99922582e-01 -3.90613240e-03 -1.18140680e-02 3.25563375e+00] [ 3.88532535e-03 9.99990861e-01 -1.78364905e-03 2.54990250e-01] [ 1.18209272e-02 1.73760947e-03 9.99928621e-01 -1.15541009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.562414037 meters Centerline goodness [0,1] 0.8352604711236853 Centerline is valid? [False, False] Translation: X:3.25, Y:0.25, Z:-1.16 [[ 9.99924157e-01 -5.32241479e-03 -1.11064285e-02 3.25290040e+00] [ 5.30350964e-03 9.99984438e-01 -1.73093993e-03 2.53990768e-01] [ 1.11154685e-02 1.67190560e-03 9.99936824e-01 -1.15558452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59241403699997 meters Centerline goodness [0,1] 0.8091579594345422 Centerline is valid? [False, False] Translation: X:3.25, Y:0.25, Z:-1.16 [[ 9.99916573e-01 -7.54939382e-03 -1.04811012e-02 3.24963574e+00] [ 7.53106925e-03 9.99970045e-01 -1.78671314e-03 2.53091626e-01] [ 1.04942758e-02 1.70763019e-03 9.99943475e-01 -1.15585116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.622414037 meters Centerline goodness [0,1] 0.7681337218218065 Centerline is valid? [False, False] Translation: X:3.25, Y:0.25, Z:-1.16 [[ 9.99905302e-01 -9.51654367e-03 -9.94099105e-03 3.24684667e+00] [ 9.49724486e-03 9.99952926e-01 -1.98674378e-03 2.53370699e-01] [ 9.95943002e-03 1.89214361e-03 9.99948613e-01 -1.15618028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65241403699997 meters Centerline goodness [0,1] 0.742694904849601 Centerline is valid? [False, False] Translation: X:3.25, Y:0.25, Z:-1.16 [[ 9.99901491e-01 -1.02245136e-02 -9.61603098e-03 3.24580036e+00] [ 1.02074090e-02 9.99946236e-01 -1.82616759e-03 2.53431049e-01] [ 9.63418566e-03 1.72783294e-03 9.99952097e-01 -1.15681985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.682414037 meters Centerline goodness [0,1] 0.7486751991075026 Centerline is valid? [False, False] Translation: X:3.24, Y:0.25, Z:-1.16 [[ 9.99889878e-01 -1.18804209e-02 -8.89305945e-03 3.24320509e+00] [ 1.18608059e-02 9.99927115e-01 -2.25515595e-03 2.54713706e-01] [ 8.91920348e-03 2.14942876e-03 9.99957913e-01 -1.15716993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.712414037 meters Centerline goodness [0,1] 0.7405953448115978 Centerline is valid? [False, False] Translation: X:3.24, Y:0.26, Z:-1.16 [[ 9.99885065e-01 -1.24425201e-02 -8.66263277e-03 3.24249824e+00] [ 1.24229891e-02 9.99920175e-01 -2.30479929e-03 2.55226323e-01] [ 8.69061879e-03 2.19691859e-03 9.99959823e-01 -1.15756042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.742414037 meters Centerline goodness [0,1] 0.7315207630136562 Centerline is valid? [False, False] Translation: X:3.24, Y:0.26, Z:-1.16 [[ 9.99865791e-01 -1.42660427e-02 -8.05482808e-03 3.23974939e+00] [ 1.42467504e-02 9.99895515e-01 -2.44744502e-03 2.55760717e-01] [ 8.08890182e-03 2.33236143e-03 9.99964564e-01 -1.15798465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.772414037 meters Centerline goodness [0,1] 0.730032593512339 Centerline is valid? [False, False] Translation: X:3.24, Y:0.26, Z:-1.16 [[ 9.99857074e-01 -1.50651521e-02 -7.67282136e-03 3.23841729e+00] [ 1.50473886e-02 9.99883979e-01 -2.36761767e-03 2.55757869e-01] [ 7.70759967e-03 2.25182335e-03 9.99967761e-01 -1.15844950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.802414037 meters Centerline goodness [0,1] 0.7226611097287883 Centerline is valid? [False, False] Translation: X:3.24, Y:0.26, Z:-1.16 [[ 9.99828459e-01 -1.71460350e-02 -7.00471007e-03 3.23540452e+00] [ 1.71290527e-02 9.99850218e-01 -2.47726833e-03 2.55787626e-01] [ 7.04613623e-03 2.35685933e-03 9.99972398e-01 -1.15907745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.832414037 meters Centerline goodness [0,1] 0.7213487343939724 Centerline is valid? [False, False] Translation: X:3.23, Y:0.26, Z:-1.16 [[ 9.99818149e-01 -1.78809652e-02 -6.62870938e-03 3.23417761e+00] [ 1.78664826e-02 9.99837878e-01 -2.23765456e-03 2.55364282e-01] [ 6.66764615e-03 2.11881592e-03 9.99975526e-01 -1.15971307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.862414037 meters Centerline goodness [0,1] 0.7168965303976745 Centerline is valid? [False, False] Translation: X:3.23, Y:0.25, Z:-1.16 [[ 9.99810726e-01 -1.83859774e-02 -6.36148542e-03 3.23342098e+00] [ 1.83744916e-02 9.99829446e-01 -1.85928803e-03 2.54480514e-01] [ 6.39458527e-03 1.74204705e-03 9.99978037e-01 -1.16047169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.892414037 meters Centerline goodness [0,1] 0.7165018964123608 Centerline is valid? [False, False] Translation: X:3.23, Y:0.25, Z:-1.16 [[ 9.99799524e-01 -1.91114691e-02 -5.97195733e-03 3.23210511e+00] [ 1.91017617e-02 9.99816136e-01 -1.67833357e-03 2.54040366e-01] [ 6.00293472e-03 1.56392220e-03 9.99980759e-01 -1.16093575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.922414037 meters Centerline goodness [0,1] 0.7086525883012521 Centerline is valid? [False, False] Translation: X:3.23, Y:0.25, Z:-1.16 [[ 9.99775537e-01 -2.04673307e-02 -5.47394440e-03 3.23009500e+00] [ 2.04611130e-02 9.99789942e-01 -1.18948043e-03 2.53388492e-01] [ 5.49714005e-03 1.07721044e-03 9.99984310e-01 -1.16215425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.952414037 meters Centerline goodness [0,1] 0.7088237125599353 Centerline is valid? [False, False] Translation: X:3.23, Y:0.25, Z:-1.16 [[ 9.99769897e-01 -2.07768195e-02 -5.33635783e-03 3.22970277e+00] [ 2.07727593e-02 9.99783891e-01 -8.15167226e-04 2.53126847e-01] [ 5.35214118e-03 7.04128777e-04 9.99985429e-01 -1.16286800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98241403699996 meters Centerline goodness [0,1] 0.705924317617866 Centerline is valid? [False, False] Translation: X:3.23, Y:0.25, Z:-1.16 [[ 9.99771757e-01 -2.06640177e-02 -5.42523576e-03 3.23029422e+00] [ 2.06624152e-02 9.99786448e-01 -3.51275959e-04 2.52709847e-01] [ 5.43133596e-03 2.39097309e-04 9.99985222e-01 -1.16374963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.012414037 meters Centerline goodness [0,1] 0.704366254246268 Centerline is valid? [False, False] Translation: X:3.23, Y:0.25, Z:-1.16 [[ 9.99766939e-01 -2.09038942e-02 -5.39399458e-03 3.23017317e+00] [ 2.09018965e-02 9.99781441e-01 -4.26469553e-04 2.53629424e-01] [ 5.40173055e-03 3.13625443e-04 9.99985361e-01 -1.16397912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04241403699996 meters Centerline goodness [0,1] 0.7017369109132789 Centerline is valid? [False, False] Translation: X:3.23, Y:0.25, Z:-1.16 [[ 9.99767345e-01 -2.09064697e-02 -5.30804027e-03 3.23023295e+00] [ 2.09058569e-02 9.99781434e-01 -1.70914444e-04 2.53982919e-01] [ 5.31045333e-03 5.99055502e-05 9.99985898e-01 -1.16464329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.072414037 meters Centerline goodness [0,1] 0.701981184972899 Centerline is valid? [False, False] Translation: X:3.23, Y:0.26, Z:-1.16 [[ 9.99768897e-01 -2.07865557e-02 -5.48374326e-03 3.23078631e+00] [ 2.07847502e-02 9.99783899e-01 -3.86035528e-04 2.55191922e-01] [ 5.49058257e-03 2.71968080e-04 9.99984890e-01 -1.16458083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10241403699996 meters Centerline goodness [0,1] 0.7021655017473789 Centerline is valid? [False, False] Translation: X:3.23, Y:0.26, Z:-1.16 [[ 9.99772661e-01 -2.05772794e-02 -5.58588465e-03 3.23135664e+00] [ 2.05757258e-02 9.99788241e-01 -3.35448246e-04 2.55663098e-01] [ 5.59160441e-03 2.20438354e-04 9.99984343e-01 -1.16486972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.132414037 meters Centerline goodness [0,1] 0.713406442340738 Centerline is valid? [False, False] Translation: X:3.23, Y:0.26, Z:-1.17 [[ 9.99782123e-01 -1.99620071e-02 -6.10126228e-03 3.23318489e+00] [ 1.99601909e-02 9.99800711e-01 -3.58419073e-04 2.56613427e-01] [ 6.10720113e-03 2.36558622e-04 9.99981323e-01 -1.16508494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16241403699996 meters Centerline goodness [0,1] 0.713406442340738 Centerline is valid? [False, False] Translation: X:3.23, Y:0.26, Z:-1.17 [[ 9.99782123e-01 -1.99620071e-02 -6.10126228e-03 3.23318489e+00] [ 1.99601909e-02 9.99800711e-01 -3.58419073e-04 2.56613427e-01] [ 6.10720113e-03 2.36558622e-04 9.99981323e-01 -1.16508494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.192414037 meters Centerline goodness [0,1] 0.7164337741098503 Centerline is valid? [False, False] Translation: X:3.23, Y:0.26, Z:-1.17 [[ 0.9998545 -0.01597613 -0.00597915 3.23309315] [ 0.01600089 0.99986351 0.00411558 0.25557157] [ 0.00591258 -0.00421065 0.99997366 -1.1661085 ] [ 0. 0. 0. 1. ]] SLAMing on 278.22241403699996 meters Centerline goodness [0,1] 0.7197578115196386 Centerline is valid? [False, False] Translation: X:3.24, Y:0.26, Z:-1.17 [[ 0.99986314 -0.01516065 -0.00662199 3.23532212] [ 0.01518924 0.99987544 0.00428943 0.25601591] [ 0.00655614 -0.00438943 0.99996887 -1.16647866] [ 0. 0. 0. 1. ]] SLAMing on 278.252414037 meters Centerline goodness [0,1] 0.7208375188347564 Centerline is valid? [False, False] Translation: X:3.24, Y:0.26, Z:-1.17 [[ 0.99991767 -0.01142539 -0.00584084 3.23724311] [ 0.01146398 0.9999124 0.00661614 0.25625059] [ 0.00576474 -0.00668255 0.99996105 -1.16838737] [ 0. 0. 0. 1. ]] SLAMing on 278.28241403699997 meters Centerline goodness [0,1] 0.7182762625153009 Centerline is valid? [False, False] Translation: X:3.24, Y:0.26, Z:-1.17 [[ 0.99992239 -0.01056165 -0.00660872 3.23980534] [ 0.01060355 0.9999237 0.00633638 0.25731615] [ 0.00654129 -0.00640596 0.99995809 -1.168192 ] [ 0. 0. 0. 1. ]] SLAMing on 278.312414037 meters Centerline goodness [0,1] 0.7183938718488054 Centerline is valid? [False, False] Translation: X:3.24, Y:0.26, Z:-1.17 [[ 0.99992536 -0.00972173 -0.00740023 3.24234339] [ 0.00976724 0.99993346 0.00613815 0.25840216] [ 0.00734006 -0.00620997 0.99995378 -1.16807356] [ 0. 0. 0. 1. ]] SLAMing on 278.34241403699997 meters Centerline goodness [0,1] 0.7288786724186793 Centerline is valid? [False, False] Translation: X:3.25, Y:0.26, Z:-1.17 [[ 0.999939 -0.00741677 -0.00818478 3.24660823] [ 0.00746867 0.99995208 0.00632883 0.26021774] [ 0.00813745 -0.00638958 0.99994648 -1.16848495] [ 0. 0. 0. 1. ]] SLAMing on 278.372414037 meters Centerline goodness [0,1] 0.7280654808751771 Centerline is valid? [False, False] Translation: X:3.25, Y:0.26, Z:-1.17 [[ 0.99993948 -0.00667587 -0.00874512 3.24848357] [ 0.00672767 0.99995992 0.00590801 0.26136789] [ 0.00870533 -0.00596649 0.99994431 -1.16788004] [ 0. 0. 0. 1. ]] SLAMing on 278.40241403699997 meters Centerline goodness [0,1] 0.7386026861718897 Centerline is valid? [False, False] Translation: X:3.25, Y:0.26, Z:-1.17 [[ 9.99959739e-01 -2.35063974e-03 -8.66001138e-03 3.24860190e+00] [ 2.43909022e-03 9.99944827e-01 1.02173045e-02 2.60389758e-01] [ 8.63551638e-03 -1.02380157e-02 9.99910301e-01 -1.16818276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.432414037 meters Centerline goodness [0,1] 0.736332986734726 Centerline is valid? [False, False] Translation: X:3.25, Y:0.26, Z:-1.17 [[ 9.99956792e-01 -1.92913837e-03 -9.09351266e-03 3.24980360e+00] [ 2.01657607e-03 9.99951731e-01 9.61605197e-03 2.61008444e-01] [ 9.07452303e-03 -9.63397425e-03 9.99912416e-01 -1.16720543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.462414037 meters Centerline goodness [0,1] 0.7405083150298086 Centerline is valid? [False, False] Translation: X:3.25, Y:0.26, Z:-1.17 [[ 9.99952398e-01 -8.35400101e-04 -9.72130412e-03 3.25221507e+00] [ 9.26992513e-04 9.99955190e-01 9.42113506e-03 2.60760306e-01] [ 9.71299809e-03 -9.42969817e-03 9.99908365e-01 -1.16675417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.492414037 meters Centerline goodness [0,1] 0.7591816304823875 Centerline is valid? [False, False] Translation: X:3.25, Y:0.26, Z:-1.17 [[ 9.99947353e-01 -1.23358846e-04 -1.02604428e-02 3.25400094e+00] [ 2.17039922e-04 9.99958300e-01 9.12970291e-03 2.60667896e-01] [ 1.02588887e-02 -9.13144918e-03 9.99905681e-01 -1.16613452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.522414037 meters Centerline goodness [0,1] 0.7693079552224765 Centerline is valid? [False, False] Translation: X:3.26, Y:0.26, Z:-1.17 [[ 9.99940330e-01 5.91032127e-04 -1.09080794e-02 3.25589948e+00] [-4.94751008e-04 9.99960917e-01 8.82717649e-03 2.60816144e-01] [ 1.09128702e-02 -8.82125299e-03 9.99901543e-01 -1.16544082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.552414037 meters Centerline goodness [0,1] 0.7747190658547304 Centerline is valid? [False, False] Translation: X:3.26, Y:0.26, Z:-1.16 [[ 9.99931969e-01 1.32557650e-03 -1.15887896e-02 3.25785772e+00] [-1.22703727e-03 9.99963071e-01 8.50595788e-03 2.61019377e-01] [ 1.15996369e-02 -8.49115933e-03 9.99896669e-01 -1.16470558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.582414037 meters Centerline goodness [0,1] 0.7759177403680366 Centerline is valid? [False, False] Translation: X:3.26, Y:0.26, Z:-1.16 [[ 9.99912479e-01 3.08585062e-03 -1.28651447e-02 3.26180484e+00] [-2.98749915e-03 9.99966222e-01 7.65702335e-03 2.62586727e-01] [ 1.28883385e-02 -7.61791859e-03 9.99887923e-01 -1.16287561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.612414037 meters Centerline goodness [0,1] 0.7933450087565674 Centerline is valid? [False, False] Translation: X:3.26, Y:0.26, Z:-1.16 [[ 0.999896 0.00410587 -0.01382473 3.26453623] [-0.00400835 0.99996694 0.00707429 0.26375364] [ 0.01385332 -0.00701814 0.99987941 -1.16174265] [ 0. 0. 0. 1. ]] SLAMing on 278.642414037 meters Centerline goodness [0,1] 0.8072361176655656 Centerline is valid? [False, False] Translation: X:3.27, Y:0.27, Z:-1.16 [[ 0.9998782 0.00514164 -0.01473603 3.26732544] [-0.0050435 0.99996491 0.00668967 0.26504432] [ 0.01476991 -0.00661454 0.99986904 -1.16108983] [ 0. 0. 0. 1. ]] SLAMing on 278.672414037 meters Centerline goodness [0,1] 0.8198283180831997 Centerline is valid? [False, False] Translation: X:3.27, Y:0.27, Z:-1.16 [[ 0.99984438 0.00802297 -0.01571113 3.27254481] [-0.00791531 0.99994485 0.00690275 0.26625138] [ 0.01576564 -0.00677732 0.99985275 -1.1613022 ] [ 0. 0. 0. 1. ]] SLAMing on 278.702414037 meters Centerline goodness [0,1] 0.824217891995356 Centerline is valid? [False, False] Translation: X:3.28, Y:0.27, Z:-1.16 [[ 0.99981896 0.00920747 -0.01665122 3.27581663] [-0.00909169 0.99993406 0.00701526 0.26638899] [ 0.01671472 -0.0068626 0.99983675 -1.16148711] [ 0. 0. 0. 1. ]] SLAMing on 278.73241403699996 meters Centerline goodness [0,1] 0.822347672511669 Centerline is valid? [False, False] Translation: X:3.28, Y:0.27, Z:-1.16 [[ 0.99978504 0.01127918 -0.01739679 3.27969612] [-0.01115385 0.99991126 0.00728488 0.26667004] [ 0.01747741 -0.00708928 0.99982213 -1.161831 ] [ 0. 0. 0. 1. ]] SLAMing on 278.762414037 meters Centerline goodness [0,1] 0.8184713375796179 Centerline is valid? [False, False] Translation: X:3.28, Y:0.27, Z:-1.16 [[ 0.99976241 0.01211626 -0.01811957 3.28180119] [-0.0119952 0.9999051 0.00677479 0.26737522] [ 0.01819994 -0.00655583 0.99981287 -1.16084558] [ 0. 0. 0. 1. ]] SLAMing on 278.79241403699996 meters Centerline goodness [0,1] 0.818216306787645 Centerline is valid? [False, False] Translation: X:3.28, Y:0.27, Z:-1.16 [[ 0.99974046 0.0128642 -0.01880246 3.28373726] [-0.01274991 0.99989958 0.00618556 0.26840731] [ 0.01888014 -0.00594423 0.99980408 -1.15977589] [ 0. 0. 0. 1. ]] SLAMing on 278.822414037 meters Centerline goodness [0,1] 0.8110183956002276 Centerline is valid? [False, False] Translation: X:3.29, Y:0.27, Z:-1.16 [[ 0.99969756 0.01504587 -0.01945263 3.28715891] [-0.01494352 0.99987378 0.00539602 0.27052418] [ 0.01953136 -0.00510369 0.99979622 -1.1581482 ] [ 0. 0. 0. 1. ]] SLAMing on 278.85241403699996 meters Centerline goodness [0,1] 0.8059339134821542 Centerline is valid? [False, False] Translation: X:3.29, Y:0.27, Z:-1.16 [[ 0.99966654 0.01604828 -0.0202303 3.28979287] [-0.01595094 0.99986046 0.00496365 0.27177948] [ 0.02030714 -0.0046393 0.99978302 -1.15754999] [ 0. 0. 0. 1. ]] SLAMing on 278.882414037 meters Centerline goodness [0,1] 0.8028244660684949 Centerline is valid? [False, False] Translation: X:3.29, Y:0.27, Z:-1.16 [[ 0.99962332 0.01750888 -0.02113419 3.29299107] [-0.01740916 0.99983647 0.00489349 0.27210873] [ 0.02121642 -0.00452372 0.99976467 -1.15706415] [ 0. 0. 0. 1. ]] SLAMing on 278.91241403699996 meters Centerline goodness [0,1] 0.8049102927289896 Centerline is valid? [False, False] Translation: X:3.30, Y:0.27, Z:-1.16 [[ 9.99639481e-01 1.61121047e-02 -2.14780904e-02 3.29633326e+00] [-1.60953831e-02 9.99870008e-01 9.51192689e-04 2.73959114e-01] [ 2.14906242e-02 -6.05151672e-04 9.99768867e-01 -1.15650768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.942414037 meters Centerline goodness [0,1] 0.8052938396092642 Centerline is valid? [False, False] Translation: X:3.30, Y:0.27, Z:-1.16 [[ 9.99612870e-01 1.68590125e-02 -2.21333291e-02 3.29844319e+00] [-1.68388344e-02 9.99857614e-01 1.09773029e-03 2.73861295e-01] [ 2.21486843e-02 -7.24605863e-04 9.99754425e-01 -1.15664932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97241403699996 meters Centerline goodness [0,1] 0.803344776542471 Centerline is valid? [False, False] Translation: X:3.30, Y:0.27, Z:-1.16 [[ 9.99558100e-01 1.87160698e-02 -2.30935727e-02 3.30267686e+00] [-1.86873826e-02 9.99824313e-01 1.45742067e-03 2.74037367e-01] [ 2.31167927e-02 -1.02521821e-03 9.99732246e-01 -1.15726194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.002414037 meters Centerline goodness [0,1] 0.8026050208149362 Centerline is valid? [False, False] Translation: X:3.30, Y:0.27, Z:-1.16 [[ 9.99530584e-01 1.94521212e-02 -2.36691272e-02 3.30478043e+00] [-1.94272656e-02 9.99810454e-01 1.27964032e-03 2.74885679e-01] [ 2.36895325e-02 -8.19213212e-04 9.99719028e-01 -1.15722950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03241403699997 meters Centerline goodness [0,1] 0.802603789048955 Centerline is valid? [False, False] Translation: X:3.31, Y:0.28, Z:-1.16 [[ 9.99497695e-01 2.03205446e-02 -2.43194172e-02 3.30711560e+00] [-2.02960692e-02 9.99793229e-01 1.25284807e-03 2.75331860e-01] [ 2.43398472e-02 -7.58630188e-04 9.99703454e-01 -1.15723312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.062414037 meters Centerline goodness [0,1] 0.8017445719161846 Centerline is valid? [False, False] Translation: X:3.31, Y:0.28, Z:-1.16 [[ 9.99471515e-01 2.09931341e-02 -2.48189098e-02 3.30865728e+00] [-2.09816135e-02 9.99779599e-01 7.24533683e-04 2.76665101e-01] [ 2.48286500e-02 -2.03410005e-04 9.99691701e-01 -1.15628953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09241403699997 meters Centerline goodness [0,1] 0.7989308176100629 Centerline is valid? [False, False] Translation: X:3.31, Y:0.28, Z:-1.16 [[ 9.99439645e-01 2.17937915e-02 -2.54052399e-02 3.31066864e+00] [-2.17834906e-02 9.99762479e-01 6.82178542e-04 2.76712442e-01] [ 2.54140728e-02 -1.28381476e-04 9.99677002e-01 -1.15600177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.122414037 meters Centerline goodness [0,1] 0.8003653773466045 Centerline is valid? [False, False] Translation: X:3.31, Y:0.28, Z:-1.16 [[ 9.99427840e-01 2.20233712e-02 -2.56703068e-02 3.31145333e+00] [-2.20199547e-02 9.99757445e-01 4.15791964e-04 2.77110238e-01] [ 2.56732375e-02 1.49704931e-04 9.99670377e-01 -1.15561185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15241403699997 meters Centerline goodness [0,1] 0.7960059311606776 Centerline is valid? [False, False] Translation: X:3.31, Y:0.28, Z:-1.16 [[ 9.99416774e-01 2.22587188e-02 -2.58971229e-02 3.31219736e+00] [-2.22652981e-02 9.99752097e-01 3.43045872e-05 2.77780917e-01] [ 2.58914665e-02 5.42322580e-04 9.99664613e-01 -1.15512197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.182414037 meters Centerline goodness [0,1] 0.7938189985132699 Centerline is valid? [False, False] Translation: X:3.31, Y:0.28, Z:-1.15 [[ 9.99403990e-01 2.25257823e-02 -2.61582513e-02 3.31293648e+00] [-2.25329894e-02 9.99746100e-01 1.92499915e-05 2.77434481e-01] [ 2.61520434e-02 5.70185081e-04 9.99657814e-01 -1.15491317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.212414037 meters Centerline goodness [0,1] 0.7965775872935837 Centerline is valid? [False, False] Translation: X:3.31, Y:0.28, Z:-1.15 [[ 9.99390937e-01 2.27473552e-02 -2.64634429e-02 3.31362787e+00] [-2.27562475e-02 9.99741042e-01 -3.48756486e-05 2.76505868e-01] [ 2.64557966e-02 6.37063063e-04 9.99649781e-01 -1.15438809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.242414037 meters Centerline goodness [0,1] 0.7965775872935837 Centerline is valid? [False, False] Translation: X:3.31, Y:0.28, Z:-1.15 [[ 9.99390937e-01 2.27473552e-02 -2.64634429e-02 3.31362787e+00] [-2.27562475e-02 9.99741042e-01 -3.48756486e-05 2.76505868e-01] [ 2.64557966e-02 6.37063063e-04 9.99649781e-01 -1.15438809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.272414037 meters Centerline goodness [0,1] 0.7958367449770107 Centerline is valid? [False, False] Translation: X:3.31, Y:0.28, Z:-1.15 [[ 9.99381056e-01 2.29259480e-02 -2.66815649e-02 3.31427419e+00] [-2.29335994e-02 9.99736990e-01 1.92447108e-05 2.76104671e-01] [ 2.66749886e-02 5.92671520e-04 9.99643983e-01 -1.15435564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.302414037 meters Centerline goodness [0,1] 0.7986183401154537 Centerline is valid? [False, False] Translation: X:3.31, Y:0.28, Z:-1.15 [[ 9.99371823e-01 2.30611734e-02 -2.69098689e-02 3.31479265e+00] [-2.30675856e-02 9.99733905e-01 7.21618668e-05 2.75581447e-01] [ 2.69043725e-02 5.48629167e-04 9.99637861e-01 -1.15419132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.332414037 meters Centerline goodness [0,1] 0.8034406565656566 Centerline is valid? [False, False] Translation: X:3.32, Y:0.28, Z:-1.15 [[ 9.99368329e-01 2.30627935e-02 -2.70379289e-02 3.31504461e+00] [-2.30730618e-02 9.99733779e-01 -6.78112098e-05 2.75273851e-01] [ 2.70291669e-02 6.91616179e-04 9.99634406e-01 -1.15390624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.362414037 meters Centerline goodness [0,1] 0.799369383572442 Centerline is valid? [False, False] Translation: X:3.32, Y:0.28, Z:-1.15 [[ 9.99369726e-01 2.29109383e-02 -2.71152872e-02 3.31505152e+00] [-2.29270176e-02 9.99737102e-01 -2.82210881e-04 2.75014279e-01] [ 2.71016929e-02 9.03705677e-04 9.99632273e-01 -1.15360056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.392414037 meters Centerline goodness [0,1] 0.7993268958575788 Centerline is valid? [False, False] Translation: X:3.32, Y:0.28, Z:-1.15 [[ 0.99940555 0.02014949 -0.02797384 3.31804513] [-0.02027633 0.99978535 -0.00425814 0.27566427] [ 0.02788204 0.00482281 0.99959959 -1.15334118] [ 0. 0. 0. 1. ]] SLAMing on 279.422414037 meters Centerline goodness [0,1] 0.8006528767381274 Centerline is valid? [False, False] Translation: X:3.32, Y:0.27, Z:-1.15 [[ 0.99940082 0.02028205 -0.02804726 3.31844025] [-0.02039064 0.99978564 -0.00359113 0.27394605] [ 0.02796841 0.00416088 0.99960015 -1.15414541] [ 0. 0. 0. 1. ]] SLAMing on 279.452414037 meters Centerline goodness [0,1] 0.8005016460260229 Centerline is valid? [False, False] Translation: X:3.32, Y:0.27, Z:-1.15 [[ 9.99404052e-01 2.01758614e-02 -2.80084817e-02 3.31825985e+00] [-2.02734263e-02 9.99789340e-01 -3.20378677e-03 2.72571993e-01] [ 2.79379422e-02 3.76970537e-03 9.99602551e-01 -1.15450554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48241403699996 meters Centerline goodness [0,1] 0.8055746946445349 Centerline is valid? [False, False] Translation: X:3.32, Y:0.27, Z:-1.15 [[ 9.99396412e-01 2.03096699e-02 -2.81838398e-02 3.31872507e+00] [-2.03962836e-02 9.99788084e-01 -2.78907193e-03 2.71336746e-01] [ 2.81212220e-02 3.36223407e-03 9.99598866e-01 -1.15480090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.512414037 meters Centerline goodness [0,1] 0.8064193518142326 Centerline is valid? [False, False] Translation: X:3.32, Y:0.27, Z:-1.16 [[ 9.99397264e-01 2.02203075e-02 -2.82178595e-02 3.31871092e+00] [-2.02968458e-02 9.99791048e-01 -2.42859508e-03 2.70218701e-01] [ 2.81628563e-02 2.99986482e-03 9.99598847e-01 -1.15511679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54241403699996 meters Centerline goodness [0,1] 0.8108032291244585 Centerline is valid? [False, False] Translation: X:3.33, Y:0.27, Z:-1.16 [[ 0.999564 0.01889848 -0.02268619 3.33253232] [-0.0187367 0.99979764 0.00732249 0.26714484] [ 0.02281998 -0.00689423 0.99971582 -1.1615786 ] [ 0. 0. 0. 1. ]] SLAMing on 279.572414037 meters Centerline goodness [0,1] 0.8127928040477231 Centerline is valid? [False, False] Translation: X:3.33, Y:0.27, Z:-1.16 [[ 0.99956334 0.01879081 -0.02280421 3.33261247] [-0.01863756 0.9998024 0.00691419 0.26733344] [ 0.02292963 -0.00648616 0.99971604 -1.16092221] [ 0. 0. 0. 1. ]] SLAMing on 279.60241403699996 meters Centerline goodness [0,1] 0.8142682964954513 Centerline is valid? [False, False] Translation: X:3.33, Y:0.27, Z:-1.16 [[ 9.99601728e-01 1.61882145e-02 -2.31155287e-02 3.33439113e+00] [-1.61392135e-02 9.99867098e-01 2.30482761e-03 2.70021119e-01] [ 2.31497676e-02 -1.93084321e-03 9.99730144e-01 -1.15958249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.632414037 meters Centerline goodness [0,1] 0.8167755242351323 Centerline is valid? [False, False] Translation: X:3.33, Y:0.27, Z:-1.16 [[ 9.99604648e-01 1.59941039e-02 -2.31243784e-02 3.33414775e+00] [-1.59485345e-02 9.99870494e-01 2.15371639e-03 2.69690098e-01] [ 2.31558304e-02 -1.78406496e-03 9.99730276e-01 -1.15923425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66241403699996 meters Centerline goodness [0,1] 0.819263968090742 Centerline is valid? [False, False] Translation: X:3.34, Y:0.27, Z:-1.16 [[ 9.99644436e-01 1.23586358e-02 -2.36276495e-02 3.33540675e+00] [-1.24222339e-02 9.99919598e-01 -2.54679709e-03 2.71092640e-01] [ 2.35942748e-02 2.83939973e-03 9.99717584e-01 -1.15798018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.692414037 meters Centerline goodness [0,1] 0.8221724105725227 Centerline is valid? [False, False] Translation: X:3.34, Y:0.27, Z:-1.16 [[ 9.99648045e-01 1.21393443e-02 -2.35886288e-02 3.33514648e+00] [-1.21975670e-02 9.99922902e-01 -2.32593515e-03 2.70019330e-01] [ 2.35585749e-02 2.61284041e-03 9.99719044e-01 -1.15824480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72241403699996 meters Centerline goodness [0,1] 0.8246436667391237 Centerline is valid? [False, False] Translation: X:3.33, Y:0.27, Z:-1.16 [[ 9.99661486e-01 1.16629683e-02 -2.32569916e-02 3.33439652e+00] [-1.17135301e-02 9.99929315e-01 -2.03900164e-03 2.68607961e-01] [ 2.32315669e-02 2.31073288e-03 9.99727440e-01 -1.15902506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.752414037 meters Centerline goodness [0,1] 0.8293947768841412 Centerline is valid? [False, False] Translation: X:3.33, Y:0.27, Z:-1.16 [[ 9.99666419e-01 1.14197181e-02 -2.31655038e-02 3.33400064e+00] [-1.14685366e-02 9.99932283e-01 -1.97561599e-03 2.68292277e-01] [ 2.31413741e-02 2.24063139e-03 9.99729692e-01 -1.15913635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78241403699997 meters Centerline goodness [0,1] 0.8314822857851958 Centerline is valid? [False, False] Translation: X:3.33, Y:0.27, Z:-1.16 [[ 9.99662473e-01 1.14866978e-02 -2.33022602e-02 3.33428410e+00] [-1.15322692e-02 9.99931841e-01 -1.82221893e-03 2.67967738e-01] [ 2.32797407e-02 2.09033182e-03 9.99726805e-01 -1.15917215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.812414037 meters Centerline goodness [0,1] 0.8297429848522473 Centerline is valid? [False, False] Translation: X:3.33, Y:0.27, Z:-1.16 [[ 9.99661036e-01 1.14545934e-02 -2.33795750e-02 3.33432008e+00] [-1.15002860e-02 9.99932212e-01 -1.82085749e-03 2.68085587e-01] [ 2.33571329e-02 2.08911208e-03 9.99725002e-01 -1.15897874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84241403699997 meters Centerline goodness [0,1] 0.8316083916083916 Centerline is valid? [False, False] Translation: X:3.33, Y:0.27, Z:-1.16 [[ 9.99657810e-01 1.14912399e-02 -2.34992449e-02 3.33458180e+00] [-1.15354348e-02 9.99931940e-01 -1.74599685e-03 2.67906441e-01] [ 2.34775819e-02 2.01647339e-03 9.99722330e-01 -1.15898205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.872414037 meters Centerline goodness [0,1] 0.8379785509415139 Centerline is valid? [False, False] Translation: X:3.33, Y:0.27, Z:-1.16 [[ 9.99668828e-01 1.08809970e-02 -2.33203188e-02 3.33333936e+00] [-1.09288672e-02 9.99938423e-01 -1.92625637e-03 2.67463004e-01] [ 2.32979232e-02 2.18048312e-03 9.99726189e-01 -1.15845205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90241403699997 meters Centerline goodness [0,1] 0.8428558084503535 Centerline is valid? [False, False] Translation: X:3.33, Y:0.27, Z:-1.16 [[ 9.99677253e-01 1.05239596e-02 -2.31222201e-02 3.33263152e+00] [-1.05672674e-02 9.99942631e-01 -1.75160256e-03 2.66614910e-01] [ 2.31024598e-02 1.99537592e-03 9.99731111e-01 -1.15869142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.932414037 meters Centerline goodness [0,1] 0.8448088111757568 Centerline is valid? [False, False] Translation: X:3.33, Y:0.27, Z:-1.16 [[ 9.99690453e-01 9.98147530e-03 -2.27896486e-02 3.33130332e+00] [-1.00178662e-02 9.99948720e-01 -1.48320815e-03 2.65230985e-01] [ 2.27736754e-02 1.71105268e-03 9.99739182e-01 -1.15885194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.962414037 meters Centerline goodness [0,1] 0.8467107920822846 Centerline is valid? [False, False] Translation: X:3.33, Y:0.26, Z:-1.16 [[ 9.99711188e-01 8.81701195e-03 -2.23562257e-02 3.32913325e+00] [-8.84633512e-03 9.99960135e-01 -1.21307321e-03 2.62953591e-01] [ 2.23446388e-02 1.41049353e-03 9.99749332e-01 -1.15901718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.992414037 meters Centerline goodness [0,1] 0.8469940253920837 Centerline is valid? [False, False] Translation: X:3.33, Y:0.26, Z:-1.16 [[ 9.99722248e-01 8.22407567e-03 -2.20859891e-02 3.32793740e+00] [-8.25469544e-03 9.99965090e-01 -1.29557801e-03 2.62166736e-01] [ 2.20745632e-02 1.47753128e-03 9.99755235e-01 -1.15882449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.022414037 meters Centerline goodness [0,1] 0.856250776686964 Centerline is valid? [False, False] Translation: X:3.33, Y:0.26, Z:-1.16 [[ 9.99737551e-01 7.33593974e-03 -2.17028582e-02 3.32633923e+00] [-7.35675180e-03 9.99972552e-01 -8.79268811e-04 2.60483603e-01] [ 2.16958122e-02 1.03870059e-03 9.99764079e-01 -1.15940204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.052414037 meters Centerline goodness [0,1] 0.8562004045433328 Centerline is valid? [False, False] Translation: X:3.33, Y:0.26, Z:-1.16 [[ 9.99743892e-01 6.88926646e-03 -2.15566373e-02 3.32557674e+00] [-6.91144150e-03 9.99975660e-01 -9.54353087e-04 2.59987326e-01] [ 2.15495378e-02 1.10309611e-03 9.99767173e-01 -1.15926361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.082414037 meters Centerline goodness [0,1] 0.8569294450841867 Centerline is valid? [False, False] Translation: X:3.32, Y:0.26, Z:-1.16 [[ 9.99749039e-01 6.51557310e-03 -2.14337593e-02 3.32498013e+00] [-6.53969300e-03 9.99978059e-01 -1.05542135e-03 2.59787476e-01] [ 2.14264123e-02 1.19532669e-03 9.99769714e-01 -1.15914924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.112414037 meters Centerline goodness [0,1] 0.8627688673380579 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.17 [[ 0.99986565 0.00447854 -0.01576788 3.33732747] [-0.00434155 0.99995263 0.00871102 0.25684631] [ 0.01580615 -0.00864139 0.99983773 -1.16553051] [ 0. 0. 0. 1. ]] SLAMing on 280.142414037 meters Centerline goodness [0,1] 0.8584084599307483 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.99987108 0.00394722 -0.01556389 3.33619146] [-0.00382045 0.99995935 0.00816684 0.25696605] [ 0.01559549 -0.00810632 0.99984552 -1.16459717] [ 0. 0. 0. 1. ]] SLAMing on 280.172414037 meters Centerline goodness [0,1] 0.8563344172086043 Centerline is valid? [False, False] Translation: X:3.33, Y:0.26, Z:-1.16 [[ 9.99875229e-01 3.12514446e-03 -1.54841729e-02 3.33433925e+00] [-3.02505767e-03 9.99974409e-01 6.48302313e-03 2.59043665e-01] [ 1.55040371e-02 -6.43537372e-03 9.99859095e-01 -1.16145957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.202414037 meters Centerline goodness [0,1] 0.8608725523874957 Centerline is valid? [False, False] Translation: X:3.33, Y:0.26, Z:-1.16 [[ 9.99873216e-01 2.99115184e-03 -1.56398609e-02 3.33423469e+00] [-2.90175971e-03 9.99979343e-01 5.73523264e-03 2.59913431e-01] [ 1.56566927e-02 -5.68912238e-03 9.99861241e-01 -1.16022981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23241403699996 meters Centerline goodness [0,1] 0.8584834834834835 Centerline is valid? [False, False] Translation: X:3.33, Y:0.26, Z:-1.16 [[ 9.99871352e-01 2.93773911e-03 -1.57686193e-02 3.33419656e+00] [-2.85448436e-03 9.99981882e-01 5.29968739e-03 2.60265928e-01] [ 1.57839028e-02 -5.25399432e-03 9.99861622e-01 -1.15935472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.262414037 meters Centerline goodness [0,1] 0.8593002532595442 Centerline is valid? [False, False] Translation: X:3.33, Y:0.26, Z:-1.16 [[ 9.99866693e-01 3.12414872e-03 -1.60260844e-02 3.33488841e+00] [-3.04405358e-03 9.99982768e-01 5.01976024e-03 2.60368928e-01] [ 1.60414908e-02 -4.97030681e-03 9.99858973e-01 -1.15889728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29241403699996 meters Centerline goodness [0,1] 0.8592797435736284 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.99985981 0.00347828 -0.01637884 3.33592992] [-0.00339426 0.99998095 0.00515474 0.25968844] [ 0.01639646 -0.00509842 0.99985257 -1.15888698] [ 0. 0. 0. 1. ]] SLAMing on 280.322414037 meters Centerline goodness [0,1] 0.8590797815579687 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.99985598 0.00365648 -0.01657264 3.33658143] [-0.00357249 0.99998064 0.0050946 0.2593701 ] [ 0.01659095 -0.00503466 0.99984969 -1.15879807] [ 0. 0. 0. 1. ]] SLAMing on 280.35241403699996 meters Centerline goodness [0,1] 0.8609331826174328 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.99984446 0.0043396 -0.01709446 3.33865118] [-0.00424407 0.9999752 0.00562112 0.25820529] [ 0.01711843 -0.00554769 0.99983808 -1.15972475] [ 0. 0. 0. 1. ]] SLAMing on 280.382414037 meters Centerline goodness [0,1] 0.8557770672685098 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.99984033 0.00459466 -0.01726851 3.33945732] [-0.00449734 0.99997381 0.00566991 0.25760167] [ 0.0172941 -0.00559134 0.99983481 -1.15987987] [ 0. 0. 0. 1. ]] SLAMing on 280.41241403699996 meters Centerline goodness [0,1] 0.8617121354656632 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.99983705 0.00479853 -0.01740271 3.34002924] [-0.00469858 0.99997226 0.00577992 0.25692207] [ 0.01742997 -0.00569721 0.99983185 -1.16000803] [ 0. 0. 0. 1. ]] SLAMing on 280.442414037 meters Centerline goodness [0,1] 0.859023793849337 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.9998367 0.00479209 -0.01742459 3.34002148] [-0.00468939 0.99997142 0.00592978 0.2556382 ] [ 0.01745251 -0.0058471 0.9998306 -1.15997369] [ 0. 0. 0. 1. ]] SLAMing on 280.47241403699996 meters Centerline goodness [0,1] 0.8567845497868072 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.9998367 0.00465933 -0.01746017 3.3397867 ] [-0.00456138 0.99997366 0.00564522 0.25545977] [ 0.01748601 -0.00556466 0.99983162 -1.15933573] [ 0. 0. 0. 1. ]] SLAMing on 280.502414037 meters Centerline goodness [0,1] 0.8536417199448414 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.99984014 0.00437646 -0.01733595 3.33914481] [-0.0042843 0.99997651 0.00534966 0.2553083 ] [ 0.01735895 -0.00527454 0.99983541 -1.15874723] [ 0. 0. 0. 1. ]] SLAMing on 280.53241403699997 meters Centerline goodness [0,1] 0.8539135348968635 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.99984658 0.00364646 -0.01713221 3.33743108] [-0.00356414 0.99998197 0.00483316 0.25509327] [ 0.01714953 -0.00477136 0.99984155 -1.15731708] [ 0. 0. 0. 1. ]] SLAMing on 280.562414037 meters Centerline goodness [0,1] 0.8521924730845287 Centerline is valid? [False, False] Translation: X:3.34, Y:0.25, Z:-1.16 [[ 9.99849045e-01 3.16133708e-03 -1.70848748e-02 3.33649773e+00] [-3.08511445e-03 9.99985179e-01 4.48592619e-03 2.54762448e-01] [ 1.70988031e-02 -4.43254023e-03 9.99843980e-01 -1.15638830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59241403699997 meters Centerline goodness [0,1] 0.857742551925065 Centerline is valid? [False, False] Translation: X:3.34, Y:0.25, Z:-1.16 [[ 9.99855028e-01 2.57912208e-03 -1.68306792e-02 3.33530854e+00] [-2.50671982e-03 9.99987520e-01 4.32148241e-03 2.54111875e-01] [ 1.68416148e-02 -4.27866612e-03 9.99849015e-01 -1.15594744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.622414037 meters Centerline goodness [0,1] 0.8577918415940848 Centerline is valid? [False, False] Translation: X:3.33, Y:0.25, Z:-1.16 [[ 9.99860289e-01 9.99005320e-04 -1.66854715e-02 3.33323243e+00] [-9.30980119e-04 9.99991226e-01 4.08418215e-03 2.52098228e-01] [ 1.66894052e-02 -4.06807770e-03 9.99852446e-01 -1.15533393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65241403699997 meters Centerline goodness [0,1] 0.8569461827284105 Centerline is valid? [False, False] Translation: X:3.33, Y:0.25, Z:-1.16 [[ 9.99865884e-01 3.22231706e-04 -1.63740565e-02 3.33201628e+00] [-2.51844789e-04 9.99990721e-01 4.30056558e-03 2.50776035e-01] [ 1.63752903e-02 -4.29586508e-03 9.99856687e-01 -1.15558594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.682414037 meters Centerline goodness [0,1] 0.8577318299653309 Centerline is valid? [False, False] Translation: X:3.33, Y:0.25, Z:-1.16 [[ 9.99854370e-01 -4.02458136e-03 -1.65844060e-02 3.33202537e+00] [ 4.02778224e-03 9.99991876e-01 1.59608025e-04 2.50395783e-01] [ 1.65836289e-02 -2.26383157e-04 9.99862457e-01 -1.15507055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.712414037 meters Centerline goodness [0,1] 0.8535279653895235 Centerline is valid? [False, False] Translation: X:3.33, Y:0.25, Z:-1.16 [[ 9.99856187e-01 -4.91114713e-03 -1.62322241e-02 3.33062430e+00] [ 4.91933785e-03 9.99987792e-01 4.64706127e-04 2.48612752e-01] [ 1.62297437e-02 -5.44491091e-04 9.99868141e-01 -1.15549104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.742414037 meters Centerline goodness [0,1] 0.8520552194819295 Centerline is valid? [False, False] Translation: X:3.33, Y:0.25, Z:-1.16 [[ 9.99855962e-01 -4.93752696e-03 -1.62381349e-02 3.33088739e+00] [ 4.95501181e-03 9.99987186e-01 1.03672030e-03 2.47239265e-01] [ 1.62328080e-02 -1.11703112e-03 9.99867615e-01 -1.15639054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.772414037 meters Centerline goodness [0,1] 0.8474707688490525 Centerline is valid? [False, False] Translation: X:3.33, Y:0.25, Z:-1.16 [[ 9.99856429e-01 -5.03134039e-03 -1.61804395e-02 3.33100602e+00] [ 5.05112737e-03 9.99986544e-01 1.18225957e-03 2.47031537e-01] [ 1.61742734e-02 -1.26381929e-03 9.99868389e-01 -1.15695672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.802414037 meters Centerline goodness [0,1] 0.8459313176558417 Centerline is valid? [False, False] Translation: X:3.33, Y:0.25, Z:-1.16 [[ 9.99857512e-01 -5.48942670e-03 -1.59631191e-02 3.33030269e+00] [ 5.50156196e-03 9.99984610e-01 7.16391421e-04 2.48253124e-01] [ 1.59589409e-02 -8.04111433e-04 9.99872325e-01 -1.15676940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.832414037 meters Centerline goodness [0,1] 0.8380463524653912 Centerline is valid? [False, False] Translation: X:3.33, Y:0.25, Z:-1.16 [[ 9.99856659e-01 -5.92951358e-03 -1.58587965e-02 3.32960987e+00] [ 5.93911468e-03 9.99982207e-01 5.58383115e-04 2.48956393e-01] [ 1.58552034e-02 -6.52490287e-04 9.99874085e-01 -1.15661853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.862414037 meters Centerline goodness [0,1] 0.8173528771045343 Centerline is valid? [False, False] Translation: X:3.33, Y:0.25, Z:-1.16 [[ 9.99852257e-01 -7.47860150e-03 -1.54769041e-02 3.32682545e+00] [ 7.48009047e-03 9.99972023e-01 3.83197469e-05 2.49309166e-01] [ 1.54761845e-02 -1.54082728e-04 9.99880225e-01 -1.15544710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.892414037 meters Centerline goodness [0,1] 0.8077403635909289 Centerline is valid? [False, False] Translation: X:3.33, Y:0.25, Z:-1.16 [[ 9.99851719e-01 -7.87549377e-03 -1.53139210e-02 3.32607264e+00] [ 7.87147708e-03 9.99968967e-01 -3.22548644e-04 2.50037389e-01] [ 1.53159860e-02 2.01957637e-04 9.99882683e-01 -1.15503405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.922414037 meters Centerline goodness [0,1] 0.7979725514660012 Centerline is valid? [False, False] Translation: X:3.33, Y:0.25, Z:-1.16 [[ 9.99850159e-01 -8.07033579e-03 -1.53143654e-02 3.32612690e+00] [ 8.06274725e-03 9.99967340e-01 -5.57195397e-04 2.50897398e-01] [ 1.53183620e-02 4.33636049e-04 9.99882573e-01 -1.15516896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.952414037 meters Centerline goodness [0,1] 0.7932677239390711 Centerline is valid? [False, False] Translation: X:3.33, Y:0.25, Z:-1.16 [[ 9.99848837e-01 -8.49807497e-03 -1.51685844e-02 3.32589014e+00] [ 8.48131044e-03 9.99963349e-01 -1.16920201e-03 2.53131289e-01] [ 1.51779645e-02 1.04037580e-03 9.99884267e-01 -1.15533601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98241403699996 meters Centerline goodness [0,1] 0.7857232625361317 Centerline is valid? [False, False] Translation: X:3.33, Y:0.25, Z:-1.16 [[ 9.99847334e-01 -8.58621478e-03 -1.52179289e-02 3.32628032e+00] [ 8.56719089e-03 9.99962437e-01 -1.31484879e-03 2.54461521e-01] [ 1.52286469e-02 1.18427316e-03 9.99883336e-01 -1.15582438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.012414037 meters Centerline goodness [0,1] 0.7811716006021074 Centerline is valid? [False, False] Translation: X:3.33, Y:0.26, Z:-1.16 [[ 9.99845350e-01 -8.67404183e-03 -1.52982509e-02 3.32689011e+00] [ 8.65241142e-03 9.99961473e-01 -1.47953651e-03 2.55985221e-01] [ 1.53104951e-02 1.34694094e-03 9.99881880e-01 -1.15649470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04241403699996 meters Centerline goodness [0,1] 0.7688421584414764 Centerline is valid? [False, False] Translation: X:3.33, Y:0.26, Z:-1.16 [[ 9.99842637e-01 -9.25734631e-03 -1.51328580e-02 3.32670623e+00] [ 9.23055817e-03 9.99955706e-01 -1.83908768e-03 2.58655608e-01] [ 1.51492128e-02 1.69911355e-03 9.99883800e-01 -1.15737385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.072414037 meters Centerline goodness [0,1] 0.7628444726005702 Centerline is valid? [False, False] Translation: X:3.33, Y:0.26, Z:-1.16 [[ 9.99840736e-01 -9.74754362e-03 -1.49495209e-02 3.32606641e+00] [ 9.71771984e-03 9.99950647e-01 -2.06631368e-03 2.59877700e-01] [ 1.49689246e-02 1.92070933e-03 9.99886115e-01 -1.15753179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10241403699996 meters Centerline goodness [0,1] 0.753014724549378 Centerline is valid? [False, False] Translation: X:3.33, Y:0.26, Z:-1.16 [[ 9.99838771e-01 -1.03462362e-02 -1.46760634e-02 3.32514629e+00] [ 1.03138164e-02 9.99944205e-01 -2.28299395e-03 2.60817484e-01] [ 1.46988650e-02 2.13125965e-03 9.99889694e-01 -1.15768135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.132414037 meters Centerline goodness [0,1] 0.7468322271269332 Centerline is valid? [False, False] Translation: X:3.32, Y:0.26, Z:-1.16 [[ 9.99832012e-01 -1.17153915e-02 -1.40960412e-02 3.32287681e+00] [ 1.16764047e-02 9.99927781e-01 -2.84492901e-03 2.62338070e-01] [ 1.41283527e-02 2.67986001e-03 9.99896599e-01 -1.15764405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16241403699996 meters Centerline goodness [0,1] 0.7468322271269332 Centerline is valid? [False, False] Translation: X:3.32, Y:0.26, Z:-1.16 [[ 9.99832012e-01 -1.17153915e-02 -1.40960412e-02 3.32287681e+00] [ 1.16764047e-02 9.99927781e-01 -2.84492901e-03 2.62338070e-01] [ 1.41283527e-02 2.67986001e-03 9.99896599e-01 -1.15764405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.192414037 meters Centerline goodness [0,1] 0.7427399090301854 Centerline is valid? [False, False] Translation: X:3.32, Y:0.26, Z:-1.16 [[ 9.99828983e-01 -1.25249338e-02 -1.36062729e-02 3.32115959e+00] [ 1.24824885e-02 9.99916970e-01 -3.20000222e-03 2.63118724e-01] [ 1.36452230e-02 3.02961482e-03 9.99902310e-01 -1.15744842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22241403699996 meters Centerline goodness [0,1] 0.7364969746887573 Centerline is valid? [False, False] Translation: X:3.33, Y:0.26, Z:-1.16 [[ 0.99982987 -0.01704517 -0.00704969 3.32933265] [ 0.017082 0.99984058 0.00519813 0.26257167] [ 0.00695996 -0.00531767 0.99996164 -1.16254874] [ 0. 0. 0. 1. ]] SLAMing on 281.252414037 meters Centerline goodness [0,1] 0.7329904435343049 Centerline is valid? [False, False] Translation: X:3.33, Y:0.26, Z:-1.16 [[ 0.99981264 -0.01826546 -0.00640831 3.326531 ] [ 0.01829668 0.99982085 0.00484694 0.26219746] [ 0.00631863 -0.00496328 0.99996772 -1.1617271 ] [ 0. 0. 0. 1. ]] SLAMing on 281.28241403699997 meters Centerline goodness [0,1] 0.7273361006369023 Centerline is valid? [False, False] Translation: X:3.32, Y:0.26, Z:-1.16 [[ 0.99979821 -0.01914603 -0.0060795 3.32456599] [ 0.01917237 0.99980693 0.00430472 0.2622826 ] [ 0.0059959 -0.00442041 0.99997225 -1.16046842] [ 0. 0. 0. 1. ]] SLAMing on 281.312414037 meters Centerline goodness [0,1] 0.7300781001968379 Centerline is valid? [False, False] Translation: X:3.33, Y:0.26, Z:-1.16 [[ 0.99980105 -0.01888723 -0.00641411 3.32515147] [ 0.01891275 0.99981337 0.00394168 0.26302873] [ 0.00633847 -0.00406221 0.99997166 -1.15959578] [ 0. 0. 0. 1. ]] SLAMing on 281.34241403699997 meters Centerline goodness [0,1] 0.7337073665525549 Centerline is valid? [False, False] Translation: X:3.33, Y:0.26, Z:-1.16 [[ 0.99982016 -0.01765257 -0.00692997 3.32796473] [ 0.01768406 0.99983346 0.00450927 0.26285028] [ 0.00684922 -0.00463101 0.99996582 -1.16096618] [ 0. 0. 0. 1. ]] SLAMing on 281.372414037 meters Centerline goodness [0,1] 0.7335504474025358 Centerline is valid? [False, False] Translation: X:3.33, Y:0.26, Z:-1.16 [[ 0.99983206 -0.01679432 -0.00733489 3.33014053] [ 0.01683258 0.99984487 0.00518615 0.26190548] [ 0.00724666 -0.00530874 0.99995965 -1.16234039] [ 0. 0. 0. 1. ]] SLAMing on 281.40241403699997 meters Centerline goodness [0,1] 0.7334426126154525 Centerline is valid? [False, False] Translation: X:3.33, Y:0.26, Z:-1.16 [[ 0.99985143 -0.01534528 -0.00785129 3.33350159] [ 0.01539654 0.99986026 0.00651131 0.26037946] [ 0.00775027 -0.00663122 0.99994798 -1.16498484] [ 0. 0. 0. 1. ]] SLAMing on 281.432414037 meters Centerline goodness [0,1] 0.7339976035820143 Centerline is valid? [False, False] Translation: X:3.33, Y:0.26, Z:-1.17 [[ 0.99985524 -0.01493997 -0.0081419 3.33467678] [ 0.01499395 0.99986574 0.00660862 0.26039837] [ 0.00804207 -0.00672974 0.99994502 -1.16532526] [ 0. 0. 0. 1. ]] SLAMing on 281.462414037 meters Centerline goodness [0,1] 0.7389390270746203 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.9998589 -0.01432098 -0.00877974 3.3361614 ] [ 0.0143723 0.99987983 0.00581029 0.26179933] [ 0.00869547 -0.00593566 0.99994458 -1.16369763] [ 0. 0. 0. 1. ]] SLAMing on 281.492414037 meters Centerline goodness [0,1] 0.7418489410724994 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.99985788 -0.01435959 -0.00883353 3.33591419] [ 0.01440613 0.99988256 0.00522731 0.26275408] [ 0.00875743 -0.00535383 0.99994732 -1.16255297] [ 0. 0. 0. 1. ]] SLAMing on 281.522414037 meters Centerline goodness [0,1] 0.7416656183167694 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.99985504 -0.01454952 -0.00884358 3.33547049] [ 0.01458945 0.99988358 0.00446853 0.26357062] [ 0.00877753 -0.0045969 0.99995091 -1.16123618] [ 0. 0. 0. 1. ]] SLAMing on 281.552414037 meters Centerline goodness [0,1] 0.7907535654428739 Centerline is valid? [False, False] Translation: X:3.33, Y:0.26, Z:-1.16 [[ 0.99985341 -0.01469268 -0.00879134 3.33486142] [ 0.01472972 0.99988285 0.00416302 0.26357898] [ 0.00872914 -0.0042919 0.99995269 -1.16032769] [ 0. 0. 0. 1. ]] SLAMing on 281.582414037 meters Centerline goodness [0,1] 0.7860821504836075 Centerline is valid? [False, False] Translation: X:3.33, Y:0.26, Z:-1.16 [[ 0.99985392 -0.01456944 -0.0089369 3.33476414] [ 0.01460253 0.99988672 0.00364964 0.26327426] [ 0.00888272 -0.00377961 0.9999534 -1.15879005] [ 0. 0. 0. 1. ]] SLAMing on 281.612414037 meters Centerline goodness [0,1] 0.7822590817356205 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.99985875 -0.01406648 -0.0091982 3.33566466] [ 0.01410313 0.99989282 0.00393161 0.26241962] [ 0.00914191 -0.00406077 0.99994997 -1.1588189 ] [ 0. 0. 0. 1. ]] SLAMing on 281.642414037 meters Centerline goodness [0,1] 0.783889361434017 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.99986317 -0.01357212 -0.0094568 3.3369567 ] [ 0.01361322 0.99989811 0.00429538 0.26187656] [ 0.00939754 -0.00442353 0.99994606 -1.15952429] [ 0. 0. 0. 1. ]] SLAMing on 281.672414037 meters Centerline goodness [0,1] 0.7975759483708484 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.99986809 -0.01291923 -0.00984342 3.33871225] [ 0.01296841 0.99990366 0.00494898 0.26100089] [ 0.00977853 -0.00507598 0.99993931 -1.16067382] [ 0. 0. 0. 1. ]] SLAMing on 281.702414037 meters Centerline goodness [0,1] 0.803492762743864 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.99987206 -0.01235952 -0.01015425 3.34029696] [ 0.01241566 0.99990788 0.00548447 0.26033996] [ 0.01008553 -0.00560984 0.9999334 -1.16178072] [ 0. 0. 0. 1. ]] SLAMing on 281.73241403699996 meters Centerline goodness [0,1] 0.8001947480839302 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.99987951 -0.0114626 -0.01046804 3.34250665] [ 0.01152899 0.99991367 0.0063041 0.25905425] [ 0.01039487 -0.00642403 0.99992534 -1.16345783] [ 0. 0. 0. 1. ]] SLAMing on 281.762414037 meters Centerline goodness [0,1] 0.8013866231647635 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.99988084 -0.01128902 -0.01052944 3.34289751] [ 0.01135688 0.99991498 0.00640772 0.25862713] [ 0.0104562 -0.00652654 0.99992403 -1.16357776] [ 0. 0. 0. 1. ]] SLAMing on 281.79241403699996 meters Centerline goodness [0,1] 0.8005502063273727 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.9998793 -0.01143169 -0.01052119 3.34230074] [ 0.01149607 0.99991544 0.0060795 0.2579897 ] [ 0.0104508 -0.00619972 0.99992617 -1.16238154] [ 0. 0. 0. 1. ]] SLAMing on 281.822414037 meters Centerline goodness [0,1] 0.8008639038437461 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.99987607 -0.01189633 -0.01031112 3.34099756] [ 0.01195588 0.99991209 0.00573269 0.25790738] [ 0.01024202 -0.00585526 0.99993041 -1.16140011] [ 0. 0. 0. 1. ]] SLAMing on 281.85241403699996 meters Centerline goodness [0,1] 0.7979573989630833 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.999875 -0.01205624 -0.01022935 3.34009886] [ 0.01211276 0.99991161 0.00548157 0.25693787] [ 0.01016236 -0.0056048 0.99993265 -1.16012872] [ 0. 0. 0. 1. ]] SLAMing on 281.882414037 meters Centerline goodness [0,1] 0.7968233164825563 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.99987407 -0.01216872 -0.01018686 3.33979816] [ 0.01222323 0.99991122 0.00530572 0.25672033] [ 0.01012139 -0.00542956 0.99993404 -1.15969057] [ 0. 0. 0. 1. ]] SLAMing on 281.91241403699996 meters Centerline goodness [0,1] 0.8097783613117009 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.999875 -0.01192382 -0.01038299 3.3403735 ] [ 0.01198092 0.99991335 0.00545521 0.25622543] [ 0.01031704 -0.00557892 0.99993121 -1.15969274] [ 0. 0. 0. 1. ]] SLAMing on 281.942414037 meters Centerline goodness [0,1] 0.7969199050356116 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.99987707 -0.01156856 -0.01058334 3.34127895] [ 0.01162834 0.99991668 0.00560467 0.25585902] [ 0.01051762 -0.00572705 0.99992829 -1.16000867] [ 0. 0. 0. 1. ]] SLAMing on 281.97241403699996 meters Centerline goodness [0,1] 0.8087878599415387 Centerline is valid? [False, False] Translation: X:3.34, Y:0.26, Z:-1.16 [[ 0.99988434 -0.01038927 -0.01110675 3.34395112] [ 0.01045872 0.999926 0.00621359 0.25506843] [ 0.01104137 -0.00632903 0.99991901 -1.16108942] [ 0. 0. 0. 1. ]] SLAMing on 282.002414037 meters Centerline goodness [0,1] 0.8238170887456001 Centerline is valid? [False, False] Translation: X:3.34, Y:0.25, Z:-1.16 [[ 0.99988476 -0.01013544 -0.01130211 3.34478514] [ 0.01020829 0.99992737 0.00640632 0.25481713] [ 0.01123636 -0.00652096 0.99991561 -1.16153545] [ 0. 0. 0. 1. ]] SLAMing on 282.03241403699997 meters Centerline goodness [0,1] 0.8214884761135616 Centerline is valid? [False, False] Translation: X:3.35, Y:0.25, Z:-1.16 [[ 0.99988824 -0.00946429 -0.01157273 3.34632649] [ 0.00954463 0.9999306 0.00690661 0.2542453 ] [ 0.01150656 -0.00701629 0.99990918 -1.16242432] [ 0. 0. 0. 1. ]] SLAMing on 282.062414037 meters Centerline goodness [0,1] 0.8339961473932765 Centerline is valid? [False, False] Translation: X:3.35, Y:0.25, Z:-1.16 [[ 0.99988935 -0.00930045 -0.01161021 3.34668289] [ 0.0093827 0.99993113 0.0070501 0.25386601] [ 0.01154385 -0.00715826 0.99990775 -1.16264305] [ 0. 0. 0. 1. ]] SLAMing on 282.09241403699997 meters Centerline goodness [0,1] 0.8331782368633289 Centerline is valid? [False, False] Translation: X:3.35, Y:0.25, Z:-1.16 [[ 0.99989023 -0.00918323 -0.011627 3.3469827 ] [ 0.00926612 0.99993189 0.00709545 0.25342824] [ 0.01156105 -0.00720241 0.99990723 -1.16276664] [ 0. 0. 0. 1. ]] SLAMing on 282.122414037 meters Centerline goodness [0,1] 0.8226468681505263 Centerline is valid? [False, False] Translation: X:3.35, Y:0.25, Z:-1.16 [[ 0.9998917 -0.00901476 -0.01163299 3.34711472] [ 0.00909986 0.99993207 0.00728313 0.25218453] [ 0.01156654 -0.0073882 0.99990581 -1.16271698] [ 0. 0. 0. 1. ]] SLAMing on 282.15241403699997 meters Centerline goodness [0,1] 0.8241126864980076 Centerline is valid? [False, False] Translation: X:3.35, Y:0.25, Z:-1.16 [[ 0.99989209 -0.00914673 -0.01149563 3.34665071] [ 0.00922773 0.99993283 0.00701353 0.25225597] [ 0.0114307 -0.00711885 0.99990933 -1.16226015] [ 0. 0. 0. 1. ]] SLAMing on 282.182414037 meters Centerline goodness [0,1] 0.8464081569596786 Centerline is valid? [False, False] Translation: X:3.35, Y:0.25, Z:-1.16 [[ 0.99989116 -0.00902868 -0.01166863 3.34690976] [ 0.00910851 0.99993535 0.00680651 0.25248371] [ 0.01160643 -0.00691205 0.99990875 -1.16174731] [ 0. 0. 0. 1. ]] SLAMing on 282.212414037 meters Centerline goodness [0,1] 0.8502100580748795 Centerline is valid? [False, False] Translation: X:3.35, Y:0.25, Z:-1.16 [[ 0.99989332 -0.00837657 -0.01196583 3.34791166] [ 0.00845214 0.99994457 0.00627866 0.25372488] [ 0.01191258 -0.00637913 0.99990869 -1.16077993] [ 0. 0. 0. 1. ]] SLAMing on 282.242414037 meters Centerline goodness [0,1] 0.8511427952865493 Centerline is valid? [False, False] Translation: X:3.35, Y:0.26, Z:-1.16 [[ 0.99989207 -0.00806765 -0.0122781 3.34874687] [ 0.0081393 0.99995008 0.00579648 0.25502342] [ 0.01223073 -0.00589579 0.99990782 -1.16014714] [ 0. 0. 0. 1. ]] SLAMing on 282.272414037 meters Centerline goodness [0,1] 0.8604860765788165 Centerline is valid? [False, False] Translation: X:3.35, Y:0.25, Z:-1.16 [[ 0.99991791 -0.00352083 -0.01231983 3.34968463] [ 0.00364674 0.99994121 0.01021189 0.25491767] [ 0.01228315 -0.01025598 0.99987196 -1.1612392 ] [ 0. 0. 0. 1. ]] SLAMing on 282.302414037 meters Centerline goodness [0,1] 0.8569910951413842 Centerline is valid? [False, False] Translation: X:3.35, Y:0.26, Z:-1.16 [[ 9.99913560e-01 -2.76399757e-03 -1.28542598e-02 3.35171824e+00] [ 2.89006996e-03 9.99947806e-01 9.79961802e-03 2.56469738e-01] [ 1.28265027e-02 -9.83592066e-03 9.99869359e-01 -1.16109576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.332414037 meters Centerline goodness [0,1] 0.8554605531021955 Centerline is valid? [False, False] Translation: X:3.35, Y:0.26, Z:-1.16 [[ 9.99908193e-01 -1.96822484e-03 -1.34064387e-02 3.35385045e+00] [ 2.09407042e-03 9.99953820e-01 9.37939012e-03 2.58152614e-01] [ 1.33873588e-02 -9.40660305e-03 9.99866138e-01 -1.16094231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.362414037 meters Centerline goodness [0,1] 0.8463092119796762 Centerline is valid? [False, False] Translation: X:3.36, Y:0.26, Z:-1.16 [[ 9.99902159e-01 3.19635365e-03 -1.36181881e-02 3.35646280e+00] [-3.00847114e-03 9.99900323e-01 1.37946589e-02 2.59423810e-01] [ 1.36609233e-02 -1.37523393e-02 9.99812109e-01 -1.16295366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.392414037 meters Centerline goodness [0,1] 0.8429783342268756 Centerline is valid? [False, False] Translation: X:3.36, Y:0.26, Z:-1.16 [[ 0.99989612 0.00356968 -0.01396416 3.35739009] [-0.00338139 0.99990337 0.0134843 0.26010302] [ 0.01401094 -0.01343568 0.99981157 -1.16242917] [ 0. 0. 0. 1. ]] SLAMing on 282.422414037 meters Centerline goodness [0,1] 0.8434319563915934 Centerline is valid? [False, False] Translation: X:3.36, Y:0.26, Z:-1.16 [[ 9.99891514e-01 8.75222121e-04 -1.47035148e-02 3.35983259e+00] [-7.52158406e-04 9.99964662e-01 8.37312623e-03 2.62853539e-01] [ 1.47103235e-02 -8.36115850e-03 9.99856838e-01 -1.16034075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.452414037 meters Centerline goodness [0,1] 0.8428283337534661 Centerline is valid? [False, False] Translation: X:3.36, Y:0.26, Z:-1.16 [[ 9.99883619e-01 1.77757836e-03 -1.51521693e-02 3.36162445e+00] [-1.66221458e-03 9.99969564e-01 7.62287670e-03 2.64706235e-01] [ 1.51652584e-02 -7.59680339e-03 9.99856141e-01 -1.15934751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48241403699996 meters Centerline goodness [0,1] 0.842578001890955 Centerline is valid? [False, False] Translation: X:3.36, Y:0.27, Z:-1.16 [[ 9.99880711e-01 1.91116282e-03 -1.53267861e-02 3.36211424e+00] [-1.80164712e-03 9.99972772e-01 7.15600665e-03 2.65419596e-01] [ 1.53400450e-02 -7.12753956e-03 9.99856930e-01 -1.15875182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.512414037 meters Centerline goodness [0,1] 0.8409604519774011 Centerline is valid? [False, False] Translation: X:3.36, Y:0.27, Z:-1.16 [[ 9.99883227e-01 5.59936707e-04 -1.52715356e-02 3.36442473e+00] [-5.06375150e-04 9.99993708e-01 3.51092168e-03 2.66589248e-01] [ 1.52734054e-02 -3.50277857e-03 9.99877219e-01 -1.15811984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54241403699996 meters Centerline goodness [0,1] 0.8391989720768436 Centerline is valid? [False, False] Translation: X:3.36, Y:0.26, Z:-1.16 [[ 9.99886939e-01 2.01782312e-04 -1.50355900e-02 3.36343767e+00] [-1.47014765e-04 9.99993351e-01 3.64354350e-03 2.64989700e-01] [ 1.50362253e-02 -3.64092110e-03 9.99880321e-01 -1.15787076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.572414037 meters Centerline goodness [0,1] 0.8401127289807422 Centerline is valid? [False, False] Translation: X:3.36, Y:0.26, Z:-1.16 [[ 9.99887157e-01 9.32109716e-05 -1.50221195e-02 3.36336431e+00] [-4.06606072e-05 9.99993880e-01 3.49846653e-03 2.64619199e-01] [ 1.50223536e-02 -3.49746095e-03 9.99881041e-01 -1.15769624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60241403699996 meters Centerline goodness [0,1] 0.837951301427372 Centerline is valid? [False, False] Translation: X:3.37, Y:0.27, Z:-1.16 [[ 9.99881828e-01 -1.25634873e-03 -1.53216105e-02 3.36689407e+00] [ 1.25530454e-03 9.99999209e-01 -7.77680691e-05 2.66249274e-01] [ 1.53216961e-02 5.85255918e-05 9.99882614e-01 -1.15794713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.632414037 meters Centerline goodness [0,1] 0.8357687023854128 Centerline is valid? [False, False] Translation: X:3.37, Y:0.27, Z:-1.16 [[ 9.99883202e-01 -1.38021326e-03 -1.52209534e-02 3.36662834e+00] [ 1.37940144e-03 9.99999047e-01 -6.38340989e-05 2.66335114e-01] [ 1.52210270e-02 4.28308382e-05 9.99884153e-01 -1.15806242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66241403699996 meters Centerline goodness [0,1] 0.8390847711927982 Centerline is valid? [False, False] Translation: X:3.37, Y:0.27, Z:-1.16 [[ 9.99887134e-01 -2.05566984e-03 -1.48826650e-02 3.36518345e+00] [ 2.05638641e-03 9.99997885e-01 3.28451491e-05 2.65488635e-01] [ 1.48825660e-02 -6.34459520e-05 9.99889246e-01 -1.15804839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.692414037 meters Centerline goodness [0,1] 0.8431024274718768 Centerline is valid? [False, False] Translation: X:3.36, Y:0.26, Z:-1.16 [[ 9.99888309e-01 -2.26787178e-03 -1.47724577e-02 3.36472179e+00] [ 2.27169978e-03 9.99997390e-01 2.42356251e-04 2.64858855e-01] [ 1.47718695e-02 -2.75887771e-04 9.99890852e-01 -1.15818196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72241403699996 meters Centerline goodness [0,1] 0.8421627696438048 Centerline is valid? [False, False] Translation: X:3.36, Y:0.26, Z:-1.16 [[ 9.99889673e-01 -2.87189427e-03 -1.45737410e-02 3.36351352e+00] [ 2.87508523e-03 9.99995847e-01 1.98005814e-04 2.64361755e-01] [ 1.45731119e-02 -2.39884716e-04 9.99893778e-01 -1.15786164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.752414037 meters Centerline goodness [0,1] 0.8444603823006642 Centerline is valid? [False, False] Translation: X:3.36, Y:0.26, Z:-1.16 [[ 9.99891938e-01 -3.78183254e-03 -1.42059922e-02 3.36173230e+00] [ 3.78951287e-03 9.99992688e-01 5.13760898e-04 2.62745672e-01] [ 1.42039454e-02 -5.67539171e-04 9.99898958e-01 -1.15797332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78241403699997 meters Centerline goodness [0,1] 0.8480961298377029 Centerline is valid? [False, False] Translation: X:3.36, Y:0.26, Z:-1.16 [[ 9.99892306e-01 -3.88780272e-03 -1.41513758e-02 3.36151378e+00] [ 3.89752335e-03 9.99992187e-01 6.59389173e-04 2.62135316e-01] [ 1.41487017e-02 -7.14473478e-04 9.99899647e-01 -1.15806121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.812414037 meters Centerline goodness [0,1] 0.8458920151141367 Centerline is valid? [False, False] Translation: X:3.36, Y:0.26, Z:-1.16 [[ 9.99892376e-01 -3.74303640e-03 -1.41854444e-02 3.36192997e+00] [ 3.75805649e-03 9.99992406e-01 1.03233018e-03 2.61531810e-01] [ 1.41814726e-02 -1.08552877e-03 9.99898849e-01 -1.15868820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84241403699997 meters Centerline goodness [0,1] 0.8452711341170601 Centerline is valid? [False, False] Translation: X:3.36, Y:0.26, Z:-1.16 [[ 9.99892364e-01 -3.41882791e-03 -1.42678746e-02 3.36280284e+00] [ 3.44424645e-03 9.99992524e-01 1.75733079e-03 2.60164491e-01] [ 1.42617600e-02 -1.80628371e-03 9.99896664e-01 -1.15997336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.872414037 meters Centerline goodness [0,1] 0.8438442172007584 Centerline is valid? [False, False] Translation: X:3.36, Y:0.26, Z:-1.16 [[ 9.99891512e-01 -3.06985716e-03 -1.44062553e-02 3.36380581e+00] [ 3.10108484e-03 9.99992889e-01 2.14580941e-03 2.59278995e-01] [ 1.43995656e-02 -2.19025164e-03 9.99893922e-01 -1.16073734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90241403699997 meters Centerline goodness [0,1] 0.8441715508419387 Centerline is valid? [False, False] Translation: X:3.36, Y:0.26, Z:-1.16 [[ 9.99891928e-01 -3.00429210e-03 -1.43911889e-02 3.36403931e+00] [ 3.04007518e-03 9.99992340e-01 2.46522674e-03 2.58086194e-01] [ 1.43836724e-02 -2.50871061e-03 9.99893402e-01 -1.16122680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.932414037 meters Centerline goodness [0,1] 0.8429136679440447 Centerline is valid? [False, False] Translation: X:3.36, Y:0.26, Z:-1.16 [[ 9.99893402e-01 -3.22318158e-03 -1.42406507e-02 3.36343928e+00] [ 3.25774609e-03 9.99991802e-01 2.40464145e-03 2.57774076e-01] [ 1.42327834e-02 -2.45077754e-03 9.99895705e-01 -1.16099078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.962414037 meters Centerline goodness [0,1] 0.8450389497532665 Centerline is valid? [False, False] Translation: X:3.36, Y:0.26, Z:-1.16 [[ 9.99892840e-01 -3.44390085e-03 -1.42284058e-02 3.36307473e+00] [ 3.47392908e-03 9.99991790e-01 2.08626623e-03 2.57678250e-01] [ 1.42211041e-02 -2.13547114e-03 9.99896595e-01 -1.16034477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.992414037 meters Centerline goodness [0,1] 0.8436107562396784 Centerline is valid? [False, False] Translation: X:3.36, Y:0.26, Z:-1.16 [[ 9.99895221e-01 -4.40521015e-03 -1.37891435e-02 3.36059740e+00] [ 4.42772357e-03 9.99988913e-01 1.60258862e-03 2.57251546e-01] [ 1.37819309e-02 -1.66347522e-03 9.99903641e-01 -1.15885454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.022414037 meters Centerline goodness [0,1] 0.8444990971919557 Centerline is valid? [False, False] Translation: X:3.36, Y:0.26, Z:-1.16 [[ 9.99896488e-01 -4.86437123e-03 -1.35407194e-02 3.35945546e+00] [ 4.88564740e-03 9.99986881e-01 1.53863729e-03 2.56503848e-01] [ 1.35330573e-02 -1.60463321e-03 9.99907136e-01 -1.15842194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.052414037 meters Centerline goodness [0,1] 0.8444990971919557 Centerline is valid? [False, False] Translation: X:3.36, Y:0.26, Z:-1.16 [[ 9.99896488e-01 -4.86437123e-03 -1.35407194e-02 3.35945546e+00] [ 4.88564740e-03 9.99986881e-01 1.53863729e-03 2.56503848e-01] [ 1.35330573e-02 -1.60463321e-03 9.99907136e-01 -1.15842194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.082414037 meters Centerline goodness [0,1] 0.8409774552671566 Centerline is valid? [False, False] Translation: X:3.36, Y:0.25, Z:-1.16 [[ 9.99895558e-01 -5.71009967e-03 -1.32766223e-02 3.35802819e+00] [ 5.73672299e-03 9.99981608e-01 1.96805958e-03 2.53932211e-01] [ 1.32651403e-02 -2.04401833e-03 9.99909925e-01 -1.15863874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.112414037 meters Centerline goodness [0,1] 0.8427398109406478 Centerline is valid? [False, False] Translation: X:3.36, Y:0.25, Z:-1.16 [[ 9.99897203e-01 -5.99800221e-03 -1.30233362e-02 3.35758336e+00] [ 6.03056539e-03 9.99978784e-01 2.46254185e-03 2.52193731e-01] [ 1.30082896e-02 -2.54082679e-03 9.99912160e-01 -1.15942264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.142414037 meters Centerline goodness [0,1] 0.8448014830835779 Centerline is valid? [False, False] Translation: X:3.36, Y:0.25, Z:-1.16 [[ 9.99895891e-01 -6.27395977e-03 -1.29940454e-02 3.35746362e+00] [ 6.31281314e-03 9.99975719e-01 2.95123521e-03 2.50460741e-01] [ 1.29752139e-02 -3.03295693e-03 9.99911219e-01 -1.16006303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.172414037 meters Centerline goodness [0,1] 0.8402920514157745 Centerline is valid? [False, False] Translation: X:3.36, Y:0.25, Z:-1.16 [[ 9.99857043e-01 -9.95905948e-03 -1.36642179e-02 3.35935454e+00] [ 9.95110580e-03 9.99950275e-01 -6.49949046e-04 2.49621358e-01] [ 1.36700113e-02 5.13882054e-04 9.99906429e-01 -1.16047588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.202414037 meters Centerline goodness [0,1] 0.8307346234438555 Centerline is valid? [False, False] Translation: X:3.36, Y:0.25, Z:-1.16 [[ 9.99856417e-01 -1.05387171e-02 -1.32695691e-02 3.35822144e+00] [ 1.05352209e-02 9.99944447e-01 -3.33356590e-04 2.48654835e-01] [ 1.32723451e-02 1.93510885e-04 9.99911900e-01 -1.16103337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23241403699996 meters Centerline goodness [0,1] 0.8251795678041863 Centerline is valid? [False, False] Translation: X:3.36, Y:0.25, Z:-1.16 [[ 9.99855114e-01 -1.09204663e-02 -1.30573329e-02 3.35757301e+00] [ 1.09229586e-02 9.99940336e-01 1.19569679e-04 2.47603586e-01] [ 1.30552481e-02 -2.62177063e-04 9.99914742e-01 -1.16166428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.262414037 meters Centerline goodness [0,1] 0.8084027414942988 Centerline is valid? [False, False] Translation: X:3.36, Y:0.25, Z:-1.16 [[ 9.99843458e-01 -1.23944457e-02 -1.26268115e-02 3.35512189e+00] [ 1.23984482e-02 9.99923108e-01 2.38747518e-04 2.46116474e-01] [ 1.26228815e-02 -3.95263013e-04 9.99920250e-01 -1.16156253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29241403699996 meters Centerline goodness [0,1] 0.7936991869918699 Centerline is valid? [False, False] Translation: X:3.35, Y:0.25, Z:-1.16 [[ 9.99838945e-01 -1.33129231e-02 -1.20354038e-02 3.35290854e+00] [ 1.33163224e-02 9.99911313e-01 2.02343536e-04 2.45468697e-01] [ 1.20316426e-02 -3.62578263e-04 9.99927551e-01 -1.16124569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.322414037 meters Centerline goodness [0,1] 0.7758880054032481 Centerline is valid? [False, False] Translation: X:3.35, Y:0.24, Z:-1.16 [[ 9.99820499e-01 -1.48915109e-02 -1.17137724e-02 3.35025497e+00] [ 1.48929168e-02 9.99889094e-01 3.27973410e-05 2.44342482e-01] [ 1.17119849e-02 -2.07243692e-04 9.99931391e-01 -1.16042426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35241403699996 meters Centerline goodness [0,1] 0.7653569790551904 Centerline is valid? [False, False] Translation: X:3.35, Y:0.24, Z:-1.16 [[ 9.99816197e-01 -1.52800504e-02 -1.15798200e-02 3.34968914e+00] [ 1.52847992e-02 9.99883129e-01 3.21697933e-04 2.43448601e-01] [ 1.15735511e-02 -4.98634028e-04 9.99932900e-01 -1.16077087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.382414037 meters Centerline goodness [0,1] 0.7606047621962416 Centerline is valid? [False, False] Translation: X:3.35, Y:0.24, Z:-1.16 [[ 9.99810457e-01 -1.58770844e-02 -1.12680461e-02 3.34847767e+00] [ 1.58827330e-02 9.99873777e-01 4.11974119e-04 2.42789519e-01] [ 1.12600828e-02 -5.90863399e-04 9.99936429e-01 -1.16079169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41241403699996 meters Centerline goodness [0,1] 0.7495049806561671 Centerline is valid? [False, False] Translation: X:3.35, Y:0.24, Z:-1.16 [[ 9.99805466e-01 -1.62217342e-02 -1.12198303e-02 3.34816857e+00] [ 1.62323475e-02 9.99867881e-01 8.55521496e-04 2.41766787e-01] [ 1.12044699e-02 -1.03747925e-03 9.99936690e-01 -1.16139987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.442414037 meters Centerline goodness [0,1] 0.7398567291571407 Centerline is valid? [False, False] Translation: X:3.35, Y:0.24, Z:-1.16 [[ 9.99783298e-01 -1.77542026e-02 -1.08694691e-02 3.34612097e+00] [ 1.77673582e-02 9.99841526e-01 1.11495132e-03 2.40905406e-01] [ 1.08479515e-02 -1.30783146e-03 9.99940304e-01 -1.16201163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47241403699996 meters Centerline goodness [0,1] 0.7384069497124679 Centerline is valid? [False, False] Translation: X:3.34, Y:0.24, Z:-1.16 [[ 9.99761918e-01 -1.91287626e-02 -1.04974894e-02 3.34442664e+00] [ 1.91447074e-02 9.99815714e-01 1.42052288e-03 2.40379844e-01] [ 1.04683821e-02 -1.62115604e-03 9.99943891e-01 -1.16298355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.502414037 meters Centerline goodness [0,1] 0.7329105003523608 Centerline is valid? [False, False] Translation: X:3.34, Y:0.24, Z:-1.16 [[ 9.99754939e-01 -1.96964132e-02 -1.01050979e-02 3.34340032e+00] [ 1.97154347e-02 9.99804036e-01 1.78620605e-03 2.39697429e-01] [ 1.00679358e-02 -1.98499472e-03 9.99947347e-01 -1.16376946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53241403699997 meters Centerline goodness [0,1] 0.7321499617444529 Centerline is valid? [False, False] Translation: X:3.34, Y:0.24, Z:-1.16 [[ 9.99743238e-01 -2.05724391e-02 -9.49909954e-03 3.34167605e+00] [ 2.05939456e-02 9.99785563e-01 2.17181315e-03 2.38479307e-01] [ 9.45238310e-03 -2.36687945e-03 9.99952524e-01 -1.16456662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.562414037 meters Centerline goodness [0,1] 0.7351970669110908 Centerline is valid? [False, False] Translation: X:3.34, Y:0.24, Z:-1.17 [[ 9.99733086e-01 -2.12444421e-02 -9.07909929e-03 3.34056516e+00] [ 2.12690541e-02 9.99770347e-01 2.62292794e-03 2.37566645e-01] [ 9.02129161e-03 -2.81533170e-03 9.99955344e-01 -1.16553664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59241403699997 meters Centerline goodness [0,1] 0.7302487198244331 Centerline is valid? [False, False] Translation: X:3.34, Y:0.24, Z:-1.17 [[ 9.99701647e-01 -2.28333617e-02 -8.67493349e-03 3.33855297e+00] [ 2.28592221e-02 9.99734506e-01 2.89368130e-03 2.36394771e-01] [ 8.60655788e-03 -3.09112019e-03 9.99958185e-01 -1.16634340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.622414037 meters Centerline goodness [0,1] 0.7290425109257053 Centerline is valid? [False, False] Translation: X:3.34, Y:0.24, Z:-1.17 [[ 9.99683604e-01 -2.37810383e-02 -8.19471951e-03 3.33673409e+00] [ 2.38047521e-02 9.99712682e-01 2.80849736e-03 2.36098366e-01] [ 8.12557604e-03 -3.00268203e-03 9.99962479e-01 -1.16630727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65241403699997 meters Centerline goodness [0,1] 0.7289047924886075 Centerline is valid? [False, False] Translation: X:3.33, Y:0.24, Z:-1.17 [[ 9.99636412e-01 -2.59185885e-02 -7.43439059e-03 3.33296086e+00] [ 2.59366843e-02 9.99660830e-01 2.34805149e-03 2.36321398e-01] [ 7.37101088e-03 -2.54002121e-03 9.99969608e-01 -1.16573643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.682414037 meters Centerline goodness [0,1] 0.7053459408182625 Centerline is valid? [False, False] Translation: X:3.33, Y:0.24, Z:-1.17 [[ 9.99620525e-01 -2.65992382e-02 -7.16140563e-03 3.33163224e+00] [ 2.66156653e-02 9.99643301e-01 2.20838309e-03 2.36453311e-01] [ 7.10010986e-03 -2.39815064e-03 9.99971918e-01 -1.16546436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.712414037 meters Centerline goodness [0,1] 0.725681351359637 Centerline is valid? [False, False] Translation: X:3.33, Y:0.24, Z:-1.17 [[ 0.9996989 -0.02360571 -0.00669983 3.32948949] [ 0.02364738 0.99970107 0.00621005 0.23584906] [ 0.00655123 -0.00636661 0.99995827 -1.16550935] [ 0. 0. 0. 1. ]] SLAMing on 283.742414037 meters Centerline goodness [0,1] 0.7278319441454187 Centerline is valid? [False, False] Translation: X:3.33, Y:0.24, Z:-1.16 [[ 0.99970577 -0.02315478 -0.00722765 3.33082046] [ 0.02319612 0.99971475 0.00568907 0.23783048] [ 0.00709386 -0.00585505 0.9999577 -1.1648786 ] [ 0. 0. 0. 1. ]] SLAMing on 283.772414037 meters Centerline goodness [0,1] 0.7297189002589077 Centerline is valid? [False, False] Translation: X:3.33, Y:0.24, Z:-1.16 [[ 0.99971217 -0.02276194 -0.00758163 3.33203272] [ 0.02280468 0.99972426 0.00559892 0.23850079] [ 0.0074521 -0.00577021 0.99995558 -1.16499256] [ 0. 0. 0. 1. ]] SLAMing on 283.802414037 meters Centerline goodness [0,1] 0.7319782191696058 Centerline is valid? [False, False] Translation: X:3.33, Y:0.24, Z:-1.17 [[ 0.99971999 -0.02228183 -0.00796603 3.33346482] [ 0.02232668 0.99973512 0.00558604 0.23901642] [ 0.00783945 -0.00576234 0.99995267 -1.16525505] [ 0. 0. 0. 1. ]] SLAMing on 283.832414037 meters Centerline goodness [0,1] 0.7301715064082719 Centerline is valid? [False, False] Translation: X:3.34, Y:0.24, Z:-1.17 [[ 0.99973442 -0.02138246 -0.0085952 3.33581779] [ 0.02143189 0.99975406 0.00569971 0.23949032] [ 0.00847121 -0.00588241 0.99994682 -1.16570521] [ 0. 0. 0. 1. ]] SLAMing on 283.862414037 meters Centerline goodness [0,1] 0.7300744878957169 Centerline is valid? [False, False] Translation: X:3.34, Y:0.24, Z:-1.17 [[ 0.99974046 -0.02101308 -0.00880177 3.33672684] [ 0.02106529 0.9997608 0.00588127 0.23952933] [ 0.00867608 -0.00606516 0.99994397 -1.16610651] [ 0. 0. 0. 1. ]] SLAMing on 283.892414037 meters Centerline goodness [0,1] 0.7359945283840079 Centerline is valid? [False, False] Translation: X:3.34, Y:0.24, Z:-1.17 [[ 0.99974471 -0.02069832 -0.00906017 3.3374478 ] [ 0.02075344 0.99976642 0.00603263 0.23920152] [ 0.00893319 -0.00621912 0.99994076 -1.16608459] [ 0. 0. 0. 1. ]] SLAMing on 283.922414037 meters Centerline goodness [0,1] 0.7376652392478122 Centerline is valid? [False, False] Translation: X:3.34, Y:0.24, Z:-1.17 [[ 0.99974476 -0.02067239 -0.00911446 3.33733959] [ 0.02072878 0.9997663 0.00613648 0.23861657] [ 0.00898547 -0.00632385 0.99993963 -1.16580223] [ 0. 0. 0. 1. ]] SLAMing on 283.952414037 meters Centerline goodness [0,1] 0.7318892155345815 Centerline is valid? [False, False] Translation: X:3.34, Y:0.24, Z:-1.17 [[ 0.9997445 -0.02070314 -0.00907255 3.33705986] [ 0.02076012 0.99976506 0.00623172 0.23778025] [ 0.0089414 -0.00641848 0.99993943 -1.16557086] [ 0. 0. 0. 1. ]] SLAMing on 283.98241403699996 meters Centerline goodness [0,1] 0.733300453130298 Centerline is valid? [False, False] Translation: X:3.34, Y:0.24, Z:-1.17 [[ 0.9997444 -0.02071329 -0.00906061 3.3368902 ] [ 0.02077084 0.99976439 0.00630422 0.23706256] [ 0.00892789 -0.0064908 0.99993908 -1.16536216] [ 0. 0. 0. 1. ]] SLAMing on 284.012414037 meters Centerline goodness [0,1] 0.7295119776130877 Centerline is valid? [False, False] Translation: X:3.34, Y:0.24, Z:-1.16 [[ 0.99974672 -0.02062682 -0.00900186 3.3363113 ] [ 0.02068651 0.9997643 0.00658849 0.23513945] [ 0.00886384 -0.00677304 0.99993778 -1.16473612] [ 0. 0. 0. 1. ]] SLAMing on 284.04241403699996 meters Centerline goodness [0,1] 0.7224997701290342 Centerline is valid? [False, False] Translation: X:3.34, Y:0.23, Z:-1.17 [[ 0.99974711 -0.02070504 -0.00877631 3.33584008] [ 0.02076743 0.99975928 0.00707807 0.23321966] [ 0.00862764 -0.00725855 0.99993644 -1.1651828 ] [ 0. 0. 0. 1. ]] SLAMing on 284.072414037 meters Centerline goodness [0,1] 0.7332235738894479 Centerline is valid? [False, False] Translation: X:3.34, Y:0.23, Z:-1.17 [[ 0.99976383 -0.01963568 -0.00931303 3.33781124] [ 0.01971204 0.99977224 0.00818002 0.23001665] [ 0.00915028 -0.00836166 0.99992317 -1.16593357] [ 0. 0. 0. 1. ]] SLAMing on 284.10241403699996 meters Centerline goodness [0,1] 0.7328142109745711 Centerline is valid? [False, False] Translation: X:3.34, Y:0.23, Z:-1.17 [[ 0.9997701 -0.01920743 -0.00953055 3.33852272] [ 0.01928807 0.99977832 0.00844261 0.22888219] [ 0.00936627 -0.00862449 0.99991894 -1.16589102] [ 0. 0. 0. 1. ]] SLAMing on 284.132414037 meters Centerline goodness [0,1] 0.7307949231796927 Centerline is valid? [False, False] Translation: X:3.34, Y:0.23, Z:-1.17 [[ 0.99977628 -0.01875945 -0.00977099 3.33926129] [ 0.01884751 0.99978186 0.00899973 0.22690343] [ 0.00960003 -0.00918188 0.99991176 -1.16605697] [ 0. 0. 0. 1. ]] SLAMing on 284.16241403699996 meters Centerline goodness [0,1] 0.7328843995510662 Centerline is valid? [False, False] Translation: X:3.34, Y:0.22, Z:-1.17 [[ 0.99978367 -0.01829543 -0.00989353 3.33994813] [ 0.01839218 0.99978303 0.0097783 0.2245101 ] [ 0.00971249 -0.00995815 0.99990325 -1.16665288] [ 0. 0. 0. 1. ]] SLAMing on 284.192414037 meters Centerline goodness [0,1] 0.7308445569315134 Centerline is valid? [False, False] Translation: X:3.34, Y:0.22, Z:-1.17 [[ 0.99978344 -0.01832816 -0.00985642 3.33949979] [ 0.01843227 0.99977416 0.01057734 0.22060517] [ 0.00966033 -0.01075672 0.99989548 -1.16670725] [ 0. 0. 0. 1. ]] SLAMing on 284.22241403699996 meters Centerline goodness [0,1] 0.7221656279961649 Centerline is valid? [False, False] Translation: X:3.34, Y:0.22, Z:-1.17 [[ 0.99978395 -0.01833758 -0.00978679 3.33917046] [ 0.01844494 0.99976942 0.01099481 0.21856858] [ 0.00958292 -0.01117295 0.99989166 -1.16671442] [ 0. 0. 0. 1. ]] SLAMing on 284.252414037 meters Centerline goodness [0,1] 0.7227560765180139 Centerline is valid? [False, False] Translation: X:3.34, Y:0.22, Z:-1.17 [[ 0.99971148 -0.02172666 -0.0102426 3.34013627] [ 0.02180383 0.99973426 0.00748342 0.21614356] [ 0.01007729 -0.00770459 0.99991954 -1.16592405] [ 0. 0. 0. 1. ]] SLAMing on 284.28241403699997 meters Centerline goodness [0,1] 0.7119101256817643 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:-1.17 [[ 0.99970829 -0.02200208 -0.00996243 3.33918945] [ 0.02208081 0.99972527 0.00786244 0.21398679] [ 0.00978671 -0.00808012 0.99991946 -1.1659631 ] [ 0. 0. 0. 1. ]] SLAMing on 284.312414037 meters Centerline goodness [0,1] 0.7217190552299769 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:-1.17 [[ 0.99969153 -0.02284435 -0.0097461 3.33742292] [ 0.02292639 0.99970195 0.00839041 0.20984047] [ 0.00955153 -0.00861126 0.9999173 -1.16553474] [ 0. 0. 0. 1. ]] SLAMing on 284.34241403699997 meters Centerline goodness [0,1] 0.7177591102697587 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:-1.17 [[ 0.99968991 -0.0230186 -0.00949835 3.33666006] [ 0.02310272 0.99969398 0.00884364 0.20759096] [ 0.00929188 -0.00906033 0.99991578 -1.16564473] [ 0. 0. 0. 1. ]] SLAMing on 284.372414037 meters Centerline goodness [0,1] 0.7190119230315193 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:-1.17 [[ 0.99969078 -0.02302653 -0.00938781 3.33637418] [ 0.02311301 0.99969043 0.00921013 0.20599604] [ 0.00917282 -0.00942427 0.99991352 -1.16577191] [ 0. 0. 0. 1. ]] SLAMing on 284.40241403699997 meters Centerline goodness [0,1] 0.7171366338965091 Centerline is valid? [False, False] Translation: X:3.34, Y:0.20, Z:-1.17 [[ 0.99969692 -0.02272347 -0.00947143 3.33646706] [ 0.02281685 0.99969094 0.00987003 0.20334503] [ 0.00924422 -0.01008315 0.99990643 -1.16571968] [ 0. 0. 0. 1. ]] SLAMing on 284.432414037 meters Centerline goodness [0,1] 0.7137918912584954 Centerline is valid? [False, False] Translation: X:3.34, Y:0.20, Z:-1.17 [[ 0.99970415 -0.02221911 -0.00989537 3.33758061] [ 0.0223176 0.99970135 0.00995628 0.20254562] [ 0.00967119 -0.01017418 0.99990147 -1.16536862] [ 0. 0. 0. 1. ]] SLAMing on 284.462414037 meters Centerline goodness [0,1] 0.7145078024169893 Centerline is valid? [False, False] Translation: X:3.34, Y:0.20, Z:-1.17 [[ 0.9997163 -0.02150225 -0.01024553 3.33858683] [ 0.02161064 0.99971039 0.01058887 0.2006916 ] [ 0.01001488 -0.01080728 0.99989145 -1.16536517] [ 0. 0. 0. 1. ]] SLAMing on 284.492414037 meters Centerline goodness [0,1] 0.7192015710642787 Centerline is valid? [False, False] Translation: X:3.34, Y:0.20, Z:-1.17 [[ 0.99972053 -0.02121067 -0.0104385 3.339092 ] [ 0.02132326 0.99971434 0.01079604 0.19975169] [ 0.01020653 -0.01101561 0.99988724 -1.16528423] [ 0. 0. 0. 1. ]] SLAMing on 284.522414037 meters Centerline goodness [0,1] 0.7214358974358974 Centerline is valid? [False, False] Translation: X:3.34, Y:0.20, Z:-1.17 [[ 0.99972522 -0.02093071 -0.01055427 3.3394785 ] [ 0.02104793 0.99971662 0.01112025 0.1984523 ] [ 0.01031853 -0.01133934 0.99988247 -1.16532861] [ 0. 0. 0. 1. ]] SLAMing on 284.552414037 meters Centerline goodness [0,1] 0.7202201469598056 Centerline is valid? [False, False] Translation: X:3.34, Y:0.20, Z:-1.17 [[ 0.99972807 -0.02078522 -0.0105717 3.33963856] [ 0.02090652 0.99971534 0.01149574 0.19685372] [ 0.01032975 -0.01171363 0.99987804 -1.16551517] [ 0. 0. 0. 1. ]] SLAMing on 284.582414037 meters Centerline goodness [0,1] 0.7175610324535338 Centerline is valid? [False, False] Translation: X:3.34, Y:0.19, Z:-1.17 [[ 0.99972892 -0.02076183 -0.01053763 3.33949314] [ 0.02088919 0.99970829 0.01212329 0.19365636] [ 0.01028285 -0.01234012 0.99987098 -1.16572183] [ 0. 0. 0. 1. ]] SLAMing on 284.612414037 meters Centerline goodness [0,1] 0.7145221228661015 Centerline is valid? [False, False] Translation: X:3.34, Y:0.19, Z:-1.17 [[ 0.99973008 -0.02073322 -0.01048323 3.3392121 ] [ 0.02086446 0.9997033 0.0125689 0.19110629] [ 0.01021953 -0.01278423 0.99986605 -1.16562405] [ 0. 0. 0. 1. ]] SLAMing on 284.642414037 meters Centerline goodness [0,1] 0.7172401756886471 Centerline is valid? [False, False] Translation: X:3.34, Y:0.19, Z:-1.17 [[ 0.99972939 -0.02078469 -0.01044693 3.33888936] [ 0.02091619 0.99970133 0.01263953 0.19028945] [ 0.0101811 -0.01285461 0.99986554 -1.16529423] [ 0. 0. 0. 1. ]] SLAMing on 284.672414037 meters Centerline goodness [0,1] 0.7033563672260612 Centerline is valid? [False, False] Translation: X:3.34, Y:0.19, Z:-1.16 [[ 0.99972653 -0.02091062 -0.01046916 3.33855564] [ 0.02104189 0.99969932 0.01258972 0.18951151] [ 0.01020275 -0.01280657 0.99986594 -1.16474365] [ 0. 0. 0. 1. ]] SLAMing on 284.702414037 meters Centerline goodness [0,1] 0.7159535328369884 Centerline is valid? [False, False] Translation: X:3.34, Y:0.19, Z:-1.16 [[ 0.99972195 -0.02114478 -0.01043664 3.33796938] [ 0.02127376 0.99969672 0.01240548 0.18887269] [ 0.01017116 -0.01262406 0.99986858 -1.16401723] [ 0. 0. 0. 1. ]] SLAMing on 284.73241403699996 meters Centerline goodness [0,1] 0.7113847045191193 Centerline is valid? [False, False] Translation: X:3.34, Y:0.19, Z:-1.16 [[ 0.99971855 -0.02141016 -0.01021867 3.33680378] [ 0.02153933 0.99968731 0.01270203 0.18651748] [ 0.00994352 -0.01291855 0.99986711 -1.16341104] [ 0. 0. 0. 1. ]] SLAMing on 284.762414037 meters Centerline goodness [0,1] 0.7006446763609031 Centerline is valid? [False, False] Translation: X:3.34, Y:0.18, Z:-1.16 [[ 0.99971814 -0.02151202 -0.01004335 3.33627005] [ 0.02164128 0.999682 0.01294456 0.18487194] [ 0.0097617 -0.01315826 0.99986578 -1.16333447] [ 0. 0. 0. 1. ]] SLAMing on 284.79241403699996 meters Centerline goodness [0,1] 0.711550660284874 Centerline is valid? [False, False] Translation: X:3.34, Y:0.18, Z:-1.16 [[ 0.99971695 -0.02162339 -0.00992228 3.33596536] [ 0.02175344 0.99967633 0.0131917 0.1831412 ] [ 0.00963382 -0.0134038 0.99986375 -1.16343439] [ 0. 0. 0. 1. ]] SLAMing on 284.822414037 meters Centerline goodness [0,1] 0.7079007161551958 Centerline is valid? [False, False] Translation: X:3.34, Y:0.18, Z:-1.16 [[ 0.99972677 -0.02101908 -0.01022672 3.33699551] [ 0.02116039 0.99967931 0.01391125 0.18034852] [ 0.00993104 -0.01412385 0.99985093 -1.16367225] [ 0. 0. 0. 1. ]] SLAMing on 284.85241403699996 meters Centerline goodness [0,1] 0.7130947247376742 Centerline is valid? [False, False] Translation: X:3.34, Y:0.18, Z:-1.16 [[ 0.99972908 -0.02083182 -0.01038236 3.33735262] [ 0.02097746 0.9996802 0.01412244 0.17922964] [ 0.01008484 -0.01433641 0.99984637 -1.16362791] [ 0. 0. 0. 1. ]] SLAMing on 284.882414037 meters Centerline goodness [0,1] 0.7120525470399266 Centerline is valid? [False, False] Translation: X:3.34, Y:0.18, Z:-1.16 [[ 0.99973713 -0.02038282 -0.01049812 3.33799557] [ 0.0205378 0.99967845 0.01487292 0.17682865] [ 0.01019159 -0.01508462 0.99983428 -1.16414285] [ 0. 0. 0. 1. ]] SLAMing on 284.91241403699996 meters Centerline goodness [0,1] 0.712210634884254 Centerline is valid? [False, False] Translation: X:3.34, Y:0.18, Z:-1.16 [[ 0.99973923 -0.02025489 -0.01054544 3.33809508] [ 0.02041272 0.99967789 0.0150808 0.17571348] [ 0.01023658 -0.01529212 0.99983067 -1.16408186] [ 0. 0. 0. 1. ]] SLAMing on 284.942414037 meters Centerline goodness [0,1] 0.7113543482609814 Centerline is valid? [False, False] Translation: X:3.34, Y:0.17, Z:-1.16 [[ 0.99974108 -0.02007037 -0.01072182 3.33841032] [ 0.0202323 0.99967953 0.01521452 0.174647 ] [ 0.01041302 -0.01542751 0.99982677 -1.16374673] [ 0. 0. 0. 1. ]] SLAMing on 284.97241403699996 meters Centerline goodness [0,1] 0.7113543482609814 Centerline is valid? [False, False] Translation: X:3.34, Y:0.17, Z:-1.16 [[ 0.99974108 -0.02007037 -0.01072182 3.33841032] [ 0.0202323 0.99967953 0.01521452 0.174647 ] [ 0.01041302 -0.01542751 0.99982677 -1.16374673] [ 0. 0. 0. 1. ]] SLAMing on 285.002414037 meters Centerline goodness [0,1] 0.7112467206570092 Centerline is valid? [False, False] Translation: X:3.34, Y:0.17, Z:-1.16 [[ 0.99973968 -0.02020613 -0.01059659 3.33754563] [ 0.02036721 0.99967519 0.01531974 0.17269659] [ 0.01028359 -0.01553157 0.99982649 -1.16291771] [ 0. 0. 0. 1. ]] SLAMing on 285.03241403699997 meters Centerline goodness [0,1] 0.7085444298969659 Centerline is valid? [False, False] Translation: X:3.34, Y:0.17, Z:-1.16 [[ 0.99973916 -0.02028688 -0.01049023 3.33716703] [ 0.0204473 0.99967205 0.01541772 0.17159752] [ 0.01017401 -0.0156282 0.99982611 -1.16270616] [ 0. 0. 0. 1. ]] SLAMing on 285.062414037 meters Centerline goodness [0,1] 0.7007266121707538 Centerline is valid? [False, False] Translation: X:3.34, Y:0.17, Z:-1.16 [[ 0.99973844 -0.02031713 -0.01050097 3.33680708] [ 0.0204802 0.99966756 0.01566277 0.16931224] [ 0.01017926 -0.01587374 0.99982219 -1.16222541] [ 0. 0. 0. 1. ]] SLAMing on 285.09241403699997 meters Centerline goodness [0,1] 0.7087654496377327 Centerline is valid? [False, False] Translation: X:3.34, Y:0.17, Z:-1.16 [[ 0.99973729 -0.02042839 -0.01039393 3.33638411] [ 0.02059098 0.99966338 0.01578389 0.16816107] [ 0.01006799 -0.01599376 0.9998214 -1.16205914] [ 0. 0. 0. 1. ]] SLAMing on 285.122414037 meters Centerline goodness [0,1] 0.7118965957084951 Centerline is valid? [False, False] Translation: X:3.34, Y:0.17, Z:-1.16 [[ 0.99973697 -0.02043149 -0.01041807 3.33635435] [ 0.02059536 0.99966189 0.0158726 0.16689937] [ 0.01009025 -0.01608299 0.99981975 -1.16184631] [ 0. 0. 0. 1. ]] SLAMing on 285.15241403699997 meters Centerline goodness [0,1] 0.705554612817467 Centerline is valid? [False, False] Translation: X:3.34, Y:0.17, Z:-1.16 [[ 0.99973535 -0.02053393 -0.01037291 3.33619159] [ 0.02069681 0.9996602 0.01584721 0.16607861] [ 0.01004398 -0.0160577 0.99982062 -1.16169056] [ 0. 0. 0. 1. ]] SLAMing on 285.182414037 meters Centerline goodness [0,1] 0.6940037264976568 Centerline is valid? [False, False] Translation: X:3.34, Y:0.16, Z:-1.16 [[ 0.99973543 -0.02053661 -0.01035957 3.33599839] [ 0.02070258 0.99965481 0.01617626 0.16408481] [ 0.01002379 -0.01638645 0.99981549 -1.16152084] [ 0. 0. 0. 1. ]] SLAMing on 285.212414037 meters Centerline goodness [0,1] 0.7085248582950283 Centerline is valid? [False, False] Translation: X:3.34, Y:0.16, Z:-1.16 [[ 0.99973451 -0.02059163 -0.0103387 3.33592287] [ 0.020757 0.99965408 0.01615153 0.16340068] [ 0.01000254 -0.01636184 0.9998161 -1.16134665] [ 0. 0. 0. 1. ]] SLAMing on 285.242414037 meters Centerline goodness [0,1] 0.695527506816968 Centerline is valid? [False, False] Translation: X:3.34, Y:0.16, Z:-1.16 [[ 0.99973133 -0.02083325 -0.01016054 3.33527666] [ 0.02099861 0.99964417 0.01644968 0.16150083] [ 0.00981422 -0.01665862 0.99981307 -1.16134134] [ 0. 0. 0. 1. ]] SLAMing on 285.272414037 meters Centerline goodness [0,1] 0.7023118957545187 Centerline is valid? [False, False] Translation: X:3.33, Y:0.16, Z:-1.16 [[ 0.99972966 -0.02096552 -0.01005304 3.334937 ] [ 0.02113119 0.99963779 0.01666631 0.1601115 ] [ 0.00969998 -0.01687424 0.99981057 -1.16135047] [ 0. 0. 0. 1. ]] SLAMing on 285.302414037 meters Centerline goodness [0,1] 0.6989720175905436 Centerline is valid? [False, False] Translation: X:3.33, Y:0.16, Z:-1.16 [[ 0.99971947 -0.021598 -0.00972135 3.33368561] [ 0.02176068 0.99961947 0.0169525 0.15754891] [ 0.00935151 -0.01715929 0.99980904 -1.1613148 ] [ 0. 0. 0. 1. ]] SLAMing on 285.332414037 meters Centerline goodness [0,1] 0.68041928721174 Centerline is valid? [False, False] Translation: X:3.33, Y:0.16, Z:-1.16 [[ 0.99971583 -0.02183395 -0.00956752 3.33321141] [ 0.02199502 0.99961239 0.01706698 0.15635479] [ 0.00919117 -0.01727257 0.99980857 -1.16129112] [ 0. 0. 0. 1. ]] SLAMing on 285.362414037 meters Centerline goodness [0,1] 0.6842134534634743 Centerline is valid? [False, False] Translation: X:3.33, Y:0.16, Z:-1.16 [[ 0.99962798 -0.02528169 -0.0102342 3.33470134] [ 0.02540865 0.99959935 0.01247192 0.15750801] [ 0.00991479 -0.01272732 0.99986985 -1.15989077] [ 0. 0. 0. 1. ]] SLAMing on 285.392414037 meters Centerline goodness [0,1] 0.692602998859432 Centerline is valid? [False, False] Translation: X:3.33, Y:0.16, Z:-1.16 [[ 0.99960632 -0.02630359 -0.00976315 3.33238921] [ 0.02642277 0.99957536 0.01228581 0.15576796] [ 0.00943585 -0.01253894 0.99987686 -1.15887699] [ 0. 0. 0. 1. ]] SLAMing on 285.422414037 meters Centerline goodness [0,1] 0.6873033989366144 Centerline is valid? [False, False] Translation: X:3.33, Y:0.16, Z:-1.16 [[ 0.99959955 -0.02661857 -0.00960171 3.33165317] [ 0.0267353 0.99956759 0.01224139 0.15508183] [ 0.00927171 -0.01249319 0.99987897 -1.15851947] [ 0. 0. 0. 1. ]] SLAMing on 285.452414037 meters Centerline goodness [0,1] 0.6892394866951836 Centerline is valid? [False, False] Translation: X:3.33, Y:0.15, Z:-1.16 [[ 0.99959289 -0.02687549 -0.0095792 3.33127929] [ 0.02699131 0.99956154 0.01217383 0.15425156] [ 0.00924782 -0.01242743 0.99988001 -1.15816364] [ 0. 0. 0. 1. ]] SLAMing on 285.48241403699996 meters Centerline goodness [0,1] 0.6799589014467802 Centerline is valid? [False, False] Translation: X:3.33, Y:0.15, Z:-1.16 [[ 0.99958799 -0.02711747 -0.00940718 3.33088742] [ 0.02723167 0.99955431 0.01223163 0.15354363] [ 0.00907129 -0.01248276 0.99988094 -1.15828493] [ 0. 0. 0. 1. ]] SLAMing on 285.512414037 meters Centerline goodness [0,1] 0.6897576144598384 Centerline is valid? [False, False] Translation: X:3.33, Y:0.15, Z:-1.16 [[ 0.99958538 -0.02725698 -0.00928065 3.33100337] [ 0.02737378 0.99954459 0.01270006 0.1518831 ] [ 0.00893026 -0.01294884 0.99987628 -1.15913513] [ 0. 0. 0. 1. ]] SLAMing on 285.54241403699996 meters Centerline goodness [0,1] 0.676497491476564 Centerline is valid? [False, False] Translation: X:3.33, Y:0.15, Z:-1.16 [[ 0.99958456 -0.02730089 -0.00923976 3.33127859] [ 0.02741809 0.99954204 0.0128048 0.1513587 ] [ 0.00888594 -0.01305281 0.99987532 -1.15961356] [ 0. 0. 0. 1. ]] SLAMing on 285.572414037 meters Centerline goodness [0,1] 0.6796342477140482 Centerline is valid? [False, False] Translation: X:3.33, Y:0.15, Z:-1.16 [[ 0.99958338 -0.02737729 -0.0091407 3.33147244] [ 0.02749369 0.99953924 0.01286078 0.15137457] [ 0.0087844 -0.01310674 0.99987552 -1.16020393] [ 0. 0. 0. 1. ]] SLAMing on 285.60241403699996 meters Centerline goodness [0,1] 0.6853189428531894 Centerline is valid? [False, False] Translation: X:3.33, Y:0.15, Z:-1.16 [[ 0.99958052 -0.02746982 -0.00917608 3.33156417] [ 0.02758394 0.9995407 0.01255029 0.15210644] [ 0.00882711 -0.01279813 0.99987914 -1.16004598] [ 0. 0. 0. 1. ]] SLAMing on 285.632414037 meters Centerline goodness [0,1] 0.6836958027427622 Centerline is valid? [False, False] Translation: X:3.33, Y:0.15, Z:-1.16 [[ 0.99957463 -0.02766144 -0.00924194 3.33132928] [ 0.02777238 0.99954106 0.01209841 0.15320936] [ 0.00890304 -0.01234993 0.9998841 -1.15944547] [ 0. 0. 0. 1. ]] SLAMing on 285.66241403699996 meters Centerline goodness [0,1] 0.681198834466491 Centerline is valid? [False, False] Translation: X:3.33, Y:0.15, Z:-1.16 [[ 0.99956647 -0.02802607 -0.00902231 3.33026811] [ 0.02812761 0.99954011 0.0113315 0.1548786 ] [ 0.00870058 -0.01158037 0.99989509 -1.15840749] [ 0. 0. 0. 1. ]] SLAMing on 285.692414037 meters Centerline goodness [0,1] 0.6849624060150377 Centerline is valid? [False, False] Translation: X:3.33, Y:0.16, Z:-1.16 [[ 0.99955727 -0.02838265 -0.00892737 3.32957793] [ 0.02847957 0.9995347 0.01092269 0.15543854] [ 0.0086132 -0.0111721 0.99990049 -1.15781258] [ 0. 0. 0. 1. ]] SLAMing on 285.72241403699996 meters Centerline goodness [0,1] 0.6804656460978524 Centerline is valid? [False, False] Translation: X:3.33, Y:0.16, Z:-1.16 [[ 0.99954922 -0.02872234 -0.0087403 3.32902902] [ 0.02881489 0.99952799 0.01065403 0.15558069] [ 0.00843017 -0.01090108 0.99990504 -1.15759623] [ 0. 0. 0. 1. ]] SLAMing on 285.752414037 meters Centerline goodness [0,1] 0.6809439101673245 Centerline is valid? [False, False] Translation: X:3.33, Y:0.16, Z:-1.16 [[ 0.99953413 -0.02933841 -0.00841332 3.32781608] [ 0.0294244 0.99951408 0.01028599 0.15580972] [ 0.00810745 -0.01052875 0.9999117 -1.15720863] [ 0. 0. 0. 1. ]] SLAMing on 285.78241403699997 meters Centerline goodness [0,1] 0.673675731229688 Centerline is valid? [False, False] Translation: X:3.33, Y:0.16, Z:-1.16 [[ 0.99949966 -0.03065284 -0.00779912 3.32543926] [ 0.03072807 0.99948055 0.00971702 0.15569117] [ 0.00749721 -0.00995181 0.99992237 -1.15657984] [ 0. 0. 0. 1. ]] SLAMing on 285.812414037 meters Centerline goodness [0,1] 0.6587696153312039 Centerline is valid? [False, False] Translation: X:3.32, Y:0.16, Z:-1.16 [[ 0.99948475 -0.03121311 -0.00748113 3.32452764] [ 0.03128427 0.9994645 0.00959204 0.15551255] [ 0.00717772 -0.00982114 0.99992601 -1.15666248] [ 0. 0. 0. 1. ]] SLAMing on 285.84241403699997 meters Centerline goodness [0,1] 0.6704937173357055 Centerline is valid? [False, False] Translation: X:3.32, Y:0.15, Z:-1.16 [[ 0.99945046 -0.03241952 -0.00691039 3.32297006] [ 0.03248432 0.99942728 0.00948073 0.15479704] [ 0.00659907 -0.0097 0.99993118 -1.15728672] [ 0. 0. 0. 1. ]] SLAMing on 285.872414037 meters Centerline goodness [0,1] 0.6678636047320807 Centerline is valid? [False, False] Translation: X:3.32, Y:0.15, Z:-1.16 [[ 0.999434 -0.03300816 -0.00649128 3.32211539] [ 0.03306966 0.99940688 0.00960666 0.15421029] [ 0.00617033 -0.00981588 0.99993279 -1.15795347] [ 0. 0. 0. 1. ]] SLAMing on 285.90241403699997 meters Centerline goodness [0,1] 0.6590209402302039 Centerline is valid? [False, False] Translation: X:3.32, Y:0.15, Z:-1.16 [[ 0.99941906 -0.03352376 -0.00614054 3.32131991] [ 0.03358217 0.99938918 0.00966968 0.15352569] [ 0.00581262 -0.00987027 0.99993439 -1.15835736] [ 0. 0. 0. 1. ]] SLAMing on 285.932414037 meters Centerline goodness [0,1] 0.6541223626343038 Centerline is valid? [False, False] Translation: X:3.32, Y:0.15, Z:-1.16 [[ 0.99938122 -0.03474199 -0.005493 3.31931358] [ 0.03479226 0.99935094 0.00933829 0.15396974] [ 0.005165 -0.00952363 0.99994131 -1.15850563] [ 0. 0. 0. 1. ]] SLAMing on 285.962414037 meters Centerline goodness [0,1] 0.6551656974317595 Centerline is valid? [False, False] Translation: X:3.32, Y:0.15, Z:-1.16 [[ 0.99936701 -0.03518385 -0.0052616 3.31855659] [ 0.03523009 0.99933897 0.00896984 0.15496479] [ 0.00494253 -0.00914953 0.99994593 -1.1583268 ] [ 0. 0. 0. 1. ]] SLAMing on 285.992414037 meters Centerline goodness [0,1] 0.6572280594186338 Centerline is valid? [False, False] Translation: X:3.32, Y:0.16, Z:-1.16 [[ 0.99935112 -0.03566306 -0.00504912 3.3177954 ] [ 0.03570507 0.99932629 0.00849151 0.15632532] [ 0.00474288 -0.00866628 0.9999512 -1.15805643] [ 0. 0. 0. 1. ]] SLAMing on 286.022414037 meters Centerline goodness [0,1] 0.6576128003580519 Centerline is valid? [False, False] Translation: X:3.32, Y:0.16, Z:-1.16 [[ 0.99932317 -0.03647106 -0.00480338 3.3164446 ] [ 0.03650625 0.99930561 0.00745551 0.15885659] [ 0.00452814 -0.00762581 0.99996067 -1.15704546] [ 0. 0. 0. 1. ]] SLAMing on 286.052414037 meters Centerline goodness [0,1] 0.6444357190935607 Centerline is valid? [False, False] Translation: X:3.32, Y:0.16, Z:-1.16 [[ 0.99931414 -0.03672272 -0.00476343 3.31614422] [ 0.03675573 0.99929951 0.00703649 0.16003731] [ 0.0045017 -0.00720675 0.9999639 -1.15672767] [ 0. 0. 0. 1. ]] SLAMing on 286.082414037 meters Centerline goodness [0,1] 0.6588291343216658 Centerline is valid? [False, False] Translation: X:3.32, Y:0.16, Z:-1.16 [[ 0.99930499 -0.03697333 -0.00474387 3.31602217] [ 0.03700434 0.99929314 0.00662587 0.16144284] [ 0.00449554 -0.0067968 0.9999668 -1.15664233] [ 0. 0. 0. 1. ]] SLAMing on 286.112414037 meters Centerline goodness [0,1] 0.6552266914017484 Centerline is valid? [False, False] Translation: X:3.32, Y:0.16, Z:-1.16 [[ 0.99929781 -0.03714686 -0.00489837 3.31640415] [ 0.03717532 0.99929162 0.00585245 0.16440234] [ 0.0046775 -0.00603044 0.99997088 -1.15646015] [ 0. 0. 0. 1. ]] SLAMing on 286.142414037 meters Centerline goodness [0,1] 0.6482324017294487 Centerline is valid? [False, False] Translation: X:3.32, Y:0.17, Z:-1.16 [[ 0.99929613 -0.03716345 -0.00511134 3.31706286] [ 0.03719135 0.99929316 0.00547581 0.1660882 ] [ 0.00490423 -0.00566205 0.99997194 -1.15656344] [ 0. 0. 0. 1. ]] SLAMing on 286.172414037 meters Centerline goodness [0,1] 0.6631088906551607 Centerline is valid? [False, False] Translation: X:3.32, Y:0.17, Z:-1.16 [[ 0.99930238 -0.03693625 -0.00551999 3.31862444] [ 0.03696392 0.99930411 0.00499731 0.16928259] [ 0.00533157 -0.00519786 0.99997228 -1.15714137] [ 0. 0. 0. 1. ]] SLAMing on 286.202414037 meters Centerline goodness [0,1] 0.6530350892171092 Centerline is valid? [False, False] Translation: X:3.32, Y:0.17, Z:-1.16 [[ 0.99930072 -0.03696365 -0.00563593 3.31918805] [ 0.03699003 0.99930481 0.00465087 0.17099371] [ 0.0054601 -0.00485609 0.9999733 -1.15741465] [ 0. 0. 0. 1. ]] SLAMing on 286.23241403699996 meters Centerline goodness [0,1] 0.6558677968030036 Centerline is valid? [False, False] Translation: X:3.32, Y:0.17, Z:-1.16 [[ 0.99930373 -0.03684218 -0.00589164 3.32016952] [ 0.03686811 0.99931066 0.00435393 0.17280762] [ 0.00572717 -0.00456812 0.99997317 -1.15774752] [ 0. 0. 0. 1. ]] SLAMing on 286.262414037 meters Centerline goodness [0,1] 0.6611522939981109 Centerline is valid? [False, False] Translation: X:3.32, Y:0.18, Z:-1.16 [[ 0.99939815 -0.03426955 -0.00537875 3.31791541] [ 0.03430954 0.99938291 0.00752754 0.17516289] [ 0.00511746 -0.00770755 0.9999572 -1.15771965] [ 0. 0. 0. 1. ]] SLAMing on 286.29241403699996 meters Centerline goodness [0,1] 0.6583868747131711 Centerline is valid? [False, False] Translation: X:3.32, Y:0.18, Z:-1.16 [[ 0.9993864 -0.03460615 -0.00540783 3.31761004] [ 0.03464207 0.99937736 0.00669532 0.17751426] [ 0.00517276 -0.00687855 0.99996296 -1.15700865] [ 0. 0. 0. 1. ]] SLAMing on 286.322414037 meters Centerline goodness [0,1] 0.6643705872223179 Centerline is valid? [False, False] Translation: X:3.32, Y:0.18, Z:-1.16 [[ 0.9993828 -0.03470365 -0.00544706 3.31758754] [ 0.03473709 0.99937744 0.00616996 0.17931202] [ 0.00522955 -0.00635537 0.99996613 -1.15662488] [ 0. 0. 0. 1. ]] SLAMing on 286.35241403699996 meters Centerline goodness [0,1] 0.6648345323741007 Centerline is valid? [False, False] Translation: X:3.32, Y:0.18, Z:-1.16 [[ 0.99937282 -0.03498659 -0.00546948 3.31737801] [ 0.0350164 0.99937185 0.0054543 0.18151367] [ 0.00527522 -0.0056424 0.99997017 -1.15609534] [ 0. 0. 0. 1. ]] SLAMing on 286.382414037 meters Centerline goodness [0,1] 0.6647208415212114 Centerline is valid? [False, False] Translation: X:3.31, Y:0.18, Z:-1.16 [[ 0.99946252 -0.03241842 -0.0048699 3.31494591] [ 0.03245977 0.99943547 0.00866678 0.18345404] [ 0.00458619 -0.00882019 0.99995058 -1.1561006 ] [ 0. 0. 0. 1. ]] SLAMing on 286.41241403699996 meters Centerline goodness [0,1] 0.6632053914904694 Centerline is valid? [False, False] Translation: X:3.31, Y:0.19, Z:-1.16 [[ 0.99945426 -0.03265502 -0.0049841 3.31494402] [ 0.03269432 0.99943323 0.00801843 0.18548087] [ 0.00471943 -0.00817701 0.99995543 -1.15560549] [ 0. 0. 0. 1. ]] SLAMing on 286.442414037 meters Centerline goodness [0,1] 0.6588827173059586 Centerline is valid? [False, False] Translation: X:3.32, Y:0.19, Z:-1.16 [[ 0.99945383 -0.0326153 -0.00531755 3.31588058] [ 0.03265376 0.99943998 0.00731209 0.18871684] [ 0.00507608 -0.00748174 0.99995913 -1.15549205] [ 0. 0. 0. 1. ]] SLAMing on 286.47241403699996 meters Centerline goodness [0,1] 0.6766726838642054 Centerline is valid? [False, False] Translation: X:3.32, Y:0.19, Z:-1.16 [[ 0.99945221 -0.03265521 -0.00537712 3.31611854] [ 0.03269198 0.99944167 0.00689853 0.19032878] [ 0.00514884 -0.00707054 0.99996175 -1.15540898] [ 0. 0. 0. 1. ]] SLAMing on 286.502414037 meters Centerline goodness [0,1] 0.6807223634610327 Centerline is valid? [False, False] Translation: X:3.32, Y:0.19, Z:-1.16 [[ 0.9994537 -0.03256925 -0.00561704 3.31683262] [ 0.03260578 0.9994469 0.00653906 0.19202943] [ 0.00540096 -0.00671864 0.99996284 -1.15540509] [ 0. 0. 0. 1. ]] SLAMing on 286.53241403699997 meters Centerline goodness [0,1] 0.6851656095842142 Centerline is valid? [False, False] Translation: X:3.32, Y:0.19, Z:-1.16 [[ 0.99955734 -0.02928037 -0.00527184 3.31593178] [ 0.02933338 0.99951687 0.01027474 0.19351208] [ 0.00496844 -0.01042483 0.99993332 -1.15636294] [ 0. 0. 0. 1. ]] SLAMing on 286.562414037 meters Centerline goodness [0,1] 0.6798801973220578 Centerline is valid? [False, False] Translation: X:3.32, Y:0.20, Z:-1.16 [[ 0.99956617 -0.02890232 -0.00566764 3.31732049] [ 0.02895702 0.99953243 0.00981871 0.19552182] [ 0.00538121 -0.00997857 0.99993573 -1.15639366] [ 0. 0. 0. 1. ]] SLAMing on 286.59241403699997 meters Centerline goodness [0,1] 0.6780846167463268 Centerline is valid? [False, False] Translation: X:3.32, Y:0.20, Z:-1.16 [[ 0.99958009 -0.02831825 -0.0061409 3.31913363] [ 0.02837642 0.9995512 0.00960126 0.19733801] [ 0.00586625 -0.00977149 0.99993505 -1.15675043] [ 0. 0. 0. 1. ]] SLAMing on 286.622414037 meters Centerline goodness [0,1] 0.6893634642688121 Centerline is valid? [False, False] Translation: X:3.32, Y:0.20, Z:-1.16 [[ 0.99958972 -0.02787622 -0.00658064 3.32059849] [ 0.02793598 0.99956765 0.00917061 0.19946934] [ 0.00632215 -0.00935069 0.9999363 -1.15672055] [ 0. 0. 0. 1. ]] SLAMing on 286.65241403699997 meters Centerline goodness [0,1] 0.6793198775303945 Centerline is valid? [False, False] Translation: X:3.32, Y:0.20, Z:-1.16 [[ 0.99967736 -0.02463356 -0.00619335 3.31931851] [ 0.02471062 0.99961409 0.01269073 0.20097559] [ 0.00587835 -0.01283968 0.99990029 -1.15702264] [ 0. 0. 0. 1. ]] SLAMing on 286.682414037 meters Centerline goodness [0,1] 0.6788619097273947 Centerline is valid? [False, False] Translation: X:3.32, Y:0.20, Z:-1.16 [[ 0.99967322 -0.02479374 -0.00622364 3.31921342] [ 0.0248681 0.99961666 0.01217028 0.20247188] [ 0.0059195 -0.01232107 0.99990657 -1.15658125] [ 0. 0. 0. 1. ]] SLAMing on 286.712414037 meters Centerline goodness [0,1] 0.6808091657715718 Centerline is valid? [False, False] Translation: X:3.32, Y:0.20, Z:-1.16 [[ 0.9996637 -0.02518795 -0.00616883 3.3186839 ] [ 0.02525626 0.99961762 0.01125737 0.20474252] [ 0.00588292 -0.01140939 0.99991761 -1.15572863] [ 0. 0. 0. 1. ]] SLAMing on 286.742414037 meters Centerline goodness [0,1] 0.6743721290938376 Centerline is valid? [False, False] Translation: X:3.32, Y:0.21, Z:-1.16 [[ 0.99965863 -0.02540231 -0.00611143 3.31842661] [ 0.02546755 0.99961684 0.01084365 0.20558682] [ 0.00583364 -0.01099559 0.99992253 -1.15543656] [ 0. 0. 0. 1. ]] SLAMing on 286.772414037 meters Centerline goodness [0,1] 0.6925572121536767 Centerline is valid? [False, False] Translation: X:3.32, Y:0.21, Z:-1.16 [[ 0.99965448 -0.02558856 -0.00601194 3.31833653] [ 0.02565068 0.99961589 0.01049385 0.20628455] [ 0.00574111 -0.01064443 0.99992687 -1.15543355] [ 0. 0. 0. 1. ]] SLAMing on 286.802414037 meters Centerline goodness [0,1] 0.6901509063309224 Centerline is valid? [False, False] Translation: X:3.32, Y:0.21, Z:-1.16 [[ 0.99965317 -0.02565088 -0.00596475 3.3185498 ] [ 0.02571165 0.99961587 0.01034522 0.20723984] [ 0.0056971 -0.01049499 0.9999287 -1.15589605] [ 0. 0. 0. 1. ]] SLAMing on 286.832414037 meters Centerline goodness [0,1] 0.6678191410092098 Centerline is valid? [False, False] Translation: X:3.32, Y:0.21, Z:-1.16 [[ 0.99965122 -0.02572468 -0.00597321 3.31865369] [ 0.02578462 0.99961563 0.01018515 0.20787825] [ 0.0057089 -0.01033562 0.99993029 -1.15597801] [ 0. 0. 0. 1. ]] SLAMing on 286.862414037 meters Centerline goodness [0,1] 0.6678191410092098 Centerline is valid? [False, False] Translation: X:3.32, Y:0.21, Z:-1.16 [[ 0.99965122 -0.02572468 -0.00597321 3.31865369] [ 0.02578462 0.99961563 0.01018515 0.20787825] [ 0.0057089 -0.01033562 0.99993029 -1.15597801] [ 0. 0. 0. 1. ]] SLAMing on 286.892414037 meters Centerline goodness [0,1] 0.688032272523532 Centerline is valid? [False, False] Translation: X:3.32, Y:0.21, Z:-1.16 [[ 0.99965151 -0.02567714 -0.00612703 3.31890565] [ 0.02573701 0.99961972 0.00990014 0.20897396] [ 0.00587049 -0.01005438 0.99993222 -1.15566931] [ 0. 0. 0. 1. ]] SLAMing on 286.922414037 meters Centerline goodness [0,1] 0.6880903981824704 Centerline is valid? [False, False] Translation: X:3.32, Y:0.21, Z:-1.16 [[ 0.99965755 -0.02535614 -0.00646909 3.31981223] [ 0.02541677 0.9996321 0.00946831 0.21014131] [ 0.00622663 -0.00962949 0.99993425 -1.15513948] [ 0. 0. 0. 1. ]] SLAMing on 286.952414037 meters Centerline goodness [0,1] 0.6903083173996176 Centerline is valid? [False, False] Translation: X:3.32, Y:0.21, Z:-1.15 [[ 0.99966578 -0.02494356 -0.00679344 3.32085382] [ 0.02500419 0.99964691 0.00899116 0.21135728] [ 0.00656677 -0.00915802 0.9999365 -1.15460291] [ 0. 0. 0. 1. ]] SLAMing on 286.98241403699996 meters Centerline goodness [0,1] 0.6996010678184709 Centerline is valid? [False, False] Translation: X:3.32, Y:0.21, Z:-1.15 [[ 0.99967676 -0.02439274 -0.00716795 3.32218779] [ 0.02445582 0.99966175 0.00884852 0.21221019] [ 0.00694969 -0.00902096 0.99993516 -1.15453424] [ 0. 0. 0. 1. ]] SLAMing on 287.012414037 meters Centerline goodness [0,1] 0.6998413126141501 Centerline is valid? [False, False] Translation: X:3.32, Y:0.21, Z:-1.15 [[ 0.99969754 -0.02334085 -0.00774806 3.3245429 ] [ 0.02341075 0.99968491 0.00905619 0.21276504] [ 0.00753424 -0.00923484 0.99992897 -1.15499634] [ 0. 0. 0. 1. ]] SLAMing on 287.04241403699996 meters Centerline goodness [0,1] 0.6972551130247577 Centerline is valid? [False, False] Translation: X:3.33, Y:0.21, Z:-1.16 [[ 0.99970949 -0.02275614 -0.00794336 3.3257663 ] [ 0.02283 0.99969577 0.00933536 0.21244922] [ 0.00772851 -0.009514 0.99992487 -1.15557286] [ 0. 0. 0. 1. ]] SLAMing on 287.072414037 meters Centerline goodness [0,1] 0.6881968588898213 Centerline is valid? [False, False] Translation: X:3.33, Y:0.21, Z:-1.16 [[ 0.99971272 -0.02257168 -0.00806227 3.3261995 ] [ 0.02264731 0.99969917 0.00941675 0.21236644] [ 0.00784729 -0.00959663 0.99992316 -1.15565388] [ 0. 0. 0. 1. ]] SLAMing on 287.10241403699996 meters Centerline goodness [0,1] 0.6868955223880597 Centerline is valid? [False, False] Translation: X:3.33, Y:0.21, Z:-1.16 [[ 0.99971713 -0.02223728 -0.0084357 3.32717768] [ 0.02231502 0.99970833 0.0092357 0.21246305] [ 0.00822786 -0.00942133 0.99992177 -1.15524204] [ 0. 0. 0. 1. ]] SLAMing on 287.132414037 meters Centerline goodness [0,1] 0.7054182481097397 Centerline is valid? [False, False] Translation: X:3.33, Y:0.21, Z:-1.15 [[ 0.99972045 -0.02198906 -0.00868876 3.32779622] [ 0.02206774 0.99971538 0.00906537 0.21282612] [ 0.00848694 -0.00925457 0.99992116 -1.15489303] [ 0. 0. 0. 1. ]] SLAMing on 287.16241403699996 meters Centerline goodness [0,1] 0.7066535562110783 Centerline is valid? [False, False] Translation: X:3.33, Y:0.21, Z:-1.16 [[ 0.99973431 -0.02119865 -0.00905085 3.32941348] [ 0.02128218 0.99973086 0.00923469 0.21234549] [ 0.00885265 -0.00942485 0.9999164 -1.15509641] [ 0. 0. 0. 1. ]] SLAMing on 287.192414037 meters Centerline goodness [0,1] 0.7003274784161952 Centerline is valid? [False, False] Translation: X:3.33, Y:0.21, Z:-1.16 [[ 0.99974217 -0.02072802 -0.00927077 3.33044538] [ 0.02081577 0.99973847 0.00947045 0.2117491 ] [ 0.00907204 -0.00966099 0.99991218 -1.1554328 ] [ 0. 0. 0. 1. ]] SLAMing on 287.22241403699996 meters Centerline goodness [0,1] 0.707514003098558 Centerline is valid? [False, False] Translation: X:3.33, Y:0.21, Z:-1.16 [[ 0.9997505 -0.02020231 -0.00952925 3.33165966] [ 0.02029603 0.99974557 0.0098425 0.21099398] [ 0.00932798 -0.01003345 0.99990615 -1.15600076] [ 0. 0. 0. 1. ]] SLAMing on 287.252414037 meters Centerline goodness [0,1] 0.7119334224996285 Centerline is valid? [False, False] Translation: X:3.33, Y:0.21, Z:-1.16 [[ 0.99976255 -0.01934814 -0.01002416 3.33335415] [ 0.01944656 0.99976271 0.00981568 0.21086941] [ 0.00983186 -0.01000828 0.99990158 -1.15570345] [ 0. 0. 0. 1. ]] SLAMing on 287.28241403699997 meters Centerline goodness [0,1] 0.7092101748241371 Centerline is valid? [False, False] Translation: X:3.33, Y:0.21, Z:-1.16 [[ 0.99976456 -0.01914685 -0.01020922 3.33370996] [ 0.01924394 0.9997697 0.00949819 0.21138229] [ 0.01002501 -0.00969242 0.99990277 -1.15505337] [ 0. 0. 0. 1. ]] SLAMing on 287.312414037 meters Centerline goodness [0,1] 0.7154111421606517 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:-1.15 [[ 0.99977301 -0.01836113 -0.01080682 3.33508987] [ 0.01846052 0.99978753 0.00917057 0.21242583] [ 0.01063614 -0.00936799 0.99989955 -1.15392587] [ 0. 0. 0. 1. ]] SLAMing on 287.34241403699997 meters Centerline goodness [0,1] 0.7140602667937113 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:-1.15 [[ 0.99977494 -0.01802832 -0.01118265 3.33605022] [ 0.01812822 0.99979608 0.00889768 0.21316778] [ 0.01101996 -0.0090984 0.99989788 -1.15346378] [ 0. 0. 0. 1. ]] SLAMing on 287.372414037 meters Centerline goodness [0,1] 0.7171409820416443 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:-1.15 [[ 0.99977841 -0.01760146 -0.01154676 3.33706053] [ 0.01770404 0.99980417 0.00884275 0.21351737] [ 0.01138885 -0.00904521 0.99989423 -1.15325017] [ 0. 0. 0. 1. ]] SLAMing on 287.40241403699997 meters Centerline goodness [0,1] 0.7171376562919638 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:-1.15 [[ 0.99978071 -0.01729607 -0.01180543 3.33786402] [ 0.01739985 0.99981037 0.00874518 0.21381618] [ 0.01165193 -0.00894867 0.99989207 -1.15309771] [ 0. 0. 0. 1. ]] SLAMing on 287.432414037 meters Centerline goodness [0,1] 0.719486400333661 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:-1.15 [[ 0.99978979 -0.01652632 -0.01213527 3.33955081] [ 0.01663717 0.99982026 0.0090914 0.21336739] [ 0.01198285 -0.00929138 0.99988503 -1.15376558] [ 0. 0. 0. 1. ]] SLAMing on 287.462414037 meters Centerline goodness [0,1] 0.7281281638973259 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:-1.15 [[ 0.99979281 -0.01621978 -0.01229861 3.34039427] [ 0.01633483 0.99982321 0.00931272 0.21303627] [ 0.01214538 -0.00951168 0.999881 -1.15425479] [ 0. 0. 0. 1. ]] SLAMing on 287.492414037 meters Centerline goodness [0,1] 0.7241890969522509 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:-1.15 [[ 0.99979542 -0.01601615 -0.01235314 3.34080637] [ 0.01613693 0.99982235 0.00974028 0.21141023] [ 0.01219495 -0.00993763 0.99987626 -1.15465783] [ 0. 0. 0. 1. ]] SLAMing on 287.522414037 meters Centerline goodness [0,1] 0.723907225691347 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:-1.15 [[ 0.99979455 -0.01615805 -0.01223788 3.34051592] [ 0.01627904 0.99981894 0.00985259 0.21062243] [ 0.01207647 -0.01004979 0.99987657 -1.1547595 ] [ 0. 0. 0. 1. ]] SLAMing on 287.552414037 meters Centerline goodness [0,1] 0.714289930350608 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:-1.15 [[ 0.99974016 -0.018829 -0.01284856 3.34266852] [ 0.01890472 0.99980448 0.00579781 0.21122554] [ 0.01273688 -0.0060392 0.99990065 -1.15371795] [ 0. 0. 0. 1. ]] SLAMing on 287.582414037 meters Centerline goodness [0,1] 0.7253393530757122 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:-1.15 [[ 0.99974161 -0.01862849 -0.0130269 3.34299947] [ 0.01870657 0.99980762 0.00589795 0.21077399] [ 0.01291452 -0.00614012 0.99989775 -1.15347081] [ 0. 0. 0. 1. ]] SLAMing on 287.612414037 meters Centerline goodness [0,1] 0.716329492609816 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:-1.15 [[ 0.99974168 -0.01850622 -0.01319452 3.34326162] [ 0.01858474 0.99981015 0.00585333 0.21052667] [ 0.0130837 -0.00609703 0.99989582 -1.15309623] [ 0. 0. 0. 1. ]] SLAMing on 287.642414037 meters Centerline goodness [0,1] 0.7239418263677024 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:-1.15 [[ 0.99974323 -0.01837092 -0.0132658 3.34340238] [ 0.01845218 0.99981157 0.00602919 0.21007357] [ 0.01315254 -0.00627243 0.99989383 -1.15307817] [ 0. 0. 0. 1. ]] SLAMing on 287.672414037 meters Centerline goodness [0,1] 0.7215006361134945 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:-1.15 [[ 0.99974741 -0.01793361 -0.01354622 3.34431058] [ 0.01802356 0.99981612 0.00654808 0.20859538] [ 0.0134263 -0.00679058 0.9998868 -1.15335996] [ 0. 0. 0. 1. ]] SLAMing on 287.702414037 meters Centerline goodness [0,1] 0.7320477936827162 Centerline is valid? [False, False] Translation: X:3.35, Y:0.21, Z:-1.15 [[ 0.99975304 -0.01722466 -0.0140419 3.34600598] [ 0.01732165 0.99982674 0.00681476 0.20818846] [ 0.01392209 -0.00705631 0.99987818 -1.15355883] [ 0. 0. 0. 1. ]] SLAMing on 287.73241403699996 meters Centerline goodness [0,1] 0.7328260035985016 Centerline is valid? [False, False] Translation: X:3.35, Y:0.21, Z:-1.15 [[ 0.99975601 -0.0167797 -0.01436555 3.34720103] [ 0.01688005 0.99983376 0.00689279 0.20813297] [ 0.0142475 -0.0071336 0.99987305 -1.15372183] [ 0. 0. 0. 1. ]] SLAMing on 287.762414037 meters Centerline goodness [0,1] 0.7321439120931057 Centerline is valid? [False, False] Translation: X:3.35, Y:0.21, Z:-1.15 [[ 0.99975865 -0.01633518 -0.01469005 3.34835655] [ 0.01644118 0.99983945 0.00712464 0.20784519] [ 0.01457131 -0.00736444 0.99986671 -1.15404721] [ 0. 0. 0. 1. ]] SLAMing on 287.79241403699996 meters Centerline goodness [0,1] 0.7331053190234698 Centerline is valid? [False, False] Translation: X:3.35, Y:0.21, Z:-1.15 [[ 0.99976184 -0.01600011 -0.01484098 3.34923145] [ 0.01611113 0.99984288 0.00739177 0.20748278] [ 0.01472038 -0.00762911 0.99986254 -1.15460409] [ 0. 0. 0. 1. ]] SLAMing on 287.822414037 meters Centerline goodness [0,1] 0.7350145661065828 Centerline is valid? [False, False] Translation: X:3.35, Y:0.21, Z:-1.15 [[ 0.9997658 -0.01559053 -0.01500967 3.3500594 ] [ 0.01570755 0.9998469 0.00771055 0.20628982] [ 0.01488716 -0.00794451 0.99985762 -1.15489214] [ 0. 0. 0. 1. ]] SLAMing on 287.85241403699996 meters Centerline goodness [0,1] 0.7296194056149419 Centerline is valid? [False, False] Translation: X:3.35, Y:0.21, Z:-1.15 [[ 0.99976494 -0.015708 -0.01494415 3.34976617] [ 0.01582308 0.99984582 0.00761385 0.20605981] [ 0.01482225 -0.00784853 0.99985934 -1.1546502 ] [ 0. 0. 0. 1. ]] SLAMing on 287.882414037 meters Centerline goodness [0,1] 0.7355369481203888 Centerline is valid? [False, False] Translation: X:3.35, Y:0.21, Z:-1.15 [[ 0.99976188 -0.01577009 -0.01508269 3.34951209] [ 0.01588077 0.99984763 0.00724707 0.20571767] [ 0.0149661 -0.00748487 0.99985999 -1.15347955] [ 0. 0. 0. 1. ]] SLAMing on 287.91241403699996 meters Centerline goodness [0,1] 0.7192309943231696 Centerline is valid? [False, False] Translation: X:3.35, Y:0.21, Z:-1.15 [[ 0.99975996 -0.01584081 -0.01513603 3.34925527] [ 0.01594951 0.99984767 0.0070882 0.20563124] [ 0.01502144 -0.00732791 0.99986032 -1.15288017] [ 0. 0. 0. 1. ]] SLAMing on 287.942414037 meters Centerline goodness [0,1] 0.7255597233618567 Centerline is valid? [False, False] Translation: X:3.35, Y:0.21, Z:-1.15 [[ 0.99975847 -0.0158645 -0.01520926 3.34912204] [ 0.01597206 0.9998481 0.00697665 0.20529413] [ 0.01509627 -0.00721788 0.99985999 -1.15235055] [ 0. 0. 0. 1. ]] SLAMing on 287.97241403699996 meters Centerline goodness [0,1] 0.7300947036127674 Centerline is valid? [False, False] Translation: X:3.35, Y:0.20, Z:-1.15 [[ 0.99976023 -0.01566564 -0.0152995 3.34956445] [ 0.01577815 0.99984915 0.007261 0.20408063] [ 0.01518344 -0.00750066 0.99985659 -1.15254558] [ 0. 0. 0. 1. ]] SLAMing on 288.002414037 meters Centerline goodness [0,1] 0.7194204757462687 Centerline is valid? [False, False] Translation: X:3.35, Y:0.20, Z:-1.15 [[ 0.99976118 -0.0154317 -0.01547376 3.35028153] [ 0.01555045 0.99985032 0.00758366 0.20302281] [ 0.01535441 -0.00782247 0.99985151 -1.15292691] [ 0. 0. 0. 1. ]] SLAMing on 288.03241403699997 meters Centerline goodness [0,1] 0.7243593451726731 Centerline is valid? [False, False] Translation: X:3.35, Y:0.20, Z:-1.15 [[ 0.99973474 -0.01646224 -0.01610697 3.35441676] [ 0.01654032 0.99985203 0.00472617 0.20304904] [ 0.01602678 -0.00499133 0.9998591 -1.15355947] [ 0. 0. 0. 1. ]] SLAMing on 288.062414037 meters Centerline goodness [0,1] 0.7248509524501963 Centerline is valid? [False, False] Translation: X:3.35, Y:0.20, Z:-1.15 [[ 0.99973573 -0.01642238 -0.01608651 3.35448442] [ 0.01650321 0.99985178 0.00490437 0.20238882] [ 0.01600358 -0.00516855 0.99985858 -1.15372429] [ 0. 0. 0. 1. ]] SLAMing on 288.09241403699997 meters Centerline goodness [0,1] 0.7286104016716972 Centerline is valid? [False, False] Translation: X:3.35, Y:0.20, Z:-1.15 [[ 0.99973482 -0.01656381 -0.01599754 3.35415484] [ 0.01664536 0.99984907 0.00497745 0.20153488] [ 0.01591268 -0.00524241 0.99985964 -1.1536251 ] [ 0. 0. 0. 1. ]] SLAMing on 288.122414037 meters Centerline goodness [0,1] 0.7212313918196271 Centerline is valid? [False, False] Translation: X:3.35, Y:0.20, Z:-1.15 [[ 0.99973587 -0.01646108 -0.01603826 3.35447349] [ 0.01655076 0.99984804 0.00547499 0.19981157] [ 0.01594569 -0.00573899 0.99985639 -1.15410564] [ 0. 0. 0. 1. ]] SLAMing on 288.15241403699997 meters Centerline goodness [0,1] 0.7110070528384784 Centerline is valid? [False, False] Translation: X:3.35, Y:0.20, Z:-1.15 [[ 0.9997267 -0.01732015 -0.01570148 3.3530392 ] [ 0.01741233 0.99983184 0.00575356 0.1968374 ] [ 0.01559919 -0.00602539 0.99986017 -1.15415689] [ 0. 0. 0. 1. ]] SLAMing on 288.182414037 meters Centerline goodness [0,1] 0.7207906506997548 Centerline is valid? [False, False] Translation: X:3.35, Y:0.20, Z:-1.15 [[ 0.99972372 -0.01785432 -0.0152875 3.35189214] [ 0.0179467 0.99982138 0.0059272 0.19516296] [ 0.01517894 -0.00619992 0.99986557 -1.15432424] [ 0. 0. 0. 1. ]] SLAMing on 288.212414037 meters Centerline goodness [0,1] 0.7145199332681356 Centerline is valid? [False, False] Translation: X:3.35, Y:0.19, Z:-1.15 [[ 9.99635118e-01 -2.20895669e-02 -1.55461091e-02 3.35194206e+00] [ 2.21202293e-02 9.99753692e-01 1.80315073e-03 1.94011983e-01] [ 1.55024492e-02 -2.14637629e-03 9.99877526e-01 -1.15329536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.242414037 meters Centerline goodness [0,1] 0.702859439595774 Centerline is valid? [False, False] Translation: X:3.35, Y:0.19, Z:-1.15 [[ 9.99627850e-01 -2.27112318e-02 -1.51116283e-02 3.35054358e+00] [ 2.27439953e-02 9.99739322e-01 1.99975844e-03 1.92591579e-01] [ 1.50622720e-02 -2.34271304e-03 9.99883813e-01 -1.15339177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.272414037 meters Centerline goodness [0,1] 0.709325994094206 Centerline is valid? [False, False] Translation: X:3.35, Y:0.19, Z:-1.15 [[ 9.99619756e-01 -2.33101323e-02 -1.47302494e-02 3.34915255e+00] [ 2.33424845e-02 9.99725470e-01 2.02818478e-03 1.91430313e-01] [ 1.46789282e-02 -2.37125419e-03 9.99889447e-01 -1.15316672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.302414037 meters Centerline goodness [0,1] 0.7006061295922142 Centerline is valid? [False, False] Translation: X:3.36, Y:0.19, Z:-1.16 [[ 0.99960303 -0.02681641 -0.00864028 3.35970847] [ 0.0269085 0.99958038 0.01072397 0.18690603] [ 0.00834908 -0.01095221 0.99990517 -1.15828442] [ 0. 0. 0. 1. ]] SLAMing on 288.332414037 meters Centerline goodness [0,1] 0.6930175418547512 Centerline is valid? [False, False] Translation: X:3.36, Y:0.19, Z:-1.16 [[ 0.99959203 -0.02731027 -0.00836199 3.35853604] [ 0.02739758 0.99956935 0.01051141 0.18640074] [ 0.00807132 -0.01073622 0.99990979 -1.1577314 ] [ 0. 0. 0. 1. ]] SLAMing on 288.362414037 meters Centerline goodness [0,1] 0.6996498619374306 Centerline is valid? [False, False] Translation: X:3.36, Y:0.19, Z:-1.16 [[ 0.99958388 -0.02759037 -0.0084166 3.35825726] [ 0.02767646 0.99956398 0.01028929 0.18607064] [ 0.00812904 -0.01051795 0.99991164 -1.15721972] [ 0. 0. 0. 1. ]] SLAMing on 288.392414037 meters Centerline goodness [0,1] 0.7034928626598392 Centerline is valid? [False, False] Translation: X:3.36, Y:0.19, Z:-1.16 [[ 0.99957321 -0.02800383 -0.00831761 3.35765853] [ 0.02808738 0.99955441 0.01010392 0.18571655] [ 0.00803095 -0.01033322 0.99991436 -1.15690953] [ 0. 0. 0. 1. ]] SLAMing on 288.422414037 meters Centerline goodness [0,1] 0.6888026037800491 Centerline is valid? [False, False] Translation: X:3.36, Y:0.19, Z:-1.16 [[ 0.99957266 -0.02799532 -0.00841195 3.35809332] [ 0.02808012 0.99955426 0.01013809 0.18534661] [ 0.00812438 -0.01036997 0.99991323 -1.15714294] [ 0. 0. 0. 1. ]] SLAMing on 288.452414037 meters Centerline goodness [0,1] 0.6943203939081644 Centerline is valid? [False, False] Translation: X:3.36, Y:0.19, Z:-1.16 [[ 0.99957221 -0.02799617 -0.00846181 3.35874021] [ 0.0280828 0.99955254 0.01029906 0.18528166] [ 0.00816968 -0.01053229 0.99991116 -1.1579838 ] [ 0. 0. 0. 1. ]] SLAMing on 288.48241403699996 meters Centerline goodness [0,1] 0.6820822482328364 Centerline is valid? [False, False] Translation: X:3.36, Y:0.19, Z:-1.16 [[ 0.9995722 -0.02798098 -0.00851403 3.35916409] [ 0.0280681 0.99955305 0.01029038 0.18549005] [ 0.00822229 -0.01052495 0.99991081 -1.15832829] [ 0. 0. 0. 1. ]] SLAMing on 288.512414037 meters Centerline goodness [0,1] 0.6825451320344462 Centerline is valid? [False, False] Translation: X:3.36, Y:0.19, Z:-1.16 [[ 0.99957168 -0.02795857 -0.00864778 3.35959077] [ 0.02804587 0.99955516 0.01014462 0.18608853] [ 0.0083603 -0.01038281 0.99991115 -1.1583767 ] [ 0. 0. 0. 1. ]] SLAMing on 288.54241403699996 meters Centerline goodness [0,1] 0.6966147325008591 Centerline is valid? [False, False] Translation: X:3.36, Y:0.19, Z:-1.16 [[ 0.99956743 -0.02813709 -0.00855893 3.35945369] [ 0.02822145 0.99955267 0.00990012 0.18688266] [ 0.00827654 -0.01013738 0.99991436 -1.15842534] [ 0. 0. 0. 1. ]] SLAMing on 288.572414037 meters Centerline goodness [0,1] 0.6847714578821384 Centerline is valid? [False, False] Translation: X:3.36, Y:0.19, Z:-1.16 [[ 0.99949817 -0.03040159 -0.00889641 3.36173957] [ 0.0304554 0.99951826 0.00597667 0.18933783] [ 0.00871042 -0.00624461 0.99994257 -1.15811448] [ 0. 0. 0. 1. ]] SLAMing on 288.60241403699996 meters Centerline goodness [0,1] 0.6868403741097732 Centerline is valid? [False, False] Translation: X:3.36, Y:0.19, Z:-1.16 [[ 0.99948724 -0.03080055 -0.00875156 3.36107056] [ 0.03085134 0.99950757 0.00572895 0.18976756] [ 0.00857079 -0.00599601 0.99994529 -1.15791199] [ 0. 0. 0. 1. ]] SLAMing on 288.632414037 meters Centerline goodness [0,1] 0.6857052698011992 Centerline is valid? [False, False] Translation: X:3.36, Y:0.19, Z:-1.16 [[ 0.99946391 -0.03162994 -0.0084521 3.35956748] [ 0.03167338 0.99948548 0.00505599 0.19106497] [ 0.00828783 -0.00532099 0.9999515 -1.15715186] [ 0. 0. 0. 1. ]] SLAMing on 288.66241403699996 meters Centerline goodness [0,1] 0.5710467944092573 Centerline is valid? [False, False] Translation: X:3.43, Y:0.19, Z:-1.15 [[ 0.99935399 -0.03521519 -0.00717528 3.42538847] [ 0.03515762 0.99934978 -0.00799766 0.19357988] [ 0.00745225 0.00774023 0.99994227 -1.15002522] [ 0. 0. 0. 1. ]] SLAMing on 288.692414037 meters Centerline goodness [0,1] 0.6841304035616832 Centerline is valid? [False, False] Translation: X:3.34, Y:0.20, Z:-1.15 [[ 0.99944846 -0.032704 -0.00576434 3.3404951 ] [ 0.03267303 0.99945157 -0.00538753 0.19745012] [ 0.00593737 0.00519622 0.99996887 -1.15239644] [ 0. 0. 0. 1. ]] SLAMing on 288.72241403699996 meters Centerline goodness [0,1] 0.6947948843788794 Centerline is valid? [False, False] Translation: X:3.34, Y:0.20, Z:-1.15 [[ 9.99528215e-01 -3.02997201e-02 -5.02744606e-03 3.33802324e+00] [ 3.02908955e-02 9.99539464e-01 -1.82224525e-03 1.98046176e-01] [ 5.08034426e-03 1.66909970e-03 9.99985702e-01 -1.15301696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.752414037 meters Centerline goodness [0,1] 0.684060475161987 Centerline is valid? [False, False] Translation: X:3.34, Y:0.20, Z:-1.15 [[ 9.99531817e-01 -3.01334998e-02 -5.30280490e-03 3.33900617e+00] [ 3.01235882e-02 9.99544301e-01 -1.93919584e-03 1.99284530e-01] [ 5.35882317e-03 1.77854843e-03 9.99984060e-01 -1.15335404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78241403699997 meters Centerline goodness [0,1] 0.684060475161987 Centerline is valid? [False, False] Translation: X:3.34, Y:0.20, Z:-1.15 [[ 9.99531817e-01 -3.01334998e-02 -5.30280490e-03 3.33900617e+00] [ 3.01235882e-02 9.99544301e-01 -1.93919584e-03 1.99284530e-01] [ 5.35882317e-03 1.77854843e-03 9.99984060e-01 -1.15335404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.812414037 meters Centerline goodness [0,1] 0.6873246768269758 Centerline is valid? [False, False] Translation: X:3.34, Y:0.20, Z:-1.15 [[ 9.99623035e-01 -2.70161367e-02 -4.89044378e-03 3.33796103e+00] [ 2.70253482e-02 9.99633078e-01 1.82738909e-03 2.00290760e-01] [ 4.83928037e-03 -1.95886617e-03 9.99986372e-01 -1.15443414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84241403699997 meters Centerline goodness [0,1] 0.6822112594312246 Centerline is valid? [False, False] Translation: X:3.34, Y:0.20, Z:-1.15 [[ 9.99626146e-01 -2.68306717e-02 -5.26151553e-03 3.33890269e+00] [ 2.68382971e-02 9.99638830e-01 1.38406627e-03 2.02131384e-01] [ 5.22247980e-03 -1.52475895e-03 9.99985200e-01 -1.15416450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.872414037 meters Centerline goodness [0,1] 0.6913583848757148 Centerline is valid? [False, False] Translation: X:3.34, Y:0.20, Z:-1.15 [[ 0.99969998 -0.02405582 -0.00461077 3.33665145] [ 0.02407959 0.99969667 0.00517072 0.20225114] [ 0.00448498 -0.0052802 0.999976 -1.15459133] [ 0. 0. 0. 1. ]] SLAMing on 288.90241403699997 meters Centerline goodness [0,1] 0.6915778376478856 Centerline is valid? [False, False] Translation: X:3.34, Y:0.20, Z:-1.15 [[ 0.99977179 -0.02094372 -0.00421142 3.33514461] [ 0.02097873 0.99974423 0.00844792 0.20456809] [ 0.00403341 -0.00853434 0.99995545 -1.15455544] [ 0. 0. 0. 1. ]] SLAMing on 288.932414037 meters Centerline goodness [0,1] 0.6978955710134719 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:-1.15 [[ 0.99977271 -0.02084938 -0.00445263 3.33568963] [ 0.0208835 0.9997518 0.0077602 0.20684426] [ 0.00428973 -0.00785142 0.99995998 -1.15400738] [ 0. 0. 0. 1. ]] SLAMing on 288.962414037 meters Centerline goodness [0,1] 0.6941592920353983 Centerline is valid? [False, False] Translation: X:3.33, Y:0.21, Z:-1.15 [[ 0.99983697 -0.01759374 -0.00406116 3.33471447] [ 0.01763908 0.99977927 0.01141376 0.20829375] [ 0.00385945 -0.01148353 0.99992661 -1.15476994] [ 0. 0. 0. 1. ]] SLAMing on 288.992414037 meters Centerline goodness [0,1] 0.6990521327014219 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:-1.15 [[ 0.99983891 -0.01739357 -0.0044302 3.33564474] [ 0.01744101 0.99978842 0.01090514 0.2100602 ] [ 0.00423958 -0.01098065 0.99993072 -1.15439002] [ 0. 0. 0. 1. ]] SLAMing on 289.022414037 meters Centerline goodness [0,1] 0.698996456329472 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:-1.15 [[ 0.99984635 -0.01687851 -0.00473195 3.33712665] [ 0.01692595 0.99980501 0.01017145 0.21368764] [ 0.00455934 -0.01024998 0.99993707 -1.15438468] [ 0. 0. 0. 1. ]] SLAMing on 289.052414037 meters Centerline goodness [0,1] 0.6997350953954222 Centerline is valid? [False, False] Translation: X:3.34, Y:0.22, Z:-1.15 [[ 0.99984473 -0.01690613 -0.00496912 3.3375948 ] [ 0.01695254 0.99981162 0.00945144 0.21560458] [ 0.0048084 -0.00953422 0.99994299 -1.15377644] [ 0. 0. 0. 1. ]] SLAMing on 289.082414037 meters Centerline goodness [0,1] 0.707128576970131 Centerline is valid? [False, False] Translation: X:3.34, Y:0.22, Z:-1.15 [[ 0.9998444 -0.01684984 -0.0052205 3.33812053] [ 0.01689528 0.99981867 0.00878549 0.21754713] [ 0.00507152 -0.00887233 0.99994778 -1.15315871] [ 0. 0. 0. 1. ]] SLAMing on 289.112414037 meters Centerline goodness [0,1] 0.7274730582304465 Centerline is valid? [False, False] Translation: X:3.34, Y:0.22, Z:-1.15 [[ 0.99988958 -0.01414414 -0.00455646 3.33571191] [ 0.01419802 0.99982699 0.01201675 0.21904481] [ 0.00438571 -0.01208012 0.99991741 -1.15295801] [ 0. 0. 0. 1. ]] SLAMing on 289.142414037 meters Centerline goodness [0,1] 0.7255849056603774 Centerline is valid? [False, False] Translation: X:3.34, Y:0.22, Z:-1.15 [[ 0.99988738 -0.01419397 -0.00487452 3.3361076 ] [ 0.01424773 0.99983603 0.01117655 0.22057885] [ 0.00471508 -0.01124474 0.99992566 -1.1518482 ] [ 0. 0. 0. 1. ]] SLAMing on 289.172414037 meters Centerline goodness [0,1] 0.7257830011510269 Centerline is valid? [False, False] Translation: X:3.34, Y:0.22, Z:-1.15 [[ 0.99988505 -0.01431264 -0.00500255 3.33613647] [ 0.01436482 0.99984112 0.01055447 0.22216738] [ 0.0048507 -0.01062511 0.99993179 -1.15113434] [ 0. 0. 0. 1. ]] SLAMing on 289.202414037 meters Centerline goodness [0,1] 0.7237354085603113 Centerline is valid? [False, False] Translation: X:3.34, Y:0.22, Z:-1.15 [[ 0.99988472 -0.01423861 -0.00527354 3.33686029] [ 0.01428928 0.99985086 0.00969889 0.22477016] [ 0.00513465 -0.00977313 0.99993906 -1.15052917] [ 0. 0. 0. 1. ]] SLAMing on 289.23241403699996 meters Centerline goodness [0,1] 0.7211439002129602 Centerline is valid? [False, False] Translation: X:3.34, Y:0.23, Z:-1.15 [[ 0.99988445 -0.01419247 -0.00544592 3.33735602] [ 0.01424286 0.99985507 0.0093268 0.22588826] [ 0.00531276 -0.00940328 0.99994167 -1.15035286] [ 0. 0. 0. 1. ]] SLAMing on 289.262414037 meters Centerline goodness [0,1] 0.7188424358857073 Centerline is valid? [False, False] Translation: X:3.34, Y:0.23, Z:-1.15 [[ 0.99988406 -0.01419761 -0.0055036 3.337773 ] [ 0.01424713 0.99985742 0.00906467 0.22688297] [ 0.00537412 -0.00914203 0.99994377 -1.15052872] [ 0. 0. 0. 1. ]] SLAMing on 289.29241403699996 meters Centerline goodness [0,1] 0.714924367689387 Centerline is valid? [False, False] Translation: X:3.34, Y:0.23, Z:-1.15 [[ 0.99988859 -0.01372925 -0.00585795 3.33937545] [ 0.01377989 0.99986726 0.00869392 0.2289059 ] [ 0.00573781 -0.00877367 0.99994505 -1.15079246] [ 0. 0. 0. 1. ]] SLAMing on 289.322414037 meters Centerline goodness [0,1] 0.7079819093020413 Centerline is valid? [False, False] Translation: X:3.34, Y:0.23, Z:-1.15 [[ 0.99988781 -0.01376172 -0.00591474 3.33971954] [ 0.01380955 0.99987165 0.00812221 0.23013378] [ 0.00580221 -0.00820298 0.99994952 -1.15045448] [ 0. 0. 0. 1. ]] SLAMing on 289.35241403699996 meters Centerline goodness [0,1] 0.6994901406720315 Centerline is valid? [False, False] Translation: X:3.34, Y:0.23, Z:-1.15 [[ 0.99988554 -0.01397247 -0.00580318 3.33944995] [ 0.01401646 0.9998728 0.00761117 0.23153677] [ 0.0056961 -0.00769164 0.9999542 -1.15018722] [ 0. 0. 0. 1. ]] SLAMing on 289.382414037 meters Centerline goodness [0,1] 0.692326610919823 Centerline is valid? [False, False] Translation: X:3.34, Y:0.23, Z:-1.15 [[ 0.99987967 -0.014431 -0.0056919 3.33871822] [ 0.01446867 0.99987332 0.00663284 0.23374783] [ 0.00559546 -0.00671439 0.9999618 -1.14905303] [ 0. 0. 0. 1. ]] SLAMing on 289.41241403699996 meters Centerline goodness [0,1] 0.6782576641887326 Centerline is valid? [False, False] Translation: X:3.34, Y:0.23, Z:-1.15 [[ 0.99987427 -0.01489256 -0.00544493 3.33786708] [ 0.014925 0.99987082 0.00596631 0.23498146] [ 0.00535537 -0.00604683 0.99996738 -1.14844635] [ 0. 0. 0. 1. ]] SLAMing on 289.442414037 meters Centerline goodness [0,1] 0.675876923076923 Centerline is valid? [False, False] Translation: X:3.34, Y:0.24, Z:-1.15 [[ 0.99987264 -0.01506272 -0.00527512 3.33755198] [ 0.01509253 0.9998701 0.00565705 0.23565269] [ 0.00518922 -0.00573595 0.99997009 -1.14831153] [ 0. 0. 0. 1. ]] SLAMing on 289.47241403699996 meters Centerline goodness [0,1] 0.654795194050948 Centerline is valid? [False, False] Translation: X:3.34, Y:0.24, Z:-1.15 [[ 0.99987071 -0.01516295 -0.00535271 3.3378457 ] [ 0.01519152 0.99987036 0.00533718 0.23620019] [ 0.00527109 -0.00541781 0.99997143 -1.14810647] [ 0. 0. 0. 1. ]] SLAMing on 289.502414037 meters Centerline goodness [0,1] 0.6493498509114384 Centerline is valid? [False, False] Translation: X:3.34, Y:0.24, Z:-1.15 [[ 0.99987269 -0.01505894 -0.00527516 3.33827874] [ 0.01508832 0.99987062 0.00557491 0.23602138] [ 0.00519052 -0.00565379 0.99997055 -1.14889088] [ 0. 0. 0. 1. ]] SLAMing on 289.53241403699997 meters Centerline goodness [0,1] 0.6456934351332291 Centerline is valid? [False, False] Translation: X:3.34, Y:0.24, Z:-1.15 [[ 0.99987364 -0.01500646 -0.00524417 3.33876194] [ 0.0150367 0.99987027 0.0057745 0.23559844] [ 0.00515683 -0.00585263 0.99996958 -1.14955244] [ 0. 0. 0. 1. ]] SLAMing on 289.562414037 meters Centerline goodness [0,1] 0.6197473179428852 Centerline is valid? [False, False] Translation: X:3.34, Y:0.24, Z:-1.15 [[ 0.99987057 -0.01527428 -0.0050529 3.33875158] [ 0.01530464 0.99986471 0.00602688 0.23529315] [ 0.00496016 -0.00610343 0.99996907 -1.15042822] [ 0. 0. 0. 1. ]] SLAMing on 289.59241403699997 meters Centerline goodness [0,1] 0.6079948420373953 Centerline is valid? [False, False] Translation: X:3.34, Y:0.23, Z:-1.15 [[ 0.99987105 -0.01529153 -0.0049048 3.33891231] [ 0.01532201 0.99986315 0.00623787 0.23470729] [ 0.00480874 -0.00631222 0.99996852 -1.1510253 ] [ 0. 0. 0. 1. ]] SLAMing on 289.622414037 meters Centerline goodness [0,1] 0.589367692966885 Centerline is valid? [False, False] Translation: X:3.34, Y:0.23, Z:-1.15 [[ 0.99986743 -0.01557133 -0.00476006 3.3388324 ] [ 0.01560227 0.99985694 0.0065319 0.23348825] [ 0.00465767 -0.0066053 0.99996734 -1.15151063] [ 0. 0. 0. 1. ]] SLAMing on 289.65241403699997 meters Centerline goodness [0,1] 0.5902140672782874 Centerline is valid? [False, False] Translation: X:3.34, Y:0.23, Z:-1.15 [[ 0.9998665 -0.01567606 -0.0046082 3.33866185] [ 0.01570612 0.99985513 0.0065597 0.23281986] [ 0.0045047 -0.0066312 0.99996787 -1.1515719 ] [ 0. 0. 0. 1. ]] SLAMing on 289.682414037 meters Centerline goodness [0,1] 0.5800818220675337 Centerline is valid? [False, False] Translation: X:3.34, Y:0.23, Z:-1.15 [[ 0.9998641 -0.01589056 -0.00439004 3.33830704] [ 0.0159195 0.99985123 0.00663911 0.23190595] [ 0.00428389 -0.0067081 0.99996832 -1.15174323] [ 0. 0. 0. 1. ]] SLAMing on 289.712414037 meters Centerline goodness [0,1] 0.5678030418020097 Centerline is valid? [False, False] Translation: X:3.34, Y:0.23, Z:-1.15 [[ 0.9998631 -0.01594756 -0.00441144 3.33870555] [ 0.0159777 0.99984865 0.00688352 0.23065516] [ 0.004301 -0.00695306 0.99996658 -1.1521703 ] [ 0. 0. 0. 1. ]] SLAMing on 289.742414037 meters Centerline goodness [0,1] 0.5572885058866368 Centerline is valid? [False, False] Translation: X:3.34, Y:0.23, Z:-1.15 [[ 0.99985901 -0.01626605 -0.00416896 3.33819897] [ 0.01629421 0.99984402 0.00681359 0.23012336] [ 0.00405748 -0.00688056 0.9999681 -1.15219517] [ 0. 0. 0. 1. ]] SLAMing on 289.772414037 meters Centerline goodness [0,1] 0.5130690250477027 Centerline is valid? [False, False] Translation: X:3.34, Y:0.23, Z:-1.15 [[ 0.99985251 -0.01676948 -0.00370688 3.33747326] [ 0.01679601 0.99983268 0.00724605 0.22803293] [ 0.00358474 -0.00730724 0.99996688 -1.15283065] [ 0. 0. 0. 1. ]] SLAMing on 289.802414037 meters Centerline goodness [0,1] 0.5249320857229097 Centerline is valid? [False, False] Translation: X:3.34, Y:0.23, Z:-1.15 [[ 0.99985075 -0.01685013 -0.00381339 3.33797295] [ 0.01687869 0.99982878 0.00758464 0.2265518 ] [ 0.00368493 -0.00764787 0.99996397 -1.15319132] [ 0. 0. 0. 1. ]] SLAMing on 289.832414037 meters Centerline goodness [0,1] 0.5041885602762348 Centerline is valid? [False, False] Translation: X:3.34, Y:0.22, Z:-1.15 [[ 0.99983789 -0.01760173 -0.00378996 3.33771656] [ 0.01763185 0.99981201 0.00806593 0.22408719] [ 0.00364728 -0.00813145 0.99996029 -1.15343392] [ 0. 0. 0. 1. ]] Total time of SLAM: 10335.63 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%| | 0/9662 [00:00